version: 66.13
glider: 171
mission: 11
dive: 439
start: 11 5 119 18 49 43
data:
$ID,171
$MISSION,11
$DIVE,439
$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,60
$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
$GPS1,051119,184230,855.1016,8615.7412,27,0.7,27,-1.3,1.0,45.9,11,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.4
$GPS2,051119,184852,855.1664,8615.8174,2,0.6,3,-1.3,0.8,79.6,12,5.3
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,220.2,132284,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.67,-97.3,114,2507,975,877,0.0,0.0,0,83,0.00,0.00,-72.03,0.005,16386,0.000,0.000,114,2508,2628,2627,2629,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,114,2508,2628,2629,4.9,-13.4,15,118,8.98,2.38,-14.10,0.009,18692,0.343,0.096,2095,3893,3367,3380,3354,0,0,0,0,0,0,14.00,13.50,14.43
$GC,246,-0.67,-97.3,2095,3893,3380,3354,56.9,-25.0,47,250,0.00,2.20,0.00,0.000,1030,0.000,0.032,2095,2500,3367,3380,3354,0,0,0,0,0,0,14.69,14.64,14.71
$GC,437,-0.67,-97.3,2095,2498,3380,3354,93.0,-17.7,67,441,0.00,2.42,0.00,0.000,260,0.000,0.079,2085,3900,3367,3380,3355,0,0,0,0,0,0,15.00,14.53,15.02
$GC,569,-0.67,-97.3,2084,3900,3380,3354,118.0,-16.9,93,573,0.00,2.22,0.00,0.000,1030,0.000,0.034,2085,2500,3367,3380,3355,0,0,0,0,0,0,14.76,14.69,14.78
$GC,759,-0.67,-97.3,2084,2498,3381,3355,144.9,-12.2,113,764,0.00,2.30,0.00,0.000,516,0.000,0.047,2084,1095,3367,3381,3354,0,0,0,0,0,0,15.05,14.66,15.08
$GC,821,-0.67,-97.3,2084,1095,3381,3355,152.8,-11.5,125,829,0.15,2.38,0.00,0.000,3078,0.225,0.057,2110,2505,3367,3381,3354,0,0,0,0,0,0,14.41,14.63,14.62
$GC,1010,-0.67,-97.3,2110,2505,3381,3354,174.4,-11.5,145,1014,0.00,2.35,0.00,0.000,260,0.000,0.079,2101,3893,3368,3381,3355,0,0,0,0,0,0,15.08,14.59,15.10
$GC,1067,-0.67,-97.3,2100,3893,3381,3354,181.2,-12.4,156,1071,0.00,2.22,0.00,0.000,1030,0.000,0.031,2101,2479,3367,3381,3354,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1251,-0.67,-97.3,2100,2478,3380,3354,204.6,-12.9,175,1258,0.00,2.45,0.00,0.000,260,0.000,0.083,2090,3902,3367,3380,3354,0,0,0,0,0,0,15.09,14.59,15.11
$GC,1351,-0.67,-97.3,2089,3902,3379,3354,218.2,-13.6,195,1356,0.00,2.20,0.00,0.000,1030,0.000,0.033,2090,2507,3367,3380,3354,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1544,-0.67,-97.3,2089,2505,3378,3354,241.4,-11.9,215,1548,0.00,2.28,0.00,0.000,516,0.000,0.047,2089,1106,3366,3378,3354,0,0,0,0,0,0,15.09,14.69,15.11
$GC,1610,-0.67,-97.3,2089,1106,3377,3354,249.6,-12.2,228,1617,0.12,2.38,0.00,0.000,3078,0.215,0.058,2109,2508,3365,3377,3354,0,0,0,0,0,0,14.47,14.64,14.66
$GC,1927,-0.67,-97.3,2109,2508,3374,3354,288.2,-12.7,246,1932,0.00,2.38,0.00,0.000,260,0.000,0.083,2100,3896,3364,3374,3354,0,0,0,0,0,0,15.09,14.59,15.12
$GC,1959,-0.67,-97.3,2100,3896,3374,3353,292.5,-12.5,252,1963,0.00,2.22,0.00,0.000,1030,0.000,0.033,2100,2491,3363,3373,3354,0,0,0,0,0,0,14.82,14.76,14.84
$GC,2270,-0.67,-97.3,2099,2490,3372,3350,329.3,-11.3,269,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2490,3361,3372,3350,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2569,-0.67,-97.3,2099,2490,3370,3347,360.0,-9.9,284,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2490,3359,3370,3348,0,0,0,0,0,0,15.12,15.16,15.16
