version: 66.13
glider: 171
mission: 11
dive: 599
start: 12 16 119 2 1 5
data:
$ID,171
$MISSION,11
$DIVE,599
$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,53
$R_STBD_OVSHOOT,16
$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
$GPS1,161219,015359,553.3012,8307.9141,31,1.3,31,-1.9,0.4,77.9,6,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.0
$GPS2,161219,020012,553.3057,8307.8740,2,0.6,3,-1.9,0.4,270.0,12,5.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,235.3,99785,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,103,2492,950,841,0.0,0.0,0,83,0.00,0.00,-71.12,0.005,16386,0.000,0.000,101,2493,2541,2545,2537,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.67,-97.3,101,2492,2545,2537,4.5,-11.6,15,119,9.23,2.40,-16.00,0.008,18948,0.344,0.072,2103,1102,3367,3383,3352,0,0,0,0,0,0,13.86,12.56,14.32
$GC,219,-0.67,-97.3,2103,1102,3383,3352,41.5,-19.8,41,226,0.00,2.42,0.00,0.000,1030,0.000,0.062,2094,2509,3367,3383,3352,0,0,0,0,0,0,14.55,14.43,14.59
$GC,415,-0.67,-97.3,2093,2510,3383,3352,81.5,-16.5,64,420,0.00,2.40,0.00,0.000,260,0.000,0.082,2083,3896,3367,3383,3352,0,0,0,0,0,0,14.97,14.42,15.00
$GC,473,-0.67,-97.3,2083,3896,3384,3352,89.0,-14.8,75,478,0.00,2.25,0.00,0.000,1030,0.000,0.033,2083,2489,3368,3384,3352,0,0,0,0,0,0,14.69,14.62,14.70
$GC,657,-0.67,-97.3,2082,2488,3384,3352,112.3,-12.8,94,662,0.12,2.28,0.00,0.000,2564,0.256,0.042,2117,1097,3368,3384,3352,0,0,0,0,0,0,14.32,14.53,14.43
$GC,860,-0.67,-97.3,2116,1097,3384,3352,136.3,-11.1,134,866,0.00,2.38,0.00,0.000,1030,0.000,0.054,2107,2505,3368,3384,3352,0,0,0,0,0,0,14.65,14.54,14.69
$GC,1052,-0.67,-97.3,2107,2505,3384,3352,158.7,-12.0,154,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2505,3368,3385,3352,0,0,0,0,0,0,15.06,15.09,15.08
$GC,1234,-0.67,-97.3,2107,2505,3384,3352,181.0,-12.9,172,1238,0.00,2.38,0.00,0.000,260,0.000,0.082,2096,3890,3368,3384,3352,0,0,0,0,0,0,15.05,14.47,15.08
$GC,1260,-0.67,-97.3,2096,3890,3384,3352,184.6,-13.9,177,1264,0.00,2.22,0.00,0.000,1030,0.000,0.032,2096,2495,3368,3384,3352,0,0,0,0,0,0,14.73,14.68,14.76
$GC,1445,-0.67,-97.3,2096,2494,3383,3352,209.1,-13.2,196,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2494,3367,3383,3352,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1626,-0.67,-97.3,2096,2494,3382,3352,231.5,-12.0,214,1631,0.00,2.42,0.00,0.000,260,0.000,0.080,2086,3890,3366,3381,3352,0,0,0,0,0,0,15.07,14.47,15.10
$GC,1668,-0.67,-97.3,2085,3890,3381,3352,236.8,-12.4,222,1673,0.00,2.22,0.00,0.000,1030,0.000,0.032,2085,2493,3366,3381,3352,0,0,0,0,0,0,14.74,14.68,14.76
$GC,1861,-0.67,-97.3,2085,2492,3379,3352,259.9,-11.8,238,1866,0.00,2.28,0.00,0.000,516,0.000,0.047,2085,1105,3365,3378,3352,0,0,0,0,0,0,15.07,14.59,15.10
$GC,1888,-0.67,-97.3,2085,1105,3378,3352,263.3,-11.8,243,1895,0.15,2.35,0.00,0.000,3078,0.207,0.054,2112,2500,3365,3378,3352,0,0,0,0,0,0,14.33,14.55,14.54
$GC,2203,-0.67,-97.3,2111,2501,3376,3351,295.6,-10.2,261,2207,0.00,2.42,0.00,0.000,260,0.000,0.083,2103,3895,3363,3376,3351,0,0,0,0,0,0,15.09,14.46,15.11
$GC,2265,-0.67,-97.3,2102,3894,3375,3352,302.3,-10.9,273,2269,0.00,2.22,0.00,0.000,1030,0.000,0.033,2103,2499,3363,3375,3351,0,0,0,0,0,0,14.74,14.68,14.76
$GC,2586,-0.67,-97.3,2102,2498,3375,3347,338.8,-11.5,292,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2498,3361,3374,3348,0,0,0,0,0,0,15.09,15.12,15.12
