version: 66.13
glider: 171
mission: 11
dive: 582
start: 12 11 119 20 29 34
data:
$ID,171
$MISSION,11
$DIVE,582
$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,38
$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
$GPS1,111219,202300,608.6505,8307.1992,24,0.8,24,-1.9,0.6,231.4,9,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.8
$GPS2,111219,202840,608.6242,8307.1406,2,0.5,3,-1.9,0.3,196.2,12,5.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,232.8,127773,-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,-97.3,114,2509,969,882,0.0,0.0,0,83,0.00,0.00,-71.57,0.005,16386,0.000,0.000,114,2510,2580,2582,2579,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,114,2510,2582,2579,4.3,-11.6,15,119,9.18,2.40,-15.20,0.009,18692,0.345,0.092,2095,3890,3367,3383,3352,0,0,0,0,0,0,13.89,12.58,14.34
$GC,348,-0.67,-97.3,2094,3890,3383,3351,75.8,-17.9,67,352,0.00,2.22,0.00,0.000,1030,0.000,0.034,2095,2501,3367,3383,3352,0,0,0,0,0,0,14.68,14.61,14.70
$GC,541,-0.67,-97.3,2095,2500,3383,3352,105.4,-14.0,87,544,0.00,2.40,0.00,0.000,260,0.000,0.084,2085,3883,3367,3383,3352,0,0,0,0,0,0,15.01,14.48,15.04
$GC,716,-0.67,-97.3,2084,3883,3384,3352,133.6,-15.2,122,722,0.00,2.22,0.00,0.000,1030,0.000,0.033,2084,2488,3367,3383,3352,0,0,0,0,0,0,14.73,14.67,14.76
$GC,903,-0.67,-97.3,2084,2487,3384,3352,159.2,-13.4,141,907,0.00,2.25,0.00,0.000,516,0.000,0.045,2084,1101,3367,3384,3351,0,0,0,0,0,0,15.04,14.62,15.07
$GC,988,-0.67,-97.3,2084,1101,3384,3352,170.8,-12.9,158,994,0.15,2.35,0.00,0.000,3078,0.216,0.054,2110,2495,3367,3384,3351,0,0,0,0,0,0,14.35,14.57,14.56
$GC,1175,-0.67,-97.3,2109,2495,3384,3351,191.8,-11.3,177,1179,0.00,2.40,0.00,0.000,260,0.000,0.081,2100,3894,3367,3384,3351,0,0,0,0,0,0,15.06,14.51,15.08
$GC,1280,-0.67,-97.3,2100,3894,3383,3351,204.3,-11.8,198,1286,0.00,2.22,0.00,0.000,1030,0.000,0.031,2100,2495,3367,3383,3351,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1466,-0.67,-97.3,2100,2494,3381,3352,224.9,-11.0,217,1470,0.00,2.28,0.00,0.000,516,0.000,0.046,2100,1105,3366,3381,3351,0,0,0,0,0,0,15.08,14.62,15.10
$GC,1497,-0.67,-97.3,2100,1105,3380,3351,228.3,-10.9,223,1502,0.00,2.35,0.00,0.000,1030,0.000,0.054,2089,2500,3365,3380,3351,0,0,0,0,0,0,14.69,14.58,14.73
$GC,1689,-0.67,-97.3,2089,2500,3379,3351,249.8,-11.3,243,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3364,3378,3351,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1880,-0.67,-97.3,2089,2500,3377,3351,271.2,-11.5,253,1883,0.00,2.40,0.00,0.000,260,0.000,0.082,2079,3899,3363,3376,3351,0,0,0,0,0,0,15.08,14.51,15.11
$GC,1935,-0.67,-97.3,2079,3899,3376,3351,278.2,-12.2,264,1940,0.12,2.25,0.00,0.000,3078,0.212,0.034,2108,2499,3363,3376,3351,0,0,0,0,0,0,14.41,14.69,14.59
$GC,2240,-0.67,-97.3,2108,2497,3374,3349,310.1,-10.4,280,2247,0.00,2.45,0.00,0.000,260,0.000,0.090,2099,3893,3361,3374,3349,0,0,0,0,0,0,15.10,14.49,15.12
$GC,2291,-0.67,-97.3,2099,3893,3373,3348,315.5,-10.8,290,2296,0.00,2.22,0.00,0.000,1030,0.000,0.034,2099,2498,3360,3373,3348,0,0,0,0,0,0,14.76,14.70,14.78
$GC,2604,-0.67,-97.3,2099,2497,3372,3346,349.6,-10.9,307,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3359,3372,3346,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2903,-0.67,-97.3,2099,2497,3370,3344,382.5,-11.0,322,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3358,3371,3345,0,0,0,0,0,0,15.10,15.13,15.13
