version: 66.13
glider: 171
mission: 11
dive: 516
start: 11 25 119 6 22 29
data:
$ID,171
$MISSION,11
$DIVE,516
$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,53
$R_STBD_OVSHOOT,47
$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
$GPS1,251119,061510,711.9585,8413.5498,21,1.5,22,-1.7,1.2,261.7,4,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.3
$GPS2,251119,062136,711.9603,8413.4541,2,0.8,3,-1.7,0.5,243.5,11,8.9
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,243.5,33201,-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,-97.3,107,2523,968,884,0.0,0.0,0,78,0.00,0.00,-66.50,0.005,16386,0.000,0.000,106,2523,2480,2486,2475,0,0,0,0,0,0,14.84,28.83,14.87
$GC,82,-0.67,-97.3,106,2523,2487,2475,4.4,-10.9,14,115,9.12,2.33,-17.60,0.008,18692,0.345,0.095,2094,3876,3367,3383,3352,0,0,0,0,0,0,13.95,12.61,14.38
$GC,342,-0.67,-97.3,2094,3876,3383,3352,73.9,-22.2,66,346,0.00,2.22,0.00,0.000,1030,0.000,0.041,2094,2510,3367,3383,3352,0,0,0,0,0,0,14.68,14.59,14.71
$GC,528,-0.67,-97.3,2094,2509,3383,3352,107.7,-15.4,85,532,0.00,2.30,0.00,0.000,516,0.000,0.046,2094,1092,3367,3383,3352,0,0,0,0,0,0,15.02,14.62,15.04
$GC,644,-0.67,-97.3,2094,1092,3383,3352,124.3,-12.6,108,648,0.00,2.35,0.00,0.000,1030,0.000,0.055,2084,2486,3367,3383,3352,0,0,0,0,0,0,14.70,14.59,14.73
$GC,830,-0.67,-97.3,2083,2486,3383,3352,149.5,-13.4,127,834,0.00,2.40,0.00,0.000,260,0.000,0.080,2073,3901,3368,3384,3352,0,0,0,0,0,0,15.05,14.54,15.07
$GC,857,-0.67,-97.3,2072,3902,3383,3352,153.1,-14.4,132,862,0.15,2.25,0.00,0.000,3078,0.223,0.033,2108,2479,3368,3384,3352,0,0,0,0,0,0,14.38,14.71,14.61
$GC,1041,-0.67,-97.3,2108,2477,3384,3352,176.5,-12.3,151,1045,0.00,2.22,0.00,0.000,516,0.000,0.045,2108,1101,3367,3383,3352,0,0,0,0,0,0,15.08,14.66,15.10
$GC,1108,-0.67,-97.3,2108,1101,3383,3352,184.3,-11.8,164,1112,0.00,2.38,0.00,0.000,1030,0.000,0.059,2099,2504,3367,3383,3352,0,0,0,0,0,0,14.73,14.62,14.76
$GC,1292,-0.67,-97.3,2099,2504,3382,3352,207.1,-12.5,183,1296,0.00,2.35,0.00,0.000,260,0.000,0.080,2088,3890,3367,3383,3352,0,0,0,0,0,0,15.09,14.56,15.11
$GC,1438,-0.67,-97.3,2088,3890,3381,3352,225.8,-12.5,212,1442,0.00,2.20,0.00,0.000,1030,0.000,0.031,2088,2497,3366,3381,3352,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1623,-0.67,-97.3,2088,2495,3379,3352,249.4,-13.0,231,1628,0.00,2.25,0.00,0.000,516,0.000,0.047,2088,1111,3365,3379,3352,0,0,0,0,0,0,15.09,14.66,15.12
$GC,1649,-0.67,-97.3,2088,1111,3378,3352,252.6,-13.0,236,1654,0.12,2.40,0.00,0.000,3078,0.219,0.064,2107,2502,3365,3378,3352,0,0,0,0,0,0,14.42,14.59,14.62
$GC,1962,-0.67,-97.3,2107,2502,3375,3352,285.8,-10.6,253,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2502,3363,3375,3352,0,0,0,0,0,0,15.10,15.13,15.13
$GC,2261,-0.67,-97.3,2107,2502,3373,3348,317.6,-10.4,268,2266,0.00,2.40,0.00,0.000,260,0.000,0.084,2098,3899,3360,3373,3348,0,0,0,0,0,0,15.11,14.55,15.14
$GC,2348,-0.67,-97.3,2098,3899,3372,3348,326.6,-10.1,285,2353,0.00,2.22,0.00,0.000,1030,0.000,0.034,2098,2499,3360,3372,3348,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2665,-0.67,-97.3,2098,2498,3371,3346,359.6,-10.6,303,2669,0.00,2.45,0.00,0.000,260,0.000,0.086,2087,3902,3358,3371,3346,0,0,0,0,0,0,15.11,14.53,15.14
$GC,2717,-0.67,-97.3,2087,3903,3370,3346,365.3,-11.2,313,2722,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2495,3358,3371,3346,0,0,0,0,0,0,14.79,14.72,14.81
