version: 66.13
glider: 171
mission: 11
dive: 498
start: 11 20 119 18 58 7
data:
$ID,171
$MISSION,11
$DIVE,498
$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,0.00223872
$HD_B,0.0163117
$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,58
$R_STBD_OVSHOOT,49
$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
$GPS1,201119,185100,741.4608,8454.1074,31,0.8,31,-1.6,0.1,0.0,9,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.5
$GPS2,201119,185715,741.4626,8454.0332,2,0.7,3,-1.6,0.3,232.3,12,6.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,211.3,125545,-19.5,-8.049,-26.91,1839
$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,-97.3,117,2524,972,881,0.0,0.0,0,83,0.00,0.00,-71.93,0.005,16386,0.000,0.000,116,2525,2655,2655,2656,0,0,0,0,0,0,14.85,28.83,14.89
$GC,87,-0.67,-97.3,116,2525,2656,2656,5.5,-15.7,15,115,9.15,2.33,-12.93,0.010,18948,0.351,0.065,2108,1109,3367,3380,3354,0,0,0,0,0,0,13.97,13.49,14.41
$GC,212,-0.67,-97.3,2107,1108,3380,3353,47.4,-27.7,40,216,0.00,2.33,0.00,0.000,1030,0.000,0.061,2098,2476,3367,3380,3354,0,0,0,0,0,0,14.62,14.51,14.66
$GC,403,-0.67,-97.3,2098,2476,3379,3354,96.0,-20.9,60,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2476,3367,3380,3354,0,0,0,0,0,0,15.01,15.04,15.04
$GC,584,-0.67,-97.3,2098,2476,3380,3353,124.6,-14.0,78,589,0.00,2.40,0.00,0.000,260,0.000,0.080,2087,3897,3366,3380,3353,0,0,0,0,0,0,15.04,14.55,15.07
$GC,805,-0.67,-97.3,2087,3898,3380,3354,156.6,-14.3,122,811,0.00,2.20,0.00,0.000,1030,0.000,0.033,2087,2492,3366,3380,3353,0,0,0,0,0,0,14.79,14.73,14.81
$GC,998,-0.67,-97.3,2087,2491,3380,3354,182.6,-12.6,142,1003,0.00,2.22,0.00,0.000,516,0.000,0.046,2087,1107,3366,3380,3353,0,0,0,0,0,0,15.07,14.67,15.09
$GC,1020,-0.67,-97.3,2087,1107,3380,3353,185.5,-12.9,146,1026,0.15,2.33,0.00,0.000,3078,0.216,0.055,2113,2505,3366,3380,3353,0,0,0,0,0,0,14.42,14.64,14.64
$GC,1216,-0.67,-97.3,2112,2505,3379,3353,205.3,-9.8,166,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2505,3366,3379,3353,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1403,-0.67,-97.3,2112,2505,3377,3353,224.7,-10.3,185,1407,0.00,2.28,0.00,0.000,516,0.000,0.049,2113,1111,3365,3377,3353,0,0,0,0,0,0,15.10,14.68,15.13
$GC,1435,-0.67,-97.3,2113,1110,3377,3353,228.0,-10.5,191,1439,0.00,2.33,0.00,0.000,1030,0.000,0.057,2104,2502,3365,3377,3353,0,0,0,0,0,0,14.76,14.65,14.78
$GC,1627,-0.67,-97.3,2103,2502,3375,3353,248.4,-10.8,211,1631,0.00,2.35,0.00,0.000,260,0.000,0.080,2093,3891,3364,3375,3353,0,0,0,0,0,0,15.09,14.57,15.11
$GC,1703,-0.67,-97.3,2093,3892,3374,3353,257.0,-11.0,226,1708,0.00,2.20,0.00,0.000,1030,0.000,0.032,2093,2489,3363,3374,3353,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2009,-0.67,-97.3,2092,2488,3372,3349,292.0,-11.4,242,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2488,3361,3372,3350,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2308,-0.67,-97.3,2092,2488,3370,3347,328.3,-12.0,257,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2488,3358,3370,3347,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2608,-0.67,-97.3,2092,2488,3368,3345,363.7,-11.7,272,2613,0.00,2.40,0.00,0.000,260,0.000,0.081,2083,3891,3355,3367,3344,0,0,0,0,0,0,15.12,14.56,15.15
$GC,2640,-0.67,-97.3,2082,3891,3367,3344,367.4,-12.5,278,2646,0.12,2.20,0.00,0.000,3078,0.210,0.034,2113,2495,3355,3367,3344,0,0,0,0,0,0,14.48,14.75,14.67
