version: 66.13
glider: 171
mission: 11
dive: 600
start: 12 16 119 8 14 2
data:
$ID,171
$MISSION,11
$DIVE,600
$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,63
$R_STBD_OVSHOOT,22
$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
$GPS1,161219,080700,552.4111,8308.1631,27,0.6,27,-1.9,0.9,145.3,12,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.2
$GPS2,161219,081309,552.3518,8308.1426,2,0.5,2,-1.9,0.4,136.6,12,9.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,235.7,98112,-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,-97.3,104,2501,972,860,0.0,0.0,0,83,0.00,0.00,-71.43,0.005,16386,0.000,0.000,103,2502,2582,2582,2583,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,103,2502,2583,2583,4.9,-13.5,15,119,9.27,2.45,-14.93,0.009,18692,0.346,0.098,2098,3893,3368,3383,3353,0,0,0,0,0,0,13.88,12.59,14.33
$GC,317,-0.67,-97.3,2097,3893,3384,3353,65.6,-19.6,61,321,0.00,2.22,0.00,0.000,1030,0.000,0.035,2097,2513,3368,3383,3353,0,0,0,0,0,0,14.64,14.57,14.66
$GC,509,-0.67,-97.3,2097,2511,3384,3353,92.9,-12.5,81,516,0.00,2.40,0.00,0.000,772,0.000,0.080,2087,3899,3368,3384,3353,0,0,0,0,0,0,15.00,14.43,15.02
$GC,543,-0.67,-97.3,2086,3899,3384,3353,97.8,-13.8,88,547,0.00,2.25,0.00,0.000,1030,0.000,0.031,2086,2485,3368,3384,3353,0,0,0,0,0,0,14.69,14.64,14.71
$GC,729,-0.67,-97.3,2086,2484,3385,3354,122.0,-13.5,107,735,0.00,2.47,0.00,0.000,260,0.000,0.083,2076,3906,3369,3385,3353,0,0,0,0,0,0,15.02,14.45,15.05
$GC,964,-0.67,-97.3,2076,3906,3385,3353,155.0,-13.6,154,970,0.15,2.25,0.00,0.000,3078,0.213,0.033,2112,2496,3369,3385,3353,0,0,0,0,0,0,14.31,14.66,14.53
$GC,1151,-0.67,-97.3,2111,2494,3385,3353,176.4,-11.3,173,1158,0.00,2.42,0.00,0.000,260,0.000,0.080,2103,3897,3369,3385,3353,0,0,0,0,0,0,15.04,14.46,15.07
$GC,1287,-0.67,-97.3,2102,3898,3385,3353,192.8,-11.9,200,1291,0.00,2.22,0.00,0.000,1030,0.000,0.032,2103,2499,3369,3385,3353,0,0,0,0,0,0,14.73,14.67,14.75
$GC,1470,-0.67,-97.3,2102,2497,3384,3353,214.4,-11.5,219,1474,0.00,2.28,0.00,0.000,516,0.000,0.047,2103,1111,3368,3383,3353,0,0,0,0,0,0,15.07,14.57,15.09
$GC,1501,-0.67,-97.3,2102,1111,3383,3353,218.0,-11.6,225,1506,0.00,2.38,0.00,0.000,1030,0.000,0.054,2091,2507,3368,3383,3353,0,0,0,0,0,0,14.66,14.55,14.69
$GC,1692,-0.67,-97.3,2091,2507,3381,3353,240.3,-11.7,245,1696,0.00,2.38,0.00,0.000,260,0.000,0.080,2081,3890,3367,3381,3353,0,0,0,0,0,0,15.07,14.46,15.09
$GC,1719,-0.67,-97.3,2081,3890,3381,3353,243.3,-12.0,250,1725,0.12,2.22,0.00,0.000,3078,0.211,0.034,2110,2496,3367,3381,3353,0,0,0,0,0,0,14.37,14.66,14.56
$GC,1904,-0.67,-97.3,2110,2494,3379,3353,263.0,-10.5,263,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3366,3379,3353,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2203,-0.67,-97.3,2110,2494,3377,3353,295.6,-11.1,278,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3365,3377,3353,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2504,-0.67,-97.3,2110,2494,3376,3349,328.3,-10.8,293,2510,0.00,2.42,0.00,0.000,260,0.000,0.082,2101,3890,3362,3376,3348,0,0,0,0,0,0,15.08,14.38,15.10
$GC,2562,-0.67,-97.3,2101,3890,3375,3348,334.7,-10.9,304,2566,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2503,3361,3375,3348,0,0,0,0,0,0,14.73,14.66,14.75
