version: 66.13
glider: 171
mission: 11
dive: 601
start: 12 16 119 14 28 59
data:
$ID,171
$MISSION,11
$DIVE,601
$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,51
$R_STBD_OVSHOOT,33
$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
$GPS1,161219,142109,551.3617,8308.0723,16,1.3,16,-1.9,0.3,285.6,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.2
$GPS2,161219,142806,551.2946,8308.0156,2,1.3,5,-1.9,0.7,265.0,7,8.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,233.3,96142,-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,-97.3,93,2480,975,876,0.0,0.0,0,83,0.00,0.00,-71.22,0.005,16386,0.000,0.000,90,2480,2564,2571,2558,0,0,0,0,0,0,14.83,28.83,14.85
$GC,87,-0.67,-97.3,90,2480,2571,2559,4.3,-11.7,15,120,9.32,2.38,-15.57,0.008,18948,0.347,0.076,2103,1108,3368,3383,3354,0,0,0,0,0,0,13.85,12.57,14.32
$GC,208,-0.67,-97.3,2103,1108,3383,3354,42.5,-24.6,39,213,0.00,2.38,0.00,0.000,1030,0.000,0.062,2094,2494,3368,3383,3354,0,0,0,0,0,0,14.54,14.43,14.59
$GC,394,-0.67,-97.3,2093,2495,3383,3354,83.3,-17.6,61,400,0.00,2.40,0.00,0.000,260,0.000,0.077,2083,3893,3368,3383,3354,0,0,0,0,0,0,14.97,14.43,15.00
$GC,540,-0.67,-97.3,2083,3893,3383,3354,103.6,-15.7,89,546,0.12,2.22,0.00,0.000,3078,0.244,0.032,2110,2475,3369,3384,3354,0,0,0,0,0,0,14.26,14.64,14.49
$GC,733,-0.67,-97.3,2109,2474,3385,3354,127.4,-11.0,109,738,0.00,2.45,0.00,0.000,260,0.000,0.079,2100,3893,3369,3385,3354,0,0,0,0,0,0,15.03,14.46,15.06
$GC,966,-0.67,-97.3,2100,3893,3385,3354,156.5,-12.1,155,970,0.00,2.20,0.00,0.000,1030,0.000,0.031,2100,2506,3369,3385,3354,0,0,0,0,0,0,14.73,14.67,14.75
$GC,1158,-0.67,-97.3,2100,2504,3385,3354,179.9,-12.5,175,1164,0.00,2.42,0.00,0.000,260,0.000,0.080,2089,3902,3369,3385,3354,0,0,0,0,0,0,15.05,14.46,15.07
$GC,1212,-0.67,-97.3,2089,3901,3385,3353,187.1,-12.9,186,1217,0.00,2.22,0.00,0.000,1030,0.000,0.032,2089,2502,3369,3385,3353,0,0,0,0,0,0,14.73,14.66,14.75
$GC,1397,-0.67,-97.3,2089,2500,3384,3353,210.7,-13.2,205,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3368,3384,3353,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1579,-0.67,-97.3,2089,2500,3383,3353,233.2,-12.7,223,1583,0.00,2.42,0.00,0.000,260,0.000,0.080,2078,3896,3368,3383,3353,0,0,0,0,0,0,15.05,14.46,15.08
$GC,1605,-0.67,-97.3,2078,3896,3382,3353,236.9,-12.9,228,1610,0.12,2.22,0.00,0.000,3078,0.217,0.033,2107,2497,3368,3382,3354,0,0,0,0,0,0,14.36,14.67,14.55
$GC,1802,-0.67,-97.3,2107,2496,3380,3354,258.7,-10.9,244,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2496,3366,3380,3353,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2100,-0.67,-97.3,2107,2496,3377,3353,291.9,-11.0,259,2105,0.00,2.45,0.00,0.000,260,0.000,0.083,2098,3897,3365,3377,3353,0,0,0,0,0,0,15.09,14.45,15.11
$GC,2137,-0.67,-97.3,2098,3897,3377,3353,296.1,-11.6,266,2142,0.00,2.25,0.00,0.000,1030,0.000,0.034,2098,2493,3365,3377,3353,0,0,0,0,0,0,14.73,14.67,14.76
$GC,2443,-0.67,-97.3,2098,2491,3376,3349,331.9,-11.7,282,2448,0.00,2.47,0.00,0.000,260,0.000,0.083,2087,3900,3362,3376,3348,0,0,0,0,0,0,15.08,14.44,15.10
$GC,2505,-0.67,-97.3,2086,3900,3375,3349,339.4,-12.0,294,2509,0.00,2.28,0.00,0.000,1030,0.000,0.034,2087,2495,3362,3375,3349,0,0,0,0,0,0,14.73,14.66,14.75
