version: 66.13
glider: 171
mission: 11
dive: 505
start: 11 22 119 13 7 13
data:
$ID,171
$MISSION,11
$DIVE,505
$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,58
$R_STBD_OVSHOOT,48
$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
$GPS1,221119,130000,731.2556,8439.1396,29,0.7,29,-1.6,0.5,312.5,11,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.4
$GPS2,221119,130620,731.2854,8439.0332,2,0.6,3,-1.6,1.2,296.2,12,5.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,220.7,92224,-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,-97.3,108,2526,970,882,0.0,0.0,0,78,0.00,0.00,-67.25,0.005,16386,0.000,0.000,107,2526,2506,2509,2504,0,0,0,0,0,0,14.85,28.83,14.88
$GC,82,-0.67,-97.3,107,2526,2510,2504,4.4,-10.8,14,114,9.15,2.28,-17.02,0.008,18692,0.348,0.093,2094,3875,3368,3383,3354,0,0,0,0,0,0,13.97,12.65,14.40
$GC,136,-0.67,-97.3,2094,3876,3383,3354,24.6,-40.5,25,141,0.00,2.20,0.00,0.000,1030,0.000,0.032,2094,2490,3368,3383,3354,0,0,0,0,0,0,14.66,14.60,14.68
$GC,325,-0.67,-97.3,2094,2489,3382,3354,77.5,-22.2,51,329,0.00,2.25,0.00,0.000,516,0.000,0.045,2094,1100,3368,3383,3354,0,0,0,0,0,0,14.97,14.59,15.00
$GC,512,-0.67,-97.3,2094,1099,3383,3354,109.7,-15.0,88,516,0.00,2.33,0.00,0.000,1030,0.000,0.057,2084,2482,3368,3383,3354,0,0,0,0,0,0,14.69,14.59,14.73
$GC,697,-0.67,-97.3,2084,2482,3383,3354,137.1,-14.6,107,701,0.00,2.38,0.00,0.000,260,0.000,0.076,2073,3893,3368,3383,3354,0,0,0,0,0,0,15.05,14.56,15.08
$GC,784,-0.67,-97.3,2073,3893,3383,3354,151.1,-16.9,124,789,0.15,2.20,0.00,0.000,3078,0.233,0.032,2108,2490,3368,3383,3354,0,0,0,0,0,0,14.38,14.73,14.61
$GC,968,-0.67,-97.3,2107,2489,3383,3354,174.8,-11.7,143,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2490,3368,3383,3354,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1148,-0.67,-97.3,2107,2489,3383,3354,194.9,-11.2,161,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2490,3368,3383,3354,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1329,-0.67,-97.3,2107,2489,3381,3354,216.6,-12.0,179,1333,0.00,2.42,0.00,0.000,260,0.000,0.080,2098,3897,3367,3381,3354,0,0,0,0,0,0,15.09,14.57,15.11
$GC,1370,-0.67,-97.3,2098,3897,3380,3354,221.9,-12.9,187,1374,0.00,2.20,0.00,0.000,1030,0.000,0.031,2099,2505,3367,3380,3354,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1562,-0.67,-97.3,2098,2503,3378,3354,245.9,-12.2,207,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2503,3366,3378,3354,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1742,-0.67,-97.3,2098,2503,3376,3354,267.3,-11.8,218,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2503,3365,3376,3354,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2041,-0.67,-97.3,2098,2503,3374,3351,303.3,-12.0,233,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2503,3362,3374,3351,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2342,-0.67,-97.3,2099,2503,3372,3348,337.8,-11.3,248,2346,0.00,2.42,0.00,0.000,260,0.000,0.083,2087,3896,3359,3372,3347,0,0,0,0,0,0,15.11,14.57,15.14
$GC,2378,-0.67,-97.3,2087,3896,3371,3348,342.2,-11.9,255,2382,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2493,3359,3371,3348,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2683,-0.67,-97.3,2087,2492,3369,3345,375.8,-10.5,271,2688,0.00,2.28,0.00,0.000,516,0.000,0.050,2087,1108,3357,3369,3345,0,0,0,0,0,0,15.12,14.66,15.14
