version: 66.13
glider: 171
mission: 11
dive: 576
start: 12 10 119 8 48 49
data:
$ID,171
$MISSION,11
$DIVE,576
$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,51
$R_STBD_OVSHOOT,31
$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
$GPS1,101219,084110,610.0892,8306.9971,16,1.4,17,-1.9,0.4,230.8,6,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.2
$GPS2,101219,084756,610.0303,8306.9209,2,0.7,3,-1.9,0.8,244.3,12,9.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,261.3,22529,-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,-97.3,98,2500,977,877,0.0,0.0,0,83,0.00,0.00,-71.72,0.005,16386,0.000,0.000,98,2500,2601,2600,2603,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,97,2500,2600,2603,4.7,-12.8,15,119,9.23,2.40,-14.62,0.009,18948,0.345,0.071,2105,1100,3367,3382,3353,0,0,0,0,0,0,13.87,12.57,14.33
$GC,194,-0.67,-97.3,2104,1099,3382,3353,38.0,-23.3,36,198,0.00,2.40,0.00,0.000,1030,0.000,0.060,2095,2499,3368,3383,3353,0,0,0,0,0,0,14.57,14.45,14.60
$GC,380,-0.67,-97.3,2095,2499,3382,3353,78.9,-17.6,59,386,0.00,2.40,0.00,0.000,260,0.000,0.080,2084,3899,3367,3382,3353,0,0,0,0,0,0,14.98,14.45,15.00
$GC,616,-0.67,-97.3,2084,3899,3383,3353,114.2,-13.3,106,621,0.00,2.25,0.00,0.000,1030,0.000,0.033,2084,2485,3368,3383,3353,0,0,0,0,0,0,14.71,14.65,14.74
$GC,802,-0.67,-97.3,2084,2484,3384,3353,139.1,-13.7,125,809,0.00,2.42,0.00,0.000,260,0.000,0.078,2074,3896,3368,3383,3353,0,0,0,0,0,0,15.03,14.50,15.06
$GC,1037,-0.67,-97.3,2073,3896,3384,3353,173.1,-13.5,172,1041,0.15,2.22,0.00,0.000,3078,0.221,0.032,2109,2490,3368,3383,3353,0,0,0,0,0,0,14.33,14.68,14.55
$GC,1223,-0.67,-97.3,2108,2489,3383,3353,195.5,-11.8,191,1230,0.00,2.42,0.00,0.000,260,0.000,0.080,2099,3894,3368,3384,3353,0,0,0,0,0,0,15.06,14.50,15.08
$GC,1317,-0.67,-97.3,2099,3894,3383,3353,206.8,-11.7,210,1322,0.00,2.20,0.00,0.000,1030,0.000,0.032,2099,2505,3368,3383,3353,0,0,0,0,0,0,14.75,14.69,14.77
$GC,1503,-0.67,-97.3,2099,2504,3382,3353,228.9,-11.7,229,1507,0.00,2.40,0.00,0.000,260,0.000,0.080,2089,3894,3367,3382,3353,0,0,0,0,0,0,15.07,14.50,15.09
$GC,1543,-0.67,-97.3,2088,3894,3381,3353,233.9,-11.9,237,1547,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2493,3367,3381,3353,0,0,0,0,0,0,14.75,14.69,14.78
$GC,1745,-0.67,-97.3,2088,2492,3379,3353,257.5,-11.8,255,1749,0.00,2.45,0.00,0.000,260,0.000,0.083,2078,3894,3366,3379,3353,0,0,0,0,0,0,15.08,14.50,15.10
$GC,1768,-0.67,-97.3,2077,3894,3379,3353,260.2,-12.0,259,1772,0.12,2.22,0.00,0.000,3078,0.212,0.034,2107,2497,3366,3379,3353,0,0,0,0,0,0,14.40,14.69,14.59
$GC,2089,-0.67,-97.3,2107,2495,3376,3352,294.4,-10.4,278,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2495,3364,3376,3353,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2390,-0.67,-97.3,2107,2495,3375,3349,327.0,-11.0,293,2398,0.00,2.45,0.00,0.000,260,0.000,0.083,2098,3902,3361,3374,3348,0,0,0,0,0,0,15.09,14.48,15.11
$GC,2425,-0.67,-97.3,2097,3902,3374,3348,331.0,-11.5,300,2429,0.00,2.25,0.00,0.000,1030,0.000,0.034,2098,2500,3361,3374,3348,0,0,0,0,0,0,14.75,14.68,14.77
$GC,2730,-0.67,-97.3,2098,2499,3372,3347,365.9,-11.4,316,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2499,3359,3372,3347,0,0,0,0,0,0,15.10,15.13,15.13
