version: 66.13
glider: 171
mission: 11
dive: 662
start: 12 31 119 20 50 29
data:
$ID,171
$MISSION,11
$DIVE,662
$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,50
$R_STBD_OVSHOOT,24
$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
$GPS1,311219,204308,507.3868,8153.5054,14,1.5,14,-2.1,0.6,265.0,6,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.4
$GPS2,311219,204936,507.3732,8153.4390,3,1.4,5,-2.1,0.3,0.0,6,7.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,243.1,154545,-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,-97.3,112,2495,973,878,0.0,0.0,0,88,0.00,0.00,-76.45,0.005,16386,0.000,0.000,112,2496,2708,2711,2706,0,0,0,0,0,0,14.85,28.83,14.88
$GC,92,-0.67,-97.3,112,2496,2711,2705,4.9,-13.9,16,120,9.35,2.45,-12.40,0.010,18692,0.350,0.099,2095,3897,3366,3380,3352,0,0,0,0,0,0,13.85,13.39,14.31
$GC,348,-0.67,-97.3,2094,3898,3380,3352,74.7,-19.8,67,353,0.00,2.25,0.00,0.000,1030,0.000,0.034,2094,2494,3366,3380,3352,0,0,0,0,0,0,14.64,14.57,14.66
$GC,542,-0.67,-97.3,2095,2493,3381,3352,101.5,-13.7,87,547,0.00,2.45,0.00,0.000,260,0.000,0.080,2084,3903,3366,3381,3352,0,0,0,0,0,0,15.00,14.40,15.03
$GC,774,-0.67,-97.3,2084,3903,3381,3352,137.3,-14.1,133,778,0.00,2.25,0.00,0.000,1030,0.000,0.031,2084,2482,3366,3381,3352,0,0,0,0,0,0,14.69,14.64,14.71
$GC,966,-0.67,-97.3,2084,2481,3381,3352,162.3,-12.7,153,972,0.00,2.45,0.00,0.000,260,0.000,0.078,2073,3897,3366,3381,3352,0,0,0,0,0,0,15.03,14.42,15.06
$GC,1055,-0.67,-97.3,2073,3897,3381,3352,173.9,-12.8,171,1060,0.15,2.22,0.00,0.000,3078,0.214,0.032,2108,2494,3366,3381,3352,0,0,0,0,0,0,14.27,14.63,14.48
$GC,1249,-0.67,-97.3,2108,2492,3380,3352,195.1,-10.7,191,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3366,3380,3352,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1428,-0.67,-97.3,2108,2492,3379,3352,215.2,-11.4,209,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3365,3379,3351,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1611,-0.67,-97.3,2109,2492,3378,3351,236.0,-11.5,227,1615,0.00,2.45,0.00,0.000,260,0.000,0.080,2099,3897,3364,3377,3351,0,0,0,0,0,0,15.04,14.40,15.07
$GC,1638,-0.67,-97.3,2099,3897,3377,3351,239.4,-11.9,232,1642,0.00,2.22,0.00,0.000,1030,0.000,0.032,2099,2503,3364,3377,3351,0,0,0,0,0,0,14.69,14.64,14.72
$GC,1833,-0.67,-97.3,2099,2501,3375,3351,261.9,-11.6,247,1838,0.00,2.33,0.00,0.000,516,0.000,0.047,2099,1104,3363,3375,3351,0,0,0,0,0,0,15.07,14.53,15.09
$GC,1866,-0.67,-97.3,2099,1103,3374,3351,265.7,-11.9,253,1870,0.00,2.40,0.00,0.000,1030,0.000,0.056,2088,2512,3362,3374,3351,0,0,0,0,0,0,14.60,14.49,14.64
$GC,2177,-0.67,-97.3,2088,2512,3372,3349,305.7,-13.2,270,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2512,3360,3372,3348,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2477,-0.67,-97.3,2088,2512,3371,3346,342.8,-12.1,285,2482,0.00,2.42,0.00,0.000,260,0.000,0.082,2078,3897,3359,3372,3346,0,0,0,0,0,0,15.08,14.38,15.10
$GC,2510,-0.67,-97.3,2077,3897,3371,3346,346.7,-12.9,291,2516,0.12,2.25,0.00,0.000,3078,0.211,0.034,2108,2495,3358,3371,3346,0,0,0,0,0,0,14.30,14.62,14.49
$GC,2823,-0.67,-97.3,2107,2494,3370,3344,380.7,-10.7,308,2827,0.00,2.30,0.00,0.000,516,0.000,0.047,2108,1106,3356,3369,3344,0,0,0,0,0,0,15.07,14.51,15.09
$GC,2854,-0.67,-97.3,2107,1106,3369,3344,384.2,-10.8,314,2859,0.00,2.40,0.00,0.000,1030,0.000,0.055,2098,2503,3356,3368,3344,0,0,0,0,0,0,14.58,14.47,14.62
