version: 66.13
glider: 171
mission: 11
dive: 622
start: 12 21 119 20 25 40
data:
$ID,171
$MISSION,11
$DIVE,622
$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,48
$R_STBD_OVSHOOT,23
$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
$GPS1,211219,201830,510.3232,8259.6738,21,0.8,21,-2.0,0.1,0.0,9,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.2
$GPS2,211219,202447,510.2504,8259.6475,2,0.6,3,-2.0,0.1,0.0,12,6.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,173.7,18995,-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,-97.3,86,2488,974,878,0.0,0.0,0,88,0.00,0.00,-76.07,0.005,16386,0.000,0.000,84,2488,2675,2675,2676,0,0,0,0,0,0,14.83,28.83,14.85
$GC,92,-0.67,-97.3,84,2488,2676,2676,4.7,-13.5,16,123,9.30,2.33,-13.15,0.010,18948,0.343,0.067,2104,1101,3366,3381,3351,0,0,0,0,0,0,13.85,13.40,14.30
$GC,232,-0.67,-97.3,2104,1100,3382,3351,50.5,-26.2,44,237,0.00,2.40,0.00,0.000,1030,0.000,0.056,2094,2506,3366,3382,3351,0,0,0,0,0,0,14.54,14.43,14.58
$GC,425,-0.67,-97.3,2094,2506,3382,3352,82.9,-14.7,64,429,0.00,2.38,0.00,0.000,516,0.000,0.056,2094,1092,3366,3382,3351,0,0,0,0,0,0,14.98,14.51,15.01
$GC,507,-0.67,-97.3,2094,1092,3383,3352,93.4,-12.7,80,514,0.00,2.40,0.00,0.000,1030,0.000,0.056,2084,2504,3367,3383,3351,0,0,0,0,0,0,14.60,14.50,14.64
$GC,696,-0.67,-97.3,2083,2504,3383,3351,119.5,-14.3,100,701,0.00,2.35,0.00,0.000,516,0.000,0.050,2084,1098,3367,3384,3351,0,0,0,0,0,0,15.02,14.54,15.04
$GC,783,-0.67,-97.3,2083,1098,3383,3351,130.9,-13.1,117,791,0.15,2.40,0.00,0.000,3078,0.212,0.058,2108,2503,3368,3384,3352,0,0,0,0,0,0,14.28,14.51,14.51
$GC,978,-0.67,-97.3,2108,2504,3384,3351,154.5,-12.0,138,982,0.00,2.40,0.00,0.000,260,0.000,0.080,2099,3900,3367,3384,3351,0,0,0,0,0,0,15.05,14.45,15.07
$GC,1049,-0.67,-97.3,2099,3900,3383,3351,164.1,-13.8,152,1054,0.00,2.28,0.00,0.000,1030,0.000,0.033,2099,2481,3367,3383,3351,0,0,0,0,0,0,14.71,14.64,14.73
$GC,1242,-0.67,-97.3,2099,2480,3383,3351,190.4,-13.3,172,1249,0.00,2.45,0.00,0.000,260,0.000,0.081,2088,3892,3367,3383,3351,0,0,0,0,0,0,15.05,14.45,15.07
$GC,1271,-0.67,-97.3,2088,3892,3383,3351,194.4,-14.2,178,1275,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2497,3367,3383,3351,0,0,0,0,0,0,14.71,14.66,14.73
$GC,1463,-0.67,-97.3,2087,2496,3381,3351,219.8,-12.8,198,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2496,3366,3382,3351,0,0,0,0,0,0,15.05,15.08,15.07
$GC,1642,-0.67,-97.3,2088,2496,3380,3351,242.2,-12.5,216,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2496,3365,3380,3351,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1832,-0.67,-97.3,2088,2496,3378,3351,265.6,-12.4,229,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2496,3364,3378,3350,0,0,0,0,0,0,15.07,15.10,15.10
$GC,2133,-0.67,-97.3,2088,2496,3375,3351,302.3,-12.0,244,2140,0.00,2.45,0.00,0.000,260,0.000,0.082,2077,3899,3363,3375,3351,0,0,0,0,0,0,15.07,14.44,15.09
$GC,2182,-0.67,-97.3,2077,3899,3374,3351,308.3,-12.1,254,2186,0.12,2.25,0.00,0.000,3078,0.216,0.034,2108,2495,3362,3374,3351,0,0,0,0,0,0,14.34,14.65,14.53
$GC,2496,-0.67,-97.3,2107,2494,3374,3348,340.8,-10.4,271,2501,0.00,2.45,0.00,0.000,260,0.000,0.083,2098,3891,3360,3374,3347,0,0,0,0,0,0,15.07,14.42,15.09
$GC,2548,-0.67,-97.3,2098,3891,3373,3347,346.8,-11.2,281,2552,0.00,2.25,0.00,0.000,1030,0.000,0.034,2098,2492,3360,3374,3347,0,0,0,0,0,0,14.71,14.64,14.73
