version: 66.13
glider: 171
mission: 11
dive: 484
start: 11 17 119 5 24 4
data:
$ID,171
$MISSION,11
$DIVE,484
$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,60
$R_STBD_OVSHOOT,40
$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
$GPS1,171119,051300,802.2490,8528.3643,25,0.7,25,-1.5,0.9,303.6,9,6.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.8
$GPS2,171119,052313,802.3109,8528.1494,2,0.6,3,-1.5,0.7,266.4,12,7.6
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,208.1,198929,-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,-97.3,123,2511,969,884,0.0,0.0,0,83,0.00,0.00,-71.65,0.005,16386,0.000,0.000,123,2511,2643,2645,2641,0,0,0,0,0,0,14.86,28.83,14.89
$GC,87,-0.64,-97.3,123,2511,2646,2641,4.9,-13.7,15,116,9.10,2.33,-13.65,0.009,18948,0.349,0.063,2123,1098,3367,3381,3353,0,0,0,0,0,0,13.99,13.50,14.42
$GC,213,-0.64,-97.3,2123,1098,3381,3353,44.6,-23.5,40,217,0.00,2.38,0.00,0.000,1030,0.000,0.063,2114,2482,3367,3381,3353,0,0,0,0,0,0,14.62,14.50,14.66
$GC,404,-0.64,-97.3,2114,2482,3381,3353,95.3,-24.1,61,411,0.00,2.40,0.00,0.000,260,0.000,0.077,2103,3900,3367,3381,3353,0,0,0,0,0,0,15.01,14.53,15.03
$GC,434,-0.64,-97.3,2103,3900,3381,3353,101.1,-17.8,67,439,0.00,2.22,0.00,0.000,1030,0.000,0.033,2103,2497,3367,3381,3353,0,0,0,0,0,0,14.73,14.67,14.76
$GC,626,-0.64,-97.3,2103,2495,3381,3353,129.9,-13.8,87,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2495,3367,3381,3353,0,0,0,0,0,0,15.04,15.07,15.07
$GC,806,-0.64,-97.3,2103,2495,3381,3353,155.5,-13.0,105,810,0.00,2.45,0.00,0.000,260,0.000,0.086,2092,3906,3367,3381,3353,0,0,0,0,0,0,15.06,14.56,15.09
$GC,858,-0.64,-97.3,2092,3906,3381,3353,163.3,-15.2,115,863,0.12,2.22,0.00,0.000,3078,0.219,0.034,2121,2497,3367,3381,3353,0,0,0,0,0,0,14.46,14.73,14.65
$GC,1051,-0.64,-97.3,2121,2495,3381,3353,184.9,-11.0,135,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2496,3367,3381,3353,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1230,-0.64,-97.3,2121,2495,3380,3353,203.9,-10.7,153,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2495,3366,3380,3353,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1410,-0.64,-97.3,2121,2495,3379,3353,223.5,-10.8,171,1414,0.00,2.25,0.00,0.000,516,0.000,0.044,2122,1102,3365,3378,3352,0,0,0,0,0,0,15.10,14.69,15.13
$GC,1473,-0.64,-97.3,2122,1101,3378,3353,230.1,-10.4,183,1477,0.00,2.38,0.00,0.000,1030,0.000,0.057,2113,2507,3365,3377,3353,0,0,0,0,0,0,14.76,14.65,14.79
$GC,1674,-0.64,-97.3,2112,2507,3376,3352,252.4,-10.9,203,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2507,3364,3376,3352,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1975,-0.64,-97.3,2113,2507,3372,3351,284.8,-10.7,218,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2507,3361,3372,3351,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2274,-0.64,-97.3,2113,2507,3371,3347,316.5,-10.8,233,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2507,3359,3371,3347,0,0,0,0,0,0,15.12,15.16,15.16
$GC,2574,-0.64,-97.3,2113,2507,3368,3345,349.2,-10.9,248,2578,0.00,2.38,0.00,0.000,260,0.000,0.086,2103,3890,3356,3368,3344,0,0,0,0,0,0,15.13,14.57,15.15
