version: 66.13
glider: 171
mission: 11
dive: 556
start: 12 5 119 7 54 51
data:
$ID,171
$MISSION,11
$DIVE,556
$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,62
$R_STBD_OVSHOOT,26
$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
$GPS1,051219,074710,624.1866,8319.1387,14,1.0,15,-1.8,0.0,0.0,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.3
$GPS2,051219,075358,624.1788,8319.1055,2,0.9,6,-1.8,0.4,284.9,7,9.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,225.4,56952,-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,-97.3,103,2497,976,877,0.0,0.0,0,83,0.00,0.00,-71.30,0.005,16386,0.000,0.000,101,2497,2589,2590,2589,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,101,2497,2591,2589,4.7,-13.1,15,119,9.20,2.38,-14.90,0.009,18948,0.345,0.069,2107,1111,3367,3382,3352,0,0,0,0,0,0,13.90,12.58,14.35
$GC,194,-0.67,-97.3,2107,1111,3383,3352,37.2,-19.2,36,201,0.00,2.40,0.00,0.000,1030,0.000,0.063,2098,2505,3367,3383,3352,0,0,0,0,0,0,14.57,14.46,14.61
$GC,385,-0.67,-97.3,2098,2505,3382,3353,82.4,-21.7,61,388,0.00,2.38,0.00,0.000,260,0.000,0.076,2087,3897,3368,3383,3353,0,0,0,0,0,0,14.96,14.47,14.98
$GC,529,-0.67,-97.3,2086,3898,3383,3352,107.8,-18.9,89,533,0.00,2.22,0.00,0.000,1030,0.000,0.032,2087,2495,3367,3383,3352,0,0,0,0,0,0,14.71,14.65,14.73
$GC,719,-0.67,-97.3,2087,2493,3384,3352,136.1,-14.0,109,723,0.00,2.25,0.00,0.000,516,0.000,0.046,2087,1109,3368,3384,3352,0,0,0,0,0,0,15.04,14.60,15.06
$GC,812,-0.67,-97.3,2086,1109,3384,3352,149.9,-15.2,127,819,0.15,2.38,0.00,0.000,3078,0.220,0.058,2112,2511,3368,3384,3352,0,0,0,0,0,0,14.33,14.56,14.54
$GC,1002,-0.67,-97.3,2112,2512,3384,3352,173.8,-11.8,147,1006,0.00,2.38,0.00,0.000,260,0.000,0.080,2103,3901,3368,3384,3352,0,0,0,0,0,0,15.04,14.50,15.07
$GC,1137,-0.67,-97.3,2102,3901,3384,3352,190.9,-12.8,173,1141,0.00,2.25,0.00,0.000,1030,0.000,0.033,2103,2498,3368,3383,3353,0,0,0,0,0,0,14.75,14.69,14.77
$GC,1328,-0.67,-97.3,2103,2496,3383,3352,213.8,-11.7,193,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2496,3368,3384,3352,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1509,-0.67,-97.3,2102,2496,3382,3352,234.7,-11.9,211,1516,0.00,2.45,0.00,0.000,260,0.000,0.090,2091,3894,3366,3381,3352,0,0,0,0,0,0,15.07,14.50,15.09
$GC,1623,-0.67,-97.3,2091,3894,3380,3352,248.8,-12.1,234,1628,0.00,2.22,0.00,0.000,1030,0.000,0.034,2091,2496,3366,3380,3352,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1819,-0.67,-97.3,2091,2495,3379,3352,271.7,-11.9,245,1823,0.00,2.28,0.00,0.000,516,0.000,0.047,2091,1108,3365,3378,3352,0,0,0,0,0,0,15.08,14.62,15.11
$GC,1860,-0.67,-97.3,2091,1107,3377,3352,276.8,-11.7,253,1865,0.12,2.38,0.00,0.000,3078,0.215,0.060,2111,2505,3365,3378,3352,0,0,0,0,0,0,14.39,14.58,14.59
$GC,2177,-0.67,-97.3,2110,2505,3375,3351,310.1,-10.8,271,2182,0.00,2.40,0.00,0.000,260,0.000,0.083,2102,3892,3363,3375,3352,0,0,0,0,0,0,15.09,14.50,15.12
$GC,2220,-0.67,-97.3,2101,3892,3374,3352,314.5,-10.9,279,2224,0.00,2.22,0.00,0.000,1030,0.000,0.033,2102,2500,3363,3374,3352,0,0,0,0,0,0,14.76,14.70,14.78
$GC,2541,-0.67,-97.3,2102,2499,3373,3347,349.5,-10.8,298,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2499,3361,3374,3348,0,0,0,0,0,0,15.10,15.13,15.13
