version: 66.13
glider: 171
mission: 11
dive: 468
start: 11 13 119 1 28 2
data:
$ID,171
$MISSION,11
$DIVE,468
$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,0.00177828
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,131119,012100,829.2604,8551.2568,26,0.7,26,-1.4,0.3,330.1,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.9
$GPS2,131119,012710,829.3391,8551.2500,2,0.5,2,-1.4,0.3,349.4,12,7.4
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,207.7,66867,-18.5,-8.049,-29.14,1821
$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,-0.64,-97.3,125,2500,968,886,0.0,0.0,0,83,0.00,0.00,-71.82,0.005,16386,0.000,0.000,125,2500,2622,2622,2623,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.64,-97.3,125,2500,2623,2623,4.7,-12.5,15,118,9.02,2.38,-14.23,0.009,18948,0.346,0.070,2124,1112,3366,3381,3352,0,0,0,0,0,0,14.02,12.76,14.44
$GC,188,-0.64,-97.3,2123,1111,3381,3353,37.6,-27.5,35,192,0.00,2.35,0.00,0.000,1030,0.000,0.060,2115,2498,3367,3381,3353,0,0,0,0,0,0,14.63,14.52,14.66
$GC,376,-0.64,-97.3,2114,2498,3381,3353,85.6,-21.2,58,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2498,3367,3381,3353,0,0,0,0,0,0,14.98,15.01,15.01
$GC,565,-0.64,-97.3,2114,2498,3381,3353,114.3,-15.4,77,569,0.00,2.38,0.00,0.000,260,0.000,0.077,2104,3902,3367,3381,3353,0,0,0,0,0,0,15.03,14.57,15.06
$GC,676,-0.64,-97.3,2103,3902,3381,3352,131.5,-14.7,99,681,0.00,2.22,0.00,0.000,1030,0.000,0.036,2104,2507,3366,3381,3352,0,0,0,0,0,0,14.78,14.71,14.80
$GC,869,-0.64,-97.3,2104,2505,3381,3353,157.2,-14.2,119,873,0.00,2.40,0.00,0.000,260,0.000,0.086,2093,3894,3366,3381,3352,0,0,0,0,0,0,15.07,14.56,15.09
$GC,901,-0.64,-97.3,2092,3894,3381,3353,161.7,-14.3,125,905,0.00,2.25,0.00,0.000,1030,0.000,0.042,2093,2507,3367,3381,3353,0,0,0,0,0,0,14.77,14.69,14.80
$GC,1092,-0.64,-97.3,2091,2506,3381,3352,187.3,-12.9,145,1097,0.00,2.30,0.00,0.000,516,0.000,0.050,2093,1087,3366,3381,3352,0,0,0,0,0,0,15.09,14.63,15.11
$GC,1150,-0.64,-97.3,2092,1087,3381,3352,194.6,-12.6,156,1157,0.15,2.40,0.00,0.000,3078,0.216,0.058,2118,2508,3366,3381,3352,0,0,0,0,0,0,14.45,14.65,14.65
$GC,1346,-0.64,-97.3,2118,2508,3380,3352,217.6,-11.9,177,1350,0.00,2.35,0.00,0.000,260,0.000,0.083,2110,3894,3366,3380,3352,0,0,0,0,0,0,15.09,14.60,15.11
$GC,1484,-0.64,-97.3,2109,3894,3378,3352,234.6,-12.4,204,1489,0.00,2.25,0.00,0.000,1030,0.000,0.035,2110,2484,3365,3379,3352,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1678,-0.64,-97.3,2109,2483,3377,3352,256.9,-11.3,221,1682,0.00,2.25,0.00,0.000,516,0.000,0.048,2110,1099,3364,3376,3352,0,0,0,0,0,0,15.11,14.69,15.13
$GC,1794,-0.64,-97.3,2109,1098,3375,3352,269.1,-10.2,244,1798,0.00,2.38,0.00,0.000,1030,0.000,0.058,2099,2503,3363,3375,3352,0,0,0,0,0,0,14.77,14.66,14.80
$GC,2098,-0.64,-97.3,2099,2503,3372,3351,303.4,-11.3,260,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2504,3361,3371,3351,0,0,0,0,0,0,15.13,15.16,15.15
$GC,2399,-0.64,-97.3,2098,2504,3371,3347,336.4,-10.7,275,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2503,3359,3371,3347,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2699,-0.64,-97.3,2099,2503,3368,3345,367.5,-10.1,290,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3356,3368,3345,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2998,-0.64,-97.3,2098,2503,3366,3341,397.9,-10.0,305,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2504,3354,3366,3342,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3299,-0.64,-97.3,2098,2503,3364,3339,427.6,-9.9,320,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3351,3364,3339,0,0,0,0,0,0,15.13,15.16,15.15
