version: 66.13
glider: 171
mission: 11
dive: 596
start: 12 15 119 7 32 31
data:
$ID,171
$MISSION,11
$DIVE,596
$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,68
$R_STBD_OVSHOOT,65
$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
$GPS1,151219,072509,556.8487,8308.1895,20,0.8,29,-1.9,0.4,219.9,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.0
$GPS2,151219,073138,556.8567,8308.1348,2,0.5,3,-1.9,0.5,276.7,12,6.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,235.0,106363,-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,-97.3,99,2542,970,880,0.0,0.0,0,88,0.00,0.00,-76.30,0.005,16386,0.000,0.000,98,2542,2736,2734,2739,0,0,0,0,0,0,14.83,28.83,14.86
$GC,92,-0.67,-97.3,98,2542,2735,2739,5.5,-16.5,16,119,9.27,2.40,-11.50,0.011,18948,0.346,0.065,2103,1109,3367,3381,3354,0,0,0,0,0,0,13.87,12.58,14.33
$GC,247,-0.67,-97.3,2103,1108,3381,3354,51.0,-22.7,47,253,0.00,2.30,0.00,0.000,1030,0.000,0.060,2094,2461,3367,3381,3354,0,0,0,0,0,0,14.57,14.46,14.61
$GC,432,-0.67,-97.3,2094,2462,3381,3354,85.6,-16.1,66,437,0.00,2.50,0.00,0.000,260,0.000,0.082,2083,3899,3368,3382,3354,0,0,0,0,0,0,15.00,14.42,15.02
$GC,665,-0.67,-97.3,2083,3900,3382,3354,119.6,-13.1,112,669,0.00,2.20,0.00,0.000,1030,0.000,0.031,2084,2503,3368,3382,3354,0,0,0,0,0,0,14.73,14.67,14.74
$GC,858,-0.67,-97.3,2083,2502,3383,3354,144.4,-13.7,132,862,0.00,2.40,0.00,0.000,260,0.000,0.078,2073,3894,3368,3383,3354,0,0,0,0,0,0,15.04,14.49,15.06
$GC,939,-0.67,-97.3,2073,3894,3383,3354,155.8,-13.6,148,944,0.15,2.20,0.00,0.000,3078,0.217,0.031,2109,2496,3368,3382,3354,0,0,0,0,0,0,14.33,14.69,14.55
$GC,1135,-0.67,-97.3,2108,2494,3382,3354,177.6,-11.0,168,1140,0.00,2.25,0.00,0.000,516,0.000,0.045,2109,1117,3368,3382,3354,0,0,0,0,0,0,15.03,14.60,15.06
$GC,1166,-0.67,-97.3,2109,1116,3382,3354,181.6,-11.6,174,1171,0.00,2.35,0.00,0.000,1030,0.000,0.055,2099,2511,3368,3382,3354,0,0,0,0,0,0,14.67,14.57,14.71
$GC,1357,-0.67,-97.3,2099,2511,3380,3354,204.5,-12.1,194,1361,0.00,2.38,0.00,0.000,260,0.000,0.080,2088,3897,3367,3381,3354,0,0,0,0,0,0,15.07,14.49,15.09
$GC,1379,-0.67,-97.3,2088,3898,3380,3353,207.2,-12.7,198,1384,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2498,3367,3380,3354,0,0,0,0,0,0,14.75,14.69,14.77
$GC,1571,-0.67,-97.3,2088,2497,3379,3354,231.2,-12.2,218,1575,0.00,2.42,0.00,0.000,260,0.000,0.079,2078,3899,3366,3378,3354,0,0,0,0,0,0,15.07,14.48,15.10
$GC,1612,-0.67,-97.3,2077,3900,3378,3354,236.4,-12.9,226,1616,0.12,2.22,0.00,0.000,3078,0.212,0.033,2108,2499,3366,3378,3354,0,0,0,0,0,0,14.38,14.69,14.58
$GC,1814,-0.67,-97.3,2107,2498,3376,3354,258.7,-10.8,243,1819,0.00,2.28,0.00,0.000,516,0.000,0.046,2108,1108,3364,3376,3353,0,0,0,0,0,0,15.07,14.60,15.10
$GC,1846,-0.67,-97.3,2107,1108,3376,3353,262.2,-10.7,249,1850,0.00,2.35,0.00,0.000,1030,0.000,0.054,2098,2501,3364,3375,3353,0,0,0,0,0,0,14.68,14.57,14.71
$GC,2157,-0.67,-97.3,2098,2501,3374,3350,297.0,-11.4,266,2161,0.00,2.40,0.00,0.000,260,0.000,0.082,2087,3895,3362,3374,3350,0,0,0,0,0,0,15.09,14.48,15.11
$GC,2214,-0.67,-97.3,2087,3894,3374,3350,303.7,-12.1,277,2218,0.00,2.22,0.00,0.000,1030,0.000,0.033,2087,2501,3361,3373,3350,0,0,0,0,0,0,14.75,14.69,14.76
$GC,2518,-0.67,-97.3,2087,2500,3372,3347,340.3,-12.0,293,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2500,3359,3372,3347,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2820,-0.67,-97.3,2087,2499,3371,3345,374.6,-11.3,308,2824,0.00,2.42,0.00,0.000,260,0.000,0.082,2077,3892,3357,3370,3345,0,0,0,0,0,0,15.08,14.46,15.11
