version: 66.13
glider: 171
mission: 11
dive: 528
start: 11 28 119 7 59 52
data:
$ID,171
$MISSION,11
$DIVE,528
$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,38
$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
$GPS1,281119,074930,654.0563,8351.0156,30,0.7,30,-1.7,0.2,9.9,12,7.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.3
$GPS2,281119,075902,654.1203,8350.9453,2,0.5,3,-1.7,1.1,314.0,12,5.9
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,208.0,137299,-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,-97.3,71,2510,979,874,0.0,0.0,0,83,0.00,0.00,-71.78,0.005,16386,0.000,0.000,67,2510,2628,2626,2631,0,0,0,0,0,0,14.86,28.83,14.90
$GC,87,-0.67,-97.3,67,2510,2628,2632,4.9,-13.5,15,119,9.23,2.42,-13.80,0.009,18948,0.340,0.077,2105,1106,3368,3383,3354,0,0,0,0,0,0,13.94,12.66,14.39
$GC,183,-0.67,-97.3,2105,1105,3383,3353,36.0,-24.7,34,189,0.00,2.38,0.00,0.000,1030,0.000,0.066,2096,2483,3368,3383,3354,0,0,0,0,0,0,14.59,14.46,14.63
$GC,378,-0.67,-97.3,2095,2483,3383,3353,82.8,-22.4,59,385,0.00,2.42,0.00,0.000,260,0.000,0.084,2085,3906,3368,3383,3354,0,0,0,0,0,0,14.98,14.45,15.00
$GC,611,-0.67,-97.3,2084,3906,3383,3353,122.6,-15.4,106,617,0.00,2.25,0.00,0.000,1030,0.000,0.031,2085,2485,3368,3383,3354,0,0,0,0,0,0,14.76,14.69,14.78
$GC,797,-0.67,-97.3,2084,2485,3383,3354,150.6,-13.5,125,801,0.00,2.25,0.00,0.000,516,0.000,0.047,2085,1097,3368,3383,3353,0,0,0,0,0,0,15.05,14.65,15.07
$GC,833,-0.67,-97.3,2084,1097,3383,3354,155.5,-13.2,132,841,0.15,2.40,0.00,0.000,3078,0.216,0.063,2110,2502,3368,3383,3354,0,0,0,0,0,0,14.39,14.57,14.60
$GC,1031,-0.67,-97.3,2110,2502,3383,3353,176.3,-10.2,153,1036,0.00,2.28,0.00,0.000,516,0.000,0.044,2111,1105,3368,3383,3353,0,0,0,0,0,0,15.05,14.66,15.08
$GC,1052,-0.67,-97.3,2110,1105,3383,3353,179.0,-10.8,157,1057,0.00,2.35,0.00,0.000,1030,0.000,0.057,2101,2505,3368,3383,3353,0,0,0,0,0,0,14.73,14.62,14.76
$GC,1243,-0.67,-97.3,2101,2505,3382,3353,201.2,-12.1,177,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2505,3367,3382,3353,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1425,-0.67,-97.3,2100,2505,3380,3353,222.7,-11.7,195,1429,0.00,2.38,0.00,0.000,260,0.000,0.083,2090,3891,3366,3380,3353,0,0,0,0,0,0,15.08,14.55,15.11
$GC,1501,-0.67,-97.3,2089,3891,3379,3353,232.6,-12.7,210,1506,0.00,2.20,0.00,0.000,1030,0.000,0.032,2090,2497,3366,3379,3353,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1688,-0.67,-97.3,2089,2495,3377,3353,255.6,-12.4,227,1692,0.00,2.25,0.00,0.000,516,0.000,0.045,2089,1107,3365,3377,3353,0,0,0,0,0,0,15.09,14.67,15.11
$GC,1723,-0.67,-97.3,2089,1107,3376,3353,260.1,-12.1,234,1729,0.12,2.35,0.00,0.000,3078,0.213,0.055,2110,2502,3364,3376,3353,0,0,0,0,0,0,14.45,14.62,14.64
$GC,2028,-0.67,-97.3,2109,2502,3374,3351,294.0,-10.9,250,2034,0.00,2.40,0.00,0.000,260,0.000,0.084,2100,3893,3362,3374,3350,0,0,0,0,0,0,15.11,14.55,15.14
$GC,2051,-0.67,-97.3,2100,3893,3374,3350,296.4,-11.1,254,2057,0.00,2.20,0.00,0.000,1030,0.000,0.033,2100,2495,3362,3374,3350,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2373,-0.67,-97.3,2100,2494,3372,3347,333.5,-11.7,273,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3359,3372,3347,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2673,-0.67,-97.3,2100,2494,3370,3345,369.1,-11.9,288,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3358,3371,3345,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2975,-0.67,-97.3,2100,2494,3366,3342,403.9,-11.5,303,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3354,3367,3342,0,0,0,0,0,0,15.10,15.14,15.13
