version: 66.13
glider: 171
mission: 11
dive: 603
start: 12 17 119 2 39 57
data:
$ID,171
$MISSION,11
$DIVE,603
$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,57
$R_STBD_OVSHOOT,44
$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
$GPS1,171219,023230,548.5881,8307.8906,31,0.7,31,-1.9,0.7,241.0,9,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.9
$GPS2,171219,023904,548.5002,8307.7988,2,0.6,3,-1.9,0.5,235.3,12,5.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,236.0,90968,-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,-97.3,92,2511,968,884,0.0,0.0,0,83,0.00,0.00,-71.68,0.005,16386,0.000,0.000,91,2511,2599,2597,2601,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,90,2511,2599,2601,4.5,-12.0,15,119,9.30,2.40,-14.73,0.009,18948,0.346,0.068,2103,1105,3367,3382,3353,0,0,0,0,0,0,13.88,12.59,14.33
$GC,219,-0.67,-97.3,2103,1103,3383,3353,45.3,-25.3,41,223,0.00,2.35,0.00,0.000,1030,0.000,0.056,2094,2490,3368,3383,3353,0,0,0,0,0,0,14.58,14.47,14.62
$GC,410,-0.67,-97.3,2093,2490,3383,3353,83.6,-16.7,62,415,0.00,2.30,0.00,0.000,516,0.000,0.050,2094,1099,3368,3383,3353,0,0,0,0,0,0,15.00,14.54,15.02
$GC,543,-0.67,-97.3,2093,1099,3382,3353,101.5,-12.2,88,550,0.12,2.38,0.00,0.000,3078,0.239,0.058,2111,2499,3366,3380,3353,0,0,0,0,0,0,14.29,14.52,14.51
$GC,732,-0.67,-97.3,2110,2499,3383,3353,124.1,-11.4,108,736,0.00,2.42,0.00,0.000,260,0.000,0.083,2102,3900,3368,3383,3353,0,0,0,0,0,0,15.04,14.47,15.07
$GC,866,-0.67,-97.3,2101,3900,3383,3353,141.3,-13.8,134,872,0.00,2.22,0.00,0.000,1030,0.000,0.032,2102,2494,3367,3383,3352,0,0,0,0,0,0,14.73,14.67,14.76
$GC,1059,-0.67,-97.3,2101,2493,3383,3353,166.1,-12.3,154,1064,0.00,2.25,0.00,0.000,516,0.000,0.044,2102,1107,3368,3383,3353,0,0,0,0,0,0,15.06,14.60,15.09
$GC,1087,-0.67,-97.3,2101,1107,3382,3353,169.5,-13.2,159,1091,0.00,2.35,0.00,0.000,1030,0.000,0.055,2090,2502,3367,3382,3353,0,0,0,0,0,0,14.66,14.56,14.71
$GC,1270,-0.67,-97.3,2090,2502,3381,3352,192.9,-12.7,178,1275,0.00,2.40,0.00,0.000,260,0.000,0.082,2080,3900,3367,3381,3353,0,0,0,0,0,0,15.07,14.48,15.09
$GC,1348,-0.67,-97.3,2080,3900,3380,3353,203.3,-13.1,193,1353,0.12,2.22,0.00,0.000,3078,0.218,0.033,2109,2495,3366,3380,3353,0,0,0,0,0,0,14.38,14.68,14.57
$GC,1532,-0.67,-97.3,2108,2494,3379,3353,224.8,-11.6,212,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2494,3366,3379,3353,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1712,-0.67,-97.3,2109,2493,3377,3353,245.3,-11.4,230,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2493,3365,3377,3353,0,0,0,0,0,0,15.07,15.11,15.10
$GC,1904,-0.67,-97.3,2108,2494,3374,3352,266.9,-11.2,242,1909,0.00,2.45,0.00,0.000,260,0.000,0.083,2099,3897,3363,3374,3353,0,0,0,0,0,0,15.07,14.47,15.10
$GC,1971,-0.67,-97.3,2099,3897,3373,3352,274.8,-11.6,255,1975,0.00,2.22,0.00,0.000,1030,0.000,0.033,2100,2503,3362,3373,3352,0,0,0,0,0,0,14.75,14.69,14.77
$GC,2288,-0.67,-97.3,2099,2502,3373,3348,311.6,-11.3,273,2293,0.00,2.30,0.00,0.000,516,0.000,0.047,2099,1101,3360,3372,3348,0,0,0,0,0,0,15.08,14.59,15.11
$GC,2314,-0.67,-97.3,2099,1101,3372,3348,314.8,-12.6,278,2319,0.00,2.38,0.00,0.000,1030,0.000,0.054,2088,2502,3360,3372,3348,0,0,0,0,0,0,14.66,14.55,14.70
$GC,2631,-0.67,-97.3,2088,2502,3370,3346,353.7,-12.2,296,2636,0.00,2.42,0.00,0.000,260,0.000,0.083,2078,3897,3358,3370,3346,0,0,0,0,0,0,15.09,14.46,15.11
