version: 66.13
glider: 171
mission: 11
dive: 438
start: 11 5 119 12 38 34
data:
$ID,171
$MISSION,11
$DIVE,438
$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,0.0019952599
$HD_B,0.019109501
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,051119,123200,855.9351,8616.1299,31,1.3,34,-1.3,0.6,83.2,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.4
$GPS2,051119,123743,856.0018,8616.1748,2,0.5,2,-1.3,0.1,0.0,12,10.0
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,209.0,133896,-19.6,-8.049,-28.96,1831
$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,9,-0.67,-97.3,122,2511,968,885,0.0,0.0,0,84,0.00,0.00,-72.45,0.005,16386,0.000,0.000,121,2512,2646,2646,2646,0,0,0,0,0,0,14.85,28.83,14.88
$GC,88,-0.67,-97.3,121,2512,2646,2647,5.0,-13.9,15,115,9.07,0.00,-13.45,0.009,18950,0.350,0.000,2102,2512,3366,3378,3355,0,0,0,0,0,0,14.02,13.57,14.44
$GC,301,-0.67,-97.3,2102,2512,3379,3355,76.4,-22.0,48,305,0.00,2.35,0.00,0.000,260,0.000,0.079,2093,3885,3367,3380,3355,0,0,0,0,0,0,14.97,14.52,15.00
$GC,358,-0.67,-97.3,2092,3885,3379,3355,87.5,-19.5,59,362,0.00,2.20,0.00,0.000,1030,0.000,0.031,2093,2487,3367,3379,3355,0,0,0,0,0,0,14.73,14.69,14.76
$GC,543,-0.67,-97.3,2092,2486,3379,3355,120.3,-15.6,78,548,0.00,2.40,0.00,0.000,260,0.000,0.080,2082,3886,3367,3379,3355,0,0,0,0,0,0,15.02,14.55,15.04
$GC,570,-0.67,-97.3,2082,3886,3379,3355,124.4,-14.8,83,574,0.00,2.17,0.00,0.000,1030,0.000,0.031,2082,2490,3367,3379,3356,0,0,0,0,0,0,14.78,14.73,14.80
$GC,754,-0.67,-97.3,2082,2488,3379,3355,149.9,-13.2,102,759,0.00,2.20,0.00,0.000,516,0.000,0.041,2082,1114,3367,3380,3355,0,0,0,0,0,0,15.07,14.68,15.09
$GC,797,-0.67,-97.3,2082,1114,3377,3355,154.9,-11.7,110,803,0.15,2.30,0.00,0.000,3078,0.229,0.054,2108,2491,3367,3380,3355,0,0,0,0,0,0,14.41,14.63,14.62
$GC,989,-0.67,-97.3,2107,2490,3380,3355,177.4,-12.2,130,994,0.00,2.38,0.00,0.000,260,0.000,0.080,2098,3892,3367,3380,3355,0,0,0,0,0,0,15.09,14.59,15.11
$GC,1046,-0.67,-97.3,2098,3891,3379,3355,185.0,-13.3,141,1050,0.00,2.17,0.00,0.000,1030,0.000,0.031,2098,2502,3367,3380,3355,0,0,0,0,0,0,14.82,14.76,14.83
$GC,1232,-0.67,-97.3,2098,2500,3379,3355,211.0,-14.2,160,1236,0.00,2.40,0.00,0.000,260,0.000,0.083,2087,3896,3366,3378,3355,0,0,0,0,0,0,15.09,14.59,15.11
$GC,1328,-0.67,-97.3,2087,3896,3378,3355,225.2,-14.6,179,1332,0.00,2.20,0.00,0.000,1030,0.000,0.032,2088,2509,3366,3378,3355,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1513,-0.67,-97.3,2087,2508,3377,3354,250.9,-13.1,198,1519,0.00,2.30,0.00,0.000,516,0.000,0.049,2087,1104,3365,3377,3354,0,0,0,0,0,0,15.09,14.65,15.12
$GC,1587,-0.67,-97.3,2087,1103,3376,3355,260.3,-12.7,212,1594,0.12,2.35,0.00,0.000,3078,0.218,0.058,2107,2496,3365,3375,3355,0,0,0,0,0,0,14.47,14.63,14.66
$GC,1896,-0.67,-97.3,2107,2496,3372,3354,294.9,-10.9,229,1900,0.00,2.40,0.00,0.000,260,0.000,0.086,2097,3896,3363,3372,3354,0,0,0,0,0,0,15.11,14.59,15.14
$GC,1952,-0.67,-97.3,2097,3896,3371,3354,301.3,-11.4,240,1956,0.00,2.22,0.00,0.000,1030,0.000,0.034,2097,2501,3362,3371,3354,0,0,0,0,0,0,14.82,14.76,14.84
