version: 66.13
glider: 171
mission: 11
dive: 652
start: 12 29 119 9 58 22
data:
$ID,171
$MISSION,11
$DIVE,652
$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
$GPS1,291219,095110,506.8185,8203.3330,20,1.9,21,-2.1,0.5,232.9,5,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.9
$GPS2,291219,095729,506.7418,8203.1982,3,0.9,5,-2.1,1.3,228.3,12,5.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,230.0,172399,-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,-97.3,105,2498,969,882,0.0,0.0,0,88,0.00,0.00,-76.05,0.005,16386,0.000,0.000,104,2498,2695,2694,2697,0,0,0,0,0,0,14.83,28.83,14.86
$GC,92,-0.67,-97.3,104,2498,2696,2697,5.0,-14.5,16,120,9.38,2.47,-12.43,0.010,18692,0.348,0.103,2097,3896,3365,3379,3352,0,0,0,0,0,0,13.83,13.38,14.30
$GC,348,-0.67,-97.3,2097,3896,3380,3352,69.0,-15.8,67,354,0.00,2.25,0.00,0.000,1030,0.000,0.033,2097,2491,3366,3381,3352,0,0,0,0,0,0,14.63,14.57,14.65
$GC,542,-0.67,-97.3,2097,2491,3380,3352,95.5,-13.6,87,547,0.00,2.45,0.00,0.000,260,0.000,0.084,2086,3887,3366,3380,3352,0,0,0,0,0,0,14.99,14.35,15.02
$GC,774,-0.67,-97.3,2086,3887,3381,3352,126.2,-13.5,133,778,0.00,2.22,0.00,0.000,1030,0.000,0.032,2087,2491,3366,3381,3352,0,0,0,0,0,0,14.68,14.62,14.70
$GC,966,-0.67,-97.3,2086,2489,3381,3352,152.7,-13.7,153,972,0.00,2.45,0.00,0.000,260,0.000,0.081,2075,3894,3366,3381,3352,0,0,0,0,0,0,15.03,14.41,15.06
$GC,1114,-0.67,-97.3,2075,3894,3380,3352,173.5,-13.6,183,1120,0.15,2.22,0.00,0.000,3078,0.211,0.033,2111,2495,3366,3381,3352,0,0,0,0,0,0,14.26,14.62,14.47
$GC,1311,-0.67,-97.3,2111,2494,3380,3352,195.3,-10.9,203,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2494,3366,3380,3352,0,0,0,0,0,0,15.02,15.05,15.05
$GC,1497,-0.67,-97.3,2111,2494,3378,3352,217.3,-11.9,222,1503,0.00,2.25,0.00,0.000,516,0.000,0.047,2111,1118,3365,3378,3352,0,0,0,0,0,0,15.06,14.50,15.09
$GC,1516,-0.67,-97.3,2111,1117,3378,3352,219.4,-11.9,225,1520,0.00,2.35,0.00,0.000,1030,0.000,0.055,2102,2499,3365,3378,3352,0,0,0,0,0,0,14.60,14.49,14.64
$GC,1700,-0.67,-97.3,2102,2499,3376,3352,241.7,-12.1,244,1707,0.00,2.42,0.00,0.000,260,0.000,0.081,2091,3896,3364,3376,3352,0,0,0,0,0,0,15.05,14.40,15.08
$GC,1775,-0.67,-97.3,2090,3896,3375,3352,251.1,-12.5,259,1780,0.00,2.25,0.00,0.000,1030,0.000,0.033,2091,2494,3363,3375,3352,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2081,-0.67,-97.3,2090,2493,3372,3351,288.0,-11.8,275,2086,0.00,2.47,0.00,0.000,260,0.000,0.084,2080,3896,3361,3372,3351,0,0,0,0,0,0,15.06,14.40,15.09
$GC,2108,-0.67,-97.3,2080,3896,3372,3351,291.5,-13.3,280,2113,0.12,2.25,0.00,0.000,3078,0.209,0.033,2109,2495,3361,3372,3351,0,0,0,0,0,0,14.31,14.62,14.50
$GC,2425,-0.67,-97.3,2109,2494,3372,3347,325.1,-10.3,298,2429,0.00,2.30,0.00,0.000,516,0.000,0.052,2110,1115,3359,3371,3347,0,0,0,0,0,0,15.08,14.49,15.10
$GC,2451,-0.67,-97.3,2109,1115,3371,3347,327.8,-10.7,303,2457,0.00,2.38,0.00,0.000,1030,0.000,0.059,2100,2500,3359,3371,3347,0,0,0,0,0,0,14.59,14.47,14.63
$GC,2769,-0.67,-97.3,2100,2499,3370,3345,362.3,-11.1,321,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3357,3370,3345,0,0,0,0,0,0,15.07,15.10,15.10
$GC,3070,-0.67,-97.3,2100,2500,3368,3343,395.8,-11.4,336,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3355,3368,3343,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3369,-0.67,-97.3,2100,2500,3367,3340,430.0,-11.2,351,3374,0.00,2.45,0.00,0.000,260,0.000,0.083,2089,3897,3353,3366,3340,0,0,0,0,0,0,15.08,14.35,15.10
