version: 66.13
glider: 171
mission: 11
dive: 519
start: 11 26 119 1 3 31
data:
$ID,171
$MISSION,11
$DIVE,519
$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,59
$R_STBD_OVSHOOT,52
$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
$GPS1,261119,005630,707.5017,8407.3320,54,0.7,54,-1.7,0.8,245.6,10,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.0
$GPS2,261119,010238,707.5074,8407.2051,2,0.6,3,-1.7,0.8,355.4,12,3.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,225.8,19202,-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,-97.3,92,2528,969,882,0.0,0.0,0,83,0.00,0.00,-71.30,0.005,16386,0.000,0.000,91,2529,2641,2644,2638,0,0,0,0,0,0,14.84,28.83,14.88
$GC,87,-0.67,-97.3,91,2529,2645,2638,5.6,-16.0,15,116,9.23,2.38,-13.23,0.009,18948,0.347,0.067,2103,1110,3366,3380,3353,0,0,0,0,0,0,13.94,13.47,14.38
$GC,270,-0.67,-97.3,2103,1108,3379,3353,60.1,-20.5,51,274,0.00,2.33,0.00,0.000,1030,0.000,0.058,2094,2476,3366,3380,3353,0,0,0,0,0,0,14.62,14.52,14.66
$GC,453,-0.67,-97.3,2094,2476,3379,3353,96.8,-20.4,70,458,0.00,2.40,0.00,0.000,260,0.000,0.075,2083,3894,3366,3380,3352,0,0,0,0,0,0,15.01,14.51,15.03
$GC,556,-0.67,-97.3,2083,3894,3379,3353,116.0,-17.1,90,561,0.00,2.20,0.00,0.000,1030,0.000,0.033,2084,2502,3366,3380,3353,0,0,0,0,0,0,14.74,14.69,14.76
$GC,747,-0.67,-97.3,2083,2500,3380,3353,146.5,-12.9,110,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2500,3366,3380,3353,0,0,0,0,0,0,15.06,15.08,15.07
$GC,928,-0.67,-97.3,2083,2500,3380,3353,169.9,-12.8,128,932,0.00,2.40,0.00,0.000,260,0.000,0.078,2073,3902,3366,3380,3353,0,0,0,0,0,0,15.06,14.54,15.08
$GC,959,-0.67,-97.3,2073,3902,3380,3353,174.4,-14.3,134,965,0.15,2.22,0.00,0.000,3078,0.220,0.032,2109,2490,3366,3380,3353,0,0,0,0,0,0,14.39,14.72,14.60
$GC,1155,-0.67,-97.3,2108,2489,3380,3352,197.9,-12.0,154,1160,0.00,2.42,0.00,0.000,260,0.000,0.080,2099,3901,3366,3380,3352,0,0,0,0,0,0,15.06,14.54,15.09
$GC,1226,-0.67,-97.3,2099,3902,3379,3352,207.0,-12.4,168,1230,0.00,2.20,0.00,0.000,1030,0.000,0.032,2099,2503,3365,3379,3351,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1417,-0.67,-97.3,2099,2501,3378,3352,228.7,-11.2,188,1421,0.00,2.28,0.00,0.000,516,0.000,0.050,2099,1110,3365,3378,3352,0,0,0,0,0,0,15.09,14.64,15.11
$GC,1464,-0.67,-97.3,2097,1110,3377,3352,234.0,-11.4,197,1468,0.00,2.35,0.00,0.000,1030,0.000,0.056,2088,2502,3364,3377,3352,0,0,0,0,0,0,14.73,14.62,14.76
$GC,1658,-0.67,-97.3,2088,2502,3375,3352,258.9,-12.6,214,1663,0.00,2.38,0.00,0.000,260,0.000,0.080,2078,3899,3364,3376,3352,0,0,0,0,0,0,15.09,14.54,15.12
$GC,1700,-0.67,-97.3,2077,3899,3376,3352,264.2,-12.9,222,1706,0.12,2.22,0.00,0.000,3078,0.216,0.033,2108,2490,3363,3375,3352,0,0,0,0,0,0,14.45,14.73,14.64
$GC,2023,-0.67,-97.3,2108,2488,3372,3350,298.6,-10.9,241,2027,0.00,2.42,0.00,0.000,260,0.000,0.080,2098,3894,3360,3372,3349,0,0,0,0,0,0,15.09,14.54,15.12
$GC,2056,-0.67,-97.3,2098,3894,3372,3349,302.2,-11.3,247,2060,0.00,2.22,0.00,0.000,1030,0.000,0.033,2098,2491,3360,3372,3349,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2368,-0.67,-97.3,2098,2490,3371,3346,336.0,-10.4,264,2372,0.00,2.42,0.00,0.000,260,0.000,0.081,2088,3890,3358,3370,3346,0,0,0,0,0,0,15.10,14.54,15.13
$GC,2404,-0.67,-97.3,2087,3890,3370,3346,339.9,-10.8,271,2408,0.00,2.22,0.00,0.000,1030,0.000,0.034,2087,2493,3358,3370,3346,0,0,0,0,0,0,14.79,14.73,14.81
