version: 66.13
glider: 171
mission: 11
dive: 579
start: 12 11 119 2 45 42
data:
$ID,171
$MISSION,11
$DIVE,579
$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,69
$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
$GPS1,111219,023830,610.5937,8306.8857,17,0.8,17,-1.9,0.6,274.0,7,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.9
$GPS2,111219,024449,610.5643,8306.8018,2,0.7,3,-1.9,0.6,265.2,12,7.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,252.5,23232,-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,-97.3,122,2537,973,878,0.0,0.0,0,84,0.00,0.00,-72.12,0.005,16386,0.000,0.000,122,2537,2602,2600,2605,0,0,0,0,0,0,14.83,28.83,14.86
$GC,88,-0.67,-97.3,121,2537,2601,2605,4.6,-12.6,15,120,9.12,2.47,-14.62,0.009,18948,0.345,0.070,2106,1104,3368,3383,3353,0,0,0,0,0,0,13.87,12.55,14.33
$GC,262,-0.67,-97.3,2106,1103,3383,3353,57.9,-26.3,50,267,0.00,2.33,0.00,0.000,1030,0.000,0.060,2097,2460,3368,3383,3353,0,0,0,0,0,0,14.59,14.48,14.62
$GC,447,-0.67,-97.3,2097,2460,3384,3353,96.9,-18.9,69,452,0.00,2.47,0.00,0.000,260,0.000,0.080,2086,3896,3368,3383,3353,0,0,0,0,0,0,15.00,14.45,15.02
$GC,680,-0.67,-97.3,2086,3896,3384,3353,133.6,-14.8,115,685,0.00,2.22,0.00,0.000,1030,0.000,0.033,2086,2493,3368,3384,3353,0,0,0,0,0,0,14.72,14.66,14.74
$GC,873,-0.67,-97.3,2086,2492,3384,3353,160.1,-13.7,135,877,0.00,2.42,0.00,0.000,260,0.000,0.079,2076,3896,3368,3384,3353,0,0,0,0,0,0,15.04,14.50,15.06
$GC,909,-0.67,-97.3,2075,3896,3384,3353,165.7,-15.4,142,915,0.15,2.22,0.00,0.000,3078,0.218,0.033,2111,2494,3369,3385,3353,0,0,0,0,0,0,14.33,14.67,14.54
$GC,1094,-0.67,-97.3,2111,2493,3384,3353,188.4,-11.3,161,1099,0.00,2.45,0.00,0.000,260,0.000,0.083,2102,3894,3368,3384,3353,0,0,0,0,0,0,15.06,14.50,15.09
$GC,1117,-0.67,-97.3,2102,3894,3384,3353,190.8,-11.4,165,1121,0.00,2.20,0.00,0.000,1030,0.000,0.032,2102,2503,3368,3384,3353,0,0,0,0,0,0,14.75,14.69,14.77
$GC,1308,-0.67,-97.3,2101,2501,3384,3353,212.7,-11.4,185,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2501,3368,3383,3353,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1489,-0.67,-97.3,2101,2501,3383,3353,235.2,-12.4,203,1496,0.00,2.45,0.00,0.000,260,0.000,0.087,2090,3902,3368,3383,3353,0,0,0,0,0,0,15.07,14.49,15.09
$GC,1523,-0.67,-97.3,2090,3902,3382,3353,239.7,-13.1,210,1528,0.00,2.28,0.00,0.000,1030,0.000,0.034,2090,2494,3367,3382,3353,0,0,0,0,0,0,14.75,14.68,14.77
$GC,1708,-0.67,-97.3,2090,2493,3381,3353,263.3,-12.3,224,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2493,3366,3380,3353,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2009,-0.67,-97.3,2090,2493,3377,3353,299.4,-11.8,239,2016,0.00,2.47,0.00,0.000,260,0.000,0.093,2080,3892,3364,3377,3352,0,0,0,0,0,0,15.09,14.45,15.11
$GC,2048,-0.67,-97.3,2080,3892,3377,3352,304.1,-11.8,247,2053,0.12,2.22,0.00,0.000,3078,0.211,0.034,2110,2495,3364,3377,3352,0,0,0,0,0,0,14.40,14.69,14.59
$GC,2370,-0.67,-97.3,2110,2494,3375,3350,336.6,-10.1,266,2375,0.00,2.47,0.00,0.000,260,0.000,0.084,2101,3898,3362,3375,3349,0,0,0,0,0,0,15.09,14.47,15.12
$GC,2399,-0.67,-97.3,2100,3898,3374,3349,339.5,-11.3,271,2403,0.00,2.25,0.00,0.000,1030,0.000,0.034,2101,2495,3362,3375,3349,0,0,0,0,0,0,14.75,14.69,14.77
$GC,2715,-0.67,-97.3,2101,2494,3373,3347,373.7,-10.8,289,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2494,3360,3373,3347,0,0,0,0,0,0,15.10,15.13,15.13
