version: 66.13
glider: 171
mission: 11
dive: 562
start: 12 6 119 21 3 39
data:
$ID,171
$MISSION,11
$DIVE,562
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,061219,204909,618.3853,8313.6738,24,0.9,24,-1.8,1.1,211.0,8,7.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.0
$GPS2,061219,210246,618.2449,8313.3643,3,0.5,4,-1.8,0.5,275.1,12,8.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,216.9,41805,-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,-97.3,60,2506,973,878,0.0,0.0,0,83,0.00,0.00,-71.82,0.005,16386,0.000,0.000,58,2507,2632,2634,2631,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.67,-97.3,57,2507,2634,2631,4.8,-12.4,15,119,9.38,2.40,-13.95,0.009,18948,0.342,0.068,2112,1110,3367,3382,3353,0,0,0,0,0,0,13.92,12.59,14.35
$GC,312,-0.67,-97.3,2111,1110,3383,3353,63.7,-16.7,60,316,0.00,2.38,0.00,0.000,1030,0.000,0.063,2102,2495,3367,3382,3353,0,0,0,0,0,0,14.61,14.49,14.64
$GC,497,-0.67,-97.3,2102,2495,3382,3353,97.8,-15.4,79,501,0.00,2.40,0.00,0.000,260,0.000,0.079,2091,3897,3367,3382,3353,0,0,0,0,0,0,15.01,14.50,15.04
$GC,513,-0.67,-97.3,2090,3897,3382,3353,100.1,-13.3,82,518,0.00,2.22,0.00,0.000,1030,0.000,0.033,2091,2498,3367,3382,3353,0,0,0,0,0,0,14.72,14.66,14.74
$GC,699,-0.67,-97.3,2091,2495,3382,3354,126.0,-13.3,101,703,0.00,2.28,0.00,0.000,516,0.000,0.053,2091,1110,3367,3382,3353,0,0,0,0,0,0,15.03,14.59,15.06
$GC,745,-0.67,-97.3,2090,1109,3383,3354,132.3,-13.3,110,751,0.12,2.38,0.00,0.000,3078,0.234,0.062,2109,2500,3367,3382,3353,0,0,0,0,0,0,14.35,14.53,14.56
$GC,931,-0.67,-97.3,2109,2500,3383,3353,155.0,-13.4,129,935,0.00,2.45,0.00,0.000,260,0.000,0.091,2100,3903,3367,3382,3353,0,0,0,0,0,0,15.05,14.48,15.08
$GC,1037,-0.67,-97.3,2099,3903,3382,3353,169.2,-13.5,150,1042,0.00,2.22,0.00,0.000,1030,0.000,0.033,2099,2498,3367,3382,3353,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1223,-0.67,-97.3,2099,2497,3381,3353,192.4,-11.8,169,1227,0.00,2.42,0.00,0.000,260,0.000,0.086,2088,3897,3366,3380,3353,0,0,0,0,0,0,15.07,14.52,15.09
$GC,1259,-0.67,-97.3,2088,3897,3380,3353,197.0,-12.7,176,1263,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2493,3366,3380,3353,0,0,0,0,0,0,14.77,14.71,14.79
$GC,1445,-0.67,-97.3,2088,2492,3379,3353,219.2,-12.3,195,1449,0.00,2.25,0.00,0.000,516,0.000,0.047,2088,1110,3365,3378,3353,0,0,0,0,0,0,15.08,14.62,15.11
$GC,1512,-0.67,-97.3,2088,1110,3378,3353,227.4,-11.8,208,1519,0.12,2.35,0.00,0.000,3078,0.216,0.055,2108,2506,3365,3377,3353,0,0,0,0,0,0,14.40,14.60,14.59
$GC,1708,-0.67,-97.3,2107,2506,3376,3353,248.9,-11.2,229,1712,0.00,2.38,0.00,0.000,260,0.000,0.083,2098,3890,3364,3376,3353,0,0,0,0,0,0,15.07,14.52,15.09
$GC,1775,-0.67,-97.3,2098,3891,3374,3353,257.0,-11.7,242,1780,0.00,2.20,0.00,0.000,1030,0.000,0.033,2098,2499,3364,3375,3353,0,0,0,0,0,0,14.78,14.71,14.80
$GC,2092,-0.67,-97.3,2098,2498,3373,3349,293.3,-11.2,260,2096,0.00,2.42,0.00,0.000,260,0.000,0.085,2088,3891,3360,3373,3348,0,0,0,0,0,0,15.10,14.52,15.13
$GC,2123,-0.67,-97.3,2087,3892,3373,3348,296.9,-12.0,266,2128,0.00,2.22,0.00,0.000,1030,0.000,0.034,2087,2494,3360,3372,3348,0,0,0,0,0,0,14.78,14.71,14.80
