version: 66.13
glider: 171
mission: 11
dive: 640
start: 12 26 119 9 32 14
data:
$ID,171
$MISSION,11
$DIVE,640
$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,50
$R_STBD_OVSHOOT,36
$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
$GPS1,261219,092509,505.0019,8223.7109,24,1.1,24,-2.1,0.7,206.6,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.3
$GPS2,261219,093121,504.9037,8223.6113,2,0.5,3,-2.1,0.4,272.4,12,8.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,248.5,209804,-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,-97.3,109,2508,976,877,0.0,0.0,0,88,0.00,0.00,-75.88,0.005,16386,0.000,0.000,109,2508,2670,2668,2672,0,0,0,0,0,0,14.83,28.83,14.85
$GC,92,-0.67,-97.3,109,2507,2669,2672,4.8,-14.0,16,123,9.30,2.40,-13.23,0.009,18692,0.347,0.092,2096,3885,3365,3379,3351,0,0,0,0,0,0,13.83,13.38,14.30
$GC,352,-0.67,-97.3,2096,3885,3380,3351,70.5,-17.4,68,357,0.00,2.22,0.00,0.000,1030,0.000,0.032,2096,2489,3365,3380,3351,0,0,0,0,0,0,14.64,14.58,14.66
$GC,545,-0.67,-97.3,2096,2488,3380,3350,100.7,-13.6,88,552,0.00,2.42,0.00,0.000,260,0.000,0.079,2085,3884,3365,3380,3351,0,0,0,0,0,0,14.99,14.41,15.02
$GC,714,-0.67,-97.3,2085,3884,3381,3351,125.4,-13.7,122,718,0.00,2.20,0.00,0.000,1030,0.000,0.032,2085,2497,3366,3381,3351,0,0,0,0,0,0,14.69,14.63,14.71
$GC,906,-0.67,-97.3,2085,2496,3381,3351,148.9,-13.4,142,913,0.00,2.42,0.00,0.000,260,0.000,0.080,2075,3890,3366,3381,3351,0,0,0,0,0,0,15.03,14.42,15.06
$GC,965,-0.67,-97.3,2074,3890,3381,3351,157.3,-13.8,154,970,0.15,2.20,0.00,0.000,3078,0.213,0.032,2110,2497,3366,3381,3351,0,0,0,0,0,0,14.28,14.64,14.49
$GC,1161,-0.67,-97.3,2110,2496,3381,3351,180.4,-11.9,174,1165,0.00,2.42,0.00,0.000,260,0.000,0.080,2101,3883,3366,3381,3351,0,0,0,0,0,0,15.02,14.42,15.04
$GC,1209,-0.67,-97.3,2101,3883,3381,3351,186.5,-12.1,183,1214,0.00,2.20,0.00,0.000,1030,0.000,0.032,2101,2503,3366,3381,3351,0,0,0,0,0,0,14.70,14.64,14.72
$GC,1392,-0.67,-97.3,2101,2502,3380,3351,207.6,-10.9,202,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3365,3380,3351,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1574,-0.67,-97.3,2101,2502,3378,3351,227.1,-10.8,220,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3364,3378,3351,0,0,0,0,0,0,15.05,15.08,15.07
$GC,1762,-0.67,-97.3,2101,2502,3376,3351,248.3,-11.2,239,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3363,3376,3351,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1942,-0.67,-97.3,2101,2502,3375,3351,268.7,-11.2,249,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3363,3375,3351,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2244,-0.67,-97.3,2101,2502,3373,3348,300.9,-10.8,264,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3360,3373,3348,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2542,-0.67,-97.3,2101,2502,3372,3346,332.2,-10.6,279,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3359,3372,3346,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2844,-0.67,-97.3,2101,2501,3371,3344,363.0,-10.2,294,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3357,3370,3344,0,0,0,0,0,0,15.07,15.10,15.10
$GC,3142,-0.67,-97.3,2101,2502,3368,3342,395.1,-11.2,309,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3355,3368,3342,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3443,-0.67,-97.3,2101,2502,3367,3340,429.2,-11.3,324,3449,0.00,2.45,0.00,0.000,260,0.000,0.084,2090,3885,3353,3366,3340,0,0,0,0,0,0,15.08,14.36,15.10
