version: 66.13
glider: 171
mission: 11
dive: 648
start: 12 28 119 9 43 58
data:
$ID,171
$MISSION,11
$DIVE,648
$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,58
$R_STBD_OVSHOOT,36
$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
$GPS1,281219,093640,505.9539,8208.7500,15,1.2,16,-2.1,0.9,229.4,6,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.9
$GPS2,281219,094305,505.8834,8208.6006,4,1.2,6,-2.1,0.9,220.7,6,9.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,235.6,182239,-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,10,-0.67,-97.3,83,2506,969,883,0.0,0.0,0,88,0.00,0.00,-76.22,0.005,16386,0.000,0.000,82,2506,2693,2691,2696,0,0,0,0,0,0,14.84,28.83,14.87
$GC,92,-0.67,-97.3,82,2506,2692,2696,4.8,-13.0,16,121,9.40,2.38,-12.80,0.010,18692,0.346,0.088,2094,3890,3366,3381,3352,0,0,0,0,0,0,13.85,13.40,14.31
$GC,349,-0.67,-97.3,2093,3890,3382,3352,70.7,-17.7,67,355,0.00,2.22,0.00,0.000,1030,0.000,0.033,2094,2501,3367,3382,3353,0,0,0,0,0,0,14.64,14.58,14.66
$GC,543,-0.67,-97.3,2094,2499,3382,3353,96.1,-11.9,87,548,0.00,2.40,0.00,0.000,260,0.000,0.078,2084,3886,3367,3382,3352,0,0,0,0,0,0,15.00,14.42,15.02
$GC,775,-0.67,-97.3,2083,3886,3383,3352,129.1,-13.6,133,779,0.00,2.22,0.00,0.000,1030,0.000,0.033,2084,2489,3367,3383,3352,0,0,0,0,0,0,14.69,14.63,14.72
$GC,967,-0.67,-97.3,2083,2488,3383,3353,156.3,-14.1,153,973,0.00,2.42,0.00,0.000,260,0.000,0.078,2073,3890,3367,3383,3352,0,0,0,0,0,0,15.04,14.44,15.07
$GC,1103,-0.67,-97.3,2073,3890,3383,3352,175.6,-13.9,180,1108,0.15,2.22,0.00,0.000,3078,0.211,0.033,2108,2494,3367,3383,3352,0,0,0,0,0,0,14.29,14.64,14.50
$GC,1287,-0.67,-97.3,2108,2492,3382,3352,196.9,-10.9,199,1292,0.00,2.42,0.00,0.000,260,0.000,0.080,2099,3887,3367,3382,3352,0,0,0,0,0,0,15.04,14.44,15.07
$GC,1339,-0.67,-97.3,2099,3887,3381,3352,202.9,-11.4,209,1343,0.00,2.20,0.00,0.000,1030,0.000,0.032,2099,2502,3367,3382,3352,0,0,0,0,0,0,14.71,14.65,14.73
$GC,1531,-0.67,-97.3,2099,2501,3380,3352,224.9,-11.7,229,1535,0.00,2.28,0.00,0.000,516,0.000,0.046,2099,1110,3365,3379,3352,0,0,0,0,0,0,15.06,14.55,15.08
$GC,1568,-0.67,-97.3,2099,1109,3379,3352,229.3,-11.9,236,1572,0.00,2.38,0.00,0.000,1030,0.000,0.058,2089,2498,3365,3379,3352,0,0,0,0,0,0,14.62,14.51,14.66
$GC,1752,-0.67,-97.3,2088,2498,3377,3352,252.7,-12.7,254,1756,0.00,2.40,0.00,0.000,260,0.000,0.080,2078,3893,3364,3377,3352,0,0,0,0,0,0,15.07,14.43,15.09
$GC,1814,-0.67,-97.3,2078,3893,3377,3352,260.6,-13.0,266,1819,0.12,2.22,0.00,0.000,3078,0.212,0.033,2108,2498,3364,3377,3352,0,0,0,0,0,0,14.33,14.64,14.52
$GC,2136,-0.67,-97.3,2107,2497,3374,3351,298.7,-11.8,285,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3362,3374,3351,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2438,-0.67,-97.3,2107,2497,3373,3348,332.1,-10.9,300,2445,0.00,2.45,0.00,0.000,260,0.000,0.084,2098,3893,3360,3372,3348,0,0,0,0,0,0,15.07,14.40,15.09
$GC,2467,-0.67,-97.3,2098,3893,3372,3347,335.5,-12.1,306,2471,0.00,2.22,0.00,0.000,1030,0.000,0.033,2099,2504,3359,3372,3347,0,0,0,0,0,0,14.70,14.63,14.72
$GC,2778,-0.67,-97.3,2098,2503,3371,3345,370.8,-11.5,323,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2503,3358,3371,3345,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3079,-0.67,-97.3,2098,2503,3369,3343,406.1,-12.0,338,3086,0.00,2.47,0.00,0.000,260,0.000,0.087,2087,3900,3356,3369,3343,0,0,0,0,0,0,15.07,14.38,15.09
