version: 66.13
glider: 171
mission: 11
dive: 589
start: 12 13 119 13 24 37
data:
$ID,171
$MISSION,11
$DIVE,589
$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,55
$R_STBD_OVSHOOT,59
$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
$GPS1,131219,131730,603.2570,8307.7412,24,0.6,24,-1.9,1.3,232.5,12,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.9
$GPS2,131219,132344,603.1974,8307.6260,3,0.5,4,-1.9,0.6,236.8,12,4.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,233.7,117884,-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,-97.3,91,2536,973,879,0.0,0.0,0,83,0.00,0.00,-71.72,0.005,16386,0.000,0.000,90,2536,2644,2641,2648,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.67,-97.3,90,2536,2643,2647,5.4,-14.8,15,118,9.35,2.40,-13.40,0.009,19204,0.348,0.069,2106,1106,3367,3381,3354,0,0,0,0,0,0,13.87,13.44,14.33
$GC,287,-0.67,-97.3,2105,1106,3381,3353,60.7,-20.0,55,291,0.00,2.33,0.00,0.000,1030,0.000,0.060,2097,2470,3367,3381,3353,0,0,0,0,0,0,14.60,14.49,14.64
$GC,480,-0.67,-97.3,2096,2470,3381,3353,94.4,-16.4,75,486,0.00,2.45,0.00,0.000,260,0.000,0.079,2086,3903,3367,3381,3354,0,0,0,0,0,0,15.00,14.47,15.02
$GC,713,-0.67,-97.3,2085,3903,3382,3354,128.0,-12.9,122,718,0.00,2.25,0.00,0.000,1030,0.000,0.032,2085,2485,3367,3382,3353,0,0,0,0,0,0,14.73,14.68,14.76
$GC,899,-0.67,-97.3,2085,2484,3382,3353,153.5,-12.6,141,906,0.00,2.45,0.00,0.000,260,0.000,0.080,2075,3902,3367,3382,3353,0,0,0,0,0,0,15.04,14.50,15.07
$GC,1134,-0.67,-97.3,2075,3902,3382,3353,185.0,-13.8,188,1139,0.15,2.22,0.00,0.000,3078,0.216,0.033,2111,2494,3367,3381,3353,0,0,0,0,0,0,14.35,14.69,14.57
$GC,1320,-0.67,-97.3,2110,2493,3381,3353,207.5,-11.8,207,1325,0.00,2.42,0.00,0.000,260,0.000,0.080,2102,3893,3366,3380,3353,0,0,0,0,0,0,15.07,14.50,15.09
$GC,1432,-0.67,-97.3,2102,3893,3379,3353,221.2,-11.8,229,1436,0.00,2.20,0.00,0.000,1030,0.000,0.032,2102,2501,3366,3379,3353,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1624,-0.67,-97.3,2101,2499,3378,3353,243.5,-11.8,249,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2500,3365,3377,3353,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1803,-0.67,-97.3,2102,2500,3376,3353,264.0,-11.3,261,1807,0.00,2.42,0.00,0.000,260,0.000,0.082,2090,3897,3364,3375,3353,0,0,0,0,0,0,15.09,14.50,15.12
$GC,1855,-0.67,-97.3,2090,3897,3375,3353,269.9,-11.6,271,1859,0.00,2.22,0.00,0.000,1030,0.000,0.033,2090,2499,3364,3375,3353,0,0,0,0,0,0,14.76,14.70,14.78
$GC,2166,-0.67,-97.3,2090,2497,3374,3348,306.5,-11.8,288,2170,0.00,2.28,0.00,0.000,516,0.000,0.048,2090,1109,3361,3374,3348,0,0,0,0,0,0,15.09,14.61,15.12
$GC,2197,-0.67,-97.3,2090,1109,3373,3348,310.4,-12.6,294,2203,0.12,2.35,0.00,0.000,3078,0.211,0.055,2110,2502,3360,3373,3348,0,0,0,0,0,0,14.38,14.57,14.58
$GC,2512,-0.67,-97.3,2109,2503,3371,3346,344.7,-10.8,311,2516,0.00,2.40,0.00,0.000,260,0.000,0.083,2101,3892,3359,3372,3346,0,0,0,0,0,0,15.09,14.48,15.11
$GC,2568,-0.67,-97.3,2100,3893,3371,3346,351.2,-11.1,322,2573,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2500,3358,3371,3346,0,0,0,0,0,0,14.75,14.69,14.77
$GC,2874,-0.67,-97.3,2101,2498,3370,3344,384.8,-11.0,338,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3357,3370,3344,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3173,-0.67,-97.3,2100,2498,3367,3341,417.1,-10.4,353,3181,0.00,2.45,0.00,0.000,260,0.000,0.084,2090,3897,3353,3367,3340,0,0,0,0,0,0,15.09,14.46,15.12
