version: 66.13
glider: 171
mission: 11
dive: 511
start: 11 24 119 0 30 45
data:
$ID,171
$MISSION,11
$DIVE,511
$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,55
$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
$GPS1,241119,002338,721.0342,8424.2588,24,1.0,24,-1.6,0.9,345.3,7,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.3
$GPS2,241119,002952,721.0601,8424.1660,2,0.7,2,-1.6,0.5,3.8,12,6.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,216.8,59114,-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,-97.3,118,2508,968,885,0.0,0.0,0,83,0.00,0.00,-71.82,0.005,16386,0.000,0.000,117,2509,2646,2646,2646,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,117,2509,2647,2646,5.3,-15.3,15,115,9.02,2.33,-13.23,0.009,18948,0.343,0.065,2108,1105,3366,3380,3352,0,0,0,0,0,0,13.95,13.47,14.40
$GC,194,-0.67,-97.3,2107,1105,3380,3352,38.5,-22.6,36,202,0.00,2.40,0.00,0.000,1030,0.000,0.065,2098,2500,3366,3380,3352,0,0,0,0,0,0,14.60,14.49,14.64
$GC,385,-0.67,-97.3,2098,2500,3380,3352,90.0,-22.5,59,389,0.00,2.38,0.00,0.000,260,0.000,0.080,2087,3897,3366,3380,3352,0,0,0,0,0,0,14.98,14.51,15.01
$GC,463,-0.67,-97.3,2087,3897,3380,3352,104.5,-15.7,74,467,0.00,2.22,0.00,0.000,1030,0.000,0.034,2087,2498,3366,3380,3352,0,0,0,0,0,0,14.73,14.67,14.76
$GC,646,-0.67,-97.3,2087,2497,3381,3352,134.8,-15.9,93,651,0.00,2.25,0.00,0.000,516,0.000,0.045,2087,1105,3366,3381,3352,0,0,0,0,0,0,15.04,14.64,15.07
$GC,693,-0.67,-97.3,2086,1104,3381,3352,141.2,-12.8,102,701,0.15,2.38,0.00,0.000,3078,0.230,0.057,2111,2514,3366,3381,3352,0,0,0,0,0,0,14.36,14.61,14.59
$GC,891,-0.67,-97.3,2111,2514,3381,3352,164.0,-10.7,123,895,0.00,2.30,0.00,0.000,516,0.000,0.046,2112,1106,3366,3381,3352,0,0,0,0,0,0,15.04,14.65,15.07
$GC,928,-0.67,-97.3,2111,1106,3381,3352,168.3,-10.9,130,932,0.00,2.38,0.00,0.000,1030,0.000,0.063,2103,2495,3366,3381,3352,0,0,0,0,0,0,14.71,14.58,14.74
$GC,1115,-0.67,-97.3,2102,2494,3380,3352,190.7,-12.8,149,1120,0.00,2.40,0.00,0.000,260,0.000,0.081,2091,3906,3366,3381,3352,0,0,0,0,0,0,15.07,14.57,15.09
$GC,1152,-0.67,-97.3,2090,3906,3381,3352,196.0,-14.0,156,1156,0.00,2.22,0.00,0.000,1030,0.000,0.033,2091,2497,3366,3381,3352,0,0,0,0,0,0,14.79,14.73,14.82
$GC,1336,-0.67,-97.3,2091,2495,3380,3352,220.2,-12.5,175,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2495,3365,3379,3352,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1517,-0.67,-97.3,2091,2495,3378,3351,242.1,-12.0,193,1522,0.00,2.45,0.00,0.000,260,0.000,0.091,2081,3897,3365,3378,3352,0,0,0,0,0,0,15.09,14.52,15.11
$GC,1574,-0.67,-97.3,2081,3897,3377,3352,249.2,-12.1,204,1579,0.12,2.22,0.00,0.000,3078,0.216,0.034,2110,2491,3363,3376,3351,0,0,0,0,0,0,14.46,14.74,14.66
$GC,1770,-0.67,-97.3,2110,2490,3375,3352,270.3,-10.4,215,1774,0.00,2.25,0.00,0.000,516,0.000,0.046,2111,1101,3363,3375,3351,0,0,0,0,0,0,15.09,14.67,15.12
$GC,1790,-0.67,-97.3,2110,1101,3374,3351,272.6,-10.8,219,1794,0.00,2.38,0.00,0.000,1030,0.000,0.057,2101,2508,3362,3374,3351,0,0,0,0,0,0,14.74,14.63,14.77
$GC,2112,-0.67,-97.3,2101,2508,3372,3348,306.8,-10.6,238,2115,0.00,2.40,0.00,0.000,260,0.000,0.084,2090,3896,3360,3372,3348,0,0,0,0,0,0,15.11,14.55,15.14
