version: 66.13
glider: 171
mission: 11
dive: 496
start: 11 20 119 6 52 37
data:
$ID,171
$MISSION,11
$DIVE,496
$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,57
$R_STBD_OVSHOOT,62
$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
$GPS1,201119,064600,744.3600,8458.7607,20,0.9,20,-1.5,0.4,263.6,8,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.6
$GPS2,201119,065144,744.3624,8458.7041,2,0.6,3,-1.5,0.3,300.6,12,9.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,219.5,135627,-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,-97.3,119,2535,968,886,0.0,0.0,0,83,0.00,0.00,-72.12,0.005,16386,0.000,0.000,119,2535,2677,2678,2677,0,0,0,0,0,0,14.85,28.83,14.89
$GC,87,-0.67,-97.3,119,2535,2679,2677,5.6,-15.8,15,114,9.23,2.38,-12.48,0.010,18948,0.356,0.074,2113,1107,3367,3379,3355,0,0,0,0,0,0,13.97,12.69,14.41
$GC,231,-0.67,-97.3,2112,1106,3380,3356,53.1,-25.0,44,235,0.00,2.30,0.00,0.000,1030,0.000,0.061,2104,2460,3367,3379,3355,0,0,0,0,0,0,14.62,14.50,14.66
$GC,417,-0.67,-97.3,2104,2460,3380,3356,96.9,-18.2,63,421,0.00,2.22,0.00,0.000,516,0.000,0.054,2104,1101,3367,3379,3355,0,0,0,0,0,0,15.01,14.60,15.04
$GC,444,-0.67,-97.3,2103,1101,3379,3356,100.9,-15.0,68,448,0.00,2.38,0.00,0.000,1030,0.000,0.064,2093,2502,3367,3379,3355,0,0,0,0,0,0,14.67,14.54,14.71
$GC,628,-0.67,-97.3,2092,2502,3379,3355,127.8,-13.4,87,635,0.00,2.38,0.00,0.000,260,0.000,0.090,2082,3894,3367,3379,3355,0,0,0,0,0,0,15.05,14.52,15.07
$GC,864,-0.67,-97.3,2082,3894,3379,3355,161.8,-14.1,134,870,0.12,2.17,0.00,0.000,3078,0.231,0.031,2111,2482,3367,3379,3356,0,0,0,0,0,0,14.43,14.74,14.64
$GC,1048,-0.67,-97.3,2110,2481,3379,3356,186.0,-12.4,153,1052,0.00,2.42,0.00,0.000,260,0.000,0.084,2102,3899,3367,3379,3355,0,0,0,0,0,0,15.09,14.58,15.11
$GC,1135,-0.67,-97.3,2101,3899,3379,3356,196.2,-11.9,170,1140,0.00,2.15,0.00,0.000,1030,0.000,0.032,2102,2508,3367,3380,3355,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1327,-0.67,-97.3,2101,2506,3378,3355,218.4,-11.4,190,1331,0.00,2.22,0.00,0.000,516,0.000,0.046,2102,1117,3366,3378,3355,0,0,0,0,0,0,15.10,14.67,15.13
$GC,1383,-0.67,-97.3,2101,1116,3377,3355,224.9,-11.1,201,1387,0.00,2.33,0.00,0.000,1030,0.000,0.056,2090,2510,3366,3377,3355,0,0,0,0,0,0,14.75,14.64,14.78
$GC,1568,-0.67,-97.3,2090,2511,3376,3355,246.9,-12.3,220,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2511,3365,3376,3355,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1759,-0.67,-97.3,2090,2511,3373,3355,270.3,-12.4,231,1763,0.00,2.35,0.00,0.000,260,0.000,0.084,2080,3895,3364,3373,3355,0,0,0,0,0,0,15.11,14.58,15.14
$GC,1831,-0.67,-97.3,2080,3896,3372,3355,279.5,-12.8,245,1835,0.12,2.17,0.00,0.000,3078,0.214,0.033,2110,2500,3363,3372,3355,0,0,0,0,0,0,14.49,14.76,14.67
$GC,2142,-0.67,-97.3,2109,2498,3371,3350,313.7,-10.5,262,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2498,3361,3372,3350,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2442,-0.67,-97.3,2109,2498,3369,3347,342.4,-9.3,277,2446,0.00,2.22,0.00,0.000,516,0.000,0.047,2110,1118,3358,3369,3347,0,0,0,0,0,0,15.12,14.67,15.15
$GC,2474,-0.67,-97.3,2110,1118,3368,3347,345.3,-9.5,283,2478,0.00,2.33,0.00,0.000,1030,0.000,0.056,2101,2508,3357,3368,3347,0,0,0,0,0,0,14.75,14.64,14.78
