version: 66.13
glider: 171
mission: 11
dive: 427
start: 11 2 119 19 14 19
data:
$ID,171
$MISSION,11
$DIVE,427
$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,0.00177828
$HD_B,0.019109501
$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,27
$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
$GPS1,021119,190722,902.7456,8622.9697,18,0.9,31,-1.3,0.8,53.2,12,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.4
$GPS2,021119,191327,902.8503,8623.0518,2,0.6,2,-1.3,0.6,37.2,12,8.2
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,202.6,151707,-18.5,-8.049,-29.14,1821
$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,-0.64,-97.3,121,2496,973,879,0.0,0.0,0,83,0.00,0.00,-72.22,0.005,16386,0.000,0.000,121,2497,2658,2656,2660,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.64,-97.3,121,2497,2658,2660,5.3,-14.9,15,115,9.25,2.30,-13.10,0.010,18948,0.349,0.060,2125,1094,3366,3379,3354,0,0,0,0,0,0,13.88,13.47,14.36
$GC,174,-0.64,-97.3,2124,1094,3379,3354,33.7,-24.6,32,178,0.00,2.40,0.00,0.000,1030,0.000,0.061,2116,2498,3366,3379,3354,0,0,0,0,0,0,14.62,14.50,14.64
$GC,362,-0.64,-97.3,2115,2498,3379,3354,68.8,-14.4,58,366,0.00,2.38,0.00,0.000,260,0.000,0.077,2105,3898,3366,3379,3354,0,0,0,0,0,0,14.97,14.52,15.00
$GC,444,-0.64,-97.3,2105,3899,3379,3354,82.8,-16.3,74,448,0.00,2.22,0.00,0.000,1030,0.000,0.033,2105,2492,3366,3379,3354,0,0,0,0,0,0,14.74,14.68,14.76
$GC,635,-0.64,-97.3,2105,2491,3379,3354,112.2,-14.2,94,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2491,3367,3380,3354,0,0,0,0,0,0,15.04,15.07,15.07
$GC,815,-0.64,-97.3,2105,2491,3380,3354,135.8,-12.8,112,819,0.00,2.40,0.00,0.000,260,0.000,0.077,2094,3897,3367,3380,3354,0,0,0,0,0,0,15.06,14.58,15.09
$GC,871,-0.64,-97.3,2094,3897,3380,3354,142.5,-11.5,123,875,0.00,2.20,0.00,0.000,1030,0.000,0.031,2094,2503,3367,3380,3354,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1057,-0.64,-97.3,2094,2501,3380,3354,166.3,-12.8,142,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2501,3367,3380,3354,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1237,-0.64,-97.3,2093,2501,3380,3354,191.2,-13.6,160,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2501,3367,3380,3354,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1417,-0.64,-97.3,2094,2501,3378,3354,213.0,-11.7,178,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2501,3366,3378,3354,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1596,-0.64,-97.3,2094,2501,3377,3354,231.7,-10.2,196,1600,0.00,2.28,0.00,0.000,516,0.000,0.048,2094,1104,3365,3377,3354,0,0,0,0,0,0,15.11,14.69,15.14
$GC,1638,-0.64,-97.3,2094,1104,3376,3354,236.1,-10.1,204,1643,0.15,2.35,0.00,0.000,3078,0.213,0.057,2120,2504,3364,3376,3353,0,0,0,0,0,0,14.45,14.65,14.65
$GC,1825,-0.64,-97.3,2120,2504,3374,3353,254.8,-10.6,221,1831,0.00,2.35,0.00,0.000,260,0.000,0.083,2111,3890,3363,3374,3353,0,0,0,0,0,0,15.10,14.54,15.12
$GC,1864,-0.64,-97.3,2110,3890,3374,3353,259.2,-11.3,228,1868,0.00,2.20,0.00,0.000,1030,0.000,0.033,2111,2503,3363,3374,3353,0,0,0,0,0,0,14.82,14.75,14.84
$GC,2168,-0.64,-97.3,2111,2501,3371,3351,293.3,-10.9,244,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2502,3361,3372,3351,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2468,-0.64,-97.3,2111,2501,3370,3348,323.4,-9.8,259,2472,0.00,2.30,0.00,0.000,516,0.000,0.053,2111,1104,3359,3370,3348,0,0,0,0,0,0,15.13,14.66,15.16
