version: 66.13
glider: 171
mission: 11
dive: 249
start: 9 19 119 11 29 3
data:
$ID,171
$MISSION,11
$DIVE,249
$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,390
$T_MISSION,440
$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,120
$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,0.0019952599
$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,50
$R_STBD_OVSHOOT,35
$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,11
$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,1
$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
$GPS1,190919,112109,1328.6305,8702.9023,21,0.8,30,-0.9,0.9,170.2,12,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.4
$GPS2,190919,112816,1328.4274,8702.9404,2,0.8,3,-0.9,0.8,127.3,12,9.2
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,331.1,33428,-17.3,-8.462,-25.76,2103
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-0.62,-116.8,86,2508,970,882,0.0,0.0,0,96,0.00,0.00,-77.53,0.005,16386,0.000,0.000,81,2509,2790,2786,2794,0,0,0,0,0,0,14.79,28.83,14.83
$GC,99,-0.62,-116.8,81,2509,2787,2794,5.5,-15.0,16,126,9.18,2.33,-11.68,0.011,18948,0.356,0.061,2128,1088,3445,3453,3438,0,0,0,0,0,0,14.19,13.64,14.53
$GC,190,-0.62,-116.8,2127,1088,3453,3438,36.4,-28.0,34,194,0.00,2.40,0.00,0.000,1030,0.000,0.057,2119,2498,3445,3453,3438,0,0,0,0,0,0,14.66,14.57,14.69
$GC,377,-0.62,-116.8,2118,2498,3453,3438,86.7,-24.8,57,383,0.00,2.38,0.00,0.000,260,0.000,0.076,2108,3899,3445,3453,3438,0,0,0,0,0,0,14.90,14.53,14.93
$GC,446,-0.62,-116.8,2108,3899,3453,3438,100.5,-19.3,71,451,0.00,2.25,0.00,0.000,1030,0.000,0.037,2108,2489,3445,3453,3438,0,0,0,0,0,0,14.64,14.59,14.66
$GC,638,-0.62,-116.8,2108,2487,3453,3438,137.8,-19.4,91,643,0.00,2.45,0.00,0.000,260,0.000,0.089,2097,3902,3445,3453,3438,0,0,0,0,0,0,14.95,14.61,14.97
$GC,690,-0.62,-116.8,2097,3902,3453,3438,147.2,-17.8,101,695,0.12,2.22,0.00,0.000,3078,0.238,0.031,2124,2480,3445,3453,3438,0,0,0,0,0,0,14.47,14.73,14.68
$GC,882,-0.62,-116.8,2124,2478,3454,3438,176.9,-14.3,121,886,0.00,2.20,0.00,0.000,516,0.000,0.046,2125,1110,3446,3454,3438,0,0,0,0,0,0,14.97,14.70,15.00
$GC,907,-0.62,-116.8,2124,1110,3454,3438,180.4,-14.1,126,912,0.00,2.35,0.00,0.000,1030,0.000,0.054,2116,2508,3446,3454,3438,0,0,0,0,0,0,14.77,14.67,14.80
$GC,1093,-0.62,-116.8,2116,2508,3454,3438,205.6,-14.0,145,1100,0.00,2.35,0.00,0.000,260,0.000,0.082,2105,3896,3446,3454,3438,0,0,0,0,0,0,14.99,14.63,15.02
$GC,1203,-0.62,-116.8,2105,3896,3453,3438,221.0,-14.0,167,1209,0.00,2.20,0.00,0.000,1030,0.000,0.031,2105,2498,3446,3454,3438,0,0,0,0,0,0,14.83,14.78,14.84
$GC,1396,-0.62,-116.8,2105,2497,3452,3438,247.3,-13.2,187,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3445,3453,3438,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1587,-0.62,-116.8,2105,2497,3451,3438,272.5,-13.6,198,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3444,3451,3438,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1886,-0.62,-116.8,2104,2497,3448,3437,313.4,-13.5,213,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3442,3448,3437,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2187,-0.62,-116.8,2104,2496,3444,3437,352.6,-12.9,228,2191,0.00,2.25,0.00,0.000,516,0.000,0.047,2105,1108,3440,3443,3437,0,0,0,0,0,0,15.04,14.75,15.07
$GC,2211,-0.62,-116.8,2104,1108,3443,3436,356.1,-13.3,233,2216,0.12,2.35,0.00,0.000,3078,0.215,0.058,2124,2507,3440,3443,3437,0,0,0,0,0,0,14.57,14.72,14.76