$GC,2841,-0.67,-97.3,2101,2498,3371,3346,379.1,-9.3,313,2845,0.00,2.28,0.00,0.000,516,0.000,0.047,2102,1109,3358,3371,3346,0,0,0,0,0,0,15.10,14.61,15.13
$GC,3074,-0.67,-97.3,2101,1109,3369,3346,402.6,-10.1,359,3080,0.00,2.40,0.00,0.000,1030,0.000,0.062,2090,2506,3357,3369,3345,0,0,0,0,0,0,14.67,14.55,14.71
$GC,3384,-0.67,-97.3,2090,2506,3368,3342,433.9,-10.0,376,3391,0.00,2.40,0.00,0.000,260,0.000,0.085,2080,3892,3355,3368,3342,0,0,0,0,0,0,15.09,14.47,15.11
$GC,3515,-0.67,-97.3,2080,3891,3366,3342,447.5,-10.4,402,3522,0.12,2.25,0.00,0.000,3078,0.209,0.034,2110,2484,3354,3366,3342,0,0,0,0,0,0,14.38,14.69,14.57
$GC,3830,-0.67,-97.3,2110,2482,3366,3339,475.3,-8.6,419,3834,0.00,2.25,0.00,0.000,516,0.000,0.048,2110,1117,3352,3366,3339,0,0,0,0,0,0,15.09,14.59,15.11
$GC,4061,-0.67,-97.3,2110,1117,3363,3339,495.7,-8.7,465,4065,0.00,2.38,0.00,0.000,1030,0.000,0.057,2101,2504,3351,3363,3339,0,0,0,0,0,0,14.64,14.54,14.69
$GC,4373,-0.67,-97.3,2101,2504,3363,3337,524.0,-9.9,482,4378,0.00,2.33,0.00,0.000,516,0.000,0.048,2101,1112,3350,3363,3337,0,0,0,0,0,0,15.09,14.56,15.11
$GC,4512,-0.67,-97.3,2101,1111,3362,3337,537.5,-9.6,509,4516,0.00,2.40,0.00,0.000,1030,0.000,0.062,2090,2499,3349,3362,3337,0,0,0,0,0,0,14.62,14.51,14.66
$GC,4816,-0.67,-97.3,2090,2500,3361,3335,569.2,-10.5,525,4820,0.00,2.45,0.00,0.000,260,0.000,0.086,2080,3900,3348,3361,3335,0,0,0,0,0,0,15.09,14.42,15.11
$GC,4843,-0.67,-97.3,2079,3900,3361,3335,572.2,-11.6,530,4849,0.12,2.25,0.00,0.000,3078,0.210,0.036,2109,2508,3347,3360,3335,0,0,0,0,0,0,14.35,14.64,14.54
$GC,5162,-0.67,-97.3,2109,2506,3360,3333,601.3,-9.0,548,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2506,3346,3360,3333,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5461,-0.67,-97.3,2109,2506,3358,3332,628.3,-9.1,563,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2506,3345,3359,3332,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5761,-0.67,-97.3,2109,2506,3357,3331,656.6,-9.6,578,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2506,3344,3357,3331,0,0,0,0,0,0,15.09,15.12,15.12
$GC,6062,-0.67,-97.3,2109,2506,3356,3330,684.8,-9.3,593,6066,0.00,2.35,0.00,0.000,516,0.000,0.050,2109,1110,3343,3356,3330,0,0,0,0,0,0,15.08,14.52,15.11
$GC,6088,-0.67,-97.3,2109,1110,3356,3330,687.4,-9.8,598,6093,0.00,2.42,0.00,0.000,1030,0.000,0.063,2100,2508,3343,3356,3330,0,0,0,0,0,0,14.59,14.47,14.64
$GC,6405,-0.67,-97.3,2100,2508,3355,3328,718.0,-9.5,616,6411,0.00,2.45,0.00,0.000,260,0.000,0.088,2089,3899,3342,3355,3329,0,0,0,0,0,0,15.09,14.37,15.12
$GC,6456,-0.67,-97.3,2089,3899,3354,3329,723.0,-10.1,626,6461,0.00,2.28,0.00,0.000,1030,0.000,0.037,2089,2502,3341,3355,3328,0,0,0,0,0,0,14.67,14.60,14.70
$GC,6768,-0.67,-97.3,2089,2500,3354,3327,755.1,-10.4,643,6775,0.00,2.47,0.00,0.000,260,0.000,0.089,2078,3892,3340,3354,3327,0,0,0,0,0,0,15.09,14.35,15.11
$GC,6808,-0.67,-97.3,2078,3892,3353,3327,759.5,-11.0,651,6813,0.12,2.28,0.00,0.000,3078,0.209,0.037,2108,2494,3339,3353,3326,0,0,0,0,0,0,14.29,14.59,14.48
$GC,7132,-0.67,-97.3,2108,2492,3353,3326,789.4,-9.1,670,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2493,3339,3353,3326,0,0,0,0,0,0,15.08,15.11,15.10
$GC,7430,-0.67,-97.3,2108,2492,3352,3325,816.1,-8.8,685,7436,0.00,2.47,0.00,0.000,260,0.000,0.091,2099,3890,3338,3352,3325,0,0,0,0,0,0,15.09,14.26,15.11
