version: 66.13
glider: 171
mission: 11
dive: 503
start: 11 22 119 1 28 54
data:
$ID,171
$MISSION,11
$DIVE,503
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,221119,012200,734.2318,8443.6602,24,0.7,24,-1.6,0.5,263.2,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.0
$GPS2,221119,012801,734.2745,8443.5850,2,0.6,3,-1.6,0.4,0.0,12,7.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,220.9,102216,-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,-97.3,105,2507,968,883,0.0,0.0,0,83,0.00,0.00,-71.85,0.005,16386,0.000,0.000,103,2507,2664,2664,2665,0,0,0,0,0,0,14.84,28.83,14.88
$GC,87,-0.67,-97.3,103,2507,2665,2665,5.6,-16.0,15,115,9.20,2.35,-12.73,0.010,18948,0.350,0.067,2116,1097,3367,3380,3354,0,0,0,0,0,0,13.96,13.48,14.40
$GC,194,-0.67,-97.3,2116,1097,3381,3354,41.9,-29.4,36,198,0.00,2.38,0.00,0.000,1030,0.000,0.057,2107,2498,3367,3380,3354,0,0,0,0,0,0,14.62,14.51,14.65
$GC,380,-0.67,-97.3,2107,2498,3380,3354,92.0,-23.5,57,384,0.00,2.38,0.00,0.000,260,0.000,0.077,2096,3896,3367,3381,3354,0,0,0,0,0,0,15.00,14.50,15.02
$GC,467,-0.67,-97.3,2095,3896,3380,3354,108.9,-22.9,74,472,0.00,2.22,0.00,0.000,1030,0.000,0.034,2095,2503,3367,3380,3354,0,0,0,0,0,0,14.73,14.66,14.75
$GC,651,-0.67,-97.3,2096,2501,3380,3354,139.1,-16.3,93,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2501,3367,3381,3354,0,0,0,0,0,0,15.04,15.07,15.07
$GC,832,-0.67,-97.3,2096,2501,3381,3354,165.3,-13.3,111,836,0.00,2.38,0.00,0.000,260,0.000,0.078,2085,3892,3367,3381,3354,0,0,0,0,0,0,15.06,14.56,15.08
$GC,903,-0.67,-97.3,2085,3892,3381,3354,175.4,-12.6,125,907,0.00,2.20,0.00,0.000,1030,0.000,0.031,2085,2487,3367,3381,3354,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1094,-0.67,-97.3,2085,2485,3381,3353,197.7,-10.3,145,1098,0.00,2.22,0.00,0.000,516,0.000,0.049,2085,1113,3367,3381,3354,0,0,0,0,0,0,15.08,14.65,15.11
$GC,1128,-0.67,-97.3,2085,1113,3380,3354,201.2,-11.0,151,1135,0.15,2.33,0.00,0.000,3078,0.216,0.055,2111,2504,3367,3380,3354,0,0,0,0,0,0,14.42,14.64,14.62
$GC,1317,-0.67,-97.3,2111,2504,3379,3354,220.0,-9.9,171,1321,0.00,2.35,0.00,0.000,260,0.000,0.080,2102,3890,3366,3379,3354,0,0,0,0,0,0,15.07,14.57,15.10
$GC,1380,-0.67,-97.3,2102,3890,3378,3354,226.7,-10.7,183,1384,0.00,2.20,0.00,0.000,1030,0.000,0.032,2102,2498,3366,3379,3354,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1571,-0.67,-97.3,2102,2497,3377,3354,246.5,-10.0,203,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3365,3377,3354,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1751,-0.67,-97.3,2102,2497,3375,3354,265.0,-10.5,214,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3364,3375,3354,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2052,-0.67,-97.3,2102,2497,3373,3350,298.1,-11.5,229,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3361,3373,3350,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2351,-0.67,-97.3,2102,2497,3371,3347,335.0,-12.8,244,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3359,3371,3347,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2651,-0.67,-97.3,2102,2497,3369,3345,371.9,-11.9,259,2655,0.00,2.28,0.00,0.000,516,0.000,0.050,2102,1112,3356,3368,3345,0,0,0,0,0,0,15.12,14.66,15.15
$GC,2678,-0.67,-97.3,2102,1111,3368,3344,375.1,-12.3,264,2682,0.00,2.35,0.00,0.000,1030,0.000,0.055,2091,2506,3356,3368,3345,0,0,0,0,0,0,14.73,14.63,14.77
