version: 66.13
glider: 171
mission: 11
dive: 583
start: 12 12 119 2 33 7
data:
$ID,171
$MISSION,11
$DIVE,583
$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,48
$R_STBD_OVSHOOT,41
$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
$GPS1,121219,022601,608.3069,8307.3545,31,0.7,34,-1.9,0.3,335.1,9,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.2
$GPS2,121219,023214,608.2758,8307.2891,2,0.6,2,-1.9,0.4,290.5,12,8.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,232.9,127160,-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,-97.3,120,2512,973,878,0.0,0.0,0,83,0.00,0.00,-71.80,0.005,16386,0.000,0.000,119,2513,2632,2633,2632,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.67,-97.3,119,2513,2634,2632,5.2,-14.2,15,118,9.18,2.35,-13.68,0.009,18692,0.346,0.090,2094,3885,3367,3382,3352,0,0,0,0,0,0,13.88,13.42,14.33
$GC,347,-0.67,-97.3,2094,3885,3382,3352,78.8,-19.5,67,351,0.00,2.22,0.00,0.000,1030,0.000,0.034,2094,2496,3367,3382,3352,0,0,0,0,0,0,14.66,14.61,14.69
$GC,540,-0.67,-97.3,2094,2494,3383,3352,111.6,-13.5,87,546,0.00,2.42,0.00,0.000,260,0.000,0.087,2084,3880,3367,3383,3352,0,0,0,0,0,0,15.00,14.45,15.03
$GC,773,-0.67,-97.3,2083,3880,3383,3352,145.4,-14.3,134,778,0.00,2.22,0.00,0.000,1030,0.000,0.033,2084,2482,3367,3383,3352,0,0,0,0,0,0,14.73,14.67,14.75
$GC,958,-0.67,-97.3,2084,2481,3383,3352,171.0,-14.1,153,963,0.00,2.45,0.00,0.000,260,0.000,0.082,2073,3886,3367,3383,3352,0,0,0,0,0,0,15.06,14.48,15.08
$GC,985,-0.67,-97.3,2073,3886,3383,3352,174.6,-13.6,158,990,0.15,2.20,0.00,0.000,3078,0.219,0.031,2109,2493,3367,3383,3352,0,0,0,0,0,0,14.33,14.69,14.55
$GC,1171,-0.67,-97.3,2108,2492,3383,3352,196.3,-11.4,177,1175,0.00,2.40,0.00,0.000,260,0.000,0.080,2099,3882,3367,3383,3352,0,0,0,0,0,0,15.06,14.49,15.08
$GC,1223,-0.67,-97.3,2099,3881,3383,3352,202.6,-12.4,187,1227,0.00,2.17,0.00,0.000,1030,0.000,0.032,2099,2505,3367,3383,3352,0,0,0,0,0,0,14.76,14.69,14.78
$GC,1414,-0.67,-97.3,2099,2504,3381,3352,225.4,-11.9,207,1418,0.00,2.28,0.00,0.000,516,0.000,0.047,2100,1111,3366,3381,3352,0,0,0,0,0,0,15.07,14.60,15.10
$GC,1457,-0.67,-97.3,2099,1111,3381,3352,230.4,-11.8,215,1461,0.00,2.33,0.00,0.000,1030,0.000,0.054,2089,2494,3366,3380,3352,0,0,0,0,0,0,14.69,14.58,14.72
$GC,1660,-0.67,-97.3,2088,2494,3379,3352,255.1,-12.0,234,1665,0.00,2.40,0.00,0.000,260,0.000,0.081,2078,3893,3365,3379,3352,0,0,0,0,0,0,15.07,14.50,15.10
$GC,1697,-0.67,-97.3,2077,3893,3378,3352,259.8,-12.6,241,1701,0.12,2.22,0.00,0.000,3078,0.216,0.033,2107,2493,3365,3378,3352,0,0,0,0,0,0,14.39,14.69,14.58
$GC,2003,-0.67,-97.3,2107,2491,3375,3352,293.1,-10.8,257,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2492,3363,3375,3351,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2301,-0.67,-97.3,2107,2492,3374,3348,323.9,-10.0,272,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2492,3361,3374,3348,0,0,0,0,0,0,15.09,15.12,15.12
$GC,2603,-0.67,-97.3,2107,2492,3372,3346,353.1,-9.6,287,2609,0.00,2.45,0.00,0.000,260,0.000,0.083,2098,3896,3359,3372,3346,0,0,0,0,0,0,15.09,14.47,15.11
$GC,2631,-0.67,-97.3,2098,3896,3372,3346,356.1,-10.8,293,2636,0.00,2.22,0.00,0.000,1030,0.000,0.034,2098,2504,3359,3372,3346,0,0,0,0,0,0,14.75,14.69,14.77
$GC,2942,-0.67,-97.3,2098,2502,3371,3344,388.8,-10.9,310,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3357,3371,3344,0,0,0,0,0,0,15.09,15.12,15.12