$GC,3273,-0.67,-97.3,2100,2494,3366,3340,436.7,-10.8,318,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3352,3366,3339,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3574,-0.67,-97.3,2100,2494,3363,3338,467.4,-10.1,333,3582,0.00,2.45,0.00,0.000,260,0.000,0.086,2089,3899,3350,3363,3338,0,0,0,0,0,0,15.11,14.51,15.14
$GC,3608,-0.67,-97.3,2089,3899,3363,3338,471.0,-10.9,340,3612,0.00,2.22,0.00,0.000,1030,0.000,0.035,2089,2505,3350,3363,3338,0,0,0,0,0,0,14.78,14.71,14.80
$GC,3913,-0.67,-97.3,2089,2503,3362,3336,503.0,-10.2,356,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2503,3349,3362,3336,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4215,-0.67,-97.3,2089,2503,3360,3334,534.2,-10.6,371,4219,0.00,2.30,0.00,0.000,516,0.000,0.050,2089,1111,3347,3360,3334,0,0,0,0,0,0,15.10,14.60,15.13
$GC,4251,-0.67,-97.3,2089,1111,3360,3334,538.3,-10.8,378,4257,0.12,2.40,0.00,0.000,3078,0.210,0.061,2109,2507,3347,3360,3334,0,0,0,0,0,0,14.38,14.57,14.58
$GC,4556,-0.67,-97.3,2109,2507,3358,3332,567.0,-9.4,394,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2507,3345,3358,3332,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4857,-0.67,-97.3,2109,2507,3356,3331,595.3,-9.5,409,4861,0.00,2.35,0.00,0.000,516,0.000,0.050,2110,1111,3343,3356,3331,0,0,0,0,0,0,15.10,14.58,15.13
$GC,4929,-0.67,-97.3,2109,1111,3356,3331,602.3,-9.6,423,4935,0.00,2.40,0.00,0.000,1030,0.000,0.062,2100,2506,3343,3355,3331,0,0,0,0,0,0,14.66,14.54,14.70
$GC,5239,-0.67,-97.3,2100,2506,3355,3329,634.0,-10.3,440,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2506,3342,3355,3329,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5538,-0.67,-97.3,2100,2506,3354,3327,664.3,-10.0,455,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2506,3340,3353,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5838,-0.67,-97.3,2100,2506,3352,3326,694.9,-10.3,470,5843,0.00,2.42,0.00,0.000,260,0.000,0.087,2089,3891,3339,3352,3326,0,0,0,0,0,0,15.11,14.43,15.14
$GC,5871,-0.67,-97.3,2089,3891,3352,3326,698.4,-11.2,476,5876,0.00,2.25,0.00,0.000,1030,0.000,0.037,2089,2500,3339,3352,3326,0,0,0,0,0,0,14.72,14.65,14.74
$GC,6184,-0.67,-97.3,2089,2498,3351,3325,731.3,-10.5,493,6188,0.00,2.33,0.00,0.000,516,0.000,0.052,2089,1103,3338,3351,3325,0,0,0,0,0,0,15.09,14.54,15.12
$GC,6225,-0.67,-97.3,2088,1103,3350,3325,735.8,-10.5,501,6233,0.12,2.42,0.00,0.000,3078,0.209,0.063,2109,2506,3337,3350,3325,0,0,0,0,0,0,14.33,14.50,14.52
$GC,6546,-0.67,-97.3,2108,2506,3349,3323,764.2,-8.5,520,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2506,3336,3350,3323,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6846,-0.67,-97.3,2109,2506,3348,3322,788.5,-8.0,535,6850,0.00,2.38,0.00,0.000,516,0.000,0.053,2109,1105,3335,3348,3322,0,0,0,0,0,0,15.10,14.52,15.12
$GC,6877,-0.67,-97.3,2109,1105,3348,3322,791.1,-8.0,541,6881,0.00,2.42,0.00,0.000,1030,0.000,0.063,2100,2507,3335,3348,3322,0,0,0,0,0,0,14.61,14.49,14.65
$GC,7183,-0.67,-97.3,2099,2508,3347,3321,816.3,-8.3,557,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2508,3334,3347,3321,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7482,-0.67,-97.3,2099,2507,3346,3320,841.8,-8.6,572,7486,0.00,2.45,0.00,0.000,260,0.000,0.089,2089,3894,3333,3346,3320,0,0,0,0,0,0,15.10,14.37,15.13
