version: 66.13
glider: 171
mission: 11
dive: 541
start: 12 1 119 14 34 55
data:
$ID,171
$MISSION,11
$DIVE,541
$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,49
$R_STBD_OVSHOOT,29
$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
$GPS1,011219,142430,639.8535,8335.1885,24,0.6,24,-1.8,0.6,176.6,12,3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.8
$GPS2,011219,143404,639.8032,8335.1328,2,0.5,2,-1.8,0.3,137.2,12,9.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,199.0,98088,-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,-97.3,114,2498,972,880,0.0,0.0,0,83,0.00,0.00,-71.70,0.005,16386,0.000,0.000,114,2498,2641,2639,2643,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,113,2498,2641,2644,5.1,-14.1,15,116,9.10,2.40,-13.57,0.009,18692,0.344,0.090,2097,3893,3367,3382,3353,0,0,0,0,0,0,13.91,13.45,14.36
$GC,289,-0.67,-97.3,2096,3893,3382,3353,63.0,-19.9,55,293,0.00,2.25,0.00,0.000,1030,0.000,0.033,2097,2487,3368,3383,3353,0,0,0,0,0,0,14.68,14.62,14.70
$GC,473,-0.67,-97.3,2097,2485,3383,3353,96.8,-17.5,74,478,0.00,2.42,0.00,0.000,260,0.000,0.078,2086,3894,3368,3383,3353,0,0,0,0,0,0,15.01,14.49,15.03
$GC,490,-0.67,-97.3,2086,3894,3382,3353,99.7,-17.0,77,494,0.00,2.22,0.00,0.000,1030,0.000,0.031,2086,2485,3368,3383,3353,0,0,0,0,0,0,14.73,14.67,14.75
$GC,676,-0.67,-97.3,2086,2484,3383,3353,127.8,-13.5,96,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2484,3368,3383,3353,0,0,0,0,0,0,15.03,15.06,15.05
$GC,855,-0.67,-97.3,2086,2484,3382,3353,152.3,-14.3,114,860,0.00,2.42,0.00,0.000,260,0.000,0.080,2076,3893,3368,3383,3353,0,0,0,0,0,0,15.06,14.52,15.09
$GC,892,-0.67,-97.3,2075,3893,3383,3353,157.6,-14.3,121,896,0.15,2.20,0.00,0.000,3078,0.215,0.032,2112,2498,3368,3383,3353,0,0,0,0,0,0,14.38,14.71,14.59
$GC,1078,-0.67,-97.3,2111,2497,3383,3353,179.0,-11.2,140,1082,0.00,2.28,0.00,0.000,516,0.000,0.047,2112,1108,3368,3383,3353,0,0,0,0,0,0,15.07,14.62,15.09
$GC,1144,-0.67,-97.3,2112,1108,3382,3353,186.4,-10.7,153,1148,0.00,2.35,0.00,0.000,1030,0.000,0.054,2103,2504,3367,3382,3353,0,0,0,0,0,0,14.71,14.60,14.74
$GC,1329,-0.67,-97.3,2103,2505,3381,3353,207.4,-11.3,172,1333,0.00,2.38,0.00,0.000,260,0.000,0.079,2092,3899,3367,3381,3353,0,0,0,0,0,0,15.08,14.53,15.11
$GC,1366,-0.67,-97.3,2091,3899,3380,3353,211.6,-12.0,179,1371,0.00,2.22,0.00,0.000,1030,0.000,0.033,2092,2498,3367,3381,3353,0,0,0,0,0,0,14.78,14.71,14.80
$GC,1550,-0.67,-97.3,2091,2496,3379,3353,233.6,-11.8,198,1555,0.00,2.40,0.00,0.000,260,0.000,0.079,2082,3891,3366,3379,3353,0,0,0,0,0,0,15.09,14.54,15.11
$GC,1572,-0.67,-97.3,2081,3891,3378,3353,236.3,-12.0,202,1578,0.12,2.22,0.00,0.000,3078,0.213,0.032,2111,2485,3365,3378,3353,0,0,0,0,0,0,14.43,14.71,14.62
$GC,1778,-0.67,-97.3,2111,2484,3377,3353,260.0,-11.5,219,1783,0.00,2.22,0.00,0.000,516,0.000,0.047,2111,1111,3364,3376,3353,0,0,0,0,0,0,15.07,14.59,15.10
$GC,1805,-0.67,-97.3,2111,1110,3376,3353,263.5,-11.5,224,1809,0.00,2.35,0.00,0.000,1030,0.000,0.055,2102,2503,3364,3376,3353,0,0,0,0,0,0,14.71,14.61,14.75
$GC,2121,-0.67,-97.3,2102,2503,3374,3350,299.6,-11.3,242,2126,0.00,2.38,0.00,0.000,260,0.000,0.080,2090,3891,3362,3374,3350,0,0,0,0,0,0,15.09,14.53,15.11
$GC,2203,-0.67,-97.3,2089,3892,3373,3350,309.3,-11.9,258,2208,0.00,2.20,0.00,0.000,1030,0.000,0.033,2090,2503,3361,3373,3350,0,0,0,0,0,0,14.78,14.72,14.80