$GC,2888,-0.67,-97.3,2102,2498,3373,3346,373.3,-11.5,307,2892,0.00,2.45,0.00,0.000,260,0.000,0.084,2091,3888,3359,3372,3346,0,0,0,0,0,0,15.08,14.44,15.11
$GC,2944,-0.67,-97.3,2092,3889,3372,3346,380.1,-11.7,318,2949,0.00,2.25,0.00,0.000,1030,0.000,0.034,2091,2491,3359,3372,3346,0,0,0,0,0,0,14.73,14.66,14.75
$GC,3249,-0.67,-97.3,2091,2490,3371,3344,416.3,-12.1,334,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2490,3357,3371,3344,0,0,0,0,0,0,15.09,15.12,15.12
$GC,3550,-0.67,-97.3,2091,2490,3369,3341,451.7,-11.5,349,3557,0.00,2.45,0.00,0.000,260,0.000,0.083,2081,3889,3354,3368,3341,0,0,0,0,0,0,15.09,14.43,15.11
$GC,3580,-0.67,-97.3,2080,3889,3368,3341,455.3,-12.5,355,3585,0.12,2.25,0.00,0.000,3078,0.210,0.034,2110,2491,3354,3368,3341,0,0,0,0,0,0,14.35,14.65,14.54
$GC,3891,-0.67,-97.3,2110,2490,3367,3339,486.7,-9.8,372,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2489,3353,3367,3339,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4193,-0.67,-97.3,2110,2490,3366,3338,516.1,-9.9,387,4197,0.00,2.47,0.00,0.000,260,0.000,0.085,2101,3888,3352,3366,3339,0,0,0,0,0,0,15.08,14.40,15.11
$GC,4224,-0.67,-97.3,2101,3888,3366,3338,519.6,-10.6,393,4228,0.00,2.25,0.00,0.000,1030,0.000,0.034,2101,2494,3352,3366,3339,0,0,0,0,0,0,14.71,14.64,14.73
$GC,4538,-0.67,-97.3,2101,2492,3365,3337,553.2,-10.9,410,4543,0.00,2.30,0.00,0.000,516,0.000,0.049,2101,1108,3350,3364,3337,0,0,0,0,0,0,15.08,14.53,15.10
$GC,4561,-0.67,-97.3,2101,1108,3364,3337,555.8,-11.0,414,4566,0.00,2.38,0.00,0.000,1030,0.000,0.058,2090,2497,3350,3364,3337,0,0,0,0,0,0,14.61,14.49,14.65
$GC,4883,-0.67,-97.3,2090,2497,3362,3335,593.0,-11.7,433,4890,0.00,2.45,0.00,0.000,260,0.000,0.085,2080,3900,3348,3362,3335,0,0,0,0,0,0,15.09,14.38,15.11
$GC,4959,-0.67,-97.3,2079,3900,3362,3336,602.0,-12.0,448,4964,0.12,2.28,0.00,0.000,3078,0.208,0.036,2110,2498,3348,3362,3335,0,0,0,0,0,0,14.31,14.61,14.50
$GC,5263,-0.67,-97.3,2109,2498,3362,3334,633.3,-10.0,464,5267,0.00,2.47,0.00,0.000,260,0.000,0.085,2100,3892,3348,3362,3334,0,0,0,0,0,0,15.09,14.37,15.11
$GC,5300,-0.67,-97.3,2100,3891,3361,3334,636.9,-10.3,471,5304,0.00,2.28,0.00,0.000,1030,0.000,0.035,2100,2491,3348,3362,3334,0,0,0,0,0,0,14.67,14.61,14.70
$GC,5606,-0.67,-97.3,2100,2490,3361,3333,667.5,-9.8,487,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2490,3346,3360,3333,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5904,-0.67,-97.3,2100,2489,3360,3332,696.0,-9.4,502,5909,0.00,2.50,0.00,0.000,260,0.000,0.086,2089,3894,3346,3360,3332,0,0,0,0,0,0,15.09,14.35,15.11
$GC,5936,-0.67,-97.3,2089,3894,3359,3332,699.1,-9.9,508,5940,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2492,3345,3359,3332,0,0,0,0,0,0,14.66,14.59,14.69
$GC,6248,-0.67,-97.3,2089,2491,3358,3332,730.0,-9.9,525,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2491,3344,3357,3331,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6547,-0.67,-97.3,2089,2491,3356,3330,759.6,-9.9,540,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2491,3343,3356,3330,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6849,-0.67,-97.3,2089,2491,3356,3330,788.1,-9.4,555,6853,0.00,2.50,0.00,0.000,260,0.000,0.086,2078,3891,3342,3356,3329,0,0,0,0,0,0,15.07,14.32,15.09