$GC,2868,-0.67,-97.3,2101,2501,3374,3347,369.2,-11.2,320,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3360,3374,3347,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3168,-0.67,-97.3,2101,2501,3372,3345,401.7,-10.8,335,3172,0.00,2.45,0.00,0.000,260,0.000,0.083,2090,3890,3358,3372,3345,0,0,0,0,0,0,15.09,14.42,15.11
$GC,3204,-0.67,-97.3,2089,3890,3372,3345,405.8,-11.4,342,3209,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2495,3358,3372,3345,0,0,0,0,0,0,14.71,14.65,14.74
$GC,3510,-0.67,-97.3,2089,2494,3371,3343,440.4,-11.3,358,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2494,3357,3371,3343,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3809,-0.67,-97.3,2089,2495,3369,3341,475.1,-11.5,373,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2494,3355,3369,3341,0,0,0,0,0,0,15.09,15.12,15.12
$GC,4109,-0.67,-97.3,2089,2495,3367,3340,508.9,-11.0,388,4113,0.00,2.47,0.00,0.000,260,0.000,0.083,2079,3894,3353,3367,3340,0,0,0,0,0,0,15.09,14.40,15.12
$GC,4158,-0.67,-97.3,2079,3894,3367,3340,514.1,-11.3,397,4163,0.12,2.25,0.00,0.000,3078,0.210,0.034,2109,2497,3353,3367,3340,0,0,0,0,0,0,14.33,14.63,14.52
$GC,4475,-0.67,-97.3,2108,2497,3366,3339,544.4,-9.1,415,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3352,3366,3339,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4775,-0.67,-97.3,2109,2497,3365,3337,571.2,-8.9,430,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3351,3365,3337,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5076,-0.67,-97.3,2109,2497,3364,3336,597.3,-8.6,445,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3349,3363,3336,0,0,0,0,0,0,15.07,15.11,15.10
$GC,5375,-0.67,-97.3,2108,2497,3363,3335,622.8,-8.5,460,5379,0.00,2.47,0.00,0.000,260,0.000,0.086,2099,3892,3348,3362,3334,0,0,0,0,0,0,15.09,14.35,15.11
$GC,5416,-0.67,-97.3,2099,3892,3362,3334,626.5,-9.2,468,5420,0.00,2.28,0.00,0.000,1030,0.000,0.035,2100,2501,3348,3362,3334,0,0,0,0,0,0,14.66,14.60,14.69
$GC,5739,-0.67,-97.3,2099,2500,3362,3333,656.8,-9.7,487,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3347,3362,3333,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6037,-0.67,-97.3,2099,2500,3361,3332,686.1,-10.0,502,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3347,3361,3333,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6338,-0.67,-97.3,2099,2501,3360,3332,716.2,-10.1,517,6346,0.00,2.47,0.00,0.000,260,0.000,0.086,2088,3892,3346,3360,3332,0,0,0,0,0,0,15.07,14.32,15.10
$GC,6408,-0.67,-97.3,2088,3892,3360,3332,723.8,-10.6,531,6413,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2495,3345,3359,3332,0,0,0,0,0,0,14.64,14.57,14.67
$GC,6720,-0.67,-97.3,2088,2494,3358,3331,757.0,-10.6,548,6724,0.00,2.33,0.00,0.000,516,0.000,0.050,2088,1108,3344,3357,3331,0,0,0,0,0,0,15.08,14.46,15.10
$GC,6777,-0.67,-97.3,2088,1108,3357,3331,763.1,-10.7,559,6785,0.12,2.42,0.00,0.000,3078,0.212,0.058,2108,2506,3344,3357,3331,0,0,0,0,0,0,14.21,14.41,14.40
$GC,7104,-0.67,-97.3,2107,2506,3356,3330,794.2,-9.5,579,7111,0.00,2.45,0.00,0.000,260,0.000,0.086,2098,3890,3343,3356,3330,0,0,0,0,0,0,15.05,14.30,15.08
$GC,7185,-0.67,-97.3,2098,3890,3356,3329,802.2,-9.9,595,7189,0.00,2.28,0.00,0.000,1030,0.000,0.036,2098,2497,3342,3356,3329,0,0,0,0,0,0,14.62,14.54,14.64
$GC,7506,-0.67,-97.3,2098,2495,3356,3329,832.5,-9.2,614,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2495,3342,3356,3328,0,0,0,0,0,0,15.08,15.11,15.10
