version: 66.13
glider: 171
mission: 11
dive: 295
start: 9 30 119 12 37 40
data:
$ID,171
$MISSION,11
$DIVE,295
$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,55
$R_STBD_OVSHOOT,49
$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
$GPS1,300919,122900,1241.7201,8659.1084,18,1.1,18,-1.0,0.2,0.0,8,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.5
$GPS2,300919,123651,1241.6632,8659.1592,3,0.6,4,-1.0,0.4,152.6,12,6.2
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,191.7,188286,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-116.8,128,2526,968,884,0.0,0.0,0,91,0.00,0.00,-72.05,0.005,16386,0.000,0.000,128,2526,2646,2644,2648,0,0,0,0,0,0,14.81,28.83,14.83
$GC,95,-0.62,-116.8,128,2527,2645,2648,4.6,-12.2,15,125,9.12,2.40,-15.02,0.009,18948,0.357,0.068,2130,1106,3447,3457,3437,0,0,0,0,0,0,14.18,13.00,14.57
$GC,157,-0.62,-116.8,2130,1105,3456,3437,28.2,-34.0,28,162,0.00,2.38,0.00,0.000,1030,0.000,0.066,2121,2475,3447,3457,3437,0,0,0,0,0,0,14.53,14.42,14.57
$GC,344,-0.62,-116.8,2121,2475,3456,3437,91.6,-33.9,53,352,0.00,2.42,0.00,0.000,260,0.000,0.080,2111,3902,3446,3456,3437,0,0,0,0,0,0,14.90,14.55,14.93
$GC,450,-0.62,-116.8,2110,3901,3456,3437,115.9,-20.2,74,455,0.00,2.25,0.00,0.000,1030,0.000,0.035,2110,2497,3446,3456,3437,0,0,0,0,0,0,14.73,14.66,14.75
$GC,636,-0.62,-116.8,2110,2495,3457,3437,149.4,-15.5,93,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2496,3447,3457,3437,0,0,0,0,0,0,14.95,14.98,14.97
$GC,817,-0.62,-116.8,2110,2496,3457,3437,175.6,-14.8,111,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3447,3457,3437,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1005,-0.62,-116.8,2110,2496,3456,3437,203.4,-14.1,130,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2496,3447,3457,3437,0,0,0,0,0,0,14.99,15.02,15.02
$GC,1186,-0.62,-116.8,2110,2495,3456,3437,226.7,-12.1,148,1190,0.00,2.40,0.00,0.000,260,0.000,0.083,2100,3897,3446,3455,3437,0,0,0,0,0,0,15.00,14.61,15.03
$GC,1247,-0.62,-116.8,2099,3899,3455,3437,234.6,-12.8,160,1251,0.00,2.20,0.00,0.000,1030,0.000,0.034,2100,2501,3446,3455,3437,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1448,-0.62,-116.8,2099,2500,3453,3437,260.8,-13.2,177,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3444,3452,3437,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1748,-0.62,-116.8,2100,2500,3449,3437,299.5,-12.7,192,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3443,3449,3437,0,0,0,0,0,0,15.03,15.07,15.06
$GC,2048,-0.62,-116.8,2099,2501,3444,3437,337.5,-12.9,207,2051,0.12,0.00,0.00,0.000,2054,0.223,0.000,2129,2499,3440,3444,3437,0,0,0,0,0,0,14.57,14.78,14.73
$GC,2348,-0.62,-116.8,2128,2499,3443,3433,368.2,-9.3,222,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2499,3437,3443,3432,0,0,0,0,0,0,15.05,15.08,15.08
$GC,2648,-0.62,-116.8,2129,2499,3440,3429,393.1,-7.9,237,2655,0.00,2.45,0.00,0.000,260,0.000,0.095,2120,3897,3433,3439,3427,0,0,0,0,0,0,15.05,14.59,15.08
$GC,2698,-0.62,-116.8,2120,3897,3438,3429,397.1,-8.0,247,2702,0.00,2.22,0.00,0.000,1030,0.000,0.035,2120,2493,3434,3439,3429,0,0,0,0,0,0,14.83,14.76,14.85
$GC,3009,-0.62,-116.8,2120,2492,3436,3424,422.1,-8.3,264,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2492,3430,3436,3425,0,0,0,0,0,0,15.05,15.09,15.08
