version: 66.13
glider: 171
mission: 11
dive: 499
start: 11 21 119 1 10 10
data:
$ID,171
$MISSION,11
$DIVE,499
$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,60
$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
$GPS1,211119,005700,740.1656,8451.8799,24,0.8,24,-1.6,0.3,255.2,9,3.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.6
$GPS2,211119,010917,740.1809,8451.7500,2,0.6,2,-1.6,0.6,237.5,12,7.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,207.0,120776,-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,-97.3,115,2556,968,885,0.0,0.0,0,83,0.00,0.00,-72.05,0.005,16386,0.000,0.000,115,2557,2654,2654,2655,0,0,0,0,0,0,14.87,28.83,14.90
$GC,87,-0.67,-97.3,115,2557,2655,2655,5.0,-15.0,15,116,9.12,2.38,-13.23,0.009,18948,0.350,0.065,2103,1110,3366,3379,3353,0,0,0,0,0,0,13.99,13.50,14.42
$GC,218,-0.67,-97.3,2102,1110,3379,3353,50.2,-28.7,41,223,0.00,2.35,0.00,0.000,1030,0.000,0.062,2093,2495,3366,3380,3353,0,0,0,0,0,0,14.63,14.52,14.66
$GC,403,-0.67,-97.3,2093,2495,3379,3353,97.7,-21.3,60,407,0.00,2.30,0.00,0.000,516,0.000,0.056,2093,1110,3366,3379,3353,0,0,0,0,0,0,15.02,14.57,15.04
$GC,440,-0.67,-97.3,2093,1110,3379,3353,104.7,-18.6,67,447,0.12,2.38,0.00,0.000,3078,0.233,0.065,2111,2500,3366,3379,3353,0,0,0,0,0,0,14.38,14.56,14.59
$GC,637,-0.67,-97.3,2111,2501,3379,3353,134.5,-13.9,88,641,0.00,2.38,0.00,0.000,260,0.000,0.078,2102,3902,3366,3380,3353,0,0,0,0,0,0,15.03,14.57,15.06
$GC,798,-0.67,-97.3,2101,3902,3380,3353,158.2,-13.9,120,802,0.00,2.20,0.00,0.000,1030,0.000,0.032,2102,2501,3366,3379,3353,0,0,0,0,0,0,14.80,14.74,14.81
$GC,990,-0.67,-97.3,2102,2499,3379,3353,182.8,-12.1,140,994,0.00,2.25,0.00,0.000,516,0.000,0.046,2102,1101,3366,3379,3353,0,0,0,0,0,0,15.08,14.68,15.11
$GC,1030,-0.67,-97.3,2100,1101,3378,3353,187.8,-11.8,148,1035,0.00,2.35,0.00,0.000,1030,0.000,0.054,2090,2510,3365,3378,3353,0,0,0,0,0,0,14.76,14.65,14.78
$GC,1221,-0.67,-97.3,2090,2510,3378,3353,211.2,-12.3,168,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2510,3365,3378,3353,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1402,-0.67,-97.3,2090,2510,3376,3353,233.2,-12.0,186,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2510,3364,3376,3352,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1581,-0.67,-97.3,2090,2510,3374,3352,255.2,-12.2,202,1586,0.00,2.35,0.00,0.000,260,0.000,0.080,2080,3901,3362,3373,3352,0,0,0,0,0,0,15.11,14.59,15.14
$GC,1639,-0.67,-97.3,2080,3901,3372,3352,262.3,-12.3,213,1644,0.12,2.22,0.00,0.000,3078,0.217,0.034,2110,2490,3362,3373,3352,0,0,0,0,0,0,14.48,14.76,14.67
$GC,1943,-0.67,-97.3,2110,2489,3371,3348,294.3,-10.3,229,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2489,3359,3371,3348,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2243,-0.67,-97.3,2110,2489,3369,3346,328.1,-11.9,244,2247,0.00,2.22,0.00,0.000,516,0.000,0.047,2110,1111,3357,3368,3346,0,0,0,0,0,0,15.13,14.69,15.15
$GC,2294,-0.67,-97.3,2110,1110,3367,3345,334.2,-11.7,254,2299,0.00,2.35,0.00,0.000,1030,0.000,0.057,2101,2509,3356,3367,3345,0,0,0,0,0,0,14.76,14.65,14.79
$GC,2607,-0.67,-97.3,2101,2509,3366,3341,370.4,-11.0,271,2611,0.00,2.35,0.00,0.000,260,0.000,0.083,2090,3891,3353,3366,3341,0,0,0,0,0,0,15.12,14.57,15.15
