version: 66.13
glider: 171
mission: 11
dive: 658
start: 12 30 119 21 1 11
data:
$ID,171
$MISSION,11
$DIVE,658
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,301219,205339,507.4698,8156.7163,19,0.9,19,-2.1,0.3,257.2,8,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.2
$GPS2,301219,210018,507.4236,8156.6152,3,0.6,4,-2.1,0.4,254.4,12,4.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,222.2,160391,-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,10,-0.67,-97.3,118,2496,968,885,0.0,0.0,0,88,0.00,0.00,-76.10,0.005,16386,0.000,0.000,118,2496,2675,2675,2676,0,0,0,0,0,0,14.84,28.83,14.87
$GC,93,-0.67,-97.3,118,2496,2676,2676,4.5,-12.7,16,121,9.35,2.42,-13.10,0.010,18692,0.352,0.093,2094,3900,3366,3381,3352,0,0,0,0,0,0,13.84,13.40,14.31
$GC,349,-0.67,-97.3,2093,3900,3381,3352,75.6,-16.8,67,355,0.00,2.25,0.00,0.000,1030,0.000,0.034,2094,2502,3366,3381,3352,0,0,0,0,0,0,14.64,14.57,14.66
$GC,543,-0.67,-97.3,2093,2500,3382,3352,102.9,-12.2,87,548,0.00,2.45,0.00,0.000,260,0.000,0.086,2084,3897,3367,3382,3352,0,0,0,0,0,0,15.01,14.38,15.04
$GC,740,-0.67,-97.3,2083,3897,3383,3352,131.6,-13.6,126,744,0.00,2.28,0.00,0.000,1030,0.000,0.041,2084,2506,3367,3383,3352,0,0,0,0,0,0,14.65,14.57,14.68
$GC,927,-0.67,-97.3,2083,2504,3382,3352,156.5,-12.5,145,931,0.00,2.45,0.00,0.000,260,0.000,0.087,2073,3890,3367,3382,3352,0,0,0,0,0,0,15.04,14.38,15.07
$GC,984,-0.67,-97.3,2073,3890,3383,3352,164.2,-13.0,156,991,0.15,2.30,0.00,0.000,3078,0.216,0.044,2108,2495,3367,3383,3352,0,0,0,0,0,0,14.26,14.54,14.48
$GC,1183,-0.67,-97.3,2108,2494,3382,3352,187.4,-12.6,177,1188,0.00,2.33,0.00,0.000,516,0.000,0.049,2108,1084,3366,3382,3351,0,0,0,0,0,0,15.02,14.53,15.05
$GC,1209,-0.67,-97.3,2108,1085,3381,3351,191.4,-12.8,182,1217,0.00,2.42,0.00,0.000,1030,0.000,0.059,2099,2502,3366,3381,3352,0,0,0,0,0,0,14.62,14.50,14.66
$GC,1405,-0.67,-97.3,2098,2502,3380,3352,216.8,-13.4,203,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2502,3366,3380,3352,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1586,-0.67,-97.3,2098,2502,3379,3351,239.9,-12.7,221,1590,0.00,2.40,0.00,0.000,260,0.000,0.083,2088,3893,3364,3378,3351,0,0,0,0,0,0,15.04,14.42,15.08
$GC,1617,-0.67,-97.3,2088,3893,3378,3352,244.1,-13.0,227,1622,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2479,3364,3378,3351,0,0,0,0,0,0,14.69,14.62,14.71
$GC,1811,-0.67,-97.3,2087,2477,3376,3351,269.2,-13.0,240,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2477,3363,3376,3351,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2109,-0.67,-97.3,2087,2477,3373,3350,306.8,-12.2,255,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2477,3362,3374,3350,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2409,-0.67,-97.3,2087,2477,3373,3347,341.4,-11.2,270,2417,0.00,2.53,0.00,0.000,260,0.000,0.091,2077,3896,3359,3372,3347,0,0,0,0,0,0,15.08,14.38,15.11
$GC,2450,-0.67,-97.3,2077,3896,3372,3347,346.1,-11.9,278,2455,0.15,2.28,0.00,0.000,3078,0.200,0.041,2114,2497,3359,3372,3347,0,0,0,0,0,0,14.29,14.61,14.49
$GC,2776,-0.67,-97.3,2114,2496,3371,3345,377.6,-9.6,297,2780,0.00,2.30,0.00,0.000,516,0.000,0.049,2114,1106,3358,3371,3345,0,0,0,0,0,0,15.06,14.51,15.08
$GC,2802,-0.67,-97.3,2114,1106,3370,3344,380.5,-9.9,302,2810,0.00,2.42,0.00,0.000,1030,0.000,0.067,2105,2496,3357,3370,3344,0,0,0,0,0,0,14.55,14.41,14.60