$GC,3031,-0.67,-97.3,2097,2499,3371,3345,399.4,-11.2,331,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2499,3358,3371,3345,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3330,-0.67,-97.3,2097,2499,3369,3343,433.0,-11.2,346,3335,0.00,2.45,0.00,0.000,260,0.000,0.086,2087,3894,3355,3368,3343,0,0,0,0,0,0,15.10,14.46,15.13
$GC,3366,-0.67,-97.3,2086,3894,3368,3342,437.3,-11.7,353,3370,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2497,3355,3368,3343,0,0,0,0,0,0,14.73,14.66,14.76
$GC,3673,-0.67,-97.3,2086,2496,3367,3340,472.4,-11.2,369,3680,0.00,2.45,0.00,0.000,260,0.000,0.086,2076,3893,3353,3367,3340,0,0,0,0,0,0,15.09,14.45,15.11
$GC,3707,-0.67,-97.3,2076,3893,3366,3340,476.5,-11.7,376,3711,0.15,2.25,0.00,0.000,3078,0.200,0.035,2113,2499,3353,3367,3340,0,0,0,0,0,0,14.35,14.65,14.54
$GC,4012,-0.67,-97.3,2113,2497,3366,3339,505.4,-9.3,392,4016,0.00,2.30,0.00,0.000,516,0.000,0.050,2114,1109,3352,3366,3339,0,0,0,0,0,0,15.10,14.57,15.13
$GC,4054,-0.67,-97.3,2113,1109,3365,3338,509.2,-9.2,400,4058,0.00,2.38,0.00,0.000,1030,0.000,0.058,2104,2501,3352,3365,3339,0,0,0,0,0,0,14.63,14.51,14.67
$GC,4375,-0.67,-97.3,2104,2501,3363,3337,540.1,-9.6,419,4381,0.00,2.42,0.00,0.000,260,0.000,0.085,2093,3894,3350,3363,3337,0,0,0,0,0,0,15.09,14.42,15.12
$GC,4421,-0.67,-97.3,2093,3894,3363,3337,544.7,-10.2,428,4425,0.00,2.25,0.00,0.000,1030,0.000,0.036,2093,2500,3350,3363,3337,0,0,0,0,0,0,14.71,14.64,14.73
$GC,4738,-0.67,-97.3,2093,2499,3362,3336,576.6,-10.1,446,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3349,3362,3336,0,0,0,0,0,0,15.09,15.13,15.11
$GC,5038,-0.67,-97.3,2093,2499,3361,3334,607.3,-10.0,461,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3347,3361,3334,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5339,-0.67,-97.3,2093,2499,3360,3333,637.6,-10.2,476,5346,0.00,2.47,0.00,0.000,260,0.000,0.087,2083,3894,3346,3360,3333,0,0,0,0,0,0,15.09,14.39,15.11
$GC,5383,-0.67,-97.3,2082,3894,3360,3333,642.6,-11.1,485,5388,0.12,2.28,0.00,0.000,3078,0.204,0.037,2112,2500,3346,3360,3333,0,0,0,0,0,0,14.33,14.61,14.52
$GC,5700,-0.67,-97.3,2112,2499,3358,3332,672.1,-9.3,503,5704,0.00,2.33,0.00,0.000,516,0.000,0.050,2113,1107,3344,3357,3332,0,0,0,0,0,0,15.09,14.51,15.11
$GC,5743,-0.67,-97.3,2113,1107,3357,3332,676.1,-9.4,511,5750,0.00,2.40,0.00,0.000,1030,0.000,0.058,2104,2502,3344,3357,3332,0,0,0,0,0,0,14.59,14.47,14.63
$GC,6062,-0.67,-97.3,2103,2501,3356,3331,707.4,-9.8,530,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2502,3343,3356,3330,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6363,-0.67,-97.3,2103,2502,3356,3330,736.5,-9.6,545,6367,0.00,2.35,0.00,0.000,516,0.000,0.050,2104,1107,3342,3356,3329,0,0,0,0,0,0,15.08,14.50,15.10
$GC,6394,-0.67,-97.3,2103,1107,3356,3330,739.7,-10.1,551,6399,0.00,2.42,0.00,0.000,1030,0.000,0.058,2092,2501,3342,3356,3329,0,0,0,0,0,0,14.57,14.45,14.61
$GC,6705,-0.67,-97.3,2092,2501,3355,3328,769.9,-9.7,568,6712,0.00,2.45,0.00,0.000,260,0.000,0.086,2082,3894,3341,3355,3328,0,0,0,0,0,0,15.09,14.35,15.11
$GC,6751,-0.67,-97.3,2082,3894,3355,3328,774.6,-10.5,577,6756,0.12,2.28,0.00,0.000,3078,0.207,0.037,2112,2496,3341,3354,3328,0,0,0,0,0,0,14.28,14.58,14.47
$GC,7069,-0.67,-97.3,2112,2494,3354,3327,802.1,-8.6,595,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3340,3354,3327,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7368,-0.67,-97.3,2111,2494,3353,3326,828.0,-8.7,610,7373,0.00,2.35,0.00,0.000,516,0.000,0.051,2112,1105,3339,3353,3326,0,0,0,0,0,0,15.09,14.46,15.11
