version: 66.13
glider: 171
mission: 11
dive: 647
start: 12 28 119 3 49 43
data:
$ID,171
$MISSION,11
$DIVE,647
$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,56
$R_STBD_OVSHOOT,30
$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
$GPS1,281219,034240,506.0417,8210.5127,24,1.4,25,-2.1,0.6,233.1,7,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.1
$GPS2,281219,034849,505.9905,8210.4092,2,0.6,3,-2.1,0.9,217.9,12,7.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,233.3,185582,-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,-97.3,100,2502,972,878,0.0,0.0,0,88,0.00,0.00,-76.70,0.005,16386,0.000,0.000,98,2502,2708,2706,2711,0,0,0,0,0,0,14.83,28.83,14.85
$GC,92,-0.67,-97.3,98,2502,2707,2711,5.0,-14.2,16,120,9.27,2.35,-12.43,0.010,18948,0.343,0.067,2104,1103,3367,3382,3352,0,0,0,0,0,0,13.82,13.37,14.29
$GC,258,-0.67,-97.3,2103,1103,3382,3352,51.3,-20.4,49,263,0.00,2.42,0.00,0.000,1030,0.000,0.066,2094,2502,3367,3382,3352,0,0,0,0,0,0,14.52,14.40,14.56
$GC,444,-0.67,-97.3,2094,2502,3383,3352,81.7,-13.8,68,448,0.00,2.40,0.00,0.000,260,0.000,0.077,2084,3896,3367,3383,3352,0,0,0,0,0,0,14.98,14.38,15.00
$GC,531,-0.67,-97.3,2083,3896,3383,3352,95.6,-16.6,85,536,0.00,2.25,0.00,0.000,1030,0.000,0.032,2084,2492,3367,3383,3352,0,0,0,0,0,0,14.65,14.59,14.68
$GC,716,-0.67,-97.3,2083,2491,3384,3352,122.3,-13.8,104,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2491,3368,3384,3352,0,0,0,0,0,0,15.02,15.05,15.04
$GC,896,-0.67,-97.3,2083,2491,3384,3352,147.0,-13.5,122,901,0.00,2.45,0.00,0.000,260,0.000,0.078,2073,3896,3368,3384,3352,0,0,0,0,0,0,15.03,14.41,15.06
$GC,1003,-0.67,-97.3,2072,3896,3383,3352,162.3,-14.5,143,1010,0.12,2.22,0.00,0.000,3078,0.187,0.031,2109,2489,3368,3384,3352,0,0,0,0,0,0,14.19,14.61,14.32
$GC,1189,-0.67,-97.3,2109,2488,3383,3352,185.0,-12.3,162,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2488,3368,3384,3352,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1369,-0.67,-97.3,2109,2488,3383,3352,207.3,-12.9,180,1375,0.00,2.45,0.00,0.000,260,0.000,0.080,2100,3894,3367,3383,3352,0,0,0,0,0,0,15.06,14.40,15.08
$GC,1433,-0.67,-97.3,2100,3894,3382,3352,215.5,-12.4,193,1437,0.00,2.22,0.00,0.000,1030,0.000,0.031,2100,2503,3367,3382,3352,0,0,0,0,0,0,14.69,14.64,14.71
$GC,1620,-0.67,-97.3,2100,2501,3381,3351,238.1,-11.9,212,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2502,3366,3380,3352,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1808,-0.67,-97.3,2100,2502,3378,3351,260.3,-11.8,227,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2502,3365,3379,3351,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2109,-0.67,-97.3,2100,2502,3375,3351,295.1,-11.4,242,2117,0.00,2.45,0.00,0.000,260,0.000,0.082,2089,3896,3363,3376,3351,0,0,0,0,0,0,15.07,14.38,15.09
$GC,2159,-0.67,-97.3,2089,3896,3375,3351,301.0,-11.6,252,2163,0.00,2.25,0.00,0.000,1030,0.000,0.032,2089,2494,3363,3375,3351,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2472,-0.67,-97.3,2089,2492,3374,3348,336.1,-11.2,269,2478,0.00,2.47,0.00,0.000,260,0.000,0.082,2078,3900,3361,3374,3348,0,0,0,0,0,0,15.07,14.38,15.09
$GC,2516,-0.67,-97.3,2078,3900,3373,3348,341.4,-11.8,278,2521,0.12,2.25,0.00,0.000,3078,0.210,0.034,2108,2501,3360,3373,3348,0,0,0,0,0,0,14.30,14.62,14.49
$GC,2834,-0.67,-97.3,2107,2500,3372,3346,373.9,-10.2,296,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3359,3372,3346,0,0,0,0,0,0,15.07,15.10,15.10
