version: 66.13
glider: 171
mission: 11
dive: 763
start: 1 25 120 21 56 30
data:
$ID,171
$MISSION,11
$DIVE,763
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,410
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.019109501
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,9
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,250120,214938,518.1461,8022.9531,18,1.5,18,-2.2,2.0,266.2,6,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.3
$GPS2,250120,215537,518.1246,8022.7490,2,0.8,3,-2.2,1.1,237.3,12,9.1
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,27.5,53563,-19.6,-8.049,-28.96,1831
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,87,2523,970,879,0.0,0.0,0,83,0.00,0.00,-71.00,0.005,16386,0.000,0.000,86,2524,2594,2591,2597,0,0,0,0,0,0,14.82,28.83,14.85
$GC,88,-0.67,-97.3,86,2524,2593,2597,4.4,-10.9,15,119,9.38,2.40,-14.95,0.009,18692,0.346,0.096,2094,3877,3368,3384,3352,0,0,0,0,0,0,13.89,12.62,14.33
$GC,173,-0.67,-97.3,2094,3877,3384,3352,33.8,-31.5,32,177,0.00,2.25,0.00,0.000,1030,0.000,0.036,2094,2507,3368,3384,3352,0,0,0,0,0,0,14.48,14.40,14.51
$GC,367,-0.67,-97.3,2094,2505,3384,3352,89.1,-23.2,56,373,0.00,2.42,0.00,0.000,260,0.000,0.078,2084,3881,3368,3384,3352,0,0,0,0,0,0,14.94,14.18,14.96
$GC,532,-0.67,-97.3,2084,3881,3384,3352,116.5,-15.7,89,537,0.00,2.25,0.00,0.000,1030,0.000,0.031,2084,2481,3368,3384,3352,0,0,0,0,0,0,14.49,14.43,14.52
$GC,718,-0.67,-97.3,2083,2480,3384,3352,142.4,-14.3,108,724,0.00,2.45,0.00,0.000,260,0.000,0.075,2073,3877,3367,3384,3351,0,0,0,0,0,0,15.00,14.16,15.02
$GC,784,-0.67,-97.3,2072,3877,3384,3352,151.7,-14.9,121,792,0.15,2.22,0.00,0.000,3078,0.222,0.031,2107,2495,3368,3384,3352,0,0,0,0,0,0,13.99,14.44,14.21
$GC,982,-0.67,-97.3,2106,2493,3384,3352,177.6,-13.0,142,987,0.00,2.45,0.00,0.000,260,0.000,0.077,2097,3883,3368,3384,3353,0,0,0,0,0,0,14.99,14.15,15.01
$GC,1044,-0.67,-97.3,2097,3883,3384,3352,186.5,-13.8,154,1049,0.00,2.22,0.00,0.000,1030,0.000,0.031,2097,2504,3368,3384,3352,0,0,0,0,0,0,14.50,14.43,14.52
$GC,1238,-0.67,-97.3,2097,2503,3383,3352,211.3,-12.0,174,1242,0.00,2.42,0.00,0.000,260,0.000,0.080,2086,3876,3368,3384,3352,0,0,0,0,0,0,15.00,14.13,15.02
$GC,1265,-0.67,-97.3,2086,3876,3383,3352,214.8,-12.8,179,1269,0.00,2.25,0.00,0.000,1030,0.000,0.032,2086,2492,3367,3383,3352,0,0,0,0,0,0,14.49,14.42,14.51
$GC,1451,-0.67,-97.3,2086,2491,3381,3352,237.3,-11.8,198,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2491,3366,3381,3352,0,0,0,0,0,0,15.00,15.03,15.02
$GC,1639,-0.67,-97.3,2086,2491,3379,3352,260.3,-11.9,213,1647,0.00,2.47,0.00,0.000,260,0.000,0.081,2076,3877,3365,3378,3352,0,0,0,0,0,0,15.02,14.10,15.05
$GC,1670,-0.67,-97.3,2075,3877,3378,3351,263.8,-11.8,219,1676,0.10,2.22,0.00,0.000,3078,0.181,0.032,2105,2493,3365,3378,3352,0,0,0,0,0,0,13.95,14.37,14.05
$GC,1985,-0.67,-97.3,2105,2491,3375,3351,298.1,-10.9,236,1991,0.00,2.47,0.00,0.000,260,0.000,0.080,2096,3876,3363,3375,3351,0,0,0,0,0,0,15.02,14.07,15.04
$GC,2024,-0.67,-97.3,2096,3875,3374,3351,302.7,-11.5,244,2028,0.00,2.25,0.00,0.000,1030,0.000,0.033,2097,2497,3362,3374,3351,0,0,0,0,0,0,14.46,14.40,14.49
$GC,2345,-0.67,-97.3,2096,2495,3373,3346,339.8,-11.6,263,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2496,3360,3373,3347,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2646,-0.67,-97.3,2096,2496,3371,3345,374.4,-11.4,278,2651,0.00,2.47,0.00,0.000,260,0.000,0.083,2086,3876,3357,3371,3344,0,0,0,0,0,0,15.02,14.02,15.04