$GC,2526,-0.67,-97.3,2090,2502,3371,3347,347.3,-12.1,277,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3359,3372,3347,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2825,-0.67,-97.3,2090,2502,3370,3345,381.5,-10.8,292,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3357,3370,3345,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3125,-0.67,-97.3,2090,2501,3367,3342,413.1,-10.6,307,3130,0.00,2.45,0.00,0.000,260,0.000,0.086,2080,3893,3354,3367,3342,0,0,0,0,0,0,15.11,14.50,15.14
$GC,3188,-0.67,-97.3,2080,3893,3367,3341,419.9,-10.9,319,3193,0.12,2.22,0.00,0.000,3078,0.210,0.035,2110,2500,3354,3366,3342,0,0,0,0,0,0,14.42,14.70,14.60
$GC,3510,-0.67,-97.3,2110,2498,3366,3339,449.1,-8.9,338,3515,0.00,2.30,0.00,0.000,516,0.000,0.048,2111,1111,3352,3366,3339,0,0,0,0,0,0,15.11,14.60,15.14
$GC,3547,-0.67,-97.3,2110,1111,3365,3339,452.6,-9.2,345,3551,0.00,2.38,0.00,0.000,1030,0.000,0.057,2101,2500,3352,3365,3339,0,0,0,0,0,0,14.68,14.57,14.71
$GC,3853,-0.67,-97.3,2101,2501,3363,3337,483.2,-10.3,361,3857,0.00,2.42,0.00,0.000,260,0.000,0.084,2090,3896,3350,3363,3337,0,0,0,0,0,0,15.10,14.48,15.13
$GC,3889,-0.67,-97.3,2090,3896,3362,3337,487.1,-10.8,368,3893,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2501,3350,3363,3337,0,0,0,0,0,0,14.74,14.68,14.77
$GC,4195,-0.67,-97.3,2090,2499,3362,3335,519.8,-10.7,384,4199,0.00,2.30,0.00,0.000,516,0.000,0.049,2090,1109,3348,3362,3335,0,0,0,0,0,0,15.09,14.58,15.12
$GC,4232,-0.67,-97.3,2090,1109,3361,3335,523.9,-10.7,391,4239,0.12,2.40,0.00,0.000,3078,0.211,0.060,2110,2505,3347,3360,3335,0,0,0,0,0,0,14.35,14.54,14.55
$GC,4557,-0.67,-97.3,2109,2505,3360,3333,554.6,-9.3,411,4563,0.00,2.42,0.00,0.000,260,0.000,0.085,2100,3899,3346,3360,3333,0,0,0,0,0,0,15.10,14.45,15.13
$GC,4587,-0.67,-97.3,2100,3899,3359,3333,557.5,-10.6,417,4591,0.00,2.25,0.00,0.000,1030,0.000,0.036,2101,2501,3346,3360,3333,0,0,0,0,0,0,14.73,14.66,14.76
$GC,4898,-0.67,-97.3,2100,2500,3358,3332,588.5,-10.0,434,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3345,3358,3332,0,0,0,0,0,0,15.10,15.14,15.13
$GC,5198,-0.67,-97.3,2100,2500,3356,3331,618.7,-9.8,449,5202,0.00,2.45,0.00,0.000,260,0.000,0.086,2089,3893,3343,3356,3331,0,0,0,0,0,0,15.11,14.43,15.13
$GC,5231,-0.67,-97.3,2089,3893,3356,3331,622.0,-10.6,455,5235,0.00,2.25,0.00,0.000,1030,0.000,0.035,2089,2500,3343,3356,3331,0,0,0,0,0,0,14.71,14.65,14.73
$GC,5535,-0.67,-97.3,2089,2499,3355,3330,653.7,-10.3,471,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3342,3355,3330,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5835,-0.67,-97.3,2089,2499,3354,3327,684.3,-10.2,486,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3341,3354,3328,0,0,0,0,0,0,15.09,15.12,15.12
$GC,6134,-0.67,-97.3,2089,2499,3353,3326,714.0,-9.9,501,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3340,3353,3327,0,0,0,0,0,0,15.10,15.14,15.13
$GC,6434,-0.67,-97.3,2089,2499,3352,3326,744.3,-10.2,516,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3339,3352,3326,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6736,-0.67,-97.3,2089,2499,3351,3325,775.1,-10.2,531,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3338,3351,3325,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7034,-0.67,-97.3,2089,2499,3350,3324,805.3,-10.0,546,7039,0.00,2.50,0.00,0.000,260,0.000,0.089,2079,3901,3337,3350,3324,0,0,0,0,0,0,15.09,14.36,15.12