$GC,2994,-0.67,-97.3,2091,2506,3366,3341,413.0,-11.3,282,2999,0.00,2.38,0.00,0.000,260,0.000,0.083,2081,3891,3353,3366,3341,0,0,0,0,0,0,15.12,14.54,15.14
$GC,3025,-0.67,-97.3,2081,3891,3366,3341,416.5,-11.8,288,3031,0.12,2.22,0.00,0.000,3078,0.213,0.034,2111,2496,3353,3366,3341,0,0,0,0,0,0,14.45,14.73,14.64
$GC,3338,-0.67,-97.3,2111,2495,3364,3339,444.2,-8.5,305,3342,0.00,2.25,0.00,0.000,516,0.000,0.048,2111,1114,3351,3363,3339,0,0,0,0,0,0,15.11,14.64,15.14
$GC,3370,-0.67,-97.3,2111,1114,3363,3339,447.0,-8.6,311,3374,0.00,2.35,0.00,0.000,1030,0.000,0.056,2102,2503,3351,3363,3339,0,0,0,0,0,0,14.71,14.60,14.75
$GC,3682,-0.67,-97.3,2102,2503,3362,3337,475.3,-9.2,328,3686,0.00,2.40,0.00,0.000,260,0.000,0.085,2090,3894,3349,3362,3337,0,0,0,0,0,0,15.11,14.52,15.14
$GC,3712,-0.67,-97.3,2090,3894,3362,3337,478.3,-10.1,334,3718,0.00,2.22,0.00,0.000,1030,0.000,0.035,2091,2499,3349,3362,3337,0,0,0,0,0,0,14.78,14.71,14.80
$GC,4025,-0.67,-97.3,2090,2497,3360,3335,511.7,-11.1,351,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2498,3347,3360,3335,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4325,-0.67,-97.3,2090,2498,3358,3333,545.1,-10.8,366,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2498,3345,3358,3333,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4624,-0.67,-97.3,2090,2498,3356,3332,576.1,-10.3,381,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2498,3344,3356,3332,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4924,-0.67,-97.3,2090,2498,3356,3330,607.7,-10.4,396,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2498,3342,3355,3330,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5226,-0.67,-97.3,2090,2498,3354,3329,638.9,-10.2,411,5230,0.00,2.45,0.00,0.000,260,0.000,0.086,2081,3892,3341,3353,3329,0,0,0,0,0,0,15.10,14.46,15.12
$GC,5252,-0.67,-97.3,2080,3892,3353,3329,641.8,-10.8,416,5256,0.12,2.25,0.00,0.000,3078,0.208,0.036,2110,2491,3341,3353,3329,0,0,0,0,0,0,14.39,14.68,14.58
$GC,5568,-0.67,-97.3,2110,2490,3352,3327,670.7,-9.1,434,5573,0.00,2.28,0.00,0.000,516,0.000,0.049,2111,1109,3339,3352,3326,0,0,0,0,0,0,15.11,14.58,15.14
$GC,5606,-0.67,-97.3,2111,1108,3352,3327,674.2,-9.3,441,5610,0.00,2.38,0.00,0.000,1030,0.000,0.057,2102,2500,3339,3351,3327,0,0,0,0,0,0,14.66,14.54,14.69
$GC,5910,-0.67,-97.3,2101,2500,3351,3326,705.6,-10.6,457,5914,0.00,2.42,0.00,0.000,260,0.000,0.086,2090,3893,3338,3351,3326,0,0,0,0,0,0,15.11,14.44,15.14
$GC,5955,-0.67,-97.3,2090,3893,3350,3326,710.5,-11.0,466,5960,0.00,2.25,0.00,0.000,1030,0.000,0.036,2090,2493,3338,3350,3326,0,0,0,0,0,0,14.73,14.66,14.75
$GC,6273,-0.67,-97.3,2090,2492,3349,3324,744.1,-10.4,484,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2492,3336,3349,3324,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6573,-0.67,-97.3,2090,2492,3348,3324,773.7,-9.6,499,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2492,3335,3348,3323,0,0,0,0,0,0,15.10,15.14,15.13
$GC,6873,-0.67,-97.3,2090,2492,3347,3322,802.7,-9.8,514,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2492,3334,3347,3322,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7172,-0.67,-97.3,2090,2492,3346,3321,833.0,-10.2,529,7176,0.00,2.30,0.00,0.000,516,0.000,0.049,2090,1110,3333,3346,3321,0,0,0,0,0,0,15.11,14.54,15.13