$GC,2785,-0.67,-97.3,2101,2508,3367,3344,376.9,-10.3,300,2789,0.00,2.38,0.00,0.000,260,0.000,0.085,2090,3900,3355,3367,3344,0,0,0,0,0,0,15.12,14.55,15.14
$GC,2837,-0.67,-97.3,2089,3900,3366,3344,382.4,-11.0,310,2842,0.00,2.20,0.00,0.000,1030,0.000,0.035,2090,2505,3355,3366,3344,0,0,0,0,0,0,14.81,14.75,14.83
$GC,3149,-0.67,-97.3,2089,2503,3363,3341,418.4,-11.6,327,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3352,3364,3340,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3448,-0.67,-97.3,2089,2503,3362,3339,454.3,-12.0,342,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3350,3362,3339,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3749,-0.67,-97.3,2089,2503,3360,3337,488.1,-10.8,357,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3348,3360,3337,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4050,-0.67,-97.3,2089,2503,3358,3335,520.3,-10.6,372,4054,0.00,2.42,0.00,0.000,260,0.000,0.086,2079,3899,3346,3358,3335,0,0,0,0,0,0,15.11,14.52,15.14
$GC,4081,-0.67,-97.3,2079,3899,3357,3334,523.9,-11.7,378,4087,0.12,2.22,0.00,0.000,3078,0.209,0.037,2109,2496,3346,3357,3335,0,0,0,0,0,0,14.45,14.71,14.63
$GC,4395,-0.67,-97.3,2109,2495,3356,3333,553.1,-9.2,395,4399,0.00,2.28,0.00,0.000,516,0.000,0.049,2110,1107,3344,3356,3333,0,0,0,0,0,0,15.11,14.63,15.13
$GC,4426,-0.67,-97.3,2109,1107,3356,3333,556.2,-9.6,401,4430,0.00,2.35,0.00,0.000,1030,0.000,0.059,2100,2499,3344,3356,3333,0,0,0,0,0,0,14.70,14.59,14.73
$GC,4738,-0.67,-97.3,2100,2499,3355,3331,586.1,-9.6,418,4743,0.00,2.42,0.00,0.000,260,0.000,0.086,2089,3900,3343,3355,3331,0,0,0,0,0,0,15.12,14.49,15.14
$GC,4770,-0.67,-97.3,2089,3900,3354,3331,589.3,-10.3,424,4775,0.00,2.22,0.00,0.000,1030,0.000,0.036,2089,2501,3342,3354,3331,0,0,0,0,0,0,14.76,14.70,14.79
$GC,5081,-0.67,-97.3,2089,2500,3353,3330,621.2,-10.3,441,5086,0.00,2.42,0.00,0.000,260,0.000,0.086,2079,3892,3341,3353,3330,0,0,0,0,0,0,15.11,14.47,15.14
$GC,5113,-0.67,-97.3,2078,3892,3353,3330,624.6,-10.8,447,5118,0.10,2.20,0.00,0.000,3078,0.174,0.036,2110,2498,3341,3352,3330,0,0,0,0,0,0,14.35,14.67,14.46
$GC,5426,-0.67,-97.3,2110,2497,3352,3328,653.4,-9.0,464,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3339,3351,3328,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5725,-0.67,-97.3,2110,2497,3350,3327,680.7,-9.2,479,5730,0.00,2.28,0.00,0.000,516,0.000,0.050,2110,1110,3338,3350,3326,0,0,0,0,0,0,15.11,14.59,15.14
$GC,5772,-0.67,-97.3,2110,1110,3350,3326,685.1,-9.2,488,5777,0.00,2.38,0.00,0.000,1030,0.000,0.060,2101,2500,3337,3349,3326,0,0,0,0,0,0,14.66,14.54,14.71
$GC,6088,-0.67,-97.3,2101,2501,3348,3325,715.7,-9.8,506,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3336,3348,3325,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6388,-0.67,-97.3,2101,2501,3348,3324,744.3,-9.5,521,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3336,3348,3324,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6689,-0.67,-97.3,2101,2501,3347,3323,773.3,-9.7,536,6693,0.00,2.42,0.00,0.000,260,0.000,0.087,2090,3899,3335,3347,3323,0,0,0,0,0,0,15.11,14.42,15.14
$GC,6735,-0.67,-97.3,2089,3899,3346,3323,778.1,-10.3,545,6739,0.00,2.25,0.00,0.000,1030,0.000,0.037,2090,2494,3334,3346,3323,0,0,0,0,0,0,14.72,14.65,14.74
