version: 66.13
glider: 171
mission: 11
dive: 572
start: 12 9 119 8 20 58
data:
$ID,171
$MISSION,11
$DIVE,572
$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,70
$R_STBD_OVSHOOT,39
$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
$GPS1,091219,081410,610.8802,8307.0254,25,1.2,26,-1.9,0.9,218.1,6,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.2
$GPS2,091219,082004,610.8187,8306.9814,2,0.5,3,-1.9,1.3,225.3,12,6.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,248.9,23808,-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,-97.3,110,2517,974,877,0.0,0.0,0,84,0.00,0.00,-71.40,0.005,16386,0.000,0.000,109,2517,2610,2612,2609,0,0,0,0,0,0,14.85,28.83,14.88
$GC,88,-0.67,-97.3,109,2517,2612,2609,4.8,-12.8,15,121,9.12,2.40,-14.55,0.009,18692,0.343,0.092,2096,3892,3367,3382,3353,0,0,0,0,0,0,13.90,12.59,14.35
$GC,349,-0.67,-97.3,2095,3891,3382,3353,77.9,-24.0,67,353,0.00,2.20,0.00,0.000,1030,0.000,0.035,2095,2524,3367,3382,3353,0,0,0,0,0,0,14.68,14.60,14.71
$GC,541,-0.67,-97.3,2095,2522,3382,3353,110.0,-15.1,87,545,0.00,2.35,0.00,0.000,260,0.000,0.080,2085,3887,3367,3382,3353,0,0,0,0,0,0,15.02,14.50,15.04
$GC,767,-0.67,-97.3,2085,3887,3383,3353,143.6,-14.2,132,771,0.00,2.22,0.00,0.000,1030,0.000,0.034,2085,2494,3368,3383,3353,0,0,0,0,0,0,14.74,14.67,14.76
$GC,953,-0.67,-97.3,2085,2492,3383,3353,168.9,-13.1,151,957,0.00,2.28,0.00,0.000,516,0.000,0.048,2085,1097,3368,3383,3353,0,0,0,0,0,0,15.06,14.62,15.08
$GC,1054,-0.67,-97.3,2085,1097,3383,3353,182.6,-14.0,171,1059,0.15,2.35,0.00,0.000,3078,0.216,0.057,2110,2490,3368,3383,3353,0,0,0,0,0,0,14.36,14.58,14.57
$GC,1243,-0.67,-97.3,2110,2490,3382,3353,204.2,-11.0,190,1247,0.00,2.33,0.00,0.000,516,0.000,0.057,2110,1105,3367,3382,3353,0,0,0,0,0,0,15.04,14.60,15.07
$GC,1269,-0.67,-97.3,2110,1105,3382,3353,207.5,-11.7,195,1273,0.00,2.38,0.00,0.000,1030,0.000,0.057,2101,2509,3367,3381,3353,0,0,0,0,0,0,14.70,14.59,14.74
$GC,1455,-0.67,-97.3,2101,2509,3380,3353,229.0,-11.2,214,1459,0.00,2.38,0.00,0.000,260,0.000,0.080,2090,3893,3366,3380,3353,0,0,0,0,0,0,15.08,14.52,15.11
$GC,1522,-0.67,-97.3,2090,3893,3379,3353,237.0,-11.9,227,1526,0.00,2.22,0.00,0.000,1030,0.000,0.033,2090,2492,3366,3379,3353,0,0,0,0,0,0,14.77,14.71,14.79
$GC,1716,-0.67,-97.3,2090,2491,3377,3352,260.1,-11.8,243,1720,0.00,2.28,0.00,0.000,516,0.000,0.051,2090,1105,3365,3377,3353,0,0,0,0,0,0,15.09,14.59,15.12
$GC,1778,-0.67,-97.3,2090,1105,3376,3352,267.3,-11.7,255,1785,0.12,2.35,0.00,0.000,3078,0.212,0.057,2110,2502,3364,3376,3352,0,0,0,0,0,0,14.40,14.60,14.59
$GC,2098,-0.67,-97.3,2109,2502,3374,3351,302.7,-11.0,274,2102,0.00,2.40,0.00,0.000,260,0.000,0.081,2101,3899,3362,3374,3350,0,0,0,0,0,0,15.09,14.52,15.12
$GC,2185,-0.67,-97.3,2100,3899,3373,3350,312.3,-11.2,291,2189,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2497,3361,3373,3350,0,0,0,0,0,0,14.78,14.71,14.79
$GC,2501,-0.67,-97.3,2100,2496,3372,3347,347.5,-11.2,309,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2496,3359,3372,3347,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2801,-0.67,-97.3,2100,2496,3371,3345,380.1,-10.7,324,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2496,3357,3370,3345,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3102,-0.67,-97.3,2101,2496,3368,3342,411.3,-10.2,339,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2496,3355,3368,3342,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3401,-0.67,-97.3,2100,2496,3367,3340,442.9,-10.6,354,3405,0.00,2.45,0.00,0.000,260,0.000,0.083,2090,3890,3353,3367,3339,0,0,0,0,0,0,15.11,14.48,15.13
