version: 66.13
glider: 171
mission: 11
dive: 602
start: 12 16 119 20 31 1
data:
$ID,171
$MISSION,11
$DIVE,602
$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,34
$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
$GPS1,161219,202338,550.3011,8307.9229,22,1.0,22,-1.9,0.6,240.0,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.1
$GPS2,161219,203008,550.2141,8307.8652,2,0.6,3,-1.9,0.3,223.1,12,8.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,233.3,94122,-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,-97.3,110,2494,969,881,0.0,0.0,0,83,0.00,0.00,-71.28,0.005,16386,0.000,0.000,109,2495,2606,2606,2606,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,109,2494,2607,2606,4.9,-13.2,15,119,9.15,2.40,-14.55,0.009,19204,0.343,0.071,2103,1099,3367,3381,3353,0,0,0,0,0,0,13.87,12.57,14.33
$GC,337,-0.67,-97.3,2103,1099,3382,3353,69.1,-17.1,65,342,0.00,2.40,0.00,0.000,1030,0.000,0.061,2094,2502,3366,3380,3353,0,0,0,0,0,0,14.59,14.47,14.63
$GC,523,-0.67,-97.3,2094,2502,3382,3353,96.5,-13.5,84,527,0.00,2.33,0.00,0.000,516,0.000,0.048,2094,1104,3367,3382,3353,0,0,0,0,0,0,15.00,14.52,15.02
$GC,755,-0.67,-97.3,2094,1103,3383,3353,127.1,-12.5,130,760,0.00,2.38,0.00,0.000,1030,0.000,0.055,2083,2511,3368,3383,3353,0,0,0,0,0,0,14.65,14.54,14.69
$GC,948,-0.67,-97.3,2083,2511,3383,3353,151.9,-13.0,150,953,0.00,2.33,0.00,0.000,516,0.000,0.049,2083,1100,3368,3383,3353,0,0,0,0,0,0,15.04,14.59,15.07
$GC,980,-0.67,-97.3,2083,1099,3382,3353,156.2,-13.4,156,987,0.15,2.38,0.00,0.000,3078,0.213,0.055,2108,2506,3368,3383,3353,0,0,0,0,0,0,14.32,14.54,14.53
$GC,1171,-0.67,-97.3,2108,2506,3382,3353,179.3,-12.3,176,1175,0.00,2.40,0.00,0.000,260,0.000,0.083,2099,3891,3367,3382,3353,0,0,0,0,0,0,15.06,14.45,15.08
$GC,1212,-0.67,-97.3,2099,3891,3382,3352,184.5,-12.1,184,1217,0.00,2.22,0.00,0.000,1030,0.000,0.031,2099,2490,3367,3381,3353,0,0,0,0,0,0,14.73,14.67,14.76
$GC,1404,-0.67,-97.3,2099,2488,3380,3353,207.0,-11.4,204,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2488,3366,3381,3352,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1585,-0.67,-97.3,2099,2488,3378,3352,227.6,-11.5,222,1590,0.00,2.45,0.00,0.000,260,0.000,0.082,2088,3894,3365,3378,3352,0,0,0,0,0,0,15.07,14.47,15.09
$GC,1653,-0.67,-97.3,2088,3894,3377,3352,235.9,-12.1,235,1657,0.00,2.25,0.00,0.000,1030,0.000,0.032,2088,2500,3365,3378,3352,0,0,0,0,0,0,14.73,14.67,14.76
$GC,1839,-0.67,-97.3,2088,2499,3376,3352,258.4,-12.1,251,1843,0.00,2.42,0.00,0.000,260,0.000,0.082,2078,3890,3364,3376,3352,0,0,0,0,0,0,15.07,14.47,15.09
$GC,1901,-0.67,-97.3,2077,3890,3375,3352,266.6,-13.1,263,1906,0.12,2.22,0.00,0.000,3078,0.214,0.033,2108,2494,3363,3375,3352,0,0,0,0,0,0,14.37,14.67,14.57
$GC,2223,-0.67,-97.3,2107,2493,3374,3349,301.8,-11.1,282,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2493,3361,3374,3349,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2524,-0.67,-97.3,2107,2493,3372,3347,334.5,-10.8,297,2529,0.00,2.42,0.00,0.000,260,0.000,0.083,2099,3887,3359,3371,3347,0,0,0,0,0,0,15.08,14.39,15.11
$GC,2586,-0.67,-97.3,2098,3887,3371,3347,341.7,-11.2,309,2591,0.00,2.25,0.00,0.000,1030,0.000,0.034,2098,2498,3358,3370,3347,0,0,0,0,0,0,14.73,14.66,14.75