$GC,7423,-0.67,-97.3,2112,1105,3352,3325,832.7,-8.8,620,7429,0.00,2.42,0.00,0.000,1030,0.000,0.058,2103,2505,3339,3352,3326,0,0,0,0,0,0,14.54,14.42,14.58
$GC,7730,-0.67,-97.3,2102,2505,3352,3325,860.7,-9.0,637,7738,0.00,2.45,0.00,0.000,260,0.000,0.088,2091,3893,3338,3352,3325,0,0,0,0,0,0,15.08,14.31,15.11
$GC,7807,-0.67,-97.3,2091,3893,3352,3325,867.8,-9.4,652,7811,0.00,2.28,0.00,0.000,1030,0.000,0.037,2091,2502,3338,3352,3325,0,0,0,0,0,0,14.62,14.55,14.65
$GC,8110,-0.67,-97.3,2091,2500,3351,3324,896.1,-9.1,668,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2501,3338,3352,3324,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8411,-0.67,-97.3,2091,2500,3350,3323,922.7,-8.6,683,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3336,3350,3323,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8712,-0.67,-97.3,2091,2501,3350,3323,948.7,-8.7,698,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3336,3349,3323,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9010,-0.67,-97.3,2091,2500,3348,3321,974.4,-8.6,713,9018,0.00,2.50,0.00,0.000,260,0.000,0.090,2081,3894,3334,3348,3321,0,0,0,0,0,0,15.08,14.27,15.11
$GC,9055,-0.67,-97.3,2081,3894,3348,3321,978.5,-9.4,722,9061,0.12,2.30,0.00,0.000,3078,0.203,0.038,2111,2493,3334,3348,3321,0,0,0,0,0,0,14.23,14.52,14.42
$STATE,9209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9210,begin apogee
$GC,9218,-0.15,0.0,2111,2491,3348,3321,990.8,-7.7,732,9316,0.57,0.00,93.47,1.981,10246,0.161,0.000,2278,2491,2967,3000,2935,0,0,0,0,0,0,14.14,13.97,12.58
$STATE,9317,end apogee,CONTROL_FINISHED_OK
$STATE,9317,begin climb
$GC,9320,0.67,97.3,2278,2491,2999,2935,993.1,0.0,737,9431,0.82,0.00,105.30,1.968,10246,0.088,0.000,2553,2491,2570,2602,2538,0,0,0,0,0,0,14.18,13.53,12.58
$GC,9738,0.67,97.3,2552,2491,2592,2534,972.2,7.7,758,9743,0.00,2.47,0.00,0.000,516,0.000,0.053,2563,1043,2563,2592,2534,0,0,0,0,0,0,14.85,14.44,14.88
$GC,9820,0.68,97.3,2563,1043,2590,2534,965.7,7.5,774,9825,0.00,2.45,0.00,0.000,1094,0.000,0.057,2563,2451,2561,2590,2533,0,0,0,0,0,0,14.54,14.44,14.59
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$STATE,21394,end climb,SURFACE_DEPTH_REACHED
$STATE,21394,begin surface coast
$STATE,21417,end surface coast,CONTROL_FINISHED_OK
$STATE,21417,begin surface
$SM_CCo,21438,89.18,0.587,1,0,928,500.17
$SM_GC,1.27,7.75,0.10,89.18,0.061,0.140,0.587,123,2527,928,-6.78,-0.85,500.17,0,0,0,0,1,0,14.52,14.52,13.59
$IRIDIUM_FIX,607.74,8306.76,101219,022903
$TT8_MAMPS,0.018725,0.158788
$HUMID,49.64
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.57,197.267
$10V_AH,13.14,0.000
$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,20.100,218.625,488.775,89.175,0.000,0.000,0.000,259.750,0.000,0.000,14.926,1724.156,15957.120,743.359,2951.297,557.574,0.000,2507.673,0.000,2678.049,0.000,0.539,0.000
$DEVICE_MAMPS,345.015,139.995,1981.350,586.755,0.000,0.000,0.000,180.540,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,927.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250588
$DATA_FILE_SIZE,83244,1885
$CAP_FILE_SIZE,208550,0
$CFSIZE,260034560,134438912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.163,66.37,1
$GPS,101219,144839,610.622,8307.071,15,0.8,15,-1.9,1.2,222.7,8,5.6