version: 66.13
glider: 171
mission: 11
dive: 559
start: 12 6 119 2 38 35
data:
$ID,171
$MISSION,11
$DIVE,559
$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,58
$R_STBD_OVSHOOT,28
$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
$GPS1,061219,023130,621.1306,8316.1133,27,0.8,27,-1.8,0.6,166.9,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.9
$GPS2,061219,023742,621.0742,8316.0811,2,0.6,3,-1.8,0.8,289.9,12,6.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,214.6,48996,-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,-97.3,104,2509,968,883,0.0,0.0,0,83,0.00,0.00,-71.15,0.005,16386,0.000,0.000,104,2509,2612,2615,2609,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.67,-97.3,104,2509,2616,2610,4.8,-12.6,15,120,9.12,2.40,-14.43,0.009,18948,0.341,0.065,2105,1102,3368,3383,3353,0,0,0,0,0,0,13.90,12.59,14.35
$GC,203,-0.67,-97.3,2105,1101,3383,3353,40.1,-22.6,38,207,0.00,2.40,0.00,0.000,1030,0.000,0.060,2096,2505,3368,3383,3353,0,0,0,0,0,0,14.59,14.48,14.62
$GC,396,-0.67,-97.3,2095,2505,3383,3353,85.7,-19.4,61,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2505,3368,3383,3353,0,0,0,0,0,0,14.97,15.00,15.00
$GC,585,-0.67,-97.3,2095,2505,3383,3353,117.3,-15.1,80,589,0.00,2.38,0.00,0.000,260,0.000,0.078,2085,3900,3368,3383,3353,0,0,0,0,0,0,15.02,14.51,15.04
$GC,816,-0.67,-97.3,2084,3900,3383,3353,151.3,-14.1,126,821,0.00,2.22,0.00,0.000,1030,0.000,0.032,2085,2490,3368,3383,3353,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1008,-0.67,-97.3,2084,2489,3383,3353,179.7,-14.3,146,1015,0.00,2.42,0.00,0.000,260,0.000,0.084,2074,3894,3368,3383,3353,0,0,0,0,0,0,15.06,14.53,15.09
$GC,1112,-0.67,-97.3,2074,3894,3383,3352,195.0,-14.3,167,1117,0.15,2.22,0.00,0.000,3078,0.215,0.033,2110,2494,3367,3383,3352,0,0,0,0,0,0,14.38,14.70,14.59
$GC,1298,-0.67,-97.3,2110,2492,3382,3353,217.7,-11.7,186,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2492,3367,3382,3353,0,0,0,0,0,0,15.07,15.11,15.09
$GC,1477,-0.67,-97.3,2110,2492,3380,3352,239.6,-12.5,204,1485,0.00,2.45,0.00,0.000,260,0.000,0.091,2101,3890,3366,3380,3352,0,0,0,0,0,0,15.08,14.48,15.11
$GC,1534,-0.67,-97.3,2101,3890,3379,3352,246.3,-12.1,215,1538,0.00,2.22,0.00,0.000,1030,0.000,0.031,2101,2486,3365,3379,3352,0,0,0,0,0,0,14.78,14.71,14.80
$GC,1728,-0.67,-97.3,2101,2484,3378,3352,269.4,-11.7,227,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2485,3364,3377,3352,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2028,-0.67,-97.3,2101,2485,3374,3352,304.2,-11.7,242,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2485,3363,3374,3352,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2329,-0.67,-97.3,2101,2485,3373,3348,338.3,-11.3,257,2333,0.00,2.45,0.00,0.000,260,0.000,0.086,2090,3891,3360,3372,3348,0,0,0,0,0,0,15.09,14.51,15.12
$GC,2390,-0.67,-97.3,2089,3891,3372,3348,345.6,-11.7,269,2395,0.00,2.22,0.00,0.000,1030,0.000,0.034,2090,2494,3359,3372,3347,0,0,0,0,0,0,14.78,14.71,14.79
$GC,2713,-0.67,-97.3,2089,2492,3370,3345,381.1,-10.5,288,2717,0.00,2.28,0.00,0.000,516,0.000,0.048,2090,1109,3357,3370,3345,0,0,0,0,0,0,15.10,14.62,15.12
$GC,2745,-0.67,-97.3,2089,1109,3370,3345,384.5,-10.4,294,2750,0.12,2.42,0.00,0.000,3078,0.213,0.067,2109,2499,3357,3369,3345,0,0,0,0,0,0,14.38,14.54,14.57