$GC,2524,-0.62,-116.8,2124,2506,3442,3433,392.2,-11.5,250,2528,0.00,2.38,0.00,0.000,260,0.000,0.086,2115,3897,3437,3442,3433,0,0,0,0,0,0,15.05,14.66,15.08
$GC,2549,-0.62,-116.8,2115,3898,3442,3433,395.3,-11.6,255,2554,0.00,2.20,0.00,0.000,1030,0.000,0.034,2115,2503,3437,3442,3433,0,0,0,0,0,0,14.86,14.81,14.88
$GC,2867,-0.62,-116.8,2115,2501,3439,3429,430.8,-10.7,273,2871,0.00,2.28,0.00,0.000,516,0.000,0.049,2115,1106,3434,3439,3429,0,0,0,0,0,0,15.05,14.73,15.08
$GC,2892,-0.62,-116.8,2114,1106,3438,3429,433.7,-10.7,278,2896,0.00,2.35,0.00,0.000,1030,0.000,0.059,2105,2499,3433,3438,3429,0,0,0,0,0,0,14.82,14.72,14.85
$GC,3209,-0.62,-116.8,2104,2499,3436,3427,468.0,-10.9,296,3213,0.00,2.40,0.00,0.000,260,0.000,0.086,2094,3901,3431,3436,3426,0,0,0,0,0,0,15.05,14.65,15.08
$GC,3251,-0.62,-116.8,2093,3901,3437,3426,472.8,-11.6,304,3256,0.12,2.22,0.00,0.000,3078,0.208,0.036,2124,2497,3430,3435,3426,0,0,0,0,0,0,14.57,14.80,14.75
$GC,3573,-0.62,-116.8,2124,2496,3433,3424,503.3,-9.3,323,3578,0.00,2.25,0.00,0.000,516,0.000,0.049,2124,1109,3428,3432,3424,0,0,0,0,0,0,15.05,14.73,15.08
$GC,3630,-0.62,-116.8,2124,1109,3431,3424,508.6,-9.0,334,3634,0.00,2.38,0.00,0.000,1030,0.000,0.057,2115,2501,3427,3431,3424,0,0,0,0,0,0,14.81,14.71,14.84
$GC,3935,-0.62,-116.8,2115,2501,3431,3421,538.6,-10.1,350,3940,0.00,2.40,0.00,0.000,260,0.000,0.088,2105,3892,3426,3431,3421,0,0,0,0,0,0,15.05,14.63,15.08
$GC,3981,-0.62,-116.8,2105,3891,3430,3421,543.5,-10.6,359,3986,0.00,2.22,0.00,0.000,1030,0.000,0.036,2105,2496,3425,3430,3421,0,0,0,0,0,0,14.85,14.78,14.86
$GC,4299,-0.62,-116.8,2104,2494,3429,3421,578.9,-11.4,377,4303,0.00,2.28,0.00,0.000,516,0.000,0.050,2105,1104,3425,3429,3421,0,0,0,0,0,0,15.05,14.71,15.08
$GC,4344,-0.62,-116.8,2104,1103,3429,3420,584.2,-11.1,386,4349,0.12,2.38,0.00,0.000,3078,0.217,0.058,2123,2505,3424,3428,3420,0,0,0,0,0,0,14.53,14.69,14.73
$GC,4656,-0.62,-116.8,2123,2505,3427,3419,616.2,-10.4,403,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2505,3423,3427,3419,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4956,-0.62,-116.8,2121,2506,3427,3414,647.1,-10.2,418,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2506,3421,3428,3414,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5256,-0.62,-116.8,2121,2506,3425,3414,677.1,-9.9,433,5260,0.00,2.40,0.00,0.000,260,0.000,0.089,2112,3896,3419,3425,3414,0,0,0,0,0,0,15.05,14.61,15.07
$GC,5282,-0.62,-116.8,2112,3896,3424,3414,679.7,-10.8,438,5286,0.00,2.22,0.00,0.000,1030,0.000,0.036,2112,2500,3419,3424,3414,0,0,0,0,0,0,14.83,14.77,14.85
$GC,5599,-0.62,-116.8,2112,2499,3421,3414,711.3,-9.9,456,5603,0.00,2.30,0.00,0.000,516,0.000,0.050,2112,1099,3417,3422,3413,0,0,0,0,0,0,15.05,14.69,15.07
$GC,5630,-0.62,-116.8,2111,1099,3422,3413,714.5,-9.9,462,5634,0.00,2.40,0.00,0.000,1030,0.000,0.060,2101,2508,3417,3421,3413,0,0,0,0,0,0,14.78,14.67,14.81
$GC,5935,-0.62,-116.8,2101,2508,3421,3413,746.2,-10.5,478,5939,0.00,2.40,0.00,0.000,260,0.000,0.090,2090,3892,3417,3421,3413,0,0,0,0,0,0,15.04,14.59,15.07
$GC,5981,-0.62,-116.8,2090,3892,3420,3412,751.4,-11.2,487,5987,0.15,2.22,0.00,0.000,3078,0.195,0.037,2129,2498,3416,3421,3412,0,0,0,0,0,0,14.52,14.75,14.70
$GC,6300,-0.62,-116.8,2129,2498,3420,3411,780.7,-9.2,505,6304,0.00,2.30,0.00,0.000,516,0.000,0.050,2130,1102,3415,3420,3411,0,0,0,0,0,0,15.04,14.68,15.06
$GC,6345,-0.62,-116.8,2129,1101,3419,3412,785.1,-9.2,514,6350,0.00,2.40,0.00,0.000,1030,0.000,0.060,2121,2508,3415,3419,3411,0,0,0,0,0,0,14.76,14.66,14.80