$GC,2143,-0.67,-97.3,2090,3896,3372,3348,310.1,-11.3,244,2147,0.00,2.20,0.00,0.000,1030,0.000,0.034,2090,2501,3359,3371,3348,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2454,-0.67,-97.3,2090,2500,3370,3346,346.3,-12.3,261,2459,0.00,2.28,0.00,0.000,516,0.000,0.047,2090,1107,3358,3370,3346,0,0,0,0,0,0,15.11,14.66,15.14
$GC,2496,-0.67,-97.3,2090,1107,3369,3346,351.5,-12.2,269,2502,0.12,2.35,0.00,0.000,3078,0.212,0.058,2110,2501,3357,3369,3346,0,0,0,0,0,0,14.45,14.63,14.64
$GC,2819,-0.67,-97.3,2109,2500,3367,3342,385.9,-10.4,288,2823,0.00,2.40,0.00,0.000,260,0.000,0.084,2101,3897,3354,3367,3342,0,0,0,0,0,0,15.11,14.54,15.13
$GC,2855,-0.67,-97.3,2100,3897,3367,3342,389.8,-11.0,295,2859,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2499,3354,3366,3342,0,0,0,0,0,0,14.80,14.73,14.82
$GC,3160,-0.67,-97.3,2101,2498,3365,3339,422.3,-10.6,311,3164,0.00,2.28,0.00,0.000,516,0.000,0.048,2101,1110,3352,3366,3339,0,0,0,0,0,0,15.11,14.64,15.14
$GC,3192,-0.67,-97.3,2100,1110,3365,3339,425.6,-10.6,317,3197,0.00,2.35,0.00,0.000,1030,0.000,0.056,2090,2500,3351,3364,3339,0,0,0,0,0,0,14.72,14.62,14.76
$GC,3504,-0.67,-97.3,2089,2501,3362,3338,460.6,-11.6,334,3508,0.00,2.40,0.00,0.000,260,0.000,0.085,2080,3895,3350,3362,3338,0,0,0,0,0,0,15.11,14.52,15.14
$GC,3550,-0.67,-97.3,2079,3894,3362,3338,466.3,-12.3,343,3554,0.12,2.22,0.00,0.000,3078,0.211,0.034,2109,2498,3350,3362,3338,0,0,0,0,0,0,14.44,14.72,14.63
$GC,3868,-0.67,-97.3,2109,2496,3361,3335,498.7,-9.6,361,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3348,3361,3335,0,0,0,0,0,0,15.10,15.14,15.13
$GC,4167,-0.67,-97.3,2109,2496,3359,3333,526.0,-8.8,376,4171,0.00,2.28,0.00,0.000,516,0.000,0.049,2110,1111,3346,3359,3333,0,0,0,0,0,0,15.11,14.62,15.14
$GC,4214,-0.67,-97.3,2109,1111,3358,3333,530.1,-8.8,385,4219,0.00,2.38,0.00,0.000,1030,0.000,0.059,2100,2503,3345,3357,3333,0,0,0,0,0,0,14.70,14.58,14.73
$GC,4531,-0.67,-97.3,2100,2503,3356,3332,560.5,-10.0,403,4535,0.00,2.40,0.00,0.000,260,0.000,0.084,2089,3891,3344,3356,3332,0,0,0,0,0,0,15.11,14.49,15.14
$GC,4571,-0.67,-97.3,2089,3891,3356,3332,564.8,-10.6,411,4576,0.00,2.22,0.00,0.000,1030,0.000,0.035,2089,2502,3344,3356,3332,0,0,0,0,0,0,14.76,14.69,14.78
$GC,4894,-0.67,-97.3,2089,2501,3356,3330,598.6,-10.6,430,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3342,3355,3330,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5192,-0.67,-97.3,2089,2500,3354,3328,629.8,-10.3,445,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3341,3354,3328,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5493,-0.67,-97.3,2089,2500,3353,3327,659.6,-9.8,460,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3339,3352,3327,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5792,-0.67,-97.3,2089,2501,3352,3326,688.3,-9.4,475,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3338,3351,3326,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6093,-0.67,-97.3,2089,2500,3350,3325,716.6,-9.7,490,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3337,3350,3325,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6393,-0.67,-97.3,2089,2500,3349,3323,746.1,-10.0,505,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3336,3349,3323,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6692,-0.67,-97.3,2089,2500,3348,3322,776.3,-10.2,520,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3334,3348,3321,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6992,-0.67,-97.3,2089,2501,3347,3321,807.1,-10.4,535,6997,0.00,2.45,0.00,0.000,260,0.000,0.088,2079,3891,3334,3347,3321,0,0,0,0,0,0,15.11,14.40,15.13