$GC,2709,-0.67,-97.3,2077,3897,3369,3346,363.3,-12.6,311,2714,0.12,2.25,0.00,0.000,3078,0.212,0.034,2108,2495,3358,3370,3346,0,0,0,0,0,0,14.38,14.66,14.56
$GC,3013,-0.67,-97.3,2107,2494,3368,3343,395.7,-10.4,327,3018,0.00,2.45,0.00,0.000,260,0.000,0.083,2098,3892,3355,3368,3342,0,0,0,0,0,0,15.09,14.45,15.11
$GC,3050,-0.67,-97.3,2098,3892,3367,3342,399.8,-11.3,334,3055,0.00,2.25,0.00,0.000,1030,0.000,0.035,2098,2504,3355,3367,3343,0,0,0,0,0,0,14.73,14.66,14.75
$GC,3356,-0.67,-97.3,2098,2502,3366,3340,434.0,-11.2,350,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3353,3366,3340,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3655,-0.67,-97.3,2098,2502,3364,3339,466.9,-11.0,365,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3351,3364,3339,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3955,-0.67,-97.3,2098,2502,3363,3337,499.3,-10.8,380,3959,0.00,2.47,0.00,0.000,260,0.000,0.086,2087,3897,3349,3362,3337,0,0,0,0,0,0,15.10,14.42,15.12
$GC,3986,-0.67,-97.3,2087,3897,3362,3337,502.8,-11.4,386,3991,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2501,3349,3362,3337,0,0,0,0,0,0,14.71,14.64,14.73
$GC,4298,-0.67,-97.3,2087,2499,3361,3335,538.6,-11.3,403,4303,0.00,2.47,0.00,0.000,260,0.000,0.085,2077,3897,3348,3361,3335,0,0,0,0,0,0,15.09,14.40,15.11
$GC,4357,-0.67,-97.3,2076,3897,3361,3335,545.7,-12.5,414,4363,0.12,2.28,0.00,0.000,3078,0.210,0.036,2108,2495,3347,3360,3335,0,0,0,0,0,0,14.33,14.62,14.52
$GC,4661,-0.67,-97.3,2108,2494,3360,3334,578.9,-10.7,430,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2494,3346,3359,3334,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4961,-0.67,-97.3,2108,2494,3358,3333,610.4,-10.3,445,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2494,3345,3358,3333,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5262,-0.67,-97.3,2108,2494,3356,3332,640.0,-9.6,460,5269,0.00,2.47,0.00,0.000,260,0.000,0.086,2099,3890,3344,3357,3331,0,0,0,0,0,0,15.09,14.38,15.11
$GC,5317,-0.67,-97.3,2098,3890,3356,3332,645.5,-10.1,471,5321,0.00,2.28,0.00,0.000,1030,0.000,0.035,2099,2491,3343,3356,3331,0,0,0,0,0,0,14.68,14.61,14.70
$GC,5623,-0.67,-97.3,2098,2490,3356,3330,675.0,-9.4,487,5627,0.00,2.50,0.00,0.000,260,0.000,0.086,2088,3896,3342,3355,3330,0,0,0,0,0,0,15.07,14.35,15.10
$GC,5654,-0.67,-97.3,2087,3896,3356,3330,678.3,-10.0,493,5658,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2496,3342,3355,3330,0,0,0,0,0,0,14.67,14.60,14.69
$GC,5965,-0.67,-97.3,2087,2495,3354,3329,709.3,-10.0,510,5970,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3891,3341,3354,3329,0,0,0,0,0,0,15.09,14.35,15.11
$GC,5998,-0.67,-97.3,2076,3892,3354,3329,712.6,-10.6,516,6003,0.15,2.28,0.00,0.000,3078,0.200,0.036,2114,2491,3341,3354,3329,0,0,0,0,0,0,14.26,14.59,14.47
$GC,6310,-0.67,-97.3,2114,2490,3353,3327,739.6,-8.6,533,6318,0.00,2.50,0.00,0.000,260,0.000,0.086,2105,3896,3340,3353,3327,0,0,0,0,0,0,15.09,14.33,15.11
$GC,6335,-0.67,-97.3,2104,3896,3353,3327,741.8,-9.1,538,6340,0.00,2.28,0.00,0.000,1030,0.000,0.036,2105,2501,3340,3353,3327,0,0,0,0,0,0,14.65,14.58,14.67
