version: 66.13
glider: 171
mission: 11
dive: 294
start: 9 30 119 6 43 2
data:
$ID,171
$MISSION,11
$DIVE,294
$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,43
$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
$GPS1,300919,063441,1244.1028,8659.2842,22,1.5,25,-1.0,0.5,174.0,5,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.7
$GPS2,300919,064211,1244.0052,8659.2783,2,0.6,3,-1.0,0.5,193.0,12,6.8
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,196.4,192622,-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,-116.8,131,2513,970,881,0.0,0.0,0,97,0.00,0.00,-77.43,0.005,16386,0.000,0.000,131,2514,2793,2790,2797,0,0,0,0,0,0,14.80,28.83,14.84
$GC,100,-0.62,-116.8,131,2514,2790,2797,5.3,-15.2,16,129,9.10,2.38,-11.52,0.011,18948,0.355,0.066,2131,1090,3445,3453,3438,0,0,0,0,0,0,14.10,13.57,14.49
$GC,198,-0.62,-116.8,2131,1090,3451,3439,41.3,-28.5,36,202,0.00,2.40,0.00,0.000,1030,0.000,0.061,2122,2479,3445,3453,3438,0,0,0,0,0,0,14.63,14.51,14.66
$GC,390,-0.62,-116.8,2122,2479,3453,3439,103.3,-27.2,58,398,0.00,2.42,0.00,0.000,260,0.000,0.080,2112,3904,3445,3453,3438,0,0,0,0,0,0,14.90,14.54,14.92
$GC,582,-0.62,-116.8,2111,3904,3453,3438,142.1,-15.6,96,587,0.00,2.25,0.00,0.000,1030,0.000,0.034,2111,2492,3446,3453,3439,0,0,0,0,0,0,14.74,14.68,14.76
$GC,774,-0.62,-116.8,2111,2491,3454,3438,170.9,-14.9,116,778,0.00,2.25,0.00,0.000,516,0.000,0.045,2111,1099,3446,3454,3438,0,0,0,0,0,0,14.97,14.65,14.99
$GC,830,-0.62,-116.8,2111,1099,3454,3439,179.4,-14.4,127,835,0.00,2.38,0.00,0.000,1030,0.000,0.057,2101,2502,3446,3454,3438,0,0,0,0,0,0,14.71,14.60,14.75
$GC,1015,-0.62,-116.8,2100,2502,3453,3438,205.4,-13.1,146,1019,0.00,2.38,0.00,0.000,260,0.000,0.084,2089,3899,3446,3454,3438,0,0,0,0,0,0,14.98,14.59,15.01
$GC,1092,-0.62,-116.8,2089,3898,3454,3438,216.4,-13.1,161,1097,0.15,2.28,0.00,0.000,3078,0.213,0.037,2126,2477,3445,3453,3438,0,0,0,0,0,0,14.44,14.71,14.64
$GC,1277,-0.62,-116.8,2126,2475,3453,3438,237.5,-11.1,180,1283,0.00,2.47,0.00,0.000,260,0.000,0.090,2117,3897,3445,3453,3438,0,0,0,0,0,0,15.00,14.56,15.03
$GC,1317,-0.62,-116.8,2117,3897,3452,3438,242.4,-12.7,188,1321,0.00,2.22,0.00,0.000,1030,0.000,0.044,2117,2527,3445,3453,3438,0,0,0,0,0,0,14.77,14.69,14.80
$GC,1508,-0.62,-116.8,2117,2526,3451,3438,265.8,-12.6,202,1512,0.00,2.35,0.00,0.000,516,0.000,0.050,2117,1084,3444,3451,3438,0,0,0,0,0,0,15.02,14.67,15.04
$GC,1539,-0.62,-116.8,2117,1084,3450,3438,269.9,-12.8,208,1543,0.00,2.40,0.00,0.000,1030,0.000,0.059,2107,2501,3444,3450,3438,0,0,0,0,0,0,14.74,14.62,14.78
$GC,1845,-0.62,-116.8,2106,2502,3447,3438,311.8,-13.4,224,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2502,3443,3449,3438,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2145,-0.62,-116.8,2106,2502,3444,3436,347.4,-11.1,239,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2502,3440,3444,3437,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2444,-0.62,-116.8,2106,2502,3442,3433,379.7,-10.9,254,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2502,3437,3441,3433,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2744,-0.62,-116.8,2106,2502,3439,3429,412.2,-10.8,269,2751,0.00,2.42,0.00,0.000,260,0.000,0.092,2096,3903,3434,3439,3429,0,0,0,0,0,0,15.04,14.58,15.07
$GC,2819,-0.62,-116.8,2095,3903,3438,3429,420.6,-11.3,284,2824,0.12,2.30,0.00,0.000,3078,0.202,0.037,2126,2484,3433,3438,3429,0,0,0,0,0,0,14.50,14.73,14.69