$GC,2709,-0.67,-97.3,2087,2492,3368,3344,373.3,-11.0,287,2713,0.00,2.28,0.00,0.000,516,0.000,0.050,2088,1108,3356,3368,3344,0,0,0,0,0,0,15.11,14.63,15.14
$GC,2731,-0.67,-97.3,2087,1108,3367,3344,375.8,-11.5,291,2739,0.12,2.35,0.00,0.000,3078,0.211,0.057,2108,2498,3355,3367,3344,0,0,0,0,0,0,14.42,14.61,14.62
$GC,3051,-0.67,-97.3,2108,2498,3366,3340,407.9,-10.1,310,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2499,3353,3366,3340,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3350,-0.67,-97.3,2108,2498,3363,3338,438.6,-10.3,325,3355,0.00,2.42,0.00,0.000,260,0.000,0.083,2099,3896,3350,3363,3338,0,0,0,0,0,0,15.11,14.52,15.14
$GC,3408,-0.67,-97.3,2099,3896,3363,3339,444.5,-10.4,336,3412,0.00,2.22,0.00,0.000,1030,0.000,0.034,2099,2503,3350,3363,3338,0,0,0,0,0,0,14.77,14.71,14.80
$GC,3712,-0.67,-97.3,2099,2501,3362,3337,476.1,-10.2,352,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3349,3362,3336,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4013,-0.67,-97.3,2098,2501,3360,3335,506.4,-10.0,367,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3347,3360,3334,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4312,-0.67,-97.3,2099,2501,3358,3333,536.8,-10.2,382,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3345,3358,3333,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4612,-0.67,-97.3,2099,2501,3356,3332,568.5,-10.7,397,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3344,3356,3332,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4913,-0.67,-97.3,2099,2501,3356,3330,600.8,-10.8,412,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3343,3356,3330,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5212,-0.67,-97.3,2098,2501,3354,3329,633.2,-10.7,427,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3341,3354,3329,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5512,-0.67,-97.3,2099,2501,3353,3327,664.2,-10.3,442,5517,0.00,2.45,0.00,0.000,260,0.000,0.086,2088,3892,3340,3353,3327,0,0,0,0,0,0,15.11,14.44,15.14
$GC,5550,-0.67,-97.3,2088,3892,3351,3327,668.1,-10.7,449,5554,0.00,2.25,0.00,0.000,1030,0.000,0.036,2088,2495,3339,3352,3327,0,0,0,0,0,0,14.72,14.66,14.75
$GC,5854,-0.67,-97.3,2088,2493,3351,3326,700.5,-10.5,465,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3338,3351,3326,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6154,-0.67,-97.3,2088,2493,3350,3325,731.5,-10.2,480,6160,0.00,2.45,0.00,0.000,260,0.000,0.086,2078,3892,3337,3350,3324,0,0,0,0,0,0,15.11,14.42,15.14
$GC,6186,-0.67,-97.3,2077,3892,3350,3324,734.6,-11.1,486,6192,0.12,2.25,0.00,0.000,3078,0.212,0.037,2107,2494,3337,3350,3325,0,0,0,0,0,0,14.35,14.64,14.54
$GC,6499,-0.67,-97.3,2107,2493,3349,3323,762.8,-8.6,503,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2493,3336,3349,3323,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6800,-0.67,-97.3,2107,2492,3348,3322,788.3,-8.4,518,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3335,3348,3322,0,0,0,0,0,0,15.09,15.13,15.12
$GC,7099,-0.67,-97.3,2107,2493,3347,3321,813.1,-8.4,533,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2492,3334,3347,3321,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7399,-0.67,-97.3,2107,2492,3346,3320,839.0,-8.7,548,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2492,3333,3346,3320,0,0,0,0,0,0,15.10,15.14,15.13