$GC,3133,-0.67,-97.3,2087,3900,3368,3343,412.8,-12.0,349,3137,0.00,2.28,0.00,0.000,1030,0.000,0.034,2087,2497,3355,3368,3343,0,0,0,0,0,0,14.67,14.61,14.70
$GC,3438,-0.67,-97.3,2087,2496,3367,3340,448.8,-11.8,365,3442,0.00,2.33,0.00,0.000,516,0.000,0.048,2087,1105,3353,3367,3340,0,0,0,0,0,0,15.08,14.51,15.11
$GC,3461,-0.67,-97.3,2087,1105,3367,3340,451.4,-11.9,369,3468,0.15,2.40,0.00,0.000,3078,0.200,0.057,2113,2501,3353,3366,3340,0,0,0,0,0,0,14.25,14.45,14.44
$GC,3780,-0.67,-97.3,2112,2501,3366,3339,483.4,-9.6,388,3787,0.00,2.45,0.00,0.000,260,0.000,0.084,2104,3900,3352,3365,3339,0,0,0,0,0,0,15.08,14.35,15.11
$GC,3842,-0.67,-97.3,2104,3900,3365,3339,489.4,-10.0,400,3846,0.00,2.28,0.00,0.000,1030,0.000,0.035,2104,2495,3352,3365,3339,0,0,0,0,0,0,14.66,14.59,14.69
$GC,4163,-0.67,-97.3,2104,2494,3363,3337,521.3,-9.8,419,4168,0.00,2.33,0.00,0.000,516,0.000,0.049,2104,1101,3350,3363,3337,0,0,0,0,0,0,15.08,14.49,15.11
$GC,4201,-0.67,-97.3,2103,1100,3362,3337,525.1,-9.9,426,4209,0.00,2.42,0.00,0.000,1030,0.000,0.057,2092,2503,3349,3362,3337,0,0,0,0,0,0,14.55,14.43,14.59
$GC,4527,-0.67,-97.3,2092,2503,3362,3335,558.3,-10.3,446,4535,0.00,2.45,0.00,0.000,260,0.000,0.084,2082,3900,3348,3362,3335,0,0,0,0,0,0,15.07,14.33,15.09
$GC,4583,-0.67,-97.3,2082,3900,3362,3335,564.6,-11.1,457,4588,0.12,2.30,0.00,0.000,3078,0.205,0.036,2111,2491,3348,3361,3335,0,0,0,0,0,0,14.27,14.57,14.46
$GC,4889,-0.67,-97.3,2111,2490,3361,3334,594.6,-9.9,473,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2490,3347,3360,3334,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5188,-0.67,-97.3,2111,2490,3359,3333,624.2,-9.8,488,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2490,3346,3359,3333,0,0,0,0,0,0,15.07,15.11,15.10
$GC,5488,-0.67,-97.3,2112,2490,3357,3332,654.0,-10.2,503,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2490,3344,3357,3332,0,0,0,0,0,0,15.08,15.11,15.10
$GC,5789,-0.67,-97.3,2111,2490,3357,3331,684.9,-10.3,518,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2490,3343,3356,3331,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6088,-0.67,-97.3,2111,2490,3356,3330,713.7,-9.3,533,6095,0.00,2.53,0.00,0.000,260,0.000,0.087,2102,3900,3343,3356,3330,0,0,0,0,0,0,15.08,14.27,15.10
$GC,6128,-0.67,-97.3,2102,3900,3356,3330,717.4,-9.5,541,6132,0.00,2.30,0.00,0.000,1030,0.000,0.036,2102,2501,3343,3356,3330,0,0,0,0,0,0,14.60,14.53,14.63
$GC,6451,-0.67,-97.3,2102,2499,3355,3328,746.9,-9.1,560,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2500,3342,3355,3329,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6749,-0.67,-97.3,2102,2500,3354,3327,774.1,-9.4,575,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2499,3340,3354,3327,0,0,0,0,0,0,15.07,15.11,15.10
$GC,7049,-0.67,-97.3,2102,2500,3353,3326,802.8,-9.7,590,7056,0.00,2.50,0.00,0.000,260,0.000,0.088,2091,3893,3339,3353,3326,0,0,0,0,0,0,15.07,14.23,15.09
$GC,7085,-0.67,-97.3,2091,3893,3353,3326,806.4,-10.3,597,7089,0.00,2.30,0.00,0.000,1030,0.000,0.036,2091,2495,3339,3353,3326,0,0,0,0,0,0,14.57,14.51,14.60