$GC,3244,-0.67,-97.3,2097,2502,3368,3341,422.2,-11.0,325,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3354,3368,3341,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3542,-0.67,-97.3,2097,2502,3367,3339,454.5,-10.7,340,3547,0.00,2.45,0.00,0.000,260,0.000,0.084,2087,3890,3352,3366,3339,0,0,0,0,0,0,15.10,14.44,15.12
$GC,3609,-0.67,-97.3,2087,3890,3366,3339,462.0,-11.4,353,3613,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2492,3352,3366,3339,0,0,0,0,0,0,14.73,14.66,14.75
$GC,3926,-0.67,-97.3,2087,2491,3365,3338,498.3,-11.5,371,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2491,3351,3365,3338,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4225,-0.67,-97.3,2086,2491,3363,3337,532.6,-11.4,386,4230,0.00,2.47,0.00,0.000,260,0.000,0.085,2076,3893,3349,3362,3336,0,0,0,0,0,0,15.09,14.42,15.11
$GC,4253,-0.67,-97.3,2076,3893,3362,3337,535.8,-11.7,391,4258,0.15,2.25,0.00,0.000,3078,0.202,0.035,2113,2494,3349,3362,3336,0,0,0,0,0,0,14.33,14.65,14.53
$GC,4570,-0.67,-97.3,2113,2492,3362,3335,566.3,-9.2,409,4574,0.00,2.30,0.00,0.000,516,0.000,0.049,2114,1108,3348,3362,3334,0,0,0,0,0,0,15.09,14.54,15.11
$GC,4596,-0.67,-97.3,2113,1108,3362,3334,568.7,-10.1,414,4601,0.00,2.40,0.00,0.000,1030,0.000,0.058,2105,2508,3348,3362,3334,0,0,0,0,0,0,14.62,14.51,14.66
$GC,4916,-0.67,-97.3,2105,2508,3361,3333,598.0,-9.2,432,4920,0.00,2.42,0.00,0.000,260,0.000,0.086,2093,3892,3347,3361,3333,0,0,0,0,0,0,15.08,14.40,15.11
$GC,4956,-0.67,-97.3,2093,3892,3360,3333,602.0,-9.7,440,4961,0.00,2.25,0.00,0.000,1030,0.000,0.035,2093,2498,3346,3360,3333,0,0,0,0,0,0,14.70,14.63,14.72
$GC,5278,-0.67,-97.3,2092,2496,3359,3332,633.4,-9.7,459,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2496,3345,3359,3332,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5579,-0.67,-97.3,2093,2496,3357,3331,663.5,-10.1,474,5584,0.00,2.47,0.00,0.000,260,0.000,0.085,2083,3897,3343,3357,3330,0,0,0,0,0,0,15.08,14.38,15.10
$GC,5620,-0.67,-97.3,2082,3897,3356,3330,668.1,-10.8,482,5626,0.12,2.28,0.00,0.000,3078,0.203,0.036,2112,2492,3343,3357,3330,0,0,0,0,0,0,14.33,14.61,14.51
$GC,5944,-0.67,-97.3,2112,2490,3356,3330,697.5,-9.1,501,5948,0.00,2.30,0.00,0.000,516,0.000,0.050,2113,1110,3342,3356,3329,0,0,0,0,0,0,15.08,14.50,15.11
$GC,5965,-0.67,-97.3,2113,1110,3356,3330,699.7,-10.0,505,5970,0.00,2.40,0.00,0.000,1030,0.000,0.059,2104,2503,3342,3356,3329,0,0,0,0,0,0,14.58,14.46,14.62
$GC,6286,-0.67,-97.3,2103,2503,3355,3328,730.8,-9.9,524,6293,0.00,2.45,0.00,0.000,260,0.000,0.086,2092,3898,3341,3355,3328,0,0,0,0,0,0,15.09,14.35,15.11
$GC,6338,-0.67,-97.3,2092,3898,3355,3328,736.1,-10.7,534,6342,0.00,2.28,0.00,0.000,1030,0.000,0.036,2092,2498,3341,3355,3328,0,0,0,0,0,0,14.66,14.59,14.69
$GC,6650,-0.67,-97.3,2092,2497,3354,3327,768.9,-10.4,551,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3340,3354,3327,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6949,-0.67,-97.3,2092,2497,3353,3326,800.2,-10.3,566,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2497,3339,3353,3326,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7251,-0.67,-97.3,2092,2497,3352,3325,829.9,-9.9,581,7255,0.00,2.50,0.00,0.000,260,0.000,0.086,2082,3891,3338,3352,3325,0,0,0,0,0,0,15.07,14.32,15.10
