version: 66.13
glider: 171
mission: 11
dive: 510
start: 11 23 119 18 49 29
data:
$ID,171
$MISSION,11
$DIVE,510
$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,49
$R_STBD_OVSHOOT,48
$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
$GPS1,231119,183830,722.0779,8427.1689,32,1.4,33,-1.6,0.3,258.0,7,3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,231119,184836,722.1285,8426.9922,2,0.7,2,-1.6,0.6,154.8,12,7.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,243.0,64353,-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,-97.3,102,2530,968,883,0.0,0.0,0,78,0.00,0.00,-67.15,0.005,16386,0.000,0.000,102,2531,2527,2529,2526,0,0,0,0,0,0,14.86,28.83,14.89
$GC,82,-0.67,-97.3,102,2531,2530,2527,4.6,-11.9,14,114,9.07,2.35,-16.38,0.008,18692,0.343,0.102,2093,3869,3368,3383,3354,0,0,0,0,0,0,13.98,12.64,14.41
$GC,342,-0.67,-97.3,2093,3869,3383,3354,79.0,-20.8,66,346,0.00,2.20,0.00,0.000,1030,0.000,0.036,2093,2482,3368,3383,3354,0,0,0,0,0,0,14.72,14.66,14.74
$GC,533,-0.67,-97.3,2093,2480,3384,3354,114.1,-15.5,86,537,0.00,2.40,0.00,0.000,260,0.000,0.085,2083,3871,3368,3383,3354,0,0,0,0,0,0,15.04,14.51,15.06
$GC,609,-0.67,-97.3,2083,3871,3383,3354,126.4,-16.4,101,615,0.12,2.15,0.00,0.000,3078,0.237,0.032,2110,2490,3368,3383,3354,0,0,0,0,0,0,14.38,14.71,14.60
$GC,795,-0.67,-97.3,2110,2488,3383,3354,152.1,-12.8,120,799,0.00,2.20,0.00,0.000,516,0.000,0.043,2111,1111,3368,3383,3354,0,0,0,0,0,0,15.06,14.67,15.09
$GC,866,-0.67,-97.3,2110,1111,3383,3354,161.7,-13.2,134,870,0.00,2.30,0.00,0.000,1030,0.000,0.057,2102,2480,3368,3383,3354,0,0,0,0,0,0,14.71,14.60,14.76
$GC,1058,-0.67,-97.3,2101,2480,3383,3354,183.9,-10.9,154,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2480,3368,3383,3354,0,0,0,0,0,0,15.07,15.11,15.10
$GC,1237,-0.67,-97.3,2102,2480,3381,3354,204.8,-12.0,172,1241,0.00,2.40,0.00,0.000,260,0.000,0.081,2090,3896,3367,3381,3354,0,0,0,0,0,0,15.09,14.57,15.12
$GC,1288,-0.67,-97.3,2090,3896,3380,3354,211.1,-12.6,182,1292,0.00,2.17,0.00,0.000,1030,0.000,0.031,2090,2502,3367,3380,3354,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1481,-0.67,-97.3,2090,2500,3378,3354,235.3,-12.1,202,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3366,3378,3354,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1661,-0.67,-97.3,2090,2500,3376,3353,257.4,-12.0,217,1666,0.00,2.40,0.00,0.000,260,0.000,0.082,2080,3897,3364,3376,3353,0,0,0,0,0,0,15.10,14.57,15.12
$GC,1695,-0.67,-97.3,2080,3897,3376,3354,261.4,-12.4,223,1700,0.12,2.20,0.00,0.000,3078,0.216,0.033,2110,2494,3365,3376,3354,0,0,0,0,0,0,14.47,14.75,14.66
$GC,2006,-0.67,-97.3,2109,2493,3374,3350,294.2,-10.5,240,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2493,3362,3374,3350,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2306,-0.67,-97.3,2109,2493,3371,3347,326.0,-10.6,255,2310,0.00,2.25,0.00,0.000,516,0.000,0.047,2110,1107,3359,3372,3347,0,0,0,0,0,0,15.11,14.68,15.14
$GC,2338,-0.67,-97.3,2109,1107,3371,3347,329.3,-11.2,261,2344,0.00,2.38,0.00,0.000,1030,0.000,0.057,2101,2513,3359,3371,3347,0,0,0,0,0,0,14.75,14.64,14.78
$GC,2651,-0.67,-97.3,2100,2514,3369,3344,365.3,-11.5,278,2655,0.00,2.35,0.00,0.000,260,0.000,0.083,2090,3890,3356,3369,3344,0,0,0,0,0,0,15.11,14.56,15.14