$GC,2635,-0.64,-97.3,2102,3890,3367,3344,356.2,-11.4,260,2640,0.00,2.22,0.00,0.000,1030,0.000,0.034,2103,2494,3355,3367,3344,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2957,-0.64,-97.3,2102,2493,3365,3340,392.3,-11.1,279,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2493,3353,3366,3340,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3257,-0.64,-97.3,2102,2493,3363,3338,423.9,-10.3,294,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2493,3350,3363,3338,0,0,0,0,0,0,15.12,15.15,15.15
$GC,3556,-0.64,-97.3,2102,2493,3362,3337,454.1,-10.1,309,3561,0.00,2.45,0.00,0.000,260,0.000,0.090,2091,3892,3348,3361,3336,0,0,0,0,0,0,15.13,14.54,15.16
$GC,3597,-0.64,-97.3,2091,3891,3361,3336,458.4,-10.6,317,3602,0.12,2.22,0.00,0.000,3078,0.205,0.034,2122,2494,3348,3361,3336,0,0,0,0,0,0,14.47,14.73,14.64
$GC,3916,-0.64,-97.3,2122,2493,3359,3334,486.9,-9.0,335,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2493,3346,3359,3334,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4214,-0.64,-97.3,2122,2492,3356,3332,513.2,-8.6,350,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2493,3344,3356,3332,0,0,0,0,0,0,15.12,15.16,15.15
$GC,4514,-0.64,-97.3,2122,2492,3355,3331,538.0,-8.1,365,4518,0.00,2.47,0.00,0.000,260,0.000,0.088,2113,3897,3342,3355,3330,0,0,0,0,0,0,15.12,14.50,15.15
$GC,4547,-0.64,-97.3,2113,3897,3355,3330,540.6,-8.6,371,4551,0.00,2.25,0.00,0.000,1030,0.000,0.035,2113,2495,3342,3355,3330,0,0,0,0,0,0,14.78,14.71,14.80
$GC,4858,-0.64,-97.3,2113,2494,3354,3329,567.9,-9.0,388,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2494,3341,3354,3329,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5159,-0.64,-97.3,2113,2493,3352,3327,595.7,-9.5,403,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2494,3339,3352,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5458,-0.64,-97.3,2113,2494,3351,3326,625.5,-10.0,418,5463,0.00,2.30,0.00,0.000,516,0.000,0.050,2113,1106,3338,3351,3325,0,0,0,0,0,0,15.12,14.60,15.15
$GC,5481,-0.64,-97.3,2113,1105,3350,3326,627.8,-10.5,422,5486,0.00,2.40,0.00,0.000,1030,0.000,0.060,2102,2505,3337,3350,3325,0,0,0,0,0,0,14.68,14.56,14.71
$GC,5804,-0.64,-97.3,2102,2505,3349,3324,661.7,-10.3,441,5811,0.00,2.42,0.00,0.000,260,0.000,0.086,2091,3897,3336,3349,3324,0,0,0,0,0,0,15.11,14.46,15.14
$GC,5863,-0.64,-97.3,2091,3897,3348,3324,668.1,-10.7,453,5868,0.08,2.22,0.00,0.000,3078,0.178,0.036,2116,2502,3336,3348,3324,0,0,0,0,0,0,14.34,14.64,14.45
$GC,6185,-0.64,-97.3,2116,2500,3347,3323,696.2,-8.5,472,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2501,3335,3348,3323,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6487,-0.64,-97.3,2116,2500,3347,3321,721.5,-8.4,487,6491,0.00,2.33,0.00,0.000,516,0.000,0.050,2117,1101,3334,3347,3321,0,0,0,0,0,0,15.10,14.57,15.13
$GC,6517,-0.64,-97.3,2117,1101,3346,3321,724.3,-8.5,493,6521,0.00,2.42,0.00,0.000,1030,0.000,0.060,2108,2499,3333,3346,3321,0,0,0,0,0,0,14.64,14.52,14.69
$GC,6829,-0.64,-97.3,2107,2499,3345,3320,752.9,-9.5,510,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3332,3345,3320,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7128,-0.64,-97.3,2107,2499,3344,3320,781.5,-9.7,525,7132,0.00,2.45,0.00,0.000,260,0.000,0.087,2097,3900,3332,3344,3320,0,0,0,0,0,0,15.11,14.42,15.14
$GC,7160,-0.64,-97.3,2096,3900,3343,3320,784.6,-10.0,531,7165,0.00,2.25,0.00,0.000,1030,0.000,0.037,2097,2507,3331,3343,3320,0,0,0,0,0,0,14.64,14.61,14.66
