version: 66.13
glider: 171
mission: 11
dive: 520
start: 11 26 119 6 59 4
data:
$ID,171
$MISSION,11
$DIVE,520
$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,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
$GPS1,261119,064900,705.3812,8405.2646,22,0.8,22,-1.7,0.1,0.0,9,6.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.2
$GPS2,261119,065813,705.3508,8405.0693,2,0.6,3,-1.7,1.1,252.5,12,8.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,232.0,13603,-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,-97.3,92,2529,971,880,0.0,0.0,0,83,0.00,0.00,-71.45,0.005,16386,0.000,0.000,92,2529,2600,2601,2599,0,0,0,0,0,0,14.87,28.83,14.90
$GC,87,-0.67,-97.3,92,2529,2602,2599,4.4,-11.7,15,119,9.23,2.45,-14.77,0.009,18948,0.347,0.070,2107,1101,3367,3381,3353,0,0,0,0,0,0,13.96,12.66,14.40
$GC,261,-0.67,-97.3,2107,1101,3381,3353,57.1,-22.0,50,266,0.00,2.33,0.00,0.000,1030,0.000,0.059,2098,2469,3367,3382,3353,0,0,0,0,0,0,14.64,14.53,14.67
$GC,447,-0.67,-97.3,2098,2469,3381,3353,93.3,-17.2,69,451,0.00,2.42,0.00,0.000,260,0.000,0.077,2087,3894,3367,3381,3354,0,0,0,0,0,0,15.01,14.52,15.04
$GC,679,-0.67,-97.3,2087,3894,3381,3353,132.7,-15.6,115,683,0.00,2.20,0.00,0.000,1030,0.000,0.031,2087,2488,3367,3381,3353,0,0,0,0,0,0,14.78,14.72,14.80
$GC,871,-0.67,-97.3,2087,2487,3381,3353,159.8,-13.9,135,875,0.00,2.40,0.00,0.000,260,0.000,0.078,2077,3894,3367,3381,3353,0,0,0,0,0,0,15.07,14.57,15.09
$GC,922,-0.67,-97.3,2076,3894,3381,3353,167.0,-13.4,145,927,0.15,2.20,0.00,0.000,3078,0.218,0.031,2113,2488,3367,3381,3353,0,0,0,0,0,0,14.42,14.74,14.63
$GC,1117,-0.67,-97.3,2112,2487,3381,3353,188.5,-11.1,165,1120,0.00,2.42,0.00,0.000,260,0.000,0.080,2103,3902,3366,3380,3353,0,0,0,0,0,0,15.06,14.57,15.09
$GC,1177,-0.67,-97.3,2105,3902,3380,3353,196.0,-11.8,177,1181,0.00,2.20,0.00,0.000,1030,0.000,0.032,2103,2500,3366,3380,3353,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1369,-0.67,-97.3,2103,2498,3378,3353,217.7,-11.0,197,1373,0.00,2.25,0.00,0.000,516,0.000,0.049,2103,1113,3365,3378,3353,0,0,0,0,0,0,15.09,14.66,15.11
$GC,1395,-0.67,-97.3,2103,1113,3378,3353,220.8,-12.0,202,1400,0.00,2.35,0.00,0.000,1030,0.000,0.054,2092,2506,3365,3378,3353,0,0,0,0,0,0,14.74,14.64,14.78
$GC,1580,-0.67,-97.3,2092,2506,3376,3353,242.2,-11.5,221,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2506,3364,3376,3353,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1771,-0.67,-97.3,2092,2506,3373,3353,263.6,-11.3,234,1776,0.00,2.38,0.00,0.000,260,0.000,0.081,2082,3896,3363,3374,3353,0,0,0,0,0,0,15.10,14.57,15.13
$GC,1793,-0.67,-97.3,2082,3895,3373,3353,266.3,-11.9,238,1799,0.12,2.20,0.00,0.000,3078,0.213,0.032,2112,2493,3363,3373,3353,0,0,0,0,0,0,14.47,14.76,14.66
$GC,2116,-0.67,-97.3,2111,2492,3372,3348,299.6,-10.1,257,2119,0.00,2.40,0.00,0.000,260,0.000,0.080,2103,3890,3360,3372,3348,0,0,0,0,0,0,15.11,14.56,15.14
$GC,2157,-0.67,-97.3,2102,3890,3372,3348,303.9,-10.7,265,2161,0.00,2.20,0.00,0.000,1030,0.000,0.033,2103,2495,3359,3371,3348,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2478,-0.67,-97.3,2102,2494,3370,3345,339.8,-11.3,284,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3357,3370,3345,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2779,-0.67,-97.3,2102,2494,3367,3342,372.8,-11.1,299,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3354,3367,3342,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3079,-0.67,-97.3,2102,2494,3366,3339,404.3,-9.9,314,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3352,3366,3339,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3378,-0.67,-97.3,2102,2494,3363,3338,432.8,-9.4,329,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3350,3363,3337,0,0,0,0,0,0,15.13,15.15,15.14
