version: 66.13
glider: 171
mission: 11
dive: 651
start: 12 29 119 3 46 24
data:
$ID,171
$MISSION,11
$DIVE,651
$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,21
$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
$GPS1,291219,033925,506.7225,8204.1260,13,0.7,29,-2.1,0.3,264.3,12,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.9
$GPS2,291219,034531,506.6996,8204.0107,3,0.6,4,-2.1,0.9,306.6,12,4.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,223.0,173889,-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,-97.3,99,2498,984,871,0.0,0.0,0,88,0.00,0.00,-76.45,0.005,16386,0.000,0.000,99,2499,2697,2698,2697,0,0,0,0,0,0,14.83,28.83,14.86
$GC,92,-0.67,-97.3,99,2499,2700,2697,5.0,-13.9,16,120,9.45,2.33,-12.55,0.010,19204,0.351,0.063,2108,1106,3367,3380,3354,0,0,0,0,0,0,13.83,13.38,14.30
$GC,258,-0.67,-97.3,2107,1106,3380,3354,48.8,-17.5,49,263,0.00,2.42,0.00,0.000,1030,0.000,0.061,2098,2510,3367,3380,3354,0,0,0,0,0,0,14.52,14.40,14.56
$GC,450,-0.67,-97.3,2098,2510,3381,3354,82.1,-14.1,69,456,0.00,2.40,0.00,0.000,260,0.000,0.081,2088,3896,3367,3381,3354,0,0,0,0,0,0,14.99,14.37,15.02
$GC,667,-0.67,-97.3,2087,3896,3382,3354,113.7,-13.5,112,672,0.00,2.25,0.00,0.000,1030,0.000,0.032,2088,2486,3368,3382,3354,0,0,0,0,0,0,14.66,14.59,14.68
$GC,853,-0.67,-97.3,2087,2486,3383,3354,138.7,-13.2,131,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2486,3368,3383,3354,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1033,-0.67,-97.3,2087,2486,3383,3353,163.4,-13.7,149,1040,0.00,2.47,0.00,0.000,260,0.000,0.081,2077,3903,3368,3383,3354,0,0,0,0,0,0,15.03,14.40,15.07
$GC,1077,-0.67,-97.3,2077,3903,3383,3354,169.6,-13.8,158,1082,0.15,2.25,0.00,0.000,3078,0.212,0.033,2112,2492,3368,3383,3353,0,0,0,0,0,0,14.26,14.62,14.47
$GC,1263,-0.67,-97.3,2112,2492,3383,3354,191.2,-11.7,177,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2492,3368,3383,3353,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1442,-0.67,-97.3,2112,2492,3382,3353,212.1,-11.4,195,1447,0.00,2.47,0.00,0.000,260,0.000,0.080,2104,3894,3367,3381,3353,0,0,0,0,0,0,15.06,14.39,15.08
$GC,1470,-0.67,-97.3,2103,3894,3381,3353,215.3,-11.8,200,1474,0.00,2.22,0.00,0.000,1030,0.000,0.032,2104,2508,3367,3381,3353,0,0,0,0,0,0,14.69,14.62,14.71
$GC,1656,-0.67,-97.3,2103,2506,3379,3353,236.7,-11.4,219,1661,0.00,2.45,0.00,0.000,260,0.000,0.083,2092,3900,3366,3379,3353,0,0,0,0,0,0,15.04,14.38,15.07
$GC,1683,-0.67,-97.3,2092,3900,3379,3353,240.0,-11.6,224,1687,0.00,2.25,0.00,0.000,1030,0.000,0.033,2093,2499,3366,3379,3353,0,0,0,0,0,0,14.68,14.62,14.70
$GC,1869,-0.67,-97.3,2092,2497,3378,3353,262.2,-12.1,238,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2497,3365,3378,3353,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2168,-0.67,-97.3,2092,2497,3375,3353,299.7,-12.6,253,2174,0.00,2.45,0.00,0.000,260,0.000,0.083,2082,3893,3363,3375,3352,0,0,0,0,0,0,15.07,14.38,15.10
$GC,2188,-0.67,-97.3,2081,3893,3375,3352,302.3,-12.9,257,2193,0.12,2.25,0.00,0.000,3078,0.210,0.034,2111,2492,3363,3374,3352,0,0,0,0,0,0,14.31,14.61,14.50
$GC,2512,-0.67,-97.3,2110,2491,3374,3348,339.2,-11.3,276,2518,0.00,2.47,0.00,0.000,260,0.000,0.083,2102,3893,3361,3374,3348,0,0,0,0,0,0,15.07,14.36,15.09
$GC,2535,-0.67,-97.3,2101,3893,3374,3348,342.2,-12.1,281,2540,0.00,2.25,0.00,0.000,1030,0.000,0.033,2102,2499,3361,3374,3348,0,0,0,0,0,0,14.67,14.61,14.69
