version: 66.13
glider: 171
mission: 11
dive: 637
start: 12 25 119 15 13 15
data:
$ID,171
$MISSION,11
$DIVE,637
$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,71
$R_STBD_OVSHOOT,50
$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
$GPS1,251219,150559,505.1515,8230.8506,30,1.1,30,-2.1,0.3,165.2,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.8
$GPS2,251219,151222,505.0614,8230.7959,2,0.6,2,-2.1,0.6,227.4,12,10.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,240.1,223060,-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,-97.3,113,2526,971,880,0.0,0.0,0,88,0.00,0.00,-76.07,0.005,16386,0.000,0.000,113,2526,2700,2697,2703,0,0,0,0,0,0,14.84,28.83,14.87
$GC,92,-0.67,-97.3,113,2526,2699,2703,4.9,-14.0,16,120,9.23,2.35,-12.50,0.010,18948,0.346,0.060,2103,1114,3365,3379,3352,0,0,0,0,0,0,13.86,13.40,14.32
$GC,314,-0.67,-97.3,2103,1112,3379,3352,63.9,-17.0,60,318,0.00,2.35,0.00,0.000,1030,0.000,0.059,2094,2485,3366,3380,3352,0,0,0,0,0,0,14.57,14.46,14.62
$GC,500,-0.67,-97.3,2093,2485,3380,3352,90.5,-11.1,79,505,0.00,2.42,0.00,0.000,260,0.000,0.079,2083,3893,3366,3380,3352,0,0,0,0,0,0,15.00,14.44,15.02
$GC,732,-0.67,-97.3,2083,3893,3380,3352,121.9,-14.3,125,736,0.12,2.20,0.00,0.000,3078,0.220,0.031,2111,2499,3366,3381,3352,0,0,0,0,0,0,14.33,14.65,14.52
$GC,925,-0.67,-97.3,2111,2497,3381,3352,145.1,-12.5,145,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2497,3366,3381,3352,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1104,-0.67,-97.3,2111,2497,3381,3352,166.0,-11.5,163,1109,0.00,2.42,0.00,0.000,260,0.000,0.080,2103,3893,3366,3380,3352,0,0,0,0,0,0,15.06,14.45,15.08
$GC,1187,-0.67,-97.3,2102,3893,3380,3352,175.6,-11.5,179,1192,0.00,2.20,0.00,0.000,1030,0.000,0.032,2103,2506,3366,3380,3352,0,0,0,0,0,0,14.73,14.67,14.75
$GC,1379,-0.67,-97.3,2102,2504,3378,3352,198.3,-11.8,199,1384,0.00,2.42,0.00,0.000,260,0.000,0.080,2091,3900,3365,3379,3352,0,0,0,0,0,0,15.07,14.45,15.09
$GC,1431,-0.67,-97.3,2091,3900,3378,3352,205.0,-12.8,209,1435,0.00,2.22,0.00,0.000,1030,0.000,0.033,2091,2502,3365,3378,3352,0,0,0,0,0,0,14.73,14.66,14.74
$GC,1622,-0.67,-97.3,2091,2500,3376,3352,229.7,-13.2,229,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3364,3377,3352,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1802,-0.67,-97.3,2091,2500,3375,3352,253.5,-13.2,246,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3363,3375,3352,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2103,-0.67,-97.3,2091,2500,3373,3349,293.3,-13.1,261,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3361,3373,3349,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2402,-0.67,-97.3,2091,2500,3372,3347,331.2,-12.2,276,2407,0.00,2.45,0.00,0.000,260,0.000,0.083,2081,3892,3358,3371,3346,0,0,0,0,0,0,15.08,14.42,15.11
$GC,2434,-0.67,-97.3,2081,3892,3371,3347,335.2,-12.5,282,2438,0.12,2.22,0.00,0.000,3078,0.210,0.034,2110,2497,3359,3371,3347,0,0,0,0,0,0,14.35,14.65,14.54
$GC,2748,-0.67,-97.3,2110,2496,3371,3345,367.5,-10.0,299,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2496,3357,3370,3345,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3045,-0.67,-97.3,2110,2496,3368,3342,397.1,-10.0,314,3053,0.00,2.45,0.00,0.000,260,0.000,0.083,2101,3891,3354,3367,3342,0,0,0,0,0,0,15.08,14.40,15.11