$GC,2909,-0.67,-97.3,2098,2497,3370,3345,378.6,-11.5,328,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2497,3357,3370,3344,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3208,-0.67,-97.3,2098,2497,3367,3342,412.7,-11.2,343,3214,0.00,2.45,0.00,0.000,260,0.000,0.084,2087,3893,3354,3367,3342,0,0,0,0,0,0,15.09,14.43,15.11
$GC,3248,-0.67,-97.3,2087,3893,3367,3342,417.3,-11.6,351,3252,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2495,3354,3367,3342,0,0,0,0,0,0,14.72,14.65,14.74
$GC,3570,-0.67,-97.3,2087,2494,3366,3340,454.8,-11.5,370,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2494,3353,3366,3340,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3871,-0.67,-97.3,2087,2494,3363,3339,489.2,-11.5,385,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2494,3351,3364,3338,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4169,-0.67,-97.3,2087,2494,3362,3337,523.2,-11.2,400,4176,0.00,2.47,0.00,0.000,260,0.000,0.085,2077,3898,3349,3362,3337,0,0,0,0,0,0,15.09,14.40,15.11
$GC,4240,-0.67,-97.3,2076,3897,3362,3337,531.4,-11.6,414,4246,0.15,2.28,0.00,0.000,3078,0.203,0.035,2114,2492,3349,3362,3337,0,0,0,0,0,0,14.30,14.62,14.50
$GC,4553,-0.67,-97.3,2114,2491,3361,3335,561.9,-9.5,431,4558,0.00,2.33,0.00,0.000,516,0.000,0.049,2114,1105,3348,3361,3335,0,0,0,0,0,0,15.09,14.52,15.11
$GC,4576,-0.67,-97.3,2114,1105,3361,3334,564.1,-9.8,435,4581,0.00,2.40,0.00,0.000,1030,0.000,0.057,2105,2504,3348,3361,3335,0,0,0,0,0,0,14.60,14.48,14.64
$GC,4899,-0.67,-97.3,2104,2504,3359,3333,596.4,-9.8,454,4904,0.00,2.42,0.00,0.000,260,0.000,0.086,2093,3891,3346,3359,3334,0,0,0,0,0,0,15.09,14.38,15.11
$GC,4951,-0.67,-97.3,2094,3892,3359,3334,601.7,-10.2,464,4955,0.00,2.25,0.00,0.000,1030,0.000,0.035,2094,2502,3347,3359,3336,0,0,0,0,0,0,14.68,14.61,14.70
$GC,5263,-0.67,-97.3,2092,2501,3358,3332,633.2,-10.1,481,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2501,3344,3357,3332,0,0,0,0,0,0,15.08,15.11,15.10
$GC,5562,-0.67,-97.3,2093,2501,3356,3332,662.4,-9.6,496,5569,0.00,2.47,0.00,0.000,260,0.000,0.086,2083,3894,3343,3356,3331,0,0,0,0,0,0,15.09,14.35,15.11
$GC,5602,-0.67,-97.3,2083,3895,3356,3331,666.4,-10.2,504,5607,0.12,2.28,0.00,0.000,3078,0.205,0.036,2113,2495,3343,3356,3331,0,0,0,0,0,0,14.31,14.59,14.49
$GC,5925,-0.67,-97.3,2113,2494,3356,3330,694.1,-8.7,523,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2494,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6224,-0.67,-97.3,2113,2494,3355,3329,720.5,-8.9,538,6229,0.00,2.50,0.00,0.000,260,0.000,0.087,2104,3896,3342,3355,3329,0,0,0,0,0,0,15.08,14.33,15.11
$GC,6257,-0.67,-97.3,2104,3896,3354,3329,723.5,-9.6,544,6261,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2500,3341,3354,3329,0,0,0,0,0,0,14.65,14.58,14.67
$GC,6568,-0.67,-97.3,2104,2499,3353,3327,753.1,-9.5,561,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2499,3339,3352,3327,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6868,-0.67,-97.3,2104,2499,3353,3327,781.0,-9.2,576,6872,0.00,2.35,0.00,0.000,516,0.000,0.050,2104,1099,3339,3352,3327,0,0,0,0,0,0,15.08,14.47,15.11
$GC,6910,-0.67,-97.3,2104,1099,3352,3326,784.8,-9.3,584,6916,0.00,2.42,0.00,0.000,1030,0.000,0.058,2092,2501,3339,3351,3327,0,0,0,0,0,0,14.54,14.40,14.58
$GC,7229,-0.67,-97.3,2092,2501,3351,3325,815.9,-9.8,603,7236,0.00,2.45,0.00,0.000,260,0.000,0.086,2082,3892,3338,3352,3325,0,0,0,0,0,0,15.08,14.31,15.11