$GC,3119,-0.67,-97.3,2105,2496,3368,3341,413.2,-10.4,320,3125,0.00,2.45,0.00,0.000,260,0.000,0.086,2094,3897,3354,3368,3341,0,0,0,0,0,0,15.06,14.36,15.08
$GC,3167,-0.67,-97.3,2093,3897,3367,3341,418.7,-10.9,330,3171,0.00,2.28,0.00,0.000,1030,0.000,0.040,2094,2498,3354,3367,3341,0,0,0,0,0,0,14.66,14.59,14.69
$GC,3479,-0.67,-97.3,2093,2497,3366,3339,453.0,-10.9,347,3485,0.00,2.33,0.00,0.000,516,0.000,0.050,2094,1106,3352,3366,3339,0,0,0,0,0,0,15.07,14.49,15.09
$GC,3502,-0.67,-97.3,2093,1106,3366,3339,455.6,-11.2,351,3507,0.00,2.45,0.00,0.000,1030,0.000,0.068,2083,2504,3352,3366,3339,0,0,0,0,0,0,14.53,14.39,14.58
$GC,3824,-0.67,-97.3,2083,2504,3364,3338,492.9,-11.7,370,3831,0.00,2.45,0.00,0.000,260,0.000,0.086,2072,3900,3351,3364,3338,0,0,0,0,0,0,15.07,14.34,15.09
$GC,3895,-0.67,-97.3,2072,3900,3363,3338,501.4,-12.0,384,3900,0.15,2.28,0.00,0.000,3078,0.200,0.035,2109,2497,3350,3363,3338,0,0,0,0,0,0,14.24,14.57,14.45
$GC,4209,-0.67,-97.3,2109,2496,3362,3336,531.5,-9.3,401,4213,0.00,2.33,0.00,0.000,516,0.000,0.049,2109,1102,3349,3362,3336,0,0,0,0,0,0,15.07,14.48,15.09
$GC,4240,-0.67,-97.3,2109,1102,3362,3336,534.6,-9.6,407,4245,0.00,2.45,0.00,0.000,1030,0.000,0.062,2100,2508,3349,3362,3336,0,0,0,0,0,0,14.54,14.42,14.59
$GC,4555,-0.67,-97.3,2099,2508,3361,3334,564.5,-9.3,424,4562,0.00,2.45,0.00,0.000,260,0.000,0.087,2088,3899,3347,3361,3334,0,0,0,0,0,0,15.05,14.31,15.08
$GC,4594,-0.67,-97.3,2088,3899,3361,3334,568.4,-10.1,432,4599,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2495,3347,3361,3334,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4918,-0.67,-97.3,2088,2493,3360,3333,601.0,-10.2,451,4923,0.00,2.30,0.00,0.000,516,0.000,0.047,2089,1109,3346,3360,3333,0,0,0,0,0,0,15.04,14.46,15.07
$GC,4957,-0.67,-97.3,2088,1109,3359,3333,605.1,-10.4,458,4966,0.12,2.42,0.00,0.000,3078,0.211,0.058,2108,2508,3346,3359,3333,0,0,0,0,0,0,14.19,14.40,14.40
$GC,5285,-0.67,-97.3,2107,2507,3358,3332,636.3,-9.6,478,5289,0.00,2.45,0.00,0.000,260,0.000,0.087,2099,3890,3344,3358,3331,0,0,0,0,0,0,15.05,14.28,15.07
$GC,5334,-0.67,-97.3,2098,3890,3357,3331,641.3,-10.3,487,5339,0.00,2.25,0.00,0.000,1030,0.000,0.035,2099,2499,3344,3357,3331,0,0,0,0,0,0,14.62,14.55,14.64
$GC,5651,-0.67,-97.3,2099,2498,3356,3331,674.0,-10.1,505,5655,0.00,2.33,0.00,0.000,516,0.000,0.048,2099,1108,3343,3356,3330,0,0,0,0,0,0,15.07,14.44,15.09
$GC,5682,-0.67,-97.3,2098,1108,3356,3330,677.1,-10.0,511,5688,0.00,2.40,0.00,0.000,1030,0.000,0.057,2088,2499,3343,3356,3330,0,0,0,0,0,0,14.51,14.39,14.55
$GC,5997,-0.67,-97.3,2087,2499,3355,3329,709.1,-10.7,528,6001,0.00,2.50,0.00,0.000,260,0.000,0.086,2077,3899,3342,3355,3329,0,0,0,0,0,0,15.04,14.26,15.07
$GC,6083,-0.67,-97.3,2077,3898,3354,3329,719.0,-11.2,545,6088,0.15,2.28,0.00,0.000,3078,0.197,0.036,2114,2499,3342,3355,3329,0,0,0,0,0,0,14.18,14.53,14.38
$GC,6401,-0.67,-97.3,2113,2497,3354,3327,749.2,-9.4,563,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2497,3340,3354,3327,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6700,-0.67,-97.3,2113,2498,3353,3326,776.4,-8.8,578,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2497,3339,3353,3326,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7000,-0.67,-97.3,2113,2497,3352,3326,802.6,-8.8,593,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2497,3339,3352,3326,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7302,-0.67,-97.3,2113,2497,3352,3325,828.7,-8.7,608,7308,0.00,2.53,0.00,0.000,260,0.000,0.090,2105,3897,3338,3351,3325,0,0,0,0,0,0,15.05,14.21,15.08