$GC,7700,-0.67,-97.3,2107,2493,3345,3320,865.2,-8.7,563,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2492,3332,3345,3320,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7999,-0.67,-97.3,2107,2492,3343,3319,890.8,-8.5,578,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3331,3343,3319,0,0,0,0,0,0,15.10,15.14,15.13
$GC,8299,-0.67,-97.3,2107,2492,3342,3319,916.1,-8.4,593,8303,0.00,2.33,0.00,0.000,516,0.000,0.053,2108,1107,3331,3343,3319,0,0,0,0,0,0,15.10,14.48,15.13
$GC,8346,-0.67,-97.3,2107,1107,3343,3319,920.1,-8.7,602,8352,0.00,2.42,0.00,0.000,1030,0.000,0.060,2098,2499,3330,3342,3318,0,0,0,0,0,0,14.57,14.44,14.61
$GC,8663,-0.67,-97.3,2098,2499,3342,3317,947.7,-8.5,620,8667,0.00,2.45,0.00,0.000,260,0.000,0.087,2088,3893,3329,3342,3317,0,0,0,0,0,0,15.09,14.33,15.12
$GC,8730,-0.67,-97.3,2087,3893,3342,3317,953.6,-9.2,633,8735,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2501,3330,3343,3317,0,0,0,0,0,0,14.64,14.57,14.66
$GC,9047,-0.67,-97.3,2087,2500,3342,3316,982.4,-9.1,651,9051,0.00,2.35,0.00,0.000,516,0.000,0.053,2087,1100,3329,3342,3316,0,0,0,0,0,0,15.09,14.46,15.11
$GC,9118,-0.67,-97.3,2087,1100,3341,3316,989.1,-9.3,665,9126,0.15,2.42,0.00,0.000,3078,0.201,0.060,2113,2500,3328,3341,3316,0,0,0,0,0,0,14.21,14.42,14.40
$STATE,9145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9145,begin apogee
$GC,9153,-0.15,0.0,2113,2500,3341,3316,991.6,-8.5,668,9248,0.57,0.00,91.68,2.004,10246,0.161,0.000,2281,2500,2968,2999,2937,0,0,0,0,0,0,14.19,14.01,12.63
$STATE,9249,end apogee,CONTROL_FINISHED_OK
$STATE,9249,begin climb
$GC,9252,0.67,97.3,2281,2500,2998,2936,994.0,0.0,673,9363,0.80,2.55,103.65,1.992,10756,0.086,0.050,2560,1048,2570,2601,2539,0,0,0,0,0,0,14.18,13.58,12.58
$GC,9402,0.71,138.2,2561,1048,2595,2537,992.3,5.8,694,9451,0.00,2.45,42.38,1.947,9254,0.000,0.055,2561,2443,2404,2440,2368,0,0,0,0,0,0,14.31,14.22,12.68
$GC,9753,0.71,138.2,2560,2443,2430,2361,957.4,10.3,719,9757,0.00,2.40,0.00,0.000,516,0.000,0.054,2572,1043,2395,2430,2361,0,0,0,0,0,0,14.86,14.47,14.90
$GC,9820,0.71,138.2,2572,1043,2427,2360,950.5,10.4,732,9824,0.00,2.42,0.00,0.000,1030,0.000,0.058,2572,2444,2394,2428,2360,0,0,0,0,0,0,14.59,14.48,14.62
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$STATE,20504,end climb,SURFACE_DEPTH_REACHED
$STATE,20504,begin surface coast
$STATE,20550,end surface coast,CONTROL_FINISHED_OK
$STATE,20550,begin surface
$SM_CCo,20569,91.35,0.576,1,0,928,500.17
$SM_GC,1.31,7.22,0.08,91.35,0.046,0.153,0.576,128,2527,928,-6.76,-1.02,500.17,0,0,0,0,1,0,14.61,14.66,13.72
$IRIDIUM_FIX,708.71,8411.74,251119,184116
$TT8_MAMPS,0.018725,0.158788
$HUMID,47.48
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,12.58,180.113
$10V_AH,12.32,0.000
$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
$DEVICE_SECS,19.400,180.050,492.500,91.350,0.000,0.000,0.000,225.325,0.000,0.000,15.513,1575.540,15583.861,720.364,2677.404,473.862,0.000,2315.033,0.000,2437.266,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,918.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250736
$DATA_FILE_SIZE,76628,1714
$CAP_FILE_SIZE,191766,0
$CFSIZE,260034560,139784192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.090,210.87,1
$GPS,261119,064900,705.381,8405.265,22,0.8,22,-1.7,0.1,0.0,9,6.9