version: 66.13
glider: 171
mission: 11
dive: 445
start: 11 7 119 4 55 28
data:
$ID,171
$MISSION,11
$DIVE,445
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,071119,044700,851.6918,8611.6475,31,0.8,31,-1.3,1.3,6.0,8,6.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.7
$GPS2,071119,045438,851.7656,8611.7246,2,0.6,3,-1.3,1.1,46.2,12,5.9
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,213.7,122665,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.67,-97.3,74,2512,972,879,0.0,0.0,0,85,0.00,0.00,-72.40,0.005,16386,0.000,0.000,68,2512,2659,2658,2661,0,0,0,0,0,0,14.86,28.83,14.89
$GC,89,-0.67,-97.3,68,2512,2659,2661,5.1,-13.8,15,120,9.23,2.38,-13.32,0.009,18692,0.347,0.095,2093,3896,3366,3379,3354,0,0,0,0,0,0,14.02,13.52,14.45
$GC,213,-0.67,-97.3,2093,3896,3379,3354,46.4,-24.6,40,217,0.00,2.28,0.00,0.000,1030,0.000,0.046,2093,2510,3366,3379,3354,0,0,0,0,0,0,14.66,14.57,14.69
$GC,398,-0.67,-97.3,2092,2508,3379,3354,88.9,-20.5,60,402,0.00,2.40,0.00,0.000,260,0.000,0.086,2083,3887,3366,3379,3354,0,0,0,0,0,0,15.01,14.50,15.04
$GC,569,-0.67,-97.3,2082,3887,3379,3354,125.1,-16.3,94,574,0.00,2.25,0.00,0.000,1030,0.000,0.041,2082,2498,3366,3379,3354,0,0,0,0,0,0,14.75,14.67,14.77
$GC,761,-0.67,-97.3,2082,2497,3379,3354,153.4,-13.2,114,767,0.12,2.42,0.00,0.000,2308,0.243,0.086,2108,3888,3366,3379,3354,0,0,0,0,0,0,14.45,14.53,14.57
$GC,810,-0.67,-97.3,2108,3888,3379,3354,158.8,-10.6,123,814,0.00,2.25,0.00,0.000,1030,0.000,0.041,2108,2502,3367,3380,3354,0,0,0,0,0,0,14.77,14.69,14.80
$GC,993,-0.67,-97.3,2108,2500,3379,3354,179.8,-11.8,142,999,0.00,2.40,0.00,0.000,260,0.000,0.091,2098,3886,3366,3379,3354,0,0,0,0,0,0,15.08,14.50,15.11
$GC,1097,-0.67,-97.3,2097,3886,3379,3354,192.8,-12.2,162,1102,0.00,2.25,0.00,0.000,1030,0.000,0.041,2097,2497,3366,3379,3354,0,0,0,0,0,0,14.79,14.71,14.82
$GC,1288,-0.67,-97.3,2097,2495,3378,3354,216.2,-11.7,182,1293,0.00,2.30,0.00,0.000,516,0.000,0.053,2098,1091,3366,3378,3354,0,0,0,0,0,0,15.10,14.68,15.12
$GC,1351,-0.67,-97.3,2097,1091,3377,3353,223.7,-12.0,194,1356,0.00,2.38,0.00,0.000,1030,0.000,0.058,2086,2500,3365,3377,3354,0,0,0,0,0,0,14.76,14.66,14.80
$GC,1543,-0.67,-97.3,2086,2501,3375,3354,249.8,-14.2,214,1548,0.00,2.40,0.00,0.000,260,0.000,0.083,2076,3898,3364,3375,3353,0,0,0,0,0,0,15.11,14.61,15.13
$GC,1594,-0.67,-97.3,2075,3899,3375,3353,257.4,-14.6,224,1599,0.15,2.25,0.00,0.000,3078,0.210,0.036,2113,2485,3363,3374,3353,0,0,0,0,0,0,14.47,14.75,14.67
$GC,1907,-0.67,-97.3,2113,2484,3372,3352,293.4,-10.7,241,1911,0.00,2.28,0.00,0.000,516,0.000,0.051,2113,1098,3361,3372,3351,0,0,0,0,0,0,15.11,14.68,15.14
$GC,1987,-0.67,-97.3,2113,1099,3371,3351,302.4,-10.9,257,1991,0.00,2.38,0.00,0.000,1030,0.000,0.060,2104,2502,3361,3371,3351,0,0,0,0,0,0,14.76,14.66,14.80
$GC,2309,-0.67,-97.3,2104,2502,3370,3347,341.1,-12.2,276,2313,0.00,2.38,0.00,0.000,260,0.000,0.083,2093,3893,3358,3370,3347,0,0,0,0,0,0,15.11,14.60,15.14
$GC,2376,-0.67,-97.3,2092,3893,3369,3348,349.4,-12.5,289,2380,0.00,2.22,0.00,0.000,1030,0.000,0.036,2093,2501,3358,3369,3348,0,0,0,0,0,0,14.83,14.75,14.85
$GC,2693,-0.67,-97.3,2092,2499,3367,3345,387.3,-11.3,307,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3356,3367,3345,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2992,-0.67,-97.3,2092,2499,3366,3341,419.7,-10.5,322,2997,0.00,2.45,0.00,0.000,260,0.000,0.095,2082,3891,3353,3366,3341,0,0,0,0,0,0,15.13,14.54,15.16