$GC,7330,-0.67,-97.3,2082,3892,3351,3325,826.1,-9.9,623,7335,0.12,2.28,0.00,0.000,3078,0.207,0.036,2112,2495,3338,3351,3325,0,0,0,0,0,0,14.25,14.55,14.44
$GC,7652,-0.67,-97.3,2112,2493,3351,3324,853.1,-8.3,642,7658,0.00,2.50,0.00,0.000,260,0.000,0.086,2103,3890,3337,3351,3324,0,0,0,0,0,0,15.07,14.28,15.10
$GC,7689,-0.67,-97.3,2103,3890,3350,3324,856.4,-8.9,649,7694,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2503,3337,3350,3324,0,0,0,0,0,0,14.61,14.54,14.64
$GC,7996,-0.67,-97.3,2103,2502,3350,3323,883.1,-8.9,665,8000,0.00,2.35,0.00,0.000,516,0.000,0.050,2103,1107,3336,3350,3323,0,0,0,0,0,0,15.06,14.44,15.09
$GC,8033,-0.67,-97.3,2103,1106,3349,3323,886.5,-9.0,672,8040,0.00,2.42,0.00,0.000,1030,0.000,0.058,2091,2499,3336,3349,3323,0,0,0,0,0,0,14.50,14.38,14.54
$GC,8358,-0.67,-97.3,2091,2499,3348,3322,916.0,-9.1,692,8362,0.00,2.50,0.00,0.000,260,0.000,0.088,2081,3899,3335,3348,3322,0,0,0,0,0,0,15.07,14.26,15.09
$GC,8410,-0.67,-97.3,2081,3899,3348,3322,921.1,-9.7,702,8415,0.12,2.30,0.00,0.000,3078,0.205,0.037,2111,2495,3335,3348,3322,0,0,0,0,0,0,14.22,14.52,14.41
$GC,8723,-0.67,-97.3,2111,2494,3348,3321,946.0,-7.8,719,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2494,3334,3348,3321,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9023,-0.67,-97.3,2111,2494,3347,3321,969.5,-7.8,734,9028,0.00,2.50,0.00,0.000,260,0.000,0.087,2102,3890,3334,3348,3320,0,0,0,0,0,0,15.06,14.24,15.09
$GC,9055,-0.67,-97.3,2102,3890,3347,3320,972.2,-8.3,740,9059,0.00,2.28,0.00,0.000,1030,0.000,0.037,2102,2501,3333,3347,3320,0,0,0,0,0,0,14.59,14.51,14.61
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9283,begin apogee
$GC,9290,-0.15,0.0,2102,2499,3347,3320,991.2,-8.2,753,9387,0.62,0.00,92.93,1.989,10246,0.164,0.000,2280,2499,2967,3000,2935,0,0,0,0,0,0,14.09,13.97,12.59
$STATE,9388,end apogee,CONTROL_FINISHED_OK
$STATE,9388,begin climb
$GC,9393,0.67,97.3,2280,2499,2999,2935,993.3,0.0,758,9505,0.82,2.47,104.70,1.973,10500,0.086,0.086,2555,3846,2569,2601,2538,0,0,0,0,0,0,14.19,13.96,12.58
$GC,9535,0.71,97.3,2554,3846,2595,2538,991.8,6.1,772,9540,0.00,2.35,0.00,0.000,1094,0.000,0.035,2565,2439,2567,2596,2538,0,0,0,0,0,0,14.34,14.28,14.36
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$STATE,21425,end climb,SURFACE_DEPTH_REACHED
$STATE,21425,begin surface coast
$STATE,21453,end surface coast,CONTROL_FINISHED_OK
$STATE,21453,begin surface
$SM_CCo,21474,133.98,0.643,1,0,928,500.17
$SM_GC,1.23,7.47,0.10,133.98,0.048,0.148,0.643,115,2509,928,-6.79,-1.13,500.17,0,0,0,0,1,0,14.58,14.57,13.59
$IRIDIUM_FIX,552.44,8218.88,161219,142354
$TT8_MAMPS,0.018725,0.15729
$HUMID,48.26
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,12.57,205.053
$10V_AH,12.67,0.000
$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,19.650,199.750,445.100,133.975,0.000,0.000,0.000,245.375,0.250,0.000,15.125,1708.709,16119.413,745.489,2899.579,530.625,0.000,2455.086,0.000,2635.527,0.000,0.540,0.000
$DEVICE_MAMPS,342.720,147.645,1989.000,643.365,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,950.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80024,1855
$CAP_FILE_SIZE,204186,0
$CFSIZE,260034560,132026368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.126,114.52,1
$GPS,171219,023230,548.588,8307.891,31,0.7,31,-1.9,0.7,241.0,9,4.0