$GC,3233,-0.67,-97.3,2089,3897,3366,3340,423.8,-11.3,365,3238,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2497,3353,3367,3340,0,0,0,0,0,0,14.73,14.67,14.76
$GC,3556,-0.67,-97.3,2089,2495,3365,3339,459.5,-11.1,384,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2495,3352,3365,3339,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3855,-0.67,-97.3,2089,2495,3363,3337,492.3,-10.9,399,3861,0.00,2.45,0.00,0.000,260,0.000,0.085,2079,3891,3350,3363,3337,0,0,0,0,0,0,15.09,14.45,15.11
$GC,3879,-0.67,-97.3,2079,3891,3363,3337,495.1,-11.6,404,3884,0.12,2.25,0.00,0.000,3078,0.210,0.034,2109,2489,3350,3363,3337,0,0,0,0,0,0,14.37,14.66,14.56
$GC,4197,-0.67,-97.3,2108,2488,3362,3335,525.4,-9.4,422,4202,0.00,2.47,0.00,0.000,260,0.000,0.084,2099,3899,3348,3362,3335,0,0,0,0,0,0,15.09,14.42,15.11
$GC,4239,-0.67,-97.3,2099,3899,3362,3335,529.6,-9.9,430,4244,0.00,2.25,0.00,0.000,1030,0.000,0.035,2100,2500,3348,3362,3335,0,0,0,0,0,0,14.72,14.65,14.74
$GC,4562,-0.67,-97.3,2099,2500,3361,3333,560.7,-9.5,449,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3347,3361,3333,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4861,-0.67,-97.3,2099,2500,3359,3332,589.2,-9.2,464,4867,0.00,2.45,0.00,0.000,260,0.000,0.084,2089,3891,3345,3358,3333,0,0,0,0,0,0,15.09,14.41,15.12
$GC,4896,-0.67,-97.3,2088,3891,3358,3332,592.7,-10.1,471,4901,0.00,2.25,0.00,0.000,1030,0.000,0.035,2088,2502,3345,3358,3332,0,0,0,0,0,0,14.70,14.64,14.72
$GC,5202,-0.67,-97.3,2088,2501,3357,3331,623.1,-10.0,487,5209,0.00,2.45,0.00,0.000,260,0.000,0.086,2078,3890,3343,3356,3331,0,0,0,0,0,0,15.08,14.39,15.11
$GC,5226,-0.67,-97.3,2077,3890,3356,3331,625.7,-10.6,492,5231,0.12,2.25,0.00,0.000,3078,0.210,0.035,2108,2498,3343,3356,3331,0,0,0,0,0,0,14.33,14.63,14.52
$GC,5542,-0.67,-97.3,2108,2498,3356,3330,653.3,-8.6,510,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3343,3356,3330,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5844,-0.67,-97.3,2107,2497,3355,3328,679.7,-8.8,525,5851,0.00,2.47,0.00,0.000,260,0.000,0.086,2099,3896,3341,3355,3327,0,0,0,0,0,0,15.08,14.37,15.11
$GC,5878,-0.67,-97.3,2098,3896,3355,3328,682.9,-9.3,532,5882,0.00,2.28,0.00,0.000,1030,0.000,0.035,2099,2495,3341,3355,3327,0,0,0,0,0,0,14.68,14.61,14.71
$GC,6183,-0.67,-97.3,2098,2494,3354,3326,711.9,-9.7,548,6187,0.00,2.33,0.00,0.000,516,0.000,0.050,2098,1104,3339,3353,3326,0,0,0,0,0,0,15.09,14.50,15.11
$GC,6215,-0.67,-97.3,2098,1104,3353,3326,715.1,-10.2,554,6221,0.00,2.40,0.00,0.000,1030,0.000,0.059,2088,2499,3339,3353,3326,0,0,0,0,0,0,14.58,14.46,14.62
$GC,6528,-0.67,-97.3,2087,2499,3352,3326,747.2,-10.3,571,6532,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3896,3339,3352,3326,0,0,0,0,0,0,15.08,14.35,15.11
$GC,6625,-0.67,-97.3,2076,3896,3351,3325,757.8,-11.1,590,6631,0.15,2.28,0.00,0.000,3078,0.200,0.036,2113,2498,3338,3351,3326,0,0,0,0,0,0,14.26,14.58,14.45
$GC,6929,-0.67,-97.3,2113,2497,3352,3324,785.7,-9.2,606,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2497,3338,3352,3324,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7229,-0.67,-97.3,2113,2497,3350,3323,813.3,-9.3,621,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2497,3336,3350,3323,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7530,-0.67,-97.3,2113,2497,3349,3322,841.9,-9.6,636,7537,0.00,2.50,0.00,0.000,260,0.000,0.087,2104,3899,3335,3349,3322,0,0,0,0,0,0,15.07,14.32,15.10