$GC,3508,-0.67,-97.3,2090,3885,3366,3340,436.7,-11.5,337,3513,0.00,2.25,0.00,0.000,1030,0.000,0.035,2090,2502,3353,3366,3340,0,0,0,0,0,0,14.67,14.60,14.69
$GC,3825,-0.67,-97.3,2090,2500,3365,3338,472.0,-10.8,355,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3351,3365,3338,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4125,-0.67,-97.3,2090,2500,3362,3337,503.8,-10.5,370,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2501,3350,3363,3337,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4426,-0.67,-97.3,2090,2500,3362,3335,535.7,-10.9,385,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2501,3348,3362,3335,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4725,-0.67,-97.3,2090,2500,3361,3334,569.7,-11.6,400,4732,0.00,2.45,0.00,0.000,260,0.000,0.084,2080,3881,3347,3361,3334,0,0,0,0,0,0,15.08,14.31,15.10
$GC,4807,-0.67,-97.3,2079,3881,3361,3334,579.6,-12.3,416,4811,0.12,2.25,0.00,0.000,3078,0.207,0.036,2109,2494,3347,3361,3334,0,0,0,0,0,0,14.26,14.57,14.45
$GC,5129,-0.67,-97.3,2109,2493,3360,3333,614.1,-10.4,435,5133,0.00,2.33,0.00,0.000,516,0.000,0.050,2109,1104,3346,3360,3333,0,0,0,0,0,0,15.07,14.45,15.09
$GC,5186,-0.67,-97.3,2109,1104,3359,3333,620.0,-10.2,446,5190,0.00,2.42,0.00,0.000,1030,0.000,0.057,2100,2492,3345,3358,3333,0,0,0,0,0,0,14.52,14.41,14.57
$GC,5492,-0.67,-97.3,2100,2492,3358,3332,650.6,-9.8,462,5499,0.00,2.47,0.00,0.000,260,0.000,0.084,2089,3896,3345,3358,3332,0,0,0,0,0,0,15.06,14.29,15.09
$GC,5556,-0.67,-97.3,2089,3896,3357,3331,657.2,-10.1,475,5561,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2499,3344,3357,3332,0,0,0,0,0,0,14.62,14.55,14.64
$GC,5874,-0.67,-97.3,2089,2498,3357,3331,689.1,-10.1,493,5878,0.00,2.33,0.00,0.000,516,0.000,0.049,2089,1109,3343,3356,3331,0,0,0,0,0,0,15.06,14.43,15.09
$GC,5900,-0.67,-97.3,2089,1109,3356,3331,691.9,-10.5,498,5905,0.12,2.42,0.00,0.000,3078,0.208,0.057,2108,2502,3343,3356,3330,0,0,0,0,0,0,14.19,14.39,14.38
$GC,6218,-0.67,-97.3,2107,2502,3356,3329,719.6,-8.6,516,6224,0.00,2.45,0.00,0.000,260,0.000,0.084,2098,3892,3342,3356,3329,0,0,0,0,0,0,15.07,14.27,15.09
$GC,6274,-0.67,-97.3,2098,3891,3355,3329,724.9,-9.6,527,6278,0.00,2.28,0.00,0.000,1030,0.000,0.036,2099,2500,3342,3356,3329,0,0,0,0,0,0,14.59,14.52,14.62
$GC,6578,-0.67,-97.3,2098,2498,3355,3328,754.4,-9.8,543,6583,0.00,2.35,0.00,0.000,516,0.000,0.050,2098,1108,3341,3355,3328,0,0,0,0,0,0,15.07,14.40,15.09
$GC,6606,-0.67,-97.3,2098,1108,3355,3328,757.1,-10.8,548,6612,0.00,2.42,0.00,0.000,1030,0.000,0.057,2088,2506,3341,3354,3328,0,0,0,0,0,0,14.50,14.37,14.54
$GC,6923,-0.67,-97.3,2088,2506,3354,3327,790.4,-10.8,566,6930,0.00,2.45,0.00,0.000,260,0.000,0.085,2077,3890,3340,3354,3327,0,0,0,0,0,0,15.04,14.25,15.07
$GC,7002,-0.67,-97.3,2077,3890,3353,3327,799.6,-11.5,582,7007,0.15,2.30,0.00,0.000,3078,0.200,0.037,2114,2495,3340,3353,3327,0,0,0,0,0,0,14.16,14.50,14.36
$GC,7326,-0.67,-97.3,2113,2494,3353,3326,829.0,-9.0,601,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2494,3339,3353,3326,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7625,-0.67,-97.3,2113,2494,3352,3325,855.9,-8.9,616,7629,0.00,2.35,0.00,0.000,516,0.000,0.050,2114,1104,3338,3352,3325,0,0,0,0,0,0,15.06,14.39,15.09
