version: 66.13
glider: 171
mission: 11
dive: 506
start: 11 22 119 18 53 29
data:
$ID,171
$MISSION,11
$DIVE,506
$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,54
$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
$GPS1,221119,184655,729.0867,8436.9746,30,1.0,30,-1.6,0.3,281.5,10,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.4
$GPS2,221119,185236,729.1312,8436.8652,2,0.8,2,-1.6,1.0,288.6,12,6.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,235.7,86619,-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,6,begin dive
$GC,9,-0.67,-97.3,107,2503,969,883,0.0,0.0,0,83,0.00,0.00,-71.50,0.005,16386,0.000,0.000,107,2503,2657,2658,2656,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,107,2503,2658,2656,5.6,-15.3,15,115,9.07,2.33,-13.00,0.009,18948,0.344,0.065,2107,1105,3366,3380,3353,0,0,0,0,0,0,13.97,13.47,14.40
$GC,202,-0.67,-97.3,2107,1105,3379,3352,43.2,-25.1,38,207,0.00,2.38,0.00,0.000,1030,0.000,0.059,2098,2503,3366,3380,3352,0,0,0,0,0,0,14.62,14.51,14.65
$GC,389,-0.67,-97.3,2098,2503,3380,3352,91.6,-20.2,59,393,0.00,2.35,0.00,0.000,260,0.000,0.075,2087,3896,3366,3380,3352,0,0,0,0,0,0,15.00,14.52,15.02
$GC,405,-0.67,-97.3,2087,3896,3379,3352,95.3,-22.3,62,410,0.00,2.22,0.00,0.000,1030,0.000,0.033,2087,2494,3366,3380,3352,0,0,0,0,0,0,14.72,14.66,14.74
$GC,591,-0.67,-97.3,2087,2492,3380,3353,125.1,-15.6,81,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3366,3380,3352,0,0,0,0,0,0,15.02,15.06,15.05
$GC,771,-0.67,-97.3,2087,2492,3380,3352,151.0,-12.8,99,775,0.00,2.40,0.00,0.000,260,0.000,0.078,2077,3896,3366,3380,3352,0,0,0,0,0,0,15.05,14.56,15.08
$GC,953,-0.67,-97.3,2076,3896,3380,3352,176.1,-13.9,135,958,0.15,2.20,0.00,0.000,3078,0.217,0.031,2113,2487,3366,3380,3353,0,0,0,0,0,0,14.41,14.73,14.62
$GC,1147,-0.67,-97.3,2112,2486,3380,3352,197.2,-9.8,155,1152,0.00,2.25,0.00,0.000,516,0.000,0.050,2113,1112,3366,3380,3352,0,0,0,0,0,0,15.07,14.64,15.09
$GC,1174,-0.67,-97.3,2112,1112,3379,3352,200.0,-10.2,160,1178,0.00,2.33,0.00,0.000,1030,0.000,0.055,2104,2503,3365,3379,3352,0,0,0,0,0,0,14.73,14.63,14.77
$GC,1359,-0.67,-97.3,2103,2504,3378,3352,219.1,-10.7,179,1363,0.00,2.38,0.00,0.000,260,0.000,0.080,2092,3893,3365,3378,3352,0,0,0,0,0,0,15.09,14.57,15.11
$GC,1431,-0.67,-97.3,2092,3893,3377,3352,227.3,-11.6,193,1435,0.00,2.17,0.00,0.000,1030,0.000,0.032,2093,2505,3365,3378,3352,0,0,0,0,0,0,14.80,14.74,14.83
$GC,1622,-0.67,-97.3,2093,2503,3376,3352,250.0,-12.0,213,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2503,3364,3376,3352,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1812,-0.67,-97.3,2092,2503,3374,3352,273.3,-12.3,223,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2503,3363,3374,3352,0,0,0,0,0,0,15.10,15.14,15.13
$GC,2113,-0.67,-97.3,2092,2503,3372,3348,310.8,-12.2,238,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2503,3360,3372,3348,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2412,-0.67,-97.3,2092,2503,3370,3346,346.6,-11.6,253,2416,0.00,2.40,0.00,0.000,260,0.000,0.083,2082,3893,3358,3370,3346,0,0,0,0,0,0,15.11,14.55,15.14
$GC,2447,-0.67,-97.3,2082,3894,3369,3346,350.8,-12.0,260,2452,0.12,2.22,0.00,0.000,3078,0.210,0.034,2112,2490,3357,3369,3346,0,0,0,0,0,0,14.47,14.74,14.66
$GC,2754,-0.67,-97.3,2112,2488,3367,3343,380.1,-9.5,276,2758,0.00,2.25,0.00,0.000,516,0.000,0.048,2113,1110,3355,3367,3343,0,0,0,0,0,0,15.11,14.65,15.14