$GC,3080,-0.67,-97.3,2101,3892,3367,3342,400.7,-10.5,321,3085,0.00,2.25,0.00,0.000,1030,0.000,0.034,2101,2496,3354,3367,3342,0,0,0,0,0,0,14.70,14.64,14.72
$GC,3387,-0.67,-97.3,2101,2494,3366,3340,433.4,-10.9,337,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2495,3353,3366,3340,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3686,-0.67,-97.3,2101,2495,3365,3338,466.7,-11.0,352,3692,0.00,2.47,0.00,0.000,260,0.000,0.083,2090,3899,3351,3364,3338,0,0,0,0,0,0,15.08,14.38,15.11
$GC,3736,-0.67,-97.3,2090,3899,3363,3338,472.5,-11.8,362,3741,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2501,3350,3363,3338,0,0,0,0,0,0,14.69,14.62,14.71
$GC,4048,-0.67,-97.3,2090,2500,3362,3337,508.6,-11.3,379,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3349,3362,3337,0,0,0,0,0,0,15.07,15.11,15.10
$GC,4348,-0.67,-97.3,2090,2500,3362,3335,540.1,-10.1,394,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3348,3362,3335,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4649,-0.67,-97.3,2090,2500,3361,3334,569.1,-9.7,409,4655,0.00,2.47,0.00,0.000,260,0.000,0.085,2080,3896,3347,3360,3334,0,0,0,0,0,0,15.07,14.35,15.09
$GC,4672,-0.67,-97.3,2079,3896,3360,3334,571.7,-10.9,414,4677,0.12,2.28,0.00,0.000,3078,0.208,0.035,2109,2500,3346,3360,3333,0,0,0,0,0,0,14.28,14.59,14.47
$GC,4990,-0.67,-97.3,2109,2499,3359,3333,600.5,-9.3,432,4997,0.00,2.47,0.00,0.000,260,0.000,0.084,2100,3895,3345,3359,3332,0,0,0,0,0,0,15.07,14.33,15.10
$GC,5046,-0.67,-97.3,2100,3896,3358,3332,606.1,-10.1,443,5051,0.00,2.28,0.00,0.000,1030,0.000,0.035,2100,2499,3345,3358,3332,0,0,0,0,0,0,14.64,14.58,14.67
$GC,5350,-0.67,-97.3,2100,2497,3357,3331,638.5,-10.9,459,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3344,3357,3332,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5651,-0.67,-97.3,2100,2497,3357,3331,671.5,-10.8,474,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2497,3343,3356,3331,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5950,-0.67,-97.3,2100,2497,3356,3330,701.8,-9.6,489,5954,0.00,2.33,0.00,0.000,516,0.000,0.050,2100,1110,3342,3355,3329,0,0,0,0,0,0,15.08,14.45,15.10
$GC,5971,-0.67,-97.3,2100,1110,3355,3329,703.8,-9.5,493,5975,0.00,2.40,0.00,0.000,1030,0.000,0.058,2089,2500,3342,3355,3329,0,0,0,0,0,0,14.53,14.42,14.57
$GC,6294,-0.67,-97.3,2089,2500,3354,3328,733.9,-9.1,512,6300,0.00,2.45,0.00,0.000,260,0.000,0.085,2078,3892,3341,3354,3328,0,0,0,0,0,0,15.07,14.30,15.09
$GC,6362,-0.67,-97.3,2078,3892,3353,3328,740.7,-9.7,526,6367,0.12,2.28,0.00,0.000,3078,0.209,0.036,2107,2493,3341,3354,3328,0,0,0,0,0,0,14.23,14.55,14.42
$GC,6674,-0.67,-97.3,2107,2491,3353,3326,766.2,-8.3,543,6679,0.00,2.50,0.00,0.000,260,0.000,0.085,2098,3895,3340,3353,3327,0,0,0,0,0,0,15.07,14.28,15.10
$GC,6712,-0.67,-97.3,2098,3895,3353,3327,769.5,-9.0,550,6716,0.00,2.28,0.00,0.000,1030,0.000,0.036,2098,2502,3340,3353,3327,0,0,0,0,0,0,14.61,14.54,14.63
$GC,7016,-0.67,-97.3,2098,2500,3352,3326,798.3,-9.7,566,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2501,3339,3352,3326,0,0,0,0,0,0,15.07,15.11,15.10
$GC,7317,-0.67,-97.3,2098,2500,3352,3325,828.1,-10.1,581,7323,0.00,2.50,0.00,0.000,260,0.000,0.087,2087,3894,3338,3351,3325,0,0,0,0,0,0,15.07,14.26,15.09
$GC,7346,-0.67,-97.3,2087,3894,3351,3325,831.2,-10.9,587,7351,0.00,2.28,0.00,0.000,1030,0.000,0.036,2087,2502,3338,3351,3325,0,0,0,0,0,0,14.59,14.52,14.62