$GC,3679,-0.67,-97.3,2103,2494,3362,3335,462.2,-10.1,344,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3348,3362,3335,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3979,-0.67,-97.3,2103,2494,3360,3333,492.3,-9.9,359,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3346,3360,3333,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4278,-0.67,-97.3,2102,2494,3357,3332,522.4,-10.2,374,4283,0.00,2.45,0.00,0.000,260,0.000,0.084,2091,3891,3344,3356,3332,0,0,0,0,0,0,15.11,14.50,15.14
$GC,4310,-0.67,-97.3,2091,3891,3356,3332,525.7,-10.5,380,4314,0.00,2.22,0.00,0.000,1030,0.000,0.034,2091,2497,3344,3356,3332,0,0,0,0,0,0,14.77,14.71,14.79
$GC,4623,-0.67,-97.3,2091,2496,3356,3330,558.4,-10.5,397,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2496,3343,3356,3330,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4921,-0.67,-97.3,2091,2496,3354,3328,589.5,-10.2,412,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2496,3341,3354,3328,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5223,-0.67,-97.3,2091,2496,3352,3327,621.3,-10.8,427,5227,0.00,2.42,0.00,0.000,260,0.000,0.085,2081,3888,3340,3353,3327,0,0,0,0,0,0,15.10,14.47,15.12
$GC,5253,-0.67,-97.3,2081,3889,3352,3327,624.9,-11.3,433,5258,0.12,2.22,0.00,0.000,3078,0.210,0.035,2111,2499,3339,3352,3326,0,0,0,0,0,0,14.40,14.68,14.59
$GC,5565,-0.67,-97.3,2111,2498,3352,3325,655.5,-9.8,450,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3338,3351,3325,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5866,-0.67,-97.3,2111,2498,3350,3324,684.3,-9.5,465,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3337,3350,3324,0,0,0,0,0,0,15.10,15.14,15.13
$GC,6165,-0.67,-97.3,2111,2498,3348,3322,711.1,-8.8,480,6169,0.00,2.45,0.00,0.000,260,0.000,0.086,2102,3893,3335,3348,3322,0,0,0,0,0,0,15.11,14.43,15.14
$GC,6207,-0.67,-97.3,2102,3893,3348,3322,714.9,-9.4,488,6211,0.00,2.25,0.00,0.000,1030,0.000,0.035,2102,2497,3335,3348,3322,0,0,0,0,0,0,14.72,14.65,14.74
$GC,6523,-0.67,-97.3,2102,2495,3347,3321,744.9,-9.5,506,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2495,3334,3348,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6823,-0.67,-97.3,2102,2495,3347,3320,774.5,-10.0,521,6827,0.00,2.30,0.00,0.000,516,0.000,0.050,2102,1109,3333,3346,3320,0,0,0,0,0,0,15.11,14.54,15.13
$GC,6856,-0.67,-97.3,2102,1109,3345,3320,777.7,-10.6,527,6860,0.00,2.40,0.00,0.000,1030,0.000,0.058,2091,2496,3333,3345,3321,0,0,0,0,0,0,14.62,14.50,14.66
$GC,7167,-0.67,-97.3,2091,2497,3344,3320,810.5,-10.5,544,7171,0.00,2.45,0.00,0.000,260,0.000,0.087,2081,3897,3332,3344,3320,0,0,0,0,0,0,15.10,14.39,15.13
$GC,7208,-0.67,-97.3,2080,3897,3344,3320,815.1,-11.1,552,7213,0.12,2.28,0.00,0.000,3078,0.207,0.036,2110,2491,3331,3343,3320,0,0,0,0,0,0,14.33,14.62,14.52
