version: 66.13
glider: 171
mission: 11
dive: 437
start: 11 5 119 7 5 53
data:
$ID,171
$MISSION,11
$DIVE,437
$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,0.0019952599
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,051119,065909,856.3398,8616.9902,19,0.9,19,-1.3,0.4,78.5,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.6
$GPS2,051119,070502,856.4126,8617.0605,2,0.9,4,-1.3,0.7,35.9,9,10.0
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,218.6,135515,-19.6,-8.049,-28.96,1831
$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,-97.3,111,2508,968,884,0.0,0.0,0,83,0.00,0.00,-71.65,0.005,16386,0.000,0.000,110,2508,2630,2630,2631,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,110,2508,2632,2631,5.0,-13.5,15,116,9.15,2.38,-14.00,0.009,18692,0.351,0.093,2097,3890,3367,3380,3354,0,0,0,0,0,0,14.02,13.52,14.45
$GC,258,-0.67,-97.3,2096,3890,3380,3354,60.8,-16.8,49,262,0.00,2.25,0.00,0.000,1030,0.000,0.037,2097,2494,3366,3379,3354,0,0,0,0,0,0,14.69,14.62,14.71
$GC,443,-0.67,-97.3,2096,2492,3380,3354,91.9,-16.2,68,447,0.00,2.42,0.00,0.000,260,0.000,0.086,2086,3885,3366,3379,3354,0,0,0,0,0,0,15.01,14.51,15.04
$GC,550,-0.67,-97.3,2086,3885,3380,3354,109.4,-15.2,89,554,0.00,2.22,0.00,0.000,1030,0.000,0.041,2086,2512,3367,3379,3355,0,0,0,0,0,0,14.73,14.66,14.76
$GC,734,-0.67,-97.3,2086,2511,3379,3354,137.3,-14.7,108,738,0.00,2.30,0.00,0.000,516,0.000,0.046,2086,1088,3367,3380,3354,0,0,0,0,0,0,15.06,14.67,15.09
$GC,795,-0.67,-97.3,2086,1088,3380,3354,145.5,-13.1,120,800,0.15,2.35,0.00,0.000,3078,0.227,0.052,2111,2498,3367,3380,3354,0,0,0,0,0,0,14.41,14.64,14.63
$GC,987,-0.67,-97.3,2111,2498,3380,3354,168.2,-11.3,140,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3367,3380,3354,0,0,0,0,0,0,15.08,15.11,15.10
$GC,1168,-0.67,-97.3,2111,2498,3379,3354,189.0,-12.0,158,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3367,3380,3354,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1347,-0.67,-97.3,2111,2498,3378,3354,211.4,-12.8,176,1351,0.00,2.38,0.00,0.000,260,0.000,0.081,2102,3896,3366,3378,3354,0,0,0,0,0,0,15.10,14.60,15.13
$GC,1438,-0.67,-97.3,2102,3896,3377,3354,222.9,-12.6,194,1443,0.00,2.25,0.00,0.000,1030,0.000,0.033,2102,2474,3366,3378,3354,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1630,-0.67,-97.3,2102,2472,3376,3354,244.7,-10.9,214,1636,0.00,2.25,0.00,0.000,516,0.000,0.046,2102,1097,3364,3375,3353,0,0,0,0,0,0,15.10,14.70,15.13
$GC,1679,-0.67,-97.3,2102,1097,3374,3353,249.6,-10.4,223,1683,0.00,2.35,0.00,0.000,1030,0.000,0.055,2090,2496,3363,3374,3353,0,0,0,0,0,0,14.76,14.66,14.80
$GC,1862,-0.67,-97.3,2090,2496,3372,3354,271.2,-12.3,233,1866,0.00,2.38,0.00,0.000,260,0.000,0.082,2080,3894,3363,3373,3353,0,0,0,0,0,0,15.11,14.60,15.14
$GC,1954,-0.67,-97.3,2080,3894,3371,3354,283.0,-13.1,251,1959,0.12,2.22,0.00,0.000,3078,0.214,0.033,2110,2487,3362,3371,3353,0,0,0,0,0,0,14.50,14.76,14.69
$GC,2266,-0.67,-97.3,2110,2485,3370,3348,318.7,-11.2,268,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2485,3360,3371,3350,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2567,-0.67,-97.3,2110,2485,3368,3347,348.2,-8.9,283,2574,0.00,2.47,0.00,0.000,260,0.000,0.093,2101,3900,3357,3368,3346,0,0,0,0,0,0,15.12,14.57,15.14
