version: 66.13
glider: 171
mission: 11
dive: 545
start: 12 2 119 14 46 40
data:
$ID,171
$MISSION,11
$DIVE,545
$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,0.00223872
$HD_B,0.0163117
$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,580.87036
$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,67
$R_STBD_OVSHOOT,27
$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
$GPS1,021219,143430,635.8203,8330.8428,29,0.7,29,-1.8,1.1,243.0,12,3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.7
$GPS2,021219,144548,635.7894,8330.6260,2,0.5,3,-1.8,0.6,264.3,12,6.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,203.6,87036,-19.5,-8.049,-26.91,1839
$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,9,-0.67,-97.3,108,2500,969,881,0.0,0.0,0,83,0.00,0.00,-71.40,0.005,16386,0.000,0.000,105,2500,2646,2646,2647,0,0,0,0,0,0,14.94,28.83,14.97
$GC,87,-0.67,-97.3,105,2500,2648,2647,5.2,-14.0,15,118,9.05,2.30,-13.45,0.009,18948,0.340,0.069,2107,1117,3367,3382,3352,0,0,0,0,0,0,13.95,13.50,14.40
$GC,199,-0.67,-97.3,2107,1117,3383,3352,38.0,-20.6,37,203,0.00,2.35,0.00,0.000,1030,0.000,0.057,2098,2504,3367,3383,3352,0,0,0,0,0,0,14.64,14.52,14.66
$GC,391,-0.67,-97.3,2098,2505,3382,3352,79.6,-17.4,61,394,0.00,2.38,0.00,0.000,260,0.000,0.077,2087,3902,3367,3383,3352,0,0,0,0,0,0,15.01,14.50,15.04
$GC,606,-0.67,-97.3,2087,3902,3383,3352,110.9,-12.1,104,610,0.00,2.20,0.00,0.000,1030,0.000,0.031,2087,2503,3367,3383,3352,0,0,0,0,0,0,14.76,14.71,14.78
$GC,793,-0.67,-97.3,2087,2502,3383,3352,135.4,-13.0,123,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2502,3367,3382,3352,0,0,0,0,0,0,15.06,15.09,15.08
$GC,981,-0.67,-97.3,2087,2502,3382,3352,161.4,-13.9,142,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2502,3367,3382,3352,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1161,-0.67,-97.3,2087,2502,3381,3352,187.1,-13.9,160,1165,0.00,2.40,0.00,0.000,260,0.000,0.079,2077,3900,3366,3381,3352,0,0,0,0,0,0,15.09,14.54,15.11
$GC,1188,-0.67,-97.3,2076,3900,3381,3352,190.8,-14.3,165,1193,0.15,2.22,0.00,0.000,3078,0.213,0.033,2113,2492,3366,3381,3352,0,0,0,0,0,0,14.41,14.73,14.62
$GC,1372,-0.67,-97.3,2113,2491,3379,3352,213.3,-11.4,184,1376,0.00,2.25,0.00,0.000,516,0.000,0.048,2113,1112,3365,3379,3352,0,0,0,0,0,0,15.09,14.63,15.12
$GC,1408,-0.67,-97.3,2113,1111,3378,3352,217.6,-12.0,191,1413,0.00,2.35,0.00,0.000,1030,0.000,0.054,2104,2510,3365,3378,3352,0,0,0,0,0,0,14.72,14.62,14.76
$GC,1594,-0.67,-97.3,2104,2510,3377,3352,240.1,-12.1,210,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2510,3364,3377,3352,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1783,-0.67,-97.3,2104,2509,3374,3352,261.4,-11.1,224,1787,0.00,2.38,0.00,0.000,260,0.000,0.082,2093,3899,3363,3374,3352,0,0,0,0,0,0,15.11,14.54,15.13
$GC,1830,-0.67,-97.3,2093,3899,3373,3351,266.6,-11.4,233,1834,0.00,2.22,0.00,0.000,1030,0.000,0.033,2093,2492,3362,3373,3352,0,0,0,0,0,0,14.79,14.73,14.81
$GC,2146,-0.67,-97.3,2092,2491,3372,3348,302.7,-11.3,251,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2491,3360,3372,3348,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2446,-0.67,-97.3,2092,2491,3370,3345,337.1,-11.9,266,2451,0.00,2.42,0.00,0.000,260,0.000,0.081,2083,3894,3357,3370,3345,0,0,0,0,0,0,15.11,14.53,15.14
$GC,2474,-0.67,-97.3,2082,3894,3370,3345,340.4,-13.0,271,2479,0.12,2.25,0.00,0.000,3078,0.208,0.034,2113,2491,3357,3370,3345,0,0,0,0,0,0,14.45,14.72,14.63