$GC,2664,-0.67,-97.3,2089,3891,3364,3341,376.8,-11.3,282,2669,0.00,2.20,0.00,0.000,1030,0.000,0.034,2090,2503,3353,3365,3341,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2968,-0.67,-97.3,2089,2502,3362,3339,409.8,-10.6,298,2973,0.00,2.28,0.00,0.000,516,0.000,0.048,2090,1104,3350,3362,3338,0,0,0,0,0,0,15.12,14.67,15.15
$GC,2999,-0.67,-97.3,2090,1104,3362,3339,413.1,-10.3,304,3005,0.12,2.38,0.00,0.000,3078,0.210,0.060,2110,2504,3350,3362,3339,0,0,0,0,0,0,14.45,14.63,14.64
$GC,3305,-0.67,-97.3,2110,2504,3361,3336,443.3,-10.5,320,3309,0.00,2.38,0.00,0.000,260,0.000,0.083,2101,3893,3348,3361,3336,0,0,0,0,0,0,15.12,14.55,15.14
$GC,3362,-0.67,-97.3,2100,3893,3360,3336,449.4,-10.7,331,3366,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2494,3348,3360,3336,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3667,-0.67,-97.3,2101,2493,3357,3334,482.5,-10.7,347,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2493,3345,3357,3333,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3967,-0.67,-97.3,2101,2492,3356,3332,512.1,-9.6,362,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3344,3356,3332,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4266,-0.67,-97.3,2100,2492,3354,3330,541.8,-10.1,377,4270,0.00,2.45,0.00,0.000,260,0.000,0.086,2090,3894,3342,3354,3330,0,0,0,0,0,0,15.12,14.52,15.15
$GC,4298,-0.67,-97.3,2090,3894,3354,3330,545.0,-11.0,383,4302,0.00,2.22,0.00,0.000,1030,0.000,0.035,2090,2502,3342,3354,3330,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4611,-0.67,-97.3,2089,2500,3352,3327,579.1,-11.0,400,4615,0.00,2.30,0.00,0.000,516,0.000,0.049,2090,1108,3340,3352,3328,0,0,0,0,0,0,15.11,14.62,15.14
$GC,4637,-0.67,-97.3,2089,1108,3352,3328,582.2,-11.5,405,4642,0.12,2.38,0.00,0.000,3078,0.208,0.058,2109,2504,3339,3352,3327,0,0,0,0,0,0,14.41,14.58,14.60
$GC,4949,-0.67,-97.3,2109,2504,3350,3326,611.7,-9.2,422,4955,0.00,2.42,0.00,0.000,260,0.000,0.086,2101,3897,3338,3350,3326,0,0,0,0,0,0,15.11,14.49,15.13
$GC,4991,-0.67,-97.3,2100,3897,3350,3326,615.8,-9.5,430,4997,0.00,2.25,0.00,0.000,1030,0.000,0.036,2100,2495,3338,3350,3326,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5313,-0.67,-97.3,2100,2493,3348,3324,645.3,-9.0,449,5318,0.00,2.25,0.00,0.000,516,0.000,0.049,2100,1110,3336,3348,3324,0,0,0,0,0,0,15.11,14.57,15.14
$GC,5355,-0.67,-97.3,2100,1110,3348,3324,649.0,-8.8,457,5359,0.00,2.38,0.00,0.000,1030,0.000,0.058,2089,2504,3336,3348,3324,0,0,0,0,0,0,14.67,14.56,14.71
$GC,5676,-0.67,-97.3,2089,2504,3347,3322,679.3,-9.4,476,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2504,3334,3347,3322,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5978,-0.67,-97.3,2089,2504,3346,3321,707.8,-9.6,491,5982,0.00,2.42,0.00,0.000,260,0.000,0.086,2079,3897,3333,3346,3321,0,0,0,0,0,0,15.10,14.46,15.13
$GC,6025,-0.67,-97.3,2079,3897,3345,3321,712.7,-10.4,500,6030,0.12,2.25,0.00,0.000,3078,0.210,0.037,2109,2497,3333,3345,3321,0,0,0,0,0,0,14.38,14.66,14.57
$GC,6342,-0.67,-97.3,2109,2496,3344,3320,740.8,-8.9,518,6347,0.00,2.30,0.00,0.000,516,0.000,0.050,2110,1103,3332,3344,3320,0,0,0,0,0,0,15.11,14.57,15.14
$GC,6390,-0.67,-97.3,2109,1103,3343,3320,745.1,-9.1,527,6395,0.00,2.40,0.00,0.000,1030,0.000,0.059,2100,2502,3331,3343,3320,0,0,0,0,0,0,14.64,14.52,14.69
$GC,6706,-0.67,-97.3,2100,2503,3343,3320,776.2,-10.0,545,6711,0.00,2.42,0.00,0.000,260,0.000,0.086,2089,3896,3331,3343,3319,0,0,0,0,0,0,15.11,14.43,15.13