$GC,3599,-0.64,-97.3,2098,2504,3362,3338,458.2,-10.4,335,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3350,3362,3338,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3898,-0.64,-97.3,2099,2503,3360,3335,489.1,-10.2,350,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3347,3360,3335,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4199,-0.64,-97.3,2099,2503,3358,3334,519.6,-10.2,365,4203,0.00,2.40,0.00,0.000,260,0.000,0.086,2088,3892,3345,3357,3334,0,0,0,0,0,0,15.12,14.54,15.15
$GC,4220,-0.64,-97.3,2088,3892,3357,3333,521.9,-10.2,369,4225,0.12,2.25,0.00,0.000,3078,0.212,0.037,2118,2490,3345,3357,3334,0,0,0,0,0,0,14.46,14.73,14.65
$GC,4541,-0.64,-97.3,2118,2488,3356,3331,550.0,-8.5,388,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2488,3344,3356,3332,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4843,-0.64,-97.3,2118,2488,3355,3330,576.0,-8.7,403,4847,0.00,2.30,0.00,0.000,516,0.000,0.050,2119,1107,3342,3355,3330,0,0,0,0,0,0,15.12,14.63,15.14
$GC,4885,-0.64,-97.3,2118,1107,3354,3330,579.8,-8.8,411,4892,0.00,2.42,0.00,0.000,1030,0.000,0.072,2110,2496,3342,3354,3330,0,0,0,0,0,0,14.67,14.53,14.72
$GC,5204,-0.64,-97.3,2109,2496,3353,3328,609.3,-9.2,430,5209,0.00,2.45,0.00,0.000,260,0.000,0.087,2099,3906,3340,3353,3328,0,0,0,0,0,0,15.13,14.50,15.15
$GC,5232,-0.64,-97.3,2098,3906,3353,3328,611.9,-9.6,435,5237,0.00,2.28,0.00,0.000,1030,0.000,0.034,2099,2494,3340,3353,3328,0,0,0,0,0,0,14.77,14.70,14.79
$GC,5548,-0.64,-97.3,2098,2493,3351,3327,643.0,-9.9,453,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3339,3351,3327,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5849,-0.64,-97.3,2098,2492,3350,3326,672.3,-9.7,468,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3338,3350,3326,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6149,-0.64,-97.3,2098,2493,3349,3324,702.5,-10.3,483,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3336,3349,3324,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6448,-0.64,-97.3,2098,2492,3348,3323,733.6,-10.4,498,6453,0.00,2.30,0.00,0.000,516,0.000,0.050,2099,1105,3335,3348,3323,0,0,0,0,0,0,15.12,14.59,15.14
$GC,6476,-0.64,-97.3,2098,1105,3347,3323,736.4,-10.6,503,6483,0.12,2.42,0.00,0.000,3078,0.212,0.065,2118,2506,3335,3347,3323,0,0,0,0,0,0,14.37,14.54,14.54
$GC,6790,-0.64,-97.3,2118,2506,3347,3321,765.9,-9.1,521,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2506,3334,3347,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7090,-0.64,-97.3,2118,2507,3346,3320,792.8,-8.8,536,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2506,3333,3346,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7392,-0.64,-97.3,2118,2506,3344,3320,818.4,-8.4,551,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2506,3332,3345,3320,0,0,0,0,0,0,15.10,15.13,15.13
$GC,7690,-0.64,-97.3,2118,2506,3343,3319,842.8,-8.1,566,7695,0.00,2.45,0.00,0.000,260,0.000,0.090,2109,3894,3331,3343,3320,0,0,0,0,0,0,15.11,14.41,15.14
$GC,7732,-0.64,-97.3,2109,3894,3343,3320,846.3,-8.5,574,7738,0.00,2.30,0.00,0.000,1030,0.000,0.037,2109,2490,3331,3343,3320,0,0,0,0,0,0,14.71,14.64,14.73