$GC,2257,-0.67,-97.3,2097,2500,3370,3350,336.9,-11.9,256,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2500,3360,3371,3350,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2559,-0.67,-97.3,2097,2500,3368,3347,374.7,-12.8,271,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2500,3358,3368,3348,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2857,-0.67,-97.3,2097,2500,3366,3345,409.7,-11.0,286,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2500,3356,3367,3345,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3157,-0.67,-97.3,2097,2500,3365,3343,441.0,-10.4,301,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2500,3354,3365,3343,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3457,-0.67,-97.3,2097,2500,3362,3340,470.7,-9.5,316,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2500,3351,3362,3340,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3758,-0.67,-97.3,2097,2500,3361,3339,498.0,-8.9,331,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2500,3350,3361,3339,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4058,-0.67,-97.3,2097,2500,3359,3337,525.1,-9.4,346,4063,0.00,2.33,0.00,0.000,516,0.000,0.050,2097,1101,3347,3358,3337,0,0,0,0,0,0,15.12,14.64,15.15
$GC,4086,-0.67,-97.3,2097,1101,3358,3337,527.8,-10.3,351,4090,0.00,2.40,0.00,0.000,1030,0.000,0.060,2086,2505,3347,3357,3337,0,0,0,0,0,0,14.72,14.61,14.76
$GC,4401,-0.67,-97.3,2086,2505,3356,3335,559.8,-10.2,369,4405,0.00,2.40,0.00,0.000,260,0.000,0.086,2076,3894,3345,3356,3335,0,0,0,0,0,0,15.13,14.53,15.15
$GC,4427,-0.67,-97.3,2076,3894,3356,3335,562.5,-11.3,374,4433,0.15,2.25,0.00,0.000,3078,0.205,0.037,2113,2501,3345,3356,3335,0,0,0,0,0,0,14.41,14.71,14.62
$GC,4746,-0.67,-97.3,2113,2500,3356,3333,590.7,-8.8,392,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3344,3356,3333,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5046,-0.67,-97.3,2113,2500,3354,3332,617.7,-9.1,407,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3343,3354,3332,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5347,-0.67,-97.3,2113,2500,3352,3331,645.9,-9.6,422,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3342,3353,3331,0,0,0,0,0,0,15.11,15.15,15.14
$GC,5646,-0.67,-97.3,2113,2500,3352,3330,675.6,-9.9,437,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3341,3352,3330,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5947,-0.67,-97.3,2113,2500,3351,3328,705.7,-9.8,452,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3339,3350,3328,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6246,-0.67,-97.3,2113,2500,3349,3327,734.4,-9.4,467,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3338,3349,3327,0,0,0,0,0,0,15.12,15.16,15.15
$GC,6546,-0.67,-97.3,2113,2500,3348,3326,761.7,-8.8,482,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3337,3348,3326,0,0,0,0,0,0,15.12,15.16,15.15
$GC,6847,-0.67,-97.3,2113,2500,3347,3325,787.1,-8.3,497,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3335,3347,3324,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7146,-0.67,-97.3,2113,2500,3346,3324,812.0,-8.3,512,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2500,3335,3346,3324,0,0,0,0,0,0,15.12,15.16,15.15
$GC,7446,-0.67,-97.3,2113,2500,3345,3323,837.3,-8.5,527,7453,0.00,2.47,0.00,0.000,260,0.000,0.090,2104,3894,3333,3344,3322,0,0,0,0,0,0,15.11,14.42,15.14
$GC,7481,-0.67,-97.3,2104,3894,3344,3323,840.4,-8.9,534,7486,0.00,2.28,0.00,0.000,1030,0.000,0.037,2105,2498,3333,3344,3322,0,0,0,0,0,0,14.71,14.64,14.73
$GC,7786,-0.67,-97.3,2104,2497,3344,3322,868.5,-9.4,550,7791,0.00,2.33,0.00,0.000,516,0.000,0.052,2104,1107,3332,3343,3321,0,0,0,0,0,0,15.11,14.54,15.15