$GC,2953,-0.67,-97.3,2112,2494,3366,3340,398.4,-9.5,295,2958,0.00,2.28,0.00,0.000,516,0.000,0.048,2113,1104,3352,3365,3340,0,0,0,0,0,0,15.12,14.66,15.14
$GC,2985,-0.67,-97.3,2112,1104,3365,3340,401.4,-9.3,301,2989,0.00,2.35,0.00,0.000,1030,0.000,0.056,2104,2499,3352,3365,3340,0,0,0,0,0,0,14.73,14.63,14.77
$GC,3298,-0.67,-97.3,2103,2499,3362,3338,431.2,-9.7,318,3303,0.00,2.38,0.00,0.000,260,0.000,0.083,2093,3892,3350,3362,3338,0,0,0,0,0,0,15.11,14.54,15.13
$GC,3339,-0.67,-97.3,2093,3892,3362,3338,435.7,-10.4,326,3345,0.00,2.20,0.00,0.000,1030,0.000,0.035,2093,2501,3350,3362,3338,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3663,-0.67,-97.3,2093,2500,3361,3336,469.7,-10.6,345,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3348,3361,3336,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3961,-0.67,-97.3,2093,2500,3359,3334,501.9,-10.9,360,3966,0.00,2.28,0.00,0.000,516,0.000,0.049,2093,1111,3346,3358,3334,0,0,0,0,0,0,15.11,14.62,15.14
$GC,3982,-0.67,-97.3,2092,1111,3357,3334,504.3,-10.9,364,3988,0.12,2.35,0.00,0.000,3078,0.210,0.056,2112,2503,3345,3357,3334,0,0,0,0,0,0,14.42,14.60,14.61
$GC,4302,-0.67,-97.3,2112,2504,3356,3332,536.0,-10.1,382,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2503,3344,3356,3332,0,0,0,0,0,0,15.09,15.13,15.12
$GC,4599,-0.67,-97.3,2112,2503,3356,3331,566.7,-10.3,397,4603,0.00,2.40,0.00,0.000,260,0.000,0.084,2103,3898,3343,3355,3331,0,0,0,0,0,0,15.11,14.50,15.15
$GC,4646,-0.67,-97.3,2103,3898,3354,3331,571.6,-10.6,406,4651,0.00,2.22,0.00,0.000,1030,0.000,0.035,2103,2502,3343,3355,3331,0,0,0,0,0,0,14.77,14.70,14.79
$GC,4964,-0.67,-97.3,2103,2501,3353,3329,604.5,-10.4,424,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3341,3353,3329,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5264,-0.67,-97.3,2103,2501,3352,3327,636.3,-10.8,439,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3339,3352,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5564,-0.67,-97.3,2103,2501,3351,3326,668.9,-10.7,454,5569,0.00,2.30,0.00,0.000,516,0.000,0.050,2104,1108,3338,3350,3326,0,0,0,0,0,0,15.11,14.59,15.14
$GC,5592,-0.67,-97.3,2103,1108,3350,3326,672.0,-11.2,459,5596,0.00,2.38,0.00,0.000,1030,0.000,0.057,2092,2505,3337,3349,3326,0,0,0,0,0,0,14.67,14.56,14.71
$GC,5907,-0.67,-97.3,2092,2505,3349,3325,705.6,-10.3,477,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2505,3337,3349,3325,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6209,-0.67,-97.3,2092,2505,3348,3324,736.4,-10.4,492,6213,0.00,2.40,0.00,0.000,260,0.000,0.085,2082,3893,3335,3348,3323,0,0,0,0,0,0,15.11,14.45,15.14
$GC,6249,-0.67,-97.3,2082,3893,3348,3324,741.0,-10.9,500,6254,0.12,2.22,0.00,0.000,3078,0.209,0.036,2112,2500,3335,3348,3323,0,0,0,0,0,0,14.38,14.66,14.56
$GC,6571,-0.67,-97.3,2112,2498,3347,3322,770.5,-8.9,519,6575,0.00,2.30,0.00,0.000,516,0.000,0.050,2112,1104,3334,3347,3322,0,0,0,0,0,0,15.11,14.56,15.14
$GC,6603,-0.67,-97.3,2112,1104,3346,3322,773.4,-9.4,525,6607,0.00,2.40,0.00,0.000,1030,0.000,0.057,2103,2508,3334,3346,3322,0,0,0,0,0,0,14.64,14.52,14.67
