version: 66.13
glider: 171
mission: 11
dive: 283
start: 9 27 119 13 57 58
data:
$ID,171
$MISSION,11
$DIVE,283
$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,0.00177828
$HD_B,0.019109501
$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,49
$R_STBD_OVSHOOT,51
$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
$GPS1,270919,134955,1311.8107,8700.0791,14,0.7,31,-0.9,0.5,185.4,12,2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.5
$GPS2,270919,135708,1311.6813,8700.0469,3,0.6,4,-0.9,0.5,190.8,12,9.3
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,189.0,243874,-17.1,-8.462,-27.86,2074
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.62,-116.8,123,2532,970,881,0.0,0.0,0,91,0.00,0.00,-72.22,0.005,16386,0.000,0.000,123,2532,2647,2646,2648,0,0,0,0,0,0,14.81,28.83,14.83
$GC,95,-0.62,-116.8,123,2533,2646,2647,4.6,-11.3,15,127,9.02,2.42,-15.20,0.009,18948,0.354,0.069,2126,1103,3447,3457,3437,0,0,0,0,0,0,14.21,13.14,14.58
$GC,239,-0.62,-116.8,2126,1103,3458,3437,47.5,-24.6,44,244,0.00,2.38,0.00,0.000,1030,0.000,0.063,2118,2477,3446,3457,3436,0,0,0,0,0,0,14.66,14.54,14.69
$GC,432,-0.62,-116.8,2117,2478,3457,3437,100.3,-23.2,64,440,0.00,2.42,0.00,0.000,260,0.000,0.082,2107,3900,3447,3457,3437,0,0,0,0,0,0,14.92,14.56,14.95
$GC,506,-0.62,-116.8,2106,3900,3456,3437,115.3,-18.4,79,511,0.00,2.25,0.00,0.000,1030,0.000,0.033,2107,2496,3447,3457,3437,0,0,0,0,0,0,14.65,14.59,14.67
$GC,693,-0.62,-116.8,2106,2494,3457,3437,146.5,-17.1,98,699,0.00,2.42,0.00,0.000,260,0.000,0.085,2095,3903,3447,3457,3437,0,0,0,0,0,0,14.95,14.59,14.97
$GC,826,-0.62,-116.8,2095,3903,3457,3437,169.8,-16.5,125,832,0.12,2.25,0.00,0.000,3078,0.220,0.032,2124,2480,3447,3457,3437,0,0,0,0,0,0,14.40,14.65,14.57
$GC,1013,-0.62,-116.8,2123,2478,3457,3436,195.0,-12.4,144,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2478,3447,3458,3437,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1193,-0.62,-116.8,2124,2478,3457,3436,215.6,-10.3,162,1199,0.00,2.45,0.00,0.000,260,0.000,0.085,2115,3904,3447,3457,3437,0,0,0,0,0,0,15.00,14.62,15.03
$GC,1275,-0.62,-116.8,2114,3904,3456,3436,224.8,-11.1,178,1279,0.00,2.20,0.00,0.000,1030,0.000,0.033,2115,2505,3446,3456,3436,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1467,-0.62,-116.8,2114,2505,3454,3436,247.4,-12.0,198,1471,0.00,2.28,0.00,0.000,516,0.000,0.050,2115,1103,3445,3454,3436,0,0,0,0,0,0,15.02,14.70,15.04
$GC,1529,-0.62,-116.8,2114,1103,3453,3436,254.9,-11.3,210,1534,0.00,2.38,0.00,0.000,1030,0.000,0.059,2105,2509,3445,3453,3437,0,0,0,0,0,0,14.77,14.66,14.81
$GC,1851,-0.62,-116.8,2103,2511,3450,3435,292.8,-12.2,229,1856,0.00,2.38,0.00,0.000,260,0.000,0.086,2094,3896,3442,3450,3434,0,0,0,0,0,0,15.04,14.63,15.06
$GC,1902,-0.62,-116.8,2094,3895,3450,3435,299.5,-13.0,239,1907,0.12,2.22,0.00,0.000,3078,0.207,0.034,2124,2494,3442,3450,3434,0,0,0,0,0,0,14.54,14.76,14.72
$GC,2215,-0.62,-116.8,2124,2493,3444,3434,333.9,-10.7,256,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3439,3444,3435,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2514,-0.62,-116.8,2124,2493,3441,3431,365.3,-10.3,271,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3437,3443,3431,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2815,-0.62,-116.8,2124,2493,3439,3429,394.1,-9.3,286,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3433,3439,3428,0,0,0,0,0,0,15.05,15.09,15.08