$GC,7827,-0.67,-97.3,2104,1107,3343,3321,872.5,-9.6,558,7833,0.00,2.42,0.00,0.000,1030,0.000,0.067,2093,2496,3332,3343,3322,0,0,0,0,0,0,14.59,14.45,14.64
$GC,8150,-0.67,-97.3,2093,2496,3343,3321,904.8,-10.2,577,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2496,3332,3343,3321,0,0,0,0,0,0,15.10,15.14,15.13
$GC,8449,-0.67,-97.3,2093,2496,3342,3321,934.3,-9.7,592,8454,0.00,2.47,0.00,0.000,260,0.000,0.090,2083,3901,3331,3342,3321,0,0,0,0,0,0,15.11,14.38,15.14
$GC,8507,-0.67,-97.3,2082,3902,3341,3321,940.1,-10.4,603,8511,0.00,2.28,0.00,0.000,1030,0.000,0.037,2083,2501,3331,3342,3321,0,0,0,0,0,0,14.69,14.61,14.72
$GC,8827,-0.67,-97.3,2082,2500,3341,3320,972.2,-9.7,622,8832,0.00,2.35,0.00,0.000,516,0.000,0.051,2083,1097,3330,3341,3320,0,0,0,0,0,0,15.11,14.52,15.14
$GC,8849,-0.67,-97.3,2082,1097,3341,3320,974.3,-10.3,626,8855,0.15,2.45,0.00,0.000,3078,0.203,0.065,2109,2504,3330,3341,3320,0,0,0,0,0,0,14.25,14.46,14.45
$STATE,9049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9049,begin apogee
$GC,9057,-0.15,0.0,2109,2433,3341,3319,990.6,-7.9,639,9153,0.57,0.00,91.93,1.999,10246,0.162,0.000,2276,2433,2968,2998,2938,0,0,0,0,0,0,14.23,14.02,12.63
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9157,0.67,97.3,2276,2433,2997,2938,992.8,0.0,644,9270,0.82,2.47,101.93,1.987,10756,0.091,0.049,2561,1052,2570,2600,2541,0,0,0,0,0,0,14.17,13.95,12.67
$GC,9327,0.69,97.3,2561,1052,2593,2538,988.2,7.4,678,9333,0.00,2.47,0.00,0.000,1094,0.000,0.057,2561,2450,2565,2592,2538,0,0,0,0,0,0,14.34,14.26,14.37
$GC,9640,0.69,97.3,2562,2450,2590,2535,960.7,9.0,695,9644,0.00,2.45,0.00,0.000,260,0.000,0.083,2563,3848,2562,2590,2535,0,0,0,0,0,0,14.88,14.45,14.91
$GC,9683,0.69,97.3,2562,3848,2587,2535,956.6,10.1,703,9687,0.00,2.30,0.00,0.000,1030,0.000,0.036,2574,2434,2561,2587,2535,0,0,0,0,0,0,14.65,14.59,14.68
$GC,10003,0.69,97.3,2573,2433,2586,2535,928.1,8.5,722,10008,0.00,2.33,0.00,0.000,516,0.000,0.050,2585,1047,2560,2586,2534,0,0,0,0,0,0,14.99,14.57,15.02
$GC,10025,0.69,97.3,2584,1047,2585,2535,926.3,8.5,726,10030,0.12,2.38,0.00,0.000,5126,0.236,0.054,2557,2441,2559,2585,2534,0,0,0,0,0,0,14.31,14.55,14.57
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$STATE,21656,end climb,SURFACE_DEPTH_REACHED
$STATE,21656,begin surface coast
$STATE,21669,end surface coast,CONTROL_FINISHED_OK
$STATE,21669,begin surface
$SM_CCo,21689,74.57,0.545,1,0,928,500.17
$SM_GC,1.18,7.47,0.10,74.57,0.046,0.161,0.545,120,2506,928,-6.78,-0.76,500.17,0,0,0,0,1,0,14.54,14.48,13.71
$IRIDIUM_FIX,853.93,8617.25,051119,070138
$TT8_MAMPS,0.018725,0.156541
$HUMID,46.96
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,12.63,155.812
$10V_AH,13.24,0.000
$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,19.075,193.125,495.525,74.575,0.000,0.000,0.000,216.025,0.250,0.000,13.859,1703.189,16367.335,687.708,2906.636,448.693,0.000,2388.429,0.000,2666.008,0.000,0.542,0.000
$DEVICE_MAMPS,350.370,207.315,1998.945,545.445,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,920.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251192
$DATA_FILE_SIZE,83170,1876
$CAP_FILE_SIZE,202744,0
$CFSIZE,260034560,147292160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.048,37.75,1
$GPS,051119,184230,855.102,8615.741,27,0.7,27,-1.3,1.0,45.9,11,3.1