$GC,3431,-0.67,-97.3,2089,3897,3366,3340,437.3,-11.8,363,3436,0.00,2.25,0.00,0.000,1030,0.000,0.034,2089,2505,3353,3366,3340,0,0,0,0,0,0,14.66,14.59,14.69
$GC,3754,-0.67,-97.3,2089,2503,3364,3339,476.4,-12.1,382,3759,0.00,2.35,0.00,0.000,516,0.000,0.051,2089,1109,3351,3364,3339,0,0,0,0,0,0,15.07,14.45,15.09
$GC,3781,-0.67,-97.3,2089,1109,3363,3339,479.8,-12.7,387,3787,0.12,2.40,0.00,0.000,3078,0.207,0.059,2108,2499,3351,3363,3339,0,0,0,0,0,0,14.23,14.43,14.43
$GC,4100,-0.67,-97.3,2108,2499,3362,3338,515.2,-11.0,405,4106,0.00,2.45,0.00,0.000,260,0.000,0.084,2099,3894,3350,3362,3338,0,0,0,0,0,0,15.06,14.33,15.09
$GC,4123,-0.67,-97.3,2098,3894,3362,3338,518.0,-11.8,410,4128,0.00,2.28,0.00,0.000,1030,0.000,0.034,2099,2498,3350,3362,3338,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4440,-0.67,-97.3,2098,2497,3362,3336,552.0,-10.2,428,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3349,3362,3336,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4741,-0.67,-97.3,2099,2497,3361,3334,582.2,-10.1,443,4746,0.00,2.50,0.00,0.000,260,0.000,0.089,2088,3896,3347,3361,3334,0,0,0,0,0,0,15.07,14.31,15.10
$GC,4764,-0.67,-97.3,2087,3896,3360,3334,584.8,-10.4,447,4769,0.00,2.28,0.00,0.000,1030,0.000,0.036,2088,2506,3347,3360,3334,0,0,0,0,0,0,14.62,14.54,14.64
$GC,5086,-0.67,-97.3,2087,2504,3359,3333,621.4,-11.7,466,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2504,3346,3359,3333,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5387,-0.67,-97.3,2087,2504,3357,3332,656.5,-11.7,481,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2504,3345,3357,3333,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5687,-0.67,-97.3,2087,2504,3356,3331,690.4,-11.2,496,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2504,3343,3356,3331,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5986,-0.67,-97.3,2087,2504,3356,3330,723.8,-11.1,511,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2504,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6287,-0.67,-97.3,2087,2504,3355,3329,757.7,-11.4,526,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2504,3342,3355,3329,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6586,-0.67,-97.3,2087,2504,3354,3328,792.5,-11.7,541,6591,0.00,2.40,0.00,0.000,516,0.000,0.051,2088,1098,3340,3353,3328,0,0,0,0,0,0,15.07,14.38,15.09
$GC,6640,-0.67,-97.3,2087,1098,3353,3327,798.6,-11.7,551,6646,0.15,2.45,0.00,0.000,3078,0.196,0.060,2113,2497,3340,3353,3328,0,0,0,0,0,0,14.12,14.34,14.33
$GC,6954,-0.67,-97.3,2112,2497,3353,3326,830.7,-9.9,568,6960,0.00,2.50,0.00,0.000,260,0.000,0.090,2104,3895,3339,3353,3326,0,0,0,0,0,0,15.06,14.21,15.09
$GC,6994,-0.67,-97.3,2104,3895,3352,3326,834.8,-10.4,576,6998,0.00,2.33,0.00,0.000,1030,0.000,0.039,2104,2499,3339,3353,3326,0,0,0,0,0,0,14.53,14.45,14.57
