version: 66.13
glider: 171
mission: 11
dive: 568
start: 12 8 119 8 46 17
data:
$ID,171
$MISSION,11
$DIVE,568
$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,60
$R_STBD_OVSHOOT,50
$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
$GPS1,081219,083930,612.8946,8308.7783,27,0.7,27,-1.9,1.0,217.9,12,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.6
$GPS2,081219,084523,612.8911,8308.6787,2,0.6,3,-1.9,0.3,313.2,12,7.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,237.5,28732,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,91,2529,972,879,0.0,0.0,0,84,0.00,0.00,-71.80,0.005,16386,0.000,0.000,86,2529,2615,2610,2620,0,0,0,0,0,0,14.85,28.83,14.89
$GC,88,-0.67,-97.3,86,2529,2613,2620,4.8,-12.9,15,120,9.20,2.35,-14.25,0.009,18692,0.342,0.089,2094,3878,3368,3383,3353,0,0,0,0,0,0,13.90,12.60,14.36
$GC,168,-0.67,-97.3,2094,3878,3384,3353,33.7,-36.0,31,172,0.00,2.20,0.00,0.000,1030,0.000,0.031,2094,2472,3368,3384,3353,0,0,0,0,0,0,14.68,14.63,14.69
$GC,356,-0.67,-97.3,2094,2471,3384,3353,78.3,-18.3,55,363,0.00,2.42,0.00,0.000,260,0.000,0.080,2084,3871,3368,3383,3353,0,0,0,0,0,0,14.97,14.46,15.00
$GC,590,-0.67,-97.3,2083,3871,3384,3353,116.7,-14.5,102,595,0.00,2.12,0.00,0.000,1030,0.000,0.031,2084,2520,3368,3384,3353,0,0,0,0,0,0,14.75,14.69,14.77
$GC,776,-0.67,-97.3,2084,2519,3384,3353,141.7,-13.1,121,780,0.00,2.33,0.00,0.000,260,0.000,0.077,2073,3875,3368,3384,3353,0,0,0,0,0,0,15.07,14.52,15.09
$GC,914,-0.67,-97.3,2073,3875,3383,3353,162.8,-15.2,148,919,0.15,2.17,0.00,0.000,3078,0.213,0.032,2109,2495,3368,3383,3353,0,0,0,0,0,0,14.38,14.71,14.59
$GC,1097,-0.67,-97.3,2109,2494,3383,3353,184.9,-11.9,167,1102,0.00,2.25,0.00,0.000,516,0.000,0.044,2110,1109,3368,3384,3353,0,0,0,0,0,0,15.08,14.64,15.11
$GC,1130,-0.67,-97.3,2109,1108,3383,3353,188.6,-11.5,173,1134,0.00,2.30,0.00,0.000,1030,0.000,0.056,2101,2479,3368,3383,3353,0,0,0,0,0,0,14.71,14.61,14.75
$GC,1321,-0.67,-97.3,2100,2479,3382,3353,212.7,-12.4,193,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2479,3367,3382,3353,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1502,-0.67,-97.3,2100,2479,3380,3353,233.8,-11.7,211,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2479,3366,3379,3353,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1691,-0.67,-97.3,2100,2479,3377,3353,255.3,-11.3,228,1695,0.00,2.42,0.00,0.000,260,0.000,0.080,2089,3897,3365,3378,3352,0,0,0,0,0,0,15.10,14.54,15.13
$GC,1757,-0.67,-97.3,2089,3897,3377,3353,262.9,-11.4,241,1761,0.00,2.20,0.00,0.000,1030,0.000,0.033,2089,2506,3364,3377,3352,0,0,0,0,0,0,14.79,14.72,14.81
$GC,2069,-0.67,-97.3,2089,2505,3373,3351,297.8,-10.8,258,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2505,3362,3373,3351,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2368,-0.67,-97.3,2089,2505,3372,3348,330.5,-11.1,273,2372,0.00,2.42,0.00,0.000,260,0.000,0.082,2079,3899,3360,3372,3348,0,0,0,0,0,0,15.11,14.52,15.13
$GC,2424,-0.67,-97.3,2078,3899,3372,3348,337.1,-11.5,284,2429,0.12,2.22,0.00,0.000,3078,0.208,0.034,2109,2499,3360,3372,3348,0,0,0,0,0,0,14.44,14.71,14.62
$GC,2729,-0.67,-97.3,2108,2498,3371,3345,367.4,-10.1,300,2733,0.00,2.28,0.00,0.000,516,0.000,0.048,2109,1112,3357,3370,3345,0,0,0,0,0,0,15.10,14.62,15.13