$GC,3311,-0.62,-116.8,2120,2491,3433,3423,449.3,-9.5,279,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2492,3428,3434,3423,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3609,-0.62,-116.8,2120,2492,3431,3421,479.5,-10.6,294,3614,0.00,2.45,0.00,0.000,260,0.000,0.090,2110,3896,3426,3431,3421,0,0,0,0,0,0,15.05,14.57,15.07
$GC,3645,-0.62,-116.8,2110,3896,3430,3421,483.7,-11.4,301,3650,0.00,2.25,0.00,0.000,1030,0.000,0.035,2110,2501,3426,3431,3421,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3951,-0.62,-116.8,2110,2500,3430,3419,520.7,-12.3,317,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2500,3424,3429,3419,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4251,-0.62,-116.8,2110,2500,3428,3417,556.4,-11.4,332,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2500,3422,3428,3417,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4552,-0.62,-116.8,2110,2500,3426,3415,590.3,-11.0,347,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2500,3420,3426,3415,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4851,-0.62,-116.8,2110,2500,3424,3413,622.0,-10.4,362,4856,0.00,2.45,0.00,0.000,260,0.000,0.090,2099,3899,3418,3424,3413,0,0,0,0,0,0,15.04,14.53,15.07
$GC,4914,-0.62,-116.8,2099,3899,3423,3413,628.5,-10.4,374,4920,0.12,2.25,0.00,0.000,3078,0.199,0.037,2130,2494,3418,3423,3413,0,0,0,0,0,0,14.47,14.71,14.64
$GC,5237,-0.62,-116.8,2129,2493,3422,3411,655.0,-7.5,393,5241,0.00,2.28,0.00,0.000,516,0.000,0.050,2130,1109,3416,3421,3411,0,0,0,0,0,0,15.04,14.63,15.06
$GC,5300,-0.62,-116.8,2130,1109,3421,3411,659.5,-7.0,405,5308,0.00,2.40,0.00,0.000,1030,0.000,0.065,2121,2506,3416,3421,3412,0,0,0,0,0,0,14.71,14.59,14.75
$GC,5620,-0.62,-116.8,2121,2507,3420,3409,682.4,-7.0,424,5624,0.00,2.40,0.00,0.000,260,0.000,0.088,2110,3891,3414,3420,3409,0,0,0,0,0,0,15.02,14.52,15.05
$GC,5676,-0.62,-116.8,2110,3891,3419,3409,686.6,-7.4,435,5680,0.00,2.28,0.00,0.000,1030,0.000,0.037,2111,2493,3414,3419,3409,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5983,-0.62,-116.8,2110,2491,3418,3408,709.2,-7.6,451,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3413,3418,3408,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6281,-0.62,-116.8,2110,2491,3417,3407,734.5,-8.9,466,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3412,3417,3407,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6581,-0.62,-116.8,2110,2491,3416,3406,763.5,-10.0,481,6588,0.00,2.47,0.00,0.000,260,0.000,0.090,2100,3897,3411,3416,3406,0,0,0,0,0,0,15.02,14.49,15.05
$GC,6621,-0.62,-116.8,2100,3897,3415,3406,767.7,-10.7,489,6625,0.00,2.25,0.00,0.000,1030,0.000,0.038,2100,2501,3410,3416,3405,0,0,0,0,0,0,14.75,14.68,14.77
$GC,6942,-0.62,-116.8,2100,2499,3414,3405,802.3,-10.7,508,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3409,3414,3405,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7243,-0.62,-116.8,2099,2499,3413,3404,833.3,-10.2,523,7250,0.00,2.47,0.00,0.000,260,0.000,0.093,2089,3897,3407,3412,3403,0,0,0,0,0,0,15.02,14.47,15.04
$GC,7271,-0.62,-116.8,2089,3897,3413,3403,836.5,-11.0,529,7276,0.15,2.28,0.00,0.000,3078,0.200,0.038,2127,2493,3408,3413,3404,0,0,0,0,0,0,14.39,14.66,14.58
$GC,7584,-0.62,-116.8,2126,2492,3412,3403,863.2,-8.3,546,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2492,3407,3412,3403,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7883,-0.62,-116.8,2126,2492,3412,3402,888.3,-8.4,561,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2492,3407,3412,3402,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8183,-0.62,-116.8,2126,2492,3411,3401,912.8,-8.1,576,8187,0.00,2.30,0.00,0.000,516,0.000,0.050,2127,1107,3406,3411,3401,0,0,0,0,0,0,15.01,14.56,15.04