$GC,3134,-0.67,-97.3,2108,2500,3371,3345,405.0,-10.4,311,3139,0.00,2.47,0.00,0.000,260,0.000,0.084,2099,3900,3358,3371,3345,0,0,0,0,0,0,15.07,14.35,15.09
$GC,3176,-0.67,-97.3,2098,3900,3370,3345,409.7,-10.9,319,3181,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2503,3357,3370,3344,0,0,0,0,0,0,14.67,14.61,14.69
$GC,3498,-0.67,-97.3,2098,2502,3368,3341,444.7,-10.8,338,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3355,3368,3342,0,0,0,0,0,0,15.07,15.10,15.10
$GC,3799,-0.67,-97.3,2098,2501,3367,3340,476.8,-10.7,353,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2501,3353,3367,3340,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4099,-0.67,-97.3,2098,2502,3366,3339,508.8,-10.7,368,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2502,3352,3366,3339,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4398,-0.67,-97.3,2098,2502,3365,3338,541.0,-10.8,383,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3351,3365,3338,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4699,-0.67,-97.3,2098,2502,3363,3336,573.0,-10.7,398,4707,0.00,2.47,0.00,0.000,260,0.000,0.086,2088,3894,3349,3363,3336,0,0,0,0,0,0,15.07,14.30,15.09
$GC,4749,-0.67,-97.3,2087,3894,3362,3336,578.6,-11.2,408,4753,0.00,2.28,0.00,0.000,1030,0.000,0.034,2087,2494,3349,3363,3336,0,0,0,0,0,0,14.64,14.57,14.66
$GC,5063,-0.67,-97.3,2087,2492,3362,3335,614.1,-11.2,425,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2492,3348,3362,3335,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5363,-0.67,-97.3,2087,2492,3361,3334,646.3,-10.7,440,5370,0.00,2.50,0.00,0.000,260,0.000,0.086,2077,3893,3347,3361,3334,0,0,0,0,0,0,15.05,14.28,15.08
$GC,5392,-0.67,-97.3,2077,3893,3361,3334,649.6,-11.0,446,5400,0.15,2.28,0.00,0.000,3078,0.199,0.034,2114,2493,3347,3361,3334,0,0,0,0,0,0,14.21,14.54,14.40
$GC,5703,-0.67,-97.3,2113,2493,3360,3333,675.3,-7.9,463,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2493,3346,3360,3333,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6002,-0.67,-97.3,2113,2493,3359,3332,698.9,-8.0,478,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2493,3345,3359,3332,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6302,-0.67,-97.3,2113,2493,3358,3332,724.2,-8.6,493,6306,0.00,2.33,0.00,0.000,516,0.000,0.049,2114,1112,3344,3357,3331,0,0,0,0,0,0,15.07,14.42,15.09
$GC,6324,-0.67,-97.3,2114,1112,3357,3331,726.1,-9.1,497,6331,0.00,2.42,0.00,0.000,1030,0.000,0.057,2105,2510,3344,3357,3331,0,0,0,0,0,0,14.48,14.36,14.53
$GC,6644,-0.67,-97.3,2104,2510,3356,3330,756.9,-9.9,516,6648,0.00,2.47,0.00,0.000,260,0.000,0.087,2093,3896,3343,3356,3330,0,0,0,0,0,0,15.07,14.23,15.09
$GC,6692,-0.67,-97.3,2093,3896,3356,3330,761.8,-10.5,525,6696,0.00,2.28,0.00,0.000,1030,0.000,0.035,2093,2504,3343,3356,3330,0,0,0,0,0,0,14.59,14.52,14.61
$GC,7009,-0.67,-97.3,2093,2503,3356,3329,794.5,-10.2,543,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2503,3342,3356,3329,0,0,0,0,0,0,15.05,15.09,15.09
$GC,7308,-0.67,-97.3,2093,2503,3356,3328,824.0,-9.7,558,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2503,3341,3355,3328,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7608,-0.67,-97.3,2093,2503,3355,3327,853.5,-9.9,573,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2503,3340,3354,3327,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7910,-0.67,-97.3,2093,2503,3354,3327,883.5,-10.0,588,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2503,3340,3353,3327,0,0,0,0,0,0,15.05,15.09,15.08
