version: 66.13
glider: 171
mission: 11
dive: 441
start: 11 6 119 6 3 42
data:
$ID,171
$MISSION,11
$DIVE,441
$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,59
$R_STBD_OVSHOOT,25
$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
$GPS1,061119,055642,853.8273,8614.2021,17,1.5,20,-1.3,0.5,54.5,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.8
$GPS2,061119,060250,853.9299,8614.2588,2,0.6,3,-1.3,0.9,50.8,12,6.7
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,221.5,128702,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,106,2492,974,878,0.0,0.0,0,84,0.00,0.00,-72.38,0.005,16386,0.000,0.000,104,2492,2629,2628,2631,0,0,0,0,0,0,14.85,28.83,14.88
$GC,88,-0.67,-97.3,104,2492,2629,2631,4.7,-12.6,15,120,9.07,2.47,-14.25,0.009,18692,0.347,0.093,2095,3902,3367,3381,3354,0,0,0,0,0,0,14.02,12.68,14.45
$GC,179,-0.67,-97.3,2094,3903,3381,3353,35.7,-30.1,33,183,0.00,2.25,0.00,0.000,1030,0.000,0.038,2095,2513,3367,3381,3353,0,0,0,0,0,0,14.66,14.59,14.69
$GC,373,-0.67,-97.3,2094,2512,3381,3353,81.9,-21.1,58,379,0.00,2.38,0.00,0.000,260,0.000,0.079,2084,3897,3367,3381,3354,0,0,0,0,0,0,14.98,14.55,15.01
$GC,471,-0.67,-97.3,2084,3898,3381,3354,101.9,-19.8,77,475,0.00,2.25,0.00,0.000,1030,0.000,0.034,2084,2490,3367,3381,3354,0,0,0,0,0,0,14.75,14.69,14.77
$GC,655,-0.67,-97.3,2084,2488,3380,3353,133.9,-16.0,96,659,0.00,2.25,0.00,0.000,516,0.000,0.045,2084,1094,3367,3381,3354,0,0,0,0,0,0,15.05,14.67,15.07
$GC,721,-0.67,-97.3,2084,1094,3381,3354,143.5,-13.8,109,729,0.15,2.38,0.00,0.000,3078,0.228,0.056,2109,2509,3367,3382,3353,0,0,0,0,0,0,14.41,14.64,14.63
$GC,919,-0.67,-97.3,2108,2509,3381,3353,164.6,-10.4,130,924,0.00,2.35,0.00,0.000,260,0.000,0.080,2100,3896,3367,3381,3353,0,0,0,0,0,0,15.06,14.60,15.08
$GC,971,-0.67,-97.3,2099,3896,3381,3353,170.4,-10.9,140,975,0.00,2.22,0.00,0.000,1030,0.000,0.032,2099,2482,3367,3381,3353,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1162,-0.67,-97.3,2099,2481,3381,3353,192.6,-12.3,160,1169,0.00,2.45,0.00,0.000,260,0.000,0.089,2088,3893,3367,3381,3353,0,0,0,0,0,0,15.08,14.57,15.11
$GC,1261,-0.67,-97.3,2088,3893,3381,3353,206.2,-13.8,180,1265,0.00,2.20,0.00,0.000,1030,0.000,0.032,2088,2495,3367,3381,3353,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1453,-0.67,-97.3,2088,2494,3379,3353,231.6,-12.7,200,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3366,3379,3353,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1632,-0.67,-97.3,2088,2494,3378,3353,253.3,-11.9,217,1636,0.00,2.25,0.00,0.000,516,0.000,0.048,2088,1111,3365,3377,3353,0,0,0,0,0,0,15.11,14.69,15.14
$GC,1677,-0.67,-97.3,2088,1111,3376,3353,258.5,-11.2,226,1683,0.12,2.35,0.00,0.000,3078,0.218,0.062,2108,2495,3365,3377,3353,0,0,0,0,0,0,14.47,14.64,14.67
$GC,1996,-0.67,-97.3,2107,2495,3373,3353,291.3,-10.2,244,2000,0.00,2.40,0.00,0.000,260,0.000,0.086,2099,3897,3363,3373,3353,0,0,0,0,0,0,15.11,14.60,15.14
$GC,2036,-0.67,-97.3,2098,3897,3372,3353,295.6,-10.4,252,2040,0.00,2.22,0.00,0.000,1030,0.000,0.034,2098,2492,3362,3372,3353,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2358,-0.67,-97.3,2098,2490,3371,3348,326.9,-9.5,271,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2490,3360,3372,3348,0,0,0,0,0,0,15.11,15.15,15.15