$GC,2791,-0.67,-97.3,2112,2489,3367,3342,375.2,-10.7,289,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2489,3354,3367,3342,0,0,0,0,0,0,15.11,15.16,15.14
$GC,3092,-0.67,-97.3,2112,2489,3366,3339,405.1,-9.5,304,3098,0.00,2.45,0.00,0.000,260,0.000,0.083,2103,3897,3352,3366,3339,0,0,0,0,0,0,15.11,14.50,15.13
$GC,3146,-0.67,-97.3,2103,3898,3365,3339,410.5,-9.7,315,3150,0.00,2.22,0.00,0.000,1030,0.000,0.034,2104,2502,3352,3365,3339,0,0,0,0,0,0,14.77,14.71,14.79
$GC,3451,-0.67,-97.3,2103,2500,3362,3338,439.3,-9.3,331,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3350,3363,3338,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3752,-0.67,-97.3,2103,2501,3362,3335,467.1,-9.5,346,3757,0.00,2.30,0.00,0.000,516,0.000,0.049,2104,1111,3348,3361,3335,0,0,0,0,0,0,15.10,14.60,15.13
$GC,3784,-0.67,-97.3,2103,1111,3361,3335,470.4,-9.7,352,3788,0.00,2.38,0.00,0.000,1030,0.000,0.057,2092,2505,3348,3361,3335,0,0,0,0,0,0,14.69,14.57,14.73
$GC,4095,-0.67,-97.3,2092,2505,3359,3333,504.1,-11.3,369,4099,0.00,2.42,0.00,0.000,260,0.000,0.083,2082,3897,3346,3359,3333,0,0,0,0,0,0,15.11,14.47,15.14
$GC,4152,-0.67,-97.3,2082,3897,3358,3333,510.9,-11.9,380,4157,0.12,2.25,0.00,0.000,3078,0.210,0.034,2112,2495,3345,3358,3333,0,0,0,0,0,0,14.40,14.68,14.59
$GC,4456,-0.67,-97.3,2112,2493,3356,3331,541.5,-9.6,396,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3344,3357,3332,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4757,-0.67,-97.3,2112,2494,3356,3330,568.9,-8.9,411,4761,0.00,2.30,0.00,0.000,516,0.000,0.050,2112,1106,3343,3356,3330,0,0,0,0,0,0,15.10,14.57,15.12
$GC,4779,-0.67,-97.3,2112,1106,3355,3330,570.9,-9.3,415,4783,0.00,2.38,0.00,0.000,1030,0.000,0.058,2103,2499,3342,3355,3330,0,0,0,0,0,0,14.66,14.54,14.70
$GC,5100,-0.67,-97.3,2103,2499,3354,3328,600.2,-9.2,434,5104,0.00,2.42,0.00,0.000,260,0.000,0.085,2092,3894,3341,3354,3328,0,0,0,0,0,0,15.11,14.45,15.14
$GC,5128,-0.67,-97.3,2091,3894,3353,3328,602.8,-10.1,439,5132,0.00,2.25,0.00,0.000,1030,0.000,0.035,2092,2497,3341,3354,3328,0,0,0,0,0,0,14.73,14.66,14.75
$GC,5444,-0.67,-97.3,2091,2495,3352,3327,633.8,-10.0,457,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2495,3339,3352,3327,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5744,-0.67,-97.3,2091,2495,3351,3325,661.8,-9.3,472,5750,0.00,2.45,0.00,0.000,260,0.000,0.084,2081,3889,3338,3351,3325,0,0,0,0,0,0,15.10,14.42,15.13
$GC,5795,-0.67,-97.3,2081,3889,3351,3325,666.7,-10.1,482,5800,0.12,2.25,0.00,0.000,3078,0.208,0.036,2111,2497,3338,3351,3325,0,0,0,0,0,0,14.35,14.64,14.54
$GC,6108,-0.67,-97.3,2111,2495,3349,3324,693.6,-8.6,499,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2495,3336,3350,3323,0,0,0,0,0,0,15.09,15.13,15.12
$GC,6408,-0.67,-97.3,2111,2495,3348,3322,719.8,-8.9,514,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3335,3348,3322,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6707,-0.67,-97.3,2111,2495,3348,3321,745.9,-8.4,529,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3334,3348,3321,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7007,-0.67,-97.3,2111,2495,3347,3320,770.2,-8.0,544,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3333,3347,3320,0,0,0,0,0,0,15.09,15.13,15.12
$GC,7309,-0.67,-97.3,2111,2495,3345,3320,794.0,-8.0,559,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3332,3345,3320,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7607,-0.67,-97.3,2111,2495,3344,3319,818.6,-8.4,574,7612,0.00,2.50,0.00,0.000,260,0.000,0.087,2102,3893,3331,3343,3319,0,0,0,0,0,0,15.10,14.35,15.12