$GC,6727,-0.67,-97.3,2089,3896,3342,3319,778.4,-10.5,549,6732,0.00,2.25,0.00,0.000,1030,0.000,0.037,2089,2500,3331,3342,3320,0,0,0,0,0,0,14.71,14.65,14.74
$GC,7045,-0.67,-97.3,2089,2499,3342,3317,811.5,-10.4,567,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3329,3342,3317,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7343,-0.67,-97.3,2089,2498,3341,3316,842.4,-10.2,582,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3328,3341,3316,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7644,-0.67,-97.3,2089,2499,3340,3316,873.0,-10.1,597,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3328,3340,3316,0,0,0,0,0,0,15.09,15.13,15.12
$GC,7943,-0.67,-97.3,2089,2499,3339,3315,903.0,-9.9,612,7948,0.00,2.47,0.00,0.000,260,0.000,0.090,2079,3896,3327,3339,3315,0,0,0,0,0,0,15.10,14.39,15.14
$GC,7969,-0.67,-97.3,2078,3896,3338,3315,905.6,-10.5,617,7974,0.12,2.28,0.00,0.000,3078,0.210,0.037,2109,2491,3326,3338,3315,0,0,0,0,0,0,14.33,14.62,14.52
$GC,8282,-0.67,-97.3,2108,2490,3338,3314,932.0,-8.1,634,8287,0.00,2.30,0.00,0.000,516,0.000,0.050,2109,1105,3326,3338,3314,0,0,0,0,0,0,15.09,14.52,15.12
$GC,8313,-0.67,-97.3,2109,1105,3337,3314,934.8,-8.4,640,8318,0.00,2.40,0.00,0.000,1030,0.000,0.059,2100,2500,3326,3338,3314,0,0,0,0,0,0,14.59,14.47,14.63
$GC,8618,-0.67,-97.3,2099,2501,3337,3314,961.0,-8.6,656,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2501,3325,3337,3314,0,0,0,0,0,0,15.10,15.13,15.13
$GC,8920,-0.67,-97.3,2099,2500,3337,3313,987.3,-8.9,671,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3325,3337,3313,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,8955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8955,begin apogee
$GC,8962,-0.15,0.0,2100,2501,3337,3313,990.8,-8.9,673,9057,0.62,0.00,91.03,1.998,10246,0.164,0.000,2280,2501,2968,2999,2938,0,0,0,0,0,0,14.21,14.04,12.66
$STATE,9058,end apogee,CONTROL_FINISHED_OK
$STATE,9058,begin climb
$GC,9061,0.67,97.3,2280,2500,2997,2938,993.4,0.0,678,9174,0.82,2.47,103.45,1.992,10500,0.087,0.083,2556,3846,2570,2599,2541,0,0,0,0,0,0,14.19,13.96,12.60
$GC,9202,0.70,97.3,2556,3847,2593,2541,991.5,6.4,697,9206,0.00,2.35,0.00,0.000,1094,0.000,0.037,2567,2436,2567,2593,2541,0,0,0,0,0,0,14.32,14.26,14.33
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$STATE,21143,end climb,SURFACE_DEPTH_REACHED
$STATE,21143,begin surface coast
$STATE,21178,end surface coast,CONTROL_FINISHED_OK
$STATE,21178,begin surface
$SM_CCo,21197,110.65,0.609,1,0,929,500.17
$SM_GC,1.27,7.30,0.12,110.65,0.047,0.129,0.609,126,2515,929,-6.76,-0.85,500.17,0,0,0,0,1,0,14.59,14.57,13.70
$IRIDIUM_FIX,739.58,8230.36,211119,010122
$TT8_MAMPS,0.019474,0.160286
$HUMID,47.40
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,12.60,174.152
$10V_AH,13.21,0.000
$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
$DEVICE_SECS,19.325,207.450,462.100,110.650,0.000,0.000,0.000,418.075,0.750,0.000,16.127,1654.270,16205.155,714.562,2980.914,493.960,0.000,2575.376,0.000,2548.599,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,920.491,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250800
$DATA_FILE_SIZE,79884,1793
$CAP_FILE_SIZE,205372,0
$CFSIZE,260034560,141598720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.059,271.95,1
$GPS,211119,070630,738.668,8450.247,25,0.8,25,-1.6,0.4,269.6,9,7.1