$GC,2859,-0.67,-97.3,2098,2491,3372,3345,383.4,-11.7,298,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2491,3359,3372,3346,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3160,-0.67,-97.3,2098,2491,3371,3344,419.1,-12.1,313,3167,0.00,2.47,0.00,0.000,260,0.000,0.084,2087,3898,3357,3371,3344,0,0,0,0,0,0,15.07,14.40,15.10
$GC,3210,-0.67,-97.3,2087,3898,3370,3344,425.3,-12.5,323,3215,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2503,3357,3370,3344,0,0,0,0,0,0,14.70,14.62,14.72
$GC,3523,-0.67,-97.3,2087,2501,3368,3341,465.2,-12.8,340,3529,0.00,2.45,0.00,0.000,260,0.000,0.084,2077,3893,3354,3368,3341,0,0,0,0,0,0,15.08,14.40,15.11
$GC,3564,-0.67,-97.3,2076,3893,3367,3341,470.4,-13.1,348,3569,0.15,2.25,0.00,0.000,3078,0.200,0.034,2113,2497,3354,3367,3341,0,0,0,0,0,0,14.29,14.62,14.50
$GC,3886,-0.67,-97.3,2113,2496,3367,3339,504.2,-10.2,367,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2496,3353,3367,3339,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4187,-0.67,-97.3,2113,2496,3366,3338,534.3,-10.0,382,4195,0.00,2.47,0.00,0.000,260,0.000,0.085,2105,3896,3351,3365,3338,0,0,0,0,0,0,15.07,14.37,15.10
$GC,4231,-0.67,-97.3,2104,3896,3365,3338,539.0,-10.4,391,4237,0.00,2.25,0.00,0.000,1030,0.000,0.034,2105,2502,3352,3365,3339,0,0,0,0,0,0,14.67,14.61,14.70
$GC,4550,-0.67,-97.3,2104,2501,3364,3337,571.0,-10.0,409,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2501,3350,3364,3337,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4852,-0.67,-97.3,2104,2501,3363,3335,600.3,-9.7,424,4856,0.00,2.47,0.00,0.000,260,0.000,0.086,2093,3890,3348,3362,3335,0,0,0,0,0,0,15.07,14.35,15.09
$GC,4900,-0.67,-97.3,2093,3890,3362,3335,605.0,-9.9,433,4904,0.00,2.25,0.00,0.000,1030,0.000,0.035,2093,2501,3348,3362,3335,0,0,0,0,0,0,14.66,14.59,14.69
$GC,5217,-0.67,-97.3,2093,2499,3362,3334,636.6,-10.0,451,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3348,3362,3334,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5516,-0.67,-97.3,2093,2500,3361,3333,665.9,-9.8,466,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3347,3361,3333,0,0,0,0,0,0,15.08,15.11,15.10
$GC,5816,-0.67,-97.3,2093,2499,3360,3333,694.1,-9.5,481,5822,0.00,2.47,0.00,0.000,260,0.000,0.086,2083,3890,3346,3360,3332,0,0,0,0,0,0,15.07,14.32,15.11
$GC,5852,-0.67,-97.3,2082,3890,3360,3332,697.6,-10.1,488,5857,0.12,2.28,0.00,0.000,3078,0.207,0.036,2112,2496,3346,3360,3332,0,0,0,0,0,0,14.27,14.56,14.45
$GC,6156,-0.67,-97.3,2112,2495,3359,3331,722.4,-8.0,504,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2495,3345,3359,3332,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6456,-0.67,-97.3,2112,2494,3358,3330,746.5,-8.1,519,6460,0.00,2.50,0.00,0.000,260,0.000,0.086,2103,3897,3343,3356,3330,0,0,0,0,0,0,15.07,14.30,15.10
$GC,6499,-0.67,-97.3,2103,3898,3357,3330,750.1,-8.7,527,6504,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2502,3343,3357,3330,0,0,0,0,0,0,14.62,14.55,14.65
$GC,6821,-0.67,-97.3,2103,2500,3356,3330,779.0,-9.1,546,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3343,3356,3330,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7121,-0.67,-97.3,2103,2500,3356,3328,807.6,-9.7,561,7127,0.00,2.50,0.00,0.000,260,0.000,0.087,2092,3898,3342,3356,3329,0,0,0,0,0,0,15.08,14.27,15.10