$GC,3021,-0.67,-97.3,2087,2494,3367,3343,398.9,-10.7,329,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2494,3355,3368,3343,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3321,-0.67,-97.3,2087,2494,3366,3340,429.7,-10.2,344,3325,0.00,2.45,0.00,0.000,260,0.000,0.086,2076,3896,3353,3366,3340,0,0,0,0,0,0,15.12,14.52,15.14
$GC,3383,-0.67,-97.3,2076,3896,3365,3340,436.3,-11.0,356,3388,0.15,2.25,0.00,0.000,3078,0.204,0.035,2114,2489,3353,3366,3340,0,0,0,0,0,0,14.41,14.71,14.61
$GC,3700,-0.67,-97.3,2113,2488,3364,3338,463.9,-8.6,374,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2488,3351,3364,3338,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4000,-0.67,-97.3,2113,2488,3362,3336,490.8,-9.3,389,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2488,3349,3362,3336,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4301,-0.67,-97.3,2113,2488,3361,3335,519.9,-9.8,404,4308,0.00,2.47,0.00,0.000,260,0.000,0.086,2105,3902,3347,3361,3334,0,0,0,0,0,0,15.11,14.49,15.14
$GC,4350,-0.67,-97.3,2104,3901,3361,3334,524.9,-10.2,414,4354,0.00,2.25,0.00,0.000,1030,0.000,0.035,2105,2500,3347,3360,3334,0,0,0,0,0,0,14.76,14.69,14.78
$GC,4662,-0.67,-97.3,2105,2499,3359,3333,556.8,-10.0,431,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2499,3346,3359,3333,0,0,0,0,0,0,15.10,15.13,15.13
$GC,4962,-0.67,-97.3,2104,2499,3357,3332,586.8,-9.9,446,4966,0.00,2.47,0.00,0.000,260,0.000,0.087,2094,3897,3343,3356,3331,0,0,0,0,0,0,15.11,14.46,15.14
$GC,4993,-0.67,-97.3,2093,3897,3356,3331,590.1,-10.5,452,4997,0.00,2.25,0.00,0.000,1030,0.000,0.036,2094,2501,3343,3356,3331,0,0,0,0,0,0,14.74,14.68,14.76
$GC,5305,-0.67,-97.3,2093,2499,3356,3330,622.6,-10.5,469,5310,0.00,2.47,0.00,0.000,260,0.000,0.087,2083,3902,3343,3356,3330,0,0,0,0,0,0,15.09,14.45,15.13
$GC,5337,-0.67,-97.3,2083,3902,3355,3330,626.3,-11.3,475,5341,0.12,2.28,0.00,0.000,3078,0.208,0.037,2113,2493,3342,3355,3330,0,0,0,0,0,0,14.38,14.66,14.57
$GC,5648,-0.67,-97.3,2113,2492,3354,3329,654.5,-8.7,492,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2492,3341,3354,3329,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5949,-0.67,-97.3,2113,2492,3353,3327,678.8,-7.6,507,5953,0.00,2.50,0.00,0.000,260,0.000,0.087,2104,3903,3340,3353,3327,0,0,0,0,0,0,15.10,14.42,15.12
$GC,5990,-0.67,-97.3,2104,3903,3352,3327,682.2,-8.2,515,5994,0.00,2.30,0.00,0.000,1030,0.000,0.037,2104,2494,3340,3353,3327,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6313,-0.67,-97.3,2104,2492,3352,3326,707.0,-7.5,534,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2492,3339,3352,3326,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6611,-0.67,-97.3,2104,2493,3351,3325,730.7,-8.1,549,6616,0.00,2.47,0.00,0.000,260,0.000,0.088,2093,3896,3337,3351,3324,0,0,0,0,0,0,15.11,14.40,15.13
$GC,6663,-0.67,-97.3,2093,3896,3351,3324,735.2,-8.9,559,6667,0.00,2.28,0.00,0.000,1030,0.000,0.037,2093,2493,3337,3350,3324,0,0,0,0,0,0,14.70,14.63,14.73
$GC,6975,-0.67,-97.3,2093,2491,3349,3324,764.3,-9.6,576,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2491,3336,3349,3324,0,0,0,0,0,0,15.09,15.12,15.12