$GC,2694,-0.67,-97.3,2085,3876,3370,3344,380.2,-12.1,287,2698,0.00,2.28,0.00,0.000,1030,0.000,0.034,2085,2494,3357,3371,3344,0,0,0,0,0,0,14.43,14.35,14.45
$GC,3012,-0.67,-97.3,2085,2493,3367,3341,419.5,-12.3,305,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2493,3354,3367,3341,0,0,0,0,0,0,15.02,15.04,15.04
$GC,3310,-0.67,-97.3,2085,2493,3366,3339,455.7,-12.2,320,3315,0.00,2.53,0.00,0.000,260,0.000,0.083,2075,3878,3352,3366,3339,0,0,0,0,0,0,15.02,13.99,15.05
$GC,3402,-0.67,-97.3,2075,3878,3365,3339,467.3,-12.5,338,3407,0.15,2.28,0.00,0.000,3078,0.201,0.034,2110,2498,3352,3365,3339,0,0,0,0,0,0,13.93,14.32,14.12
$GC,3716,-0.67,-97.3,2110,2497,3363,3336,500.1,-10.2,355,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3349,3363,3336,0,0,0,0,0,0,15.00,15.03,15.02
$GC,4015,-0.67,-97.3,2110,2497,3362,3334,528.9,-9.4,370,4020,0.00,2.38,0.00,0.000,516,0.000,0.047,2110,1111,3348,3362,3334,0,0,0,0,0,0,15.02,14.15,15.04
$GC,4073,-0.67,-97.3,2110,1110,3362,3334,534.3,-9.2,381,4081,0.00,2.42,0.00,0.000,1030,0.000,0.057,2102,2483,3348,3362,3334,0,0,0,0,0,0,14.22,14.09,14.27
$GC,4398,-0.67,-97.3,2101,2483,3360,3333,565.8,-9.7,401,4402,0.00,2.58,0.00,0.000,260,0.000,0.083,2090,3900,3346,3360,3332,0,0,0,0,0,0,15.02,13.93,15.04
$GC,4486,-0.67,-97.3,2090,3900,3360,3332,574.8,-10.3,418,4491,0.00,2.33,0.00,0.000,1030,0.000,0.035,2090,2504,3346,3360,3332,0,0,0,0,0,0,14.35,14.28,14.38
$GC,4804,-0.67,-97.3,2090,2503,3357,3331,608.2,-10.6,436,4810,0.00,2.40,0.00,0.000,516,0.000,0.048,2090,1105,3344,3357,3331,0,0,0,0,0,0,15.00,14.11,15.02
$GC,4853,-0.67,-97.3,2090,1104,3357,3331,613.6,-10.5,446,4858,0.12,2.47,0.00,0.000,3078,0.209,0.057,2107,2501,3344,3357,3331,0,0,0,0,0,0,13.85,14.07,14.05
$GC,5167,-0.67,-97.3,2107,2501,3356,3330,643.5,-9.5,463,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2501,3342,3356,3329,0,0,0,0,0,0,15.00,15.03,15.02
$GC,5465,-0.67,-97.3,2107,2501,3355,3328,672.0,-9.5,478,5471,0.00,2.55,0.00,0.000,260,0.000,0.085,2098,3894,3341,3355,3327,0,0,0,0,0,0,15.02,13.89,15.04
$GC,5503,-0.67,-97.3,2097,3894,3355,3327,675.7,-10.0,485,5510,0.00,2.35,0.00,0.000,1030,0.000,0.035,2098,2491,3341,3355,3327,0,0,0,0,0,0,14.31,14.23,14.34
$GC,5829,-0.67,-97.3,2098,2490,3354,3326,709.1,-10.5,505,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2490,3340,3354,3326,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6128,-0.67,-97.3,2097,2490,3353,3325,740.1,-10.3,520,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2490,3339,3353,3325,0,0,0,0,0,0,15.01,15.04,15.03
$GC,6428,-0.67,-97.3,2098,2490,3352,3324,769.9,-9.8,535,6435,0.00,2.60,0.00,0.000,260,0.000,0.086,2087,3899,3337,3352,3323,0,0,0,0,0,0,15.00,13.85,15.03
$GC,6459,-0.67,-97.3,2086,3898,3351,3324,773.0,-10.9,541,6466,0.00,2.35,0.00,0.000,1030,0.000,0.036,2087,2497,3338,3352,3324,0,0,0,0,0,0,14.28,14.21,14.31
$GC,6768,-0.67,-97.3,2086,2496,3350,3323,804.8,-10.1,558,6773,0.00,2.40,0.00,0.000,516,0.000,0.050,2086,1109,3336,3350,3322,0,0,0,0,0,0,15.00,14.02,15.03
$GC,6810,-0.67,-97.3,2086,1109,3350,3322,809.2,-10.2,566,6816,0.15,2.47,0.00,0.000,3078,0.194,0.059,2111,2499,3336,3350,3322,0,0,0,0,0,0,13.77,14.00,13.97
