version: 66.13
glider: 171
mission: 11
dive: 649
start: 12 28 119 15 31 21
data:
$ID,171
$MISSION,11
$DIVE,649
$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,26
$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
$GPS1,281219,152401,506.2994,8207.4375,31,0.7,33,-2.1,1.4,265.7,11,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.3
$GPS2,281219,153026,506.2690,8207.3066,2,0.6,3,-2.1,0.8,271.4,12,5.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,225.7,179901,-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,-97.3,107,2505,972,880,0.0,0.0,0,93,0.00,0.00,-81.62,0.005,16386,0.000,0.000,104,2505,2852,2849,2855,0,0,0,0,0,0,14.85,28.83,14.88
$GC,97,-0.67,-97.3,104,2505,2849,2855,5.5,-16.5,17,124,9.35,2.45,-9.30,0.012,19204,0.347,0.092,2096,3903,3368,3380,3356,0,0,0,0,0,0,13.85,12.61,14.32
$GC,352,-0.67,-97.3,2095,3903,3380,3355,73.6,-14.5,68,358,0.00,2.25,0.00,0.000,1030,0.000,0.032,2095,2494,3367,3380,3355,0,0,0,0,0,0,14.66,14.59,14.68
$GC,539,-0.67,-97.3,2095,2493,3380,3356,101.2,-15.2,87,546,0.00,2.47,0.00,0.000,260,0.000,0.090,2085,3896,3368,3380,3356,0,0,0,0,0,0,15.01,14.38,15.03
$GC,773,-0.67,-97.3,2085,3896,3381,3356,135.2,-15.5,134,778,0.00,2.22,0.00,0.000,1030,0.000,0.031,2085,2497,3368,3381,3356,0,0,0,0,0,0,14.71,14.64,14.73
$GC,960,-0.67,-97.3,2084,2495,3381,3356,161.7,-13.5,153,965,0.00,2.47,0.00,0.000,260,0.000,0.085,2074,3899,3368,3381,3355,0,0,0,0,0,0,15.04,14.44,15.06
$GC,1008,-0.67,-97.3,2074,3899,3381,3355,168.6,-14.8,162,1013,0.15,2.22,0.00,0.000,3078,0.213,0.032,2110,2496,3368,3381,3356,0,0,0,0,0,0,14.30,14.66,14.52
$GC,1194,-0.67,-97.3,2109,2494,3380,3355,190.4,-11.2,181,1200,0.00,2.42,0.00,0.000,260,0.000,0.080,2101,3893,3368,3380,3356,0,0,0,0,0,0,15.05,14.44,15.08
$GC,1247,-0.67,-97.3,2100,3893,3380,3355,196.6,-11.3,192,1252,0.00,2.22,0.00,0.000,1030,0.000,0.032,2101,2497,3367,3380,3355,0,0,0,0,0,0,14.72,14.66,14.74
$GC,1432,-0.67,-97.3,2100,2495,3378,3355,217.3,-11.6,211,1437,0.00,2.28,0.00,0.000,516,0.000,0.046,2101,1111,3366,3378,3355,0,0,0,0,0,0,15.07,14.56,15.09
$GC,1470,-0.67,-97.3,2100,1110,3377,3355,221.4,-10.9,218,1475,0.00,2.35,0.00,0.000,1030,0.000,0.054,2090,2505,3366,3377,3355,0,0,0,0,0,0,14.52,14.47,14.57
$GC,1654,-0.67,-97.3,2090,2505,3376,3355,242.5,-11.4,237,1658,0.00,2.40,0.00,0.000,260,0.000,0.081,2079,3893,3365,3376,3355,0,0,0,0,0,0,15.07,14.43,15.09
$GC,1720,-0.67,-97.3,2079,3893,3375,3355,250.5,-12.0,250,1725,0.12,2.22,0.00,0.000,3078,0.211,0.033,2108,2498,3365,3375,3355,0,0,0,0,0,0,14.35,14.65,14.53
$GC,1907,-0.67,-97.3,2108,2497,3374,3354,269.4,-10.2,260,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3363,3374,3353,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2205,-0.67,-97.3,2108,2497,3373,3349,300.4,-10.4,275,2210,0.00,2.45,0.00,0.000,260,0.000,0.083,2099,3893,3361,3373,3349,0,0,0,0,0,0,15.08,14.42,15.11
$GC,2248,-0.67,-97.3,2099,3893,3373,3349,304.9,-11.0,283,2253,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2500,3361,3373,3349,0,0,0,0,0,0,14.71,14.64,14.73
