version: 66.13
glider: 171
mission: 11
dive: 551
start: 12 4 119 1 54 6
data:
$ID,171
$MISSION,11
$DIVE,551
$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,61
$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
$GPS1,041219,014339,629.1765,8323.8135,23,1.3,23,-1.8,0.1,0.0,6,9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.3
$GPS2,041219,015315,629.1591,8323.6709,3,0.6,4,-1.8,0.4,293.4,12,6.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,218.1,69405,-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,-97.3,101,2499,972,878,0.0,0.0,0,83,0.00,0.00,-71.18,0.005,16386,0.000,0.000,100,2500,2634,2635,2634,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,100,2500,2636,2635,5.3,-14.7,15,118,9.12,2.33,-13.40,0.009,18948,0.343,0.063,2107,1102,3366,3379,3353,0,0,0,0,0,0,13.90,13.46,14.35
$GC,235,-0.67,-97.3,2107,1102,3380,3353,51.4,-21.5,45,240,0.00,2.38,0.00,0.000,1030,0.000,0.057,2098,2498,3366,3380,3353,0,0,0,0,0,0,14.60,14.50,14.63
$GC,427,-0.67,-97.3,2098,2498,3380,3353,92.1,-18.7,65,431,0.00,2.40,0.00,0.000,260,0.000,0.077,2087,3897,3366,3380,3353,0,0,0,0,0,0,15.00,14.48,15.02
$GC,463,-0.67,-97.3,2087,3897,3379,3353,99.0,-19.0,72,467,0.00,2.22,0.00,0.000,1030,0.000,0.033,2087,2499,3366,3380,3353,0,0,0,0,0,0,14.71,14.65,14.73
$GC,648,-0.67,-97.3,2086,2498,3380,3353,128.0,-14.6,91,653,0.00,2.42,0.00,0.000,260,0.000,0.079,2077,3899,3366,3380,3353,0,0,0,0,0,0,15.04,14.50,15.06
$GC,751,-0.67,-97.3,2076,3899,3380,3353,144.4,-15.1,111,756,0.15,2.22,0.00,0.000,3078,0.223,0.032,2112,2489,3366,3380,3353,0,0,0,0,0,0,14.34,14.69,14.56
$GC,944,-0.67,-97.3,2111,2488,3380,3353,167.7,-11.2,131,950,0.00,2.42,0.00,0.000,260,0.000,0.080,2102,3894,3366,3380,3353,0,0,0,0,0,0,15.06,14.52,15.09
$GC,1034,-0.67,-97.3,2102,3894,3380,3353,178.0,-11.5,149,1038,0.00,2.20,0.00,0.000,1030,0.000,0.032,2103,2502,3366,3380,3353,0,0,0,0,0,0,14.76,14.71,14.78
$GC,1225,-0.67,-97.3,2102,2501,3379,3353,199.2,-11.4,169,1229,0.00,2.28,0.00,0.000,516,0.000,0.046,2102,1105,3366,3379,3353,0,0,0,0,0,0,15.07,14.63,15.10
$GC,1262,-0.67,-97.3,2102,1105,3379,3353,203.1,-10.8,176,1266,0.00,2.35,0.00,0.000,1030,0.000,0.054,2091,2502,3365,3378,3353,0,0,0,0,0,0,14.71,14.60,14.74
$GC,1447,-0.67,-97.3,2091,2503,3377,3353,224.8,-11.9,195,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3365,3378,3353,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1626,-0.67,-97.3,2091,2502,3376,3353,247.8,-13.0,213,1631,0.00,2.40,0.00,0.000,260,0.000,0.082,2081,3899,3364,3376,3353,0,0,0,0,0,0,15.09,14.52,15.11
$GC,1703,-0.67,-97.3,2081,3898,3375,3353,258.1,-13.5,228,1708,0.12,2.22,0.00,0.000,3078,0.213,0.033,2110,2494,3364,3375,3353,0,0,0,0,0,0,14.42,14.71,14.61
$GC,2007,-0.67,-97.3,2110,2492,3373,3351,293.9,-11.5,244,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2493,3361,3373,3350,0,0,0,0,0,0,15.09,15.13,15.13
$GC,2309,-0.67,-97.3,2110,2492,3371,3347,325.5,-10.1,259,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2492,3359,3372,3347,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2607,-0.67,-97.3,2110,2492,3370,3345,356.1,-10.1,274,2613,0.00,2.47,0.00,0.000,260,0.000,0.083,2101,3899,3357,3370,3345,0,0,0,0,0,0,15.11,14.50,15.14
$GC,2664,-0.67,-97.3,2101,3899,3368,3345,362.3,-10.7,285,2669,0.00,2.22,0.00,0.000,1030,0.000,0.033,2101,2506,3356,3368,3345,0,0,0,0,0,0,14.77,14.71,14.79
