version: 66.13
glider: 171
mission: 11
dive: 634
start: 12 24 119 21 41 58
data:
$ID,171
$MISSION,11
$DIVE,634
$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,73
$R_STBD_OVSHOOT,17
$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
$GPS1,241219,212930,503.6488,8237.7412,23,0.7,23,-2.1,0.6,313.2,9,3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.5
$GPS2,241219,214107,503.6845,8237.6924,2,0.5,2,-2.1,0.5,74.1,12,8.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,280.8,235685,-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,-97.3,111,2488,972,880,0.0,0.0,0,88,0.00,0.00,-76.53,0.005,16386,0.000,0.000,111,2489,2727,2726,2728,0,0,0,0,0,0,14.84,28.83,14.88
$GC,93,-0.67,-97.3,110,2489,2727,2728,5.0,-14.4,16,119,9.20,2.30,-11.93,0.010,19204,0.343,0.070,2104,1121,3368,3381,3355,0,0,0,0,0,0,13.85,12.61,14.31
$GC,241,-0.67,-97.3,2103,1121,3382,3355,47.4,-17.7,46,246,0.00,2.38,0.00,0.000,1030,0.000,0.057,2094,2512,3368,3382,3355,0,0,0,0,0,0,14.56,14.45,14.59
$GC,429,-0.67,-97.3,2094,2512,3382,3355,77.1,-13.6,66,433,0.00,2.40,0.00,0.000,260,0.000,0.082,2084,3896,3368,3382,3355,0,0,0,0,0,0,14.99,14.42,15.01
$GC,650,-0.67,-97.3,2083,3896,3382,3355,108.1,-12.9,110,654,0.00,2.20,0.00,0.000,1030,0.000,0.033,2084,2516,3368,3382,3355,0,0,0,0,0,0,14.69,14.63,14.71
$GC,842,-0.67,-97.3,2083,2515,3382,3355,133.0,-13.3,130,846,0.00,2.42,0.00,0.000,260,0.000,0.090,2073,3894,3369,3383,3355,0,0,0,0,0,0,15.04,14.43,15.07
$GC,908,-0.67,-97.3,2073,3895,3382,3355,142.3,-13.8,143,914,0.15,2.25,0.00,0.000,3078,0.220,0.037,2108,2489,3368,3382,3355,0,0,0,0,0,0,14.28,14.65,14.50
$GC,1094,-0.67,-97.3,2107,2488,3382,3355,164.3,-11.1,162,1101,0.00,2.47,0.00,0.000,260,0.000,0.087,2098,3900,3368,3382,3355,0,0,0,0,0,0,15.05,14.45,15.07
$GC,1144,-0.67,-97.3,2098,3900,3382,3355,170.2,-11.4,172,1148,0.00,2.22,0.00,0.000,1030,0.000,0.033,2098,2501,3368,3382,3355,0,0,0,0,0,0,14.72,14.66,14.74
$GC,1337,-0.67,-97.3,2098,2500,3381,3355,190.8,-11.0,192,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3368,3381,3355,0,0,0,0,0,0,15.05,15.08,15.08
$GC,1525,-0.67,-97.3,2098,2500,3379,3355,213.0,-12.3,211,1530,0.00,2.42,0.00,0.000,260,0.000,0.084,2088,3892,3367,3379,3355,0,0,0,0,0,0,15.07,14.44,15.09
$GC,1557,-0.67,-97.3,2087,3891,3379,3355,217.2,-13.3,217,1561,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2497,3366,3378,3355,0,0,0,0,0,0,14.72,14.66,14.74
$GC,1749,-0.67,-97.3,2087,2496,3377,3355,243.1,-13.5,237,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2496,3365,3377,3354,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1928,-0.67,-97.3,2087,2495,3375,3354,266.7,-12.9,249,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2496,3364,3375,3354,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2229,-0.67,-97.3,2087,2496,3374,3350,303.9,-12.2,264,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2496,3362,3374,3350,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2530,-0.67,-97.3,2087,2496,3372,3348,338.6,-11.4,279,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2496,3359,3372,3347,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2828,-0.67,-97.3,2087,2496,3371,3345,374.2,-12.1,294,2836,0.00,2.45,0.00,0.000,260,0.000,0.085,2077,3892,3358,3371,3345,0,0,0,0,0,0,15.09,14.41,15.11