$GC,7034,-0.67,-97.3,2078,3891,3347,3321,811.6,-11.1,543,7039,0.12,2.25,0.00,0.000,3078,0.210,0.036,2109,2499,3334,3347,3321,0,0,0,0,0,0,14.34,14.63,14.53
$GC,7351,-0.67,-97.3,2109,2498,3346,3320,841.0,-9.2,561,7356,0.00,2.33,0.00,0.000,516,0.000,0.053,2109,1112,3333,3346,3320,0,0,0,0,0,0,15.10,14.50,15.13
$GC,7404,-0.67,-97.3,2109,1113,3344,3320,845.9,-9.3,571,7411,0.00,2.40,0.00,0.000,1030,0.000,0.061,2100,2501,3332,3345,3320,0,0,0,0,0,0,14.60,14.48,14.64
$GC,7714,-0.67,-97.3,2100,2500,3344,3319,875.4,-9.5,588,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3331,3344,3319,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8013,-0.67,-97.3,2100,2501,3343,3319,902.9,-9.0,603,8017,0.00,2.45,0.00,0.000,260,0.000,0.087,2089,3897,3331,3343,3319,0,0,0,0,0,0,15.10,14.37,15.13
$GC,8054,-0.67,-97.3,2088,3897,3343,3319,906.8,-9.4,611,8058,0.00,2.28,0.00,0.000,1030,0.000,0.037,2089,2499,3331,3343,3319,0,0,0,0,0,0,14.67,14.59,14.70
$GC,8370,-0.67,-97.3,2089,2498,3343,3318,936.3,-9.2,629,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3330,3342,3318,0,0,0,0,0,0,15.10,15.13,15.12
$GC,8670,-0.67,-97.3,2089,2498,3343,3316,963.8,-9.2,644,8674,0.00,2.35,0.00,0.000,516,0.000,0.054,2089,1101,3329,3342,3316,0,0,0,0,0,0,15.10,14.47,15.13
$GC,8697,-0.67,-97.3,2089,1101,3342,3316,966.3,-9.8,649,8703,0.12,2.42,0.00,0.000,3078,0.207,0.060,2109,2498,3328,3341,3316,0,0,0,0,0,0,14.26,14.45,14.45
$STATE,8992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8992,begin apogee
$GC,8999,-0.15,0.0,2109,2498,3342,3316,990.3,-8.0,666,9094,0.57,0.00,91.60,1.999,10246,0.166,0.000,2275,2498,2968,2999,2937,0,0,0,0,0,0,14.20,14.02,12.64
$STATE,9095,end apogee,CONTROL_FINISHED_OK
$STATE,9096,begin climb
$GC,9100,0.67,97.3,2275,2498,2998,2937,992.8,0.0,671,9208,0.82,0.00,103.90,1.987,10758,0.090,0.000,2549,2497,2571,2601,2541,0,0,0,0,0,0,14.18,13.90,12.61
$GC,9497,0.67,97.3,2549,2498,2591,2535,970.9,8.4,700,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2497,2562,2590,2535,0,0,0,0,0,0,14.85,14.88,14.88
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$STATE,21734,end climb,SURFACE_DEPTH_REACHED
$STATE,21734,begin surface coast
$STATE,21789,end surface coast,CONTROL_FINISHED_OK
$STATE,21789,begin surface
$SM_CCo,21810,158.40,0.657,1,0,928,500.17
$SM_GC,1.37,7.60,0.12,158.40,0.063,0.138,0.657,121,2511,928,-6.76,-0.85,500.17,0,0,0,0,1,0,14.64,14.59,13.64
$IRIDIUM_FIX,721.87,8431.21,231119,184429
$TT8_MAMPS,0.018725,0.158039
$HUMID,46.37
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,12.61,177.721
$10V_AH,12.40,0.000
$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
$DEVICE_SECS,19.375,193.675,412.625,158.400,0.000,0.000,0.000,237.600,0.000,0.000,14.230,1640.813,16737.855,721.547,2760.203,487.480,0.000,2361.285,0.000,2507.636,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,938.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250808
$DATA_FILE_SIZE,76589,1764
$CAP_FILE_SIZE,200127,0
$CFSIZE,260034560,140517376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.116,206.68,1
$GPS,241119,063801,718.459,8422.428,17,1.4,18,-1.6,0.6,317.4,6,7.9