$GC,6657,-0.62,-116.8,2120,2508,3418,3410,814.0,-9.1,531,6663,0.00,2.42,0.00,0.000,260,0.000,0.090,2110,3894,3413,3418,3409,0,0,0,0,0,0,15.03,14.58,15.06
$GC,6694,-0.62,-116.8,2110,3894,3418,3409,817.5,-9.5,538,6698,0.00,2.28,0.00,0.000,1030,0.000,0.037,2110,2506,3412,3416,3409,0,0,0,0,0,0,14.79,14.71,14.82
$GC,7000,-0.62,-116.8,2110,2505,3417,3408,845.3,-8.9,554,7004,0.00,2.33,0.00,0.000,516,0.000,0.050,2110,1096,3412,3417,3408,0,0,0,0,0,0,15.03,14.66,15.06
$GC,7051,-0.62,-116.8,2109,1096,3417,3408,850.0,-8.7,564,7055,0.00,2.40,0.00,0.000,1030,0.000,0.060,2100,2500,3412,3417,3408,0,0,0,0,0,0,14.76,14.64,14.79
$GC,7357,-0.62,-116.8,2098,2500,3416,3408,878.2,-9.2,580,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3412,3416,3408,0,0,0,0,0,0,15.03,15.07,15.06
$GC,7657,-0.62,-116.8,2099,2500,3414,3407,905.5,-9.2,595,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3410,3414,3407,0,0,0,0,0,0,15.02,15.06,15.05
$GC,7956,-0.62,-116.8,2099,2500,3413,3406,933.6,-9.5,610,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3409,3413,3406,0,0,0,0,0,0,15.02,15.06,15.05
$GC,8256,-0.62,-116.8,2099,2500,3413,3406,962.9,-9.9,625,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2499,3409,3413,3406,0,0,0,0,0,0,15.02,15.05,15.05
$STATE,8534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8534,begin apogee
$GC,8540,-0.15,0.0,2099,2423,3412,3405,991.5,-10.4,639,8650,0.62,0.00,106.20,2.021,10246,0.174,0.000,2277,2423,2968,2994,2942,0,0,0,0,0,0,14.44,14.13,13.12
$STATE,8652,end apogee,CONTROL_FINISHED_OK
$STATE,8652,begin climb
$GC,8655,0.62,116.8,2277,2423,2992,2942,994.8,0.0,644,8780,0.77,2.47,114.70,2.010,10756,0.090,0.053,2543,1056,2489,2520,2459,0,0,0,0,0,0,14.16,13.99,13.00
$GC,8812,0.64,116.8,2543,1056,2515,2457,993.0,7.5,679,8819,0.00,2.45,0.00,0.000,1094,0.000,0.054,2543,2440,2486,2515,2457,0,0,0,0,0,0,14.18,14.13,14.21
$GC,9118,0.64,116.8,2543,2440,2511,2453,965.1,9.3,695,9123,0.00,2.38,0.00,0.000,516,0.000,0.052,2554,1053,2482,2511,2453,0,0,0,0,0,0,14.78,14.51,14.81
$GC,9161,0.64,116.8,2553,1053,2510,2453,961.1,9.1,703,9167,0.00,2.40,0.00,0.000,1030,0.000,0.056,2554,2449,2481,2510,2453,0,0,0,0,0,0,14.62,14.52,14.65
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$STATE,20048,end climb,SURFACE_DEPTH_REACHED
$STATE,20048,begin surface coast
$STATE,20073,end surface coast,CONTROL_FINISHED_OK
$STATE,20073,begin surface
$SM_CCo,20094,131.45,0.640,1,0,928,500.17
$SM_GC,1.43,7.40,2.25,131.45,0.064,0.048,0.640,129,2516,928,-6.77,1.58,500.17,0,0,0,0,1,0,14.65,14.60,13.93
$IRIDIUM_FIX,1328.64,8702.50,190919,053440
$TT8_MAMPS,0.020972,0.306341
$HUMID,42.63
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3798560
$24V_AH,13.00,96.002
$10V_AH,13.19,0.000
$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,19.475,201.675,438.025,131.450,0.000,0.000,0.000,237.200,0.000,0.000,15.157,1541.726,14151.541,678.685,3739.725,535.287,0.000,2302.696,0.000,3387.218,0.000,0.541,0.000
$DEVICE_MAMPS,356.490,208.080,2021.130,639.540,0.000,0.000,0.000,190.485,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,2925.030,0.000,0.000,0.000,0.000,0.000,20089.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.278,0.000,0.000,0.000
$MEM,251860
$DATA_FILE_SIZE,73220,1682
$CAP_FILE_SIZE,289664,0
$CFSIZE,260034560,166461440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.111,116.66,1
$GPS,190919,170729,1329.389,8703.264,31,0.9,31,-0.9,1.3,191.5,9,3.3