version: 66.13
glider: 171
mission: 11
dive: 287
start: 9 28 119 13 6 21
data:
$ID,171
$MISSION,11
$DIVE,287
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,280919,125709,1301.3768,8659.1230,16,1.5,16,-0.9,0.6,145.3,5,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.7
$GPS2,280919,130531,1301.3062,8659.1543,5,0.5,29,-0.9,0.5,158.1,12,2.9
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,174.6,224664,-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,-116.8,122,2552,970,882,0.0,0.0,0,92,0.00,0.00,-72.35,0.005,16386,0.000,0.000,122,2553,2657,2658,2656,0,0,0,0,0,0,14.81,28.83,14.85
$GC,95,-0.62,-116.8,122,2552,2658,2656,4.8,-12.1,15,125,8.88,0.00,-14.77,0.009,18950,0.349,0.000,2120,2553,3447,3457,3438,0,0,0,0,0,0,14.21,13.10,14.58
$GC,314,-0.62,-116.8,2120,2553,3458,3438,79.4,-29.3,50,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2553,3447,3457,3437,0,0,0,0,0,0,14.90,14.93,14.92
$GC,493,-0.62,-116.8,2119,2553,3458,3438,120.3,-17.7,68,497,0.00,2.30,0.00,0.000,260,0.000,0.083,2111,3898,3448,3459,3438,0,0,0,0,0,0,14.93,14.56,14.96
$GC,615,-0.62,-116.8,2111,3899,3458,3438,142.9,-17.7,92,619,0.00,2.22,0.00,0.000,1030,0.000,0.034,2111,2485,3447,3457,3438,0,0,0,0,0,0,14.76,14.71,14.78
$GC,806,-0.62,-116.8,2111,2484,3458,3438,172.0,-14.8,112,810,0.00,2.40,0.00,0.000,260,0.000,0.081,2100,3890,3448,3458,3438,0,0,0,0,0,0,14.97,14.54,15.00
$GC,889,-0.62,-116.8,2099,3890,3457,3438,184.0,-14.5,128,893,0.00,2.20,0.00,0.000,1030,0.000,0.032,2101,2488,3448,3458,3438,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1081,-0.62,-116.8,2100,2487,3457,3438,211.7,-12.9,148,1085,0.00,2.22,0.00,0.000,516,0.000,0.046,2101,1106,3448,3458,3438,0,0,0,0,0,0,14.99,14.68,15.02
$GC,1113,-0.62,-116.8,2100,1106,3457,3438,216.0,-13.8,154,1120,0.15,2.35,0.00,0.000,3078,0.215,0.060,2126,2508,3448,3457,3440,0,0,0,0,0,0,14.48,14.66,14.69
$GC,1303,-0.62,-116.8,2125,2508,3456,3438,239.0,-11.5,174,1307,0.00,2.35,0.00,0.000,260,0.000,0.081,2117,3899,3447,3456,3438,0,0,0,0,0,0,15.00,14.62,15.03
$GC,1389,-0.62,-116.8,2118,3898,3455,3438,249.5,-12.4,191,1393,0.00,2.22,0.00,0.000,1030,0.000,0.033,2117,2494,3446,3455,3438,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1587,-0.62,-116.8,2117,2493,3452,3438,272.2,-11.3,202,1591,0.00,2.40,0.00,0.000,260,0.000,0.083,2107,3892,3445,3452,3438,0,0,0,0,0,0,15.03,14.63,15.06
$GC,1632,-0.62,-116.8,2106,3891,3451,3437,277.8,-11.9,211,1637,0.00,2.20,0.00,0.000,1030,0.000,0.033,2106,2496,3444,3452,3437,0,0,0,0,0,0,14.83,14.76,14.84
$GC,1949,-0.62,-116.8,2106,2494,3448,3437,314.7,-11.5,229,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2494,3442,3448,3437,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2249,-0.62,-116.8,2106,2494,3444,3436,348.5,-11.2,244,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2494,3439,3443,3436,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2549,-0.62,-116.8,2106,2494,3442,3435,384.4,-12.2,259,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2494,3437,3442,3433,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2849,-0.62,-116.8,2106,2494,3439,3429,419.8,-11.5,274,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2494,3434,3439,3429,0,0,0,0,0,0,15.05,15.09,15.08
$GC,3149,-0.62,-116.8,2105,2494,3437,3427,452.3,-10.4,289,3154,0.00,2.28,0.00,0.000,516,0.000,0.050,2106,1102,3431,3437,3426,0,0,0,0,0,0,15.04,14.69,15.07