$GC,2601,-0.67,-97.3,2100,3900,3367,3346,351.4,-9.2,290,2606,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2501,3356,3367,3346,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2906,-0.67,-97.3,2101,2499,3366,3344,378.8,-9.1,306,2911,0.00,2.28,0.00,0.000,516,0.000,0.048,2101,1106,3355,3366,3344,0,0,0,0,0,0,15.14,14.68,15.16
$GC,2934,-0.67,-97.3,2100,1107,3365,3344,381.3,-10.1,311,2938,0.00,2.40,0.00,0.000,1030,0.000,0.067,2090,2502,3355,3366,3344,0,0,0,0,0,0,14.73,14.60,14.77
$GC,3250,-0.67,-97.3,2090,2502,3363,3340,415.3,-11.4,329,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2502,3351,3363,3340,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3551,-0.67,-97.3,2089,2502,3362,3338,449.9,-11.7,344,3555,0.00,2.42,0.00,0.000,260,0.000,0.086,2079,3904,3350,3362,3338,0,0,0,0,0,0,15.12,14.55,15.15
$GC,3598,-0.67,-97.3,2079,3905,3361,3339,455.6,-12.2,353,3603,0.12,2.25,0.00,0.000,3078,0.211,0.034,2110,2493,3350,3361,3339,0,0,0,0,0,0,14.47,14.74,14.67
$GC,3916,-0.67,-97.3,2109,2492,3360,3336,488.4,-10.0,371,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2492,3348,3360,3337,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4216,-0.67,-97.3,2109,2492,3357,3335,516.9,-9.1,386,4221,0.00,2.28,0.00,0.000,516,0.000,0.049,2110,1108,3345,3357,3334,0,0,0,0,0,0,15.12,14.65,15.15
$GC,4247,-0.67,-97.3,2109,1108,3356,3334,519.9,-9.6,392,4251,0.00,2.38,0.00,0.000,1030,0.000,0.060,2100,2505,3345,3356,3334,0,0,0,0,0,0,14.73,14.62,14.76
$GC,4559,-0.67,-97.3,2100,2505,3355,3333,549.6,-9.6,409,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2505,3344,3356,3332,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4860,-0.67,-97.3,2100,2505,3355,3331,580.1,-10.5,424,4864,0.00,2.42,0.00,0.000,260,0.000,0.086,2089,3894,3342,3354,3331,0,0,0,0,0,0,15.12,14.52,15.15
$GC,4901,-0.67,-97.3,2089,3894,3354,3331,584.7,-11.3,432,4906,0.00,2.25,0.00,0.000,1030,0.000,0.036,2089,2499,3342,3353,3331,0,0,0,0,0,0,14.78,14.71,14.80
$GC,5224,-0.67,-97.3,2089,2498,3352,3330,619.9,-10.8,451,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3341,3352,3330,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5522,-0.67,-97.3,2089,2498,3351,3328,651.7,-10.5,466,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3339,3351,3328,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5822,-0.67,-97.3,2089,2498,3350,3327,681.8,-9.8,481,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3338,3350,3327,0,0,0,0,0,0,15.12,15.16,15.15
$GC,6123,-0.67,-97.3,2089,2498,3349,3326,710.5,-9.4,496,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3337,3349,3326,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6423,-0.67,-97.3,2089,2498,3348,3324,738.9,-9.7,511,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3336,3348,3324,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6724,-0.67,-97.3,2089,2498,3346,3323,768.7,-10.1,526,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3335,3347,3323,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7023,-0.67,-97.3,2089,2498,3346,3322,800.1,-10.5,541,7031,0.00,2.47,0.00,0.000,260,0.000,0.094,2078,3890,3333,3345,3321,0,0,0,0,0,0,15.11,14.43,15.14
$GC,7048,-0.67,-97.3,2078,3890,3345,3321,802.9,-11.1,546,7054,0.12,2.25,0.00,0.000,3078,0.211,0.036,2109,2494,3333,3345,3321,0,0,0,0,0,0,14.38,14.67,14.57
$GC,7366,-0.67,-97.3,2109,2493,3344,3321,832.4,-9.1,564,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2493,3332,3344,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7666,-0.67,-97.3,2109,2493,3343,3321,859.7,-9.0,579,7670,0.00,2.30,0.00,0.000,516,0.000,0.050,2109,1113,3331,3343,3320,0,0,0,0,0,0,15.11,14.55,15.14
