version: 66.13
glider: 171
mission: 11
dive: 513
start: 11 24 119 13 0 15
data:
$ID,171
$MISSION,11
$DIVE,513
$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,67
$R_STBD_OVSHOOT,59
$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
$GPS1,241119,124800,717.2094,8420.2871,21,0.7,21,-1.6,0.7,252.6,10,5.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.5
$GPS2,241119,125922,717.1844,8420.1260,2,0.6,3,-1.6,0.2,291.9,12,6.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,238.7,48801,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,109,2527,968,885,0.0,0.0,0,78,0.00,0.00,-66.35,0.005,16386,0.000,0.000,109,2527,2509,2512,2506,0,0,0,0,0,0,14.86,28.83,14.90
$GC,82,-0.67,-97.3,109,2527,2514,2506,4.6,-11.9,14,114,9.02,2.35,-16.70,0.008,18948,0.342,0.068,2104,1109,3368,3384,3353,0,0,0,0,0,0,13.97,12.64,14.40
$GC,211,-0.67,-97.3,2103,1109,3384,3353,44.2,-25.7,40,215,0.00,2.30,0.00,0.000,1030,0.000,0.059,2095,2467,3368,3384,3353,0,0,0,0,0,0,14.62,14.52,14.66
$GC,402,-0.67,-97.3,2094,2468,3382,3353,91.2,-22.0,61,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2468,3368,3383,3353,0,0,0,0,0,0,15.01,15.04,15.02
$GC,582,-0.67,-97.3,2094,2468,3384,3352,120.6,-14.5,79,586,0.00,2.42,0.00,0.000,260,0.000,0.080,2084,3894,3368,3384,3353,0,0,0,0,0,0,15.04,14.53,15.07
$GC,711,-0.67,-97.3,2083,3894,3383,3352,138.4,-14.8,104,715,0.00,2.20,0.00,0.000,1030,0.000,0.031,2084,2494,3368,3384,3352,0,0,0,0,0,0,14.78,14.72,14.79
$GC,902,-0.67,-97.3,2083,2492,3384,3353,165.0,-13.1,124,906,0.00,2.22,0.00,0.000,516,0.000,0.045,2084,1111,3368,3383,3353,0,0,0,0,0,0,15.07,14.66,15.10
$GC,923,-0.67,-97.3,2084,1110,3383,3353,167.9,-14.4,128,928,0.15,2.33,0.00,0.000,3078,0.217,0.054,2109,2504,3367,3383,3352,0,0,0,0,0,0,14.41,14.63,14.62
$GC,1110,-0.67,-97.3,2109,2504,3383,3352,188.3,-11.0,147,1114,0.00,2.28,0.00,0.000,516,0.000,0.044,2110,1105,3368,3383,3353,0,0,0,0,0,0,15.07,14.67,15.09
$GC,1136,-0.67,-97.3,2109,1106,3382,3353,191.3,-11.2,152,1140,0.00,2.35,0.00,0.000,1030,0.000,0.054,2101,2504,3367,3382,3352,0,0,0,0,0,0,14.74,14.64,14.77
$GC,1322,-0.67,-97.3,2100,2504,3380,3352,211.7,-11.6,171,1326,0.00,2.35,0.00,0.000,260,0.000,0.080,2089,3890,3366,3381,3352,0,0,0,0,0,0,15.09,14.57,15.11
$GC,1363,-0.67,-97.3,2089,3890,3380,3352,216.9,-12.7,179,1367,0.00,2.17,0.00,0.000,1030,0.000,0.031,2089,2500,3366,3380,3352,0,0,0,0,0,0,14.81,14.74,14.83
$GC,1553,-0.67,-97.3,2089,2499,3378,3352,240.2,-11.6,199,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3365,3378,3352,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1744,-0.67,-97.3,2089,2499,3376,3352,262.2,-11.5,213,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3363,3375,3352,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2043,-0.67,-97.3,2089,2499,3374,3349,299.7,-12.8,228,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3361,3374,3349,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2344,-0.67,-97.3,2089,2499,3371,3346,337.4,-12.5,243,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3358,3371,3346,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2644,-0.67,-97.3,2089,2499,3369,3344,372.9,-11.6,258,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2499,3356,3369,3344,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2943,-0.67,-97.3,2089,2499,3367,3340,408.2,-12.1,273,