version: 66.13
glider: 171
mission: 11
dive: 444
start: 11 6 119 23 22 34
data:
$ID,171
$MISSION,11
$DIVE,444
$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,55
$R_STBD_OVSHOOT,39
$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
$GPS1,061119,231539,852.5283,8611.9883,16,0.9,16,-1.3,0.9,20.6,7,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.2
$GPS2,061119,232143,852.6062,8612.0693,3,1.0,5,-1.3,0.1,0.0,7,7.4
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,204.2,124277,-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,-97.3,92,2518,973,878,0.0,0.0,0,83,0.00,0.00,-71.45,0.005,16386,0.000,0.000,88,2518,2601,2601,2601,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,87,2519,2603,2601,4.7,-12.5,15,120,9.12,2.42,-14.73,0.009,18692,0.345,0.099,2093,3886,3368,3381,3355,0,0,0,0,0,0,14.00,12.66,14.42
$GC,238,-0.67,-97.3,2093,3886,3381,3355,53.5,-25.1,45,243,0.00,2.22,0.00,0.000,1030,0.000,0.038,2093,2506,3368,3381,3355,0,0,0,0,0,0,14.69,14.62,14.71
$GC,429,-0.67,-97.3,2092,2504,3381,3355,92.8,-20.8,65,434,0.00,2.38,0.00,0.000,260,0.000,0.080,2083,3883,3368,3381,3355,0,0,0,0,0,0,15.00,14.52,15.03
$GC,522,-0.67,-97.3,2082,3883,3381,3355,107.1,-15.0,83,526,0.00,2.20,0.00,0.000,1030,0.000,0.032,2083,2488,3368,3381,3355,0,0,0,0,0,0,14.76,14.70,14.78
$GC,713,-0.67,-97.3,2082,2487,3382,3355,137.4,-15.4,103,718,0.12,2.42,0.00,0.000,2308,0.246,0.079,2101,3881,3368,3382,3355,0,0,0,0,0,0,14.48,14.56,14.62
$GC,795,-0.67,-97.3,2101,3881,3382,3355,148.5,-13.1,119,799,0.00,2.17,0.00,0.000,1030,0.000,0.032,2101,2498,3369,3383,3355,0,0,0,0,0,0,14.79,14.73,14.81
$GC,986,-0.67,-97.3,2101,2497,3382,3355,174.2,-13.9,139,990,0.00,2.38,0.00,0.000,260,0.000,0.080,2090,3883,3368,3382,3355,0,0,0,0,0,0,15.08,14.58,15.10
$GC,1077,-0.67,-97.3,2090,3882,3382,3355,187.0,-13.3,157,1082,0.00,2.17,0.00,0.000,1030,0.000,0.031,2090,2497,3368,3382,3355,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1269,-0.67,-97.3,2090,2495,3382,3355,211.1,-11.6,177,1274,0.00,2.25,0.00,0.000,516,0.000,0.044,2090,1101,3368,3381,3355,0,0,0,0,0,0,15.09,14.70,15.12
$GC,1356,-0.67,-97.3,2090,1101,3380,3355,220.6,-10.8,194,1363,0.12,2.33,0.00,0.000,3078,0.217,0.054,2110,2490,3367,3380,3355,0,0,0,0,0,0,14.47,14.66,14.66
$GC,1555,-0.67,-97.3,2109,2491,3379,3355,241.1,-10.6,215,1559,0.00,2.40,0.00,0.000,260,0.000,0.081,2101,3900,3367,3379,3355,0,0,0,0,0,0,15.08,14.59,15.11
$GC,1605,-0.67,-97.3,2100,3900,3378,3355,247.4,-11.5,225,1610,0.00,2.20,0.00,0.000,1030,0.000,0.032,2101,2501,3366,3378,3355,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1799,-0.67,-97.3,2100,2499,3377,3355,270.4,-12.4,237,1804,0.00,2.28,0.00,0.000,516,0.000,0.047,2101,1105,3366,3377,3355,0,0,0,0,0,0,15.10,14.69,15.12
$GC,1897,-0.67,-97.3,2100,1105,3375,3354,282.2,-11.5,256,1901,0.00,2.35,0.00,0.000,1030,0.000,0.055,2090,2500,3365,3375,3355,0,0,0,0,0,0,14.76,14.66,14.80
$GC,2202,-0.67,-97.3,2089,2500,3373,3351,318.2,-11.9,272,2206,0.00,2.38,0.00,0.000,260,0.000,0.081,2079,3893,3362,3374,3351,0,0,0,0,0,0,15.11,14.59,15.14
$GC,2253,-0.67,-97.3,2078,3894,3373,3351,324.8,-12.8,282,2258,0.12,2.20,0.00,0.000,3078,0.213,0.033,2109,2498,3362,3373,3352,0,0,0,0,0,0,14.49,14.76,14.68
$GC,2566,-0.67,-97.3,2109,2497,3372,3348,359.3,-10.8,299,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3360,3372,3348,0,0,0,0,0,0,15.12,15.15,15.14