$GC,7325,-0.67,-97.3,2105,3897,3351,3325,831.0,-9.4,613,7329,0.00,2.30,0.00,0.000,1030,0.000,0.036,2105,2493,3338,3351,3325,0,0,0,0,0,0,14.57,14.50,14.59
$GC,7641,-0.67,-97.3,2105,2492,3351,3323,860.7,-9.4,631,7646,0.00,2.53,0.00,0.000,260,0.000,0.086,2093,3899,3336,3350,3323,0,0,0,0,0,0,15.07,14.19,15.09
$GC,7690,-0.67,-97.3,2093,3899,3351,3323,865.6,-10.4,640,7694,0.00,2.30,0.00,0.000,1030,0.000,0.036,2093,2494,3336,3350,3323,0,0,0,0,0,0,14.56,14.48,14.58
$GC,8006,-0.67,-97.3,2093,2493,3350,3322,898.7,-10.5,658,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2493,3336,3350,3322,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8307,-0.67,-97.3,2093,2493,3349,3321,929.6,-10.1,673,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2493,3335,3349,3321,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8607,-0.67,-97.3,2093,2493,3348,3321,958.8,-9.6,688,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2493,3334,3348,3321,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8906,-0.67,-97.3,2093,2493,3348,3320,987.2,-9.4,703,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2493,3334,3348,3320,0,0,0,0,0,0,15.06,15.09,15.09
$STATE,8943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8943,begin apogee
$GC,8952,-0.15,0.0,2093,2493,3347,3320,990.8,-9.2,705,9047,0.65,0.00,91.68,1.982,10246,0.168,0.000,2275,2493,2968,3001,2936,0,0,0,0,0,0,13.99,13.96,12.62
$STATE,9048,end apogee,CONTROL_FINISHED_OK
$STATE,9048,begin climb
$GC,9051,0.67,97.3,2275,2493,3000,2936,993.6,0.0,710,9160,0.85,0.00,103.65,1.963,10758,0.092,0.000,2553,2492,2571,2603,2539,0,0,0,0,0,0,14.14,13.89,12.60
$GC,9450,0.67,97.3,2553,2492,2592,2534,973.7,7.6,742,9454,0.00,2.42,0.00,0.000,260,0.000,0.083,2553,3849,2563,2592,2534,0,0,0,0,0,0,14.85,14.32,14.88
$GC,9556,0.67,97.3,2553,3850,2590,2534,964.0,8.9,763,9561,0.00,2.33,0.00,0.000,1030,0.000,0.035,2564,2432,2562,2590,2534,0,0,0,0,0,0,14.57,14.52,14.60
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$STATE,20624,end climb,SURFACE_DEPTH_REACHED
$STATE,20624,begin surface coast
$STATE,20639,end surface coast,CONTROL_FINISHED_OK
$STATE,20639,begin surface
$SM_CCo,20661,78.78,0.574,1,0,928,500.17
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$IRIDIUM_FIX,508.70,8155.56,301219,150052
$TT8_MAMPS,0.019474,0.156541
$HUMID,51.22
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,12.60,221.853
$10V_AH,12.82,0.000
$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
$DEVICE_SECS,20.250,210.100,499.125,78.775,0.000,0.000,0.000,249.725,0.250,0.000,15.589,1643.044,15382.070,724.362,2835.586,556.290,0.000,2435.707,0.000,2567.615,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,897.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250356
$DATA_FILE_SIZE,80072,1807
$CAP_FILE_SIZE,200874,0
$CFSIZE,260034560,126795776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097,16.23,1
$GPS,311219,024800,507.353,8155.629,20,0.9,20,-2.1,0.8,250.5,9,4.3