$GC,6914,-0.67,-97.3,2103,2509,3346,3321,800.6,-8.2,542,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2509,3333,3346,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7214,-0.67,-97.3,2103,2509,3344,3320,823.7,-7.6,557,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2508,3332,3344,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7515,-0.67,-97.3,2103,2509,3343,3320,847.7,-8.3,572,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2509,3331,3343,3320,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7814,-0.67,-97.3,2103,2508,3343,3319,873.7,-8.9,587,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2508,3331,3342,3320,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8115,-0.67,-97.3,2103,2509,3342,3317,901.8,-9.5,602,8120,0.00,2.42,0.00,0.000,260,0.000,0.086,2092,3892,3330,3343,3317,0,0,0,0,0,0,15.09,14.38,15.12
$GC,8159,-0.67,-97.3,2092,3892,3342,3317,906.2,-10.3,610,8164,0.00,2.25,0.00,0.000,1030,0.000,0.037,2092,2495,3329,3342,3317,0,0,0,0,0,0,14.69,14.62,14.71
$GC,8481,-0.67,-97.3,2091,2494,3341,3317,938.8,-9.9,629,8485,0.00,2.30,0.00,0.000,516,0.000,0.050,2092,1108,3329,3342,3317,0,0,0,0,0,0,15.11,14.50,15.13
$GC,8517,-0.67,-97.3,2091,1107,3341,3316,942.5,-10.2,636,8525,0.12,2.40,0.00,0.000,3078,0.209,0.058,2112,2499,3329,3341,3317,0,0,0,0,0,0,14.27,14.47,14.47
$GC,8842,-0.67,-97.3,2111,2499,3341,3316,970.8,-8.5,656,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3328,3341,3316,0,0,0,0,0,0,15.09,15.13,15.12
$STATE,9078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9078,begin apogee
$GC,9086,-0.15,0.0,2112,2499,3340,3315,990.1,-7.9,668,9181,0.57,0.00,91.15,1.997,10246,0.161,0.000,2280,2499,2968,2999,2938,0,0,0,0,0,0,14.23,14.03,12.66
$STATE,9182,end apogee,CONTROL_FINISHED_OK
$STATE,9183,begin climb
$GC,9186,0.67,97.3,2280,2499,2998,2937,992.2,0.0,673,9293,0.82,0.00,103.78,1.986,10246,0.086,0.000,2556,2499,2571,2601,2541,0,0,0,0,0,0,14.19,13.89,12.60
$GC,9585,0.67,97.3,2555,2499,2590,2536,968.0,9.0,693,9589,0.00,2.45,0.00,0.000,516,0.000,0.052,2568,1057,2563,2590,2536,0,0,0,0,0,0,14.84,14.47,14.87
$GC,9627,0.67,97.3,2567,1052,2589,2535,964.1,8.8,701,9631,0.00,2.40,0.00,0.000,1030,0.000,0.054,2568,2451,2562,2589,2535,0,0,0,0,0,0,14.58,14.48,14.62
$GC,9948,0.67,97.3,2567,2451,2588,2534,936.3,8.2,720,9952,0.00,2.35,0.00,0.000,516,0.000,0.051,2578,1051,2561,2588,2534,0,0,0,0,0,0,14.97,14.54,15.00
$GC,10025,0.67,97.3,2578,1050,2586,2534,930.2,7.9,735,10032,0.12,2.38,0.00,0.000,5126,0.233,0.054,2551,2441,2560,2586,2534,0,0,0,0,0,0,14.28,14.52,14.53
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$STATE,21276,end climb,SURFACE_DEPTH_REACHED
$STATE,21277,begin surface coast
$STATE,21302,end surface coast,CONTROL_FINISHED_OK
$STATE,21302,begin surface
$SM_CCo,21321,138.15,0.635,1,0,928,500.17
$SM_GC,1.26,7.40,0.12,138.15,0.051,0.115,0.635,125,2555,928,-6.77,-0.88,500.17,0,0,0,0,1,0,14.64,14.66,13.69
$IRIDIUM_FIX,741.78,8452.67,201119,130317
$TT8_MAMPS,0.019474,0.156541
$HUMID,45.51
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,12.60,173.851
$10V_AH,11.07,0.000
$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,19.300,206.300,434.550,138.150,0.000,0.000,0.000,235.050,0.000,0.000,17.134,1680.173,16072.440,739.846,2823.345,523.808,0.000,2405.232,0.000,2578.532,0.000,0.542,0.000
$DEVICE_MAMPS,351.135,114.750,1997.415,634.950,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,919.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250808
$DATA_FILE_SIZE,79961,1814
$CAP_FILE_SIZE,202987,0
$CFSIZE,260034560,141697024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.100,277.00,1
$GPS,211119,005700,740.166,8451.880,24,0.8,24,-1.6,0.3,255.2,9,3.9