$GC,3167,-0.67,-97.3,2098,2503,3367,3341,418.4,-10.8,331,3172,0.00,2.42,0.00,0.000,260,0.000,0.082,2087,3894,3354,3367,3341,0,0,0,0,0,0,15.06,14.37,15.09
$GC,3229,-0.67,-97.3,2087,3894,3367,3341,425.5,-11.3,343,3234,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2500,3354,3367,3341,0,0,0,0,0,0,14.66,14.59,14.69
$GC,3552,-0.67,-97.3,2087,2499,3365,3339,462.0,-11.3,362,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3352,3366,3339,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3851,-0.67,-97.3,2087,2499,3363,3338,495.7,-10.9,377,3855,0.00,2.33,0.00,0.000,516,0.000,0.048,2087,1105,3350,3363,3338,0,0,0,0,0,0,15.07,14.48,15.10
$GC,3882,-0.67,-97.3,2087,1105,3363,3338,499.1,-10.6,383,3888,0.15,2.40,0.00,0.000,3078,0.201,0.056,2112,2500,3350,3362,3338,0,0,0,0,0,0,14.21,14.44,14.42
$GC,4197,-0.67,-97.3,2112,2500,3362,3336,526.4,-8.6,400,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2500,3349,3362,3336,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4495,-0.67,-97.3,2112,2500,3361,3334,552.9,-9.1,415,4500,0.00,2.45,0.00,0.000,260,0.000,0.083,2103,3894,3348,3362,3334,0,0,0,0,0,0,15.07,14.31,15.10
$GC,4532,-0.67,-97.3,2103,3894,3361,3334,556.5,-9.9,422,4536,0.00,2.28,0.00,0.000,1030,0.000,0.034,2103,2497,3347,3361,3334,0,0,0,0,0,0,14.63,14.56,14.65
$GC,4838,-0.67,-97.3,2103,2496,3360,3333,586.8,-9.8,438,4842,0.00,2.33,0.00,0.000,516,0.000,0.049,2103,1108,3346,3360,3333,0,0,0,0,0,0,15.07,14.45,15.09
$GC,4900,-0.67,-97.3,2103,1108,3359,3333,593.2,-10.1,450,4904,0.00,2.42,0.00,0.000,1030,0.000,0.057,2092,2506,3346,3359,3333,0,0,0,0,0,0,14.52,14.40,14.56
$GC,5223,-0.67,-97.3,2092,2506,3357,3332,626.8,-10.7,469,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2506,3344,3357,3332,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5522,-0.67,-97.3,2092,2505,3356,3331,658.7,-10.8,484,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2506,3343,3356,3331,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5821,-0.67,-97.3,2091,2505,3356,3330,691.1,-10.8,499,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2506,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6123,-0.67,-97.3,2092,2505,3354,3328,723.3,-10.7,514,6130,0.00,2.45,0.00,0.000,260,0.000,0.084,2082,3892,3341,3354,3328,0,0,0,0,0,0,15.06,14.26,15.08
$GC,6212,-0.67,-97.3,2082,3891,3354,3328,733.5,-11.5,532,6217,0.12,2.28,0.00,0.000,3078,0.203,0.035,2111,2499,3340,3353,3328,0,0,0,0,0,0,14.20,14.51,14.38
$GC,6525,-0.67,-97.3,2111,2498,3353,3327,762.7,-8.9,549,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3340,3354,3326,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6825,-0.67,-97.3,2111,2498,3353,3326,787.9,-8.1,564,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3339,3353,3326,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7124,-0.67,-97.3,2110,2498,3352,3325,812.0,-8.0,579,7129,0.00,2.53,0.00,0.000,260,0.000,0.086,2102,3892,3338,3351,3325,0,0,0,0,0,0,15.07,14.21,15.09
$GC,7175,-0.67,-97.3,2102,3892,3351,3325,816.0,-8.7,588,7179,0.00,2.28,0.00,0.000,1030,0.000,0.036,2102,2503,3338,3351,3325,0,0,0,0,0,0,14.56,14.49,14.59
$GC,7491,-0.67,-97.3,2102,2502,3351,3324,845.1,-9.2,606,7497,0.00,2.35,0.00,0.000,516,0.000,0.050,2102,1108,3337,3350,3324,0,0,0,0,0,0,15.07,14.28,15.09