$GC,6653,-0.67,-97.3,2105,2500,3352,3327,771.0,-9.2,556,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3339,3352,3327,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6953,-0.67,-97.3,2104,2500,3351,3326,798.9,-9.3,571,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3338,3352,3325,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7252,-0.67,-97.3,2104,2500,3351,3324,827.4,-9.7,586,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2501,3337,3351,3324,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7553,-0.67,-97.3,2104,2500,3350,3324,856.2,-9.3,601,7561,0.00,2.47,0.00,0.000,260,0.000,0.088,2093,3890,3336,3350,3323,0,0,0,0,0,0,15.07,14.30,15.10
$GC,7598,-0.67,-97.3,2093,3890,3349,3323,860.7,-10.2,610,7603,0.00,2.28,0.00,0.000,1030,0.000,0.036,2094,2497,3336,3349,3323,0,0,0,0,0,0,14.62,14.56,14.65
$GC,7916,-0.67,-97.3,2093,2496,3348,3323,891.5,-9.3,628,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2496,3335,3348,3323,0,0,0,0,0,0,15.07,15.10,15.10
$GC,8215,-0.67,-97.3,2093,2496,3348,3321,918.9,-8.9,643,8222,0.00,2.50,0.00,0.000,260,0.000,0.088,2083,3891,3334,3347,3321,0,0,0,0,0,0,15.08,14.28,15.11
$GC,8250,-0.67,-97.3,2083,3892,3347,3321,922.1,-9.4,650,8255,0.12,2.30,0.00,0.000,3078,0.204,0.037,2113,2490,3335,3348,3322,0,0,0,0,0,0,14.23,14.54,14.42
$GC,8556,-0.67,-97.3,2112,2488,3347,3321,945.1,-7.3,666,8561,0.00,2.53,0.00,0.000,260,0.000,0.088,2103,3894,3334,3347,3321,0,0,0,0,0,0,15.07,14.26,15.09
$GC,8583,-0.67,-97.3,2103,3895,3347,3321,947.3,-8.0,671,8587,0.00,2.30,0.00,0.000,1030,0.000,0.037,2104,2491,3334,3347,3321,0,0,0,0,0,0,14.60,14.53,14.63
$GC,8899,-0.67,-97.3,2103,2490,3346,3320,972.8,-8.1,689,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2489,3333,3346,3320,0,0,0,0,0,0,15.07,15.11,15.10
$STATE,9116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9116,begin apogee
$GC,9125,-0.15,0.0,2104,2489,3345,3320,991.1,-8.5,700,9222,0.60,0.00,93.20,1.984,10246,0.164,0.000,2275,2489,2968,2999,2937,0,0,0,0,0,0,14.11,13.97,12.59
$STATE,9223,end apogee,CONTROL_FINISHED_OK
$STATE,9223,begin climb
$GC,9226,0.67,97.3,2275,2489,2998,2936,994.0,0.0,705,9341,0.82,2.53,104.00,1.971,10756,0.090,0.050,2558,1053,2570,2601,2539,0,0,0,0,0,0,14.18,13.97,12.60
$GC,9384,0.71,140.7,2558,1046,2595,2538,992.5,5.6,737,9437,0.00,2.45,44.83,1.932,9254,0.000,0.054,2559,2448,2393,2430,2357,0,0,0,0,0,0,14.35,14.26,12.68
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$STATE,19474,end climb,SURFACE_DEPTH_REACHED
$STATE,19474,begin surface coast
$STATE,19537,end surface coast,CONTROL_FINISHED_OK
$STATE,19537,begin surface
$SM_CCo,19558,91.12,0.585,1,0,928,500.17
$SM_GC,1.22,7.22,0.10,91.12,0.045,0.142,0.585,112,2518,928,-6.79,-0.90,500.17,0,0,0,0,1,0,14.59,14.59,13.64
$IRIDIUM_FIX,552.43,8309.18,161219,202610
$TT8_MAMPS,0.019474,0.161784
$HUMID,49.88
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.59,205.358
$10V_AH,12.39,0.000
$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,19.675,190.500,495.075,91.125,0.000,0.000,0.000,247.475,0.000,0.000,14.938,1528.553,14680.941,707.293,2639.356,488.247,0.000,2315.366,0.000,2374.364,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,141.525,1983.645,585.225,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,876.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73286,1670
$CAP_FILE_SIZE,188002,0
$CFSIZE,260034560,131956736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.105,111.00,1
$GPS,171219,080839,547.203,8307.164,24,1.0,24,-1.9,0.9,241.8,7,10.0