$GC,3057,-0.67,-97.3,2109,2499,3367,3342,413.1,-9.0,311,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2499,3354,3367,3341,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3359,-0.67,-97.3,2109,2499,3366,3340,440.6,-9.3,326,3363,0.00,2.42,0.00,0.000,260,0.000,0.085,2100,3899,3352,3366,3339,0,0,0,0,0,0,15.09,14.48,15.12
$GC,3429,-0.67,-97.3,2100,3899,3365,3339,447.8,-10.0,340,3434,0.00,2.25,0.00,0.000,1030,0.000,0.035,2100,2502,3352,3365,3339,0,0,0,0,0,0,14.74,14.68,14.77
$GC,3742,-0.67,-97.3,2100,2500,3363,3338,481.4,-11.2,357,3746,0.00,2.30,0.00,0.000,516,0.000,0.049,2100,1108,3350,3363,3338,0,0,0,0,0,0,15.09,14.59,15.12
$GC,3769,-0.67,-97.3,2100,1108,3363,3338,484.6,-11.3,362,3773,0.00,2.40,0.00,0.000,1030,0.000,0.060,2089,2503,3350,3362,3338,0,0,0,0,0,0,14.66,14.54,14.70
$GC,4085,-0.67,-97.3,2088,2503,3362,3335,520.6,-11.3,380,4089,0.00,2.42,0.00,0.000,260,0.000,0.085,2078,3900,3349,3362,3336,0,0,0,0,0,0,15.10,14.46,15.13
$GC,4122,-0.67,-97.3,2078,3900,3361,3336,524.7,-11.6,387,4127,0.12,2.28,0.00,0.000,3078,0.210,0.035,2108,2492,3348,3361,3336,0,0,0,0,0,0,14.38,14.66,14.57
$GC,4426,-0.67,-97.3,2108,2491,3360,3334,554.3,-9.5,403,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2491,3347,3360,3334,0,0,0,0,0,0,15.10,15.14,15.13
$GC,4727,-0.67,-97.3,2108,2491,3358,3333,582.6,-9.3,418,4731,0.00,2.30,0.00,0.000,516,0.000,0.049,2109,1107,3345,3358,3332,0,0,0,0,0,0,15.10,14.57,15.13
$GC,4775,-0.67,-97.3,2108,1107,3357,3333,587.1,-9.3,427,4779,0.00,2.40,0.00,0.000,1030,0.000,0.062,2099,2500,3344,3357,3332,0,0,0,0,0,0,14.64,14.52,14.67
$GC,5091,-0.67,-97.3,2099,2500,3356,3331,618.1,-9.9,445,5095,0.00,2.42,0.00,0.000,260,0.000,0.086,2088,3891,3343,3356,3331,0,0,0,0,0,0,15.10,14.42,15.13
$GC,5159,-0.67,-97.3,2088,3891,3356,3331,625.0,-10.4,458,5163,0.00,2.25,0.00,0.000,1030,0.000,0.035,2088,2498,3343,3356,3331,0,0,0,0,0,0,14.71,14.64,14.73
$GC,5475,-0.67,-97.3,2088,2497,3355,3330,657.6,-10.1,476,5482,0.00,2.47,0.00,0.000,260,0.000,0.087,2077,3896,3342,3355,3329,0,0,0,0,0,0,15.10,14.40,15.13
$GC,5530,-0.67,-97.3,2077,3896,3354,3329,663.2,-10.3,487,5534,0.12,2.28,0.00,0.000,3078,0.209,0.036,2108,2492,3341,3354,3329,0,0,0,0,0,0,14.34,14.63,14.52
$GC,5836,-0.67,-97.3,2108,2491,3353,3327,690.7,-9.0,503,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2491,3340,3353,3327,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6135,-0.67,-97.3,2108,2491,3352,3326,718.1,-9.2,518,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2491,3339,3352,3326,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6435,-0.67,-97.3,2108,2491,3352,3325,745.8,-9.2,533,6440,0.00,2.53,0.00,0.000,260,0.000,0.094,2099,3896,3338,3351,3325,0,0,0,0,0,0,15.10,14.36,15.13
$GC,6473,-0.67,-97.3,2099,3896,3351,3325,749.4,-9.8,540,6477,0.00,2.28,0.00,0.000,1030,0.000,0.036,2099,2497,3338,3351,3325,0,0,0,0,0,0,14.68,14.61,14.70
$GC,6777,-0.67,-97.3,2098,2496,3350,3324,778.8,-9.6,556,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2496,3337,3350,3324,0,0,0,0,0,0,15.09,15.13,15.11
$GC,7078,-0.67,-97.3,2098,2496,3349,3323,806.7,-9.2,571,7084,0.00,2.47,0.00,0.000,260,0.000,0.088,2088,3890,3336,3349,3323,0,0,0,0,0,0,15.09,14.35,15.11
$GC,7147,-0.67,-97.3,2087,3890,3348,3323,813.6,-10.0,585,7152,0.00,2.28,0.00,0.000,1030,0.000,0.036,2088,2492,3336,3349,3323,0,0,0,0,0,0,14.66,14.59,14.69
$GC,7459,-0.67,-97.3,2087,2491,3348,3322,844.1,-9.7,602,7464,0.00,2.33,0.00,0.000,516,0.000,0.051,2088,1108,3335,3348,3322,0,0,0,0,0,0,15.09,14.47,15.11