$GC,2570,-0.67,-97.3,2099,2499,3371,3347,340.1,-11.0,302,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2498,3359,3371,3347,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2870,-0.67,-97.3,2099,2499,3368,3345,373.8,-11.4,317,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3357,3369,3345,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3171,-0.67,-97.3,2099,2499,3367,3343,406.8,-10.7,332,3176,0.00,2.45,0.00,0.000,260,0.000,0.083,2088,3893,3355,3367,3343,0,0,0,0,0,0,15.07,14.39,15.09
$GC,3203,-0.67,-97.3,2088,3893,3367,3343,410.5,-11.2,338,3207,0.00,2.25,0.00,0.000,1030,0.000,0.034,2088,2499,3354,3366,3343,0,0,0,0,0,0,14.69,14.63,14.71
$GC,3514,-0.67,-97.3,2088,2497,3365,3340,446.2,-11.7,355,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2497,3352,3365,3340,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3815,-0.67,-97.3,2088,2497,3363,3339,482.4,-12.3,370,3824,0.00,2.47,0.00,0.000,260,0.000,0.084,2077,3897,3351,3363,3339,0,0,0,0,0,0,15.07,14.36,15.10
$GC,3845,-0.67,-97.3,2077,3897,3363,3338,486.4,-12.8,376,3851,0.12,2.28,0.00,0.000,3078,0.211,0.035,2108,2492,3351,3363,3339,0,0,0,0,0,0,14.29,14.60,14.49
$GC,4160,-0.67,-97.3,2107,2491,3362,3337,520.3,-10.7,393,4164,0.00,2.33,0.00,0.000,516,0.000,0.048,2108,1104,3349,3362,3337,0,0,0,0,0,0,15.07,14.49,15.09
$GC,4222,-0.67,-97.3,2108,1103,3361,3337,527.1,-10.5,405,4226,0.00,2.40,0.00,0.000,1030,0.000,0.056,2099,2501,3349,3361,3337,0,0,0,0,0,0,14.57,14.45,14.61
$GC,4543,-0.67,-97.3,2098,2501,3360,3335,561.1,-10.2,424,4548,0.00,2.45,0.00,0.000,260,0.000,0.085,2088,3897,3347,3360,3335,0,0,0,0,0,0,15.08,14.34,15.11
$GC,4618,-0.67,-97.3,2087,3897,3359,3335,568.8,-10.6,438,4622,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2497,3347,3359,3335,0,0,0,0,0,0,14.65,14.59,14.68
$GC,4929,-0.67,-97.3,2087,2495,3358,3334,601.5,-10.6,455,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2495,3346,3358,3334,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5230,-0.67,-97.3,2087,2495,3356,3333,633.9,-11.2,470,5237,0.00,2.47,0.00,0.000,260,0.000,0.084,2077,3893,3344,3356,3332,0,0,0,0,0,0,15.07,14.31,15.09
$GC,5274,-0.67,-97.3,2077,3893,3356,3332,639.2,-11.8,479,5282,0.15,2.28,0.00,0.000,3078,0.199,0.035,2113,2493,3344,3356,3332,0,0,0,0,0,0,14.23,14.57,14.43
$GC,5590,-0.67,-97.3,2113,2493,3356,3331,670.2,-9.7,497,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2492,3343,3356,3331,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5891,-0.67,-97.3,2113,2493,3355,3330,698.7,-9.3,512,5896,0.00,2.53,0.00,0.000,260,0.000,0.086,2105,3899,3342,3355,3330,0,0,0,0,0,0,15.07,14.28,15.09
$GC,5923,-0.67,-97.3,2104,3899,3354,3330,702.0,-9.8,518,5927,0.00,2.28,0.00,0.000,1030,0.000,0.035,2104,2503,3342,3354,3330,0,0,0,0,0,0,14.62,14.55,14.65
$GC,6234,-0.67,-97.3,2104,2502,3353,3329,730.1,-8.7,535,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2502,3341,3354,3329,0,0,0,0,0,0,15.07,15.11,15.11
$GC,6535,-0.67,-97.3,2104,2502,3353,3327,755.3,-8.2,550,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2502,3340,3354,3327,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6835,-0.67,-97.3,2105,2502,3352,3326,780.5,-8.4,565,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2502,3339,3352,3327,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7135,-0.67,-97.3,2104,2502,3352,3326,807.1,-9.0,580,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2502,3338,3351,3326,0,0,0,0,0,0,15.06,15.09,15.09