$GC,7661,-0.67,-97.3,2114,1103,3352,3325,859.3,-9.0,623,7666,0.00,2.45,0.00,0.000,1030,0.000,0.057,2105,2506,3338,3352,3325,0,0,0,0,0,0,14.46,14.34,14.50
$GC,7967,-0.67,-97.3,2105,2506,3352,3324,888.1,-9.5,639,7972,0.00,2.47,0.00,0.000,260,0.000,0.086,2094,3896,3337,3351,3324,0,0,0,0,0,0,15.05,14.21,15.08
$GC,8009,-0.67,-97.3,2093,3896,3351,3324,892.4,-10.1,647,8015,0.00,2.30,0.00,0.000,1030,0.000,0.037,2093,2494,3337,3351,3324,0,0,0,0,0,0,14.56,14.49,14.59
$GC,8333,-0.67,-97.3,2093,2493,3351,3323,924.6,-10.1,666,8340,0.00,2.53,0.00,0.000,260,0.000,0.086,2083,3897,3336,3350,3323,0,0,0,0,0,0,15.04,14.20,15.07
$GC,8372,-0.67,-97.3,2083,3897,3351,3323,928.9,-10.8,674,8377,0.12,2.30,0.00,0.000,3078,0.203,0.037,2112,2496,3337,3351,3323,0,0,0,0,0,0,14.16,14.47,14.35
$GC,8694,-0.67,-97.3,2112,2494,3350,3322,958.2,-9.1,693,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3336,3350,3322,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8996,-0.67,-97.3,2112,2494,3349,3321,985.4,-8.9,708,9000,0.00,2.35,0.00,0.000,516,0.000,0.050,2113,1109,3335,3349,3321,0,0,0,0,0,0,15.05,14.34,15.07
$GC,9027,-0.67,-97.3,2112,1109,3349,3321,988.5,-9.1,714,9035,0.00,2.42,0.00,0.000,1030,0.000,0.058,2103,2499,3335,3349,3321,0,0,0,0,0,0,14.42,14.31,14.47
$STATE,9054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9054,begin apogee
$GC,9062,-0.15,0.0,2104,2499,3349,3321,991.2,-9.0,717,9158,0.62,0.00,93.20,2.000,10246,0.161,0.000,2280,2499,2968,3002,2935,0,0,0,0,0,0,14.03,13.95,12.59
$STATE,9159,end apogee,CONTROL_FINISHED_OK
$STATE,9159,begin climb
$GC,9164,0.67,97.3,2280,2499,3000,2935,994.4,0.0,722,9275,0.82,0.00,105.10,1.981,10758,0.090,0.000,2552,2500,2570,2604,2536,0,0,0,0,0,0,14.16,13.88,12.55
$GC,9578,0.67,97.3,2552,2500,2593,2533,974.1,7.9,752,9582,0.00,2.40,0.00,0.000,260,0.000,0.080,2552,3849,2563,2593,2533,0,0,0,0,0,0,14.87,14.33,14.90
$GC,9615,0.67,97.3,2552,3849,2592,2533,970.8,9.0,759,9621,0.00,2.33,0.00,0.000,1030,0.000,0.036,2563,2437,2562,2592,2533,0,0,0,0,0,0,14.57,14.50,14.59
$GC,9919,0.67,97.3,2562,2436,2591,2531,946.0,8.3,775,9924,0.00,2.38,0.00,0.000,516,0.000,0.051,2574,1042,2561,2591,2531,0,0,0,0,0,0,14.97,14.45,15.00
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$STATE,21290,end climb,SURFACE_DEPTH_REACHED
$STATE,21290,begin surface coast
$STATE,21299,end surface coast,CONTROL_FINISHED_OK
$STATE,21299,begin surface
$SM_CCo,21322,101.22,0.629,1,0,929,500.17
$SM_GC,1.05,7.68,2.28,101.22,0.054,0.037,0.629,114,2496,929,-6.78,1.24,500.17,0,0,0,0,1,0,14.52,14.46,13.53
$IRIDIUM_FIX,504.36,8226.18,261219,031728
$TT8_MAMPS,0.018725,0.160286
$HUMID,51.06
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,12.55,216.443
$10V_AH,11.32,0.000
$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,19.950,204.825,478.050,101.225,0.000,0.000,0.000,222.500,0.250,0.000,15.123,1668.892,15962.783,752.772,2847.884,563.556,0.000,2447.620,0.000,2611.295,0.000,0.539,0.000
$DEVICE_MAMPS,346.545,91.800,2000.475,628.830,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,910.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250364
$DATA_FILE_SIZE,79989,1838
$CAP_FILE_SIZE,202958,0
$CFSIZE,260034560,128458752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.085,355.22,1
$GPS,261219,153030,505.403,8221.938,25,0.7,25,-2.1,0.5,229.6,11,3.2