version: 66.13
glider: 171
mission: 11
dive: 531
start: 11 29 119 1 44 29
data:
$ID,171
$MISSION,11
$DIVE,531
$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,34
$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
$GPS1,291119,013738,649.7238,8346.2061,19,1.4,19,-1.7,0.9,27.5,5,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.2
$GPS2,291119,014336,649.7168,8346.1846,2,0.7,2,-1.7,0.5,198.0,12,9.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,203.0,125356,-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,6,begin dive
$GC,9,-0.67,-97.3,105,2506,972,881,0.0,0.0,0,83,0.00,0.00,-71.53,0.005,16386,0.000,0.000,102,2506,2618,2618,2618,0,0,0,0,0,0,14.85,28.83,14.89
$GC,87,-0.67,-97.3,102,2506,2620,2618,4.8,-12.8,15,116,9.07,2.40,-14.15,0.009,18948,0.342,0.067,2104,1104,3366,3380,3353,0,0,0,0,0,0,13.94,12.64,14.38
$GC,191,-0.67,-97.3,2103,1104,3381,3353,38.7,-27.8,35,197,0.00,2.40,0.00,0.000,1030,0.000,0.064,2094,2500,3367,3381,3354,0,0,0,0,0,0,14.60,14.48,14.64
$GC,387,-0.67,-97.3,2094,2501,3381,3353,85.5,-17.5,59,391,0.00,2.38,0.00,0.000,260,0.000,0.079,2084,3899,3367,3381,3353,0,0,0,0,0,0,14.97,14.50,15.00
$GC,614,-0.67,-97.3,2083,3899,3381,3353,125.1,-16.2,104,618,0.00,2.22,0.00,0.000,1030,0.000,0.031,2083,2485,3367,3381,3354,0,0,0,0,0,0,14.76,14.70,14.78
$GC,800,-0.67,-97.3,2083,2484,3381,3353,152.9,-13.6,123,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2483,3367,3381,3353,0,0,0,0,0,0,15.06,15.09,15.08
$GC,980,-0.67,-97.3,2083,2484,3381,3353,176.2,-13.5,141,984,0.00,2.22,0.00,0.000,516,0.000,0.047,2085,1112,3367,3381,3353,0,0,0,0,0,0,15.07,14.64,15.09
$GC,1003,-0.67,-97.3,2083,1112,3381,3353,179.2,-13.6,145,1011,0.15,2.35,0.00,0.000,3078,0.219,0.055,2109,2513,3367,3381,3353,0,0,0,0,0,0,14.40,14.62,14.60
$GC,1194,-0.67,-97.3,2108,2514,3381,3353,201.5,-11.2,165,1198,0.00,2.35,0.00,0.000,260,0.000,0.081,2099,3894,3366,3380,3353,0,0,0,0,0,0,15.06,14.54,15.08
$GC,1250,-0.67,-97.3,2099,3894,3380,3353,208.3,-11.8,176,1254,0.00,2.20,0.00,0.000,1030,0.000,0.031,2099,2496,3366,3380,3353,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1436,-0.67,-97.3,2099,2495,3379,3353,230.9,-12.6,195,1440,0.00,2.25,0.00,0.000,516,0.000,0.046,2099,1107,3365,3378,3353,0,0,0,0,0,0,15.09,14.66,15.11
$GC,1463,-0.67,-97.3,2099,1107,3378,3353,234.2,-12.5,200,1467,0.00,2.35,0.00,0.000,1030,0.000,0.054,2088,2502,3365,3378,3353,0,0,0,0,0,0,14.73,14.62,14.76
$GC,1647,-0.67,-97.3,2088,2502,3377,3353,258.4,-13.1,216,1651,0.00,2.38,0.00,0.000,260,0.000,0.083,2078,3893,3364,3376,3353,0,0,0,0,0,0,15.10,14.54,15.13
$GC,1693,-0.67,-97.3,2078,3893,3376,3353,264.4,-12.5,225,1698,0.12,2.20,0.00,0.000,3078,0.216,0.032,2108,2492,3364,3375,3353,0,0,0,0,0,0,14.45,14.73,14.64
$GC,2011,-0.67,-97.3,2107,2491,3373,3351,299.6,-11.2,243,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2491,3362,3373,3351,0,0,0,0,0,0,15.09,15.13,15.13
$GC,2310,-0.67,-97.3,2107,2491,3372,3348,331.7,-10.9,258,2315,0.00,2.42,0.00,0.000,260,0.000,0.083,2098,3893,3359,3372,3347,0,0,0,0,0,0,15.11,14.54,15.14
$GC,2358,-0.67,-97.3,2098,3893,3371,3347,336.9,-11.3,267,2362,0.00,2.20,0.00,0.000,1030,0.000,0.033,2098,2504,3359,3371,3347,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2674,-0.67,-97.3,2098,2503,3370,3344,371.6,-10.6,285,2678,0.00,2.28,0.00,0.000,516,0.000,0.047,2098,1109,3357,3369,3345,0,0,0,0,0,0,15.11,14.65,15.14