$GC,2657,-0.67,-97.3,2098,2490,3370,3346,357.2,-10.5,286,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2490,3358,3370,3346,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2957,-0.67,-97.3,2098,2491,3367,3344,388.6,-10.5,301,2961,0.00,2.28,0.00,0.000,516,0.000,0.049,2098,1103,3355,3367,3343,0,0,0,0,0,0,15.14,14.69,15.16
$GC,2978,-0.67,-97.3,2098,1103,3367,3343,390.8,-11.4,305,2983,0.00,2.38,0.00,0.000,1030,0.000,0.060,2088,2503,3354,3366,3343,0,0,0,0,0,0,14.76,14.65,14.80
$GC,3299,-0.67,-97.3,2087,2504,3365,3340,426.3,-11.2,324,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2504,3352,3365,3340,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3600,-0.67,-97.3,2087,2503,3362,3339,459.7,-11.1,339,3604,0.00,2.42,0.00,0.000,260,0.000,0.086,2077,3900,3350,3362,3338,0,0,0,0,0,0,15.13,14.57,15.16
$GC,3632,-0.67,-97.3,2076,3900,3362,3338,463.2,-11.4,345,3636,0.12,2.25,0.00,0.000,3078,0.215,0.035,2107,2491,3350,3362,3338,0,0,0,0,0,0,14.47,14.75,14.66
$GC,3944,-0.67,-97.3,2107,2490,3362,3337,493.6,-9.8,362,3949,0.00,2.28,0.00,0.000,516,0.000,0.048,2107,1104,3348,3361,3336,0,0,0,0,0,0,15.12,14.67,15.15
$GC,3966,-0.67,-97.3,2107,1104,3361,3336,495.9,-10.0,366,3971,0.00,2.38,0.00,0.000,1030,0.000,0.057,2097,2502,3348,3361,3336,0,0,0,0,0,0,14.74,14.63,14.78
$GC,4288,-0.67,-97.3,2097,2502,3359,3334,528.4,-10.0,385,4292,0.00,2.40,0.00,0.000,260,0.000,0.086,2087,3891,3346,3359,3334,0,0,0,0,0,0,15.12,14.54,15.15
$GC,4330,-0.67,-97.3,2086,3892,3358,3334,532.8,-10.6,393,4334,0.00,2.22,0.00,0.000,1030,0.000,0.035,2087,2500,3346,3358,3334,0,0,0,0,0,0,14.80,14.73,14.82
$GC,4651,-0.67,-97.3,2086,2499,3356,3333,566.7,-10.7,412,4656,0.00,2.33,0.00,0.000,516,0.000,0.050,2086,1104,3344,3357,3332,0,0,0,0,0,0,15.12,14.64,15.15
$GC,4688,-0.67,-97.3,2086,1104,3356,3332,570.9,-11.0,419,4696,0.12,2.40,0.00,0.000,3078,0.214,0.058,2108,2508,3344,3356,3333,0,0,0,0,0,0,14.42,14.61,14.62
$GC,5013,-0.67,-97.3,2107,2508,3355,3331,603.8,-10.4,439,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2508,3343,3355,3331,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5313,-0.67,-97.3,2107,2508,3354,3330,635.4,-10.5,454,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2508,3341,3354,3329,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5612,-0.67,-97.3,2107,2508,3353,3327,666.5,-10.2,469,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2508,3340,3353,3327,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5913,-0.67,-97.3,2107,2508,3351,3326,696.2,-9.7,484,5917,0.00,2.40,0.00,0.000,260,0.000,0.088,2098,3890,3339,3352,3326,0,0,0,0,0,0,15.12,14.48,15.15
$GC,5944,-0.67,-97.3,2098,3891,3351,3326,699.3,-10.0,490,5949,0.00,2.25,0.00,0.000,1030,0.000,0.035,2098,2493,3338,3351,3326,0,0,0,0,0,0,14.76,14.70,14.79
$GC,6256,-0.67,-97.3,2097,2491,3350,3325,730.4,-9.9,507,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2491,3337,3350,3325,0,0,0,0,0,0,15.11,15.15,15.15
$GC,6557,-0.67,-97.3,2098,2491,3349,3324,760.3,-10.1,522,6562,0.00,2.30,0.00,0.000,516,0.000,0.050,2098,1107,3336,3348,3324,0,0,0,0,0,0,15.11,14.59,15.14
$GC,6593,-0.67,-97.3,2097,1107,3348,3323,764.3,-10.3,529,6598,0.00,2.40,0.00,0.000,1030,0.000,0.057,2087,2504,3336,3348,3324,0,0,0,0,0,0,14.66,14.54,14.71
$GC,6914,-0.67,-97.3,2087,2504,3347,3322,798.6,-10.7,548,6918,0.00,2.42,0.00,0.000,260,0.000,0.087,2077,3894,3335,3348,3322,0,0,0,0,0,0,15.12,14.45,15.14