$GC,2826,-0.67,-97.3,2086,2494,3374,3347,378.1,-12.0,313,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2494,3360,3374,3347,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3128,-0.67,-97.3,2086,2493,3372,3345,414.4,-11.9,328,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2494,3358,3372,3345,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3426,-0.67,-97.3,2086,2493,3371,3343,450.2,-11.8,343,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3357,3371,3343,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3728,-0.67,-97.3,2086,2493,3368,3341,486.4,-11.9,358,3732,0.00,2.47,0.00,0.000,260,0.000,0.084,2076,3893,3354,3368,3341,0,0,0,0,0,0,15.07,14.40,15.10
$GC,3780,-0.67,-97.3,2076,3893,3367,3340,493.0,-12.7,368,3785,0.15,2.25,0.00,0.000,3078,0.202,0.034,2113,2496,3354,3368,3341,0,0,0,0,0,0,14.31,14.64,14.51
$GC,4092,-0.67,-97.3,2112,2495,3367,3339,524.9,-10.0,385,4096,0.00,2.47,0.00,0.000,260,0.000,0.085,2104,3898,3353,3367,3339,0,0,0,0,0,0,15.09,14.39,15.11
$GC,4140,-0.67,-97.3,2104,3898,3366,3339,529.8,-10.5,394,4144,0.00,2.25,0.00,0.000,1030,0.000,0.035,2104,2503,3352,3366,3339,0,0,0,0,0,0,14.69,14.63,14.72
$GC,4456,-0.67,-97.3,2104,2502,3365,3338,562.7,-10.2,412,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2502,3352,3366,3338,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4756,-0.67,-97.3,2104,2502,3364,3337,593.0,-10.2,427,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2502,3350,3364,3337,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5058,-0.67,-97.3,2104,2502,3363,3335,623.4,-10.2,442,5065,0.00,2.47,0.00,0.000,260,0.000,0.086,2093,3899,3348,3362,3335,0,0,0,0,0,0,15.07,14.36,15.09
$GC,5078,-0.67,-97.3,2092,3899,3362,3335,625.5,-10.7,446,5083,0.00,2.28,0.00,0.000,1030,0.000,0.035,2093,2496,3349,3363,3335,0,0,0,0,0,0,14.67,14.61,14.70
$GC,5401,-0.67,-97.3,2092,2494,3362,3334,661.0,-11.1,465,5406,0.00,2.47,0.00,0.000,260,0.000,0.085,2083,3891,3348,3362,3334,0,0,0,0,0,0,15.07,14.35,15.10
$GC,5470,-0.67,-97.3,2082,3891,3361,3334,668.9,-11.7,478,5474,0.12,2.28,0.00,0.000,3078,0.207,0.035,2112,2489,3347,3361,3334,0,0,0,0,0,0,14.30,14.59,14.48
$GC,5786,-0.67,-97.3,2112,2488,3361,3333,700.2,-9.4,496,5790,0.00,2.30,0.00,0.000,516,0.000,0.050,2112,1109,3346,3359,3333,0,0,0,0,0,0,15.08,14.48,15.11
$GC,5819,-0.67,-97.3,2112,1109,3360,3333,703.2,-9.5,502,5823,0.00,2.40,0.00,0.000,1030,0.000,0.058,2103,2501,3346,3360,3333,0,0,0,0,0,0,14.57,14.45,14.61
$GC,6130,-0.67,-97.3,2103,2501,3359,3332,732.6,-9.2,519,6137,0.00,2.45,0.00,0.000,260,0.000,0.086,2092,3894,3345,3359,3332,0,0,0,0,0,0,15.08,14.33,15.11
$GC,6195,-0.67,-97.3,2091,3894,3358,3332,738.7,-9.6,532,6199,0.00,2.28,0.00,0.000,1030,0.000,0.035,2092,2494,3345,3359,3332,0,0,0,0,0,0,14.64,14.58,14.67
$GC,6513,-0.67,-97.3,2091,2492,3357,3330,768.3,-9.2,550,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2492,3344,3357,3331,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6811,-0.67,-97.3,2091,2492,3356,3330,794.7,-8.7,565,6816,0.00,2.35,0.00,0.000,516,0.000,0.050,2091,1104,3343,3356,3330,0,0,0,0,0,0,15.08,14.45,15.11
$GC,6849,-0.67,-97.3,2091,1104,3356,3330,798.0,-8.6,572,6858,0.12,2.42,0.00,0.000,3078,0.207,0.059,2111,2500,3343,3356,3330,0,0,0,0,0,0,14.21,14.41,14.42
$GC,7175,-0.67,-97.3,2110,2500,3356,3328,822.8,-7.8,592,7182,0.00,2.47,0.00,0.000,260,0.000,0.086,2102,3899,3342,3356,3328,0,0,0,0,0,0,15.08,14.29,15.09