$GC,7153,-0.67,-97.3,2091,3898,3356,3329,810.7,-10.6,567,7158,0.00,2.30,0.00,0.000,1030,0.000,0.037,2092,2494,3342,3356,3329,0,0,0,0,0,0,14.60,14.53,14.64
$GC,7466,-0.67,-97.3,2091,2493,3356,3327,842.8,-10.1,584,7470,0.00,2.35,0.00,0.000,516,0.000,0.050,2092,1101,3341,3355,3327,0,0,0,0,0,0,15.07,14.42,15.09
$GC,7513,-0.67,-97.3,2091,1101,3355,3328,847.5,-9.9,593,7520,0.12,2.42,0.00,0.000,3078,0.204,0.060,2111,2496,3341,3355,3327,0,0,0,0,0,0,14.18,14.35,14.35
$GC,7829,-0.67,-97.3,2111,2496,3354,3327,874.5,-8.2,611,7834,0.00,2.47,0.00,0.000,260,0.000,0.087,2102,3894,3340,3354,3326,0,0,0,0,0,0,15.06,14.25,15.09
$GC,7877,-0.67,-97.3,2102,3894,3354,3326,878.7,-8.8,620,7881,0.00,2.28,0.00,0.000,1030,0.000,0.037,2102,2500,3340,3354,3326,0,0,0,0,0,0,14.59,14.52,14.62
$GC,8194,-0.67,-97.3,2102,2499,3353,3326,906.1,-8.6,638,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2499,3340,3354,3326,0,0,0,0,0,0,15.05,15.09,15.08
$GC,8493,-0.67,-97.3,2102,2499,3353,3325,931.5,-8.3,653,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2499,3339,3353,3325,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8793,-0.67,-97.3,2102,2499,3352,3324,956.6,-8.4,668,8798,0.00,2.53,0.00,0.000,260,0.000,0.088,2091,3899,3338,3352,3324,0,0,0,0,0,0,15.06,14.21,15.09
$GC,8826,-0.67,-97.3,2090,3899,3352,3324,959.4,-9.3,674,8830,0.00,2.30,0.00,0.000,1030,0.000,0.037,2091,2500,3338,3352,3324,0,0,0,0,0,0,14.56,14.50,14.59
$GC,9138,-0.67,-97.3,2090,2499,3352,3324,987.6,-8.9,691,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3337,3352,3323,0,0,0,0,0,0,15.06,15.09,15.09
$STATE,9174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9174,begin apogee
$GC,9181,-0.15,0.0,2091,2499,3351,3324,991.1,-8.9,693,9279,0.65,0.00,93.28,1.987,10246,0.167,0.000,2275,2499,2968,3002,2935,0,0,0,0,0,0,14.05,13.95,12.57
$STATE,9280,end apogee,CONTROL_FINISHED_OK
$STATE,9280,begin climb
$GC,9284,0.67,97.3,2275,2499,3000,2935,993.4,0.0,698,9400,0.85,2.47,105.03,1.968,10500,0.094,0.083,2552,3855,2569,2601,2537,0,0,0,0,0,0,14.16,13.56,12.57
$GC,9425,0.71,141.0,2552,3855,2597,2537,991.1,5.6,715,9479,0.00,2.38,45.62,1.935,9254,0.000,0.036,2563,2435,2392,2431,2353,0,0,0,0,0,0,14.33,14.28,12.64
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$STATE,20943,end climb,SURFACE_DEPTH_REACHED
$STATE,20943,begin surface coast
$STATE,20973,end surface coast,CONTROL_FINISHED_OK
$STATE,20973,begin surface
$SM_CCo,20993,124.20,0.637,1,0,929,500.17
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$IRIDIUM_FIX,513.04,8303.24,211219,140213
$TT8_MAMPS,0.019474,0.161784
$HUMID,49.13
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,12.57,211.043
$10V_AH,11.02,0.000
$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
$DEVICE_SECS,20.100,210.300,459.425,124.200,0.000,0.000,0.000,230.325,0.000,0.000,14.966,1656.811,15736.688,745.426,2808.137,552.184,0.000,2435.559,0.000,2562.929,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,940.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250352
$DATA_FILE_SIZE,76680,1804
$CAP_FILE_SIZE,202741,0
$CFSIZE,260034560,130166784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,19054.88,0x214798,1,24
$CURRENT,0.070,167.19,1
$GPS,221219,021859,507.586,8259.869,30,1.2,30,-2.0,0.9,192.6,6,4.6