$GC,7524,-0.67,-97.3,2088,3894,3346,3320,845.6,-9.3,580,7529,0.00,2.28,0.00,0.000,1030,0.000,0.038,2089,2501,3333,3346,3320,0,0,0,0,0,0,14.67,14.59,14.69
$GC,7846,-0.67,-97.3,2088,2499,3344,3321,875.8,-9.4,599,7850,0.00,2.35,0.00,0.000,516,0.000,0.051,2089,1098,3332,3344,3320,0,0,0,0,0,0,15.09,14.50,15.11
$GC,7917,-0.67,-97.3,2088,1098,3343,3320,882.8,-9.7,613,7922,0.12,2.47,0.00,0.000,3078,0.210,0.067,2108,2505,3331,3343,3320,0,0,0,0,0,0,14.26,14.42,14.45
$GC,8230,-0.67,-97.3,2108,2505,3343,3319,910.1,-8.8,630,8235,0.00,2.45,0.00,0.000,260,0.000,0.090,2099,3894,3331,3343,3319,0,0,0,0,0,0,15.09,14.34,15.11
$GC,8267,-0.67,-97.3,2098,3894,3343,3319,913.6,-9.5,637,8271,0.00,2.28,0.00,0.000,1030,0.000,0.036,2099,2500,3331,3343,3319,0,0,0,0,0,0,14.65,14.58,14.68
$GC,8573,-0.67,-97.3,2098,2498,3343,3317,942.8,-9.7,653,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3330,3343,3317,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8872,-0.67,-97.3,2098,2498,3342,3317,972.0,-9.6,668,8876,0.00,2.35,0.00,0.000,516,0.000,0.053,2099,1101,3329,3342,3317,0,0,0,0,0,0,15.09,14.47,15.11
$GC,8928,-0.67,-97.3,2098,1101,3342,3316,977.5,-9.7,679,8933,0.00,2.47,0.00,0.000,1030,0.000,0.065,2088,2501,3329,3342,3317,0,0,0,0,0,0,14.53,14.40,14.57
$STATE,9070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9071,begin apogee
$GC,9079,-0.15,0.0,2088,2501,3342,3316,991.9,-9.9,687,9175,0.68,0.00,92.05,2.001,10246,0.168,0.000,2280,2500,2968,3000,2937,0,0,0,0,0,0,14.15,14.01,12.63
$STATE,9176,end apogee,CONTROL_FINISHED_OK
$STATE,9176,begin climb
$GC,9179,0.67,97.3,2280,2500,2999,2936,995.3,0.0,692,9290,0.82,0.00,104.47,1.989,10246,0.086,0.000,2556,2501,2569,2600,2539,0,0,0,0,0,0,14.19,13.88,12.53
$GC,9596,0.67,97.3,2556,2501,2591,2535,974.4,7.9,713,9601,0.00,2.50,0.00,0.000,516,0.000,0.052,2568,1046,2562,2591,2534,0,0,0,0,0,0,14.84,14.47,14.87
$GC,9649,0.67,97.3,2567,1046,2589,2534,970.0,8.3,723,9654,0.00,2.42,0.00,0.000,1030,0.000,0.060,2568,2446,2561,2589,2534,0,0,0,0,0,0,14.57,14.46,14.61
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$STATE,21428,end climb,SURFACE_DEPTH_REACHED
$STATE,21428,begin surface coast
$STATE,21446,end surface coast,CONTROL_FINISHED_OK
$STATE,21446,begin surface
$SM_CCo,21466,119.72,0.638,1,0,928,500.17
$SM_GC,1.13,7.47,0.05,119.72,0.050,0.223,0.638,122,2496,928,-6.76,-1.19,500.17,0,0,0,0,1,0,14.59,14.63,13.61
$IRIDIUM_FIX,653.41,8354.46,281119,015313
$TT8_MAMPS,0.018725,0.16478
$HUMID,48.62
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.53,182.788
$10V_AH,12.56,0.000
$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,19.850,208.175,454.375,119.725,0.000,0.000,0.000,309.200,0.000,0.000,15.430,1659.792,16355.693,752.806,2866.814,521.121,0.000,2494.904,0.000,2548.148,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,223.380,2001.240,638.010,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,910.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250564
$DATA_FILE_SIZE,79956,1793
$CAP_FILE_SIZE,204566,0
$CFSIZE,260034560,138932224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,297.84,1
$GPS,281119,140055,652.943,8349.596,14,0.6,30,-1.7,0.1,0.0,12,3.3