$GC,3125,-0.62,-116.8,2126,2483,3435,3426,450.8,-9.8,300,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2483,3430,3435,3425,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3424,-0.62,-116.8,2126,2482,3433,3423,479.8,-9.6,315,3429,0.00,2.50,0.00,0.000,260,0.000,0.093,2117,3903,3428,3433,3423,0,0,0,0,0,0,15.04,14.56,15.07
$GC,3456,-0.62,-116.8,2117,3903,3433,3423,483.0,-10.1,321,3460,0.00,2.25,0.00,0.000,1030,0.000,0.038,2117,2499,3427,3432,3423,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3767,-0.62,-116.8,2117,2498,3431,3421,514.0,-10.0,338,3771,0.00,2.30,0.00,0.000,516,0.000,0.051,2117,1104,3426,3431,3421,0,0,0,0,0,0,15.04,14.65,15.07
$GC,3798,-0.62,-116.8,2117,1103,3430,3421,517.2,-10.6,344,3802,0.00,2.40,0.00,0.000,1030,0.000,0.066,2107,2501,3425,3430,3421,0,0,0,0,0,0,14.73,14.59,14.77
$GC,4109,-0.62,-116.8,2105,2501,3428,3420,552.2,-11.5,361,4113,0.00,2.45,0.00,0.000,260,0.000,0.092,2095,3904,3424,3429,3420,0,0,0,0,0,0,15.04,14.55,15.07
$GC,4179,-0.62,-116.8,2095,3905,3428,3420,560.6,-11.8,375,4185,0.12,2.25,0.00,0.000,3078,0.203,0.037,2126,2494,3424,3428,3420,0,0,0,0,0,0,14.47,14.73,14.66
$GC,4493,-0.62,-116.8,2125,2494,3427,3417,590.3,-9.1,392,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2493,3422,3427,3417,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4792,-0.62,-116.8,2125,2493,3425,3415,616.7,-8.6,407,4797,0.00,2.28,0.00,0.000,516,0.000,0.049,2126,1110,3419,3424,3415,0,0,0,0,0,0,15.04,14.63,15.07
$GC,4823,-0.62,-116.8,2126,1109,3424,3414,619.5,-8.5,413,4828,0.00,2.40,0.00,0.000,1030,0.000,0.061,2117,2514,3419,3424,3415,0,0,0,0,0,0,14.73,14.61,14.76
$GC,5136,-0.62,-116.8,2117,2514,3422,3413,648.6,-9.6,430,5139,0.00,2.40,0.00,0.000,260,0.000,0.089,2107,3895,3417,3422,3413,0,0,0,0,0,0,15.03,14.52,15.05
$GC,5168,-0.62,-116.8,2106,3895,3420,3413,651.7,-10.0,436,5172,0.00,2.25,0.00,0.000,1030,0.000,0.037,2107,2494,3417,3422,3413,0,0,0,0,0,0,14.78,14.71,14.80
$GC,5480,-0.62,-116.8,2106,2493,3421,3412,683.2,-10.1,453,5484,0.00,2.28,0.00,0.000,516,0.000,0.048,2107,1107,3416,3421,3412,0,0,0,0,0,0,15.02,14.62,15.05
$GC,5505,-0.62,-116.8,2107,1107,3421,3412,685.9,-11.1,458,5510,0.12,2.38,0.00,0.000,3078,0.213,0.059,2125,2501,3416,3421,3411,0,0,0,0,0,0,14.42,14.60,14.62
$GC,5817,-0.62,-116.8,2125,2501,3420,3410,714.5,-9.3,475,5822,0.00,2.42,0.00,0.000,260,0.000,0.088,2116,3892,3415,3419,3411,0,0,0,0,0,0,15.03,14.50,15.05
$GC,5839,-0.62,-116.8,2116,3892,3419,3411,716.6,-9.7,479,5845,0.00,2.25,0.00,0.000,1030,0.000,0.036,2117,2488,3415,3419,3411,0,0,0,0,0,0,14.77,14.71,14.79
$GC,6162,-0.62,-116.8,2116,2488,3418,3409,749.1,-10.3,498,6166,0.00,2.28,0.00,0.000,516,0.000,0.048,2116,1109,3413,3418,3409,0,0,0,0,0,0,15.02,14.60,15.05
$GC,6187,-0.62,-116.8,2116,1109,3417,3409,751.9,-11.6,503,6193,0.00,2.38,0.00,0.000,1030,0.000,0.057,2106,2501,3412,3417,3408,0,0,0,0,0,0,14.70,14.59,14.74
$GC,6505,-0.62,-116.8,2106,2501,3417,3408,787.5,-11.3,521,6509,0.00,2.45,0.00,0.000,260,0.000,0.088,2095,3899,3412,3417,3408,0,0,0,0,0,0,15.02,14.49,15.04
$GC,6530,-0.62,-116.8,2094,3899,3417,3408,790.6,-12.6,526,6535,0.12,2.25,0.00,0.000,3078,0.203,0.037,2125,2500,3412,3416,3408,0,0,0,0,0,0,14.43,14.69,14.61
$GC,6847,-0.62,-116.8,2125,2498,3416,3407,821.7,-9.5,544,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2498,3411,3416,3407,0,0,0,0,0,0,15.02,15.05,15.05