$GC,7434,-0.67,-97.3,2104,2502,3350,3325,834.9,-9.5,595,7438,0.00,2.50,0.00,0.000,260,0.000,0.087,2093,3892,3337,3350,3325,0,0,0,0,0,0,15.07,14.23,15.10
$GC,7466,-0.67,-97.3,2093,3891,3350,3325,838.1,-10.5,601,7470,0.00,2.28,0.00,0.000,1030,0.000,0.036,2093,2500,3337,3350,3325,0,0,0,0,0,0,14.58,14.51,14.61
$GC,7778,-0.67,-97.3,2093,2499,3349,3324,871.1,-10.7,618,7783,0.00,2.35,0.00,0.000,516,0.000,0.050,2093,1108,3336,3349,3324,0,0,0,0,0,0,15.05,14.38,15.08
$GC,7809,-0.67,-97.3,2093,1108,3348,3324,874.7,-11.3,624,7816,0.12,2.45,0.00,0.000,3078,0.205,0.058,2112,2500,3336,3348,3324,0,0,0,0,0,0,14.14,14.33,14.34
$GC,8123,-0.67,-97.3,2112,2500,3348,3323,904.6,-9.4,641,8130,0.00,2.47,0.00,0.000,260,0.000,0.087,2103,3891,3335,3348,3323,0,0,0,0,0,0,15.06,14.21,15.08
$GC,8149,-0.67,-97.3,2103,3891,3348,3323,907.0,-10.0,646,8153,0.00,2.30,0.00,0.000,1030,0.000,0.036,2103,2492,3335,3348,3323,0,0,0,0,0,0,14.56,14.49,14.59
$GC,8465,-0.67,-97.3,2103,2491,3347,3323,937.7,-9.5,664,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2491,3334,3347,3322,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8765,-0.67,-97.3,2103,2491,3346,3322,965.1,-8.8,679,8774,0.00,2.53,0.00,0.000,260,0.000,0.087,2092,3891,3333,3345,3322,0,0,0,0,0,0,15.07,14.18,15.09
$GC,8807,-0.67,-97.3,2091,3891,3346,3322,968.9,-9.2,687,8811,0.00,2.30,0.00,0.000,1030,0.000,0.037,2092,2494,3333,3345,3322,0,0,0,0,0,0,14.54,14.47,14.57
$STATE,9045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9045,begin apogee
$GC,9053,-0.15,0.0,2092,2493,3345,3322,990.8,-9.0,702,9149,0.65,0.00,92.70,1.976,10246,0.167,0.000,2276,2493,2968,3000,2936,0,0,0,0,0,0,14.02,13.95,12.58
$STATE,9150,end apogee,CONTROL_FINISHED_OK
$STATE,9150,begin climb
$GC,9155,0.67,97.3,2276,2493,2999,2935,993.0,0.0,707,9269,0.82,0.00,105.12,1.958,10246,0.093,0.000,2546,2492,2570,2602,2538,0,0,0,0,0,0,14.15,13.90,12.58
$GC,9571,0.67,97.3,2546,2492,2593,2534,970.1,7.7,728,9576,0.00,2.47,0.00,0.000,516,0.000,0.050,2557,1047,2563,2592,2534,0,0,0,0,0,0,14.86,14.42,14.89
$GC,9619,0.67,97.3,2557,1047,2591,2534,966.3,7.6,737,9623,0.00,2.42,0.00,0.000,1030,0.000,0.054,2557,2444,2562,2591,2534,0,0,0,0,0,0,14.52,14.41,14.57
$GC,9937,0.69,97.3,2557,2444,2591,2532,942.4,7.2,755,9941,0.00,2.40,0.00,0.000,580,0.000,0.050,2568,1043,2561,2591,2532,0,0,0,0,0,0,14.97,14.45,15.00
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$STATE,21857,end climb,SURFACE_DEPTH_REACHED
$STATE,21857,begin surface coast
$STATE,21867,end surface coast,CONTROL_FINISHED_OK
$STATE,21867,begin surface
$SM_CCo,21889,118.82,0.640,1,0,928,500.17
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$IRIDIUM_FIX,504.32,8206.58,281219,093915
$TT8_MAMPS,0.017976,0.161035
$HUMID,50.07
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,12.58,219.157
$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
$DEVICE_SECS,20.325,214.925,458.675,118.825,0.000,0.000,0.000,241.025,0.000,0.000,14.819,1707.302,16465.076,765.246,2904.102,554.221,0.000,2497.542,0.000,2646.556,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,932.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250332
$DATA_FILE_SIZE,80030,1863
$CAP_FILE_SIZE,207728,0
$CFSIZE,260034560,127610880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,327.81,1
$GPS,281219,213927,506.239,8205.480,31,0.9,31,-2.1,1.2,267.0,10,3.6