$GC,2846,-0.67,-97.3,2076,3891,3370,3345,377.7,-11.4,313,2851,0.15,2.22,0.00,0.000,3078,0.202,0.034,2114,2499,3357,3370,3345,0,0,0,0,0,0,14.35,14.67,14.55
$GC,3163,-0.67,-97.3,2114,2498,3368,3343,407.2,-9.3,331,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2498,3355,3368,3342,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3464,-0.67,-97.3,2114,2498,3367,3340,435.5,-9.3,346,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2498,3353,3367,3340,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3763,-0.67,-97.3,2113,2498,3366,3339,463.6,-9.3,361,3769,0.00,2.45,0.00,0.000,260,0.000,0.083,2105,3894,3352,3365,3339,0,0,0,0,0,0,15.10,14.43,15.12
$GC,3808,-0.67,-97.3,2105,3894,3365,3339,468.0,-9.9,370,3812,0.00,2.25,0.00,0.000,1030,0.000,0.034,2105,2495,3352,3365,3339,0,0,0,0,0,0,14.71,14.66,14.74
$GC,4125,-0.67,-97.3,2105,2494,3363,3337,498.6,-9.8,388,4132,0.00,2.45,0.00,0.000,260,0.000,0.083,2094,3890,3350,3363,3337,0,0,0,0,0,0,15.08,14.42,15.11
$GC,4159,-0.67,-97.3,2093,3890,3362,3337,502.2,-10.3,395,4164,0.00,2.25,0.00,0.000,1030,0.000,0.035,2094,2499,3350,3363,3337,0,0,0,0,0,0,14.71,14.64,14.73
$GC,4465,-0.67,-97.3,2093,2497,3362,3335,535.0,-10.9,411,4470,0.00,2.45,0.00,0.000,260,0.000,0.083,2083,3893,3348,3362,3335,0,0,0,0,0,0,15.08,14.41,15.11
$GC,4507,-0.67,-97.3,2083,3893,3362,3335,539.9,-11.7,419,4513,0.12,2.25,0.00,0.000,3078,0.207,0.035,2113,2496,3348,3362,3335,0,0,0,0,0,0,14.35,14.64,14.52
$GC,4830,-0.67,-97.3,2113,2495,3361,3333,572.7,-10.1,438,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2495,3347,3361,3333,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5131,-0.67,-97.3,2113,2495,3358,3333,602.6,-9.9,453,5137,0.00,2.47,0.00,0.000,260,0.000,0.083,2104,3899,3346,3359,3333,0,0,0,0,0,0,15.08,14.38,15.11
$GC,5155,-0.67,-97.3,2104,3898,3359,3333,605.1,-11.0,458,5159,0.00,2.28,0.00,0.000,1030,0.000,0.035,2104,2500,3345,3359,3332,0,0,0,0,0,0,14.69,14.62,14.71
$GC,5471,-0.67,-97.3,2104,2499,3357,3332,636.6,-9.7,476,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2499,3344,3357,3332,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5772,-0.67,-97.3,2104,2499,3356,3330,665.1,-9.2,491,5777,0.00,2.47,0.00,0.000,260,0.000,0.084,2093,3897,3343,3356,3331,0,0,0,0,0,0,15.08,14.36,15.11
$GC,5800,-0.67,-97.3,2092,3897,3356,3330,667.7,-9.4,496,5804,0.00,2.28,0.00,0.000,1030,0.000,0.036,2093,2496,3343,3356,3330,0,0,0,0,0,0,14.67,14.60,14.71
$GC,6116,-0.67,-97.3,2092,2495,3356,3330,697.1,-9.0,514,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2495,3342,3355,3329,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6416,-0.67,-97.3,2092,2494,3354,3328,723.6,-8.7,529,6422,0.00,2.47,0.00,0.000,260,0.000,0.083,2082,3891,3341,3354,3328,0,0,0,0,0,0,15.09,14.34,15.11
$GC,6466,-0.67,-97.3,2082,3892,3354,3328,728.3,-9.5,539,6471,0.12,2.28,0.00,0.000,3078,0.207,0.036,2112,2491,3341,3354,3328,0,0,0,0,0,0,14.29,14.59,14.47