$GC,2866,-0.67,-97.3,2109,2497,3370,3346,391.9,-11.0,314,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3358,3370,3346,0,0,0,0,0,0,15.12,15.15,15.15
$GC,3164,-0.67,-97.3,2109,2497,3367,3344,425.1,-11.0,329,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3356,3368,3344,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3464,-0.67,-97.3,2109,2497,3366,3340,455.7,-9.8,344,3468,0.00,2.28,0.00,0.000,516,0.000,0.048,2110,1109,3353,3366,3340,0,0,0,0,0,0,15.14,14.67,15.16
$GC,3501,-0.67,-97.3,2109,1108,3365,3340,459.2,-9.7,351,3505,0.00,2.38,0.00,0.000,1030,0.000,0.058,2100,2504,3352,3365,3340,0,0,0,0,0,0,14.74,14.64,14.78
$GC,3805,-0.67,-97.3,2099,2504,3363,3338,489.8,-10.1,367,3809,0.00,2.40,0.00,0.000,260,0.000,0.084,2089,3899,3351,3363,3339,0,0,0,0,0,0,15.13,14.55,15.16
$GC,3830,-0.67,-97.3,2088,3899,3363,3338,492.5,-11.3,372,3835,0.00,2.22,0.00,0.000,1030,0.000,0.034,2089,2506,3351,3363,3339,0,0,0,0,0,0,14.81,14.74,14.83
$GC,4148,-0.67,-97.3,2088,2505,3362,3337,527.8,-11.5,390,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2505,3349,3362,3337,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4446,-0.67,-97.3,2088,2505,3360,3335,562.1,-11.4,405,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2505,3347,3360,3335,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4747,-0.67,-97.3,2088,2505,3358,3333,594.8,-10.5,420,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2505,3346,3359,3334,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5046,-0.67,-97.3,2088,2505,3356,3332,625.5,-10.1,435,5051,0.00,2.33,0.00,0.000,516,0.000,0.051,2088,1111,3344,3356,3332,0,0,0,0,0,0,15.13,14.60,15.15
$GC,5067,-0.67,-97.3,2088,1111,3356,3332,627.7,-10.4,439,5072,0.12,2.38,0.00,0.000,3078,0.212,0.060,2109,2501,3344,3356,3332,0,0,0,0,0,0,14.41,14.59,14.60
$GC,5386,-0.67,-97.3,2108,2501,3356,3331,655.5,-8.8,457,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3343,3356,3331,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5684,-0.67,-97.3,2109,2501,3354,3329,681.8,-8.7,472,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2500,3342,3355,3329,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5984,-0.67,-97.3,2108,2501,3353,3328,708.0,-8.7,487,5988,0.00,2.42,0.00,0.000,260,0.000,0.086,2099,3894,3340,3353,3327,0,0,0,0,0,0,15.13,14.47,15.15
$GC,6021,-0.67,-97.3,2099,3895,3353,3328,711.3,-9.3,494,6025,0.00,2.25,0.00,0.000,1030,0.000,0.035,2099,2495,3340,3352,3328,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6342,-0.67,-97.3,2099,2494,3352,3326,742.0,-9.8,513,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3339,3352,3326,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6642,-0.67,-97.3,2099,2494,3351,3326,771.6,-9.9,528,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3338,3351,3325,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6942,-0.67,-97.3,2099,2494,3350,3324,801.0,-9.8,543,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3337,3350,3324,0,0,0,0,0,0,15.12,15.15,15.14
$GC,7242,-0.67,-97.3,2099,2494,3348,3323,830.3,-9.6,558,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3336,3349,3323,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7543,-0.67,-97.3,2099,2494,3348,3322,858.5,-9.3,573,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3335,3348,3322,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7842,-0.67,-97.3,2099,2494,3347,3321,886.0,-9.0,588,7846,0.00,2.50,0.00,0.000,260,0.000,0.087,2088,3894,3334,3347,3321,0,0,0,0,0,0,15.11,14.41,15.14