$GC,2859,-0.67,-97.3,2077,3893,3370,3345,377.9,-12.9,300,2865,0.10,2.22,0.00,0.000,3078,0.176,0.034,2108,2496,3357,3370,3345,0,0,0,0,0,0,14.26,14.59,14.37
$GC,3173,-0.67,-97.3,2107,2495,3368,3343,411.3,-10.1,317,3180,0.00,2.47,0.00,0.000,260,0.000,0.084,2099,3896,3355,3368,3342,0,0,0,0,0,0,15.07,14.39,15.10
$GC,3224,-0.67,-97.3,2098,3896,3367,3342,416.5,-10.4,327,3229,0.00,2.25,0.00,0.000,1030,0.000,0.034,2098,2501,3354,3367,3342,0,0,0,0,0,0,14.69,14.63,14.71
$GC,3537,-0.67,-97.3,2098,2501,3366,3340,447.2,-9.6,344,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2501,3353,3366,3340,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3836,-0.67,-97.3,2098,2501,3365,3339,476.7,-10.4,359,3841,0.00,2.45,0.00,0.000,260,0.000,0.085,2088,3891,3351,3364,3339,0,0,0,0,0,0,15.08,14.37,15.11
$GC,3883,-0.67,-97.3,2087,3891,3363,3338,481.8,-11.0,368,3887,0.00,2.25,0.00,0.000,1030,0.000,0.034,2088,2503,3351,3363,3339,0,0,0,0,0,0,14.68,14.61,14.70
$GC,4200,-0.67,-97.3,2087,2502,3362,3337,517.4,-11.1,386,4204,0.00,2.33,0.00,0.000,516,0.000,0.050,2087,1107,3349,3362,3337,0,0,0,0,0,0,15.07,14.50,15.09
$GC,4237,-0.67,-97.3,2087,1106,3362,3337,521.5,-10.9,393,4244,0.15,2.42,0.00,0.000,3078,0.200,0.063,2113,2501,3349,3362,3337,0,0,0,0,0,0,14.23,14.45,14.45
$GC,4563,-0.67,-97.3,2113,2501,3362,3335,552.2,-9.3,413,4570,0.00,2.45,0.00,0.000,260,0.000,0.085,2104,3897,3348,3361,3335,0,0,0,0,0,0,15.07,14.35,15.09
$GC,4598,-0.67,-97.3,2104,3897,3361,3335,555.7,-10.0,420,4602,0.00,2.28,0.00,0.000,1030,0.000,0.036,2104,2499,3348,3361,3335,0,0,0,0,0,0,14.66,14.59,14.68
$GC,4903,-0.67,-97.3,2104,2497,3360,3334,585.7,-9.9,436,4908,0.00,2.50,0.00,0.000,260,0.000,0.086,2093,3897,3346,3360,3333,0,0,0,0,0,0,15.08,14.33,15.11
$GC,4966,-0.67,-97.3,2092,3898,3360,3333,592.1,-10.4,448,4970,0.00,2.28,0.00,0.000,1030,0.000,0.036,2092,2500,3347,3360,3334,0,0,0,0,0,0,14.65,14.57,14.67
$GC,5287,-0.67,-97.3,2092,2498,3358,3332,625.8,-10.3,467,5292,0.00,2.33,0.00,0.000,516,0.000,0.050,2092,1107,3344,3357,3332,0,0,0,0,0,0,15.08,14.47,15.10
$GC,5324,-0.67,-97.3,2092,1107,3357,3332,629.7,-10.4,474,5332,0.12,2.42,0.00,0.000,3078,0.206,0.060,2111,2501,3344,3357,3332,0,0,0,0,0,0,14.23,14.42,14.42
$GC,5653,-0.67,-97.3,2111,2501,3356,3331,658.2,-8.6,494,5660,0.00,2.45,0.00,0.000,260,0.000,0.086,2102,3894,3343,3356,3331,0,0,0,0,0,0,15.04,14.31,15.07
$GC,5723,-0.67,-97.3,2102,3894,3356,3331,664.7,-9.1,508,5727,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2499,3343,3356,3331,0,0,0,0,0,0,14.62,14.55,14.65
$GC,6035,-0.67,-97.3,2102,2498,3355,3330,692.8,-9.0,525,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2498,3342,3356,3329,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6335,-0.67,-97.3,2102,2498,3355,3329,720.2,-9.3,540,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2498,3342,3355,3329,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6634,-0.67,-97.3,2102,2498,3354,3327,748.1,-9.3,555,6639,0.00,2.50,0.00,0.000,260,0.000,0.087,2091,3897,3340,3353,3327,0,0,0,0,0,0,15.07,14.28,15.10
$GC,6683,-0.67,-97.3,2091,3897,3353,3327,752.6,-9.7,564,6687,0.00,2.30,0.00,0.000,1030,0.000,0.037,2091,2494,3340,3353,3327,0,0,0,0,0,0,14.61,14.53,14.64
$GC,6999,-0.67,-97.3,2091,2492,3353,3326,783.3,-9.7,582,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2492,3339,3353,3326,0,0,0,0,0,0,15.07,15.11,15.09