$GC,3176,-0.62,-116.8,2107,1102,3436,3426,455.2,-10.3,294,3181,0.12,2.38,0.00,0.000,3078,0.213,0.063,2126,2498,3431,3436,3426,0,0,0,0,0,0,14.50,14.66,14.69
$GC,3494,-0.62,-116.8,2126,2498,3434,3424,483.1,-8.7,312,3498,0.00,2.40,0.00,0.000,260,0.000,0.086,2117,3894,3428,3433,3424,0,0,0,0,0,0,15.04,14.59,15.07
$GC,3519,-0.62,-116.8,2117,3894,3433,3424,485.5,-9.7,317,3524,0.00,2.22,0.00,0.000,1030,0.000,0.035,2117,2499,3428,3433,3424,0,0,0,0,0,0,14.81,14.75,14.83
$GC,3836,-0.62,-116.8,2117,2498,3431,3421,514.9,-9.4,335,3840,0.00,2.28,0.00,0.000,516,0.000,0.049,2118,1106,3426,3431,3422,0,0,0,0,0,0,15.04,14.67,15.07
$GC,3878,-0.62,-116.8,2117,1106,3431,3421,518.9,-9.5,343,3882,0.00,2.38,0.00,0.000,1030,0.000,0.058,2107,2506,3426,3431,3421,0,0,0,0,0,0,14.76,14.64,14.79
$GC,4199,-0.62,-116.8,2106,2506,3430,3420,552.1,-10.6,362,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2507,3425,3430,3420,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4500,-0.62,-116.8,2106,2506,3428,3419,583.9,-10.7,377,4505,0.00,2.40,0.00,0.000,260,0.000,0.086,2096,3898,3422,3428,3417,0,0,0,0,0,0,15.04,14.57,15.07
$GC,4563,-0.62,-116.8,2095,3898,3427,3419,591.0,-11.1,389,4569,0.12,2.25,0.00,0.000,3078,0.202,0.037,2126,2494,3423,3427,3419,0,0,0,0,0,0,14.48,14.73,14.67
$GC,4887,-0.62,-116.8,2126,2493,3425,3416,620.3,-8.6,408,4891,0.00,2.28,0.00,0.000,516,0.000,0.050,2126,1107,3420,3425,3415,0,0,0,0,0,0,15.03,14.64,15.06
$GC,4928,-0.62,-116.8,2126,1107,3425,3415,624.0,-8.6,416,4932,0.00,2.38,0.00,0.000,1030,0.000,0.058,2118,2502,3420,3425,3416,0,0,0,0,0,0,14.73,14.62,14.77
$GC,5249,-0.62,-116.8,2117,2503,3423,3414,652.0,-8.6,435,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2503,3418,3423,3414,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5550,-0.62,-116.8,2117,2503,3422,3413,677.8,-8.7,450,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2503,3416,3421,3411,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5849,-0.62,-116.8,2117,2503,3421,3411,703.7,-8.5,465,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2503,3416,3421,3411,0,0,0,0,0,0,15.03,15.06,15.05
$GC,6150,-0.62,-116.8,2117,2503,3419,3411,729.8,-8.8,480,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2503,3414,3419,3410,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6449,-0.62,-116.8,2117,2503,3418,3409,757.5,-9.3,495,6456,0.00,2.42,0.00,0.000,260,0.000,0.088,2107,3897,3413,3418,3409,0,0,0,0,0,0,15.02,14.51,15.04
$GC,6485,-0.62,-116.8,2107,3897,3417,3408,760.9,-9.9,502,6489,0.00,2.30,0.00,0.000,1030,0.000,0.038,2107,2494,3413,3418,3409,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6790,-0.62,-116.8,2107,2493,3417,3408,790.8,-9.7,518,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2493,3412,3417,3408,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7090,-0.62,-116.8,2107,2493,3416,3407,819.5,-9.5,533,7096,0.00,2.28,0.00,0.000,516,0.000,0.050,2107,1109,3411,3415,3407,0,0,0,0,0,0,15.02,14.55,15.04
$GC,7122,-0.62,-116.8,2107,1108,3415,3407,822.8,-10.1,539,7130,0.12,2.40,0.00,0.000,3078,0.210,0.060,2126,2507,3411,3415,3407,0,0,0,0,0,0,14.41,14.57,14.60
$GC,7433,-0.62,-116.8,2125,2507,3415,3406,849.3,-8.6,556,7441,0.00,2.42,0.00,0.000,260,0.000,0.089,2117,3897,3410,3415,3406,0,0,0,0,0,0,15.02,14.49,15.04
$GC,7463,-0.62,-116.8,2116,3897,3414,3406,852.0,-9.4,562,7467,0.00,2.28,0.00,0.000,1030,0.000,0.038,2116,2492,3410,3414,3406,0,0,0,0,0,0,14.74,14.68,14.76