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2499,3353,3367,3340,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3244,-0.67,-97.3,2089,2499,3365,3339,443.2,-11.3,288,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3351,3364,3338,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3543,-0.67,-97.3,2089,2499,3364,3337,476.2,-10.9,303,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2499,3349,3362,3336,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3844,-0.67,-97.3,2089,2499,3361,3335,508.6,-10.9,318,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3347,3361,3334,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4144,-0.67,-97.3,2089,2499,3359,3333,541.7,-11.0,333,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3346,3359,3333,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4443,-0.67,-97.3,2089,2499,3357,3332,574.4,-10.7,348,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3343,3356,3331,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4743,-0.67,-97.3,2089,2499,3355,3330,606.4,-10.6,363,4748,0.00,2.45,0.00,0.000,260,0.000,0.087,2079,3893,3343,3356,3330,0,0,0,0,0,0,15.11,14.47,15.14
$GC,4792,-0.67,-97.3,2079,3893,3355,3330,611.6,-11.3,372,4797,0.12,2.22,0.00,0.000,3078,0.213,0.036,2109,2503,3342,3355,3330,0,0,0,0,0,0,14.40,14.69,14.59
$GC,5109,-0.67,-97.3,2109,2501,3354,3327,642.6,-9.8,390,5113,0.00,2.33,0.00,0.000,516,0.000,0.052,2109,1108,3340,3354,3327,0,0,0,0,0,0,15.11,14.57,15.14
$GC,5142,-0.67,-97.3,2109,1108,3353,3327,645.8,-9.9,396,5146,0.00,2.40,0.00,0.000,1030,0.000,0.060,2100,2506,3340,3353,3327,0,0,0,0,0,0,14.66,14.54,14.70
$GC,5453,-0.67,-97.3,2100,2506,3352,3326,676.3,-9.6,413,5458,0.00,2.42,0.00,0.000,260,0.000,0.086,2089,3891,3339,3352,3326,0,0,0,0,0,0,15.11,14.45,15.14
$GC,5490,-0.67,-97.3,2089,3891,3352,3326,679.9,-10.0,420,5495,0.00,2.25,0.00,0.000,1030,0.000,0.036,2089,2503,3339,3352,3326,0,0,0,0,0,0,14.72,14.66,14.75
$GC,5796,-0.67,-97.3,2089,2502,3351,3325,709.2,-9.6,436,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3337,3351,3324,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6095,-0.67,-97.3,2089,2502,3349,3323,738.0,-9.6,451,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3336,3350,3323,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6396,-0.67,-97.3,2089,2502,3348,3322,767.6,-10.1,466,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3335,3348,3322,0,0,0,0,0,0,15.10,15.14,15.13
$GC,6696,-0.67,-97.3,2089,2502,3347,3321,797.2,-9.6,481,6701,0.00,2.45,0.00,0.000,260,0.000,0.088,2079,3890,3334,3347,3321,0,0,0,0,0,0,15.09,14.41,15.12
$GC,6728,-0.67,-97.3,2078,3890,3347,3321,800.5,-10.7,487,6733,0.12,2.25,0.00,0.000,3078,0.211,0.037,2109,2499,3334,3347,3321,0,0,0,0,0,0,14.34,14.64,14.53
$GC,7040,-0.67,-97.3,2108,2497,3346,3320,826.8,-8.3,504,7044,0.00,2.33,0.00,0.000,516,0.000,0.052,2109,1107,3333,3346,3320,0,0,0,0,0,0,15.09,14.52,15.11
$GC,7101,-0.67,-97.3,2109,1107,3345,3320,832.1,-8.6,516,7106,0.00,2.40,0.00,0.000,1030,0.000,0.060,2100,2499,3332,3345,3320,0,0,0,0,0,0,14.61,14.49,14.64
$GC,7418,-0.67,-97.3,2099,2499,3343,3319,859.9,-8.9,534,7424,0.00,2.45,0.00,0.000,260,0.000,0.087,2088,3897,3331,3344,3319,0,0,0,0,0,0,15.09,14.38,15.12
$GC,7463,-0.67,-97.3,2088,3897,3343,3319,864.2,-9.6,543,7468,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2497,3331,3344,3319,0,0,0,0,0,0,14.68,14.61,14.71