$GC,7659,-0.67,-97.3,2087,2500,3350,3324,863.9,-10.4,604,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2500,3337,3351,3324,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7959,-0.67,-97.3,2087,2501,3350,3323,894.6,-10.2,619,7964,0.00,2.53,0.00,0.000,260,0.000,0.087,2076,3894,3336,3350,3323,0,0,0,0,0,0,15.06,14.23,15.09
$GC,8001,-0.67,-97.3,2076,3895,3350,3323,899.4,-11.2,627,8007,0.15,2.30,0.00,0.000,3078,0.197,0.037,2113,2492,3336,3350,3323,0,0,0,0,0,0,14.16,14.50,14.35
$GC,8324,-0.67,-97.3,2112,2492,3350,3322,928.7,-9.0,646,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2491,3335,3349,3322,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8626,-0.67,-97.3,2112,2492,3348,3321,955.3,-8.8,661,8630,0.00,2.35,0.00,0.000,516,0.000,0.051,2113,1105,3334,3348,3321,0,0,0,0,0,0,15.05,14.38,15.08
$GC,8657,-0.67,-97.3,2113,1105,3348,3321,958.2,-9.2,667,8662,0.00,2.45,0.00,0.000,1030,0.000,0.060,2104,2507,3334,3348,3321,0,0,0,0,0,0,14.45,14.33,14.50
$GC,8969,-0.67,-97.3,2103,2507,3348,3320,986.6,-9.1,684,8976,0.00,2.47,0.00,0.000,260,0.000,0.087,2092,3894,3333,3347,3320,0,0,0,0,0,0,15.07,14.21,15.09
$STATE,9006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9006,begin apogee
$GC,9017,-0.15,0.0,2093,2442,3347,3321,990.3,-9.5,692,9114,0.65,0.00,92.93,1.990,10246,0.169,0.000,2275,2441,2968,3001,2935,0,0,0,0,0,0,14.02,13.97,12.59
$STATE,9115,end apogee,CONTROL_FINISHED_OK
$STATE,9115,begin climb
$GC,9118,0.67,97.3,2275,2441,2999,2935,993.5,0.0,697,9236,0.82,2.50,103.95,1.972,10756,0.092,0.052,2558,1044,2569,2601,2538,0,0,0,0,0,0,14.16,13.95,12.57
$GC,9308,0.69,97.3,2557,1044,2595,2535,989.4,7.0,736,9313,0.00,2.45,0.00,0.000,1094,0.000,0.056,2558,2442,2565,2595,2535,0,0,0,0,0,0,14.40,14.31,14.43
$GC,9614,0.69,97.3,2557,2442,2592,2534,965.2,8.0,752,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2443,2563,2593,2534,0,0,0,0,0,0,14.90,14.93,14.92
$GC,9913,0.69,97.3,2557,2443,2591,2532,941.2,7.9,767,9917,0.00,2.40,0.00,0.000,516,0.000,0.052,2569,1045,2561,2591,2532,0,0,0,0,0,0,14.98,14.46,15.01
$GC,9954,0.69,97.3,2569,1045,2590,2531,937.9,8.2,775,9961,0.00,2.42,0.00,0.000,1030,0.000,0.055,2569,2448,2560,2590,2531,0,0,0,0,0,0,14.54,14.44,14.60
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$STATE,21655,end climb,SURFACE_DEPTH_REACHED
$STATE,21656,begin surface coast
$STATE,21668,end surface coast,CONTROL_FINISHED_OK
$STATE,21668,begin surface
$SM_CCo,21690,103.60,0.634,1,0,929,500.17
$SM_GC,1.11,7.95,2.22,103.60,0.054,0.032,0.634,120,2523,929,-6.78,2.15,500.17,0,0,0,0,1,0,14.48,14.42,13.50
$IRIDIUM_FIX,502.27,8232.62,251219,091124
$TT8_MAMPS,0.018725,0.159537
$HUMID,51.96
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,12.57,215.536
$10V_AH,11.14,0.000
$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,20.125,205.325,471.100,103.600,0.000,0.000,0.000,236.625,0.000,0.000,14.216,1717.634,16238.589,711.944,2950.902,560.558,0.000,2467.268,0.000,2696.034,0.000,0.539,0.000
$DEVICE_MAMPS,345.780,87.210,1989.765,634.185,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,922.512,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250316
$DATA_FILE_SIZE,83302,1898
$CAP_FILE_SIZE,206139,0
$CFSIZE,260034560,128741376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.100,281.42,1
$GPS,251219,211738,504.541,8228.199,21,1.3,21,-2.1,1.1,243.2,7,6.9