$GC,7574,-0.67,-97.3,2105,3899,3349,3321,846.3,-10.0,645,7578,0.00,2.28,0.00,0.000,1030,0.000,0.036,2105,2502,3335,3349,3322,0,0,0,0,0,0,14.64,14.57,14.66
$GC,7892,-0.67,-97.3,2104,2501,3348,3321,877.4,-9.6,663,7896,0.00,2.35,0.00,0.000,516,0.000,0.050,2105,1108,3334,3348,3321,0,0,0,0,0,0,15.07,14.45,15.09
$GC,7928,-0.67,-97.3,2104,1108,3348,3321,881.1,-9.7,670,7933,0.00,2.42,0.00,0.000,1030,0.000,0.058,2093,2505,3334,3348,3321,0,0,0,0,0,0,14.53,14.41,14.57
$GC,8233,-0.67,-97.3,2093,2505,3347,3320,911.1,-9.6,686,8238,0.00,2.45,0.00,0.000,260,0.000,0.087,2083,3892,3334,3348,3320,0,0,0,0,0,0,15.08,14.30,15.10
$GC,8276,-0.67,-97.3,2083,3892,3347,3320,915.3,-10.1,694,8282,0.12,2.28,0.00,0.000,3078,0.205,0.037,2113,2497,3333,3347,3320,0,0,0,0,0,0,14.25,14.54,14.42
$GC,8600,-0.67,-97.3,2113,2496,3347,3320,941.2,-7.7,713,8607,0.00,2.50,0.00,0.000,260,0.000,0.087,2104,3896,3333,3346,3320,0,0,0,0,0,0,15.07,14.28,15.10
$GC,8634,-0.67,-97.3,2103,3896,3345,3320,944.1,-8.5,720,8639,0.00,2.30,0.00,0.000,1030,0.000,0.037,2104,2494,3333,3346,3320,0,0,0,0,0,0,14.61,14.54,14.63
$GC,8941,-0.67,-97.3,2103,2493,3345,3320,967.6,-7.7,736,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2493,3332,3345,3320,0,0,0,0,0,0,15.07,15.09,15.09
$STATE,9237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9237,begin apogee
$GC,9244,-0.15,0.0,2104,2493,3344,3318,990.5,-7.7,751,9340,0.60,0.00,92.53,1.980,10246,0.164,0.000,2275,2493,2968,3001,2935,0,0,0,0,0,0,14.13,13.98,12.59
$STATE,9341,end apogee,CONTROL_FINISHED_OK
$STATE,9341,begin climb
$GC,9346,0.67,97.3,2275,2493,3000,2935,992.5,0.0,756,9454,0.82,0.00,102.72,1.965,10758,0.090,0.000,2548,2492,2571,2605,2538,0,0,0,0,0,0,14.19,13.90,12.62
$GC,9765,0.68,97.3,2547,2492,2593,2534,970.2,7.5,795,9767,0.00,0.00,0.00,0.000,70,0.000,0.000,2548,2492,2563,2593,2534,0,0,0,0,0,0,14.88,14.90,14.90
$GC,10065,0.71,97.3,2547,2492,2592,2533,949.1,6.7,810,10070,0.00,2.45,0.00,0.000,580,0.000,0.051,2559,1050,2562,2592,2533,0,0,0,0,0,0,14.96,14.49,14.99
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$STATE,22219,end climb,SURFACE_DEPTH_REACHED
$STATE,22219,begin surface coast
$STATE,22227,end surface coast,CONTROL_FINISHED_OK
$STATE,22228,begin surface
$SM_CCo,22251,141.68,0.658,1,0,928,500.17
$SM_GC,1.13,8.15,2.53,141.68,0.088,0.051,0.658,113,2495,928,-6.78,-1.19,500.17,0,0,0,0,1,0,14.56,14.43,13.54
$IRIDIUM_FIX,601.09,8311.33,131219,071214
$TT8_MAMPS,0.018725,0.159537
$HUMID,48.58
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.59,201.160
$10V_AH,13.16,0.000
$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,20.400,222.850,431.725,141.675,0.000,0.000,0.000,226.850,0.000,0.000,15.649,1788.802,16632.451,726.953,3063.690,558.445,0.000,2526.525,0.000,2809.357,0.000,0.540,0.000
$DEVICE_MAMPS,348.075,87.210,1979.820,657.900,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,941.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250608
$DATA_FILE_SIZE,86578,1978
$CAP_FILE_SIZE,215184,0
$CFSIZE,260034560,133218304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.144,89.16,1
$GPS,131219,193900,602.481,8308.020,20,0.9,20,-1.9,0.4,276.5,9,3.4