version: 66.13
glider: 171
mission: 11
dive: 591
start: 12 14 119 2 2 9
data:
$ID,171
$MISSION,11
$DIVE,591
$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,57
$R_STBD_OVSHOOT,55
$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
$GPS1,141219,015457,601.5413,8308.3955,31,1.4,31,-1.9,1.0,245.3,7,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.2
$GPS2,141219,020116,601.5416,8308.2812,2,0.6,2,-1.9,0.7,266.5,12,10.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,234.5,114995,-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,6,begin dive
$GC,10,-0.67,-97.3,77,2530,968,881,0.0,0.0,0,83,0.00,0.00,-71.38,0.005,16386,0.000,0.000,75,2530,2601,2602,2601,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,75,2530,2604,2601,4.8,-13.5,15,119,9.32,2.47,-14.40,0.009,18948,0.343,0.071,2108,1102,3368,3384,3353,0,0,0,0,0,0,13.86,12.57,14.33
$GC,237,-0.67,-97.3,2107,1102,3384,3353,48.5,-22.0,45,241,0.00,2.35,0.00,0.000,1030,0.000,0.062,2098,2472,3368,3384,3353,0,0,0,0,0,0,14.57,14.45,14.61
$GC,428,-0.67,-97.3,2098,2472,3384,3353,85.4,-15.3,65,432,0.00,2.45,0.00,0.000,260,0.000,0.079,2088,3899,3367,3382,3353,0,0,0,0,0,0,15.00,14.45,15.02
$GC,662,-0.67,-97.3,2087,3899,3384,3353,122.0,-14.9,111,666,0.00,2.22,0.00,0.000,1030,0.000,0.032,2087,2497,3369,3385,3353,0,0,0,0,0,0,14.71,14.65,14.73
$GC,847,-0.67,-97.3,2087,2496,3385,3353,148.1,-14.5,130,852,0.00,2.45,0.00,0.000,260,0.000,0.087,2077,3899,3369,3385,3353,0,0,0,0,0,0,15.04,14.47,15.07
$GC,1049,-0.67,-97.3,2077,3899,3385,3353,176.9,-13.9,170,1055,0.15,2.22,0.00,0.000,3078,0.216,0.033,2113,2495,3369,3385,3353,0,0,0,0,0,0,14.33,14.68,14.55
$GC,1245,-0.67,-97.3,2113,2494,3385,3353,199.7,-11.5,190,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2494,3368,3384,3353,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1432,-0.67,-97.3,2113,2494,3383,3353,222.1,-11.6,209,1439,0.00,2.45,0.00,0.000,260,0.000,0.086,2104,3898,3368,3383,3353,0,0,0,0,0,0,15.08,14.48,15.10
$GC,1488,-0.67,-97.3,2103,3897,3383,3352,228.8,-12.4,220,1494,0.00,2.20,0.00,0.000,1030,0.000,0.032,2104,2504,3368,3383,3353,0,0,0,0,0,0,14.69,14.66,14.70
$GC,1682,-0.67,-97.3,2104,2503,3380,3352,253.1,-12.4,239,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2503,3366,3381,3352,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1982,-0.67,-97.3,2104,2503,3377,3352,287.3,-10.7,254,1987,0.00,2.42,0.00,0.000,260,0.000,0.083,2093,3894,3364,3376,3352,0,0,0,0,0,0,15.09,14.47,15.12
$GC,2020,-0.67,-97.3,2092,3894,3377,3352,291.4,-11.2,261,2024,0.00,2.25,0.00,0.000,1030,0.000,0.034,2093,2489,3364,3377,3352,0,0,0,0,0,0,14.75,14.69,14.77
$GC,2324,-0.67,-97.3,2092,2488,3374,3349,326.1,-11.3,277,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2488,3362,3375,3349,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2624,-0.67,-97.3,2092,2488,3373,3347,359.5,-11.0,292,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2488,3360,3373,3347,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2926,-0.67,-97.3,2092,2488,3371,3345,392.9,-11.2,307,2932,0.00,2.47,0.00,0.000,260,0.000,0.085,2082,3899,3358,3371,3345,0,0,0,0,0,0,15.09,14.45,15.11
$GC,2984,-0.67,-97.3,2081,3899,3371,3345,399.8,-11.7,319,2989,0.12,2.25,0.00,0.000,3078,0.210,0.035,2112,2495,3358,3371,3345,0,0,0,0,0,0,14.38,14.66,14.56
