version: 66.13
glider: 171
mission: 11
dive: 548
start: 12 3 119 8 5 31
data:
$ID,171
$MISSION,11
$DIVE,548
$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,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,58
$R_STBD_OVSHOOT,32
$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
$GPS1,031219,075439,632.3057,8327.2656,25,0.9,25,-1.8,0.3,0.0,8,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.7
$GPS2,031219,080440,632.3014,8327.1973,2,0.9,6,-1.8,0.4,168.2,8,9.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,220.5,78026,-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,5,begin dive
$GC,9,-0.67,-97.3,103,2504,974,877,0.0,0.0,0,83,0.00,0.00,-71.78,0.005,16386,0.000,0.000,103,2505,2638,2637,2639,0,0,0,0,0,0,14.87,28.83,14.90
$GC,87,-0.67,-97.3,103,2505,2639,2639,4.9,-13.2,15,116,9.10,2.40,-13.80,0.009,18948,0.343,0.070,2104,1106,3369,3383,3355,0,0,0,0,0,0,13.95,12.66,14.39
$GC,195,-0.67,-97.3,2103,1105,3383,3354,36.9,-20.8,36,200,0.00,2.38,0.00,0.000,1030,0.000,0.059,2094,2500,3369,3383,3355,0,0,0,0,0,0,14.62,14.50,14.65
$GC,384,-0.67,-97.3,2094,2501,3383,3354,77.4,-18.1,60,388,0.00,2.38,0.00,0.000,260,0.000,0.079,2084,3896,3368,3383,3354,0,0,0,0,0,0,14.98,14.50,15.01
$GC,547,-0.67,-97.3,2083,3896,3383,3354,107.4,-14.8,92,551,0.00,2.20,0.00,0.000,1030,0.000,0.031,2083,2495,3368,3383,3354,0,0,0,0,0,0,14.76,14.70,14.78
$GC,739,-0.67,-97.3,2083,2494,3383,3354,136.2,-14.8,112,743,0.00,2.25,0.00,0.000,516,0.000,0.047,2084,1107,3368,3383,3354,0,0,0,0,0,0,15.06,14.63,15.08
$GC,769,-0.67,-97.3,2083,1107,3383,3355,140.7,-13.6,118,776,0.15,2.35,0.00,0.000,3078,0.220,0.054,2109,2505,3368,3383,3354,0,0,0,0,0,0,14.38,14.62,14.60
$GC,963,-0.67,-97.3,2109,2506,3383,3354,164.5,-12.4,138,967,0.00,2.35,0.00,0.000,260,0.000,0.080,2100,3891,3368,3383,3354,0,0,0,0,0,0,15.08,14.55,15.11
$GC,1055,-0.67,-97.3,2099,3891,3382,3354,176.1,-12.2,156,1059,0.00,2.20,0.00,0.000,1030,0.000,0.031,2100,2491,3368,3382,3354,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1246,-0.67,-97.3,2099,2489,3381,3354,198.1,-11.9,176,1250,0.00,2.25,0.00,0.000,516,0.000,0.047,2100,1111,3367,3380,3354,0,0,0,0,0,0,15.09,14.65,15.11
$GC,1304,-0.67,-97.3,2099,1111,3379,3354,204.9,-11.8,187,1308,0.00,2.33,0.00,0.000,1030,0.000,0.054,2089,2500,3366,3379,3354,0,0,0,0,0,0,14.73,14.63,14.76
$GC,1487,-0.67,-97.3,2088,2500,3377,3354,228.4,-12.6,206,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3365,3377,3354,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1677,-0.67,-97.3,2088,2500,3376,3354,253.3,-13.6,224,1681,0.00,2.38,0.00,0.000,260,0.000,0.080,2078,3894,3364,3375,3354,0,0,0,0,0,0,15.10,14.55,15.13
$GC,1759,-0.67,-97.3,2078,3895,3373,3354,264.5,-13.7,240,1764,0.12,2.20,0.00,0.000,3078,0.215,0.032,2108,2495,3364,3374,3354,0,0,0,0,0,0,14.45,14.74,14.64
$GC,2082,-0.67,-97.3,2107,2494,3373,3349,301.5,-11.1,259,2086,0.00,2.25,0.00,0.000,516,0.000,0.047,2108,1117,3361,3373,3349,0,0,0,0,0,0,15.11,14.64,15.14
$GC,2119,-0.67,-97.3,2108,1117,3372,3348,305.6,-11.2,266,2124,0.00,2.35,0.00,0.000,1030,0.000,0.056,2099,2506,3360,3372,3349,0,0,0,0,0,0,14.73,14.62,14.76
$GC,2423,-0.67,-97.3,2098,2506,3370,3346,340.8,-11.7,282,2428,0.00,2.38,0.00,0.000,260,0.000,0.083,2088,3889,3358,3371,3346,0,0,0,0,0,0,15.11,14.54,15.14