$GC,8208,-0.67,-97.3,2093,2503,3353,3326,912.9,-9.6,603,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2503,3339,3353,3326,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8511,-0.67,-97.3,2093,2503,3352,3325,940.4,-9.1,618,8518,0.00,2.53,0.00,0.000,260,0.000,0.090,2083,3896,3338,3352,3325,0,0,0,0,0,0,15.04,14.17,15.07
$GC,8561,-0.67,-97.3,2083,3896,3352,3325,945.5,-9.9,628,8566,0.12,2.30,0.00,0.000,3078,0.204,0.036,2112,2497,3338,3352,3325,0,0,0,0,0,0,14.16,14.47,14.33
$GC,8873,-0.67,-97.3,2112,2497,3351,3324,971.6,-8.3,645,8877,0.00,2.35,0.00,0.000,516,0.000,0.050,2112,1109,3338,3352,3324,0,0,0,0,0,0,15.06,14.34,15.09
$GC,8900,-0.67,-97.3,2112,1109,3351,3324,973.9,-8.8,650,8907,0.00,2.45,0.00,0.000,1030,0.000,0.057,2103,2510,3337,3351,3324,0,0,0,0,0,0,14.41,14.28,14.46
$STATE,9091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9091,begin apogee
$GC,9099,-0.15,0.0,2103,2434,3351,3324,991.0,-8.9,662,9196,0.62,0.00,92.85,1.998,10246,0.164,0.000,2278,2434,2968,3001,2935,0,0,0,0,0,0,14.00,13.94,12.58
$STATE,9197,end apogee,CONTROL_FINISHED_OK
$STATE,9197,begin climb
$GC,9201,0.67,97.3,2278,2434,2999,2935,993.8,0.0,667,9316,0.82,2.47,103.68,1.981,10756,0.092,0.050,2559,1051,2570,2602,2538,0,0,0,0,0,0,14.14,13.95,12.55
$GC,9363,0.71,139.8,2559,1051,2596,2536,991.2,5.7,700,9413,0.00,2.45,43.62,1.945,9254,0.000,0.055,2559,2445,2398,2437,2360,0,0,0,0,0,0,14.36,14.26,12.61
$GC,9715,0.71,139.8,2558,2445,2427,2355,957.1,10.4,725,9719,0.00,2.38,0.00,0.000,516,0.000,0.050,2570,1057,2390,2426,2355,0,0,0,0,0,0,14.87,14.42,14.89
$GC,9781,0.71,139.8,2569,1057,2425,2354,950.1,10.3,738,9787,0.00,2.40,0.00,0.000,1030,0.000,0.057,2570,2440,2389,2425,2354,0,0,0,0,0,0,14.52,14.42,14.57
$GC,10099,0.71,139.8,2570,2441,2425,2353,916.4,10.7,756,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2441,2389,2425,2353,0,0,0,0,0,0,14.95,14.99,14.98
$GC,10396,0.71,139.8,2570,2441,2424,2352,885.0,10.2,771,10400,0.00,2.38,0.00,0.000,516,0.000,0.051,2580,1056,2388,2424,2352,0,0,0,0,0,0,15.01,14.45,15.04
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$STATE,20567,end climb,SURFACE_DEPTH_REACHED
$STATE,20567,begin surface coast
$STATE,20597,end surface coast,CONTROL_FINISHED_OK
$STATE,20598,begin surface
$SM_CCo,20618,130.95,0.645,1,0,929,500.17
$SM_GC,1.15,7.50,0.08,130.95,0.054,0.167,0.645,110,2504,929,-6.79,-1.07,500.17,0,0,0,0,1,0,14.56,14.61,13.52
$IRIDIUM_FIX,504.45,8202.00,271219,213802
$TT8_MAMPS,0.018725,0.155043
$HUMID,49.64
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,12.55,218.559
$10V_AH,12.47,0.000
$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,19.825,186.475,450.875,130.950,0.000,0.000,0.000,221.150,0.250,0.000,14.876,1596.323,15574.722,721.415,2700.259,531.733,0.000,2346.509,0.000,2467.460,0.000,0.540,0.000
$DEVICE_MAMPS,343.485,166.770,1998.180,644.895,0.000,0.000,0.000,188.955,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,923.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250340
$DATA_FILE_SIZE,76603,1736
$CAP_FILE_SIZE,194424,0
$CFSIZE,260034560,127807488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.086,356.61,1
$GPS,281219,093640,505.954,8208.750,15,1.2,16,-2.1,0.9,229.4,6,8.1