$GC,2852,-0.67,-97.3,2101,2498,3372,3347,378.9,-11.4,299,2856,0.00,2.33,0.00,0.000,516,0.000,0.048,2102,1102,3359,3372,3346,0,0,0,0,0,0,15.07,14.50,15.09
$GC,2890,-0.67,-97.3,2101,1102,3371,3346,383.2,-11.4,306,2897,0.00,2.42,0.00,0.000,1030,0.000,0.057,2090,2507,3358,3371,3346,0,0,0,0,0,0,14.56,14.45,14.60
$GC,3214,-0.67,-97.3,2090,2507,3371,3345,421.0,-11.6,326,3218,0.00,2.42,0.00,0.000,260,0.000,0.084,2080,3893,3358,3371,3345,0,0,0,0,0,0,15.07,14.34,15.10
$GC,3292,-0.67,-97.3,2080,3893,3370,3345,430.1,-12.1,341,3297,0.12,2.28,0.00,0.000,3078,0.208,0.034,2109,2492,3357,3370,3344,0,0,0,0,0,0,14.28,14.58,14.46
$GC,3595,-0.67,-97.3,2109,2491,3368,3342,461.4,-10.2,357,3599,0.00,2.30,0.00,0.000,516,0.000,0.047,2109,1108,3355,3368,3342,0,0,0,0,0,0,15.07,14.48,15.09
$GC,3621,-0.67,-97.3,2109,1108,3368,3341,464.1,-10.9,362,3625,0.00,2.40,0.00,0.000,1030,0.000,0.056,2100,2503,3355,3368,3342,0,0,0,0,0,0,14.55,14.43,14.59
$GC,3939,-0.67,-97.3,2100,2503,3367,3340,497.7,-10.8,380,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2503,3353,3367,3340,0,0,0,0,0,0,15.05,15.09,15.08
$GC,4238,-0.67,-97.3,2100,2503,3366,3339,530.4,-10.6,395,4242,0.00,2.45,0.00,0.000,260,0.000,0.086,2089,3894,3352,3366,3339,0,0,0,0,0,0,15.07,14.31,15.10
$GC,4316,-0.67,-97.3,2089,3894,3365,3339,538.7,-10.3,410,4320,0.00,2.28,0.00,0.000,1030,0.000,0.034,2089,2499,3352,3365,3339,0,0,0,0,0,0,14.62,14.56,14.65
$GC,4622,-0.67,-97.3,2089,2498,3363,3338,570.6,-10.4,426,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2497,3350,3363,3338,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4921,-0.67,-97.3,2089,2498,3362,3337,602.3,-10.8,441,4927,0.00,2.50,0.00,0.000,260,0.000,0.086,2078,3898,3349,3362,3336,0,0,0,0,0,0,15.07,14.28,15.10
$GC,4994,-0.67,-97.3,2078,3899,3362,3337,610.5,-11.8,455,4999,0.12,2.28,0.00,0.000,3078,0.203,0.035,2108,2501,3349,3362,3336,0,0,0,0,0,0,14.23,14.54,14.42
$GC,5307,-0.67,-97.3,2107,2500,3362,3335,642.0,-9.9,472,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2500,3348,3362,3335,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5606,-0.67,-97.3,2107,2500,3361,3334,670.4,-9.3,487,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2500,3348,3362,3334,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5907,-0.67,-97.3,2107,2500,3360,3333,697.2,-8.7,502,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2500,3346,3360,3333,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6206,-0.67,-97.3,2107,2500,3359,3332,722.6,-8.7,517,6212,0.00,2.50,0.00,0.000,260,0.000,0.088,2098,3891,3345,3359,3332,0,0,0,0,0,0,15.07,14.23,15.09
$GC,6236,-0.67,-97.3,2098,3892,3358,3332,725.4,-9.6,523,6241,0.00,2.28,0.00,0.000,1030,0.000,0.034,2098,2502,3345,3358,3332,0,0,0,0,0,0,14.58,14.52,14.61
$GC,6550,-0.67,-97.3,2098,2500,3357,3332,755.1,-9.7,540,6554,0.00,2.38,0.00,0.000,516,0.000,0.050,2098,1103,3344,3357,3331,0,0,0,0,0,0,15.05,14.38,15.07
$GC,6581,-0.67,-97.3,2098,1103,3356,3332,758.4,-10.1,546,6589,0.00,2.42,0.00,0.000,1030,0.000,0.057,2087,2500,3343,3356,3331,0,0,0,0,0,0,14.47,14.34,14.51
$GC,6893,-0.67,-97.3,2087,2500,3356,3330,790.2,-10.2,563,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2500,3343,3356,3330,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7192,-0.67,-97.3,2087,2500,3356,3330,820.9,-10.2,578,7196,0.00,2.50,0.00,0.000,260,0.000,0.087,2076,3892,3343,3356,3330,0,0,0,0,0,0,15.06,14.20,15.09