$GC,3016,-0.67,-97.3,2101,2494,3372,3345,405.7,-10.6,304,3022,0.00,2.45,0.00,0.000,260,0.000,0.086,2089,3891,3358,3371,3345,0,0,0,0,0,0,15.09,14.46,15.12
$GC,3060,-0.67,-97.3,2089,3892,3371,3345,410.7,-11.2,313,3064,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2492,3358,3371,3345,0,0,0,0,0,0,14.74,14.67,14.76
$GC,3376,-0.67,-97.3,2089,2491,3369,3343,446.3,-11.2,331,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2491,3356,3369,3343,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3677,-0.67,-97.3,2089,2491,3367,3341,479.7,-10.9,346,3682,0.00,2.47,0.00,0.000,260,0.000,0.086,2079,3899,3354,3367,3341,0,0,0,0,0,0,15.09,14.44,15.12
$GC,3719,-0.67,-97.3,2079,3898,3366,3340,484.8,-12.0,354,3724,0.12,2.25,0.00,0.000,3078,0.210,0.036,2109,2499,3354,3367,3341,0,0,0,0,0,0,14.37,14.66,14.55
$GC,4041,-0.67,-97.3,2109,2498,3366,3339,518.4,-10.3,373,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2498,3352,3366,3339,0,0,0,0,0,0,15.09,15.13,15.12
$GC,4342,-0.67,-97.3,2109,2498,3364,3338,548.3,-9.7,388,4346,0.00,2.30,0.00,0.000,516,0.000,0.050,2109,1109,3350,3364,3337,0,0,0,0,0,0,15.09,14.56,15.11
$GC,4379,-0.67,-97.3,2109,1109,3363,3338,551.9,-9.5,395,4385,0.00,2.40,0.00,0.000,1030,0.000,0.061,2100,2500,3350,3363,3337,0,0,0,0,0,0,14.62,14.50,14.66
$GC,4705,-0.67,-97.3,2100,2500,3362,3336,584.0,-9.8,415,4709,0.00,2.45,0.00,0.000,260,0.000,0.086,2089,3896,3349,3362,3336,0,0,0,0,0,0,15.08,14.41,15.10
$GC,4771,-0.67,-97.3,2089,3895,3362,3335,591.0,-10.3,428,4775,0.00,2.25,0.00,0.000,1030,0.000,0.036,2089,2503,3349,3362,3336,0,0,0,0,0,0,14.70,14.63,14.72
$GC,5087,-0.67,-97.3,2089,2502,3361,3334,623.0,-10.2,446,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3347,3361,3334,0,0,0,0,0,0,15.09,15.13,15.11
$GC,5389,-0.67,-97.3,2089,2502,3360,3333,652.5,-9.9,461,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3347,3361,3333,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5687,-0.67,-97.3,2088,2502,3359,3332,681.9,-9.7,476,5692,0.00,2.47,0.00,0.000,260,0.000,0.088,2078,3891,3345,3359,3332,0,0,0,0,0,0,15.09,14.38,15.12
$GC,5735,-0.67,-97.3,2078,3891,3358,3332,686.7,-10.5,485,5740,0.12,2.28,0.00,0.000,3078,0.208,0.036,2108,2491,3345,3358,3332,0,0,0,0,0,0,14.32,14.61,14.50
$GC,6053,-0.67,-97.3,2108,2489,3357,3331,714.2,-8.5,503,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2490,3344,3357,3331,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6352,-0.67,-97.3,2108,2489,3356,3330,739.8,-8.5,518,6357,0.00,2.33,0.00,0.000,516,0.000,0.050,2108,1099,3342,3356,3329,0,0,0,0,0,0,15.09,14.50,15.12
$GC,6390,-0.67,-97.3,2108,1099,3356,3330,743.1,-8.7,525,6394,0.00,2.42,0.00,0.000,1030,0.000,0.059,2099,2499,3342,3356,3329,0,0,0,0,0,0,14.57,14.45,14.61
$GC,6694,-0.67,-97.3,2099,2499,3356,3328,770.6,-9.1,541,6698,0.00,2.47,0.00,0.000,260,0.000,0.088,2088,3894,3342,3355,3329,0,0,0,0,0,0,15.09,14.34,15.11
$GC,6755,-0.67,-97.3,2088,3894,3355,3328,776.7,-10.0,553,6759,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2498,3341,3355,3328,0,0,0,0,0,0,14.65,14.58,14.68
$GC,7077,-0.67,-97.3,2088,2497,3354,3327,808.9,-10.2,572,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2497,3340,3354,3327,0,0,0,0,0,0,15.07,15.10,15.10