$GC,3114,-0.62,-116.8,2124,2493,3437,3425,423.2,-9.9,301,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2493,3431,3437,3425,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3415,-0.62,-116.8,2124,2493,3434,3423,453.6,-10.2,316,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3428,3434,3423,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3714,-0.62,-116.8,2124,2493,3432,3421,483.6,-9.7,331,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3426,3432,3421,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4015,-0.62,-116.8,2124,2493,3431,3420,513.0,-9.8,346,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3425,3430,3421,0,0,0,0,0,0,15.05,15.08,15.08
$GC,4315,-0.62,-116.8,2124,2493,3429,3419,541.9,-9.5,361,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3423,3428,3419,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4615,-0.62,-116.8,2124,2493,3427,3416,569.0,-8.8,376,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3421,3427,3416,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4914,-0.62,-116.8,2124,2493,3425,3415,595.2,-8.8,391,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3420,3425,3415,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5215,-0.62,-116.8,2124,2493,3423,3413,622.0,-9.0,406,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2493,3418,3423,3413,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5514,-0.62,-116.8,2124,2493,3422,3412,651.3,-10.1,421,5519,0.00,2.33,0.00,0.000,516,0.000,0.052,2125,1100,3416,3421,3412,0,0,0,0,0,0,15.04,14.65,15.07
$GC,5558,-0.62,-116.8,2124,1100,3421,3412,655.8,-10.3,429,5563,0.00,2.42,0.00,0.000,1030,0.000,0.063,2116,2511,3416,3421,3412,0,0,0,0,0,0,14.73,14.62,14.76
$GC,5880,-0.62,-116.8,2115,2511,3420,3411,691.0,-11.1,448,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2511,3415,3420,3411,0,0,0,0,0,0,15.02,15.07,15.06
$GC,6180,-0.62,-116.8,2116,2511,3418,3409,723.3,-10.4,463,6184,0.00,2.40,0.00,0.000,260,0.000,0.089,2106,3891,3413,3418,3409,0,0,0,0,0,0,15.02,14.53,15.06
$GC,6210,-0.62,-116.8,2105,3891,3418,3409,726.6,-11.1,469,6215,0.00,2.25,0.00,0.000,1030,0.000,0.037,2105,2500,3413,3418,3409,0,0,0,0,0,0,14.77,14.70,14.79
$GC,6523,-0.62,-116.8,2105,2498,3417,3408,757.7,-9.5,486,6527,0.00,2.45,0.00,0.000,260,0.000,0.090,2094,3891,3412,3417,3408,0,0,0,0,0,0,15.03,14.52,15.05
$GC,6553,-0.62,-116.8,2094,3891,3417,3408,760.7,-9.6,492,6558,0.12,2.25,0.00,0.000,3078,0.201,0.038,2124,2502,3412,3417,3408,0,0,0,0,0,0,14.45,14.68,14.63
$GC,6865,-0.62,-116.8,2124,2500,3416,3407,784.0,-7.4,509,6870,0.00,2.33,0.00,0.000,516,0.000,0.052,2125,1103,3411,3415,3407,0,0,0,0,0,0,15.02,14.61,15.04
$GC,6897,-0.62,-116.8,2125,1103,3416,3407,786.5,-7.7,515,6901,0.00,2.42,0.00,0.000,1030,0.000,0.067,2116,2504,3411,3416,3407,0,0,0,0,0,0,14.70,14.58,14.74
$GC,7202,-0.62,-116.8,2116,2504,3415,3405,812.2,-8.7,531,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2504,3410,3415,3406,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7504,-0.62,-116.8,2116,2504,3413,3405,839.8,-9.4,546,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2503,3409,3413,3405,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7802,-0.62,-116.8,2116,2504,3413,3404,868.0,-9.3,561,7808,0.00,2.45,0.00,0.000,260,0.000,0.093,2106,3899,3408,3413,3404,0,0,0,0,0,0,15.02,14.48,15.04
$GC,7845,-0.62,-116.8,2105,3899,3413,3404,872.1,-9.8,569,7851,0.00,2.28,0.00,0.000,1030,0.000,0.038,2106,2498,3408,3413,3404,0,0,0,0,0,0,14.74,14.66,14.76