$GC,7474,-0.67,-97.3,2099,3890,3351,3325,820.1,-9.6,693,7478,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2495,3338,3352,3325,0,0,0,0,0,0,14.65,14.57,14.67
$GC,7796,-0.67,-97.3,2098,2494,3351,3324,850.0,-9.2,712,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3337,3351,3324,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8095,-0.67,-97.3,2099,2494,3350,3323,877.2,-8.8,727,8099,0.00,2.33,0.00,0.000,516,0.000,0.050,2099,1107,3336,3350,3323,0,0,0,0,0,0,15.09,14.47,15.11
$GC,8162,-0.67,-97.3,2098,1107,3349,3323,883.4,-9.1,740,8169,0.00,2.42,0.00,0.000,1030,0.000,0.060,2088,2502,3336,3349,3323,0,0,0,0,0,0,14.54,14.41,14.58
$GC,8478,-0.67,-97.3,2088,2502,3349,3322,912.9,-9.3,758,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2502,3335,3349,3322,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8778,-0.67,-97.3,2087,2502,3348,3321,941.0,-9.4,773,8785,0.00,2.47,0.00,0.000,260,0.000,0.089,2077,3897,3334,3348,3321,0,0,0,0,0,0,15.07,14.29,15.10
$GC,8822,-0.67,-97.3,2077,3897,3348,3321,945.6,-10.3,782,8827,0.15,2.30,0.00,0.000,3078,0.200,0.037,2114,2492,3334,3348,3321,0,0,0,0,0,0,14.21,14.54,14.41
$GC,9139,-0.67,-97.3,2114,2491,3348,3320,971.5,-8.1,800,9143,0.00,2.33,0.00,0.000,516,0.000,0.050,2115,1108,3334,3348,3320,0,0,0,0,0,0,15.08,14.45,15.11
$GC,9186,-0.67,-97.3,2114,1108,3347,3320,975.3,-8.3,809,9194,0.00,2.42,0.00,0.000,1030,0.000,0.059,2105,2501,3333,3347,3320,0,0,0,0,0,0,14.51,14.38,14.55
$STATE,9357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9357,begin apogee
$GC,9364,-0.15,0.0,2105,2501,3347,3320,990.1,-8.4,820,9461,0.60,0.00,92.75,2.004,10246,0.162,0.000,2276,2502,2968,3000,2936,0,0,0,0,0,0,14.14,13.98,12.59
$STATE,9462,end apogee,CONTROL_FINISHED_OK
$STATE,9462,begin climb
$GC,9466,0.67,97.3,2276,2502,2999,2936,992.7,0.0,825,9583,0.82,2.62,102.65,1.989,10756,0.088,0.050,2562,1050,2569,2600,2538,0,0,0,0,0,0,14.17,13.95,12.57
$GC,9625,0.70,97.3,2561,1050,2595,2537,990.7,6.4,857,9632,0.00,2.45,0.00,0.000,1094,0.000,0.055,2562,2443,2565,2595,2536,0,0,0,0,0,0,14.33,14.23,14.36
$GC,9946,0.70,97.3,2561,2443,2591,2534,965.0,8.3,876,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2443,2562,2591,2534,0,0,0,0,0,0,14.89,14.92,14.92
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$STATE,21786,end climb,SURFACE_DEPTH_REACHED
$STATE,21786,begin surface coast
$STATE,21815,end surface coast,CONTROL_FINISHED_OK
$STATE,21815,begin surface
$SM_CCo,21835,165.73,0.666,1,0,929,500.17
$SM_GC,1.24,7.60,0.08,165.73,0.058,0.155,0.666,128,2512,929,-6.77,-1.10,500.17,0,0,0,0,1,0,14.59,14.67,13.57
$IRIDIUM_FIX,627.34,8319.69,051219,013711
$TT8_MAMPS,0.018725,0.15729
$HUMID,47.59
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.57,191.228
$10V_AH,12.64,0.000
$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
$DEVICE_SECS,19.900,218.525,407.050,165.725,0.000,0.000,0.000,260.100,0.000,0.000,18.158,1801.149,16209.056,728.467,3133.807,536.885,0.000,2567.342,0.000,2840.427,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,933.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250560
$DATA_FILE_SIZE,86568,2000
$CAP_FILE_SIZE,214131,0
$CFSIZE,260034560,136310784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.015,19.71,1
$GPS,051219,140239,623.261,8318.204,20,1.2,20,-1.8,0.3,344.7,5,7.8