$GC,7277,-0.67,-97.3,2082,3891,3352,3325,832.7,-10.5,586,7283,0.12,2.28,0.00,0.000,3078,0.203,0.037,2112,2495,3338,3352,3324,0,0,0,0,0,0,14.28,14.57,14.47
$GC,7596,-0.67,-97.3,2111,2495,3352,3324,859.8,-8.3,604,7600,0.00,2.33,0.00,0.000,516,0.000,0.052,2112,1110,3337,3352,3323,0,0,0,0,0,0,15.07,14.45,15.09
$GC,7642,-0.67,-97.3,2112,1109,3351,3323,863.8,-8.4,613,7646,0.00,2.40,0.00,0.000,1030,0.000,0.059,2103,2500,3337,3351,3323,0,0,0,0,0,0,14.54,14.41,14.58
$GC,7953,-0.67,-97.3,2103,2500,3350,3322,889.9,-8.5,630,7958,0.00,2.45,0.00,0.000,260,0.000,0.086,2092,3892,3336,3350,3322,0,0,0,0,0,0,15.09,14.30,15.11
$GC,8006,-0.67,-97.3,2091,3891,3350,3322,894.6,-9.0,640,8010,0.00,2.28,0.00,0.000,1030,0.000,0.037,2091,2500,3336,3350,3322,0,0,0,0,0,0,14.62,14.55,14.65
$GC,8318,-0.67,-97.3,2091,2498,3350,3321,922.0,-8.6,657,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3335,3350,3321,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8617,-0.67,-97.3,2091,2498,3348,3321,948.1,-8.7,672,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3335,3349,3321,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8919,-0.67,-97.3,2091,2498,3348,3321,974.1,-8.7,687,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2498,3334,3348,3320,0,0,0,0,0,0,15.07,15.10,15.09
$STATE,9114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9114,begin apogee
$GC,9121,-0.15,0.0,2092,2498,3347,3320,991.7,-8.8,697,9218,0.65,0.00,92.78,1.984,10246,0.169,0.000,2276,2498,2967,3000,2935,0,0,0,0,0,0,14.10,13.97,12.58
$STATE,9219,end apogee,CONTROL_FINISHED_OK
$STATE,9219,begin climb
$GC,9223,0.67,97.3,2276,2498,3000,2935,994.2,0.0,702,9332,0.82,0.00,104.50,1.970,10246,0.090,0.000,2547,2498,2571,2604,2539,0,0,0,0,0,0,14.18,13.89,12.58
$GC,9622,0.69,97.3,2547,2498,2593,2534,974.8,7.3,722,9626,0.00,2.47,0.00,0.000,580,0.000,0.052,2558,1043,2563,2593,2534,0,0,0,0,0,0,14.84,14.43,14.87
$GC,9709,0.70,97.3,2558,1043,2591,2534,968.3,7.3,739,9714,0.00,2.42,0.00,0.000,1094,0.000,0.055,2558,2446,2562,2590,2534,0,0,0,0,0,0,14.54,14.45,14.59
$GC,10027,0.71,97.3,2558,2446,2591,2533,944.7,7.4,757,10029,0.00,0.00,0.00,0.000,70,0.000,0.000,2558,2446,2561,2590,2533,0,0,0,0,0,0,14.97,15.01,15.00
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$STATE,21352,end climb,SURFACE_DEPTH_REACHED
$STATE,21352,begin surface coast
$STATE,21377,end surface coast,CONTROL_FINISHED_OK
$STATE,21377,begin surface
$SM_CCo,21398,120.28,0.640,1,0,929,500.17
$SM_GC,1.13,7.60,0.10,120.28,0.054,0.151,0.640,123,2518,929,-6.79,-0.71,500.17,0,0,0,0,1,0,14.54,14.53,13.57
$IRIDIUM_FIX,607.74,8306.76,111219,202523
$TT8_MAMPS,0.018725,0.158039
$HUMID,48.34
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.58,199.349
$10V_AH,13.15,0.000
$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,20.300,213.675,455.450,120.275,0.000,0.000,0.000,228.450,0.000,0.000,16.873,1702.791,16027.329,737.194,2879.631,545.261,0.000,2436.753,0.000,2634.750,0.000,0.539,0.000
$DEVICE_MAMPS,345.780,150.705,1983.645,639.540,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,918.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250628
$DATA_FILE_SIZE,79972,1854
$CAP_FILE_SIZE,205529,0
$CFSIZE,260034560,133787648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.151,83.65,1
$GPS,121219,083300,607.544,8307.671,27,0.6,27,-1.9,0.5,224.8,12,6.4