version: 66.13
glider: 171
mission: 11
dive: 653
start: 12 29 119 15 37 33
data:
$ID,171
$MISSION,11
$DIVE,653
$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,71
$R_STBD_OVSHOOT,35
$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
$GPS1,291219,153030,507.1014,8202.4268,30,1.4,31,-2.1,0.6,251.6,7,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.7
$GPS2,291219,153639,507.0686,8202.3311,2,0.6,3,-2.1,0.2,259.6,12,6.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,222.7,170848,-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,6,begin dive
$GC,10,-0.67,-97.3,103,2509,968,883,0.0,0.0,0,88,0.00,0.00,-75.97,0.005,16386,0.000,0.000,101,2510,2732,2730,2735,0,0,0,0,0,0,14.84,28.83,14.87
$GC,93,-0.67,-97.3,101,2509,2731,2735,5.5,-16.0,16,119,9.40,2.35,-11.48,0.011,18948,0.349,0.071,2108,1124,3367,3380,3354,0,0,0,0,0,0,13.84,12.60,14.31
$GC,213,-0.67,-97.3,2107,1123,3381,3353,42.4,-23.0,40,217,0.00,2.40,0.00,0.000,1030,0.000,0.073,2098,2495,3367,3380,3354,0,0,0,0,0,0,14.52,14.38,14.56
$GC,407,-0.67,-97.3,2098,2495,3380,3354,75.7,-14.5,63,411,0.00,2.42,0.00,0.000,260,0.000,0.081,2087,3901,3367,3380,3354,0,0,0,0,0,0,14.97,14.40,15.00
$GC,640,-0.67,-97.3,2087,3902,3381,3354,111.9,-15.4,109,644,0.00,2.22,0.00,0.000,1030,0.000,0.032,2087,2503,3367,3381,3353,0,0,0,0,0,0,14.68,14.62,14.71
$GC,832,-0.67,-97.3,2087,2501,3381,3353,138.1,-13.9,129,836,0.00,2.42,0.00,0.000,260,0.000,0.082,2077,3896,3367,3381,3353,0,0,0,0,0,0,15.04,14.43,15.06
$GC,868,-0.67,-97.3,2076,3896,3381,3354,143.3,-14.1,136,873,0.15,2.22,0.00,0.000,3078,0.216,0.032,2112,2497,3367,3381,3354,0,0,0,0,0,0,14.27,14.64,14.49
$GC,1053,-0.67,-97.3,2111,2496,3381,3353,165.7,-11.8,155,1058,0.00,2.28,0.00,0.000,516,0.000,0.048,2112,1112,3367,3382,3353,0,0,0,0,0,0,15.06,14.54,15.09
$GC,1102,-0.67,-97.3,2112,1112,3381,3353,171.1,-10.9,164,1106,0.00,2.38,0.00,0.000,1030,0.000,0.056,2103,2511,3367,3381,3353,0,0,0,0,0,0,14.62,14.50,14.66
$GC,1285,-0.67,-97.3,2103,2511,3380,3353,191.2,-11.0,183,1290,0.00,2.38,0.00,0.000,260,0.000,0.080,2091,3893,3366,3380,3353,0,0,0,0,0,0,15.06,14.43,15.09
$GC,1314,-0.67,-97.3,2091,3893,3380,3353,194.3,-11.3,188,1319,0.00,2.22,0.00,0.000,1030,0.000,0.032,2091,2501,3366,3380,3353,0,0,0,0,0,0,14.71,14.64,14.72
$GC,1499,-0.67,-97.3,2091,2499,3378,3353,215.7,-11.8,207,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3365,3378,3353,0,0,0,0,0,0,15.05,15.08,15.08
$GC,1678,-0.67,-97.3,2091,2499,3377,3353,237.7,-12.0,225,1684,0.00,2.47,0.00,0.000,260,0.000,0.090,2081,3897,3364,3376,3353,0,0,0,0,0,0,15.07,14.40,15.09
$GC,1735,-0.67,-97.3,2081,3897,3376,3353,244.6,-12.4,236,1740,0.12,2.25,0.00,0.000,3078,0.210,0.033,2110,2496,3364,3376,3353,0,0,0,0,0,0,14.32,14.62,14.51
$GC,1928,-0.67,-97.3,2110,2494,3374,3351,265.2,-10.3,249,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3363,3374,3352,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2228,-0.67,-97.3,2110,2494,3373,3348,295.8,-10.4,264,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3361,3374,3348,0,0,0,0,0,0,15.07,15.10,15.10