$GC,7376,-0.67,-97.3,2088,2497,3353,3326,838.6,-9.9,587,7381,0.00,2.53,0.00,0.000,260,0.000,0.091,2077,3899,3339,3353,3326,0,0,0,0,0,0,15.09,14.31,15.11
$GC,7413,-0.67,-97.3,2077,3899,3353,3326,842.4,-10.5,594,7419,0.12,2.30,0.00,0.000,3078,0.207,0.037,2108,2499,3339,3353,3326,0,0,0,0,0,0,14.26,14.55,14.45
$GC,7719,-0.67,-97.3,2108,2498,3353,3325,868.3,-8.2,610,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3339,3353,3325,0,0,0,0,0,0,15.07,15.10,15.10
$GC,8018,-0.67,-97.3,2108,2497,3352,3324,892.3,-7.9,625,8025,0.00,2.50,0.00,0.000,260,0.000,0.093,2099,3890,3338,3352,3324,0,0,0,0,0,0,15.09,14.29,15.11
$GC,8053,-0.67,-97.3,2099,3890,3352,3324,895.2,-8.6,632,8057,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2501,3337,3352,3323,0,0,0,0,0,0,14.62,14.54,14.65
$GC,8359,-0.67,-97.3,2098,2499,3351,3323,920.4,-8.3,648,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3337,3351,3324,0,0,0,0,0,0,15.07,15.10,15.10
$GC,8658,-0.67,-97.3,2099,2499,3350,3322,945.3,-8.3,663,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3336,3350,3323,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8959,-0.67,-97.3,2099,2499,3349,3321,970.1,-8.3,678,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3335,3350,3321,0,0,0,0,0,0,15.07,15.11,15.10
$STATE,9215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9215,begin apogee
$GC,9222,-0.15,0.0,2099,2499,3348,3321,991.7,-8.3,691,9320,0.62,0.00,93.65,1.990,10246,0.168,0.000,2276,2499,2968,3001,2936,0,0,0,0,0,0,14.11,13.97,12.57
$STATE,9321,end apogee,CONTROL_FINISHED_OK
$STATE,9321,begin climb
$GC,9324,0.67,97.3,2276,2499,2999,2936,994.0,0.0,696,9435,0.82,0.00,104.95,1.975,10246,0.090,0.000,2550,2499,2570,2602,2538,0,0,0,0,0,0,14.16,13.88,12.57
$GC,9743,0.67,97.3,2549,2499,2592,2534,972.1,7.8,717,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2498,2563,2592,2534,0,0,0,0,0,0,14.84,14.88,14.88
$GC,10038,0.68,97.3,2549,2499,2590,2533,949.6,7.3,732,10045,0.00,2.47,0.00,0.000,580,0.000,0.052,2560,1046,2562,2590,2534,0,0,0,0,0,0,14.97,14.48,15.00
$GC,10144,0.70,97.3,2560,1046,2588,2531,942.0,7.1,753,10149,0.00,2.40,0.00,0.000,1094,0.000,0.054,2560,2444,2559,2588,2531,0,0,0,0,0,0,14.58,14.47,14.62
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$STATE,21893,end climb,SURFACE_DEPTH_REACHED
$STATE,21893,begin surface coast
$STATE,21906,end surface coast,CONTROL_FINISHED_OK
$STATE,21907,begin surface
$SM_CCo,21930,105.38,0.614,1,0,929,500.17
$SM_GC,1.18,7.55,2.53,105.38,0.040,0.057,0.614,124,2497,929,-6.77,-0.82,500.17,0,0,0,0,1,0,14.53,14.37,13.57
$IRIDIUM_FIX,609.90,8306.76,101219,202322
$TT8_MAMPS,0.018725,0.158039
$HUMID,49.09
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.55,198.159
$10V_AH,12.69,0.000
$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
$DEVICE_SECS,19.600,218.750,471.200,105.375,0.000,0.000,0.000,234.225,0.000,0.000,15.121,1715.197,16517.639,741.589,2900.742,540.773,0.000,2462.481,0.000,2649.548,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,934.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250568
$DATA_FILE_SIZE,83278,1865
$CAP_FILE_SIZE,207740,0
$CFSIZE,260034560,134156288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.162,83.66,1
$GPS,111219,085409,610.316,8307.062,24,1.3,24,-1.9,0.2,236.4,6,10.0