$GC,2870,-0.67,-97.3,2099,2490,3368,3345,390.8,-10.6,299,2874,0.00,2.28,0.00,0.000,516,0.000,0.047,2100,1107,3356,3368,3345,0,0,0,0,0,0,15.13,14.68,15.16
$GC,2913,-0.67,-97.3,2099,1107,3367,3345,395.4,-11.1,307,2917,0.00,2.38,0.00,0.000,1030,0.000,0.057,2089,2508,3356,3367,3345,0,0,0,0,0,0,14.75,14.64,14.78
$GC,3234,-0.67,-97.3,2088,2508,3366,3342,432.7,-11.8,326,3239,0.00,2.38,0.00,0.000,260,0.000,0.085,2078,3890,3353,3365,3342,0,0,0,0,0,0,15.13,14.57,15.16
$GC,3281,-0.67,-97.3,2078,3891,3365,3342,438.5,-12.5,335,3286,0.12,2.22,0.00,0.000,3078,0.212,0.035,2109,2496,3353,3365,3342,0,0,0,0,0,0,14.47,14.74,14.66
$GC,3600,-0.67,-97.3,2108,2495,3363,3339,471.4,-10.0,353,3604,0.00,2.28,0.00,0.000,516,0.000,0.048,2109,1109,3351,3363,3339,0,0,0,0,0,0,15.11,14.66,15.14
$GC,3625,-0.67,-97.3,2108,1108,3362,3339,474.3,-10.3,358,3631,0.00,2.38,0.00,0.000,1030,0.000,0.057,2099,2506,3350,3362,3339,0,0,0,0,0,0,14.73,14.62,14.77
$GC,3943,-0.67,-97.3,2099,2506,3362,3338,506.9,-10.1,376,3947,0.00,2.40,0.00,0.000,260,0.000,0.086,2088,3896,3349,3361,3338,0,0,0,0,0,0,15.12,14.54,15.15
$GC,3980,-0.67,-97.3,2088,3896,3361,3338,510.7,-10.6,383,3984,0.00,2.25,0.00,0.000,1030,0.000,0.035,2088,2495,3349,3361,3338,0,0,0,0,0,0,14.79,14.72,14.81
$GC,4284,-0.67,-97.3,2088,2494,3360,3336,542.9,-10.6,399,4288,0.00,2.28,0.00,0.000,516,0.000,0.049,2088,1107,3348,3360,3336,0,0,0,0,0,0,15.12,14.64,15.15
$GC,4332,-0.67,-97.3,2088,1107,3358,3336,548.0,-10.7,408,4339,0.12,2.38,0.00,0.000,3078,0.209,0.057,2108,2502,3347,3358,3336,0,0,0,0,0,0,14.42,14.59,14.62
$GC,4648,-0.67,-97.3,2108,2502,3357,3334,578.2,-9.4,426,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2502,3345,3357,3334,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4946,-0.67,-97.3,2108,2502,3356,3333,606.2,-9.2,441,4950,0.00,2.42,0.00,0.000,260,0.000,0.086,2099,3900,3344,3356,3332,0,0,0,0,0,0,15.12,14.50,15.15
$GC,4980,-0.67,-97.3,2098,3900,3356,3332,609.1,-9.8,447,4985,0.00,2.28,0.00,0.000,1030,0.000,0.036,2099,2490,3344,3356,3332,0,0,0,0,0,0,14.77,14.71,14.79
$GC,5283,-0.67,-97.3,2098,2488,3355,3331,638.4,-9.7,463,5287,0.00,2.28,0.00,0.000,516,0.000,0.049,2099,1107,3342,3354,3331,0,0,0,0,0,0,15.12,14.62,15.14
$GC,5313,-0.67,-97.3,2098,1107,3354,3331,641.6,-10.4,469,5318,0.00,2.40,0.00,0.000,1030,0.000,0.058,2088,2509,3342,3354,3331,0,0,0,0,0,0,14.69,14.57,14.73
$GC,5619,-0.67,-97.3,2087,2509,3353,3330,673.6,-10.6,485,5623,0.00,2.40,0.00,0.000,260,0.000,0.086,2077,3892,3341,3352,3330,0,0,0,0,0,0,15.11,14.48,15.14
$GC,5660,-0.67,-97.3,2077,3892,3353,3330,678.2,-11.2,493,5665,0.12,2.25,0.00,0.000,3078,0.213,0.037,2107,2494,3341,3352,3330,0,0,0,0,0,0,14.40,14.69,14.59
$GC,5982,-0.67,-97.3,2107,2493,3352,3328,708.9,-9.4,512,5986,0.00,2.30,0.00,0.000,516,0.000,0.050,2108,1104,3340,3352,3328,0,0,0,0,0,0,15.11,14.59,15.14
$GC,6023,-0.67,-97.3,2107,1104,3351,3328,713.0,-9.5,520,6027,0.00,2.40,0.00,0.000,1030,0.000,0.058,2098,2504,3339,3351,3328,0,0,0,0,0,0,14.66,14.54,14.71
$GC,6339,-0.67,-97.3,2098,2504,3351,3327,743.6,-9.7,538,6344,0.00,2.42,0.00,0.000,260,0.000,0.087,2087,3894,3338,3350,3327,0,0,0,0,0,0,15.12,14.45,15.15
$GC,6381,-0.67,-97.3,2087,3894,3350,3326,747.7,-10.0,546,6387,0.00,2.25,0.00,0.000,1030,0.000,0.037,2087,2501,3338,3350,3327,0,0,0,0,0,0,14.73,14.67,14.76