$GC,2436,-0.67,-97.3,2087,2492,3371,3346,335.4,-12.3,283,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3359,3371,3347,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2735,-0.67,-97.3,2086,2492,3368,3344,371.6,-11.7,298,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3356,3368,3344,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3035,-0.67,-97.3,2087,2492,3367,3341,405.0,-10.9,313,3039,0.00,2.45,0.00,0.000,260,0.000,0.083,2077,3897,3353,3367,3340,0,0,0,0,0,0,15.11,14.50,15.14
$GC,3083,-0.67,-97.3,2076,3897,3366,3340,410.4,-11.7,322,3089,0.15,2.25,0.00,0.000,3078,0.201,0.034,2114,2491,3353,3366,3340,0,0,0,0,0,0,14.40,14.69,14.59
$GC,3401,-0.67,-97.3,2114,2489,3364,3338,439.9,-9.0,340,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2490,3351,3364,3338,0,0,0,0,0,0,15.10,15.14,15.13
$GC,3703,-0.67,-97.3,2114,2490,3362,3337,466.5,-8.9,355,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2489,3349,3362,3337,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4001,-0.67,-97.3,2114,2490,3361,3335,493.8,-9.3,370,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2489,3347,3361,3334,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4301,-0.67,-97.3,2114,2490,3359,3333,522.0,-9.4,385,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2490,3346,3359,3333,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4602,-0.67,-97.3,2114,2490,3357,3332,549.3,-9.1,400,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2490,3344,3357,3331,0,0,0,0,0,0,15.09,15.12,15.12
$GC,4902,-0.67,-97.3,2114,2490,3356,3330,576.6,-9.0,415,4906,0.00,2.47,0.00,0.000,260,0.000,0.085,2105,3890,3343,3356,3330,0,0,0,0,0,0,15.10,14.42,15.12
$GC,4938,-0.67,-97.3,2105,3890,3355,3330,580.0,-9.4,422,4943,0.00,2.25,0.00,0.000,1030,0.000,0.034,2105,2496,3342,3355,3330,0,0,0,0,0,0,14.72,14.66,14.74
$GC,5244,-0.67,-97.3,2105,2495,3354,3328,608.7,-9.4,438,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2495,3341,3354,3328,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5543,-0.67,-97.3,2105,2495,3353,3327,636.5,-9.1,453,5547,0.00,2.47,0.00,0.000,260,0.000,0.086,2094,3889,3340,3353,3327,0,0,0,0,0,0,15.10,14.40,15.13
$GC,5605,-0.67,-97.3,2094,3889,3352,3327,642.3,-9.5,465,5609,0.00,2.25,0.00,0.000,1030,0.000,0.035,2094,2497,3339,3352,3327,0,0,0,0,0,0,14.70,14.64,14.73
$GC,5926,-0.67,-97.3,2094,2495,3351,3325,672.1,-9.4,484,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2495,3338,3351,3326,0,0,0,0,0,0,15.09,15.12,15.12
$GC,6227,-0.67,-97.3,2094,2495,3350,3324,700.0,-9.2,499,6234,0.00,2.47,0.00,0.000,260,0.000,0.087,2083,3891,3337,3350,3324,0,0,0,0,0,0,15.09,14.38,15.12
$GC,6272,-0.67,-97.3,2083,3892,3350,3324,704.4,-9.9,508,6277,0.00,2.28,0.00,0.000,1030,0.000,0.036,2084,2496,3337,3350,3324,0,0,0,0,0,0,14.68,14.61,14.71
$GC,6589,-0.67,-97.3,2083,2495,3349,3323,735.5,-9.7,526,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2495,3336,3349,3323,0,0,0,0,0,0,15.09,15.13,15.12
$GC,6889,-0.67,-97.3,2083,2494,3348,3321,765.3,-10.2,541,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2495,3334,3348,3321,0,0,0,0,0,0,15.09,15.13,15.12
$GC,7190,-0.67,-97.3,2083,2495,3347,3321,796.4,-10.4,556,7193,0.12,0.00,0.00,0.000,2054,0.229,0.000,2113,2495,3334,3347,3321,0,0,0,0,0,0,14.45,14.64,14.59
$GC,7489,-0.67,-97.3,2113,2495,3346,3320,823.0,-8.8,571,7493,0.00,2.33,0.00,0.000,516,0.000,0.051,2113,1110,3332,3345,3320,0,0,0,0,0,0,15.09,14.48,15.12