$GC,2494,-0.64,-97.3,2111,1104,3370,3348,326.1,-10.2,264,2498,0.00,2.38,0.00,0.000,1030,0.000,0.061,2101,2501,3358,3369,3348,0,0,0,0,0,0,14.76,14.64,14.79
$GC,2811,-0.64,-97.3,2100,2501,3367,3345,359.4,-10.7,282,2815,0.00,2.40,0.00,0.000,260,0.000,0.084,2089,3891,3356,3367,3345,0,0,0,0,0,0,15.13,14.57,15.15
$GC,2846,-0.64,-97.3,2089,3891,3367,3345,363.6,-11.6,289,2852,0.12,2.22,0.00,0.000,3078,0.210,0.034,2120,2500,3356,3367,3345,0,0,0,0,0,0,14.48,14.74,14.66
$GC,3152,-0.64,-97.3,2120,2498,3366,3343,393.5,-9.8,305,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2498,3354,3366,3343,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3451,-0.64,-97.3,2120,2498,3363,3340,423.2,-10.1,320,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2498,3351,3363,3340,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3752,-0.64,-97.3,2120,2498,3362,3339,455.0,-11.0,335,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2498,3350,3362,3339,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4052,-0.64,-97.3,2120,2498,3361,3337,489.5,-11.7,350,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2498,3348,3360,3337,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4352,-0.64,-97.3,2120,2498,3359,3334,522.8,-10.7,365,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2498,3346,3358,3335,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4652,-0.64,-97.3,2120,2497,3356,3333,551.9,-9.1,380,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2498,3344,3356,3333,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4952,-0.64,-97.3,2120,2498,3356,3332,577.8,-8.4,395,4956,0.00,2.33,0.00,0.000,516,0.000,0.051,2121,1105,3343,3355,3332,0,0,0,0,0,0,15.14,14.62,15.16
$GC,4997,-0.64,-97.3,2120,1105,3355,3332,581.8,-8.5,404,5002,0.00,2.40,0.00,0.000,1030,0.000,0.060,2111,2499,3343,3355,3332,0,0,0,0,0,0,14.69,14.57,14.73
$GC,5315,-0.64,-97.3,2111,2499,3354,3330,609.4,-8.9,422,5321,0.00,2.42,0.00,0.000,260,0.000,0.087,2101,3892,3342,3354,3330,0,0,0,0,0,0,15.11,14.49,15.14
$GC,5343,-0.64,-97.3,2100,3892,3353,3330,612.1,-9.6,428,5347,0.00,2.25,0.00,0.000,1030,0.000,0.037,2101,2498,3341,3353,3330,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5655,-0.64,-97.3,2100,2497,3353,3329,641.5,-9.6,445,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2497,3340,3352,3329,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5954,-0.64,-97.3,2100,2497,3351,3328,670.0,-9.6,460,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2497,3339,3351,3327,0,0,0,0,0,0,15.13,15.16,15.16
$GC,6254,-0.64,-97.3,2100,2497,3350,3326,700.0,-10.3,475,6258,0.00,2.50,0.00,0.000,260,0.000,0.097,2089,3896,3338,3350,3326,0,0,0,0,0,0,15.13,14.42,15.16
$GC,6275,-0.64,-97.3,2089,3896,3350,3326,702.3,-10.9,479,6280,0.12,2.25,0.00,0.000,3078,0.207,0.036,2120,2495,3338,3350,3326,0,0,0,0,0,0,14.38,14.66,14.57
$GC,6592,-0.64,-97.3,2120,2494,3349,3325,732.1,-9.3,497,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2494,3337,3349,3325,0,0,0,0,0,0,15.13,15.15,15.16
$GC,6892,-0.64,-97.3,2120,2494,3348,3324,758.7,-8.8,512,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2494,3336,3348,3324,0,0,0,0,0,0,15.12,15.16,15.15
$GC,7193,-0.64,-97.3,2120,2494,3347,3323,785.3,-9.0,527,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2494,3335,3348,3323,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7493,-0.64,-97.3,2120,2494,3347,3321,813.2,-9.3,542,7497,0.00,2.33,0.00,0.000,516,0.000,0.052,2120,1103,3334,3346,3322,0,0,0,0,0,0,15.11,14.54,15.14