$GC,7274,-0.67,-97.3,2092,2491,3348,3322,794.0,-10.0,591,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2491,3335,3348,3322,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7574,-0.67,-97.3,2093,2491,3348,3321,823.3,-9.7,606,7580,0.00,2.50,0.00,0.000,260,0.000,0.089,2083,3897,3334,3347,3321,0,0,0,0,0,0,15.10,14.38,15.13
$GC,7643,-0.67,-97.3,2082,3897,3347,3321,830.3,-10.4,619,7648,0.12,2.28,0.00,0.000,3078,0.207,0.037,2112,2497,3334,3347,3321,0,0,0,0,0,0,14.32,14.61,14.51
$GC,7960,-0.67,-97.3,2113,2495,3347,3320,857.4,-8.4,637,7965,0.00,2.50,0.00,0.000,260,0.000,0.087,2103,3900,3333,3347,3320,0,0,0,0,0,0,15.10,14.35,15.13
$GC,7982,-0.67,-97.3,2103,3900,3347,3320,859.3,-8.7,641,7987,0.00,2.28,0.00,0.000,1030,0.000,0.037,2103,2500,3333,3347,3320,0,0,0,0,0,0,14.67,14.60,14.69
$GC,8304,-0.67,-97.3,2103,2499,3346,3320,887.6,-8.8,660,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3333,3346,3320,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8603,-0.67,-97.3,2103,2499,3345,3320,914.6,-9.0,675,8610,0.00,2.50,0.00,0.000,260,0.000,0.090,2092,3899,3331,3344,3319,0,0,0,0,0,0,15.09,14.33,15.12
$GC,8668,-0.67,-97.3,2091,3899,3344,3320,920.8,-9.6,688,8672,0.00,2.28,0.00,0.000,1030,0.000,0.037,2092,2501,3331,3344,3319,0,0,0,0,0,0,14.66,14.58,14.68
$GC,8985,-0.67,-97.3,2092,2500,3343,3319,951.6,-9.9,706,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3331,3343,3319,0,0,0,0,0,0,15.09,15.12,15.11
$GC,9284,-0.67,-97.3,2092,2500,3343,3319,980.6,-9.5,721,9289,0.00,2.50,0.00,0.000,260,0.000,0.089,2082,3901,3330,3343,3318,0,0,0,0,0,0,15.09,14.31,15.11
$GC,9332,-0.67,-97.3,2081,3902,3342,3318,985.3,-10.3,730,9337,0.12,2.30,0.00,0.000,3078,0.207,0.038,2111,2495,3330,3343,3318,0,0,0,0,0,0,14.27,14.56,14.45
$STATE,9386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9386,begin apogee
$GC,9393,-0.15,0.0,2112,2493,3342,3318,990.5,-8.8,735,9489,0.57,0.00,91.90,2.005,10246,0.162,0.000,2279,2492,2968,2999,2937,0,0,0,0,0,0,14.19,14.00,12.62
$STATE,9490,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9494,0.67,97.3,2279,2493,2998,2937,993.6,0.0,740,9602,0.82,0.00,103.55,1.989,10758,0.086,0.000,2557,2492,2571,2602,2541,0,0,0,0,0,0,14.19,13.88,12.58
$GC,9909,0.69,97.3,2557,2492,2591,2536,975.0,7.2,776,9917,0.00,2.45,0.00,0.000,580,0.000,0.051,2568,1051,2562,2590,2535,0,0,0,0,0,0,14.86,14.47,14.89
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$STATE,22084,end climb,SURFACE_DEPTH_REACHED
$STATE,22084,begin surface coast
$STATE,22099,end surface coast,CONTROL_FINISHED_OK
$STATE,22099,begin surface
$SM_CCo,22120,85.70,0.584,1,0,928,500.17
$SM_GC,1.19,8.00,0.10,85.70,0.083,0.138,0.584,130,2505,928,-6.78,-1.10,500.17,0,0,0,0,1,0,14.48,14.50,13.64
$IRIDIUM_FIX,713.31,8413.69,251119,002127
$TT8_MAMPS,0.018725,0.15729
$HUMID,48.93
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.58,179.216
$10V_AH,12.62,0.000
$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
$DEVICE_SECS,19.825,213.225,486.200,85.700,0.000,0.000,0.000,247.150,0.000,0.000,14.805,1751.273,16655.242,692.287,3005.287,493.534,0.000,2462.205,0.000,2732.139,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,928.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250768
$DATA_FILE_SIZE,83216,1923
$CAP_FILE_SIZE,209474,0
$CFSIZE,260034560,140042240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.048,209.00,1
$GPS,251119,123341,710.876,8411.741,16,1.7,18,-1.7,0.7,292.0,6,9.6