$GC,2971,-0.67,-97.3,2101,2505,3367,3342,395.8,-11.1,301,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2505,3354,3367,3342,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3270,-0.67,-97.3,2101,2505,3366,3340,429.5,-11.0,316,3274,0.00,2.30,0.00,0.000,516,0.000,0.048,2101,1109,3352,3365,3340,0,0,0,0,0,0,15.11,14.62,15.14
$GC,3296,-0.67,-97.3,2101,1109,3365,3339,432.4,-11.1,321,3300,0.00,2.38,0.00,0.000,1030,0.000,0.056,2090,2505,3352,3365,3339,0,0,0,0,0,0,14.69,14.57,14.72
$GC,3613,-0.67,-97.3,2090,2505,3363,3338,467.5,-11.0,339,3617,0.00,2.40,0.00,0.000,260,0.000,0.085,2080,3892,3350,3362,3338,0,0,0,0,0,0,15.09,14.47,15.12
$GC,3669,-0.67,-97.3,2079,3892,3362,3338,474.0,-11.6,350,3675,0.12,2.25,0.00,0.000,3078,0.210,0.034,2109,2491,3350,3362,3338,0,0,0,0,0,0,14.40,14.69,14.58
$GC,3975,-0.67,-97.3,2109,2490,3362,3335,504.1,-9.8,366,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2490,3348,3361,3336,0,0,0,0,0,0,15.09,15.12,15.12
$GC,4274,-0.67,-97.3,2109,2490,3360,3334,533.2,-9.6,381,4278,0.00,2.30,0.00,0.000,516,0.000,0.048,2110,1106,3347,3360,3334,0,0,0,0,0,0,15.10,14.58,15.13
$GC,4300,-0.67,-97.3,2109,1105,3359,3334,535.8,-10.3,386,4305,0.00,2.38,0.00,0.000,1030,0.000,0.055,2101,2501,3347,3360,3334,0,0,0,0,0,0,14.66,14.54,14.70
$GC,4619,-0.67,-97.3,2100,2501,3357,3332,568.0,-10.1,404,4623,0.00,2.42,0.00,0.000,260,0.000,0.086,2089,3893,3344,3357,3332,0,0,0,0,0,0,15.09,14.44,15.11
$GC,4700,-0.67,-97.3,2089,3893,3356,3332,576.8,-10.8,420,4705,0.00,2.28,0.00,0.000,1030,0.000,0.035,2089,2494,3344,3356,3332,0,0,0,0,0,0,14.72,14.65,14.74
$GC,5023,-0.67,-97.3,2089,2493,3356,3331,611.3,-10.7,439,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2492,3343,3356,3331,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5322,-0.67,-97.3,2089,2492,3355,3330,643.6,-11.0,454,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2493,3342,3355,3330,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5622,-0.67,-97.3,2089,2492,3354,3328,677.0,-11.0,469,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2492,3340,3353,3328,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5923,-0.67,-97.3,2089,2492,3352,3327,708.1,-9.9,484,5927,0.00,2.30,0.00,0.000,516,0.000,0.048,2089,1110,3339,3352,3327,0,0,0,0,0,0,15.09,14.54,15.11
$GC,5954,-0.67,-97.3,2089,1110,3351,3326,711.3,-9.9,490,5959,0.12,2.40,0.00,0.000,3078,0.210,0.058,2109,2503,3339,3352,3326,0,0,0,0,0,0,14.31,14.50,14.50
$GC,6267,-0.67,-97.3,2109,2503,3351,3325,738.3,-8.6,507,6271,0.00,2.35,0.00,0.000,516,0.000,0.048,2109,1105,3338,3351,3325,0,0,0,0,0,0,15.09,14.52,15.12
$GC,6294,-0.67,-97.3,2109,1105,3350,3325,740.7,-9.4,512,6298,0.00,2.40,0.00,0.000,1030,0.000,0.057,2100,2501,3337,3350,3325,0,0,0,0,0,0,14.60,14.48,14.64
$GC,6609,-0.67,-97.3,2099,2501,3349,3324,770.1,-9.5,530,6615,0.00,2.45,0.00,0.000,260,0.000,0.087,2089,3891,3337,3350,3324,0,0,0,0,0,0,15.10,14.36,15.13
$GC,6642,-0.67,-97.3,2088,3891,3349,3324,773.3,-10.1,536,6646,0.00,2.25,0.00,0.000,1030,0.000,0.036,2089,2501,3336,3349,3324,0,0,0,0,0,0,14.68,14.61,14.70
