version: 66.13
glider: 171
mission: 11
dive: 654
start: 12 29 119 22 0 30
data:
$ID,171
$MISSION,11
$DIVE,654
$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,72
$R_STBD_OVSHOOT,29
$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
$GPS1,291219,215308,506.9280,8201.0107,13,0.9,13,-2.1,0.5,246.4,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.2
$GPS2,291219,215937,506.8835,8200.8828,3,0.9,5,-2.1,0.8,252.6,7,6.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,234.4,168159,-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,-97.3,113,2498,970,880,0.0,0.0,0,88,0.00,0.00,-75.90,0.005,16386,0.000,0.000,113,2499,2690,2689,2691,0,0,0,0,0,0,14.83,28.83,14.86
$GC,92,-0.67,-97.3,113,2499,2690,2692,4.9,-14.1,16,123,9.32,2.40,-12.73,0.010,19204,0.349,0.092,2094,3894,3366,3380,3353,0,0,0,0,0,0,13.83,13.39,14.30
$GC,352,-0.67,-97.3,2094,3894,3380,3353,68.5,-15.6,68,357,0.00,2.20,0.00,0.000,1030,0.000,0.034,2093,2505,3366,3380,3353,0,0,0,0,0,0,14.63,14.56,14.65
$GC,545,-0.67,-97.3,2094,2503,3381,3353,95.1,-15.2,88,551,0.00,2.40,0.00,0.000,260,0.000,0.083,2084,3891,3367,3381,3353,0,0,0,0,0,0,14.99,14.39,15.01
$GC,779,-0.67,-97.3,2083,3891,3382,3353,129.7,-13.0,135,784,0.00,2.22,0.00,0.000,1030,0.000,0.033,2084,2496,3367,3382,3353,0,0,0,0,0,0,14.67,14.60,14.69
$GC,965,-0.67,-97.3,2083,2495,3382,3353,153.0,-12.3,154,969,0.00,2.45,0.00,0.000,260,0.000,0.083,2073,3900,3367,3382,3352,0,0,0,0,0,0,15.03,14.41,15.06
$GC,1068,-0.67,-97.3,2073,3900,3382,3353,167.3,-13.9,174,1073,0.15,2.25,0.00,0.000,3078,0.215,0.035,2108,2494,3367,3382,3353,0,0,0,0,0,0,14.26,14.60,14.47
$GC,1263,-0.67,-97.3,2108,2493,3382,3352,190.1,-11.8,194,1271,0.00,2.45,0.00,0.000,260,0.000,0.089,2099,3887,3366,3381,3352,0,0,0,0,0,0,15.02,14.35,15.04
$GC,1303,-0.67,-97.3,2098,3887,3381,3352,195.4,-12.3,202,1307,0.00,2.25,0.00,0.000,1030,0.000,0.041,2099,2510,3366,3381,3352,0,0,0,0,0,0,14.65,14.57,14.68
$GC,1497,-0.67,-97.3,2098,2509,3379,3352,218.6,-11.8,222,1501,0.00,2.35,0.00,0.000,516,0.000,0.050,2099,1085,3365,3379,3352,0,0,0,0,0,0,15.04,14.52,15.07
$GC,1523,-0.67,-97.3,2098,1085,3379,3352,222.0,-12.5,227,1528,0.00,2.42,0.00,0.000,1030,0.000,0.058,2087,2506,3365,3378,3352,0,0,0,0,0,0,14.59,14.48,14.64
$GC,1708,-0.67,-97.3,2087,2505,3377,3352,245.0,-12.4,246,1712,0.00,2.40,0.00,0.000,260,0.000,0.085,2077,3892,3364,3377,3352,0,0,0,0,0,0,15.07,14.40,15.09
$GC,1765,-0.67,-97.3,2077,3892,3377,3352,252.3,-12.9,257,1770,0.15,2.28,0.00,0.000,3078,0.204,0.039,2113,2487,3364,3377,3352,0,0,0,0,0,0,14.27,14.59,14.47
$GC,2069,-0.67,-97.3,2113,2486,3374,3352,285.5,-10.8,273,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2486,3363,3374,3352,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2369,-0.67,-97.3,2113,2486,3373,3348,318.2,-11.0,288,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2486,3360,3373,3348,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2670,-0.67,-97.3,2113,2486,3371,3346,349.7,-10.2,303,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2486,3358,3371,3346,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2969,-0.67,-97.3,2113,2486,3370,3344,380.7,-10.4,318,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2486,3357,3370,3344,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3270,-0.67,-97.3,2113,2486,3367,3342,411.0,-9.8,333,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2486,3354,3367,3342,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3569,-0.67,-97.3,2113,2486,3366,3340,439.8,-9.6,348,3574,0.00,2.33,0.00,0.000,516,0.000,0.054,2113,1108,3352,3366,3339,0,0,0,0,0,0,15.08,14.45,15.10