$GC,2465,-0.67,-97.3,2088,3890,3370,3346,345.9,-12.2,290,2470,0.00,2.20,0.00,0.000,1030,0.000,0.034,2088,2506,3358,3370,3346,0,0,0,0,0,0,14.79,14.73,14.81
$GC,2788,-0.67,-97.3,2087,2505,3367,3343,384.4,-11.6,309,2792,0.00,2.30,0.00,0.000,516,0.000,0.049,2088,1105,3355,3367,3343,0,0,0,0,0,0,15.10,14.63,15.13
$GC,2809,-0.67,-97.3,2087,1104,3367,3343,387.0,-12.0,313,2814,0.12,2.38,0.00,0.000,3078,0.213,0.057,2108,2504,3355,3367,3343,0,0,0,0,0,0,14.42,14.61,14.62
$GC,3130,-0.67,-97.3,2107,2504,3365,3340,418.7,-10.1,331,3134,0.00,2.40,0.00,0.000,260,0.000,0.083,2099,3899,3353,3366,3340,0,0,0,0,0,0,15.08,14.52,15.11
$GC,3201,-0.67,-97.3,2098,3899,3365,3340,426.6,-10.7,345,3205,0.00,2.22,0.00,0.000,1030,0.000,0.034,2099,2502,3352,3364,3340,0,0,0,0,0,0,14.78,14.71,14.80
$GC,3512,-0.67,-97.3,2099,2501,3363,3338,458.9,-10.2,362,3517,0.00,2.30,0.00,0.000,516,0.000,0.050,2099,1110,3350,3362,3338,0,0,0,0,0,0,15.11,14.61,15.14
$GC,3554,-0.67,-97.3,2099,1109,3362,3338,463.1,-9.9,370,3560,0.00,2.38,0.00,0.000,1030,0.000,0.059,2088,2503,3350,3362,3338,0,0,0,0,0,0,14.70,14.58,14.74
$GC,3878,-0.67,-97.3,2087,2503,3361,3335,498.7,-11.3,389,3882,0.00,2.40,0.00,0.000,260,0.000,0.083,2077,3896,3348,3361,3335,0,0,0,0,0,0,15.10,14.50,15.12
$GC,3950,-0.67,-97.3,2077,3896,3360,3335,507.3,-12.1,403,3955,0.12,2.25,0.00,0.000,3078,0.210,0.035,2108,2492,3347,3360,3335,0,0,0,0,0,0,14.41,14.69,14.60
$GC,4263,-0.67,-97.3,2108,2491,3359,3333,539.8,-10.2,420,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2491,3346,3359,3333,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4563,-0.67,-97.3,2108,2491,3356,3332,570.9,-10.3,435,4568,0.00,2.47,0.00,0.000,260,0.000,0.083,2099,3894,3343,3356,3331,0,0,0,0,0,0,15.11,14.47,15.14
$GC,4586,-0.67,-97.3,2098,3894,3356,3331,573.1,-10.2,439,4590,0.00,2.25,0.00,0.000,1030,0.000,0.035,2099,2494,3343,3356,3331,0,0,0,0,0,0,14.75,14.68,14.77
$GC,4907,-0.67,-97.3,2098,2492,3355,3330,606.7,-10.3,458,4912,0.00,2.30,0.00,0.000,516,0.000,0.050,2099,1107,3342,3355,3330,0,0,0,0,0,0,15.11,14.57,15.14
$GC,4958,-0.67,-97.3,2098,1106,3354,3330,612.1,-10.3,468,4963,0.00,2.40,0.00,0.000,1030,0.000,0.060,2088,2502,3342,3354,3330,0,0,0,0,0,0,14.66,14.54,14.69
$GC,5265,-0.67,-97.3,2087,2501,3353,3328,645.3,-10.9,484,5271,0.00,2.42,0.00,0.000,260,0.000,0.085,2077,3896,3340,3353,3328,0,0,0,0,0,0,15.09,14.45,15.12
$GC,5319,-0.67,-97.3,2077,3896,3353,3328,651.5,-11.4,495,5324,0.12,2.28,0.00,0.000,3078,0.210,0.037,2108,2496,3340,3353,3328,0,0,0,0,0,0,14.36,14.64,14.55
$GC,5625,-0.67,-97.3,2108,2495,3352,3326,681.5,-9.8,511,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2494,3339,3352,3326,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5923,-0.67,-97.3,2108,2495,3351,3325,710.8,-9.7,526,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2495,3338,3351,3325,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6223,-0.67,-97.3,2108,2495,3349,3324,739.5,-9.6,541,6228,0.00,2.33,0.00,0.000,516,0.000,0.051,2108,1103,3336,3349,3324,0,0,0,0,0,0,15.10,14.54,15.13
$GC,6271,-0.67,-97.3,2108,1104,3348,3324,744.1,-9.7,550,6276,0.00,2.42,0.00,0.000,1030,0.000,0.059,2099,2506,3335,3348,3323,0,0,0,0,0,0,14.62,14.50,14.66