$GC,2745,-0.67,-97.3,2098,1108,3368,3345,379.0,-10.1,299,2749,0.00,2.35,0.00,0.000,1030,0.000,0.056,2088,2500,3356,3368,3345,0,0,0,0,0,0,14.72,14.62,14.76
$GC,3057,-0.67,-97.3,2087,2500,3367,3341,413.0,-11.0,316,3062,0.00,2.40,0.00,0.000,260,0.000,0.084,2077,3890,3353,3366,3340,0,0,0,0,0,0,15.10,14.52,15.13
$GC,3094,-0.67,-97.3,2076,3890,3366,3341,417.4,-11.6,323,3099,0.15,2.22,0.00,0.000,3078,0.204,0.034,2114,2494,3353,3366,3341,0,0,0,0,0,0,14.42,14.72,14.62
$GC,3400,-0.67,-97.3,2114,2492,3364,3339,445.1,-8.8,339,3404,0.00,2.28,0.00,0.000,516,0.000,0.048,2114,1112,3351,3364,3339,0,0,0,0,0,0,15.10,14.62,15.13
$GC,3446,-0.67,-97.3,2114,1111,3363,3339,449.4,-8.7,348,3451,0.00,2.38,0.00,0.000,1030,0.000,0.057,2105,2502,3351,3363,3339,0,0,0,0,0,0,14.70,14.59,14.74
$GC,3762,-0.67,-97.3,2105,2502,3362,3337,478.5,-9.5,366,3767,0.00,2.40,0.00,0.000,260,0.000,0.084,2094,3893,3349,3362,3337,0,0,0,0,0,0,15.11,14.50,15.14
$GC,3795,-0.67,-97.3,2094,3893,3362,3337,481.7,-10.2,372,3801,0.00,2.20,0.00,0.000,1030,0.000,0.034,2094,2504,3349,3362,3337,0,0,0,0,0,0,14.71,14.69,14.73
$GC,4108,-0.67,-97.3,2093,2503,3361,3335,515.7,-11.1,389,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2503,3348,3361,3335,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4408,-0.67,-97.3,2094,2503,3359,3334,549.5,-11.4,404,4412,0.00,2.42,0.00,0.000,260,0.000,0.084,2084,3890,3346,3359,3333,0,0,0,0,0,0,15.11,14.48,15.14
$GC,4440,-0.67,-97.3,2083,3890,3358,3333,553.2,-12.0,410,4445,0.00,2.22,0.00,0.000,1030,0.000,0.034,2084,2499,3346,3358,3334,0,0,0,0,0,0,14.76,14.69,14.78
$GC,4753,-0.67,-97.3,2083,2498,3356,3332,590.2,-11.6,427,4756,0.12,0.00,0.00,0.000,2054,0.228,0.000,2113,2498,3344,3356,3332,0,0,0,0,0,0,14.50,14.72,14.66
$GC,5052,-0.67,-97.3,2113,2498,3356,3331,618.2,-9.0,442,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2498,3343,3356,3330,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5353,-0.67,-97.3,2113,2497,3355,3329,644.4,-8.6,457,5358,0.00,2.33,0.00,0.000,516,0.000,0.049,2113,1105,3342,3355,3329,0,0,0,0,0,0,15.09,14.57,15.12
$GC,5390,-0.67,-97.3,2113,1105,3354,3329,647.6,-8.4,464,5394,0.00,2.40,0.00,0.000,1030,0.000,0.058,2104,2502,3341,3354,3329,0,0,0,0,0,0,14.65,14.54,14.69
$GC,5712,-0.67,-97.3,2104,2502,3353,3327,674.6,-8.2,483,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2502,3340,3353,3327,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6011,-0.67,-97.3,2104,2502,3352,3326,698.1,-7.9,498,6016,0.00,2.42,0.00,0.000,260,0.000,0.086,2093,3894,3339,3352,3326,0,0,0,0,0,0,15.11,14.42,15.14
$GC,6087,-0.67,-97.3,2092,3894,3351,3326,704.6,-8.7,513,6092,0.00,2.25,0.00,0.000,1030,0.000,0.036,2093,2501,3339,3352,3326,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6393,-0.67,-97.3,2093,2499,3351,3325,731.4,-8.9,529,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3338,3351,3325,0,0,0,0,0,0,15.10,15.14,15.13
$GC,6693,-0.67,-97.3,2093,2499,3350,3324,758.1,-8.8,544,6697,0.00,2.47,0.00,0.000,260,0.000,0.087,2083,3893,3336,3349,3324,0,0,0,0,0,0,15.11,14.40,15.14
$GC,6729,-0.67,-97.3,2082,3893,3349,3323,761.5,-9.5,551,6734,0.12,2.28,0.00,0.000,3078,0.207,0.037,2112,2494,3336,3349,3324,0,0,0,0,0,0,14.33,14.62,14.52