$GC,6966,-0.67,-97.3,2076,3894,3347,3322,804.4,-11.5,558,6971,0.12,2.25,0.00,0.000,3078,0.212,0.037,2107,2498,3334,3347,3322,0,0,0,0,0,0,14.38,14.67,14.57
$GC,7279,-0.67,-97.3,2106,2496,3346,3321,835.0,-9.7,575,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2496,3334,3347,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7578,-0.67,-97.3,2106,2496,3345,3320,863.2,-9.3,590,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2496,3332,3345,3320,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7880,-0.67,-97.3,2107,2496,3344,3320,890.8,-9.2,605,7884,0.00,2.33,0.00,0.000,516,0.000,0.050,2107,1104,3331,3343,3320,0,0,0,0,0,0,15.11,14.55,15.14
$GC,7905,-0.67,-97.3,2107,1104,3343,3320,893.4,-10.1,610,7910,0.00,2.40,0.00,0.000,1030,0.000,0.058,2098,2499,3331,3343,3319,0,0,0,0,0,0,14.63,14.51,14.67
$GC,8223,-0.67,-97.3,2097,2499,3343,3319,923.4,-9.6,628,8227,0.00,2.47,0.00,0.000,260,0.000,0.089,2087,3894,3331,3343,3319,0,0,0,0,0,0,15.10,14.40,15.14
$GC,8294,-0.67,-97.3,2086,3894,3343,3319,930.8,-10.3,642,8299,0.00,2.28,0.00,0.000,1030,0.000,0.037,2086,2495,3331,3343,3319,0,0,0,0,0,0,14.70,14.63,14.73
$GC,8606,-0.67,-97.3,2086,2494,3343,3318,961.4,-9.7,659,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2494,3330,3343,3318,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,8903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8903,begin apogee
$GC,8910,-0.15,0.0,2086,2494,3342,3317,990.2,-9.5,674,9006,0.68,0.00,91.32,1.999,10246,0.171,0.000,2280,2494,2968,2999,2937,0,0,0,0,0,0,14.21,14.04,12.66
$STATE,9006,end apogee,CONTROL_FINISHED_OK
$STATE,9007,begin climb
$GC,9009,0.67,97.3,2280,2494,2998,2936,993.0,0.0,679,9117,0.82,0.00,102.35,1.988,10502,0.090,0.000,2555,2493,2571,2601,2541,0,0,0,0,0,0,14.19,13.88,12.62
$GC,9405,0.67,97.3,2554,2493,2591,2535,970.6,8.4,702,9411,0.00,2.47,0.00,0.000,516,0.000,0.050,2566,1042,2563,2591,2535,0,0,0,0,0,0,14.85,14.49,14.88
$GC,9482,0.67,97.3,2565,1042,2589,2534,964.2,8.4,717,9487,0.00,2.42,0.00,0.000,1030,0.000,0.055,2566,2447,2561,2589,2534,0,0,0,0,0,0,14.60,14.50,14.64
$GC,9806,0.67,97.3,2565,2447,2588,2534,935.4,9.4,736,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2447,2561,2588,2534,0,0,0,0,0,0,14.96,15.00,15.00
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$STATE,20193,end climb,SURFACE_DEPTH_REACHED
$STATE,20193,begin surface coast
$STATE,20218,end surface coast,CONTROL_FINISHED_OK
$STATE,20218,begin surface
$SM_CCo,20237,84.70,0.570,1,0,928,500.17
$SM_GC,1.18,7.10,0.12,84.70,0.032,0.139,0.570,110,2523,928,-6.78,-0.71,500.17,0,0,0,0,1,0,14.60,14.53,13.75
$IRIDIUM_FIX,853.90,8615.07,061119,002723
$TT8_MAMPS,0.019474,0.168525
$HUMID,46.73
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,12.62,156.707
$10V_AH,13.25,0.000
$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,19.375,198.525,488.175,84.700,0.000,0.000,0.000,237.475,0.000,0.000,14.895,1589.389,15248.062,710.593,2697.236,451.384,0.000,2329.257,0.000,2437.695,0.000,0.541,0.000
$DEVICE_MAMPS,346.545,139.230,1998.945,569.925,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,890.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251236
$DATA_FILE_SIZE,76744,1714
$CAP_FILE_SIZE,193350,0
$CFSIZE,260034560,147034112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.090,9.25,1
$GPS,061119,114330,853.664,8613.221,20,0.7,20,-1.3,1.3,49.4,12,5.7