$GC,3307,-0.67,-97.3,2111,2493,3369,3342,431.8,-9.7,338,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2493,3355,3369,3342,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3606,-0.67,-97.3,2111,2493,3367,3340,460.5,-9.5,353,3613,0.00,2.47,0.00,0.000,260,0.000,0.086,2103,3899,3353,3367,3340,0,0,0,0,0,0,15.09,14.42,15.12
$GC,3651,-0.67,-97.3,2102,3899,3366,3340,465.0,-10.0,362,3656,0.00,2.25,0.00,0.000,1030,0.000,0.035,2103,2503,3353,3366,3340,0,0,0,0,0,0,14.71,14.65,14.74
$GC,3968,-0.67,-97.3,2102,2501,3366,3339,496.8,-10.1,380,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3352,3365,3339,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4269,-0.67,-97.3,2102,2501,3364,3337,526.7,-9.8,395,4273,0.00,2.47,0.00,0.000,260,0.000,0.086,2091,3899,3350,3363,3337,0,0,0,0,0,0,15.09,14.40,15.11
$GC,4311,-0.67,-97.3,2091,3899,3363,3337,531.0,-10.3,403,4315,0.00,2.30,0.00,0.000,1030,0.000,0.036,2091,2492,3350,3363,3337,0,0,0,0,0,0,14.70,14.63,14.72
$GC,4633,-0.67,-97.3,2091,2491,3362,3335,563.5,-10.0,422,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3348,3362,3335,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4932,-0.67,-97.3,2091,2491,3361,3334,593.2,-10.0,437,4939,0.00,2.47,0.00,0.000,260,0.000,0.085,2081,3893,3347,3361,3334,0,0,0,0,0,0,15.09,14.39,15.12
$GC,4988,-0.67,-97.3,2080,3893,3360,3334,599.0,-10.6,448,4993,0.12,2.28,0.00,0.000,3078,0.209,0.036,2110,2494,3347,3361,3334,0,0,0,0,0,0,14.33,14.61,14.50
$GC,5292,-0.67,-97.3,2110,2492,3360,3333,625.8,-8.6,464,5296,0.00,2.33,0.00,0.000,516,0.000,0.051,2110,1105,3346,3360,3333,0,0,0,0,0,0,15.09,14.51,15.11
$GC,5323,-0.67,-97.3,2110,1105,3359,3333,628.6,-9.0,470,5329,0.00,2.42,0.00,0.000,1030,0.000,0.063,2101,2503,3345,3358,3333,0,0,0,0,0,0,14.59,14.46,14.62
$GC,5637,-0.67,-97.3,2101,2503,3357,3332,656.9,-9.0,487,5642,0.00,2.45,0.00,0.000,260,0.000,0.086,2090,3894,3344,3357,3332,0,0,0,0,0,0,15.07,14.36,15.10
$GC,5693,-0.67,-97.3,2090,3894,3356,3332,662.6,-9.8,498,5698,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2499,3343,3356,3331,0,0,0,0,0,0,14.66,14.59,14.69
$GC,6000,-0.67,-97.3,2090,2498,3356,3330,692.0,-9.6,514,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6300,-0.67,-97.3,2090,2498,3356,3329,720.3,-9.5,529,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3342,3356,3329,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6599,-0.67,-97.3,2090,2498,3355,3328,748.7,-9.5,544,6605,0.00,2.50,0.00,0.000,260,0.000,0.090,2080,3897,3341,3354,3328,0,0,0,0,0,0,15.08,14.33,15.11
$GC,6680,-0.67,-97.3,2079,3897,3354,3328,756.8,-10.2,560,6684,0.12,2.28,0.00,0.000,3078,0.207,0.037,2110,2500,3341,3354,3328,0,0,0,0,0,0,14.28,14.57,14.46
$GC,7002,-0.67,-97.3,2109,2499,3354,3326,784.3,-8.4,579,7006,0.00,2.35,0.00,0.000,516,0.000,0.051,2110,1101,3340,3353,3327,0,0,0,0,0,0,15.07,14.47,15.10
$GC,7023,-0.67,-97.3,2109,1101,3353,3327,786.2,-8.8,583,7030,0.00,2.45,0.00,0.000,1030,0.000,0.064,2101,2505,3339,3353,3326,0,0,0,0,0,0,14.53,14.40,14.57
$GC,7344,-0.67,-97.3,2100,2505,3352,3325,816.3,-9.6,602,7349,0.00,2.47,0.00,0.000,260,0.000,0.088,2089,3893,3339,3352,3326,0,0,0,0,0,0,15.07,14.30,15.10
$GC,7431,-0.67,-97.3,2089,3893,3352,3326,825.1,-10.0,619,7435,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2499,3338,3352,3325,0,0,0,0,0,0,14.63,14.56,14.65