$GC,7807,-0.67,-97.3,2098,2495,3356,3327,858.6,-8.5,629,7814,0.00,2.50,0.00,0.000,260,0.000,0.087,2087,3894,3341,3355,3327,0,0,0,0,0,0,15.07,14.28,15.09
$GC,7851,-0.67,-97.3,2087,3894,3355,3327,862.7,-9.1,638,7856,0.00,2.28,0.00,0.000,1030,0.000,0.036,2087,2502,3341,3355,3327,0,0,0,0,0,0,14.61,14.54,14.64
$GC,8168,-0.67,-97.3,2087,2501,3355,3326,891.1,-9.2,656,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2501,3340,3355,3326,0,0,0,0,0,0,15.07,15.10,15.10
$GC,8470,-0.67,-97.3,2086,2501,3354,3326,919.6,-9.6,671,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2501,3340,3354,3326,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8768,-0.67,-97.3,2086,2501,3353,3325,949.8,-10.2,686,8773,0.00,2.50,0.00,0.000,260,0.000,0.088,2077,3890,3339,3353,3325,0,0,0,0,0,0,15.07,14.25,15.10
$GC,8800,-0.67,-97.3,2076,3890,3353,3325,953.2,-10.8,692,8805,0.15,2.28,0.00,0.000,3078,0.200,0.037,2113,2499,3339,3353,3325,0,0,0,0,0,0,14.17,14.52,14.37
$GC,9113,-0.67,-97.3,2113,2497,3353,3324,980.9,-8.8,709,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3338,3353,3323,0,0,0,0,0,0,15.07,15.09,15.09
$STATE,9229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9229,begin apogee
$GC,9237,-0.15,0.0,2113,2497,3352,3324,991.3,-8.6,715,9335,0.57,0.00,94.18,1.992,10246,0.161,0.000,2279,2497,2968,3001,2935,0,0,0,0,0,0,14.11,13.96,12.57
$STATE,9336,end apogee,CONTROL_FINISHED_OK
$STATE,9336,begin climb
$GC,9339,0.67,97.3,2279,2497,3000,2935,994.6,0.0,720,9450,0.82,0.00,105.28,1.975,10246,0.084,0.000,2555,2497,2569,2603,2536,0,0,0,0,0,0,14.18,13.53,12.55
$GC,9757,0.67,97.3,2555,2497,2592,2532,975.1,7.7,741,9761,0.00,2.42,0.00,0.000,260,0.000,0.084,2555,3855,2562,2593,2532,0,0,0,0,0,0,14.84,14.35,14.88
$GC,9843,0.67,97.3,2555,3855,2591,2532,967.2,9.0,758,9848,0.00,2.35,0.00,0.000,1030,0.000,0.037,2566,2435,2561,2591,2532,0,0,0,0,0,0,14.59,14.52,14.62
$GC,10161,0.67,97.3,2566,2433,2590,2530,941.6,7.9,776,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2433,2559,2590,2529,0,0,0,0,0,0,14.97,15.00,15.00
$GC,10461,0.67,97.3,2566,2433,2589,2529,918.2,7.7,791,10465,0.00,2.35,0.00,0.000,516,0.000,0.054,2577,1049,2559,2589,2529,0,0,0,0,0,0,15.01,14.47,15.04
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$STATE,21873,end climb,SURFACE_DEPTH_REACHED
$STATE,21873,begin surface coast
$STATE,21887,end surface coast,CONTROL_FINISHED_OK
$STATE,21888,begin surface
$SM_CCo,21910,53.22,0.481,1,0,928,500.17
$SM_GC,1.18,7.75,2.28,53.22,0.054,0.032,0.481,122,2483,928,-6.77,1.10,500.17,0,0,0,0,1,0,14.51,14.47,13.58
$IRIDIUM_FIX,552.45,8311.33,161219,015630
$TT8_MAMPS,0.018725,0.159537
$HUMID,52.04
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,12.55,204.459
$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,19.550,199.750,524.350,53.225,0.000,0.000,0.000,223.125,0.250,0.000,14.396,1722.980,16391.547,722.892,2950.271,545.956,0.000,2460.571,0.000,2707.696,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,97.920,1992.060,481.185,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,923.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250400
$DATA_FILE_SIZE,83230,1906
$CAP_FILE_SIZE,204419,0
$CFSIZE,260034560,132210688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.107,97.30,1
$GPS,161219,142109,551.362,8308.072,16,1.3,16,-1.9,0.3,285.6,7,9.8