$GC,7053,-0.67,-97.3,2089,2493,3345,3322,810.5,-10.3,563,7057,0.00,2.47,0.00,0.000,260,0.000,0.087,2079,3899,3333,3345,3322,0,0,0,0,0,0,15.09,14.41,15.12
$GC,7084,-0.67,-97.3,2079,3899,3345,3322,814.0,-10.9,569,7089,0.12,2.25,0.00,0.000,3078,0.210,0.037,2109,2492,3333,3344,3322,0,0,0,0,0,0,14.35,14.64,14.54
$GC,7397,-0.67,-97.3,2109,2492,3343,3321,841.6,-8.6,586,7402,0.00,2.28,0.00,0.000,516,0.000,0.050,2109,1107,3332,3343,3321,0,0,0,0,0,0,15.09,14.54,15.12
$GC,7434,-0.67,-97.3,2109,1107,3343,3321,844.9,-8.6,593,7438,0.00,2.40,0.00,0.000,1030,0.000,0.060,2100,2506,3332,3344,3321,0,0,0,0,0,0,14.62,14.50,14.66
$GC,7738,-0.67,-97.3,2100,2506,3343,3320,872.2,-8.9,609,7742,0.00,2.40,0.00,0.000,260,0.000,0.087,2089,3890,3331,3343,3320,0,0,0,0,0,0,15.10,14.40,15.13
$GC,7779,-0.67,-97.3,2089,3891,3343,3320,876.0,-9.6,617,7783,0.00,2.22,0.00,0.000,1030,0.000,0.037,2089,2502,3331,3343,3320,0,0,0,0,0,0,14.69,14.62,14.71
$GC,8101,-0.67,-97.3,2089,2500,3343,3320,905.9,-9.3,636,8105,0.00,2.30,0.00,0.000,516,0.000,0.051,2089,1107,3331,3342,3320,0,0,0,0,0,0,15.09,14.51,15.11
$GC,8132,-0.67,-97.3,2089,1107,3342,3319,909.0,-9.3,642,8138,0.12,2.40,0.00,0.000,3078,0.210,0.060,2108,2507,3331,3342,3320,0,0,0,0,0,0,14.29,14.48,14.49
$GC,8446,-0.67,-97.3,2108,2507,3342,3318,934.5,-8.2,659,8450,0.00,2.42,0.00,0.000,260,0.000,0.088,2099,3894,3330,3342,3318,0,0,0,0,0,0,15.09,14.36,15.11
$GC,8494,-0.67,-97.3,2099,3894,3341,3318,938.7,-9.0,668,8498,0.00,2.25,0.00,0.000,1030,0.000,0.037,2099,2495,3329,3341,3318,0,0,0,0,0,0,14.68,14.61,14.70
$GC,8809,-0.67,-97.3,2099,2494,3341,3317,967.8,-9.3,686,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3329,3341,3317,0,0,0,0,0,0,15.10,15.13,15.13
$STATE,9067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9067,begin apogee
$GC,9075,-0.15,0.0,2100,2494,3340,3317,991.6,-9.0,699,9171,0.62,0.00,91.45,2.007,10246,0.166,0.000,2279,2493,2968,2998,2938,0,0,0,0,0,0,14.21,14.03,12.68
$STATE,9172,end apogee,CONTROL_FINISHED_OK
$STATE,9172,begin climb
$GC,9175,0.67,97.3,2279,2493,2997,2938,994.4,0.0,704,9289,0.82,2.45,102.55,1.995,10500,0.088,0.083,2554,3848,2570,2600,2541,0,0,0,0,0,0,14.19,13.59,12.59
$GC,9316,0.70,97.3,2554,3847,2593,2541,992.5,6.5,732,9320,0.00,2.33,0.00,0.000,1094,0.000,0.036,2565,2440,2567,2593,2541,0,0,0,0,0,0,14.31,14.26,14.33
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$STATE,21810,end climb,SURFACE_DEPTH_REACHED
$STATE,21810,begin surface coast
$STATE,21815,end surface coast,CONTROL_FINISHED_OK
$STATE,21815,begin surface
$SM_CCo,21839,155.52,0.659,1,0,928,500.17
$SM_GC,1.37,8.32,2.20,155.52,0.112,0.031,0.659,123,2491,928,-6.79,1.61,500.17,0,0,0,0,1,0,14.59,14.62,13.66
$IRIDIUM_FIX,748.29,8457.01,201119,011248
$TT8_MAMPS,0.019474,0.156541
$HUMID,46.85
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.59,173.257
$10V_AH,13.21,0.000
$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,925.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250780
$DATA_FILE_SIZE,79947,1834
$CAP_FILE_SIZE,208473,0
$CFSIZE,260034560,141881344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106,261.60,1
$GPS,201119,130030,742.981,8456.354,30,0.7,30,-1.5,0.2,273.4,11,5.3