version: 66.13
glider: 171
mission: 11
dive: 315
start: 10 5 119 10 36 46
data:
$ID,171
$MISSION,11
$DIVE,315
$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,58
$R_STBD_OVSHOOT,39
$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
$GPS1,051019,102830,1150.8477,8657.5664,28,0.8,28,-1.0,0.4,211.2,10,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.6
$GPS2,051019,103555,1150.7760,8657.5322,2,0.5,3,-1.0,0.3,241.8,12,6.1
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,163.9,94144,-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,-116.8,123,2513,972,882,0.0,0.0,0,92,0.00,0.00,-71.78,0.005,16386,0.000,0.000,123,2513,2650,2646,2654,0,0,0,0,0,0,14.81,28.83,14.84
$GC,95,-0.62,-116.8,123,2513,2648,2653,5.0,-13.7,15,125,9.00,2.38,-14.55,0.009,18692,0.354,0.093,2111,3881,3446,3455,3437,0,0,0,0,0,0,14.18,13.05,14.54
$GC,148,-0.62,-116.8,2111,3881,3456,3437,25.7,-33.5,26,153,0.00,2.25,0.00,0.000,1030,0.000,0.039,2112,2510,3447,3457,3437,0,0,0,0,0,0,14.60,14.54,14.62
$GC,338,-0.62,-116.8,2111,2508,3456,3437,88.0,-29.1,52,342,0.00,2.30,0.00,0.000,516,0.000,0.044,2112,1096,3447,3456,3438,0,0,0,0,0,0,14.90,14.58,14.92
$GC,355,-0.62,-116.8,2111,1096,3456,3437,92.8,-26.9,55,359,0.00,2.40,0.00,0.000,1030,0.000,0.066,2101,2486,3448,3457,3439,0,0,0,0,0,0,14.66,14.54,14.69
$GC,539,-0.62,-116.8,2101,2486,3457,3437,132.1,-18.7,74,544,0.00,2.42,0.00,0.000,260,0.000,0.081,2089,3907,3447,3457,3438,0,0,0,0,0,0,14.94,14.55,14.96
$GC,697,-0.62,-116.8,2089,3907,3456,3437,159.2,-16.0,105,702,0.15,2.28,0.00,0.000,3078,0.223,0.034,2125,2486,3447,3457,3437,0,0,0,0,0,0,14.30,14.56,14.50
$GC,883,-0.62,-116.8,2125,2485,3457,3437,183.3,-12.7,124,887,0.00,2.25,0.00,0.000,516,0.000,0.050,2125,1104,3447,3457,3437,0,0,0,0,0,0,14.96,14.64,14.99
$GC,914,-0.62,-116.8,2125,1104,3457,3438,187.6,-13.6,130,919,0.00,2.38,0.00,0.000,1030,0.000,0.066,2117,2501,3447,3457,3437,0,0,0,0,0,0,14.71,14.59,14.76
$GC,1106,-0.62,-116.8,2116,2501,3456,3437,216.1,-14.6,150,1111,0.00,2.40,0.00,0.000,260,0.000,0.087,2106,3901,3446,3456,3437,0,0,0,0,0,0,14.99,14.58,15.02
$GC,1129,-0.62,-116.8,2106,3901,3456,3437,219.3,-14.7,154,1135,0.00,2.22,0.00,0.000,1030,0.000,0.034,2106,2493,3446,3456,3437,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1322,-0.62,-116.8,2106,2492,3455,3437,244.9,-11.9,174,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2492,3445,3454,3437,0,0,0,0,0,0,15.00,15.04,15.03
$GC,1514,-0.62,-116.8,2106,2492,3452,3437,266.6,-11.3,186,1520,0.00,2.28,0.00,0.000,516,0.000,0.047,2106,1099,3444,3452,3437,0,0,0,0,0,0,15.00,14.68,15.04
$GC,1557,-0.62,-116.8,2106,1099,3451,3437,271.5,-10.6,194,1563,0.12,2.40,0.00,0.000,3078,0.213,0.060,2125,2511,3444,3451,3437,0,0,0,0,0,0,14.49,14.65,14.68
$GC,1881,-0.62,-116.8,2125,2511,3447,3437,302.2,-9.9,213,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2511,3442,3447,3437,0,0,0,0,0,0,15.03,15.06,15.06
$GC,2181,-0.62,-116.8,2125,2511,3444,3434,333.6,-11.0,228,2185,0.00,2.38,0.00,0.000,260,0.000,0.085,2116,3897,3439,3444,3434,0,0,0,0,0,0,15.04,14.59,15.07
$GC,2226,-0.62,-116.8,2116,3898,3444,3434,338.8,-11.3,237,2230,0.00,2.22,0.00,0.000,1030,0.000,0.034,2116,2493,3439,3444,3434,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2543,-0.62,-116.8,2116,2491,3442,3430,374.7,-10.9,255,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2491,3435,3441,3430,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2842,-0.62,-116.8,2116,2491,3439,3427,404.1,-9.3,270,2847,0.00,2.25,0.00,0.000,516,0.000,0.048,2116,1110,3432,3439,3426,0,0,0,0,0,0,15.04,14.67,15.07