$GC,7868,-0.67,-97.3,2088,3894,3347,3321,888.4,-9.6,593,7873,0.00,2.25,0.00,0.000,1030,0.000,0.037,2088,2502,3334,3347,3321,0,0,0,0,0,0,14.71,14.64,14.73
$GC,8185,-0.67,-97.3,2088,2501,3345,3321,919.1,-9.7,611,8190,0.00,2.33,0.00,0.000,516,0.000,0.052,2088,1109,3333,3345,3321,0,0,0,0,0,0,15.11,14.53,15.14
$GC,8216,-0.67,-97.3,2088,1109,3344,3321,922.3,-10.0,617,8222,0.12,2.42,0.00,0.000,3078,0.207,0.062,2108,2506,3332,3344,3321,0,0,0,0,0,0,14.31,14.49,14.50
$GC,8530,-0.67,-97.3,2108,2506,3344,3320,949.1,-8.4,634,8536,0.00,2.42,0.00,0.000,260,0.000,0.087,2099,3892,3332,3344,3320,0,0,0,0,0,0,15.11,14.39,15.14
$GC,8560,-0.67,-97.3,2098,3891,3344,3320,951.7,-9.1,640,8564,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2494,3332,3344,3320,0,0,0,0,0,0,14.69,14.62,14.71
$GC,8871,-0.67,-97.3,2099,2493,3343,3320,978.6,-8.4,657,8875,0.00,2.33,0.00,0.000,516,0.000,0.052,2099,1106,3331,3343,3320,0,0,0,0,0,0,15.11,14.51,15.14
$GC,8898,-0.67,-97.3,2098,1106,3343,3319,980.8,-8.7,662,8904,0.00,2.42,0.00,0.000,1030,0.000,0.060,2088,2506,3331,3343,3320,0,0,0,0,0,0,14.59,14.47,14.64
$STATE,9010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9010,begin apogee
$GC,9018,-0.15,0.0,2088,2429,3343,3319,990.7,-8.7,670,9114,0.65,0.00,92.18,2.001,10246,0.170,0.000,2275,2428,2968,3000,2936,0,0,0,0,0,0,14.20,14.02,12.62
$STATE,9115,end apogee,CONTROL_FINISHED_OK
$STATE,9115,begin climb
$GC,9118,0.67,97.3,2275,2429,2999,2936,993.0,0.0,675,9231,0.82,2.50,102.60,1.989,10756,0.093,0.054,2560,1051,2569,2600,2538,0,0,0,0,0,0,14.16,13.94,12.60
$GC,9247,0.73,151.0,2559,1051,2597,2538,990.9,5.0,695,9309,0.00,2.47,54.88,1.957,9254,0.000,0.057,2560,2443,2351,2390,2312,0,0,0,0,0,0,14.21,14.13,12.62
$GC,9616,0.73,151.0,2560,2443,2380,2307,948.0,12.2,724,9620,0.00,2.38,0.00,0.000,516,0.000,0.054,2571,1057,2343,2380,2307,0,0,0,0,0,0,14.85,14.50,14.88
$GC,9638,0.73,151.0,2570,1057,2379,2307,945.5,12.4,728,9642,0.00,2.38,0.00,0.000,1030,0.000,0.056,2571,2437,2342,2379,2306,0,0,0,0,0,0,14.59,14.49,14.63
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$STATE,19251,end climb,SURFACE_DEPTH_REACHED
$STATE,19251,begin surface coast
$STATE,19288,end surface coast,CONTROL_FINISHED_OK
$STATE,19288,begin surface
$SM_CCo,19308,80.88,0.555,1,0,927,500.17
$SM_GC,1.38,7.12,0.10,80.88,0.048,0.168,0.555,120,2509,927,-6.78,-0.74,500.17,0,0,0,0,1,0,14.64,14.57,13.79
$IRIDIUM_FIX,852.05,8610.58,061119,172748
$TT8_MAMPS,0.017976,0.161784
$HUMID,46.53
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,12.60,157.626
$10V_AH,12.59,0.000
$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,18.950,179.650,502.250,80.875,0.000,0.000,0.000,224.050,0.000,0.000,16.853,1500.749,14568.692,700.629,2555.295,428.298,0.000,2251.475,0.000,2312.824,0.000,0.541,0.000
$DEVICE_MAMPS,345.015,167.535,2001.240,554.625,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,862.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251156
$DATA_FILE_SIZE,69944,1626
$CAP_FILE_SIZE,182977,0
$CFSIZE,260034560,146776064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.067,24.98,1
$GPS,071119,044700,851.692,8611.647,31,0.8,31,-1.3,1.3,6.0,8,6.6