version: 66.13
glider: 171
mission: 11
dive: 524
start: 11 27 119 8 5 47
data:
$ID,171
$MISSION,11
$DIVE,524
$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,59
$R_STBD_OVSHOOT,66
$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
$GPS1,271119,075431,659.3830,8358.1895,31,0.7,33,-1.7,0.1,0.0,12,7.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.1
$GPS2,271119,080455,659.4545,8358.0264,2,0.5,3,-1.7,1.4,325.3,12,8.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,225.9,153449,-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,-97.3,100,2545,971,880,0.0,0.0,0,83,0.00,0.00,-72.03,0.005,16386,0.000,0.000,99,2546,2646,2645,2647,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,100,2546,2647,2647,5.1,-14.3,15,116,9.18,2.38,-13.43,0.009,18948,0.347,0.063,2109,1107,3366,3380,3352,0,0,0,0,0,0,13.94,13.47,14.38
$GC,224,-0.67,-97.3,2109,1107,3380,3352,46.5,-25.1,42,228,0.00,2.33,0.00,0.000,1030,0.000,0.063,2100,2459,3366,3380,3352,0,0,0,0,0,0,14.59,14.47,14.64
$GC,410,-0.67,-97.3,2100,2459,3380,3352,88.6,-18.7,62,416,0.00,2.47,0.00,0.000,260,0.000,0.082,2089,3906,3366,3380,3352,0,0,0,0,0,0,15.00,14.49,15.02
$GC,630,-0.67,-97.3,2088,3906,3380,3352,123.5,-14.4,106,634,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2500,3366,3380,3352,0,0,0,0,0,0,14.76,14.69,14.78
$GC,823,-0.67,-97.3,2088,2498,3380,3352,150.5,-13.6,126,826,0.00,2.40,0.00,0.000,260,0.000,0.080,2078,3899,3366,3380,3352,0,0,0,0,0,0,15.05,14.54,15.08
$GC,884,-0.67,-97.3,2078,3898,3380,3352,159.5,-14.2,138,889,0.12,2.20,0.00,0.000,3078,0.224,0.031,2107,2490,3366,3380,3352,0,0,0,0,0,0,14.42,14.73,14.62
$GC,1077,-0.67,-97.3,2106,2488,3380,3352,182.8,-12.0,158,1081,0.00,2.22,0.00,0.000,516,0.000,0.047,2107,1114,3366,3380,3352,0,0,0,0,0,0,15.07,14.65,15.09
$GC,1114,-0.67,-97.3,2107,1114,3380,3352,187.4,-12.1,165,1120,0.00,2.35,0.00,0.000,1030,0.000,0.055,2098,2513,3365,3379,3352,0,0,0,0,0,0,14.73,14.62,14.76
$GC,1298,-0.67,-97.3,2097,2513,3378,3352,210.8,-13.2,184,1302,0.00,2.35,0.00,0.000,260,0.000,0.080,2087,3896,3365,3378,3352,0,0,0,0,0,0,15.09,14.56,15.11
$GC,1320,-0.67,-97.3,2086,3896,3378,3352,213.6,-13.1,188,1324,0.00,2.17,0.00,0.000,1030,0.000,0.031,2087,2507,3365,3378,3352,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1510,-0.67,-97.3,2086,2506,3377,3352,238.1,-12.9,208,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2506,3364,3376,3352,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1702,-0.67,-97.3,2086,2506,3374,3352,263.2,-12.9,222,1706,0.00,2.40,0.00,0.000,260,0.000,0.083,2076,3894,3363,3374,3352,0,0,0,0,0,0,15.09,14.56,15.11
$GC,1785,-0.67,-97.3,2076,3894,3373,3352,274.0,-13.2,238,1790,0.15,2.20,0.00,0.000,3078,0.207,0.032,2113,2499,3362,3373,3352,0,0,0,0,0,0,14.43,14.73,14.64
$GC,2106,-0.67,-97.3,2113,2498,3371,3348,308.4,-10.2,257,2111,0.00,2.28,0.00,0.000,516,0.000,0.051,2113,1108,3359,3371,3348,0,0,0,0,0,0,15.11,14.64,15.14
$GC,2159,-0.67,-97.3,2113,1108,3371,3348,313.7,-10.2,267,2163,0.00,2.35,0.00,0.000,1030,0.000,0.060,2105,2498,3359,3371,3348,0,0,0,0,0,0,14.73,14.62,14.76
$GC,2471,-0.67,-97.3,2104,2498,3369,3345,347.3,-10.8,284,2475,0.00,2.40,0.00,0.000,260,0.000,0.083,2093,3898,3357,3369,3345,0,0,0,0,0,0,15.11,14.54,15.14
$GC,2537,-0.67,-97.3,2093,3898,3367,3345,354.8,-11.3,297,2542,0.00,2.22,0.00,0.000,1030,0.000,0.033,2093,2498,3356,3367,3345,0,0,0,0,0,0,14.79,14.73,14.81