$GC,6588,-0.67,-97.3,2098,2506,3348,3322,775.6,-9.8,568,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2506,3335,3348,3322,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6890,-0.67,-97.3,2098,2506,3347,3321,805.5,-10.0,583,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2507,3334,3347,3321,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7188,-0.67,-97.3,2098,2506,3345,3321,835.7,-10.1,598,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2507,3333,3346,3321,0,0,0,0,0,0,15.10,15.13,15.13
$GC,7488,-0.67,-97.3,2098,2507,3344,3320,866.3,-10.1,613,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2506,3331,3343,3320,0,0,0,0,0,0,15.09,15.13,15.12
$GC,7789,-0.67,-97.3,2098,2506,3344,3319,895.7,-9.6,628,7795,0.00,2.45,0.00,0.000,260,0.000,0.087,2088,3899,3331,3343,3319,0,0,0,0,0,0,15.09,14.35,15.11
$GC,7868,-0.67,-97.3,2088,3899,3343,3319,903.6,-10.0,644,7872,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2502,3331,3343,3319,0,0,0,0,0,0,14.66,14.58,14.68
$GC,8190,-0.67,-97.3,2087,2500,3343,3318,935.8,-10.1,663,8194,0.00,2.35,0.00,0.000,516,0.000,0.053,2087,1104,3330,3343,3317,0,0,0,0,0,0,15.09,14.47,15.11
$GC,8216,-0.67,-97.3,2087,1104,3342,3317,938.6,-10.5,668,8224,0.15,2.45,0.00,0.000,3078,0.200,0.066,2113,2505,3329,3342,3317,0,0,0,0,0,0,14.22,14.43,14.36
$GC,8531,-0.67,-97.3,2113,2505,3342,3317,966.2,-8.8,686,8536,0.00,2.47,0.00,0.000,260,0.000,0.089,2105,3897,3329,3342,3316,0,0,0,0,0,0,15.09,14.32,15.11
$GC,8589,-0.67,-97.3,2104,3897,3342,3316,971.4,-9.1,697,8593,0.00,2.30,0.00,0.000,1030,0.000,0.038,2105,2497,3329,3342,3317,0,0,0,0,0,0,14.64,14.56,14.66
$STATE,8811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8811,begin apogee
$GC,8818,-0.15,0.0,2105,2495,3342,3316,991.2,-8.8,709,8914,0.60,0.00,91.43,1.997,10246,0.163,0.000,2276,2495,2968,3000,2937,0,0,0,0,0,0,14.18,14.00,12.62
$STATE,8915,end apogee,CONTROL_FINISHED_OK
$STATE,8915,begin climb
$GC,8918,0.67,97.3,2277,2495,2999,2937,994.0,0.0,714,9034,0.82,2.55,102.78,1.983,10500,0.090,0.084,2551,3851,2569,2599,2539,0,0,0,0,0,0,14.19,13.97,12.62
$GC,9052,0.72,151.8,2551,3851,2594,2539,993.0,5.0,741,9114,0.00,2.38,55.67,1.958,9254,0.000,0.037,2562,2438,2348,2386,2311,0,0,0,0,0,0,14.31,14.26,12.65
$GC,9416,0.72,151.8,2562,2437,2377,2306,954.4,11.5,769,9420,0.00,2.35,0.00,0.000,516,0.000,0.054,2573,1050,2341,2377,2305,0,0,0,0,0,0,14.88,14.47,14.90
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$STATE,19254,end climb,SURFACE_DEPTH_REACHED
$STATE,19254,begin surface coast
$STATE,19288,end surface coast,CONTROL_FINISHED_OK
$STATE,19288,begin surface
$SM_CCo,19308,64.60,0.509,1,0,927,500.17
$SM_GC,1.33,7.22,0.10,64.60,0.046,0.140,0.509,112,2526,927,-6.77,-0.90,500.17,0,0,0,0,1,0,14.62,14.59,13.70
$IRIDIUM_FIX,631.77,8328.32,031219,075846
$TT8_MAMPS,0.018725,0.158039
$HUMID,48.62
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,12.62,188.835
$10V_AH,12.40,0.000
$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,19.625,203.850,519.925,64.600,0.000,0.000,0.000,339.475,0.250,0.000,18.185,1551.190,14467.555,698.555,2774.712,485.104,0.000,2432.188,0.000,2416.215,0.000,0.541,0.000
$DEVICE_MAMPS,342.720,139.995,1996.650,508.725,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,874.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250532
$DATA_FILE_SIZE,73178,1699
$CAP_FILE_SIZE,192642,0
$CFSIZE,260034560,137097216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.026,335.64,1
$GPS,031219,132930,631.201,8325.777,18,0.9,18,-1.8,1.1,232.8,9,5.9