$GC,2715,-0.67,-97.3,2087,1108,3368,3345,379.2,-10.6,277,2721,0.12,2.35,0.00,0.000,3078,0.216,0.057,2108,2500,3356,3368,3345,0,0,0,0,0,0,14.44,14.63,14.64
$GC,3028,-0.67,-97.3,2108,2501,3367,3341,408.0,-9.0,294,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2501,3354,3367,3341,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3329,-0.67,-97.3,2108,2501,3365,3339,435.9,-9.6,309,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2501,3352,3365,3339,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3628,-0.67,-97.3,2108,2501,3363,3338,465.9,-10.1,324,3632,0.00,2.40,0.00,0.000,260,0.000,0.084,2099,3891,3350,3362,3338,0,0,0,0,0,0,15.12,14.52,15.15
$GC,3669,-0.67,-97.3,2099,3891,3362,3338,470.2,-10.6,332,3673,0.00,2.22,0.00,0.000,1030,0.000,0.034,2099,2494,3350,3362,3338,0,0,0,0,0,0,14.78,14.72,14.81
$GC,3991,-0.67,-97.3,2098,2493,3361,3335,503.3,-10.6,351,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3348,3361,3335,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4290,-0.67,-97.3,2098,2493,3359,3334,534.5,-10.2,366,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3346,3359,3334,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4590,-0.67,-97.3,2099,2492,3357,3333,565.7,-10.6,381,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3344,3357,3332,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4891,-0.67,-97.3,2098,2493,3356,3331,596.4,-10.0,396,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3343,3356,3331,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5190,-0.67,-97.3,2098,2493,3355,3330,625.5,-9.6,411,5194,0.00,2.28,0.00,0.000,516,0.000,0.051,2099,1114,3342,3355,3330,0,0,0,0,0,0,15.11,14.59,15.14
$GC,5221,-0.67,-97.3,2098,1114,3354,3330,628.6,-9.8,417,5226,0.00,2.38,0.00,0.000,1030,0.000,0.061,2088,2501,3342,3354,3330,0,0,0,0,0,0,14.67,14.56,14.71
$GC,5534,-0.67,-97.3,2088,2501,3353,3328,660.8,-10.4,434,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2500,3340,3353,3328,0,0,0,0,0,0,15.10,15.14,15.13
$GC,5833,-0.67,-97.3,2088,2501,3352,3327,691.6,-10.1,449,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2501,3339,3352,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6134,-0.67,-97.3,2088,2501,3351,3326,722.3,-10.3,464,6138,0.00,2.42,0.00,0.000,260,0.000,0.086,2078,3890,3338,3351,3325,0,0,0,0,0,0,15.11,14.45,15.13
$GC,6160,-0.67,-97.3,2077,3890,3350,3325,725.3,-11.4,469,6166,0.12,2.22,0.00,0.000,3078,0.214,0.036,2108,2501,3338,3350,3326,0,0,0,0,0,0,14.36,14.66,14.56
$GC,6477,-0.67,-97.3,2108,2500,3349,3324,755.4,-9.7,487,6481,0.00,2.30,0.00,0.000,516,0.000,0.051,2108,1111,3336,3349,3324,0,0,0,0,0,0,15.11,14.55,15.14
$GC,6544,-0.67,-97.3,2108,1111,3348,3324,762.1,-10.1,500,6548,0.00,2.38,0.00,0.000,1030,0.000,0.059,2099,2499,3336,3348,3324,0,0,0,0,0,0,14.64,14.52,14.67
$GC,6860,-0.67,-97.3,2099,2499,3348,3323,794.2,-9.9,518,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3335,3348,3323,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7160,-0.67,-97.3,2099,2499,3347,3322,821.8,-8.7,533,7165,0.00,2.45,0.00,0.000,260,0.000,0.086,2088,3893,3334,3347,3321,0,0,0,0,0,0,15.11,14.40,15.13
$GC,7189,-0.67,-97.3,2088,3892,3347,3321,824.3,-9.8,538,7193,0.00,2.25,0.00,0.000,1030,0.000,0.036,2088,2499,3334,3347,3321,0,0,0,0,0,0,14.70,14.63,14.73
$GC,7505,-0.67,-97.3,2088,2498,3346,3321,853.3,-9.2,556,7509,0.00,2.33,0.00,0.000,516,0.000,0.052,2088,1105,3333,3346,3321,0,0,0,0,0,0,15.11,14.52,15.13