$GC,8055,-0.64,-97.3,2109,2488,3343,3319,872.8,-8.0,593,8059,0.00,2.30,0.00,0.000,516,0.000,0.050,2109,1104,3330,3342,3319,0,0,0,0,0,0,15.10,14.55,15.13
$GC,8086,-0.64,-97.3,2108,1104,3342,3318,875.4,-8.2,599,8093,0.00,2.42,0.00,0.000,1030,0.000,0.059,2098,2508,3330,3342,3318,0,0,0,0,0,0,14.62,14.49,14.66
$GC,8396,-0.64,-97.3,2098,2508,3342,3317,902.1,-8.5,616,8400,0.00,2.45,0.00,0.000,260,0.000,0.090,2087,3900,3329,3342,3317,0,0,0,0,0,0,15.11,14.39,15.14
$GC,8422,-0.64,-97.3,2087,3900,3342,3317,904.4,-9.3,621,8427,0.12,2.28,0.00,0.000,3078,0.209,0.037,2117,2497,3329,3342,3317,0,0,0,0,0,0,14.33,14.62,14.52
$GC,8734,-0.64,-97.3,2117,2496,3342,3316,927.8,-7.4,638,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2496,3329,3342,3316,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9035,-0.64,-97.3,2117,2496,3341,3316,950.4,-7.5,653,9039,0.00,2.33,0.00,0.000,516,0.000,0.050,2118,1103,3328,3341,3315,0,0,0,0,0,0,15.10,14.52,15.13
$GC,9066,-0.64,-97.3,2117,1103,3340,3316,952.9,-8.2,659,9072,0.00,2.42,0.00,0.000,1030,0.000,0.059,2109,2503,3327,3340,3315,0,0,0,0,0,0,14.59,14.46,14.63
$GC,9375,-0.64,-97.3,2108,2503,3340,3315,978.9,-8.6,676,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2504,3327,3340,3315,0,0,0,0,0,0,15.09,15.14,15.13
$STATE,9513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9513,begin apogee
$GC,9521,-0.15,0.0,2109,2504,3339,3315,991.2,-8.7,683,9615,0.57,0.00,90.95,2.017,10246,0.161,0.000,2275,2503,2968,2999,2938,0,0,0,0,0,0,14.23,14.04,12.70
$STATE,9616,end apogee,CONTROL_FINISHED_OK
$STATE,9617,begin climb
$GC,9619,0.64,97.3,2275,2503,2998,2937,994.4,0.0,688,9735,0.80,2.45,102.75,2.000,10500,0.093,0.083,2540,3852,2570,2599,2541,0,0,0,0,0,0,14.18,13.59,12.59
$GC,9758,0.70,156.2,2540,3852,2593,2541,993.5,4.7,715,9825,0.00,2.38,60.45,1.975,9254,0.000,0.036,2552,2437,2331,2368,2294,0,0,0,0,0,0,14.28,14.23,12.59
$GC,10142,0.70,156.2,2552,2437,2358,2287,957.7,9.7,747,10146,0.00,2.35,0.00,0.000,516,0.000,0.052,2562,1048,2322,2358,2287,0,0,0,0,0,0,14.87,14.50,14.90
$GC,10247,0.70,156.2,2562,1048,2356,2286,947.4,9.8,768,10252,0.00,2.42,0.00,0.000,1030,0.000,0.059,2562,2449,2321,2356,2286,0,0,0,0,0,0,14.62,14.51,14.66
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$STATE,20502,end climb,SURFACE_DEPTH_REACHED
$STATE,20502,begin surface coast
$STATE,20543,end surface coast,CONTROL_FINISHED_OK
$STATE,20543,begin surface
$SM_CCo,20562,122.68,0.617,1,0,928,500.17
$SM_GC,1.40,7.28,0.10,122.68,0.059,0.159,0.617,120,2511,928,-6.77,-0.85,500.17,0,0,0,0,1,0,14.66,14.64,13.78
$IRIDIUM_FIX,829.80,8557.81,121119,193153
$TT8_MAMPS,0.018725,0.163282
$HUMID,44.60
$INTERNAL_PRESSURE,9.56589
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,12.59,164.833
$10V_AH,12.57,0.000
$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,19.100,170.400,457.550,122.675,0.000,0.000,0.000,233.600,0.000,0.000,16.425,1589.408,15598.527,702.509,2712.859,457.044,0.000,2325.877,0.000,2464.114,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,159.120,2016.540,617.355,0.000,0.000,0.000,180.540,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,918.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250776
$DATA_FILE_SIZE,76631,1733
$CAP_FILE_SIZE,189983,0
$CFSIZE,260034560,144506880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.053,256.70,1
$GPS,131119,071400,827.727,8549.813,23,0.8,23,-1.4,0.6,343.6,9,7.0