$GC,7316,-0.67,-97.3,2104,2497,3352,3326,865.7,-9.0,595,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3339,3352,3326,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7615,-0.67,-97.3,2103,2498,3351,3325,890.8,-8.1,610,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3338,3351,3325,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7915,-0.67,-97.3,2104,2498,3350,3324,914.5,-7.9,625,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2497,3337,3351,3323,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8217,-0.67,-97.3,2104,2498,3350,3323,939.3,-8.7,640,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3336,3350,3323,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8515,-0.67,-97.3,2104,2498,3348,3322,966.4,-9.1,655,8520,0.00,2.40,0.00,0.000,516,0.000,0.052,2104,1099,3335,3348,3322,0,0,0,0,0,0,15.06,14.32,15.09
$GC,8543,-0.67,-97.3,2103,1099,3348,3321,968.9,-9.7,660,8549,0.00,2.47,0.00,0.000,1030,0.000,0.063,2092,2497,3334,3348,3321,0,0,0,0,0,0,14.39,14.24,14.44
$STATE,8754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8754,begin apogee
$GC,8763,-0.15,0.0,2092,2420,3348,3321,990.0,-9.9,673,8860,0.65,0.00,93.07,1.977,10246,0.168,0.000,2275,2420,2968,3001,2935,0,0,0,0,0,0,13.98,13.95,12.62
$STATE,8861,end apogee,CONTROL_FINISHED_OK
$STATE,8861,begin climb
$GC,8864,0.67,97.3,2275,2420,2999,2935,993.7,0.0,678,8980,0.85,2.40,104.28,1.960,10756,0.093,0.052,2563,1050,2569,2602,2537,0,0,0,0,0,0,14.14,13.56,12.57
$GC,9018,0.72,151.0,2562,1050,2596,2535,993.0,5.0,709,9081,0.00,2.47,55.47,1.941,9254,0.000,0.061,2563,2442,2351,2393,2310,0,0,0,0,0,0,14.33,14.23,12.62
$GC,9398,0.72,151.0,2563,2442,2384,2305,955.0,10.7,740,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2441,2344,2384,2305,0,0,0,0,0,0,14.88,14.91,14.91
$GC,9698,0.72,151.0,2563,2441,2382,2303,923.7,10.7,755,9703,0.00,2.38,0.00,0.000,516,0.000,0.053,2574,1056,2342,2382,2303,0,0,0,0,0,0,14.97,14.45,15.00
$GC,9750,0.72,151.0,2574,1056,2380,2302,918.1,10.8,765,9756,0.00,2.42,0.00,0.000,1030,0.000,0.060,2574,2445,2341,2380,2302,0,0,0,0,0,0,14.54,14.42,14.59
$GC,10061,0.72,151.0,2574,2446,2379,2302,883.6,11.3,782,10066,0.00,2.40,0.00,0.000,516,0.000,0.051,2586,1055,2341,2380,2302,0,0,0,0,0,0,15.00,14.45,15.02
$GC,10115,0.72,151.0,2586,1055,2379,2301,877.8,11.2,792,10119,0.00,2.40,0.00,0.000,1030,0.000,0.054,2586,2441,2340,2379,2301,0,0,0,0,0,0,14.54,14.42,14.59
$GC,10427,0.72,151.0,2586,2441,2379,2301,842.0,11.4,809,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2441,2340,2379,2301,0,0,0,0,0,0,15.01,15.04,15.04
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$STATE,19665,end climb,SURFACE_DEPTH_REACHED
$STATE,19665,begin surface coast
$STATE,19701,end surface coast,CONTROL_FINISHED_OK
$STATE,19701,begin surface
$SM_CCo,19721,122.38,0.635,1,0,929,500.17
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$IRIDIUM_FIX,504.32,8206.58,291219,034154
$TT8_MAMPS,0.018725,0.160286
$HUMID,49.88
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,12.57,220.059
$10V_AH,11.28,0.000
$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,19.925,201.250,463.775,122.375,0.000,0.000,0.000,229.500,0.250,0.000,16.621,1583.586,14652.502,727.117,2732.002,532.941,0.000,2383.979,0.000,2484.602,0.000,0.540,0.000
$DEVICE_MAMPS,348.075,149.175,1976.760,634.950,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,896.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250352
$DATA_FILE_SIZE,76589,1748
$CAP_FILE_SIZE,194500,0
$CFSIZE,260034560,127352832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.139,27.54,1
$GPS,291219,153030,507.101,8202.427,30,1.4,31,-2.1,0.6,251.6,7,5.2