$GC,8204,-0.62,-116.8,2127,1106,3410,3401,914.6,-8.4,580,8211,0.00,2.40,0.00,0.000,1030,0.000,0.062,2118,2500,3405,3410,3401,0,0,0,0,0,0,14.66,14.54,14.71
$GC,8525,-0.62,-116.8,2118,2499,3410,3400,941.4,-8.3,599,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2499,3405,3410,3400,0,0,0,0,0,0,15.01,15.04,15.03
$GC,8824,-0.62,-116.8,2118,2499,3409,3399,966.6,-8.4,614,8829,0.00,2.45,0.00,0.000,260,0.000,0.090,2108,3895,3404,3409,3399,0,0,0,0,0,0,15.00,14.44,15.03
$GC,8866,-0.62,-116.8,2107,3896,3409,3399,970.4,-8.7,622,8872,0.00,2.28,0.00,0.000,1030,0.000,0.038,2108,2494,3404,3409,3399,0,0,0,0,0,0,14.71,14.63,14.73
$STATE,9088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9088,begin apogee
$GC,9094,-0.15,0.0,2107,2493,3409,3399,990.4,-9.0,636,9207,0.60,0.00,108.47,2.015,10246,0.168,0.000,2278,2493,2967,2993,2942,0,0,0,0,0,0,14.34,13.82,12.94
$STATE,9209,end apogee,CONTROL_FINISHED_OK
$STATE,9209,begin climb
$GC,9211,0.62,116.8,2278,2493,2991,2942,993.8,0.0,642,9333,0.77,0.00,118.45,2.007,10502,0.090,0.000,2533,2493,2491,2520,2462,0,0,0,0,0,0,14.14,13.90,12.88
$GC,9652,0.62,116.8,2533,2493,2510,2456,964.4,9.6,670,9659,0.00,2.45,0.00,0.000,516,0.000,0.052,2545,1047,2482,2509,2455,0,0,0,0,0,0,14.76,14.46,14.79
$GC,9691,0.62,116.8,2544,1047,2508,2455,960.6,9.5,678,9699,0.00,2.40,0.00,0.000,1030,0.000,0.057,2545,2442,2481,2508,2455,0,0,0,0,0,0,14.57,14.47,14.61
$GC,10011,0.62,116.8,2544,2442,2508,2454,931.0,8.9,697,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2442,2481,2508,2454,0,0,0,0,0,0,14.89,14.91,14.91
$GC,10312,0.62,116.8,2544,2442,2507,2453,904.7,8.6,712,10316,0.00,2.35,0.00,0.000,516,0.000,0.051,2555,1049,2480,2507,2453,0,0,0,0,0,0,14.93,14.57,14.96
$GC,10415,0.62,116.8,2555,1048,2505,2452,895.9,8.6,732,10419,0.00,2.38,0.00,0.000,1030,0.000,0.054,2555,2444,2478,2505,2452,0,0,0,0,0,0,14.66,14.56,14.71
$GC,10736,0.62,116.8,2555,2444,2505,2452,865.3,9.8,751,10741,0.00,2.38,0.00,0.000,516,0.000,0.051,2566,1039,2478,2505,2452,0,0,0,0,0,0,14.95,14.57,14.98
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$STATE,21132,end climb,SURFACE_DEPTH_REACHED
$STATE,21132,begin surface coast
$STATE,21168,end surface coast,CONTROL_FINISHED_OK
$STATE,21168,begin surface
$SM_CCo,21187,158.50,0.644,1,0,929,500.17
$SM_GC,1.47,7.40,0.10,158.50,0.063,0.140,0.644,123,2516,929,-6.78,-1.16,500.17,0,0,0,0,1,0,14.67,14.64,13.87
$IRIDIUM_FIX,1243.90,8703.07,300919,063757
$TT8_MAMPS,0.018725,0.245672
$HUMID,41.41
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,26.60
$XPDR_PINGS,2
$SC_FREEKB,3777920
$24V_AH,12.88,111.969
$10V_AH,13.12,0.000
$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
$DEVICE_SECS,19.175,174.975,424.050,158.500,0.000,0.000,0.000,272.750,0.500,0.000,15.549,1603.827,14987.146,740.782,3913.365,566.528,0.000,2394.891,0.000,3523.689,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3141.471,0.000,0.000,0.000,0.000,0.000,21177.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.414,0.000,0.000,0.000
$MEM,251628
$DATA_FILE_SIZE,76607,1723
$CAP_FILE_SIZE,297419,0
$CFSIZE,260034560,161177600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.061,143.15,1
$GPS,300919,183439,1239.452,8659.114,23,1.0,23,-1.0,0.2,301.5,8,5.5