$GC,7521,-0.67,-97.3,2113,1110,3345,3320,825.8,-9.5,577,7529,0.00,2.42,0.00,0.000,1030,0.000,0.061,2104,2506,3332,3344,3320,0,0,0,0,0,0,14.57,14.44,14.60
$GC,7830,-0.67,-97.3,2104,2506,3343,3320,855.3,-9.6,594,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2506,3332,3344,3320,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8130,-0.67,-97.3,2104,2506,3343,3319,883.2,-9.2,609,8138,0.00,2.45,0.00,0.000,260,0.000,0.087,2093,3896,3331,3343,3319,0,0,0,0,0,0,15.09,14.32,15.11
$GC,8176,-0.67,-97.3,2092,3896,3343,3318,887.7,-9.9,618,8181,0.00,2.30,0.00,0.000,1030,0.000,0.037,2093,2495,3330,3343,3318,0,0,0,0,0,0,14.63,14.56,14.66
$GC,8493,-0.67,-97.3,2092,2494,3343,3318,918.1,-9.5,636,8497,0.00,2.33,0.00,0.000,516,0.000,0.052,2093,1110,3330,3342,3318,0,0,0,0,0,0,15.08,14.44,15.11
$GC,8519,-0.67,-97.3,2092,1110,3342,3317,920.6,-10.5,641,8528,0.12,2.42,0.00,0.000,3078,0.206,0.060,2112,2505,3330,3342,3318,0,0,0,0,0,0,14.22,14.41,14.42
$GC,8836,-0.67,-97.3,2112,2505,3343,3317,946.6,-8.2,659,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2505,3329,3342,3317,0,0,0,0,0,0,15.07,15.09,15.09
$GC,9134,-0.67,-97.3,2112,2505,3342,3316,971.3,-8.3,674,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2505,3329,3342,3316,0,0,0,0,0,0,15.08,15.11,15.11
$STATE,9371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9371,begin apogee
$GC,9380,-0.15,0.0,2113,2505,3341,3315,990.9,-8.2,686,9475,0.57,0.00,91.72,2.003,10246,0.163,0.000,2278,2505,2968,2999,2937,0,0,0,0,0,0,14.15,13.97,12.57
$STATE,9476,end apogee,CONTROL_FINISHED_OK
$STATE,9477,begin climb
$GC,9480,0.67,97.3,2278,2505,2998,2937,993.7,0.0,691,9588,0.82,0.00,104.80,1.986,10246,0.087,0.000,2553,2505,2571,2601,2541,0,0,0,0,0,0,14.18,13.88,12.57
$GC,9878,0.67,97.3,2553,2504,2591,2535,974.5,7.7,711,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2505,2563,2591,2535,0,0,0,0,0,0,14.84,14.87,14.87
$GC,10177,0.69,97.3,2553,2505,2590,2534,952.4,7.2,726,10182,0.00,2.50,0.00,0.000,580,0.000,0.054,2564,1052,2561,2589,2534,0,0,0,0,0,0,14.95,14.48,14.97
$GC,10239,0.70,97.3,2564,1052,2587,2534,947.8,7.4,738,10244,0.00,2.40,0.00,0.000,1094,0.000,0.057,2564,2444,2560,2587,2534,0,0,0,0,0,0,14.59,14.47,14.63
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$STATE,22185,end climb,SURFACE_DEPTH_REACHED
$STATE,22185,begin surface coast
$STATE,22206,end surface coast,CONTROL_FINISHED_OK
$STATE,22206,begin surface
$SM_CCo,22227,134.35,0.652,1,0,928,500.17
$SM_GC,1.32,7.62,0.10,134.35,0.057,0.147,0.652,123,2512,928,-6.77,-0.85,500.17,0,0,0,0,1,0,14.58,14.57,13.57
$IRIDIUM_FIX,616.46,8313.23,061219,205348
$TT8_MAMPS,0.018725,0.160286
$HUMID,47.99
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,12.57,193.046
$10V_AH,13.15,0.000
$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,19.575,180.675,441.425,134.350,0.000,0.000,0.000,551.200,0.250,0.000,15.940,1691.015,17045.773,739.125,3129.854,575.866,0.000,2738.322,0.000,2625.886,0.000,0.542,0.000
$DEVICE_MAMPS,341.955,146.880,2002.770,651.780,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,945.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250792
$DATA_FILE_SIZE,79936,1848
$CAP_FILE_SIZE,204205,0
$CFSIZE,260034560,135745536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,49.43,1
$GPS,071219,031730,617.175,8312.740,20,0.8,20,-1.9,1.3,261.6,9,5.2