$GC,7096,-0.67,-97.3,2078,3900,3349,3323,811.6,-10.1,558,7101,0.12,2.28,0.00,0.000,3078,0.210,0.037,2109,2501,3336,3349,3323,0,0,0,0,0,0,14.31,14.60,14.49
$GC,7419,-0.67,-97.3,2108,2500,3349,3322,839.0,-8.5,577,7423,0.00,2.35,0.00,0.000,516,0.000,0.050,2109,1101,3335,3348,3322,0,0,0,0,0,0,15.08,14.50,15.11
$GC,7480,-0.67,-97.3,2109,1100,3348,3322,844.5,-8.8,589,7485,0.00,2.45,0.00,0.000,1030,0.000,0.060,2099,2508,3334,3348,3321,0,0,0,0,0,0,14.56,14.43,14.60
$GC,7803,-0.67,-97.3,2099,2508,3348,3321,873.4,-9.1,608,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2507,3334,3348,3321,0,0,0,0,0,0,15.08,15.11,15.10
$GC,8102,-0.67,-97.3,2099,2508,3347,3320,901.3,-9.5,623,8108,0.00,2.45,0.00,0.000,260,0.000,0.088,2089,3896,3333,3347,3320,0,0,0,0,0,0,15.09,14.33,15.11
$GC,8162,-0.67,-97.3,2088,3896,3346,3320,907.3,-10.0,635,8166,0.00,2.28,0.00,0.000,1030,0.000,0.037,2089,2501,3333,3347,3320,0,0,0,0,0,0,14.64,14.57,14.66
$GC,8484,-0.67,-97.3,2088,2500,3345,3320,940.1,-10.2,654,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2500,3332,3345,3320,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8783,-0.67,-97.3,2088,2500,3344,3320,970.6,-10.1,669,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3332,3344,3320,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,8980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8980,begin apogee
$GC,8988,-0.15,0.0,2089,2500,3343,3320,990.4,-9.9,679,9085,0.68,0.00,92.68,2.000,10246,0.172,0.000,2280,2500,2968,3000,2937,0,0,0,0,0,0,14.12,13.99,12.59
$STATE,9086,end apogee,CONTROL_FINISHED_OK
$STATE,9086,begin climb
$GC,9089,0.67,97.3,2280,2500,2999,2937,993.5,0.0,684,9202,0.82,2.53,104.60,1.994,10500,0.088,0.084,2554,3848,2569,2600,2538,0,0,0,0,0,0,14.18,13.95,12.55
$GC,9239,0.70,97.3,2554,3848,2594,2538,991.8,6.8,703,9243,0.00,2.35,0.00,0.000,1094,0.000,0.036,2565,2443,2566,2594,2538,0,0,0,0,0,0,14.33,14.28,14.35
$GC,9545,0.70,97.3,2565,2442,2590,2535,967.1,8.5,719,9550,0.00,2.40,0.00,0.000,516,0.000,0.053,2576,1042,2562,2590,2535,0,0,0,0,0,0,14.88,14.47,14.90
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$STATE,20974,end climb,SURFACE_DEPTH_REACHED
$STATE,20974,begin surface coast
$STATE,20999,end surface coast,CONTROL_FINISHED_OK
$STATE,20999,begin surface
$SM_CCo,21019,118.97,0.632,1,0,928,500.17
$SM_GC,1.24,7.47,0.10,118.97,0.050,0.163,0.632,121,2510,928,-6.76,-0.82,500.17,0,0,0,0,1,0,14.59,14.54,13.62
$IRIDIUM_FIX,640.31,8341.51,011219,081344
$TT8_MAMPS,0.019474,0.158788
$HUMID,47.16
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,12.55,186.670
$10V_AH,11.06,0.000
$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
$DEVICE_SECS,19.425,213.025,457.925,118.975,0.000,0.000,0.000,312.200,0.250,0.000,14.382,1661.542,15907.876,744.855,2893.252,505.814,0.000,2498.194,0.000,2565.050,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,911.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250536
$DATA_FILE_SIZE,79912,1805
$CAP_FILE_SIZE,205639,0
$CFSIZE,260034560,137719808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.044,347.88,1
$GPS,011219,202830,638.690,8334.361,29,0.7,29,-1.8,0.4,291.5,10,3.1