$GC,2854,-0.67,-97.3,2093,2497,3366,3341,390.7,-11.1,315,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3353,3366,3341,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3154,-0.67,-97.3,2093,2497,3363,3339,423.1,-10.7,330,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3351,3364,3339,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3455,-0.67,-97.3,2093,2497,3362,3337,455.6,-10.9,345,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3349,3362,3337,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3754,-0.67,-97.3,2093,2497,3360,3335,487.9,-10.7,360,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3347,3360,3335,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4054,-0.67,-97.3,2093,2497,3358,3333,519.9,-10.5,375,4058,0.00,2.45,0.00,0.000,260,0.000,0.086,2083,3892,3345,3358,3333,0,0,0,0,0,0,15.11,14.50,15.14
$GC,4111,-0.67,-97.3,2082,3891,3357,3333,526.2,-11.2,386,4116,0.12,2.25,0.00,0.000,3078,0.209,0.035,2113,2494,3345,3357,3333,0,0,0,0,0,0,14.41,14.69,14.60
$GC,4415,-0.67,-97.3,2112,2492,3356,3332,555.7,-9.7,402,4422,0.00,2.45,0.00,0.000,260,0.000,0.084,2104,3896,3343,3356,3331,0,0,0,0,0,0,15.11,14.48,15.14
$GC,4451,-0.67,-97.3,2104,3896,3356,3331,559.2,-10.3,409,4456,0.00,2.25,0.00,0.000,1030,0.000,0.034,2104,2499,3343,3356,3331,0,0,0,0,0,0,14.75,14.68,14.77
$GC,4755,-0.67,-97.3,2103,2497,3355,3330,590.2,-10.1,425,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3342,3355,3329,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5055,-0.67,-97.3,2103,2498,3353,3328,619.9,-9.8,440,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3340,3353,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5356,-0.67,-97.3,2103,2498,3352,3326,649.3,-9.6,455,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3339,3352,3326,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5655,-0.67,-97.3,2103,2498,3351,3325,678.3,-9.6,470,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2497,3338,3351,3325,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5955,-0.67,-97.3,2103,2498,3350,3324,706.3,-9.1,485,5960,0.00,2.47,0.00,0.000,260,0.000,0.087,2092,3893,3336,3349,3323,0,0,0,0,0,0,15.11,14.42,15.14
$GC,5978,-0.67,-97.3,2092,3894,3349,3323,708.4,-9.5,489,5983,0.00,2.25,0.00,0.000,1030,0.000,0.036,2092,2504,3336,3349,3323,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6300,-0.67,-97.3,2092,2503,3348,3322,739.8,-9.8,508,6304,0.00,2.33,0.00,0.000,516,0.000,0.052,2093,1107,3335,3348,3322,0,0,0,0,0,0,15.11,14.52,15.13
$GC,6331,-0.67,-97.3,2092,1107,3348,3322,742.9,-10.1,514,6336,0.12,2.42,0.00,0.000,3078,0.211,0.062,2112,2499,3334,3347,3322,0,0,0,0,0,0,14.31,14.50,14.51
$GC,6644,-0.67,-97.3,2112,2499,3347,3321,771.0,-9.0,531,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3334,3347,3321,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6944,-0.67,-97.3,2112,2499,3346,3320,798.4,-9.2,546,6950,0.00,2.45,0.00,0.000,260,0.000,0.087,2103,3899,3333,3346,3320,0,0,0,0,0,0,15.10,14.39,15.12
$GC,6985,-0.67,-97.3,2103,3899,3345,3320,802.3,-9.8,554,6989,0.00,2.28,0.00,0.000,1030,0.000,0.037,2103,2500,3332,3345,3320,0,0,0,0,0,0,14.69,14.61,14.71
