version: 66.13
glider: 171
mission: 11
dive: 566
start: 12 7 119 21 32 47
data:
$ID,171
$MISSION,11
$DIVE,566
$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,52
$R_STBD_OVSHOOT,35
$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
$GPS1,071219,212430,614.5142,8310.1338,18,1.4,18,-1.9,0.5,247.0,7,5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.7
$GPS2,071219,213156,614.5393,8309.9463,3,0.6,4,-1.9,0.5,58.8,12,8.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,227.2,32568,-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,-97.3,102,2506,975,877,0.0,0.0,0,83,0.00,0.00,-71.15,0.005,16386,0.000,0.000,102,2507,2606,2607,2606,0,0,0,0,0,0,14.86,28.83,14.89
$GC,87,-0.67,-97.3,102,2507,2607,2606,4.8,-13.0,15,120,9.15,2.42,-14.45,0.009,18692,0.343,0.092,2094,3897,3368,3382,3355,0,0,0,0,0,0,13.91,12.61,14.36
$GC,190,-0.67,-97.3,2094,3897,3382,3355,41.0,-34.4,35,195,0.00,2.25,0.00,0.000,1030,0.000,0.032,2094,2486,3368,3382,3355,0,0,0,0,0,0,14.66,14.60,14.69
$GC,381,-0.67,-97.3,2093,2485,3382,3355,83.9,-16.5,57,387,0.00,2.28,0.00,0.000,516,0.000,0.045,2094,1096,3368,3382,3355,0,0,0,0,0,0,15.00,14.58,15.02
$GC,580,-0.67,-97.3,2094,1096,3382,3355,111.1,-14.3,96,584,0.00,2.38,0.00,0.000,1030,0.000,0.060,2083,2492,3369,3383,3355,0,0,0,0,0,0,14.67,14.56,14.70
$GC,765,-0.67,-97.3,2083,2492,3383,3355,135.4,-13.8,115,769,0.00,2.40,0.00,0.000,260,0.000,0.078,2072,3899,3369,3383,3355,0,0,0,0,0,0,15.06,14.53,15.09
$GC,817,-0.67,-97.3,2072,3899,3383,3354,143.6,-16.5,125,823,0.15,2.22,0.00,0.000,3078,0.224,0.034,2108,2490,3368,3382,3355,0,0,0,0,0,0,14.35,14.69,14.58
$GC,1011,-0.67,-97.3,2107,2489,3383,3355,170.1,-13.2,145,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2489,3369,3383,3355,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1191,-0.67,-97.3,2107,2489,3382,3355,191.5,-11.8,163,1195,0.00,2.28,0.00,0.000,516,0.000,0.047,2108,1102,3368,3381,3355,0,0,0,0,0,0,15.07,14.64,15.10
$GC,1232,-0.67,-97.3,2107,1101,3381,3355,196.8,-12.5,171,1236,0.00,2.38,0.00,0.000,1030,0.000,0.057,2098,2501,3367,3380,3355,0,0,0,0,0,0,14.71,14.61,14.75
$GC,1423,-0.67,-97.3,2098,2501,3379,3355,219.8,-12.1,191,1427,0.00,2.33,0.00,0.000,516,0.000,0.056,2098,1104,3367,3379,3355,0,0,0,0,0,0,15.09,14.59,15.11
$GC,1461,-0.67,-97.3,2097,1104,3379,3354,224.0,-11.4,198,1465,0.00,2.38,0.00,0.000,1030,0.000,0.059,2087,2503,3366,3379,3354,0,0,0,0,0,0,14.71,14.60,14.74
$GC,1644,-0.67,-97.3,2087,2503,3377,3354,246.3,-12.3,217,1649,0.00,2.38,0.00,0.000,260,0.000,0.080,2076,3894,3365,3377,3354,0,0,0,0,0,0,15.09,14.54,15.11
$GC,1727,-0.67,-97.3,2076,3894,3376,3354,256.9,-13.3,233,1732,0.15,2.22,0.00,0.000,3078,0.205,0.034,2114,2492,3365,3377,3354,0,0,0,0,0,0,14.42,14.71,14.62
$GC,2049,-0.67,-97.3,2113,2491,3374,3351,292.9,-11.1,252,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2491,3362,3374,3351,0,0,0,0,0,0,15.10,15.13,15.13
$GC,2350,-0.67,-97.3,2113,2491,3373,3348,325.6,-11.1,267,2355,0.00,2.45,0.00,0.000,260,0.000,0.083,2105,3891,3360,3372,3348,0,0,0,0,0,0,15.09,14.52,15.12
$GC,2402,-0.67,-97.3,2104,3891,3371,3348,331.4,-11.1,277,2407,0.00,2.22,0.00,0.000,1030,0.000,0.033,2105,2492,3360,3372,3348,0,0,0,0,0,0,14.78,14.72,14.80