$GC,7749,-0.67,-97.3,2089,2498,3352,3323,857.7,-10.4,637,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3338,3352,3325,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8047,-0.67,-97.3,2089,2498,3351,3324,889.4,-10.5,652,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3337,3351,3324,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8348,-0.67,-97.3,2089,2497,3350,3323,920.7,-10.3,667,8354,0.00,2.53,0.00,0.000,260,0.000,0.093,2079,3896,3336,3349,3323,0,0,0,0,0,0,15.07,14.27,15.10
$GC,8418,-0.67,-97.3,2078,3896,3349,3323,928.2,-10.7,681,8423,0.12,2.33,0.00,0.000,3078,0.207,0.037,2108,2491,3336,3349,3323,0,0,0,0,0,0,14.23,14.52,14.41
$GC,8730,-0.67,-97.3,2108,2489,3349,3322,955.6,-8.5,698,8735,0.00,2.53,0.00,0.000,260,0.000,0.090,2099,3899,3335,3349,3321,0,0,0,0,0,0,15.07,14.25,15.10
$GC,8773,-0.67,-97.3,2099,3899,3349,3321,959.3,-9.0,706,8778,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2499,3335,3349,3321,0,0,0,0,0,0,14.59,14.52,14.62
$GC,9095,-0.67,-97.3,2098,2497,3348,3321,987.4,-8.6,725,9100,0.00,2.53,0.00,0.000,260,0.000,0.090,2088,3899,3334,3348,3321,0,0,0,0,0,0,15.07,14.23,15.10
$STATE,9124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9124,begin apogee
$GC,9134,-0.15,0.0,2088,2439,3348,3321,990.2,-9.6,731,9231,0.68,0.00,93.25,1.982,10246,0.171,0.000,2278,2438,2968,3000,2936,0,0,0,0,0,0,14.07,13.97,12.58
$STATE,9232,end apogee,CONTROL_FINISHED_OK
$STATE,9232,begin climb
$GC,9237,0.67,97.3,2278,2437,2999,2936,993.0,0.0,736,9346,0.82,0.00,105.12,1.967,10246,0.086,0.000,2553,2438,2570,2602,2539,0,0,0,0,0,0,14.19,13.88,12.57
$GC,9649,0.67,97.3,2553,2438,2591,2535,972.0,7.9,757,9653,0.00,2.38,0.00,0.000,516,0.000,0.052,2564,1043,2563,2591,2535,0,0,0,0,0,0,14.85,14.44,14.88
$GC,9711,0.67,97.3,2563,1043,2590,2534,967.0,8.0,769,9719,0.00,2.42,0.00,0.000,1030,0.000,0.055,2564,2451,2562,2590,2534,0,0,0,0,0,0,14.54,14.44,14.59
$GC,10031,0.67,97.3,2563,2451,2589,2534,941.9,7.7,788,10035,0.00,2.42,0.00,0.000,516,0.000,0.050,2575,1040,2562,2590,2534,0,0,0,0,0,0,14.97,14.47,15.00
$GC,10093,0.67,97.3,2575,1041,2587,2533,937.2,7.8,800,10097,0.00,2.40,0.00,0.000,1030,0.000,0.054,2575,2440,2560,2587,2533,0,0,0,0,0,0,14.57,14.47,14.62
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$STATE,20632,end climb,SURFACE_DEPTH_REACHED
$STATE,20632,begin surface coast
$STATE,20648,end surface coast,CONTROL_FINISHED_OK
$STATE,20648,begin surface
$SM_CCo,20671,84.90,0.575,1,0,929,500.17
$SM_GC,1.32,7.50,2.55,84.90,0.069,0.057,0.575,135,2507,929,-6.77,-0.74,500.17,0,0,0,0,1,0,14.53,14.46,13.64
$IRIDIUM_FIX,601.09,8311.33,131219,194137
$TT8_MAMPS,0.019474,0.161784
$HUMID,48.58
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,12.57,201.758
$10V_AH,11.89,0.000
$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,20.050,200.350,498.925,84.900,0.000,0.000,0.000,234.950,0.000,0.000,16.864,1626.233,15454.810,740.016,2789.285,526.987,0.000,2409.255,0.000,2539.736,0.000,0.539,0.000
$DEVICE_MAMPS,343.485,93.330,1982.115,574.515,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,923.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250392
$DATA_FILE_SIZE,76662,1787
$CAP_FILE_SIZE,196853,0
$CFSIZE,260034560,133054464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.150,94.06,1
$GPS,141219,074914,600.565,8308.384,15,1.9,20,-1.9,0.8,238.5,6,10.0