$GC,2529,-0.67,-97.3,2110,2494,3372,3346,325.9,-9.9,279,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3358,3371,3346,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2828,-0.67,-97.3,2110,2494,3370,3344,355.3,-9.9,294,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3357,3370,3344,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3128,-0.67,-97.3,2110,2495,3368,3342,386.7,-10.9,309,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3354,3368,3341,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3429,-0.67,-97.3,2110,2495,3366,3340,420.0,-11.2,324,3434,0.00,2.50,0.00,0.000,260,0.000,0.089,2101,3893,3353,3366,3340,0,0,0,0,0,0,15.06,14.35,15.09
$GC,3481,-0.67,-97.3,2101,3893,3366,3339,426.1,-11.7,334,3485,0.00,2.25,0.00,0.000,1030,0.000,0.034,2101,2502,3353,3366,3340,0,0,0,0,0,0,14.67,14.61,14.70
$GC,3794,-0.67,-97.3,2101,2500,3364,3338,462.1,-11.4,351,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3351,3364,3338,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4092,-0.67,-97.3,2101,2500,3362,3337,494.9,-10.7,366,4096,0.00,2.33,0.00,0.000,516,0.000,0.049,2101,1109,3349,3362,3336,0,0,0,0,0,0,15.08,14.49,15.10
$GC,4133,-0.67,-97.3,2100,1109,3362,3337,499.3,-10.4,374,4141,0.00,2.42,0.00,0.000,1030,0.000,0.062,2090,2507,3349,3362,3337,0,0,0,0,0,0,14.55,14.43,14.59
$GC,4455,-0.67,-97.3,2090,2507,3361,3335,533.6,-10.8,393,4461,0.00,2.45,0.00,0.000,260,0.000,0.086,2079,3900,3348,3361,3335,0,0,0,0,0,0,15.07,14.31,15.09
$GC,4544,-0.67,-97.3,2079,3900,3361,3335,543.9,-11.4,411,4550,0.12,2.28,0.00,0.000,3078,0.207,0.036,2108,2503,3348,3361,3335,0,0,0,0,0,0,14.26,14.56,14.45
$GC,4860,-0.67,-97.3,2108,2502,3360,3333,575.2,-9.9,428,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2502,3346,3360,3333,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5158,-0.67,-97.3,2108,2502,3358,3333,603.7,-9.2,443,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2502,3345,3358,3333,0,0,0,0,0,0,15.08,15.11,15.10
$GC,5458,-0.67,-97.3,2108,2501,3357,3331,630.9,-9.0,458,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2502,3344,3357,3332,0,0,0,0,0,0,15.08,15.11,15.10
$GC,5759,-0.67,-97.3,2108,2502,3356,3330,658.0,-9.0,473,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2501,3343,3356,3330,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6058,-0.67,-97.3,2108,2502,3356,3330,685.0,-8.9,488,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2502,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6358,-0.67,-97.3,2108,2502,3355,3328,710.9,-8.5,503,6363,0.00,2.35,0.00,0.000,516,0.000,0.051,2109,1108,3341,3354,3328,0,0,0,0,0,0,15.07,14.41,15.10
$GC,6381,-0.67,-97.3,2108,1108,3354,3328,712.8,-8.6,507,6386,0.00,2.42,0.00,0.000,1030,0.000,0.060,2099,2503,3341,3354,3328,0,0,0,0,0,0,14.50,14.37,14.54
$GC,6703,-0.67,-97.3,2099,2504,3353,3327,742.1,-8.9,526,6711,0.00,2.45,0.00,0.000,260,0.000,0.086,2088,3892,3340,3353,3327,0,0,0,0,0,0,15.07,14.25,15.09
$GC,6763,-0.67,-97.3,2088,3892,3353,3327,747.9,-9.8,538,6767,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2500,3340,3353,3327,0,0,0,0,0,0,14.59,14.50,14.61
$GC,7086,-0.67,-97.3,2088,2499,3352,3326,779.0,-9.8,557,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2499,3339,3352,3326,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7385,-0.67,-97.3,2087,2499,3352,3325,808.4,-10.0,572,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2499,3338,3352,3325,0,0,0,0,0,0,15.06,15.09,15.09
$GC,7686,-0.67,-97.3,2087,2499,3351,3324,838.2,-9.9,587,7691,0.00,2.55,0.00,0.000,260,0.000,0.091,2077,3900,3337,3351,3324,0,0,0,0,0,0,15.05,14.21,15.08