$GC,7466,-0.64,-97.3,2096,2505,3342,3320,815.7,-10.2,547,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2505,3331,3342,3320,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7764,-0.64,-97.3,2096,2506,3343,3318,845.7,-9.8,562,7769,0.00,2.35,0.00,0.000,516,0.000,0.050,2097,1098,3330,3343,3317,0,0,0,0,0,0,15.11,14.53,15.13
$GC,7796,-0.64,-97.3,2096,1098,3342,3317,848.8,-9.8,568,7803,0.12,2.42,0.00,0.000,3078,0.208,0.060,2117,2501,3329,3342,3317,0,0,0,0,0,0,14.31,14.49,14.51
$GC,8107,-0.64,-97.3,2116,2501,3342,3316,874.1,-7.9,585,8111,0.00,2.45,0.00,0.000,260,0.000,0.088,2108,3896,3329,3342,3316,0,0,0,0,0,0,15.10,14.38,15.12
$GC,8148,-0.64,-97.3,2108,3896,3342,3316,877.5,-8.3,593,8152,0.00,2.28,0.00,0.000,1030,0.000,0.037,2108,2495,3328,3341,3316,0,0,0,0,0,0,14.68,14.62,14.71
$GC,8469,-0.64,-97.3,2108,2494,3341,3315,902.9,-7.9,612,8473,0.00,2.33,0.00,0.000,516,0.000,0.050,2108,1107,3328,3341,3316,0,0,0,0,0,0,15.10,14.52,15.13
$GC,8511,-0.64,-97.3,2108,1107,3340,3316,906.3,-8.1,620,8515,0.00,2.40,0.00,0.000,1030,0.000,0.060,2097,2499,3327,3340,3315,0,0,0,0,0,0,14.59,14.47,14.63
$GC,8832,-0.64,-97.3,2097,2500,3340,3315,934.0,-8.8,639,8837,0.00,2.47,0.00,0.000,260,0.000,0.088,2086,3894,3327,3340,3314,0,0,0,0,0,0,15.10,14.36,15.13
$GC,8875,-0.64,-97.3,2086,3894,3339,3314,937.9,-9.6,647,8880,0.12,2.30,0.00,0.000,3078,0.206,0.037,2117,2490,3327,3339,3315,0,0,0,0,0,0,14.31,14.59,14.50
$GC,9197,-0.64,-97.3,2117,2489,3339,3314,964.0,-8.0,666,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2489,3326,3339,3314,0,0,0,0,0,0,15.10,15.13,15.13
$GC,9497,-0.64,-97.3,2117,2489,3338,3314,988.6,-8.2,681,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2489,3326,3338,3314,0,0,0,0,0,0,15.10,15.14,15.13
$STATE,9514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9514,begin apogee
$GC,9522,-0.15,0.0,2117,2489,3338,3314,990.3,-8.3,682,9616,0.55,0.00,90.38,1.993,10246,0.161,0.000,2279,2488,2968,2999,2938,0,0,0,0,0,0,14.23,14.04,12.70
$STATE,9617,end apogee,CONTROL_FINISHED_OK
$STATE,9617,begin climb
$GC,9620,0.64,97.3,2279,2489,2998,2937,993.3,0.0,687,9728,0.80,0.00,103.65,1.984,10246,0.090,0.000,2545,2488,2570,2600,2541,0,0,0,0,0,0,14.19,13.88,12.59
$GC,10021,0.66,97.3,2545,2488,2590,2536,974.8,7.0,707,10023,0.00,0.00,0.00,0.000,70,0.000,0.000,2545,2488,2563,2590,2536,0,0,0,0,0,0,14.83,14.86,14.85
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$STATE,21687,end climb,SURFACE_DEPTH_REACHED
$STATE,21687,begin surface coast
$STATE,21727,end surface coast,CONTROL_FINISHED_OK
$STATE,21727,begin surface
$SM_CCo,21750,140.38,0.633,1,0,928,500.17
$SM_GC,1.40,7.35,2.55,140.38,0.054,0.064,0.633,129,2499,928,-6.76,-0.85,500.17,0,0,0,0,1,0,14.65,14.51,13.72
$IRIDIUM_FIX,759.14,8531.90,171119,051539
$TT8_MAMPS,0.018725,0.156541
$HUMID,45.66
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,12.59,169.642
$10V_AH,11.25,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,951.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250700
$DATA_FILE_SIZE,76666,1769
$CAP_FILE_SIZE,200234,0
$CFSIZE,260034560,143003648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,19841.64,0x23576e,1,24
$CURRENT,0.110,228.85,1
$GPS,171119,113000,800.019,8526.340,18,0.9,18,-1.5,0.9,306.2,10,7.3