$GC,3023,-0.67,-97.3,2082,3891,3365,3341,423.1,-11.2,328,3027,0.00,2.25,0.00,0.000,1030,0.000,0.041,2082,2507,3354,3365,3343,0,0,0,0,0,0,14.80,14.72,14.83
$GC,3335,-0.67,-97.3,2082,2506,3363,3339,456.9,-10.6,345,3343,0.12,2.33,0.00,0.000,2564,0.235,0.048,2112,1096,3351,3363,3340,0,0,0,0,0,0,14.56,14.66,14.68
$GC,3400,-0.67,-97.3,2111,1096,3362,3339,462.9,-8.7,358,3405,0.00,2.40,0.00,0.000,1030,0.000,0.061,2103,2505,3350,3362,3339,0,0,0,0,0,0,14.74,14.63,14.78
$GC,3716,-0.67,-97.3,2103,2505,3361,3336,491.5,-9.1,376,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2505,3348,3361,3336,0,0,0,0,0,0,15.13,15.17,15.16
$GC,4018,-0.67,-97.3,2102,2505,3359,3334,519.2,-9.2,391,4022,0.00,2.40,0.00,0.000,260,0.000,0.086,2091,3892,3346,3359,3334,0,0,0,0,0,0,15.12,14.55,15.15
$GC,4059,-0.67,-97.3,2092,3893,3358,3334,523.3,-9.7,399,4064,0.00,2.28,0.00,0.000,1030,0.000,0.037,2091,2481,3346,3358,3334,0,0,0,0,0,0,14.79,14.72,14.81
$GC,4381,-0.67,-97.3,2091,2480,3356,3333,554.2,-9.6,418,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2480,3344,3356,3332,0,0,0,0,0,0,15.12,15.16,15.15
$GC,4680,-0.67,-97.3,2091,2479,3355,3331,583.3,-9.8,433,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2479,3343,3355,3331,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4980,-0.67,-97.3,2091,2480,3354,3329,612.5,-9.7,448,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2480,3341,3354,3329,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5282,-0.67,-97.3,2091,2479,3352,3327,640.9,-9.5,463,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2479,3339,3352,3327,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5580,-0.67,-97.3,2091,2480,3351,3326,669.3,-9.5,478,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2480,3338,3351,3326,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5880,-0.67,-97.3,2091,2479,3350,3325,697.8,-9.6,493,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2480,3337,3350,3325,0,0,0,0,0,0,15.13,15.16,15.16
$GC,6181,-0.67,-97.3,2091,2479,3348,3323,728.2,-10.4,508,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2480,3335,3348,3323,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6481,-0.67,-97.3,2091,2480,3347,3322,759.5,-10.4,523,6487,0.00,2.50,0.00,0.000,260,0.000,0.090,2081,3897,3334,3347,3322,0,0,0,0,0,0,15.12,14.47,15.15
$GC,6541,-0.67,-97.3,2081,3897,3347,3322,766.0,-10.9,535,6546,0.12,2.30,0.00,0.000,3078,0.208,0.038,2111,2494,3334,3347,3321,0,0,0,0,0,0,14.39,14.66,14.58
$GC,6864,-0.67,-97.3,2111,2493,3346,3321,795.8,-9.1,554,6869,0.00,2.33,0.00,0.000,516,0.000,0.052,2112,1099,3333,3346,3321,0,0,0,0,0,0,15.11,14.57,15.14
$GC,6900,-0.67,-97.3,2111,1098,3345,3321,799.3,-9.4,561,6905,0.00,2.45,0.00,0.000,1030,0.000,0.071,2102,2498,3333,3345,3321,0,0,0,0,0,0,14.64,14.52,14.68
$GC,7222,-0.67,-97.3,2102,2497,3344,3320,830.2,-9.6,580,7227,0.00,2.45,0.00,0.000,260,0.000,0.088,2091,3893,3332,3344,3320,0,0,0,0,0,0,15.11,14.43,15.14
$GC,7253,-0.67,-97.3,2090,3893,3343,3320,833.4,-10.2,586,7259,0.00,2.28,0.00,0.000,1030,0.000,0.038,2091,2492,3332,3344,3320,0,0,0,0,0,0,14.72,14.65,14.74