$GC,7534,-0.64,-97.3,2120,1103,3346,3321,817.1,-9.3,550,7541,0.00,2.42,0.00,0.000,1030,0.000,0.067,2112,2496,3333,3346,3321,0,0,0,0,0,0,14.62,14.49,14.66
$GC,7855,-0.64,-97.3,2111,2496,3345,3321,845.6,-8.4,569,7860,0.00,2.45,0.00,0.000,260,0.000,0.090,2101,3894,3332,3344,3321,0,0,0,0,0,0,15.11,14.38,15.14
$GC,7896,-0.64,-97.3,2100,3894,3344,3321,849.2,-8.7,577,7902,0.00,2.25,0.00,0.000,1030,0.000,0.036,2101,2505,3332,3344,3321,0,0,0,0,0,0,14.70,14.63,14.73
$GC,8221,-0.64,-97.3,2100,2503,3343,3320,874.3,-7.3,596,8225,0.00,2.35,0.00,0.000,516,0.000,0.050,2101,1097,3331,3343,3320,0,0,0,0,0,0,15.09,14.52,15.11
$GC,8252,-0.64,-97.3,2100,1097,3343,3320,876.7,-7.2,602,8257,0.12,2.47,0.00,0.000,3078,0.208,0.065,2120,2504,3331,3343,3320,0,0,0,0,0,0,14.28,14.45,14.47
$GC,8564,-0.64,-97.3,2119,2504,3343,3320,895.0,-5.9,619,8566,0.00,0.00,0.00,0.000,38,0.000,0.000,2120,2503,3331,3343,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8865,-0.64,-97.3,2119,2504,3342,3319,914.8,-7.1,634,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2504,3330,3342,3319,0,0,0,0,0,0,15.10,15.14,15.13
$GC,9164,-0.64,-97.3,2120,2504,3342,3317,938.8,-8.6,649,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2504,3329,3342,3317,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9464,-0.64,-97.3,2119,2504,3341,3317,966.2,-9.3,664,9469,0.00,2.35,0.00,0.000,516,0.000,0.049,2120,1105,3329,3341,3317,0,0,0,0,0,0,15.11,14.50,15.14
$GC,9490,-0.64,-97.3,2120,1104,3341,3317,968.7,-9.7,669,9495,0.00,2.42,0.00,0.000,1030,0.000,0.059,2111,2504,3328,3341,3316,0,0,0,0,0,0,14.57,14.44,14.62
$STATE,9724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9724,begin apogee
$GC,9731,-0.15,0.0,2111,2434,3341,3316,991.6,-9.5,683,9825,0.57,0.00,90.50,2.004,10246,0.161,0.000,2277,2435,2968,2999,2938,0,0,0,0,0,0,14.19,14.07,12.76
$STATE,9826,end apogee,CONTROL_FINISHED_OK
$STATE,9826,begin climb
$GC,9830,0.64,97.3,2277,2434,2998,2938,995.5,0.0,688,9943,0.80,2.47,102.28,1.996,10756,0.090,0.050,2555,1047,2570,2600,2540,0,0,0,0,0,0,14.19,13.93,12.64
$GC,9985,0.69,141.2,2554,1047,2594,2538,994.7,5.6,719,10040,0.00,2.47,44.78,1.964,9254,0.000,0.057,2555,2446,2391,2426,2356,0,0,0,0,0,0,14.29,14.20,12.72
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$STATE,20830,end climb,SURFACE_DEPTH_REACHED
$STATE,20830,begin surface coast
$STATE,20860,end surface coast,CONTROL_FINISHED_OK
$STATE,20864,begin surface
$SM_CCo,20885,62.38,0.496,1,0,928,500.17
$SM_GC,1.45,7.43,2.53,62.38,0.056,0.057,0.496,118,2493,928,-6.79,-1.10,500.17,0,0,0,0,1,0,14.62,14.50,13.73
$IRIDIUM_FIX,900.78,8625.83,021119,131826
$TT8_MAMPS,0.018725,0.158788
$HUMID,46.88
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,12.64,152.602
$10V_AH,12.36,0.000
$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
$DEVICE_SECS,19.750,179.775,519.200,62.375,0.000,0.000,0.000,235.700,0.000,0.000,15.927,1571.409,15971.979,684.924,2655.344,434.536,0.000,2299.812,0.000,2403.056,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,929.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251184
$DATA_FILE_SIZE,73177,1690
$CAP_FILE_SIZE,192550,0
$CFSIZE,260034560,148312064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,1599.29,0x214798,0,24
$CURRENT,0.028,28.68,1
$GPS,031119,010430,901.491,8622.528,18,1.0,18,-1.3,0.6,38.3,8,3.8