$GC,6780,-0.67,-97.3,2111,2489,3353,3327,753.4,-8.2,556,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2490,3340,3353,3327,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7078,-0.67,-97.3,2112,2490,3353,3326,778.7,-8.6,571,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2490,3339,3352,3326,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7378,-0.67,-97.3,2112,2490,3352,3325,805.0,-8.8,586,7383,0.00,2.50,0.00,0.000,260,0.000,0.085,2103,3890,3338,3352,3325,0,0,0,0,0,0,15.08,14.31,15.11
$GC,7446,-0.67,-97.3,2103,3890,3351,3325,811.2,-9.4,599,7451,0.00,2.28,0.00,0.000,1030,0.000,0.037,2103,2497,3338,3351,3325,0,0,0,0,0,0,14.63,14.56,14.66
$GC,7765,-0.67,-97.3,2103,2496,3350,3324,840.8,-9.2,617,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2496,3337,3350,3324,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8065,-0.67,-97.3,2103,2496,3350,3323,868.1,-8.9,632,8071,0.00,2.47,0.00,0.000,260,0.000,0.085,2092,3889,3336,3350,3323,0,0,0,0,0,0,15.07,14.29,15.09
$GC,8104,-0.67,-97.3,2091,3889,3349,3323,871.8,-9.6,640,8108,0.00,2.28,0.00,0.000,1030,0.000,0.037,2091,2498,3336,3349,3323,0,0,0,0,0,0,14.62,14.54,14.64
$GC,8425,-0.67,-97.3,2091,2496,3349,3322,902.7,-9.6,659,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2496,3335,3349,3322,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8726,-0.67,-97.3,2091,2496,3348,3321,930.4,-9.1,674,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2496,3334,3348,3321,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9025,-0.67,-97.3,2091,2496,3347,3321,958.0,-9.2,689,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2496,3334,3348,3321,0,0,0,0,0,0,15.08,15.11,15.11
$GC,9325,-0.67,-97.3,2091,2496,3347,3321,985.1,-8.9,704,9330,0.00,2.53,0.00,0.000,260,0.000,0.086,2081,3893,3333,3346,3320,0,0,0,0,0,0,15.07,14.25,15.10
$STATE,9379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9379,begin apogee
$GC,9390,-0.15,0.0,2081,2436,3346,3320,990.5,-9.5,715,9487,0.70,0.00,93.00,1.991,10246,0.168,0.000,2279,2436,2968,3000,2936,0,0,0,0,0,0,14.05,13.97,12.59
$STATE,9488,end apogee,CONTROL_FINISHED_OK
$STATE,9488,begin climb
$GC,9491,0.67,97.3,2279,2436,2999,2935,993.2,0.0,720,9600,0.82,0.00,104.88,1.974,10246,0.088,0.000,2553,2436,2571,2604,2538,0,0,0,0,0,0,14.18,13.88,12.55
$GC,9907,0.67,97.3,2553,2436,2592,2534,970.2,8.3,741,9911,0.00,2.38,0.00,0.000,516,0.000,0.053,2563,1043,2563,2592,2534,0,0,0,0,0,0,14.85,14.44,14.88
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$STATE,21796,end climb,SURFACE_DEPTH_REACHED
$STATE,21796,begin surface coast
$STATE,21811,end surface coast,CONTROL_FINISHED_OK
$STATE,21811,begin surface
$SM_CCo,21832,69.50,0.548,1,0,928,500.17
$SM_GC,1.15,7.72,0.10,69.50,0.053,0.157,0.548,121,2499,928,-6.79,-0.96,500.17,0,0,0,0,1,0,14.47,14.44,13.57
$IRIDIUM_FIX,554.61,8311.33,151219,010704
$TT8_MAMPS,0.018725,0.166278
$HUMID,50.27
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,12.55,203.254
$10V_AH,13.10,0.000
$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,20.025,209.050,511.600,69.500,0.000,0.000,0.000,242.900,0.000,0.000,15.289,1688.158,16467.463,731.411,2864.214,542.006,0.000,2440.707,0.000,2606.002,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,156.825,1991.295,547.740,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,932.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250404
$DATA_FILE_SIZE,79842,1834
$CAP_FILE_SIZE,205346,0
$CFSIZE,260034560,132591616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.107,91.84,1
$GPS,151219,133838,555.897,8307.954,17,1.3,17,-1.9,1.3,245.1,6,9.4