$GC,7248,-0.67,-97.3,2076,3892,3356,3329,827.0,-10.8,589,7255,0.15,2.30,0.00,0.000,3078,0.197,0.036,2112,2495,3343,3356,3330,0,0,0,0,0,0,14.13,14.47,14.33
$GC,7575,-0.67,-97.3,2112,2494,3356,3328,855.3,-8.7,609,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2495,3342,3356,3328,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7873,-0.67,-97.3,2112,2494,3355,3327,881.7,-8.9,624,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3341,3355,3327,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8174,-0.67,-97.3,2112,2494,3354,3327,908.6,-9.0,639,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3340,3354,3327,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8473,-0.67,-97.3,2112,2494,3353,3326,935.3,-8.8,654,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3339,3353,3326,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8773,-0.67,-97.3,2112,2494,3352,3325,960.6,-8.2,669,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3339,3353,3325,0,0,0,0,0,0,15.07,15.09,15.09
$GC,9075,-0.67,-97.3,2112,2494,3352,3325,985.2,-8.1,684,9079,0.00,2.58,0.00,0.000,260,0.000,0.090,2103,3897,3338,3352,3325,0,0,0,0,0,0,15.04,14.13,15.07
$GC,9106,-0.67,-97.3,2103,3897,3352,3325,988.0,-8.8,690,9110,0.00,2.30,0.00,0.000,1030,0.000,0.037,2103,2504,3338,3352,3324,0,0,0,0,0,0,14.51,14.44,14.54
$STATE,9134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9134,begin apogee
$GC,9142,-0.15,0.0,2103,2432,3351,3324,990.8,-8.9,693,9240,0.62,0.00,93.68,1.981,10246,0.164,0.000,2278,2432,2968,3002,2934,0,0,0,0,0,0,13.99,13.95,12.61
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9246,0.67,97.3,2278,2432,3000,2934,993.5,0.0,698,9356,0.82,0.00,104.88,1.959,10246,0.091,0.000,2549,2432,2571,2607,2536,0,0,0,0,0,0,14.16,13.53,12.56
$GC,9660,0.67,97.3,2549,2432,2595,2532,971.4,8.3,719,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2431,2564,2595,2533,0,0,0,0,0,0,14.85,14.88,14.88
$GC,9959,0.67,97.3,2548,2431,2593,2530,947.1,7.9,734,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2431,2561,2593,2530,0,0,0,0,0,0,14.95,14.97,14.97
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$STATE,21613,end climb,SURFACE_DEPTH_REACHED
$STATE,21613,begin surface coast
$STATE,21641,end surface coast,CONTROL_FINISHED_OK
$STATE,21641,begin surface
$SM_CCo,21662,150.82,0.673,1,0,928,500.17
$SM_GC,1.06,7.75,0.10,150.82,0.054,0.156,0.673,114,2498,928,-6.78,-1.10,500.17,0,0,0,0,1,0,14.52,14.50,13.47
$IRIDIUM_FIX,506.58,8215.16,281219,214216
$TT8_MAMPS,0.018725,0.159537
$HUMID,49.84
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,12.56,219.756
$10V_AH,13.12,0.000
$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,19.900,186.200,427.000,150.825,0.000,0.000,0.000,222.275,0.000,0.000,15.512,1667.306,16364.885,754.463,2824.804,573.194,0.000,2419.004,0.000,2590.138,0.000,0.539,0.000
$DEVICE_MAMPS,351.135,311.355,1980.585,673.200,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,926.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250392
$DATA_FILE_SIZE,79921,1823
$CAP_FILE_SIZE,201474,0
$CFSIZE,260034560,127434752
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,19348.06,0x2147a0,1,24
$INTR,1,20963.60,0x235770,1,24
$CURRENT,0.111,24.10,1
$GPS,291219,095110,506.819,8203.333,20,1.9,21,-2.1,0.5,232.9,5,9.8