$GC,2766,-0.67,-97.3,2109,1111,3370,3345,371.1,-10.0,307,2770,0.00,2.38,0.00,0.000,1030,0.000,0.057,2099,2507,3357,3369,3345,0,0,0,0,0,0,14.70,14.59,14.73
$GC,3072,-0.67,-97.3,2099,2508,3367,3342,403.5,-10.9,323,3076,0.00,2.40,0.00,0.000,260,0.000,0.083,2089,3899,3354,3367,3342,0,0,0,0,0,0,15.09,14.50,15.12
$GC,3122,-0.67,-97.3,2088,3899,3366,3342,409.4,-11.5,333,3127,0.00,2.25,0.00,0.000,1030,0.000,0.034,2089,2495,3354,3367,3342,0,0,0,0,0,0,14.76,14.70,14.78
$GC,3434,-0.67,-97.3,2088,2493,3366,3339,444.1,-10.8,350,3439,0.00,2.47,0.00,0.000,260,0.000,0.083,2078,3900,3352,3365,3339,0,0,0,0,0,0,15.10,14.49,15.13
$GC,3477,-0.67,-97.3,2077,3900,3365,3339,448.9,-11.7,358,3483,0.12,2.25,0.00,0.000,3078,0.210,0.035,2108,2495,3352,3365,3339,0,0,0,0,0,0,14.40,14.69,14.59
$GC,3800,-0.67,-97.3,2108,2494,3363,3338,479.9,-9.5,377,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2494,3350,3363,3337,0,0,0,0,0,0,15.10,15.14,15.13
$GC,4101,-0.67,-97.3,2107,2494,3362,3335,508.7,-9.5,392,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2494,3349,3362,3336,0,0,0,0,0,0,15.09,15.13,15.12
$GC,4400,-0.67,-97.3,2108,2494,3360,3334,536.3,-8.9,407,4407,0.00,2.45,0.00,0.000,260,0.000,0.086,2099,3890,3347,3360,3334,0,0,0,0,0,0,15.11,14.46,15.13
$GC,4445,-0.67,-97.3,2098,3890,3360,3334,540.5,-9.5,416,4449,0.00,2.25,0.00,0.000,1030,0.000,0.035,2099,2494,3347,3360,3334,0,0,0,0,0,0,14.73,14.67,14.76
$GC,4763,-0.67,-97.3,2098,2493,3358,3332,569.8,-9.2,434,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3345,3358,3332,0,0,0,0,0,0,15.09,15.12,15.12
$GC,5062,-0.67,-97.3,2098,2493,3356,3331,596.5,-8.9,449,5069,0.00,2.47,0.00,0.000,260,0.000,0.086,2087,3899,3343,3356,3331,0,0,0,0,0,0,15.10,14.44,15.13
$GC,5093,-0.67,-97.3,2087,3898,3355,3331,599.3,-10.1,455,5097,0.00,2.28,0.00,0.000,1030,0.000,0.036,2088,2493,3343,3356,3331,0,0,0,0,0,0,14.72,14.65,14.74
$GC,5405,-0.67,-97.3,2087,2492,3355,3330,629.6,-9.8,472,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3342,3355,3330,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5704,-0.67,-97.3,2087,2492,3354,3329,659.6,-10.2,487,5710,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3894,3341,3354,3328,0,0,0,0,0,0,15.09,14.41,15.11
$GC,5758,-0.67,-97.3,2076,3894,3353,3328,665.4,-10.7,498,5764,0.15,2.28,0.00,0.000,3078,0.200,0.036,2114,2492,3341,3354,3328,0,0,0,0,0,0,14.32,14.63,14.52
$GC,6065,-0.67,-97.3,2114,2491,3353,3327,691.7,-8.5,514,6070,0.00,2.33,0.00,0.000,516,0.000,0.050,2114,1108,3339,3352,3327,0,0,0,0,0,0,15.08,14.53,15.11
$GC,6112,-0.67,-97.3,2114,1107,3352,3327,695.9,-8.5,523,6117,0.00,2.42,0.00,0.000,1030,0.000,0.058,2105,2506,3339,3352,3327,0,0,0,0,0,0,14.60,14.49,14.64
$GC,6429,-0.67,-97.3,2105,2506,3351,3326,723.2,-8.6,541,6433,0.00,2.42,0.00,0.000,260,0.000,0.086,2094,3891,3338,3351,3326,0,0,0,0,0,0,15.08,14.39,15.11
$GC,6475,-0.67,-97.3,2093,3891,3351,3326,727.7,-9.8,550,6480,0.00,2.25,0.00,0.000,1030,0.000,0.036,2094,2502,3338,3351,3326,0,0,0,0,0,0,14.69,14.62,14.71
$GC,6794,-0.67,-97.3,2094,2500,3350,3324,758.0,-9.6,568,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2500,3337,3350,3325,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7094,-0.67,-97.3,2094,2500,3350,3323,786.8,-9.4,583,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2500,3336,3349,3323,0,0,0,0,0,0,15.08,15.11,15.10