$GC,7774,-0.62,-116.8,2116,2491,3413,3406,879.6,-8.8,579,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3409,3413,3406,0,0,0,0,0,0,15.01,15.05,15.04
$GC,8074,-0.62,-116.8,2116,2491,3413,3405,906.2,-8.8,594,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3409,3413,3405,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8374,-0.62,-116.8,2116,2491,3411,3405,932.6,-8.8,609,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3408,3412,3405,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8674,-0.62,-116.8,2116,2491,3411,3403,958.8,-8.8,624,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3406,3411,3402,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8975,-0.62,-116.8,2115,2490,3411,3401,984.9,-8.6,639,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3406,3411,3402,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,9052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9052,begin apogee
$GC,9057,-0.15,0.0,2116,2491,3411,3402,991.6,-8.5,643,9172,0.57,0.00,107.88,2.010,10246,0.164,0.000,2281,2491,2967,2992,2943,0,0,0,0,0,0,14.38,14.10,13.09
$STATE,9174,end apogee,CONTROL_FINISHED_OK
$STATE,9174,begin climb
$GC,9176,0.62,116.8,2281,2491,2991,2943,994.8,0.0,649,9299,0.77,0.00,118.05,1.998,10246,0.088,0.000,2538,2491,2490,2519,2462,0,0,0,0,0,0,14.16,13.93,12.96
$GC,9594,0.62,116.8,2538,2491,2509,2456,966.8,9.8,670,9599,0.00,2.45,0.00,0.000,516,0.000,0.053,2549,1047,2482,2509,2456,0,0,0,0,0,0,14.74,14.46,14.78
$GC,9617,0.62,116.8,2549,1047,2508,2455,964.7,9.4,674,9622,0.00,2.40,0.00,0.000,1030,0.000,0.056,2550,2443,2481,2508,2455,0,0,0,0,0,0,14.56,14.46,14.59
$GC,9939,0.62,116.8,2549,2443,2506,2455,931.8,10.3,693,9943,0.00,2.38,0.00,0.000,516,0.000,0.052,2560,1043,2481,2507,2455,0,0,0,0,0,0,14.88,14.55,14.90
$GC,9971,0.62,116.8,2560,1043,2506,2453,928.8,9.5,699,9977,0.00,2.40,0.00,0.000,1030,0.000,0.055,2561,2444,2479,2506,2453,0,0,0,0,0,0,14.64,14.54,14.69
$GC,10280,0.62,116.8,2560,2445,2506,2453,897.0,10.2,716,10285,0.12,2.38,0.00,0.000,4612,0.252,0.050,2545,1046,2479,2506,2453,0,0,0,0,0,0,14.36,14.58,14.52
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$STATE,20738,end climb,SURFACE_DEPTH_REACHED
$STATE,20739,begin surface coast
$STATE,20769,end surface coast,CONTROL_FINISHED_OK
$STATE,20769,begin surface
$SM_CCo,20788,133.82,0.635,1,0,929,500.17
$SM_GC,1.43,7.43,0.08,133.82,0.055,0.181,0.635,119,2501,929,-6.77,-1.07,500.17,0,0,0,0,1,0,14.66,14.62,13.91
$IRIDIUM_FIX,1303.86,8658.42,280919,070246
$TT8_MAMPS,0.019474,0.260652
$HUMID,42.28
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.70
$XPDR_PINGS,1
$SC_FREEKB,3781504
$24V_AH,12.96,109.186
$10V_AH,13.07,0.000
$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,19.475,179.025,444.300,133.825,0.000,0.000,0.000,279.650,0.250,0.000,40.679,1569.942,14722.899,722.214,3846.366,558.575,0.000,2368.209,0.000,3429.257,0.000,0.541,0.000
$DEVICE_MAMPS,348.840,180.540,2010.420,634.950,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3016.169,0.000,0.000,0.000,0.000,0.000,20778.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.183,0.000,0.000,0.000
$MEM,251624
$DATA_FILE_SIZE,73287,1688
$CAP_FILE_SIZE,290867,0
$CFSIZE,260034560,162107392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.064,193.71,1
$GPS,280919,185609,1258.869,8659.061,14,1.1,14,-0.9,0.2,0.0,7,6.2