$GC,2879,-0.62,-116.8,2116,1110,3438,3426,407.6,-9.2,277,2884,0.00,2.38,0.00,0.000,1030,0.000,0.057,2106,2501,3432,3438,3426,0,0,0,0,0,0,14.74,14.64,14.78
$GC,3184,-0.62,-116.8,2106,2501,3436,3424,439.2,-10.8,293,3188,0.00,2.40,0.00,0.000,260,0.000,0.085,2095,3896,3430,3436,3424,0,0,0,0,0,0,15.04,14.57,15.07
$GC,3216,-0.62,-116.8,2094,3896,3435,3423,442.8,-11.6,299,3220,0.12,2.22,0.00,0.000,3078,0.200,0.035,2126,2500,3429,3435,3424,0,0,0,0,0,0,14.50,14.73,14.67
$GC,3528,-0.62,-116.8,2125,2498,3434,3421,476.3,-10.8,316,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2498,3427,3434,3421,0,0,0,0,0,0,15.03,15.07,15.06
$GC,3828,-0.62,-116.8,2125,2498,3431,3420,509.2,-10.7,331,3834,0.00,2.45,0.00,0.000,260,0.000,0.088,2117,3896,3425,3431,3419,0,0,0,0,0,0,15.04,14.54,15.07
$GC,3862,-0.62,-116.8,2117,3896,3431,3420,513.0,-11.0,338,3868,0.00,2.28,0.00,0.000,1030,0.000,0.036,2117,2496,3425,3431,3419,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4167,-0.62,-116.8,2117,2494,3430,3418,544.3,-9.9,354,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2494,3423,3429,3418,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4468,-0.62,-116.8,2117,2494,3428,3416,573.3,-9.7,369,4472,0.00,2.28,0.00,0.000,516,0.000,0.050,2117,1112,3421,3428,3415,0,0,0,0,0,0,15.03,14.62,15.06
$GC,4500,-0.62,-116.8,2117,1112,3427,3415,576.4,-10.3,375,4505,0.00,2.38,0.00,0.000,1030,0.000,0.057,2107,2508,3421,3427,3415,0,0,0,0,0,0,14.72,14.61,14.76
$GC,4812,-0.62,-116.8,2106,2508,3426,3413,609.8,-10.8,392,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2508,3419,3426,3413,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5112,-0.62,-116.8,2106,2508,3425,3412,643.5,-11.3,407,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2508,3418,3424,3412,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5412,-0.62,-116.8,2106,2508,3422,3411,676.3,-10.6,422,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2508,3416,3422,3411,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5712,-0.62,-116.8,2106,2508,3421,3409,705.2,-9.0,437,5716,0.00,2.40,0.00,0.000,260,0.000,0.087,2096,3890,3415,3421,3409,0,0,0,0,0,0,15.02,14.49,15.05
$GC,5743,-0.62,-116.8,2095,3890,3421,3408,708.0,-9.3,443,5748,0.12,2.25,0.00,0.000,3078,0.197,0.037,2126,2493,3414,3421,3408,0,0,0,0,0,0,14.43,14.69,14.62
$GC,6055,-0.62,-116.8,2126,2493,3421,3408,731.2,-7.1,460,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2493,3414,3420,3408,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6355,-0.62,-116.8,2126,2493,3419,3407,753.9,-7.7,475,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2493,3413,3419,3407,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6655,-0.62,-116.8,2126,2493,3418,3406,776.8,-7.6,490,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2492,3412,3418,3406,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6955,-0.62,-116.8,2126,2492,3417,3405,799.4,-7.5,505,6959,0.00,2.30,0.00,0.000,516,0.000,0.050,2127,1109,3410,3416,3405,0,0,0,0,0,0,15.01,14.56,15.04
$GC,6990,-0.62,-116.8,2126,1109,3416,3405,802.2,-7.6,512,6994,0.00,2.42,0.00,0.000,1030,0.000,0.057,2118,2505,3410,3416,3405,0,0,0,0,0,0,14.66,14.54,14.70