$GC,7392,-0.67,-97.3,2093,2500,3348,3322,814.8,-9.3,598,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2500,3335,3348,3322,0,0,0,0,0,0,15.09,15.12,15.12
$GC,7692,-0.67,-97.3,2094,2500,3347,3321,842.2,-9.2,613,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2500,3334,3348,3321,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7993,-0.67,-97.3,2094,2500,3347,3320,869.8,-9.1,628,7997,0.00,2.35,0.00,0.000,516,0.000,0.050,2094,1103,3333,3347,3320,0,0,0,0,0,0,15.08,14.48,15.10
$GC,8030,-0.67,-97.3,2093,1102,3346,3320,873.2,-9.2,635,8036,0.00,2.42,0.00,0.000,1030,0.000,0.059,2084,2498,3333,3346,3320,0,0,0,0,0,0,14.55,14.42,14.59
$GC,8356,-0.67,-97.3,2083,2498,3345,3320,904.4,-9.5,655,8360,0.00,2.47,0.00,0.000,260,0.000,0.087,2073,3894,3332,3345,3320,0,0,0,0,0,0,15.07,14.32,15.09
$GC,8404,-0.67,-97.3,2072,3894,3345,3320,909.2,-10.2,664,8409,0.15,2.28,0.00,0.000,3078,0.200,0.037,2110,2499,3332,3345,3320,0,0,0,0,0,0,14.23,14.57,14.43
$GC,8721,-0.67,-97.3,2109,2498,3344,3320,934.7,-7.9,682,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2498,3332,3344,3320,0,0,0,0,0,0,15.09,15.12,15.11
$GC,9022,-0.67,-97.3,2109,2498,3343,3319,957.8,-7.7,697,9026,0.00,2.35,0.00,0.000,516,0.000,0.051,2110,1105,3331,3343,3319,0,0,0,0,0,0,15.08,14.45,15.10
$GC,9063,-0.67,-97.3,2109,1105,3343,3319,961.2,-8.0,705,9067,0.00,2.42,0.00,0.000,1030,0.000,0.060,2100,2501,3331,3343,3319,0,0,0,0,0,0,14.52,14.40,14.57
$GC,9381,-0.67,-97.3,2100,2501,3343,3318,987.6,-8.3,723,9385,0.00,2.47,0.00,0.000,260,0.000,0.088,2089,3893,3330,3343,3317,0,0,0,0,0,0,15.07,14.28,15.09
$STATE,9404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9404,begin apogee
$GC,9414,-0.15,0.0,2089,2434,3343,3317,990.0,-9.1,728,9511,0.68,0.00,92.62,2.003,10246,0.170,0.000,2281,2434,2968,2999,2937,0,0,0,0,0,0,14.10,13.97,12.57
$STATE,9512,end apogee,CONTROL_FINISHED_OK
$STATE,9512,begin climb
$GC,9515,0.67,97.3,2281,2433,2998,2937,992.8,0.0,733,9633,0.80,2.42,103.70,1.986,10756,0.085,0.050,2560,1043,2569,2599,2539,0,0,0,0,0,0,14.18,13.57,12.57
$GC,9657,0.73,159.3,2560,1043,2595,2538,992.2,4.6,762,9728,0.00,2.47,63.20,1.968,9254,0.000,0.055,2560,2447,2317,2357,2278,0,0,0,0,0,0,14.30,14.21,12.62
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$STATE,19874,end climb,SURFACE_DEPTH_REACHED
$STATE,19874,begin surface coast
$STATE,19903,end surface coast,CONTROL_FINISHED_OK
$STATE,19903,begin surface
$SM_CCo,19924,61.80,0.506,1,0,928,500.17
$SM_GC,1.29,7.35,0.10,61.80,0.052,0.153,0.506,119,2507,928,-6.77,-0.93,500.17,0,0,0,0,1,0,14.57,14.52,13.66
$IRIDIUM_FIX,609.73,8311.33,081219,031800
$TT8_MAMPS,0.018725,0.159537
$HUMID,48.93
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,12.57,194.862
$10V_AH,12.39,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.925,180.400,523.725,61.800,0.000,0.000,0.000,216.025,0.500,0.000,14.619,1533.917,15027.932,697.103,2607.724,478.322,0.000,2277.633,0.000,2379.290,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,891.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250576
$DATA_FILE_SIZE,73283,1673
$CAP_FILE_SIZE,186383,0
$CFSIZE,260034560,135225344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.080,60.28,1
$GPS,081219,142030,612.484,8307.866,19,0.7,19,-1.9,0.5,249.9,11,4.2