$GC,3457,-0.67,-97.3,2089,3890,3366,3340,449.1,-11.1,365,3462,0.00,2.22,0.00,0.000,1030,0.000,0.035,2090,2502,3353,3366,3340,0,0,0,0,0,0,14.75,14.69,14.77
$GC,3763,-0.67,-97.3,2089,2500,3364,3338,483.7,-11.2,381,3768,0.00,2.30,0.00,0.000,516,0.000,0.050,2090,1111,3351,3364,3338,0,0,0,0,0,0,15.09,14.58,15.11
$GC,3785,-0.67,-97.3,2089,1111,3363,3338,486.4,-11.6,385,3791,0.12,2.38,0.00,0.000,3078,0.210,0.057,2109,2504,3350,3363,3338,0,0,0,0,0,0,14.36,14.55,14.56
$GC,4109,-0.67,-97.3,2109,2504,3362,3337,519.6,-10.3,404,4117,0.00,2.42,0.00,0.000,260,0.000,0.084,2100,3900,3349,3362,3337,0,0,0,0,0,0,15.09,14.45,15.11
$GC,4164,-0.67,-97.3,2100,3900,3362,3337,525.6,-10.9,415,4168,0.00,2.25,0.00,0.000,1030,0.000,0.035,2100,2500,3349,3362,3336,0,0,0,0,0,0,14.73,14.66,14.76
$GC,4469,-0.67,-97.3,2100,2498,3361,3334,558.4,-10.8,431,4473,0.00,2.30,0.00,0.000,516,0.000,0.050,2100,1111,3347,3361,3334,0,0,0,0,0,0,15.10,14.56,15.13
$GC,4496,-0.67,-97.3,2100,1111,3360,3334,561.3,-11.0,436,4500,0.00,2.38,0.00,0.000,1030,0.000,0.058,2089,2500,3347,3360,3334,0,0,0,0,0,0,14.65,14.53,14.69
$GC,4814,-0.67,-97.3,2089,2500,3359,3333,595.3,-10.6,454,4820,0.00,2.42,0.00,0.000,260,0.000,0.083,2078,3894,3346,3359,3333,0,0,0,0,0,0,15.09,14.43,15.12
$GC,4869,-0.67,-97.3,2078,3894,3359,3333,601.4,-11.1,465,4875,0.12,2.25,0.00,0.000,3078,0.211,0.035,2108,2498,3345,3358,3333,0,0,0,0,0,0,14.35,14.64,14.54
$GC,5173,-0.67,-97.3,2108,2497,3357,3332,629.8,-9.1,481,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3344,3357,3332,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5473,-0.67,-97.3,2108,2497,3356,3330,656.8,-8.9,496,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3343,3356,3330,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5774,-0.67,-97.3,2108,2497,3356,3329,683.4,-9.0,511,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3342,3355,3329,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6074,-0.67,-97.3,2108,2497,3354,3327,710.0,-8.9,526,6078,0.00,2.47,0.00,0.000,260,0.000,0.086,2099,3894,3340,3354,3327,0,0,0,0,0,0,15.09,14.39,15.11
$GC,6105,-0.67,-97.3,2099,3894,3354,3327,712.9,-9.8,532,6109,0.00,2.25,0.00,0.000,1030,0.000,0.036,2099,2504,3340,3354,3327,0,0,0,0,0,0,14.69,14.63,14.71
$GC,6417,-0.67,-97.3,2098,2502,3353,3326,741.5,-9.3,549,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2502,3340,3353,3327,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6716,-0.67,-97.3,2099,2502,3352,3326,769.3,-9.3,564,6720,0.00,2.47,0.00,0.000,260,0.000,0.086,2088,3896,3338,3351,3325,0,0,0,0,0,0,15.09,14.37,15.12
$GC,6752,-0.67,-97.3,2088,3896,3352,3325,772.9,-9.9,571,6756,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2502,3338,3352,3325,0,0,0,0,0,0,14.66,14.59,14.69
$GC,7058,-0.67,-97.3,2088,2501,3351,3325,802.5,-9.6,587,7063,0.00,2.38,0.00,0.000,516,0.000,0.052,2088,1101,3337,3350,3325,0,0,0,0,0,0,15.08,14.48,15.10
$GC,7100,-0.67,-97.3,2088,1101,3350,3324,806.7,-9.7,595,7108,0.12,2.42,0.00,0.000,3078,0.209,0.060,2108,2503,3337,3350,3324,0,0,0,0,0,0,14.26,14.45,14.45