$GC,7566,-0.67,-97.3,2090,2491,3343,3319,864.3,-9.9,603,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3331,3343,3319,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7866,-0.67,-97.3,2090,2491,3343,3318,892.9,-9.4,618,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3330,3343,3318,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8165,-0.67,-97.3,2090,2491,3342,3317,921.2,-9.4,633,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3330,3343,3317,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8465,-0.67,-97.3,2090,2491,3342,3316,948.6,-9.0,648,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3329,3342,3316,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8766,-0.67,-97.3,2090,2491,3340,3316,975.1,-8.8,663,8771,0.00,2.35,0.00,0.000,516,0.000,0.053,2091,1106,3328,3341,3315,0,0,0,0,0,0,15.10,14.52,15.13
$GC,8788,-0.67,-97.3,2090,1106,3341,3315,977.1,-9.4,667,8795,0.12,2.42,0.00,0.000,3078,0.209,0.065,2111,2499,3327,3340,3315,0,0,0,0,0,0,14.29,14.47,14.49
$STATE,8965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8965,begin apogee
$GC,8973,-0.15,0.0,2111,2499,3340,3315,991.1,-7.7,679,9068,0.57,0.00,91.22,1.999,10246,0.162,0.000,2279,2499,2968,3000,2936,0,0,0,0,0,0,14.26,14.03,12.64
$STATE,9069,end apogee,CONTROL_FINISHED_OK
$STATE,9069,begin climb
$GC,9071,0.67,97.3,2279,2499,2999,2935,993.4,0.0,684,9180,0.82,0.00,103.97,1.987,10758,0.085,0.000,2557,2499,2570,2602,2538,0,0,0,0,0,0,14.19,13.85,12.55
$GC,9469,0.67,97.3,2557,2499,2591,2534,970.6,8.6,707,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2499,2563,2592,2534,0,0,0,0,0,0,14.84,14.87,14.87
$GC,9767,0.67,97.3,2557,2499,2590,2534,945.3,8.3,722,9772,0.00,2.47,0.00,0.000,516,0.000,0.053,2569,1044,2562,2590,2534,0,0,0,0,0,0,14.97,14.55,15.00
$GC,9819,0.67,97.3,2568,1044,2588,2532,941.2,8.2,732,9823,0.00,2.42,0.00,0.000,1030,0.000,0.061,2569,2446,2560,2588,2532,0,0,0,0,0,0,14.64,14.53,14.69
$GC,10125,0.67,97.3,2568,2446,2588,2531,915.5,8.4,748,10129,0.00,2.38,0.00,0.000,516,0.000,0.050,2580,1043,2559,2588,2531,0,0,0,0,0,0,15.01,14.58,15.04
$GC,10181,0.67,97.3,2579,1042,2586,2530,910.9,8.3,759,10188,0.12,2.40,0.00,0.000,5126,0.236,0.054,2552,2441,2558,2586,2530,0,0,0,0,0,0,14.30,14.55,14.56
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$STATE,20398,end climb,SURFACE_DEPTH_REACHED
$STATE,20398,begin surface coast
$STATE,20402,end surface coast,CONTROL_FINISHED_OK
$STATE,20402,begin surface
$SM_CCo,20424,90.57,0.581,1,0,929,500.17
$SM_GC,1.29,7.70,2.22,90.57,0.078,0.034,0.581,111,2501,929,-6.77,1.50,500.17,0,0,0,0,1,0,14.64,14.58,13.74
$IRIDIUM_FIX,849.59,8612.90,061119,231806
$TT8_MAMPS,0.018725,0.158039
$HUMID,46.61
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,12.55,157.920
$10V_AH,12.78,0.000
$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,20.100,180.150,485.700,90.575,0.000,0.000,0.000,265.975,0.250,0.000,15.082,1610.620,15411.511,720.411,2794.090,440.618,0.000,2382.361,0.000,2508.028,0.000,0.543,0.000
$DEVICE_MAMPS,346.545,94.860,1998.945,581.400,0.000,0.000,0.000,175.950,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,895.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251248
$DATA_FILE_SIZE,76597,1764
$CAP_FILE_SIZE,191532,0
$CFSIZE,260034560,146677760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.079,17.64,1
$GPS,071119,103830,851.308,8611.061,21,0.8,21,-1.3,0.4,82.1,10,7.6