$GC,2714,-0.67,-97.3,2104,2491,3370,3346,365.6,-10.9,294,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2491,3358,3370,3346,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3015,-0.67,-97.3,2104,2492,3368,3343,398.3,-11.0,309,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2491,3355,3368,3343,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3314,-0.67,-97.3,2104,2491,3366,3341,430.7,-10.7,324,3321,0.00,2.45,0.00,0.000,260,0.000,0.086,2093,3891,3353,3366,3340,0,0,0,0,0,0,15.11,14.50,15.14
$GC,3344,-0.67,-97.3,2093,3891,3365,3340,433.9,-11.4,330,3349,0.00,2.22,0.00,0.000,1030,0.000,0.034,2093,2503,3353,3366,3340,0,0,0,0,0,0,14.76,14.70,14.78
$GC,3657,-0.67,-97.3,2093,2502,3364,3339,467.5,-10.6,347,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2501,3351,3364,3339,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3956,-0.67,-97.3,2093,2502,3362,3337,498.8,-10.5,362,3962,0.00,2.45,0.00,0.000,260,0.000,0.086,2083,3898,3349,3362,3337,0,0,0,0,0,0,15.10,14.47,15.13
$GC,3980,-0.67,-97.3,2083,3898,3362,3337,501.5,-11.6,367,3985,0.12,2.25,0.00,0.000,3078,0.209,0.035,2113,2499,3349,3362,3337,0,0,0,0,0,0,14.40,14.68,14.58
$GC,4298,-0.67,-97.3,2112,2498,3361,3335,531.7,-9.7,385,4303,0.00,2.45,0.00,0.000,260,0.000,0.087,2104,3890,3348,3361,3335,0,0,0,0,0,0,15.09,14.45,15.11
$GC,4335,-0.67,-97.3,2103,3890,3360,3335,535.6,-10.3,392,4340,0.00,2.25,0.00,0.000,1030,0.000,0.035,2104,2501,3347,3360,3335,0,0,0,0,0,0,14.73,14.66,14.75
$GC,4641,-0.67,-97.3,2103,2500,3359,3333,566.4,-9.9,408,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2500,3346,3359,3333,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4940,-0.67,-97.3,2103,2500,3357,3332,594.9,-9.1,423,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2499,3344,3356,3332,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5241,-0.67,-97.3,2103,2500,3357,3331,622.3,-9.1,438,5247,0.00,2.45,0.00,0.000,260,0.000,0.088,2092,3890,3343,3356,3331,0,0,0,0,0,0,15.09,14.42,15.12
$GC,5282,-0.67,-97.3,2092,3890,3356,3331,626.1,-9.6,446,5286,0.00,2.25,0.00,0.000,1030,0.000,0.036,2092,2497,3343,3356,3331,0,0,0,0,0,0,14.71,14.65,14.73
$GC,5603,-0.67,-97.3,2092,2495,3355,3330,657.4,-10.0,465,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2495,3342,3354,3330,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5903,-0.67,-97.3,2091,2495,3353,3328,688.1,-10.5,480,5907,0.00,2.47,0.00,0.000,260,0.000,0.088,2082,3890,3340,3353,3328,0,0,0,0,0,0,15.10,14.40,15.13
$GC,5956,-0.67,-97.3,2082,3890,3353,3328,693.8,-11.2,490,5961,0.12,2.25,0.00,0.000,3078,0.207,0.036,2112,2499,3340,3353,3328,0,0,0,0,0,0,14.34,14.63,14.53
$GC,6268,-0.67,-97.3,2112,2498,3352,3327,723.5,-9.5,507,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2498,3339,3352,3327,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6569,-0.67,-97.3,2112,2498,3351,3325,752.5,-9.7,522,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2498,3338,3352,3325,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6868,-0.67,-97.3,2111,2498,3350,3324,781.2,-9.3,537,6873,0.00,2.47,0.00,0.000,260,0.000,0.089,2103,3890,3337,3350,3324,0,0,0,0,0,0,15.10,14.36,15.12
$GC,6909,-0.67,-97.3,2103,3890,3350,3324,785.2,-9.7,545,6914,0.00,2.25,0.00,0.000,1030,0.000,0.036,2103,2500,3337,3350,3324,0,0,0,0,0,0,14.67,14.61,14.70
$GC,7232,-0.67,-97.3,2103,2499,3349,3323,814.3,-8.8,564,7236,0.00,2.33,0.00,0.000,516,0.000,0.051,2103,1109,3335,3348,3323,0,0,0,0,0,0,15.08,14.50,15.11