$GC,7421,-0.67,-97.3,2108,2503,3350,3323,834.5,-8.7,614,7428,0.00,2.45,0.00,0.000,260,0.000,0.086,2099,3894,3336,3350,3323,0,0,0,0,0,0,15.07,14.34,15.10
$GC,7455,-0.67,-97.3,2098,3894,3350,3323,837.7,-9.3,621,7460,0.00,2.28,0.00,0.000,1030,0.000,0.036,2099,2500,3336,3350,3323,0,0,0,0,0,0,14.65,14.58,14.67
$GC,7760,-0.67,-97.3,2098,2498,3349,3322,866.4,-9.5,637,7765,0.00,2.35,0.00,0.000,516,0.000,0.052,2099,1102,3335,3348,3322,0,0,0,0,0,0,15.09,14.47,15.11
$GC,7783,-0.67,-97.3,2098,1102,3348,3322,868.6,-10.0,641,7788,0.00,2.42,0.00,0.000,1030,0.000,0.059,2088,2502,3335,3348,3322,0,0,0,0,0,0,14.54,14.42,14.59
$GC,8105,-0.67,-97.3,2087,2502,3347,3321,901.6,-10.2,660,8109,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3897,3334,3348,3321,0,0,0,0,0,0,15.08,14.31,15.11
$GC,8126,-0.67,-97.3,2077,3897,3347,3321,903.9,-10.8,664,8131,0.12,2.28,0.00,0.000,3078,0.210,0.037,2108,2500,3334,3347,3321,0,0,0,0,0,0,14.26,14.56,14.45
$GC,8449,-0.67,-97.3,2108,2498,3347,3320,932.8,-8.9,683,8453,0.00,2.35,0.00,0.000,516,0.000,0.053,2108,1106,3333,3347,3320,0,0,0,0,0,0,15.07,14.45,15.10
$GC,8480,-0.67,-97.3,2108,1105,3346,3320,935.7,-9.0,689,8485,0.00,2.42,0.00,0.000,1030,0.000,0.061,2099,2500,3332,3346,3319,0,0,0,0,0,0,14.52,14.40,14.57
$GC,8794,-0.67,-97.3,2099,2500,3346,3320,964.0,-8.9,706,8800,0.00,2.47,0.00,0.000,260,0.000,0.087,2088,3898,3333,3346,3320,0,0,0,0,0,0,15.07,14.29,15.09
$GC,8822,-0.67,-97.3,2088,3899,3345,3320,966.9,-10.4,712,8826,0.00,2.30,0.00,0.000,1030,0.000,0.038,2088,2497,3332,3345,3320,0,0,0,0,0,0,14.62,14.54,14.64
$STATE,9070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9070,begin apogee
$GC,9077,-0.15,0.0,2088,2496,3344,3319,990.5,-9.3,726,9175,0.68,0.00,93.15,1.996,10246,0.168,0.000,2280,2496,2968,3000,2936,0,0,0,0,0,0,14.12,13.98,12.59
$STATE,9176,end apogee,CONTROL_FINISHED_OK
$STATE,9176,begin climb
$GC,9180,0.67,97.3,2280,2496,2999,2935,993.0,0.0,731,9291,0.82,0.00,104.70,1.981,10246,0.089,0.000,2555,2495,2570,2601,2539,0,0,0,0,0,0,14.18,13.90,12.61
$GC,9595,0.67,97.3,2554,2495,2591,2534,970.2,8.3,752,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2495,2563,2591,2535,0,0,0,0,0,0,14.85,14.89,14.89
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$STATE,21453,end climb,SURFACE_DEPTH_REACHED
$STATE,21453,begin surface coast
$STATE,21490,end surface coast,CONTROL_FINISHED_OK
$STATE,21490,begin surface
$SM_CCo,21509,155.45,0.659,1,0,928,500.17
$SM_GC,1.17,7.53,0.08,155.45,0.053,0.149,0.659,129,2545,928,-6.77,-1.07,500.17,0,0,0,0,1,0,14.59,14.66,13.57
$IRIDIUM_FIX,612.06,8306.76,091219,024727
$TT8_MAMPS,0.018725,0.15729
$HUMID,47.51
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,12.59,196.066
$10V_AH,12.20,0.000
$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
$DEVICE_SECS,19.850,218.075,425.125,155.450,0.000,0.000,0.000,215.800,0.000,0.000,14.884,1746.315,16050.312,759.860,2951.617,519.654,0.000,2479.422,0.000,2707.383,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,936.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250596
$DATA_FILE_SIZE,83296,1906
$CAP_FILE_SIZE,210604,0
$CFSIZE,260034560,134819840
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,19711.77,0x214798,7,24
$INTR,1,3766.69,0x2147a0,0,24
$CURRENT,0.142,65.39,1
$GPS,091219,142308,610.981,8306.846,15,1.0,15,-1.9,0.1,0.0,9,6.6