$GC,7307,-0.67,-97.3,2103,2499,3344,3319,834.0,-10.0,573,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3332,3344,3320,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7606,-0.67,-97.3,2103,2499,3343,3319,863.2,-9.7,588,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3330,3342,3319,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7907,-0.67,-97.3,2103,2499,3343,3317,891.4,-9.1,603,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3330,3343,3317,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8206,-0.67,-97.3,2103,2499,3342,3316,917.4,-8.5,618,8213,0.00,2.50,0.00,0.000,260,0.000,0.092,2091,3896,3329,3342,3316,0,0,0,0,0,0,15.09,14.35,15.12
$GC,8241,-0.67,-97.3,2091,3896,3342,3316,920.5,-9.0,625,8246,0.00,2.30,0.00,0.000,1030,0.000,0.038,2092,2494,3329,3342,3317,0,0,0,0,0,0,14.65,14.58,14.68
$GC,8547,-0.67,-97.3,2091,2493,3341,3316,947.1,-8.7,641,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2493,3329,3342,3316,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8846,-0.67,-97.3,2091,2493,3340,3315,973.1,-8.6,656,8850,0.00,2.35,0.00,0.000,516,0.000,0.052,2092,1098,3328,3341,3315,0,0,0,0,0,0,15.10,14.46,15.12
$GC,8877,-0.67,-97.3,2091,1098,3340,3314,975.9,-9.0,662,8885,0.12,2.45,0.00,0.000,3078,0.206,0.064,2112,2496,3327,3340,3315,0,0,0,0,0,0,14.23,14.38,14.43
$STATE,9063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9064,begin apogee
$GC,9072,-0.15,0.0,2112,2496,3340,3315,990.8,-7.9,673,9167,0.57,0.00,91.53,1.995,10246,0.162,0.000,2279,2496,2968,2999,2937,0,0,0,0,0,0,14.19,14.00,12.62
$STATE,9168,end apogee,CONTROL_FINISHED_OK
$STATE,9168,begin climb
$GC,9171,0.67,97.3,2279,2496,2998,2936,993.4,0.0,678,9289,0.82,2.55,103.55,1.981,10756,0.087,0.050,2566,1045,2569,2599,2539,0,0,0,0,0,0,14.19,13.59,12.59
$GC,9316,0.72,142.2,2565,1045,2595,2538,992.4,5.5,707,9371,0.00,2.47,46.28,1.943,9254,0.000,0.057,2566,2444,2388,2425,2351,0,0,0,0,0,0,14.30,14.19,12.64
$GC,9672,0.72,142.2,2566,2444,2416,2346,957.0,10.5,733,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2444,2381,2416,2346,0,0,0,0,0,0,14.85,14.89,14.88
$GC,9971,0.72,142.2,2565,2444,2415,2345,925.1,11.0,748,9976,0.00,2.38,0.00,0.000,516,0.000,0.050,2577,1042,2379,2414,2345,0,0,0,0,0,0,14.96,14.53,15.00
$GC,10007,0.72,142.2,2576,1042,2412,2344,921.1,11.2,755,10012,0.00,2.42,0.00,0.000,1030,0.000,0.057,2577,2447,2378,2412,2344,0,0,0,0,0,0,14.62,14.52,14.66
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$STATE,20194,end climb,SURFACE_DEPTH_REACHED
$STATE,20194,begin surface coast
$STATE,20224,end surface coast,CONTROL_FINISHED_OK
$STATE,20224,begin surface
$SM_CCo,20244,127.38,0.632,1,0,929,500.17
$SM_GC,1.23,7.30,0.10,127.38,0.046,0.146,0.632,117,2505,929,-6.78,-0.85,500.17,0,0,0,0,1,0,14.60,14.61,13.66
$IRIDIUM_FIX,700.19,8358.55,271119,075902
$TT8_MAMPS,0.018725,0.160286
$HUMID,47.32
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.59,181.590
$10V_AH,12.35,0.000
$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,19.675,174.950,453.175,127.375,0.000,0.000,0.000,362.425,0.250,0.000,14.730,1528.918,15566.183,710.090,2720.197,472.820,0.000,2415.823,0.000,2351.258,0.000,0.541,0.000
$DEVICE_MAMPS,346.545,146.115,1995.120,631.890,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,897.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250864
$DATA_FILE_SIZE,73312,1653
$CAP_FILE_SIZE,189892,0
$CFSIZE,260034560,139325440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.038,304.71,1
$GPS,271119,134630,658.491,8356.265,21,0.8,21,-1.7,0.3,4.6,10,5.0