$GC,3204,-0.67,-97.3,2099,2497,3368,3342,415.5,-11.0,337,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3354,3368,3341,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3503,-0.67,-97.3,2099,2497,3367,3340,447.8,-10.9,352,3508,0.00,2.47,0.00,0.000,260,0.000,0.087,2088,3890,3352,3366,3339,0,0,0,0,0,0,15.10,14.45,15.13
$GC,3551,-0.67,-97.3,2088,3891,3365,3339,453.1,-11.6,361,3555,0.00,2.25,0.00,0.000,1030,0.000,0.034,2088,2492,3352,3366,3339,0,0,0,0,0,0,14.74,14.68,14.76
$GC,3869,-0.67,-97.3,2088,2492,3364,3338,489.7,-11.4,379,3875,0.00,2.45,0.00,0.000,260,0.000,0.084,2077,3890,3351,3364,3338,0,0,0,0,0,0,15.09,14.45,15.11
$GC,3908,-0.67,-97.3,2077,3890,3363,3338,494.4,-12.0,387,3912,0.12,2.25,0.00,0.000,3078,0.210,0.035,2108,2492,3350,3363,3338,0,0,0,0,0,0,14.37,14.66,14.57
$GC,4230,-0.67,-97.3,2108,2491,3362,3336,526.3,-9.7,406,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2491,3349,3362,3336,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4529,-0.67,-97.3,2108,2491,3362,3335,555.4,-9.6,421,4537,0.00,2.47,0.00,0.000,260,0.000,0.085,2099,3897,3348,3361,3335,0,0,0,0,0,0,15.09,14.42,15.12
$GC,4560,-0.67,-97.3,2098,3897,3361,3335,558.4,-10.5,427,4564,0.00,2.25,0.00,0.000,1030,0.000,0.035,2098,2502,3347,3360,3335,0,0,0,0,0,0,14.71,14.65,14.74
$GC,4873,-0.67,-97.3,2098,2501,3360,3333,589.8,-10.0,444,4880,0.00,2.45,0.00,0.000,260,0.000,0.086,2088,3892,3346,3360,3333,0,0,0,0,0,0,15.08,14.41,15.11
$GC,4902,-0.67,-97.3,2087,3892,3360,3334,592.9,-10.8,450,4907,0.00,2.25,0.00,0.000,1030,0.000,0.035,2087,2500,3346,3360,3333,0,0,0,0,0,0,14.71,14.64,14.73
$GC,5215,-0.67,-97.3,2087,2499,3358,3332,626.0,-10.6,467,5221,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3897,3344,3357,3332,0,0,0,0,0,0,15.09,14.40,15.11
$GC,5240,-0.67,-97.3,2076,3897,3357,3332,628.8,-11.4,472,5245,0.15,2.28,0.00,0.000,3078,0.201,0.036,2114,2496,3344,3357,3332,0,0,0,0,0,0,14.31,14.62,14.51
$GC,5557,-0.67,-97.3,2113,2494,3356,3331,658.1,-8.9,490,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2494,3343,3356,3331,0,0,0,0,0,0,15.09,15.12,15.12
$GC,5858,-0.67,-97.3,2113,2494,3356,3330,684.6,-8.8,505,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2494,3343,3356,3330,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6157,-0.67,-97.3,2113,2494,3355,3328,710.3,-8.5,520,6163,0.00,2.50,0.00,0.000,260,0.000,0.087,2105,3897,3341,3355,3328,0,0,0,0,0,0,15.10,14.37,15.12
$GC,6197,-0.67,-97.3,2104,3898,3355,3328,713.9,-9.2,528,6201,0.00,2.28,0.00,0.000,1030,0.000,0.036,2105,2499,3341,3355,3328,0,0,0,0,0,0,14.68,14.61,14.70
$GC,6519,-0.67,-97.3,2104,2497,3353,3327,742.6,-9.0,547,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3340,3353,3327,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6818,-0.67,-97.3,2104,2497,3352,3326,770.0,-9.1,562,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2497,3339,3352,3326,0,0,0,0,0,0,15.09,15.12,15.12
$GC,7118,-0.67,-97.3,2104,2497,3352,3325,796.9,-8.9,577,7122,0.00,2.50,0.00,0.000,260,0.000,0.088,2093,3896,3338,3351,3325,0,0,0,0,0,0,15.09,14.33,15.11
$GC,7155,-0.67,-97.3,2093,3896,3351,3325,800.3,-9.6,584,7159,0.00,2.30,0.00,0.000,1030,0.000,0.037,2093,2493,3338,3351,3325,0,0,0,0,0,0,14.65,14.57,14.67