$GC,7134,-0.67,-97.3,2111,2499,3349,3321,837.3,-8.7,585,7141,0.00,2.53,0.00,0.000,260,0.000,0.086,2102,3890,3335,3349,3321,0,0,0,0,0,0,15.00,13.78,15.02
$GC,7209,-0.67,-97.3,2102,3890,3348,3321,844.3,-9.3,600,7215,0.00,2.35,0.00,0.000,1030,0.000,0.036,2102,2498,3335,3349,3321,0,0,0,0,0,0,14.24,14.17,14.28
$GC,7535,-0.67,-97.3,2102,2497,3348,3320,873.6,-9.1,620,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3334,3348,3320,0,0,0,0,0,0,14.99,15.02,15.01
$GC,7834,-0.67,-97.3,2102,2497,3347,3320,900.5,-8.9,635,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3333,3347,3320,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8135,-0.67,-97.3,2102,2497,3346,3319,927.1,-8.7,650,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3332,3346,3319,0,0,0,0,0,0,14.99,15.02,15.01
$GC,8434,-0.67,-97.3,2102,2497,3344,3319,952.7,-8.5,665,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3332,3345,3319,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8734,-0.67,-97.3,2102,2497,3343,3318,978.6,-8.7,680,8738,0.00,2.62,0.00,0.000,260,0.000,0.087,2091,3897,3330,3344,3317,0,0,0,0,0,0,15.00,13.82,15.02
$GC,8778,-0.67,-97.3,2091,3897,3344,3317,982.4,-9.0,688,8785,0.00,2.38,0.00,0.000,1030,0.000,0.037,2091,2497,3330,3343,3318,0,0,0,0,0,0,14.19,14.12,14.22
$STATE,8873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8874,begin apogee
$GC,8881,-0.15,0.0,2091,2496,3343,3317,991.5,-9.0,696,8978,0.68,0.00,92.00,1.981,10246,0.164,0.000,2276,2496,2967,3000,2935,0,0,0,0,0,0,13.73,14.01,12.81
$STATE,8979,end apogee,CONTROL_FINISHED_OK
$STATE,8979,begin climb
$GC,8982,0.67,97.3,2276,2495,2999,2935,994.1,0.0,701,9100,0.85,2.53,103.75,1.952,10500,0.093,0.083,2550,3843,2570,2600,2540,0,0,0,0,0,0,14.02,13.97,12.74
$GC,9147,0.70,97.3,2550,3844,2593,2540,991.0,6.9,734,9152,0.00,2.38,0.00,0.000,1094,0.000,0.035,2561,2432,2566,2593,2539,0,0,0,0,0,0,14.32,14.26,14.34
$GC,9466,0.71,97.3,2561,2431,2590,2535,967.6,7.3,752,9470,0.00,2.38,0.00,0.000,580,0.000,0.053,2572,1050,2562,2590,2535,0,0,0,0,0,0,14.86,14.33,14.89
$GC,9548,0.73,97.3,2572,1049,2587,2535,961.5,7.2,768,9552,0.00,2.47,0.00,0.000,1094,0.000,0.060,2572,2445,2560,2587,2534,0,0,0,0,0,0,14.42,14.31,14.47
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$STATE,21252,end climb,SURFACE_DEPTH_REACHED
$STATE,21252,begin surface coast
$STATE,21262,end surface coast,CONTROL_FINISHED_OK
$STATE,21262,begin surface
$SM_CCo,21287,95.22,0.593,1,0,929,500.17
$SM_GC,1.23,7.70,2.60,95.22,0.043,0.055,0.593,129,2509,929,-6.79,-0.76,500.17,0,0,0,0,1,0,14.40,14.28,13.60
$IRIDIUM_FIX,513.14,8025.49,250120,160741
$TT8_MAMPS,0.018725,0.160286
$HUMID,51.49
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.30
$XPDR_PINGS,5
$24V_AH,12.62,253.414
$10V_AH,13.17,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.950,209.425,484.400,95.225,0.000,0.000,0.000,207.650,1.250,0.000,14.593,1585.264,15978.651,738.780,2854.524,582.028,0.000,2445.936,0.000,2623.278,0.000,0.541,0.000
$DEVICE_MAMPS,345.780,96.390,1981.350,592.875,0.000,0.000,0.000,192.015,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,883.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249644
$DATA_FILE_SIZE,80082,1846
$CAP_FILE_SIZE,200352,0
$CFSIZE,260034560,117112832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.134,351.97,1
$GPS,260120,035400,520.968,8023.348,20,0.9,20,-2.2,1.0,291.5,10,5.2