$GC,6911,-0.67,-97.3,2078,3892,3356,3329,794.3,-10.1,567,6915,0.12,2.28,0.00,0.000,3078,0.206,0.036,2108,2494,3342,3356,3329,0,0,0,0,0,0,14.27,14.57,14.45
$GC,7232,-0.67,-97.3,2108,2492,3356,3328,820.4,-7.9,586,7237,0.00,2.33,0.00,0.000,516,0.000,0.051,2109,1108,3342,3356,3328,0,0,0,0,0,0,15.08,14.45,15.11
$GC,7295,-0.67,-97.3,2108,1108,3355,3327,825.3,-7.9,598,7300,0.00,2.42,0.00,0.000,1030,0.000,0.060,2099,2505,3341,3355,3327,0,0,0,0,0,0,14.53,14.40,14.57
$GC,7617,-0.67,-97.3,2099,2506,3354,3327,851.7,-8.2,617,7621,0.00,2.45,0.00,0.000,260,0.000,0.086,2088,3894,3340,3354,3327,0,0,0,0,0,0,15.08,14.30,15.10
$GC,7699,-0.67,-97.3,2088,3895,3354,3326,858.8,-8.7,633,7703,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2500,3340,3354,3327,0,0,0,0,0,0,14.62,14.55,14.64
$GC,8020,-0.67,-97.3,2088,2499,3354,3326,887.8,-9.3,652,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2499,3339,3353,3326,0,0,0,0,0,0,15.07,15.11,15.11
$GC,8321,-0.67,-97.3,2088,2499,3353,3325,916.7,-9.8,667,8328,0.00,2.50,0.00,0.000,260,0.000,0.087,2077,3896,3339,3353,3325,0,0,0,0,0,0,15.07,14.28,15.10
$GC,8386,-0.67,-97.3,2077,3896,3352,3325,923.5,-10.6,680,8393,0.10,2.28,0.00,0.000,3078,0.172,0.037,2108,2497,3338,3352,3325,0,0,0,0,0,0,14.13,14.47,14.23
$GC,8705,-0.67,-97.3,2108,2496,3352,3324,952.0,-9.0,698,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3338,3352,3324,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9006,-0.67,-97.3,2108,2496,3351,3323,978.3,-8.5,713,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3337,3352,3323,0,0,0,0,0,0,15.06,15.09,15.09
$STATE,9141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9141,begin apogee
$GC,9149,-0.15,0.0,2108,2496,3351,3323,990.1,-8.4,720,9246,0.60,0.00,94.05,1.986,10246,0.164,0.000,2280,2496,2968,3001,2935,0,0,0,0,0,0,14.12,13.97,12.57
$STATE,9247,end apogee,CONTROL_FINISHED_OK
$STATE,9247,begin climb
$GC,9251,0.67,97.3,2280,2496,3000,2935,992.5,0.0,725,9363,0.82,2.53,104.18,1.977,10500,0.086,0.084,2555,3846,2569,2601,2537,0,0,0,0,0,0,14.18,13.96,12.59
$GC,9398,0.70,97.3,2555,3847,2595,2537,990.5,6.7,746,9403,0.00,2.35,0.00,0.000,1094,0.000,0.036,2565,2443,2566,2595,2537,0,0,0,0,0,0,14.35,14.29,14.37
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$STATE,21796,end climb,SURFACE_DEPTH_REACHED
$STATE,21796,begin surface coast
$STATE,21806,end surface coast,CONTROL_FINISHED_OK
$STATE,21807,begin surface
$SM_CCo,21891,0.00,0.000,0,0,916,503.36
$SM_GC,0.94,8.05,2.60,0.00,0.050,0.063,0.000,121,2499,916,-6.78,-0.76,503.36,0,0,0,0,0,0,14.41,14.26,14.46
$IRIDIUM_FIX,554.56,8307.02,151219,194348
$TT8_MAMPS,0.019474,0.158788
$HUMID,51.18
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,12.56,204.161
$10V_AH,13.13,0.000
$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
$DEVICE_SECS,20.350,219.200,553.250,0.000,0.000,0.000,0.000,226.775,0.000,0.000,15.087,1684.020,16499.740,693.782,2844.816,533.625,0.000,2406.154,0.000,2596.082,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,919.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250348
$DATA_FILE_SIZE,79929,1827
$CAP_FILE_SIZE,206875,0
$CFSIZE,260034560,132304896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15443.61,0x2147a0,1,24
$CURRENT,0.138,90.76,1
$GPS,161219,080700,552.411,8308.163,27,0.6,27,-1.9,0.9,145.3,12,6.1