$GC,7549,-0.67,-97.3,2102,1108,3350,3324,850.5,-9.2,617,7555,0.00,2.45,0.00,0.000,1030,0.000,0.060,2091,2501,3337,3350,3324,0,0,0,0,0,0,14.42,14.31,14.47
$GC,7875,-0.67,-97.3,2090,2501,3349,3322,883.2,-10.0,637,7881,0.00,2.47,0.00,0.000,260,0.000,0.086,2080,3893,3335,3349,3322,0,0,0,0,0,0,15.04,14.19,15.07
$GC,7945,-0.67,-97.3,2080,3893,3349,3322,890.5,-10.6,651,7951,0.12,2.30,0.00,0.000,3078,0.205,0.037,2109,2495,3335,3349,3322,0,0,0,0,0,0,14.14,14.45,14.33
$GC,8259,-0.67,-97.3,2109,2494,3349,3321,918.1,-8.5,668,8264,0.00,2.35,0.00,0.000,516,0.000,0.050,2110,1108,3334,3348,3321,0,0,0,0,0,0,15.04,14.33,15.07
$GC,8291,-0.67,-97.3,2110,1108,3348,3321,921.0,-9.1,674,8298,0.00,2.45,0.00,0.000,1030,0.000,0.059,2101,2506,3334,3348,3321,0,0,0,0,0,0,14.41,14.28,14.45
$GC,8601,-0.67,-97.3,2100,2506,3348,3321,947.6,-8.5,691,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2506,3334,3348,3321,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8902,-0.67,-97.3,2100,2506,3347,3320,973.6,-8.7,706,8906,0.00,2.50,0.00,0.000,260,0.000,0.087,2090,3891,3333,3347,3320,0,0,0,0,0,0,15.04,14.14,15.07
$GC,8943,-0.67,-97.3,2089,3892,3347,3320,977.5,-9.4,714,8948,0.00,2.30,0.00,0.000,1030,0.000,0.037,2089,2503,3333,3347,3320,0,0,0,0,0,0,14.50,14.42,14.52
$STATE,9082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9082,begin apogee
$GC,9092,-0.15,0.0,2090,2431,3347,3320,990.6,-9.2,724,9188,0.68,0.00,92.30,1.972,10246,0.170,0.000,2277,2431,2968,3001,2935,0,0,0,0,0,0,13.95,13.95,12.63
$STATE,9189,end apogee,CONTROL_FINISHED_OK
$STATE,9189,begin climb
$GC,9192,0.67,97.3,2278,2431,2999,2935,993.2,0.0,729,9303,0.82,0.00,104.50,1.955,10246,0.090,0.000,2548,2431,2570,2603,2538,0,0,0,0,0,0,14.14,13.89,12.60
$GC,9608,0.69,97.3,2548,2431,2593,2534,972.5,7.3,750,9610,0.00,0.00,0.00,0.000,70,0.000,0.000,2548,2431,2563,2593,2534,0,0,0,0,0,0,14.85,14.89,14.88
$GC,9906,0.70,97.3,2547,2431,2591,2533,950.7,7.3,765,9908,0.00,0.00,0.00,0.000,70,0.000,0.000,2548,2431,2562,2592,2533,0,0,0,0,0,0,14.96,14.99,14.99
$GC,10205,0.72,97.3,2548,2431,2590,2531,929.5,7.2,780,10210,0.00,2.38,0.00,0.000,580,0.000,0.052,2558,1049,2560,2590,2531,0,0,0,0,0,0,15.00,14.43,15.03
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$STATE,20876,end climb,SURFACE_DEPTH_REACHED
$STATE,20880,begin surface coast
$STATE,20893,end surface coast,CONTROL_FINISHED_OK
$STATE,20893,begin surface
$SM_CCo,20914,86.40,0.597,1,0,928,500.17
$SM_GC,1.17,7.75,0.10,86.40,0.055,0.160,0.597,120,2499,928,-6.76,-0.96,500.17,0,0,0,0,1,0,14.45,14.42,13.52
$IRIDIUM_FIX,506.56,8142.39,311219,150247
$TT8_MAMPS,0.019474,0.161035
$HUMID,51.41
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,12.60,223.058
$10V_AH,12.84,0.000
$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,20.125,205.550,490.800,86.400,0.000,0.000,0.000,239.500,0.000,0.000,17.199,1662.138,15598.332,732.059,2851.338,544.711,0.000,2427.217,0.000,2591.546,0.000,0.540,0.000
$DEVICE_MAMPS,349.605,310.590,1972.170,596.700,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,900.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250384
$DATA_FILE_SIZE,79900,1824
$CAP_FILE_SIZE,201203,0
$CFSIZE,260034560,126418944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.040,59.03,1
$GPS,010120,024139,507.050,8152.298,21,1.0,21,-2.1,0.6,302.2,7,10.0