$GC,7036,-0.67,-97.3,2112,2492,3348,3322,785.6,-8.0,567,7040,0.00,2.30,0.00,0.000,516,0.000,0.050,2113,1111,3335,3348,3322,0,0,0,0,0,0,15.09,14.52,15.11
$GC,7086,-0.67,-97.3,2112,1111,3348,3322,790.0,-8.3,577,7091,0.00,2.40,0.00,0.000,1030,0.000,0.061,2103,2499,3334,3347,3322,0,0,0,0,0,0,14.60,14.48,14.64
$GC,7393,-0.67,-97.3,2103,2499,3347,3321,817.3,-9.2,593,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3334,3347,3321,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7692,-0.67,-97.3,2103,2499,3347,3321,845.2,-9.3,608,7698,0.00,2.45,0.00,0.000,260,0.000,0.087,2092,3895,3333,3346,3320,0,0,0,0,0,0,15.09,14.37,15.12
$GC,7731,-0.67,-97.3,2092,3896,3346,3320,849.1,-9.9,616,7736,0.00,2.25,0.00,0.000,1030,0.000,0.037,2092,2503,3333,3346,3320,0,0,0,0,0,0,14.67,14.60,14.70
$GC,8054,-0.67,-97.3,2092,2502,3345,3320,880.8,-9.9,635,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2502,3332,3345,3320,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8352,-0.67,-97.3,2091,2502,3343,3320,910.6,-10.0,650,8357,0.00,2.35,0.00,0.000,516,0.000,0.052,2092,1101,3331,3343,3320,0,0,0,0,0,0,15.09,14.49,15.11
$GC,8384,-0.67,-97.3,2091,1101,3343,3320,913.7,-9.9,656,8392,0.12,2.42,0.00,0.000,3078,0.208,0.060,2111,2499,3331,3343,3320,0,0,0,0,0,0,14.26,14.45,14.45
$GC,8695,-0.67,-97.3,2111,2499,3343,3319,941.2,-8.8,673,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3331,3343,3319,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8994,-0.67,-97.3,2111,2499,3343,3317,967.8,-8.9,688,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3330,3343,3317,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,9251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9251,begin apogee
$GC,9259,-0.15,0.0,2111,2499,3342,3317,990.2,-8.5,701,9355,0.57,0.00,92.05,2.005,10246,0.164,0.000,2277,2500,2968,3000,2937,0,0,0,0,0,0,14.19,14.00,12.62
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9359,0.67,97.3,2278,2500,2999,2936,993.0,0.0,706,9475,0.82,2.60,103.80,1.987,10756,0.090,0.053,2562,1058,2569,2600,2538,0,0,0,0,0,0,14.18,13.95,12.58
$GC,9544,0.70,97.3,2561,1057,2594,2536,988.8,6.7,743,9549,0.00,2.42,0.00,0.000,1094,0.000,0.055,2562,2443,2565,2594,2536,0,0,0,0,0,0,14.39,14.30,14.42
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$STATE,20911,end climb,SURFACE_DEPTH_REACHED
$STATE,20912,begin surface coast
$STATE,20937,end surface coast,CONTROL_FINISHED_OK
$STATE,20937,begin surface
$SM_CCo,20957,68.80,0.535,1,0,927,500.17
$SM_GC,1.20,7.38,0.08,68.80,0.045,0.178,0.535,124,2495,927,-6.78,-1.02,500.17,0,0,0,0,1,0,14.53,14.54,13.69
$IRIDIUM_FIX,651.23,8332.63,281119,201100
$TT8_MAMPS,0.018725,0.15729
$HUMID,49.44
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.58,183.701
$10V_AH,11.67,0.000
$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,19.675,198.525,508.025,68.800,0.000,0.000,0.000,220.250,0.000,0.000,13.947,1648.073,15728.620,683.544,2827.551,499.594,0.000,2368.347,0.000,2590.697,0.000,0.541,0.000
$DEVICE_MAMPS,341.955,178.245,2005.065,534.735,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,899.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250556
$DATA_FILE_SIZE,79929,1823
$CAP_FILE_SIZE,198831,0
$CFSIZE,260034560,138661888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.058,291.71,1
$GPS,291119,073600,648.423,8344.853,19,0.8,19,-1.7,0.6,256.4,10,7.2