$GC,2676,-0.67,-97.3,2089,3890,3368,3344,368.4,-12.1,283,2681,0.00,2.20,0.00,0.000,1030,0.000,0.034,2089,2502,3356,3368,3344,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2993,-0.67,-97.3,2089,2500,3366,3340,406.8,-11.9,301,2998,0.00,2.40,0.00,0.000,260,0.000,0.082,2079,3891,3353,3366,3340,0,0,0,0,0,0,15.11,14.54,15.14
$GC,3020,-0.67,-97.3,2079,3891,3366,3340,410.1,-12.8,306,3025,0.12,2.22,0.00,0.000,3078,0.211,0.034,2109,2490,3353,3366,3340,0,0,0,0,0,0,14.46,14.73,14.64
$GC,3338,-0.67,-97.3,2109,2489,3363,3338,443.5,-10.1,324,3342,0.00,2.25,0.00,0.000,516,0.000,0.047,2109,1111,3350,3363,3338,0,0,0,0,0,0,15.11,14.64,15.14
$GC,3384,-0.67,-97.3,2109,1111,3363,3338,448.4,-10.2,333,3389,0.00,2.35,0.00,0.000,1030,0.000,0.056,2101,2500,3350,3363,3338,0,0,0,0,0,0,14.72,14.62,14.76
$GC,3700,-0.67,-97.3,2100,2501,3362,3336,481.7,-10.6,351,3704,0.00,2.40,0.00,0.000,260,0.000,0.083,2089,3897,3349,3362,3336,0,0,0,0,0,0,15.11,14.52,15.14
$GC,3722,-0.67,-97.3,2088,3897,3361,3336,483.9,-11.1,355,3726,0.00,2.22,0.00,0.000,1030,0.000,0.034,2089,2500,3348,3361,3336,0,0,0,0,0,0,14.78,14.72,14.81
$GC,4043,-0.67,-97.3,2089,2499,3360,3333,517.8,-10.3,374,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3347,3360,3334,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4343,-0.67,-97.3,2088,2499,3357,3332,548.2,-10.1,389,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3345,3357,3333,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4644,-0.67,-97.3,2088,2499,3356,3331,579.8,-10.9,404,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3343,3356,3331,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4943,-0.67,-97.3,2088,2499,3355,3329,613.4,-11.4,419,4947,0.00,2.42,0.00,0.000,260,0.000,0.085,2078,3891,3342,3355,3329,0,0,0,0,0,0,15.12,14.49,15.14
$GC,4968,-0.67,-97.3,2078,3891,3354,3329,616.5,-11.8,424,4973,0.12,2.22,0.00,0.000,3078,0.211,0.036,2109,2501,3341,3354,3329,0,0,0,0,0,0,14.40,14.69,14.59
$GC,5286,-0.67,-97.3,2108,2500,3353,3327,648.8,-10.0,442,5290,0.00,2.30,0.00,0.000,516,0.000,0.050,2109,1107,3340,3353,3327,0,0,0,0,0,0,15.10,14.59,15.13
$GC,5317,-0.67,-97.3,2108,1107,3352,3327,652.1,-9.9,448,5325,0.00,2.40,0.00,0.000,1030,0.000,0.060,2099,2508,3339,3352,3327,0,0,0,0,0,0,14.66,14.55,14.71
$GC,5628,-0.67,-97.3,2099,2508,3352,3326,682.4,-9.5,465,5633,0.00,2.42,0.00,0.000,260,0.000,0.086,2088,3893,3338,3352,3325,0,0,0,0,0,0,15.10,14.45,15.12
$GC,5670,-0.67,-97.3,2088,3893,3351,3326,686.7,-10.0,473,5676,0.00,2.25,0.00,0.000,1030,0.000,0.037,2088,2495,3338,3351,3325,0,0,0,0,0,0,14.73,14.66,14.76
$GC,5992,-0.67,-97.3,2088,2494,3350,3324,718.4,-9.9,492,5996,0.00,2.30,0.00,0.000,516,0.000,0.050,2088,1105,3337,3350,3324,0,0,0,0,0,0,15.10,14.57,15.13
$GC,6045,-0.67,-97.3,2088,1105,3349,3324,723.5,-9.8,502,6052,0.12,2.40,0.00,0.000,3078,0.214,0.064,2108,2498,3336,3348,3324,0,0,0,0,0,0,14.33,14.52,14.52
$GC,6353,-0.67,-97.3,2107,2498,3348,3322,750.7,-8.9,519,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3335,3348,3322,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6654,-0.67,-97.3,2108,2498,3347,3321,778.5,-9.2,534,6658,0.00,2.45,0.00,0.000,260,0.000,0.087,2099,3897,3334,3347,3321,0,0,0,0,0,0,15.10,14.42,15.13
$GC,6691,-0.67,-97.3,2098,3897,3347,3321,781.9,-9.7,541,6696,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2494,3334,3347,3321,0,0,0,0,0,0,14.71,14.64,14.72