$GC,3596,-0.67,-97.3,2113,1108,3366,3339,442.4,-9.6,353,3600,0.00,2.40,0.00,0.000,1030,0.000,0.057,2104,2507,3352,3366,3339,0,0,0,0,0,0,14.56,14.45,14.60
$GC,3913,-0.67,-97.3,2104,2507,3365,3338,473.6,-9.8,371,3918,0.00,2.42,0.00,0.000,260,0.000,0.084,2093,3894,3351,3365,3338,0,0,0,0,0,0,15.07,14.33,15.09
$GC,3955,-0.67,-97.3,2093,3895,3364,3338,478.1,-10.6,379,3960,0.00,2.28,0.00,0.000,1030,0.000,0.034,2092,2488,3351,3364,3338,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4277,-0.67,-97.3,2093,2486,3363,3337,513.2,-11.2,398,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2486,3349,3362,3337,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4579,-0.67,-97.3,2092,2486,3362,3335,545.5,-10.8,413,4585,0.00,2.50,0.00,0.000,260,0.000,0.087,2082,3895,3348,3362,3335,0,0,0,0,0,0,15.06,14.31,15.09
$GC,4608,-0.67,-97.3,2082,3894,3361,3335,548.9,-11.5,419,4613,0.12,2.28,0.00,0.000,3078,0.207,0.036,2112,2496,3348,3362,3335,0,0,0,0,0,0,14.26,14.54,14.44
$GC,4922,-0.67,-97.3,2111,2495,3360,3334,578.8,-9.3,436,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3347,3360,3334,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5221,-0.67,-97.3,2111,2495,3359,3333,607.3,-10.0,451,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3346,3359,3333,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5521,-0.67,-97.3,2111,2495,3358,3332,638.2,-10.4,466,5525,0.00,2.35,0.00,0.000,516,0.000,0.050,2112,1105,3344,3357,3331,0,0,0,0,0,0,15.07,14.42,15.09
$GC,5568,-0.67,-97.3,2111,1105,3357,3332,643.0,-10.2,475,5574,0.00,2.42,0.00,0.000,1030,0.000,0.060,2103,2500,3344,3357,3332,0,0,0,0,0,0,14.50,14.38,14.54
$GC,5886,-0.67,-97.3,2102,2500,3356,3331,675.7,-9.9,493,5892,0.00,2.45,0.00,0.000,260,0.000,0.086,2091,3891,3343,3356,3331,0,0,0,0,0,0,15.07,14.26,15.09
$GC,5916,-0.67,-97.3,2091,3892,3356,3331,678.8,-10.7,499,5921,0.00,2.28,0.00,0.000,1030,0.000,0.036,2091,2500,3344,3357,3331,0,0,0,0,0,0,14.59,14.52,14.62
$GC,6230,-0.67,-97.3,2091,2499,3356,3330,710.6,-10.2,516,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3343,3356,3330,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6528,-0.67,-97.3,2091,2499,3355,3329,740.3,-9.5,531,6533,0.00,2.53,0.00,0.000,260,0.000,0.094,2081,3894,3342,3355,3329,0,0,0,0,0,0,15.07,14.20,15.09
$GC,6565,-0.67,-97.3,2080,3894,3354,3329,743.8,-9.6,538,6570,0.12,2.33,0.00,0.000,3078,0.206,0.043,2110,2495,3342,3355,3329,0,0,0,0,0,0,14.18,14.47,14.37
$GC,6871,-0.67,-97.3,2110,2494,3353,3327,769.6,-8.8,554,6875,0.00,2.35,0.00,0.000,516,0.000,0.051,2110,1099,3341,3354,3328,0,0,0,0,0,0,15.06,14.38,15.08
$GC,6923,-0.67,-97.3,2110,1099,3353,3327,774.4,-9.0,564,6929,0.00,2.45,0.00,0.000,1030,0.000,0.062,2101,2503,3340,3353,3328,0,0,0,0,0,0,14.46,14.33,14.50
$GC,7234,-0.67,-97.3,2101,2503,3353,3327,804.6,-10.0,581,7240,0.00,2.47,0.00,0.000,260,0.000,0.087,2090,3899,3340,3353,3327,0,0,0,0,0,0,15.05,14.21,15.08
$GC,7268,-0.67,-97.3,2089,3899,3353,3327,808.3,-10.9,588,7272,0.00,2.30,0.00,0.000,1030,0.000,0.037,2090,2499,3339,3352,3327,0,0,0,0,0,0,14.55,14.47,14.58