$GC,7711,-0.67,-97.3,2109,1112,3342,3320,863.9,-9.1,588,7716,0.00,2.40,0.00,0.000,1030,0.000,0.059,2099,2503,3331,3342,3320,0,0,0,0,0,0,14.63,14.51,14.67
$GC,8023,-0.67,-97.3,2099,2504,3343,3319,893.0,-9.3,605,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2504,3330,3342,3319,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8322,-0.67,-97.3,2099,2504,3342,3319,920.8,-9.3,620,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3330,3341,3319,0,0,0,0,0,0,15.11,15.15,15.14
$GC,8623,-0.67,-97.3,2099,2504,3341,3317,948.6,-9.2,635,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2504,3329,3341,3317,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8923,-0.67,-97.3,2099,2504,3340,3317,975.7,-8.9,650,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3328,3340,3316,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,9100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9100,begin apogee
$GC,9107,-0.15,0.0,2100,2504,3340,3316,991.7,-8.9,659,9203,0.62,0.00,91.75,2.005,10246,0.164,0.000,2280,2503,2968,2998,2938,0,0,0,0,0,0,14.23,14.03,12.63
$STATE,9204,end apogee,CONTROL_FINISHED_OK
$STATE,9204,begin climb
$GC,9207,0.67,97.3,2279,2503,2997,2938,994.3,0.0,664,9322,0.82,2.55,103.38,1.990,10756,0.088,0.050,2567,1057,2568,2596,2541,0,0,0,0,0,0,14.19,13.55,12.55
$GC,9346,0.73,156.0,2566,1057,2594,2540,993.0,4.8,683,9413,0.00,2.47,60.55,1.959,9254,0.000,0.057,2566,2451,2331,2368,2294,0,0,0,0,0,0,14.25,14.16,12.63
$GC,9724,0.73,156.0,2567,2452,2358,2287,952.4,11.1,714,9729,0.00,2.40,0.00,0.000,516,0.000,0.053,2578,1050,2322,2357,2287,0,0,0,0,0,0,14.86,14.50,14.89
$GC,9757,0.73,156.0,2577,1050,2356,2286,949.0,10.8,720,9762,0.00,2.40,0.00,0.000,1030,0.000,0.054,2578,2442,2321,2356,2286,0,0,0,0,0,0,14.60,14.50,14.64
$GC,10068,0.73,156.0,2577,2443,2356,2285,914.8,10.8,737,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2443,2320,2356,2285,0,0,0,0,0,0,14.97,15.00,15.00
$GC,10369,0.73,156.0,2577,2443,2355,2284,882.8,10.4,752,10373,0.00,2.35,0.00,0.000,516,0.000,0.052,2589,1055,2319,2355,2284,0,0,0,0,0,0,15.01,14.58,15.04
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$STATE,19319,end climb,SURFACE_DEPTH_REACHED
$STATE,19319,begin surface coast
$STATE,19352,end surface coast,CONTROL_FINISHED_OK
$STATE,19353,begin surface
$SM_CCo,19372,113.35,0.612,1,0,928,500.17
$SM_GC,1.34,7.15,0.10,113.35,0.037,0.146,0.612,128,2510,928,-6.78,-1.13,500.17,0,0,0,0,1,0,14.62,14.62,13.76
$IRIDIUM_FIX,856.43,8619.29,051119,011328
$TT8_MAMPS,0.018725,0.15729
$HUMID,46.14
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,12.55,155.525
$10V_AH,12.47,0.000
$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,19.050,169.975,468.200,113.350,0.000,0.000,0.000,220.350,0.250,0.000,16.105,1493.076,14698.053,707.106,2529.135,415.083,0.000,2225.796,0.000,2290.692,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,146.115,2005.065,612.000,0.000,0.000,0.000,176.715,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,864.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251240
$DATA_FILE_SIZE,69900,1610
$CAP_FILE_SIZE,181047,0
$CFSIZE,260034560,147410944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,18.73,1
$GPS,051119,123200,855.935,8616.130,31,1.3,34,-1.3,0.6,83.2,7,10.0