$GC,2784,-0.67,-97.3,2112,1110,3367,3343,383.3,-10.2,282,2790,0.00,2.35,0.00,0.000,1030,0.000,0.056,2104,2504,3355,3367,3343,0,0,0,0,0,0,14.73,14.62,14.76
$GC,3097,-0.67,-97.3,2103,2503,3365,3340,416.2,-10.7,299,3101,0.00,2.40,0.00,0.000,260,0.000,0.084,2092,3892,3353,3366,3340,0,0,0,0,0,0,15.11,14.53,15.14
$GC,3123,-0.67,-97.3,2092,3892,3365,3340,419.1,-11.2,304,3127,0.00,2.22,0.00,0.000,1030,0.000,0.034,2092,2490,3352,3365,3340,0,0,0,0,0,0,14.79,14.73,14.81
$GC,3439,-0.67,-97.3,2092,2489,3363,3338,454.3,-11.0,322,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2489,3350,3362,3338,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3740,-0.67,-97.3,2092,2488,3362,3336,487.3,-11.2,337,3744,0.00,2.42,0.00,0.000,260,0.000,0.084,2082,3890,3348,3361,3336,0,0,0,0,0,0,15.11,14.51,15.14
$GC,3780,-0.67,-97.3,2082,3890,3361,3336,492.2,-11.7,345,3785,0.12,2.22,0.00,0.000,3078,0.212,0.034,2112,2498,3348,3361,3336,0,0,0,0,0,0,14.43,14.71,14.62
$GC,4102,-0.67,-97.3,2111,2496,3360,3334,524.5,-9.9,364,4106,0.00,2.28,0.00,0.000,516,0.000,0.048,2112,1105,3346,3359,3334,0,0,0,0,0,0,15.11,14.62,15.14
$GC,4140,-0.67,-97.3,2112,1105,3359,3334,528.1,-9.9,371,4144,0.00,2.38,0.00,0.000,1030,0.000,0.057,2103,2501,3346,3358,3334,0,0,0,0,0,0,14.69,14.58,14.73
$GC,4443,-0.67,-97.3,2103,2501,3357,3332,558.2,-9.7,387,4448,0.00,2.42,0.00,0.000,260,0.000,0.086,2091,3893,3344,3356,3332,0,0,0,0,0,0,15.11,14.49,15.14
$GC,4495,-0.67,-97.3,2091,3893,3356,3332,563.4,-10.2,397,4499,0.00,2.22,0.00,0.000,1030,0.000,0.035,2091,2500,3344,3356,3332,0,0,0,0,0,0,14.76,14.70,14.78
$GC,4807,-0.67,-97.3,2091,2498,3356,3331,596.2,-10.7,414,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3343,3356,3331,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5106,-0.67,-97.3,2091,2498,3354,3329,627.8,-10.4,429,5110,0.00,2.30,0.00,0.000,516,0.000,0.049,2091,1103,3341,3354,3329,0,0,0,0,0,0,15.11,14.59,15.13
$GC,5137,-0.67,-97.3,2091,1103,3354,3329,631.1,-10.9,435,5144,0.12,2.38,0.00,0.000,3078,0.210,0.057,2111,2500,3341,3353,3329,0,0,0,0,0,0,14.37,14.56,14.57
$GC,5448,-0.67,-97.3,2111,2500,3353,3327,659.3,-9.0,452,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2500,3340,3353,3327,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5747,-0.67,-97.3,2111,2500,3352,3326,685.9,-8.8,467,5751,0.00,2.45,0.00,0.000,260,0.000,0.087,2102,3896,3339,3352,3326,0,0,0,0,0,0,15.11,14.44,15.14
$GC,5784,-0.67,-97.3,2102,3896,3351,3326,689.3,-9.5,474,5789,0.00,2.25,0.00,0.000,1030,0.000,0.035,2102,2498,3338,3351,3326,0,0,0,0,0,0,14.73,14.66,14.76
$GC,6088,-0.67,-97.3,2102,2497,3350,3325,717.7,-9.1,490,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3337,3350,3325,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6388,-0.67,-97.3,2102,2498,3349,3323,743.2,-8.2,505,6392,0.00,2.30,0.00,0.000,516,0.000,0.049,2103,1107,3336,3349,3323,0,0,0,0,0,0,15.11,14.56,15.14
$GC,6445,-0.67,-97.3,2102,1107,3348,3323,747.9,-8.5,516,6449,0.00,2.40,0.00,0.000,1030,0.000,0.058,2091,2504,3335,3348,3323,0,0,0,0,0,0,14.63,14.52,14.67
$GC,6749,-0.67,-97.3,2091,2504,3348,3321,775.9,-9.4,532,6753,0.00,2.42,0.00,0.000,260,0.000,0.086,2081,3893,3334,3348,3321,0,0,0,0,0,0,15.11,14.41,15.13