$GC,7573,-0.67,-97.3,2089,2498,3352,3326,842.5,-11.0,604,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3339,3352,3326,0,0,0,0,0,0,15.06,15.09,15.09
$GC,7874,-0.67,-97.3,2089,2498,3352,3325,873.4,-10.0,619,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3338,3351,3325,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8172,-0.67,-97.3,2089,2497,3351,3324,901.5,-9.0,634,8180,0.00,2.55,0.00,0.000,260,0.000,0.095,2079,3899,3337,3351,3324,0,0,0,0,0,0,15.06,14.16,15.09
$GC,8197,-0.67,-97.3,2079,3899,3350,3324,903.9,-9.7,639,8203,0.12,2.33,0.00,0.000,3078,0.206,0.038,2108,2490,3337,3350,3324,0,0,0,0,0,0,14.15,14.46,14.33
$GC,8517,-0.67,-97.3,2108,2489,3350,3323,929.1,-8.0,657,8521,0.00,2.35,0.00,0.000,516,0.000,0.052,2108,1102,3336,3350,3323,0,0,0,0,0,0,15.04,14.33,15.07
$GC,8558,-0.67,-97.3,2108,1102,3349,3323,932.7,-8.3,665,8564,0.00,2.47,0.00,0.000,1030,0.000,0.068,2099,2500,3336,3349,3323,0,0,0,0,0,0,14.38,14.25,14.44
$GC,8880,-0.67,-97.3,2098,2500,3349,3322,961.2,-9.1,684,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3335,3349,3322,0,0,0,0,0,0,15.04,15.07,15.07
$GC,9178,-0.67,-97.3,2098,2500,3348,3322,989.4,-9.3,699,9183,0.00,2.50,0.00,0.000,260,0.000,0.090,2088,3893,3334,3348,3321,0,0,0,0,0,0,15.07,14.14,15.09
$STATE,9186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9186,begin apogee
$GC,9197,-0.15,0.0,2088,2439,3348,3321,990.4,-9.2,701,9294,0.68,0.00,92.93,1.978,10246,0.168,0.000,2276,2438,2967,3000,2935,0,0,0,0,0,0,13.97,13.95,12.62
$STATE,9295,end apogee,CONTROL_FINISHED_OK
$STATE,9295,begin climb
$GC,9299,0.67,97.3,2276,2438,2999,2935,993.5,0.0,706,9413,0.85,2.50,104.35,1.958,10756,0.090,0.050,2564,1040,2569,2600,2538,0,0,0,0,0,0,14.15,13.95,12.57
$GC,9437,0.72,150.3,2564,1040,2597,2537,991.8,5.1,726,9500,0.00,2.50,54.83,1.939,9254,0.000,0.060,2565,2453,2354,2395,2314,0,0,0,0,0,0,14.31,14.21,12.61
$GC,9812,0.72,150.3,2564,2453,2385,2309,949.2,12.0,756,9819,0.00,2.45,0.00,0.000,260,0.000,0.083,2564,3842,2347,2385,2309,0,0,0,0,0,0,14.88,14.33,14.91
$GC,9842,0.72,150.3,2564,3842,2384,2309,945.3,12.9,762,9846,0.00,2.33,0.00,0.000,1030,0.000,0.037,2576,2431,2346,2384,2309,0,0,0,0,0,0,14.57,14.50,14.59
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$STATE,19846,end climb,SURFACE_DEPTH_REACHED
$STATE,19846,begin surface coast
$STATE,19886,end surface coast,CONTROL_FINISHED_OK
$STATE,19886,begin surface
$SM_CCo,19906,98.38,0.604,1,0,928,500.17
$SM_GC,1.15,7.35,0.08,98.38,0.050,0.178,0.604,112,2494,928,-6.78,-1.10,500.17,0,0,0,0,1,0,14.55,14.57,13.57
$IRIDIUM_FIX,506.48,8206.58,291219,153306
$TT8_MAMPS,0.019474,0.160286
$HUMID,49.52
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.57,220.655
$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,20.100,205.750,489.025,98.375,0.000,0.000,0.000,236.950,0.000,0.000,16.615,1576.683,14837.202,742.165,2704.301,533.913,0.000,2386.652,0.000,2448.791,0.000,0.540,0.000
$DEVICE_MAMPS,348.840,178.245,1978.290,603.585,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,901.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250416
$DATA_FILE_SIZE,76651,1723
$CAP_FILE_SIZE,194539,0
$CFSIZE,260034560,127164416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.109,6.08,1
$GPS,301219,033509,507.196,8159.457,25,1.0,25,-2.1,1.0,263.5,7,8.5