$GC,7490,-0.67,-97.3,2087,1108,3347,3322,847.2,-9.8,608,7499,0.15,2.42,0.00,0.000,3078,0.200,0.061,2114,2505,3334,3347,3322,0,0,0,0,0,0,14.23,14.44,14.44
$GC,7800,-0.67,-97.3,2113,2505,3347,3321,872.1,-7.8,625,7806,0.00,2.38,0.00,0.000,516,0.000,0.050,2114,1105,3333,3347,3320,0,0,0,0,0,0,15.09,14.47,15.11
$GC,7842,-0.67,-97.3,2113,1104,3346,3321,875.4,-7.8,633,7847,0.00,2.42,0.00,0.000,1030,0.000,0.060,2105,2503,3334,3347,3321,0,0,0,0,0,0,14.55,14.43,14.59
$GC,8165,-0.67,-97.3,2104,2503,3346,3320,901.3,-8.1,652,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2503,3333,3346,3320,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8464,-0.67,-97.3,2104,2503,3345,3320,926.1,-8.4,667,8469,0.00,2.47,0.00,0.000,260,0.000,0.087,2094,3895,3332,3344,3320,0,0,0,0,0,0,15.09,14.31,15.11
$GC,8501,-0.67,-97.3,2093,3896,3344,3320,929.3,-9.1,674,8506,0.00,2.30,0.00,0.000,1030,0.000,0.037,2093,2500,3332,3344,3320,0,0,0,0,0,0,14.62,14.55,14.65
$GC,8807,-0.67,-97.3,2093,2499,3343,3319,957.8,-9.6,690,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2498,3331,3343,3319,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9106,-0.67,-97.3,2093,2499,3343,3319,986.4,-9.5,705,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3331,3343,3319,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,9142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9143,begin apogee
$GC,9151,-0.15,0.0,2093,2498,3343,3319,990.3,-9.6,707,9248,0.65,0.00,93.05,1.997,10246,0.168,0.000,2279,2498,2968,2999,2937,0,0,0,0,0,0,14.12,13.98,12.59
$STATE,9249,end apogee,CONTROL_FINISHED_OK
$STATE,9249,begin climb
$GC,9252,0.67,97.3,2279,2498,2998,2937,993.2,0.0,712,9364,0.82,2.47,104.68,1.982,10500,0.089,0.083,2553,3848,2570,2600,2541,0,0,0,0,0,0,14.18,13.95,12.58
$GC,9392,0.71,137.4,2553,3848,2594,2541,992.1,5.8,732,9442,0.00,2.35,41.80,1.938,9254,0.000,0.035,2564,2439,2406,2441,2372,0,0,0,0,0,0,14.32,14.26,12.63
$GC,9751,0.71,137.4,2564,2439,2432,2367,955.2,11.1,758,9755,0.00,2.38,0.00,0.000,516,0.000,0.054,2575,1048,2399,2432,2366,0,0,0,0,0,0,14.87,14.47,14.89
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$STATE,20488,end climb,SURFACE_DEPTH_REACHED
$STATE,20488,begin surface coast
$STATE,20514,end surface coast,CONTROL_FINISHED_OK
$STATE,20514,begin surface
$SM_CCo,20534,100.35,0.606,1,0,928,500.17
$SM_GC,1.26,7.35,0.08,100.35,0.044,0.176,0.606,116,2494,928,-6.78,-0.99,500.17,0,0,0,0,1,0,14.56,14.54,13.60
$IRIDIUM_FIX,623.02,8319.69,051219,202200
$TT8_MAMPS,0.019474,0.15729
$HUMID,48.26
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.58,192.126
$10V_AH,12.37,0.000
$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,19.600,199.600,481.000,100.350,0.000,0.000,0.000,228.150,0.000,0.000,14.776,1643.235,15320.867,722.441,2801.616,520.854,0.000,2390.841,0.000,2561.049,0.000,0.541,0.000
$DEVICE_MAMPS,341.190,175.950,1996.650,605.880,0.000,0.000,0.000,189.720,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,906.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250552
$DATA_FILE_SIZE,79923,1802
$CAP_FILE_SIZE,198517,0
$CFSIZE,260034560,136040448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,1115.07,0x2147a0,0,24
$CURRENT,0.047,26.86,1
$GPS,061219,082340,620.159,8315.242,21,1.3,22,-1.8,0.3,0.0,7,8.5