$GC,7273,-0.67,-97.3,2103,1110,3348,3323,818.0,-8.8,572,7278,0.00,2.40,0.00,0.000,1030,0.000,0.059,2091,2499,3335,3348,3323,0,0,0,0,0,0,14.57,14.45,14.62
$GC,7590,-0.67,-97.3,2091,2499,3348,3322,846.6,-9.2,590,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3334,3347,3322,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7890,-0.67,-97.3,2091,2499,3347,3321,874.5,-9.2,605,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3334,3347,3321,0,0,0,0,0,0,15.08,15.11,15.10
$GC,8189,-0.67,-97.3,2091,2499,3346,3321,902.1,-9.2,620,8196,0.00,2.45,0.00,0.000,260,0.000,0.088,2081,3890,3333,3345,3321,0,0,0,0,0,0,15.09,14.33,15.11
$GC,8220,-0.67,-97.3,2081,3890,3345,3321,904.9,-10.1,626,8225,0.12,2.28,0.00,0.000,3078,0.205,0.037,2111,2494,3333,3345,3321,0,0,0,0,0,0,14.28,14.57,14.46
$GC,8533,-0.67,-97.3,2111,2492,3344,3321,930.1,-8.1,643,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2492,3332,3344,3320,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8832,-0.67,-97.3,2111,2492,3344,3320,954.4,-8.0,658,8836,0.00,2.35,0.00,0.000,516,0.000,0.051,2111,1105,3331,3344,3319,0,0,0,0,0,0,15.08,14.45,15.10
$GC,8875,-0.67,-97.3,2111,1105,3343,3319,957.9,-8.4,666,8879,0.00,2.42,0.00,0.000,1030,0.000,0.059,2102,2499,3331,3343,3319,0,0,0,0,0,0,14.52,14.40,14.57
$GC,9196,-0.67,-97.3,2102,2499,3343,3318,985.5,-8.6,685,9201,0.00,2.47,0.00,0.000,260,0.000,0.089,2091,3894,3330,3343,3318,0,0,0,0,0,0,15.08,14.28,15.11
$STATE,9245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9245,begin apogee
$GC,9254,-0.15,0.0,2090,2435,3343,3318,990.2,-9.2,695,9351,0.65,0.00,92.35,2.000,10246,0.168,0.000,2276,2435,2968,2999,2937,0,0,0,0,0,0,14.12,13.98,12.57
$STATE,9352,end apogee,CONTROL_FINISHED_OK
$STATE,9352,begin climb
$GC,9356,0.67,97.3,2276,2435,2998,2936,993.1,0.0,700,9468,0.82,2.47,104.70,1.984,10756,0.089,0.050,2561,1020,2569,2600,2539,0,0,0,0,0,0,14.18,13.58,12.58
$GC,9495,0.72,147.5,2560,1020,2595,2538,992.4,5.2,717,9554,0.00,2.53,52.00,1.957,9254,0.000,0.058,2561,2446,2365,2404,2327,0,0,0,0,0,0,14.29,14.20,12.64
$GC,9866,0.72,147.5,2560,2445,2392,2322,953.8,11.2,746,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2446,2357,2392,2322,0,0,0,0,0,0,14.88,14.91,14.91
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$STATE,20322,end climb,SURFACE_DEPTH_REACHED
$STATE,20322,begin surface coast
$STATE,20357,end surface coast,CONTROL_FINISHED_OK
$STATE,20357,begin surface
$SM_CCo,20377,118.68,0.632,1,0,928,500.17
$SM_GC,1.22,7.40,0.10,118.68,0.050,0.159,0.632,122,2508,928,-6.77,-0.76,500.17,0,0,0,0,1,0,14.54,14.51,13.58
$IRIDIUM_FIX,614.28,8253.58,071219,212654
$TT8_MAMPS,0.018725,0.158788
$HUMID,47.36
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,12.57,194.247
$10V_AH,10.90,0.000
$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,19.525,195.550,464.200,118.675,0.000,0.000,0.000,244.900,0.250,0.000,15.443,1582.066,15410.872,740.574,2714.814,496.844,0.000,2374.609,0.000,2449.517,0.000,0.541,0.000
$DEVICE_MAMPS,343.485,159.120,1999.710,631.890,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,901.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250564
$DATA_FILE_SIZE,76618,1723
$CAP_FILE_SIZE,194815,0
$CFSIZE,260034560,135389184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.090,72.30,1
$GPS,081219,031530,613.671,8309.570,20,0.8,20,-1.9,0.3,181.5,9,4.9