$GC,7193,-0.67,-97.3,2090,1110,3346,3321,835.3,-10.7,533,7198,0.12,2.40,0.00,0.000,3078,0.210,0.057,2110,2507,3333,3346,3321,0,0,0,0,0,0,14.31,14.50,14.50
$GC,7512,-0.67,-97.3,2110,2507,3344,3320,863.5,-8.6,551,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2507,3332,3344,3320,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7810,-0.67,-97.3,2110,2507,3343,3320,888.9,-8.5,566,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2507,3331,3343,3320,0,0,0,0,0,0,15.10,15.14,15.13
$GC,8110,-0.67,-97.3,2110,2507,3343,3319,914.5,-8.7,581,8114,0.00,2.35,0.00,0.000,516,0.000,0.049,2110,1109,3330,3343,3318,0,0,0,0,0,0,15.10,14.51,15.13
$GC,8132,-0.67,-97.3,2110,1108,3343,3318,916.4,-9.3,585,8136,0.00,2.40,0.00,0.000,1030,0.000,0.058,2101,2503,3330,3342,3318,0,0,0,0,0,0,14.59,14.47,14.63
$GC,8453,-0.67,-97.3,2100,2503,3342,3318,945.4,-8.7,604,8457,0.00,2.45,0.00,0.000,260,0.000,0.088,2090,3896,3330,3343,3317,0,0,0,0,0,0,15.10,14.35,15.13
$GC,8485,-0.67,-97.3,2089,3896,3342,3317,948.3,-9.4,610,8490,0.00,2.28,0.00,0.000,1030,0.000,0.037,2090,2498,3329,3342,3317,0,0,0,0,0,0,14.66,14.59,14.69
$GC,8790,-0.67,-97.3,2089,2497,3342,3317,976.5,-9.1,626,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2497,3329,3342,3317,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,8946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8946,begin apogee
$GC,8953,-0.15,0.0,2090,2497,3342,3316,990.3,-8.3,634,9049,0.65,0.00,92.12,2.009,10246,0.170,0.000,2276,2497,2968,2999,2937,0,0,0,0,0,0,14.17,14.02,12.62
$STATE,9050,end apogee,CONTROL_FINISHED_OK
$STATE,9050,begin climb
$GC,9054,0.67,97.3,2276,2497,2998,2937,991.9,0.0,639,9171,0.82,2.55,103.25,2.002,10500,0.093,0.087,2549,3849,2568,2598,2539,0,0,0,0,0,0,14.18,13.95,12.59
$GC,9183,0.70,97.3,2548,3849,2595,2539,988.6,6.5,665,9187,0.00,2.35,0.00,0.000,1094,0.000,0.035,2560,2436,2567,2595,2539,0,0,0,0,0,0,14.26,14.21,14.28
$GC,9495,0.70,97.3,2559,2435,2590,2535,959.8,9.4,682,9500,0.00,2.33,0.00,0.000,516,0.000,0.051,2570,1054,2562,2590,2535,0,0,0,0,0,0,14.87,14.49,14.90
$GC,9572,0.70,97.3,2570,1054,2587,2535,952.4,9.4,697,9577,0.00,2.38,0.00,0.000,1030,0.000,0.053,2570,2443,2560,2587,2534,0,0,0,0,0,0,14.59,14.49,14.63
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$STATE,20808,end climb,SURFACE_DEPTH_REACHED
$STATE,20808,begin surface coast
$STATE,20838,end surface coast,CONTROL_FINISHED_OK
$STATE,20838,begin surface
$SM_CCo,20860,149.57,0.652,1,0,929,500.17
$SM_GC,1.34,7.53,2.53,149.57,0.061,0.057,0.652,121,2503,929,-6.78,-1.02,500.17,0,0,0,0,1,0,14.62,14.54,13.67
$IRIDIUM_FIX,732.81,8446.37,211119,190919
$TT8_MAMPS,0.018725,0.158039
$HUMID,45.55
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,12.59,175.330
$10V_AH,12.54,0.000
$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,19.450,179.075,422.775,149.575,0.000,0.000,0.000,220.125,0.000,0.000,15.008,1545.680,16050.828,711.704,2602.181,466.912,0.000,2267.428,0.000,2369.373,0.000,0.541,0.000
$DEVICE_MAMPS,349.605,87.975,2008.890,651.780,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,907.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250792
$DATA_FILE_SIZE,73311,1666
$CAP_FILE_SIZE,190893,0
$CFSIZE,260034560,141246464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.076,236.30,1
$GPS,221119,072025,732.550,8441.674,15,0.6,31,-1.6,0.2,0.0,12,5.5