$GC,6955,-0.67,-97.3,2088,2499,3348,3323,804.9,-10.3,553,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3335,3348,3323,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7252,-0.67,-97.3,2088,2499,3348,3321,835.5,-10.2,568,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3335,3348,3322,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7554,-0.67,-97.3,2088,2499,3347,3321,865.5,-9.9,583,7561,0.00,2.50,0.00,0.000,260,0.000,0.090,2078,3897,3334,3347,3321,0,0,0,0,0,0,15.07,14.33,15.10
$GC,7613,-0.67,-97.3,2078,3898,3347,3321,871.7,-10.5,595,7618,0.12,2.28,0.00,0.000,3078,0.210,0.037,2108,2498,3334,3347,3321,0,0,0,0,0,0,14.28,14.58,14.47
$GC,7934,-0.67,-97.3,2108,2497,3346,3320,899.6,-8.5,614,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3333,3346,3320,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8236,-0.67,-97.3,2108,2497,3344,3320,924.4,-8.2,629,8243,0.00,2.50,0.00,0.000,260,0.000,0.088,2099,3896,3332,3344,3320,0,0,0,0,0,0,15.07,14.31,15.10
$GC,8275,-0.67,-97.3,2098,3896,3344,3320,927.9,-8.7,637,8279,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2502,3332,3344,3320,0,0,0,0,0,0,14.64,14.57,14.66
$GC,8597,-0.67,-97.3,2099,2502,3343,3319,955.4,-8.6,656,8601,0.00,2.38,0.00,0.000,516,0.000,0.051,2099,1103,3331,3343,3319,0,0,0,0,0,0,15.08,14.45,15.10
$GC,8643,-0.67,-97.3,2098,1102,3343,3319,959.6,-8.8,665,8647,0.00,2.45,0.00,0.000,1030,0.000,0.058,2088,2501,3331,3343,3319,0,0,0,0,0,0,14.53,14.40,14.57
$GC,8960,-0.67,-97.3,2088,2501,3343,3317,988.8,-9.2,683,8966,0.00,2.47,0.00,0.000,260,0.000,0.088,2077,3897,3330,3343,3318,0,0,0,0,0,0,15.08,14.29,15.11
$STATE,8972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8972,begin apogee
$GC,8982,-0.15,0.0,2077,2437,3343,3317,990.3,-9.1,686,9078,0.70,0.00,91.75,1.996,10246,0.170,0.000,2276,2436,2968,3000,2937,0,0,0,0,0,0,14.10,13.99,12.59
$STATE,9079,end apogee,CONTROL_FINISHED_OK
$STATE,9079,begin climb
$GC,9082,0.67,97.3,2276,2436,2999,2936,993.3,0.0,691,9192,0.82,0.00,104.38,1.985,10246,0.092,0.000,2548,2436,2570,2602,2538,0,0,0,0,0,0,14.17,13.53,12.57
$GC,9498,0.68,97.3,2547,2436,2592,2534,971.4,7.5,712,9503,0.00,2.40,0.00,0.000,580,0.000,0.052,2559,1032,2563,2592,2534,0,0,0,0,0,0,14.84,14.45,14.87
$GC,9599,0.68,97.3,2558,1032,2590,2534,963.3,7.7,732,9604,0.00,2.45,0.00,0.000,1030,0.000,0.054,2559,2448,2562,2590,2534,0,0,0,0,0,0,14.57,14.46,14.61
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$STATE,21388,end climb,SURFACE_DEPTH_REACHED
$STATE,21388,begin surface coast
$STATE,21403,end surface coast,CONTROL_FINISHED_OK
$STATE,21403,begin surface
$SM_CCo,21425,86.53,0.597,1,0,927,500.17
$SM_GC,1.08,7.75,0.05,86.53,0.052,0.220,0.597,126,2491,927,-6.78,-1.27,500.17,0,0,0,0,1,0,14.48,14.54,13.59
$IRIDIUM_FIX,629.36,8328.57,031219,194502
$TT8_MAMPS,0.018725,0.156541
$HUMID,50.59
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,12.57,189.723
$10V_AH,12.29,0.000
$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
$DEVICE_SECS,19.450,222.725,487.375,86.525,0.000,0.000,0.000,312.300,0.750,0.000,15.577,1716.758,16131.494,726.160,2986.964,527.029,0.000,2530.435,0.000,2655.500,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,898.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250556
$DATA_FILE_SIZE,83197,1869
$CAP_FILE_SIZE,208488,0
$CFSIZE,260034560,136794112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.061,29.02,1
$GPS,041219,075341,628.488,8323.002,14,2.0,16,-1.8,0.4,0.0,6,10.0