$GC,7459,-0.67,-97.3,2093,2492,3350,3324,830.3,-9.9,600,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2492,3337,3350,3324,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7761,-0.67,-97.3,2093,2492,3350,3323,860.2,-9.7,615,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2492,3336,3350,3323,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8059,-0.67,-97.3,2093,2492,3349,3322,890.0,-10.0,630,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2492,3335,3348,3322,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8359,-0.67,-97.3,2093,2492,3348,3321,919.7,-10.1,645,8366,0.00,2.50,0.00,0.000,260,0.000,0.088,2083,3889,3334,3347,3321,0,0,0,0,0,0,15.09,14.29,15.11
$GC,8400,-0.67,-97.3,2082,3889,3347,3321,924.0,-10.8,653,8405,0.12,2.28,0.00,0.000,3078,0.204,0.037,2112,2497,3334,3347,3321,0,0,0,0,0,0,14.26,14.54,14.44
$GC,8724,-0.67,-97.3,2112,2496,3347,3320,952.8,-8.8,672,8728,0.00,2.35,0.00,0.000,516,0.000,0.051,2112,1104,3333,3347,3320,0,0,0,0,0,0,15.07,14.43,15.10
$GC,8750,-0.67,-97.3,2112,1104,3347,3320,955.3,-9.2,677,8758,0.00,2.42,0.00,0.000,1030,0.000,0.060,2103,2498,3333,3347,3320,0,0,0,0,0,0,14.51,14.38,14.56
$GC,9066,-0.67,-97.3,2103,2498,3346,3319,984.0,-9.1,695,9073,0.00,2.47,0.00,0.000,260,0.000,0.088,2092,3891,3332,3346,3319,0,0,0,0,0,0,15.07,14.26,15.09
$GC,9110,-0.67,-97.3,2092,3892,3346,3320,988.3,-9.8,704,9114,0.00,2.28,0.00,0.000,1030,0.000,0.037,2092,2503,3333,3346,3320,0,0,0,0,0,0,14.60,14.52,14.63
$STATE,9143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9143,begin apogee
$GC,9152,-0.15,0.0,2092,2427,3346,3320,991.8,-9.5,708,9249,0.65,0.00,92.55,1.986,10246,0.170,0.000,2277,2427,2967,2999,2936,0,0,0,0,0,0,14.10,13.98,12.59
$STATE,9250,end apogee,CONTROL_FINISHED_OK
$STATE,9250,begin climb
$GC,9253,0.67,97.3,2277,2427,2999,2936,994.9,0.0,713,9364,0.82,0.00,104.38,1.969,10246,0.087,0.000,2551,2427,2570,2601,2539,0,0,0,0,0,0,14.18,13.89,12.58
$GC,9669,0.69,97.3,2551,2427,2591,2535,975.6,7.3,734,9671,0.00,0.00,0.00,0.000,70,0.000,0.000,2551,2427,2563,2591,2535,0,0,0,0,0,0,14.85,14.88,14.88
$GC,9967,0.70,97.3,2551,2427,2590,2534,953.5,7.3,749,9972,0.00,2.35,0.00,0.000,580,0.000,0.053,2562,1054,2562,2590,2534,0,0,0,0,0,0,14.95,14.48,14.99
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$STATE,21151,end climb,SURFACE_DEPTH_REACHED
$STATE,21151,begin surface coast
$STATE,21176,end surface coast,CONTROL_FINISHED_OK
$STATE,21176,begin surface
$SM_CCo,21196,107.60,0.627,1,0,928,500.17
$SM_GC,1.09,7.45,0.08,107.60,0.049,0.165,0.627,129,2510,928,-6.78,-1.05,500.17,0,0,0,0,1,0,14.52,14.59,13.57
$IRIDIUM_FIX,607.54,8309.18,111219,150626
$TT8_MAMPS,0.018725,0.159537
$HUMID,49.25
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.58,199.054
$10V_AH,12.56,0.000
$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
$DEVICE_SECS,19.700,194.975,469.775,107.600,0.000,0.000,0.000,203.700,0.000,0.000,14.696,1645.833,15981.830,755.896,2751.560,516.934,0.000,2374.263,0.000,2532.356,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,916.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76592,1782
$CAP_FILE_SIZE,198075,0
$CFSIZE,260034560,133894144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.154,69.17,1
$GPS,121219,022601,608.307,8307.354,31,0.7,34,-1.9,0.3,335.1,9,3.9