$GC,6800,-0.67,-97.3,2081,3893,3348,3321,781.0,-10.2,542,6805,0.12,2.25,0.00,0.000,3078,0.210,0.036,2111,2496,3335,3348,3322,0,0,0,0,0,0,14.35,14.64,14.53
$GC,7113,-0.67,-97.3,2110,2494,3347,3321,807.6,-8.6,559,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2494,3334,3347,3321,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7412,-0.67,-97.3,2110,2494,3346,3320,834.2,-9.0,574,7417,0.00,2.33,0.00,0.000,516,0.000,0.050,2111,1104,3333,3346,3320,0,0,0,0,0,0,15.11,14.52,15.14
$GC,7445,-0.67,-97.3,2111,1104,3345,3320,837.2,-9.2,580,7449,0.00,2.40,0.00,0.000,1030,0.000,0.058,2102,2500,3332,3345,3320,0,0,0,0,0,0,14.61,14.49,14.64
$GC,7755,-0.67,-97.3,2101,2500,3344,3320,867.2,-9.6,597,7760,0.00,2.45,0.00,0.000,260,0.000,0.087,2090,3894,3331,3344,3319,0,0,0,0,0,0,15.11,14.38,15.13
$GC,7793,-0.67,-97.3,2090,3894,3344,3320,870.8,-10.0,604,7797,0.00,2.28,0.00,0.000,1030,0.000,0.037,2091,2494,3332,3344,3320,0,0,0,0,0,0,14.68,14.61,14.70
$GC,8098,-0.67,-97.3,2090,2492,3344,3319,900.2,-9.3,620,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2492,3331,3343,3319,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8397,-0.67,-97.3,2090,2492,3343,3318,927.4,-8.9,635,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2492,3330,3343,3318,0,0,0,0,0,0,15.10,15.13,15.13
$GC,8697,-0.67,-97.3,2090,2492,3343,3317,954.2,-8.9,650,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2493,3330,3343,3317,0,0,0,0,0,0,15.10,15.14,15.13
$GC,8998,-0.67,-97.3,2090,2492,3342,3316,980.5,-8.8,665,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2492,3329,3342,3316,0,0,0,0,0,0,15.09,15.12,15.12
$STATE,9114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9114,begin apogee
$GC,9121,-0.15,0.0,2091,2492,3341,3316,991.1,-8.8,671,9216,0.65,0.00,91.03,2.000,10246,0.171,0.000,2276,2492,2968,2999,2937,0,0,0,0,0,0,14.16,14.02,12.65
$STATE,9217,end apogee,CONTROL_FINISHED_OK
$STATE,9217,begin climb
$GC,9220,0.67,97.3,2276,2492,2999,2936,993.5,0.0,676,9331,0.82,2.55,103.00,1.987,10756,0.092,0.051,2561,1044,2569,2600,2539,0,0,0,0,0,0,14.18,13.95,12.62
$GC,9358,0.71,140.5,2560,1044,2596,2538,991.4,5.6,698,9411,0.00,2.45,44.53,1.951,9254,0.000,0.052,2561,2443,2394,2430,2358,0,0,0,0,0,0,14.28,14.19,12.67
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$STATE,20404,end climb,SURFACE_DEPTH_REACHED
$STATE,20404,begin surface coast
$STATE,20439,end surface coast,CONTROL_FINISHED_OK
$STATE,20439,begin surface
$SM_CCo,20458,121.30,0.621,1,0,928,500.17
$SM_GC,1.42,7.32,0.08,121.30,0.054,0.168,0.621,129,2523,928,-6.76,-1.10,500.17,0,0,0,0,1,0,14.62,14.66,13.70
$IRIDIUM_FIX,728.50,8340.79,221119,130235
$TT8_MAMPS,0.018725,0.158788
$HUMID,46.96
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,12.62,176.227
$10V_AH,12.39,0.000
$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,19.350,192.875,454.225,121.300,0.000,0.000,0.000,208.175,0.250,0.000,14.210,1579.503,15547.310,706.480,2640.493,456.163,0.000,2279.129,0.000,2411.949,0.000,0.541,0.000
$DEVICE_MAMPS,344.250,167.535,1999.710,621.180,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,910.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250784
$DATA_FILE_SIZE,73298,1696
$CAP_FILE_SIZE,193610,0
$CFSIZE,260034560,140984320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097,254.93,1
$GPS,231119,003738,727.846,8434.173,20,1.6,20,-1.6,1.1,276.2,6,8.5