$GC,7551,-0.67,-97.3,2088,1105,3345,3321,857.7,-9.4,565,7557,0.15,2.40,0.00,0.000,3078,0.202,0.059,2114,2499,3333,3345,3321,0,0,0,0,0,0,14.28,14.49,14.48
$GC,7869,-0.67,-97.3,2114,2499,3344,3321,883.7,-8.3,583,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2499,3332,3344,3320,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8169,-0.67,-97.3,2114,2499,3343,3320,908.7,-8.3,598,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2499,3331,3343,3320,0,0,0,0,0,0,15.10,15.13,15.12
$GC,8468,-0.67,-97.3,2114,2499,3343,3319,933.5,-8.2,613,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2499,3331,3343,3319,0,0,0,0,0,0,15.10,15.14,15.12
$GC,8768,-0.67,-97.3,2114,2499,3343,3317,957.5,-7.9,628,8773,0.00,2.35,0.00,0.000,516,0.000,0.051,2115,1109,3330,3343,3317,0,0,0,0,0,0,15.09,14.48,15.12
$GC,8800,-0.67,-97.3,2114,1108,3342,3317,960.0,-8.0,634,8804,0.00,2.40,0.00,0.000,1030,0.000,0.058,2106,2500,3329,3342,3317,0,0,0,0,0,0,14.57,14.45,14.62
$GC,9112,-0.67,-97.3,2105,2500,3342,3317,985.9,-8.4,651,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3329,3342,3317,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,9168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9168,begin apogee
$GC,9175,-0.15,0.0,2106,2501,3342,3317,990.9,-8.4,654,9271,0.60,0.00,91.93,2.000,10246,0.161,0.000,2279,2500,2968,2999,2937,0,0,0,0,0,0,14.21,14.01,12.60
$STATE,9272,end apogee,CONTROL_FINISHED_OK
$STATE,9272,begin climb
$GC,9275,0.67,97.3,2279,2500,2998,2937,993.3,0.0,659,9383,0.82,0.00,103.80,1.988,10246,0.087,0.000,2554,2500,2571,2601,2541,0,0,0,0,0,0,14.19,13.89,12.58
$GC,9676,0.67,97.3,2554,2500,2590,2536,972.8,7.8,679,9682,0.00,2.47,0.00,0.000,516,0.000,0.053,2565,1051,2563,2590,2536,0,0,0,0,0,0,14.83,14.47,14.87
$GC,9759,0.67,97.3,2565,1051,2588,2535,965.9,7.9,696,9763,0.00,2.42,0.00,0.000,1030,0.000,0.055,2565,2450,2561,2588,2535,0,0,0,0,0,0,14.58,14.48,14.62
$GC,10077,0.68,97.3,2565,2450,2587,2534,941.2,7.5,714,10081,0.00,2.38,0.00,0.000,580,0.000,0.052,2576,1049,2560,2587,2534,0,0,0,0,0,0,14.97,14.53,15.00
$GC,10123,0.68,97.3,2576,1049,2586,2534,937.5,7.9,723,10127,0.00,2.38,0.00,0.000,1030,0.000,0.054,2576,2441,2560,2586,2534,0,0,0,0,0,0,14.63,14.52,14.67
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$STATE,20137,end climb,SURFACE_DEPTH_REACHED
$STATE,20137,begin surface coast
$STATE,20171,end surface coast,CONTROL_FINISHED_OK
$STATE,20171,begin surface
$SM_CCo,20191,112.35,0.612,1,0,929,500.17
$SM_GC,1.27,7.30,0.08,112.35,0.057,0.176,0.612,117,2501,929,-6.77,-1.02,500.17,0,0,0,0,1,0,14.64,14.66,13.73
$IRIDIUM_FIX,732.79,8444.20,221119,072248
$TT8_MAMPS,0.018725,0.152796
$HUMID,46.73
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,12.58,175.931
$10V_AH,12.51,0.000
$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,19.325,160.250,465.850,112.350,0.000,0.000,0.000,244.600,0.250,0.000,15.427,1519.162,15403.204,710.936,2599.327,455.882,0.000,2265.794,0.000,2345.208,0.000,0.542,0.000
$DEVICE_MAMPS,348.075,175.950,1999.710,612.000,0.000,0.000,0.000,179.010,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,882.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250792
$DATA_FILE_SIZE,73296,1649
$CAP_FILE_SIZE,183496,0
$CFSIZE,260034560,141082624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.115,227.82,1
$GPS,221119,184655,729.087,8436.975,30,1.0,30,-1.6,0.3,281.5,10,4.0