$GC,8168,-0.62,-116.8,2105,2497,3412,3404,903.1,-9.3,588,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2497,3407,3412,3403,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8468,-0.62,-116.8,2105,2497,3411,3402,929.4,-8.5,603,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2497,3406,3411,3402,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8769,-0.62,-116.8,2105,2497,3410,3402,954.4,-8.2,618,8773,0.00,2.35,0.00,0.000,516,0.000,0.054,2105,1105,3406,3410,3402,0,0,0,0,0,0,15.00,14.56,15.03
$GC,8800,-0.62,-116.8,2105,1104,3410,3401,957.2,-8.2,624,8805,0.12,2.42,0.00,0.000,3078,0.213,0.066,2124,2501,3405,3410,3401,0,0,0,0,0,0,14.38,14.54,14.58
$GC,9107,-0.62,-116.8,2124,2501,3410,3401,979.8,-7.6,640,9114,0.00,2.45,0.00,0.000,260,0.000,0.092,2115,3896,3405,3410,3401,0,0,0,0,0,0,14.99,14.45,15.02
$GC,9126,-0.62,-116.8,2115,3896,3410,3401,981.4,-7.8,644,9131,0.00,2.30,0.00,0.000,1030,0.000,0.040,2115,2493,3405,3410,3401,0,0,0,0,0,0,14.72,14.65,14.75
$STATE,9245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9245,begin apogee
$GC,9251,-0.15,0.0,2115,2491,3410,3400,991.2,-8.2,653,9362,0.55,0.00,106.05,2.007,10246,0.163,0.000,2275,2491,2967,2992,2943,0,0,0,0,0,0,14.40,14.11,13.10
$STATE,9363,end apogee,CONTROL_FINISHED_OK
$STATE,9363,begin climb
$GC,9366,0.62,116.8,2275,2491,2992,2943,993.5,0.0,658,9491,0.80,2.55,115.88,1.991,10500,0.097,0.088,2535,3842,2490,2518,2462,0,0,0,0,0,0,14.15,13.95,13.00
$GC,9509,0.64,116.8,2535,3842,2513,2462,989.4,7.4,690,9514,0.00,2.38,0.00,0.000,1094,0.000,0.038,2548,2442,2487,2513,2462,0,0,0,0,0,0,14.18,14.12,14.19
$GC,9831,0.64,116.8,2548,2441,2508,2456,957.2,10.2,709,9836,0.00,2.38,0.00,0.000,516,0.000,0.056,2558,1044,2481,2507,2456,0,0,0,0,0,0,14.78,14.48,14.81
$GC,9942,0.64,116.8,2558,1044,2506,2455,945.8,10.3,731,9946,0.00,2.45,0.00,0.000,1030,0.000,0.069,2559,2437,2480,2506,2455,0,0,0,0,0,0,14.59,14.46,14.63
$GC,10248,0.64,116.8,2558,2437,2505,2455,914.5,10.1,747,10253,0.00,2.38,0.00,0.000,516,0.000,0.053,2570,1041,2480,2505,2455,0,0,0,0,0,0,14.90,14.57,14.92
$GC,10290,0.64,116.8,2570,1041,2504,2454,910.2,10.8,755,10295,0.12,2.42,0.00,0.000,5126,0.239,0.057,2543,2446,2478,2504,2453,0,0,0,0,0,0,14.33,14.55,14.59
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$STATE,20266,end climb,SURFACE_DEPTH_REACHED
$STATE,20266,begin surface coast
$STATE,20285,end surface coast,CONTROL_FINISHED_OK
$STATE,20285,begin surface
$SM_CCo,20305,78.35,0.548,1,0,929,500.17
$SM_GC,1.40,7.40,0.08,78.35,0.054,0.151,0.548,120,2545,929,-6.79,-1.10,500.17,0,0,0,0,1,0,14.63,14.65,14.02
$IRIDIUM_FIX,1317.08,8702.72,270919,074841
$TT8_MAMPS,0.018725,0.489846
$HUMID,43.54
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.60
$XPDR_PINGS,1
$SC_FREEKB,3783296
$24V_AH,13.00,107.787
$10V_AH,13.09,0.000
$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
$DEVICE_SECS,19.000,171.200,497.875,78.350,0.000,0.000,0.000,238.275,0.250,0.000,15.666,1526.501,14331.328,664.001,3738.369,551.408,0.000,2294.213,0.000,3377.799,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,2975.992,0.000,0.000,0.000,0.000,0.000,20304.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.259,0.000,0.000,0.000
$MEM,251652
$DATA_FILE_SIZE,73189,1667
$CAP_FILE_SIZE,286143,0
$CFSIZE,260034560,162574336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9248.30,0x2147a0,2,24
$CURRENT,0.101,180.54,1
$GPS,270919,193900,1308.871,8659.752,31,0.7,31,-0.9,0.3,181.3,11,2.8