$GC,6703,-0.67,-97.3,2086,2499,3349,3325,779.4,-9.6,565,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3337,3349,3325,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7003,-0.67,-97.3,2087,2499,3348,3324,807.2,-9.0,580,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3336,3348,3324,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7305,-0.67,-97.3,2087,2499,3347,3323,834.5,-9.2,595,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3335,3347,3323,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7603,-0.67,-97.3,2086,2499,3346,3322,862.0,-9.0,610,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3334,3347,3322,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7904,-0.67,-97.3,2087,2499,3345,3321,889.5,-9.1,625,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3333,3345,3321,0,0,0,0,0,0,15.10,15.14,15.13
$GC,8203,-0.67,-97.3,2087,2499,3344,3321,917.5,-9.5,640,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3332,3343,3321,0,0,0,0,0,0,15.11,15.15,15.14
$GC,8504,-0.67,-97.3,2087,2499,3343,3320,946.5,-9.8,655,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3331,3343,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8804,-0.67,-97.3,2086,2499,3343,3320,977.6,-10.6,670,8809,0.00,2.50,0.00,0.000,260,0.000,0.092,2076,3894,3331,3343,3319,0,0,0,0,0,0,15.10,14.37,15.13
$GC,8846,-0.67,-97.3,2076,3894,3343,3319,982.3,-11.2,678,8852,0.12,2.28,0.00,0.000,3078,0.212,0.038,2107,2497,3331,3343,3319,0,0,0,0,0,0,14.31,14.61,14.50
$STATE,8925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8925,begin apogee
$GC,8932,-0.15,0.0,2107,2495,3343,3319,990.3,-9.5,685,9027,0.57,0.00,91.30,2.008,10246,0.164,0.000,2275,2495,2968,2999,2938,0,0,0,0,0,0,14.23,14.04,12.69
$STATE,9028,end apogee,CONTROL_FINISHED_OK
$STATE,9028,begin climb
$GC,9032,0.67,97.3,2276,2495,2998,2937,994.3,0.0,690,9145,0.82,2.55,102.62,1.996,10500,0.092,0.087,2550,3874,2569,2600,2539,0,0,0,0,0,0,14.18,13.93,12.62
$GC,9182,0.72,141.2,2552,3874,2593,2539,993.7,5.6,720,9235,0.00,2.40,44.95,1.954,9254,0.000,0.037,2566,2443,2393,2428,2358,0,0,0,0,0,0,14.31,14.25,12.62
$GC,9552,0.72,141.2,2566,2443,2419,2351,959.9,9.8,749,9556,0.00,2.35,0.00,0.000,516,0.000,0.054,2577,1050,2385,2419,2352,0,0,0,0,0,0,14.86,14.50,14.89
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$STATE,19908,end climb,SURFACE_DEPTH_REACHED
$STATE,19908,begin surface coast
$STATE,19933,end surface coast,CONTROL_FINISHED_OK
$STATE,19933,begin surface
$SM_CCo,19952,100.75,0.593,1,0,928,500.17
$SM_GC,1.29,7.18,0.08,100.75,0.038,0.171,0.593,116,2513,928,-6.79,-1.07,500.17,0,0,0,0,1,0,14.63,14.64,13.78
$IRIDIUM_FIX,851.76,8615.07,051119,123414
$TT8_MAMPS,0.019474,0.156541
$HUMID,46.65
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,12.62,156.112
$10V_AH,12.63,0.000
$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
$DEVICE_SECS,19.400,208.075,476.325,100.750,0.000,0.000,0.000,246.300,0.250,0.000,16.798,1635.826,14826.707,704.240,2820.417,450.367,0.000,2399.546,0.000,2550.718,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,879.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251224
$DATA_FILE_SIZE,79817,1794
$CAP_FILE_SIZE,198002,0
$CFSIZE,260034560,147206144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.092,10.13,1
$GPS,061119,002500,854.958,8614.782,18,1.1,18,-1.3,0.4,288.7,7,4.4