$GC,7296,-0.62,-116.8,2117,2505,3415,3404,826.1,-7.9,528,7300,0.00,2.45,0.00,0.000,260,0.000,0.089,2107,3899,3409,3414,3404,0,0,0,0,0,0,15.01,14.45,15.04
$GC,7342,-0.62,-116.8,2107,3898,3414,3404,830.0,-8.4,537,7346,0.00,2.28,0.00,0.000,1030,0.000,0.037,2107,2496,3409,3414,3404,0,0,0,0,0,0,14.72,14.64,14.74
$GC,7659,-0.62,-116.8,2107,2494,3413,3402,858.3,-9.4,555,7663,0.00,2.33,0.00,0.000,516,0.000,0.051,2107,1107,3407,3413,3402,0,0,0,0,0,0,15.01,14.54,15.04
$GC,7701,-0.62,-116.8,2107,1107,3413,3402,862.4,-9.6,563,7706,0.12,2.40,0.00,0.000,3078,0.207,0.058,2126,2499,3407,3413,3402,0,0,0,0,0,0,14.35,14.53,14.55
$GC,8023,-0.62,-116.8,2126,2499,3413,3402,892.4,-9.8,582,8028,0.00,2.45,0.00,0.000,260,0.000,0.089,2117,3896,3407,3413,3401,0,0,0,0,0,0,15.00,14.42,15.02
$GC,8074,-0.62,-116.8,2117,3896,3412,3401,897.9,-10.6,592,8079,0.00,2.28,0.00,0.000,1030,0.000,0.037,2117,2498,3407,3413,3401,0,0,0,0,0,0,14.70,14.63,14.72
$GC,8386,-0.62,-116.8,2117,2496,3412,3400,931.4,-10.8,609,8391,0.00,2.30,0.00,0.000,516,0.000,0.051,2117,1108,3406,3412,3400,0,0,0,0,0,0,15.00,14.47,15.02
$GC,8408,-0.62,-116.8,2117,1109,3412,3400,933.9,-10.9,613,8416,0.00,2.40,0.00,0.000,1030,0.000,0.059,2107,2504,3406,3412,3400,0,0,0,0,0,0,14.64,14.52,14.68
$GC,8729,-0.62,-116.8,2106,2504,3412,3399,968.0,-10.3,632,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2504,3405,3412,3399,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,8968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8968,begin apogee
$GC,8975,-0.15,0.0,2107,2439,3410,3398,990.8,-9.2,644,9086,0.60,0.00,106.35,2.000,10246,0.167,0.000,2278,2438,2968,2995,2941,0,0,0,0,0,0,14.31,13.87,13.07
$STATE,9088,end apogee,CONTROL_FINISHED_OK
$STATE,9088,begin climb
$GC,9091,0.62,116.8,2278,2438,2993,2941,994.2,0.0,650,9221,0.77,2.53,115.93,1.987,10756,0.091,0.052,2544,1047,2489,2518,2460,0,0,0,0,0,0,14.14,13.96,12.96
$GC,9257,0.62,116.8,2543,1047,2514,2458,990.0,8.1,683,9262,0.00,2.47,0.00,0.000,1030,0.000,0.056,2543,2445,2486,2514,2458,0,0,0,0,0,0,14.23,14.14,14.25
$GC,9574,0.62,116.8,2543,2446,2510,2455,959.8,9.4,701,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2446,2482,2510,2455,0,0,0,0,0,0,14.79,14.83,14.82
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$STATE,19845,end climb,SURFACE_DEPTH_REACHED
$STATE,19847,begin surface coast
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19881,begin surface
$SM_CCo,19903,87.97,0.565,1,0,929,500.17
$SM_GC,1.51,7.32,2.55,87.97,0.059,0.064,0.565,121,2496,929,-6.78,-0.93,500.17,0,0,0,0,1,0,14.66,14.54,14.00
$IRIDIUM_FIX,1154.88,8657.03,051019,044454
$TT8_MAMPS,0.018725,0.65912
$HUMID,42.99
$INTERNAL_PRESSURE,9.56589
$TCM_TEMP,26.60
$XPDR_PINGS,1
$SC_FREEKB,3768960
$24V_AH,12.96,118.868
$10V_AH,13.43,0.000
$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
$DEVICE_SECS,18.900,199.150,494.200,87.975,0.000,0.000,0.000,247.900,0.250,0.000,15.089,1521.778,13975.064,677.303,3685.524,575.132,0.000,2290.731,0.000,3339.228,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,2991.846,0.000,0.000,0.000,0.000,0.000,19901.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.463,0.000,0.000,0.000
$MEM,251596
$DATA_FILE_SIZE,69892,1625
$CAP_FILE_SIZE,289064,0
$CFSIZE,260034560,158887936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.081,178.59,1
$GPS,051019,161110,1148.166,8658.022,23,1.3,24,-1.0,0.4,236.6,7,10.0