$GC,6995,-0.67,-97.3,2098,2492,3346,3320,810.3,-9.1,557,7000,0.00,2.30,0.00,0.000,516,0.000,0.050,2099,1107,3333,3346,3320,0,0,0,0,0,0,15.11,14.54,15.13
$GC,7022,-0.67,-97.3,2098,1107,3345,3320,812.8,-9.2,562,7026,0.00,2.40,0.00,0.000,1030,0.000,0.059,2088,2501,3332,3345,3320,0,0,0,0,0,0,14.62,14.50,14.66
$GC,7339,-0.67,-97.3,2087,2501,3344,3320,842.2,-9.1,580,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2501,3331,3343,3320,0,0,0,0,0,0,15.09,15.13,15.11
$GC,7638,-0.67,-97.3,2087,2501,3343,3319,869.5,-9.2,595,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2500,3331,3343,3319,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7939,-0.67,-97.3,2087,2501,3343,3317,897.8,-9.6,610,7946,0.00,2.45,0.00,0.000,260,0.000,0.087,2077,3896,3330,3343,3317,0,0,0,0,0,0,15.09,14.38,15.11
$GC,7988,-0.67,-97.3,2077,3896,3343,3317,902.9,-10.4,620,7992,0.12,2.28,0.00,0.000,3078,0.213,0.037,2108,2494,3330,3343,3317,0,0,0,0,0,0,14.31,14.60,14.50
$GC,8301,-0.67,-97.3,2108,2492,3342,3316,930.1,-8.7,637,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3329,3342,3316,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8600,-0.67,-97.3,2108,2492,3342,3315,957.4,-9.3,652,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3328,3342,3315,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8899,-0.67,-97.3,2107,2493,3341,3315,985.5,-9.3,667,8903,0.00,2.33,0.00,0.000,516,0.000,0.050,2108,1103,3328,3341,3315,0,0,0,0,0,0,15.10,14.49,15.12
$GC,8940,-0.67,-97.3,2108,1103,3340,3315,989.3,-9.4,675,8944,0.00,2.42,0.00,0.000,1030,0.000,0.060,2099,2503,3327,3340,3315,0,0,0,0,0,0,14.56,14.43,14.60
$STATE,8947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8947,begin apogee
$GC,8955,-0.15,0.0,2099,2503,3340,3315,990.3,-9.1,677,9051,0.62,0.00,91.50,2.003,10246,0.165,0.000,2278,2503,2967,2999,2936,0,0,0,0,0,0,14.18,13.64,12.64
$STATE,9052,end apogee,CONTROL_FINISHED_OK
$STATE,9053,begin climb
$GC,9056,0.67,97.3,2278,2503,2998,2936,993.7,0.0,682,9167,0.82,2.55,103.47,1.983,10756,0.091,0.049,2562,1051,2570,2600,2540,0,0,0,0,0,0,14.18,13.59,12.59
$GC,9202,0.72,147.9,2562,1049,2595,2538,992.6,5.2,708,9261,0.00,2.45,51.92,1.956,9254,0.000,0.056,2562,2443,2365,2403,2327,0,0,0,0,0,0,14.31,14.21,12.66
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$STATE,19804,end climb,SURFACE_DEPTH_REACHED
$STATE,19804,begin surface coast
$STATE,19845,end surface coast,CONTROL_FINISHED_OK
$STATE,19845,begin surface
$SM_CCo,19865,113.25,0.616,1,0,928,500.17
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$IRIDIUM_FIX,721.84,8429.05,231119,123732
$TT8_MAMPS,0.019474,0.152796
$HUMID,46.81
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,12.59,177.431
$10V_AH,12.34,0.000
$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
$DEVICE_SECS,19.500,193.225,468.350,113.250,0.000,0.000,0.000,344.875,0.000,0.000,14.241,1568.663,15075.213,709.896,2763.455,469.049,0.000,2422.708,0.000,2404.939,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,882.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250780
$DATA_FILE_SIZE,73159,1691
$CAP_FILE_SIZE,193390,0
$CFSIZE,260034560,140615680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.098,251.11,1
$GPS,241119,002338,721.034,8424.259,24,1.0,24,-1.6,0.9,345.3,7,7.8