$GC,7779,-0.67,-97.3,2088,2496,3343,3319,894.6,-9.7,561,7784,0.00,2.33,0.00,0.000,516,0.000,0.053,2088,1107,3330,3343,3318,0,0,0,0,0,0,15.09,14.50,15.12
$GC,7807,-0.67,-97.3,2088,1107,3343,3318,897.3,-10.6,566,7814,0.12,2.42,0.00,0.000,3078,0.213,0.060,2108,2509,3330,3343,3318,0,0,0,0,0,0,14.27,14.46,14.47
$GC,8122,-0.67,-97.3,2108,2509,3343,3317,924.2,-8.4,584,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2509,3330,3343,3317,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8421,-0.67,-97.3,2108,2509,3343,3316,949.7,-8.7,599,8425,0.00,2.38,0.00,0.000,516,0.000,0.052,2108,1106,3329,3342,3316,0,0,0,0,0,0,15.10,14.48,15.13
$GC,8447,-0.67,-97.3,2108,1106,3342,3316,952.1,-9.4,604,8451,0.00,2.42,0.00,0.000,1030,0.000,0.060,2099,2505,3329,3342,3316,0,0,0,0,0,0,14.57,14.45,14.61
$GC,8759,-0.67,-97.3,2098,2505,3341,3315,980.6,-9.3,621,8764,0.00,2.45,0.00,0.000,260,0.000,0.087,2088,3897,3328,3341,3315,0,0,0,0,0,0,15.08,14.33,15.11
$GC,8796,-0.67,-97.3,2088,3896,3341,3315,984.3,-10.0,628,8800,0.00,2.30,0.00,0.000,1030,0.000,0.037,2088,2492,3328,3341,3315,0,0,0,0,0,0,14.64,14.57,14.67
$STATE,8858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8858,begin apogee
$GC,8866,-0.15,0.0,2088,2491,3341,3315,990.7,-9.9,632,8961,0.68,0.00,91.45,1.997,10246,0.169,0.000,2281,2491,2968,2999,2937,0,0,0,0,0,0,14.16,14.02,12.65
$STATE,8962,end apogee,CONTROL_FINISHED_OK
$STATE,8962,begin climb
$GC,8965,0.67,97.3,2281,2491,2998,2937,993.9,0.0,637,9073,0.80,0.00,104.07,1.986,10246,0.087,0.000,2550,2491,2571,2601,2541,0,0,0,0,0,0,14.19,13.88,12.57
$GC,9364,0.69,97.3,2549,2491,2590,2536,975.6,7.3,657,9366,0.00,0.00,0.00,0.000,70,0.000,0.000,2549,2491,2562,2590,2535,0,0,0,0,0,0,14.84,14.87,14.87
$GC,9662,0.70,97.3,2549,2491,2589,2534,954.0,7.4,672,9667,0.00,2.45,0.00,0.000,580,0.000,0.053,2560,1042,2561,2589,2534,0,0,0,0,0,0,14.95,14.52,14.98
$GC,9689,0.71,97.3,2560,1042,2587,2534,951.9,7.3,677,9696,0.00,2.42,0.00,0.000,1094,0.000,0.057,2560,2449,2560,2587,2534,0,0,0,0,0,0,14.62,14.51,14.66
$GC,10005,0.71,97.3,2560,2449,2587,2534,926.7,8.2,695,10009,0.00,2.38,0.00,0.000,516,0.000,0.053,2571,1048,2560,2587,2534,0,0,0,0,0,0,15.00,14.54,15.04
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$STATE,21167,end climb,SURFACE_DEPTH_REACHED
$STATE,21167,begin surface coast
$STATE,21197,end surface coast,CONTROL_FINISHED_OK
$STATE,21197,begin surface
$SM_CCo,21218,114.28,0.616,1,0,929,500.17
$SM_GC,1.33,7.43,0.10,114.28,0.056,0.148,0.616,117,2516,929,-6.77,-0.99,500.17,0,0,0,0,1,0,14.62,14.61,13.69
$IRIDIUM_FIX,717.73,8422.34,241119,125208
$TT8_MAMPS,0.018725,0.155792
$HUMID,46.18
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,12.57,178.311
$10V_AH,12.46,0.000
$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,18.900,179.775,462.775,114.275,0.000,0.000,0.000,362.250,0.250,0.000,14.803,1579.110,16423.512,730.390,2791.429,493.158,0.000,2448.707,0.000,2423.133,0.000,0.542,0.000
$DEVICE_MAMPS,341.955,148.410,1997.415,615.825,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,928.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250788
$DATA_FILE_SIZE,73310,1704
$CAP_FILE_SIZE,195942,0
$CFSIZE,260034560,140337152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.129,201.98,1
$GPS,241119,185700,714.958,8418.062,27,0.8,27,-1.6,0.4,325.7,9,3.5