$GC,7525,-0.67,-97.3,2110,2490,3343,3318,844.2,-9.0,570,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2490,3330,3343,3318,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7825,-0.67,-97.3,2110,2490,3343,3318,870.6,-8.8,585,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2489,3330,3342,3318,0,0,0,0,0,0,15.10,15.13,15.12
$GC,8126,-0.67,-97.3,2110,2490,3342,3316,896.9,-8.8,600,8130,0.00,2.33,0.00,0.000,516,0.000,0.050,2111,1104,3329,3342,3316,0,0,0,0,0,0,15.09,14.51,15.11
$GC,8172,-0.67,-97.3,2110,1104,3342,3316,901.1,-9.0,609,8176,0.00,2.42,0.00,0.000,1030,0.000,0.058,2102,2506,3329,3342,3316,0,0,0,0,0,0,14.58,14.46,14.62
$GC,8488,-0.67,-97.3,2101,2506,3342,3315,929.8,-8.9,627,8492,0.00,2.45,0.00,0.000,260,0.000,0.089,2090,3894,3328,3342,3315,0,0,0,0,0,0,15.09,14.35,15.12
$GC,8520,-0.67,-97.3,2090,3894,3341,3315,932.7,-9.8,633,8524,0.00,2.28,0.00,0.000,1030,0.000,0.037,2090,2497,3328,3341,3315,0,0,0,0,0,0,14.66,14.59,14.69
$GC,8831,-0.67,-97.3,2090,2495,3340,3315,961.1,-8.9,650,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2495,3328,3341,3315,0,0,0,0,0,0,15.10,15.13,15.12
$GC,9131,-0.67,-97.3,2090,2495,3340,3314,986.2,-8.0,665,9135,0.00,2.33,0.00,0.000,516,0.000,0.050,2090,1107,3326,3339,3314,0,0,0,0,0,0,15.10,14.48,15.12
$GC,9173,-0.67,-97.3,2090,1107,3339,3314,989.5,-8.0,673,9181,0.12,2.42,0.00,0.000,3078,0.208,0.059,2110,2507,3326,3339,3314,0,0,0,0,0,0,14.24,14.42,14.43
$STATE,9184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9184,begin apogee
$GC,9192,-0.15,0.0,2110,2423,3339,3314,990.7,-7.6,676,9286,0.57,0.00,90.68,2.002,10246,0.161,0.000,2277,2422,2968,3001,2936,0,0,0,0,0,0,14.19,14.01,12.62
$STATE,9287,end apogee,CONTROL_FINISHED_OK
$STATE,9287,begin climb
$GC,9290,0.67,97.3,2277,2423,2999,2935,991.9,0.0,681,9404,0.82,2.42,102.50,1.992,10756,0.090,0.050,2561,1066,2569,2600,2538,0,0,0,0,0,0,14.18,13.95,12.60
$GC,9432,0.69,97.3,2561,1065,2595,2538,987.8,7.1,709,9439,0.00,2.42,0.00,0.000,1094,0.000,0.054,2561,2446,2566,2596,2537,0,0,0,0,0,0,14.30,14.21,14.32
$GC,9752,0.69,97.3,2561,2446,2591,2534,958.0,9.3,728,9757,0.00,2.38,0.00,0.000,516,0.000,0.050,2572,1056,2562,2591,2534,0,0,0,0,0,0,14.88,14.49,14.90
$GC,9789,0.69,97.3,2571,1057,2590,2534,954.6,9.3,735,9793,0.00,2.38,0.00,0.000,1030,0.000,0.053,2573,2440,2562,2590,2534,0,0,0,0,0,0,14.58,14.47,14.62
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$STATE,21871,end climb,SURFACE_DEPTH_REACHED
$STATE,21872,begin surface coast
$STATE,21887,end surface coast,CONTROL_FINISHED_OK
$STATE,21887,begin surface
$SM_CCo,21907,85.07,0.572,1,0,927,500.17
$SM_GC,1.16,7.57,0.08,85.07,0.047,0.159,0.572,128,2523,927,-6.78,-1.16,500.17,0,0,0,0,1,0,14.52,14.54,13.66
$IRIDIUM_FIX,704.37,8409.58,261119,005900
$TT8_MAMPS,0.019474,0.155043
$HUMID,47.24
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,12.60,180.405
$10V_AH,13.18,0.000
$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
$DEVICE_SECS,19.725,203.225,484.375,85.075,0.000,0.000,0.000,297.550,0.250,0.000,14.685,1708.597,16705.064,697.927,2957.264,479.073,0.000,2478.608,0.000,2637.691,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,952.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,79859,1856
$CAP_FILE_SIZE,207260,0
$CFSIZE,260034560,139677696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.024,255.05,1
$GPS,261119,130701,704.262,8403.419,38,0.7,38,-1.7,0.8,292.2,12,6.1