$GC,7629,-0.67,-97.3,2102,3893,3343,3319,820.5,-8.8,578,7634,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2493,3331,3344,3319,0,0,0,0,0,0,14.68,14.60,14.69
$GC,7952,-0.67,-97.3,2102,2492,3343,3319,850.2,-9.4,597,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2492,3331,3343,3319,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8251,-0.67,-97.3,2102,2492,3343,3317,878.5,-9.4,612,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2492,3329,3342,3317,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8552,-0.67,-97.3,2102,2492,3342,3316,906.5,-9.3,627,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2492,3329,3342,3316,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8852,-0.67,-97.3,2102,2492,3342,3316,933.3,-8.7,642,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2492,3329,3342,3316,0,0,0,0,0,0,15.08,15.11,15.11
$GC,9151,-0.67,-97.3,2102,2492,3341,3315,958.9,-8.4,657,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2492,3328,3341,3315,0,0,0,0,0,0,15.09,15.12,15.11
$GC,9451,-0.67,-97.3,2102,2492,3340,3314,985.4,-9.1,672,9458,0.00,2.50,0.00,0.000,260,0.000,0.087,2091,3887,3327,3340,3314,0,0,0,0,0,0,15.09,14.29,15.11
$GC,9497,-0.67,-97.3,2090,3887,3339,3314,989.8,-9.9,681,9501,0.00,2.28,0.00,0.000,1030,0.000,0.037,2091,2496,3327,3340,3314,0,0,0,0,0,0,14.62,14.55,14.65
$STATE,9505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9505,begin apogee
$GC,9512,-0.15,0.0,2091,2495,3339,3314,990.9,-9.9,683,9608,0.65,0.00,91.05,2.004,10246,0.171,0.000,2276,2494,2968,2999,2937,0,0,0,0,0,0,14.12,13.61,12.59
$STATE,9609,end apogee,CONTROL_FINISHED_OK
$STATE,9609,begin climb
$GC,9612,0.67,97.3,2276,2495,2998,2937,994.5,0.0,688,9727,0.82,2.47,103.53,1.991,10500,0.089,0.081,2551,3852,2570,2599,2541,0,0,0,0,0,0,14.18,13.57,12.56
$GC,9755,0.72,145.7,2551,3852,2593,2541,994.7,5.3,716,9813,0.00,2.38,49.85,1.961,9254,0.000,0.036,2562,2430,2372,2409,2336,0,0,0,0,0,0,14.33,14.27,12.62
$GC,10115,0.72,145.7,2562,2430,2400,2330,960.1,10.2,743,10119,0.00,2.38,0.00,0.000,516,0.000,0.056,2573,1048,2365,2400,2330,0,0,0,0,0,0,14.86,14.46,14.90
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$STATE,20752,end climb,SURFACE_DEPTH_REACHED
$STATE,20752,begin surface coast
$STATE,20761,end surface coast,CONTROL_FINISHED_OK
$STATE,20761,begin surface
$SM_CCo,20784,213.35,0.682,1,0,599,580.87
$SM_GC,1.26,7.93,2.50,213.35,0.102,0.049,0.682,130,2496,599,-6.78,-1.07,580.87,0,0,0,0,1,0,14.56,14.48,13.58
$IRIDIUM_FIX,636.11,8330.48,021219,144257
$TT8_MAMPS,0.019474,0.167027
$HUMID,45.19
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.56,187.898
$10V_AH,10.90,0.000
$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,19.975,194.425,427.500,213.350,0.000,0.000,0.000,281.525,0.250,0.000,14.811,1607.533,16017.833,777.607,2784.720,484.813,0.000,2457.255,0.000,2469.318,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,87.210,2004.300,681.615,0.000,0.000,0.000,115.515,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,922.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250892
$DATA_FILE_SIZE,76524,1737
$CAP_FILE_SIZE,198173,0
$CFSIZE,260034560,137322496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.044,356.69,1
$GPS,021219,203739,634.638,8329.794,15,1.1,15,-1.8,0.5,276.7,8,6.3