$GC,7389,-0.67,-97.3,2090,2494,3351,3325,837.9,-10.4,613,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2494,3338,3352,3325,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7690,-0.67,-97.3,2090,2494,3352,3324,869.0,-10.2,628,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2493,3338,3352,3324,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7990,-0.67,-97.3,2090,2494,3351,3324,899.2,-10.0,643,7995,0.00,2.53,0.00,0.000,260,0.000,0.087,2081,3896,3337,3351,3323,0,0,0,0,0,0,15.06,14.21,15.08
$GC,8042,-0.67,-97.3,2080,3896,3350,3323,904.7,-10.5,653,8047,0.12,2.30,0.00,0.000,3078,0.206,0.037,2110,2495,3336,3350,3323,0,0,0,0,0,0,14.17,14.48,14.35
$GC,8357,-0.67,-97.3,2110,2494,3350,3323,931.9,-9.0,670,8361,0.00,2.35,0.00,0.000,516,0.000,0.051,2110,1108,3336,3350,3322,0,0,0,0,0,0,15.04,14.36,15.07
$GC,8383,-0.67,-97.3,2110,1108,3349,3322,934.7,-9.6,675,8388,0.00,2.45,0.00,0.000,1030,0.000,0.059,2101,2506,3335,3349,3322,0,0,0,0,0,0,14.43,14.31,14.47
$GC,8700,-0.67,-97.3,2101,2506,3349,3321,965.7,-9.8,693,8707,0.00,2.47,0.00,0.000,260,0.000,0.088,2090,3891,3335,3349,3321,0,0,0,0,0,0,15.06,14.19,15.09
$GC,8762,-0.67,-97.3,2090,3891,3348,3321,971.9,-10.4,705,8766,0.00,2.33,0.00,0.000,1030,0.000,0.037,2090,2495,3334,3348,3321,0,0,0,0,0,0,14.53,14.45,14.56
$STATE,8940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8940,begin apogee
$GC,8947,-0.15,0.0,2090,2494,3348,3321,990.5,-10.1,717,9044,0.68,0.00,92.78,1.991,10246,0.168,0.000,2279,2494,2968,3000,2936,0,0,0,0,0,0,14.00,13.95,12.58
$STATE,9045,end apogee,CONTROL_FINISHED_OK
$STATE,9045,begin climb
$GC,9049,0.67,97.3,2279,2494,2999,2935,993.9,0.0,722,9162,0.82,2.50,104.75,1.975,10500,0.089,0.083,2551,3857,2569,2601,2538,0,0,0,0,0,0,14.16,13.96,12.57
$GC,9192,0.72,147.5,2551,3857,2595,2538,993.6,5.2,739,9253,0.00,2.38,51.92,1.943,9254,0.000,0.036,2562,2436,2365,2405,2326,0,0,0,0,0,0,14.35,14.30,12.62
$GC,9565,0.72,147.5,2562,2436,2396,2322,956.5,10.8,769,9569,0.00,2.35,0.00,0.000,516,0.000,0.053,2573,1054,2358,2396,2321,0,0,0,0,0,0,14.88,14.42,14.91
$GC,9658,0.72,147.5,2573,1053,2394,2320,947.0,10.4,787,9663,0.00,2.42,0.00,0.000,1030,0.000,0.063,2573,2442,2357,2394,2320,0,0,0,0,0,0,14.53,14.42,14.58
$GC,9972,0.72,147.5,2572,2442,2393,2319,913.1,11.0,804,9976,0.00,2.40,0.00,0.000,516,0.000,0.054,2584,1047,2356,2394,2319,0,0,0,0,0,0,14.97,14.45,15.00
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$STATE,20180,end climb,SURFACE_DEPTH_REACHED
$STATE,20180,begin surface coast
$STATE,20210,end surface coast,CONTROL_FINISHED_OK
$STATE,20210,begin surface
$SM_CCo,20232,90.15,0.581,1,0,928,500.17
$SM_GC,1.14,7.30,0.10,90.15,0.050,0.164,0.581,129,2503,928,-6.77,-0.74,500.17,0,0,0,0,1,0,14.52,14.51,13.59
$IRIDIUM_FIX,504.39,8213.02,281219,034513
$TT8_MAMPS,0.018725,0.159537
$HUMID,48.77
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.57,218.864
$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,20.000,205.700,497.325,90.150,0.000,0.000,0.000,239.300,0.000,0.000,17.616,1600.644,15082.841,744.134,2747.271,534.903,0.000,2407.764,0.000,2488.553,0.000,0.539,0.000
$DEVICE_MAMPS,345.780,164.475,1991.295,580.635,0.000,0.000,0.000,180.540,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,916.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250408
$DATA_FILE_SIZE,76693,1751
$CAP_FILE_SIZE,195854,0
$CFSIZE,260034560,127717376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.118,20.42,1
$GPS,281219,152401,506.299,8207.438,31,0.7,33,-2.1,1.4,265.7,11,3.5