$GC,7274,-0.67,-97.3,2101,3899,3355,3328,831.2,-8.3,612,7278,0.00,2.28,0.00,0.000,1030,0.000,0.036,2101,2501,3342,3356,3328,0,0,0,0,0,0,14.62,14.55,14.64
$GC,7598,-0.67,-97.3,2101,2500,3355,3327,859.0,-9.1,631,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3341,3355,3327,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7896,-0.67,-97.3,2101,2500,3354,3326,886.7,-9.4,646,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3340,3355,3326,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8197,-0.67,-97.3,2101,2501,3353,3326,913.9,-9.0,661,8201,0.00,2.50,0.00,0.000,260,0.000,0.088,2090,3897,3339,3354,3325,0,0,0,0,0,0,15.07,14.26,15.09
$GC,8238,-0.67,-97.3,2090,3897,3353,3325,917.8,-9.3,669,8243,0.00,2.28,0.00,0.000,1030,0.000,0.037,2090,2503,3339,3353,3325,0,0,0,0,0,0,14.60,14.53,14.63
$GC,8560,-0.67,-97.3,2090,2502,3353,3325,947.5,-9.1,688,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2502,3338,3352,3325,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8862,-0.67,-97.3,2089,2502,3352,3324,974.5,-9.0,703,8866,0.00,2.53,0.00,0.000,260,0.000,0.089,2080,3897,3338,3352,3324,0,0,0,0,0,0,15.07,14.23,15.09
$GC,8899,-0.67,-97.3,2079,3897,3352,3324,978.0,-9.6,710,8904,0.12,2.30,0.00,0.000,3078,0.207,0.037,2109,2498,3338,3352,3324,0,0,0,0,0,0,14.20,14.50,14.38
$STATE,9060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9060,begin apogee
$GC,9068,-0.15,0.0,2109,2496,3352,3323,991.1,-7.7,719,9166,0.57,0.00,93.90,1.997,10246,0.163,0.000,2275,2497,2968,3001,2935,0,0,0,0,0,0,14.12,13.97,12.57
$STATE,9167,end apogee,CONTROL_FINISHED_OK
$STATE,9167,begin climb
$GC,9170,0.67,97.3,2275,2496,3000,2934,993.2,0.0,724,9282,0.82,2.47,104.53,1.978,10500,0.090,0.083,2549,3848,2569,2603,2536,0,0,0,0,0,0,14.17,13.96,12.56
$GC,9317,0.70,97.3,2549,3848,2596,2536,991.3,6.5,742,9321,0.00,2.35,0.00,0.000,1094,0.000,0.035,2563,2437,2566,2596,2536,0,0,0,0,0,0,14.35,14.30,14.37
$GC,9630,0.70,97.3,2563,2437,2592,2533,965.3,8.4,759,9634,0.00,2.38,0.00,0.000,516,0.000,0.054,2574,1046,2562,2592,2533,0,0,0,0,0,0,14.88,14.44,14.90
$GC,9686,0.70,97.3,2574,1046,2590,2531,960.5,8.4,770,9693,0.00,2.42,0.00,0.000,1030,0.000,0.054,2574,2449,2560,2590,2531,0,0,0,0,0,0,14.54,14.44,14.59
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$STATE,21048,end climb,SURFACE_DEPTH_REACHED
$STATE,21048,begin surface coast
$STATE,21062,end surface coast,CONTROL_FINISHED_OK
$STATE,21062,begin surface
$SM_CCo,21084,122.62,0.641,1,0,929,500.17
$SM_GC,1.35,7.68,2.25,122.62,0.054,0.036,0.641,128,2497,929,-6.79,1.44,500.17,0,0,0,0,1,0,14.52,14.51,13.57
$IRIDIUM_FIX,552.40,8307.02,161219,080935
$TT8_MAMPS,0.019474,0.155043
$HUMID,49.13
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.56,204.756
$10V_AH,12.68,0.000
$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,19.725,190.400,453.875,122.625,0.000,0.000,0.000,268.925,0.000,0.000,17.033,1644.257,15877.702,736.101,2849.190,521.507,0.000,2430.075,0.000,2560.752,0.000,0.539,0.000
$DEVICE_MAMPS,346.545,88.740,1996.650,641.070,0.000,0.000,0.000,182.835,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,921.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250384
$DATA_FILE_SIZE,79878,1802
$CAP_FILE_SIZE,197636,0
$CFSIZE,260034560,132124672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.107,97.69,1
$GPS,161219,202338,550.301,8307.923,22,1.0,22,-1.9,0.6,240.0,7,5.7