$GC,7713,-0.67,-97.3,2077,3900,3350,3324,841.1,-11.2,592,7720,0.15,2.30,0.00,0.000,3078,0.195,0.037,2113,2500,3337,3350,3324,0,0,0,0,0,0,14.15,14.48,14.35
$GC,8028,-0.67,-97.3,2113,2499,3350,3323,867.6,-8.2,610,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2499,3336,3350,3323,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8329,-0.67,-97.3,2113,2499,3349,3323,892.9,-8.4,625,8336,0.00,2.53,0.00,0.000,260,0.000,0.092,2105,3892,3335,3349,3322,0,0,0,0,0,0,15.06,14.19,15.08
$GC,8358,-0.67,-97.3,2104,3891,3349,3322,895.6,-9.6,631,8363,0.00,2.30,0.00,0.000,1030,0.000,0.037,2105,2494,3335,3349,3322,0,0,0,0,0,0,14.54,14.47,14.57
$GC,8671,-0.67,-97.3,2104,2493,3348,3322,924.6,-9.5,648,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2493,3335,3348,3322,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8971,-0.67,-97.3,2104,2493,3348,3321,953.7,-9.6,663,8976,0.00,2.35,0.00,0.000,516,0.000,0.050,2105,1108,3334,3348,3321,0,0,0,0,0,0,15.05,14.34,15.07
$GC,8999,-0.67,-97.3,2104,1108,3347,3321,956.5,-10.1,668,9005,0.00,2.45,0.00,0.000,1030,0.000,0.062,2093,2499,3334,3347,3321,0,0,0,0,0,0,14.41,14.28,14.46
$GC,9313,-0.67,-97.3,2093,2499,3347,3320,987.9,-9.8,686,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3333,3347,3320,0,0,0,0,0,0,15.06,15.09,15.09
$STATE,9352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9352,begin apogee
$GC,9360,-0.15,0.0,2093,2499,3347,3320,991.7,-9.6,688,9456,0.68,0.00,92.53,1.974,10246,0.166,0.000,2282,2499,2968,3001,2935,0,0,0,0,0,0,13.98,13.95,12.62
$STATE,9457,end apogee,CONTROL_FINISHED_OK
$STATE,9457,begin climb
$GC,9460,0.67,97.3,2282,2499,2999,2935,994.8,0.0,693,9577,0.82,2.55,104.20,1.954,10756,0.084,0.048,2567,1046,2569,2601,2538,0,0,0,0,0,0,14.16,13.56,12.56
$GC,9615,0.71,97.3,2567,1046,2596,2537,993.4,6.1,724,9620,0.00,2.47,0.00,0.000,1094,0.000,0.057,2567,2449,2566,2596,2537,0,0,0,0,0,0,14.35,14.25,14.38
$GC,9920,0.71,97.3,2567,2449,2592,2534,967.4,8.9,740,9925,0.00,2.47,0.00,0.000,260,0.000,0.083,2567,3845,2563,2592,2534,0,0,0,0,0,0,14.90,14.33,14.92
$GC,9998,0.71,97.3,2567,3845,2590,2534,959.6,10.0,755,10002,0.00,2.33,0.00,0.000,1030,0.000,0.037,2578,2436,2562,2590,2534,0,0,0,0,0,0,14.57,14.51,14.60
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$STATE,22303,end climb,SURFACE_DEPTH_REACHED
$STATE,22303,begin surface coast
$STATE,22322,end surface coast,CONTROL_FINISHED_OK
$STATE,22322,begin surface
$SM_CCo,22343,127.62,0.648,1,0,928,500.17
$SM_GC,1.08,7.95,0.08,127.62,0.061,0.181,0.648,124,2497,928,-6.76,-1.10,500.17,0,0,0,0,1,0,14.50,14.51,13.50
$IRIDIUM_FIX,508.81,8204.14,291219,095348
$TT8_MAMPS,0.018725,0.156541
$HUMID,49.64
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,12.56,220.350
$10V_AH,12.78,0.000
$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,20.375,191.000,447.675,127.625,0.000,0.000,0.000,223.950,0.000,0.000,14.671,1729.670,16881.668,725.576,2954.927,553.812,0.000,2464.776,0.000,2706.083,0.000,0.539,0.000
$DEVICE_MAMPS,348.840,180.540,1973.700,647.955,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,958.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250372
$DATA_FILE_SIZE,83412,1905
$CAP_FILE_SIZE,207448,0
$CFSIZE,260034560,127242240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.088,350.97,1
$GPS,291219,215308,506.928,8201.011,13,0.9,13,-2.1,0.5,246.4,7,5.7