$GC,7299,-0.67,-97.3,2091,2492,3352,3326,811.9,-9.7,597,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2492,3338,3352,3325,0,0,0,0,0,0,15.08,15.11,15.10
$GC,7601,-0.67,-97.3,2091,2492,3351,3325,842.7,-10.6,612,7607,0.00,2.53,0.00,0.000,260,0.000,0.087,2081,3900,3338,3352,3325,0,0,0,0,0,0,15.06,14.25,15.09
$GC,7660,-0.67,-97.3,2080,3900,3351,3325,849.4,-11.2,624,7667,0.12,2.30,0.00,0.000,3078,0.206,0.037,2110,2496,3338,3351,3325,0,0,0,0,0,0,14.21,14.51,14.39
$GC,7980,-0.67,-97.3,2110,2495,3350,3323,880.6,-9.9,643,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3336,3350,3323,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8279,-0.67,-97.3,2110,2495,3350,3323,909.9,-9.7,658,8287,0.00,2.53,0.00,0.000,260,0.000,0.088,2101,3899,3336,3349,3323,0,0,0,0,0,0,15.07,14.22,15.09
$GC,8310,-0.67,-97.3,2101,3899,3349,3323,913.0,-10.6,664,8314,0.00,2.30,0.00,0.000,1030,0.000,0.037,2101,2499,3336,3349,3323,0,0,0,0,0,0,14.57,14.50,14.59
$GC,8622,-0.67,-97.3,2101,2497,3348,3322,943.8,-9.6,681,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2497,3335,3348,3322,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8921,-0.67,-97.3,2101,2497,3348,3321,971.7,-9.1,696,8928,0.00,2.53,0.00,0.000,260,0.000,0.089,2090,3897,3334,3348,3321,0,0,0,0,0,0,15.07,14.19,15.09
$GC,8956,-0.67,-97.3,2090,3897,3347,3321,975.0,-9.7,703,8961,0.00,2.30,0.00,0.000,1030,0.000,0.037,2090,2503,3334,3347,3321,0,0,0,0,0,0,14.54,14.47,14.57
$STATE,9118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9118,begin apogee
$GC,9128,-0.15,0.0,2090,2433,3347,3321,990.6,-9.5,712,9225,0.68,0.00,92.95,1.981,10246,0.168,0.000,2280,2432,2968,3000,2936,0,0,0,0,0,0,14.03,13.96,12.59
$STATE,9226,end apogee,CONTROL_FINISHED_OK
$STATE,9226,begin climb
$GC,9229,0.67,97.3,2280,2432,2999,2935,993.4,0.0,717,9339,0.82,0.00,104.82,1.965,10246,0.090,0.000,2553,2432,2570,2603,2537,0,0,0,0,0,0,14.18,13.54,12.58
$GC,9646,0.67,97.3,2553,2432,2592,2534,972.4,7.6,738,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2432,2563,2593,2534,0,0,0,0,0,0,14.85,14.88,14.88
$GC,9942,0.68,97.3,2553,2432,2591,2532,949.9,7.4,753,9946,0.00,2.35,0.00,0.000,580,0.000,0.052,2563,1050,2561,2591,2531,0,0,0,0,0,0,14.97,14.45,15.00
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$STATE,21806,end climb,SURFACE_DEPTH_REACHED
$STATE,21806,begin surface coast
$STATE,21841,end surface coast,CONTROL_FINISHED_OK
$STATE,21841,begin surface
$SM_CCo,21864,170.98,0.683,1,0,928,500.17
$SM_GC,1.17,7.82,2.58,170.98,0.064,0.063,0.683,112,2500,928,-6.78,-0.79,500.17,0,0,0,0,1,0,14.57,14.37,13.50
$IRIDIUM_FIX,502.13,8237.20,241219,213448
$TT8_MAMPS,0.019474,0.158788
$HUMID,48.46
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,12.58,214.624
$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
$DEVICE_SECS,20.325,229.250,401.200,170.975,0.000,0.000,0.000,428.775,0.250,0.000,14.275,1756.186,16459.068,773.051,3163.681,578.008,0.000,2728.292,0.000,2719.533,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,952.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250412
$DATA_FILE_SIZE,83380,1915
$CAP_FILE_SIZE,215614,0
$CFSIZE,260034560,129015808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.026,287.32,1
$GPS,251219,035030,504.163,8235.808,29,0.7,29,-2.1,0.4,251.3,10,4.4