$GC,7148,-0.62,-116.8,2125,2499,3414,3406,848.4,-8.5,559,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2499,3410,3414,3406,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7447,-0.62,-116.8,2125,2498,3413,3405,873.0,-8.2,574,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2498,3409,3413,3405,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7747,-0.62,-116.8,2125,2498,3412,3404,897.5,-8.2,589,7751,0.00,2.30,0.00,0.000,516,0.000,0.049,2126,1111,3408,3413,3404,0,0,0,0,0,0,15.01,14.57,15.04
$GC,7777,-0.62,-116.8,2125,1110,3412,3403,900.2,-8.5,595,7783,0.00,2.38,0.00,0.000,1030,0.000,0.058,2117,2501,3407,3412,3403,0,0,0,0,0,0,14.67,14.55,14.71
$GC,8091,-0.62,-116.8,2116,2501,3412,3402,927.9,-8.9,612,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2501,3407,3412,3402,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8390,-0.62,-116.8,2116,2501,3411,3402,954.4,-8.6,627,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2501,3406,3411,3402,0,0,0,0,0,0,15.01,15.04,15.03
$GC,8690,-0.62,-116.8,2116,2501,3410,3402,979.2,-8.1,642,8698,0.00,2.45,0.00,0.000,260,0.000,0.090,2106,3896,3406,3410,3402,0,0,0,0,0,0,15.00,14.44,15.03
$GC,8715,-0.62,-116.8,2106,3896,3410,3402,981.3,-8.7,647,8721,0.00,2.25,0.00,0.000,1030,0.000,0.037,2106,2503,3405,3410,3401,0,0,0,0,0,0,14.71,14.65,14.73
$STATE,8830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8830,begin apogee
$GC,8837,-0.15,0.0,2106,2501,3410,3401,991.6,-8.7,655,8951,0.60,0.00,107.95,2.005,10246,0.167,0.000,2278,2501,2968,2993,2943,0,0,0,0,0,0,14.35,14.09,13.00
$STATE,8953,end apogee,CONTROL_FINISHED_OK
$STATE,8953,begin climb
$GC,8955,0.62,116.8,2279,2501,2991,2943,994.5,0.0,661,9084,0.77,2.47,118.00,1.991,10500,0.090,0.084,2534,3846,2490,2519,2461,0,0,0,0,0,0,14.14,13.95,12.87
$GC,9097,0.66,116.8,2534,3845,2515,2461,992.1,6.7,689,9101,0.00,2.38,0.00,0.000,1094,0.000,0.036,2546,2438,2487,2514,2461,0,0,0,0,0,0,14.16,14.11,14.18
$GC,9419,0.66,116.8,2546,2437,2509,2456,960.9,9.7,708,9423,0.00,2.35,0.00,0.000,516,0.000,0.052,2556,1047,2482,2509,2456,0,0,0,0,0,0,14.78,14.48,14.81
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$STATE,20509,end climb,SURFACE_DEPTH_REACHED
$STATE,20510,begin surface coast
$STATE,20548,end surface coast,CONTROL_FINISHED_OK
$STATE,20548,begin surface
$SM_CCo,20566,124.25,0.623,1,0,928,500.17
$SM_GC,1.49,7.32,0.10,124.25,0.061,0.146,0.623,128,2525,928,-6.76,-0.79,500.17,0,0,0,0,1,0,14.68,14.63,13.94
$IRIDIUM_FIX,1245.97,8658.65,300919,003958
$TT8_MAMPS,0.018725,0.740012
$HUMID,41.84
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,3778368
$24V_AH,12.87,111.623
$10V_AH,13.35,0.000
$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,19.550,217.375,458.225,124.250,0.000,0.000,0.000,254.275,0.250,0.000,15.042,1612.863,14375.256,697.959,3862.665,590.052,0.000,2395.031,0.000,3483.768,0.000,0.542,0.000
$DEVICE_MAMPS,354.960,146.115,2005.065,622.710,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3051.021,0.000,0.000,0.000,0.000,0.000,20567.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.409,0.000,0.000,0.000
$MEM,251580
$DATA_FILE_SIZE,76668,1724
$CAP_FILE_SIZE,302781,0
$CFSIZE,260034560,161292288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.071,153.30,1
$GPS,300919,122900,1241.720,8659.108,18,1.1,18,-1.0,0.2,0.0,8,6.8