version: 66.13
glider: 171
mission: 11
dive: 327
start: 10 8 119 9 47 44
data:
$ID,171
$MISSION,11
$DIVE,327
$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,57
$R_STBD_OVSHOOT,55
$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
$GPS1,081019,093930,1119.5785,8658.0967,35,0.7,35,-1.1,0.4,182.9,11,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.6
$GPS2,081019,094653,1119.5580,8658.0869,2,0.6,3,-1.1,0.1,0.0,12,7.6
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,167.3,36388,-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,16,-0.62,-116.8,126,2533,968,885,0.0,0.0,0,86,0.00,0.00,-67.53,0.005,16386,0.000,0.000,125,2534,2532,2535,2529,0,0,0,0,0,0,14.80,28.83,14.83
$GC,91,-0.62,-116.8,125,2534,2536,2529,4.4,-10.7,14,128,9.15,2.40,-17.23,0.008,19204,0.359,0.062,2132,1099,3446,3456,3437,0,0,0,0,0,0,14.12,13.57,14.50
$GC,241,-0.62,-116.8,2132,1099,3457,3437,50.3,-24.4,44,245,0.00,2.33,0.00,0.000,1030,0.000,0.057,2123,2469,3446,3456,3437,0,0,0,0,0,0,14.63,14.51,14.66
$GC,433,-0.62,-116.8,2123,2469,3456,3437,105.7,-26.9,64,441,0.00,2.45,0.00,0.000,260,0.000,0.080,2112,3905,3446,3456,3437,0,0,0,0,0,0,14.90,14.53,14.92
$GC,504,-0.62,-116.8,2111,3904,3456,3437,119.9,-18.7,78,508,0.00,2.22,0.00,0.000,1030,0.000,0.034,2112,2507,3446,3456,3437,0,0,0,0,0,0,14.72,14.66,14.74
$GC,696,-0.62,-116.8,2112,2506,3456,3437,148.2,-12.4,98,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2506,3446,3456,3437,0,0,0,0,0,0,14.95,14.98,14.98
$GC,875,-0.62,-116.8,2112,2506,3457,3437,174.1,-15.0,116,879,0.00,2.30,0.00,0.000,516,0.000,0.048,2111,1095,3447,3457,3437,0,0,0,0,0,0,14.97,14.63,14.99
$GC,907,-0.62,-116.8,2112,1094,3457,3437,178.7,-15.0,122,911,0.00,2.38,0.00,0.000,1030,0.000,0.057,2101,2500,3447,3457,3437,0,0,0,0,0,0,14.57,14.46,14.61
$GC,1099,-0.62,-116.8,2101,2500,3457,3437,204.3,-12.3,142,1103,0.00,2.38,0.00,0.000,260,0.000,0.083,2090,3897,3447,3457,3437,0,0,0,0,0,0,14.98,14.57,15.01
$GC,1124,-0.62,-116.8,2089,3897,3456,3437,207.6,-12.5,147,1129,0.15,2.28,0.00,0.000,3078,0.216,0.036,2127,2497,3446,3456,3437,0,0,0,0,0,0,14.44,14.70,14.64
$GC,1310,-0.62,-116.8,2127,2496,3455,3437,227.6,-10.4,166,1317,0.00,2.45,0.00,0.000,260,0.000,0.091,2118,3897,3446,3455,3437,0,0,0,0,0,0,15.00,14.54,15.02
$GC,1360,-0.62,-116.8,2118,3897,3454,3437,233.4,-11.6,176,1364,0.00,2.28,0.00,0.000,1030,0.000,0.045,2118,2507,3445,3454,3437,0,0,0,0,0,0,14.76,14.66,14.78
$GC,1552,-0.62,-116.8,2118,2506,3452,3437,255.5,-12.0,194,1556,0.00,2.33,0.00,0.000,516,0.000,0.050,2118,1085,3444,3452,3437,0,0,0,0,0,0,15.02,14.66,15.04
$GC,1588,-0.62,-116.8,2118,1084,3451,3437,260.0,-12.3,201,1594,0.00,2.45,0.00,0.000,1030,0.000,0.058,2108,2513,3444,3451,3437,0,0,0,0,0,0,14.73,14.63,14.77
$GC,1893,-0.62,-116.8,2107,2514,3447,3437,296.1,-11.1,217,1899,0.00,2.40,0.00,0.000,516,0.000,0.060,2108,1091,3442,3447,3437,0,0,0,0,0,0,15.02,14.64,15.05
$GC,1921,-0.62,-116.8,2107,1090,3447,3436,299.1,-10.8,222,1928,0.12,2.40,0.00,0.000,3078,0.213,0.058,2126,2508,3442,3447,3437,0,0,0,0,0,0,14.47,14.64,14.66
$GC,2236,-0.62,-116.8,2126,2509,3444,3434,329.6,-10.1,240,2240,0.00,2.38,0.00,0.000,260,0.000,0.083,2117,3894,3439,3444,3434,0,0,0,0,0,0,15.03,14.58,15.06
$GC,2282,-0.62,-116.8,2117,3894,3444,3434,334.3,-10.1,249,2287,0.00,2.25,0.00,0.000,1030,0.000,0.034,2117,2483,3438,3443,3434,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2600,-0.62,-116.8,2117,2481,3441,3430,366.8,-9.9,267,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2481,3435,3442,3429,0,0,0,0,0,0,15.03,15.07,15.06
$GC,2900,-0.62,-116.8,2117,2481,3439,3425,394.7,-9.2,282,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2481,3431,3439,3424,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3199,-0.62,-116.8,2117,2481,3437,3424,425.1,-10.7,297,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2481,3430,3437,3423,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3499,-0.62,-116.8,2117,2481,3434,3422,456.8,-10.6,312,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2481,3427,3434,3421,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3800,-0.62,-116.8,2117,2481,3432,3420,487.3,-10.0,327,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2481,3426,3432,3420,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4101,-0.62,-116.8,2117,2481,3431,3419,517.9,-10.4,342,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2481,3425,3431,3419,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4399,-0.62,-116.8,2117,2481,3429,3416,549.4,-10.5,357,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2481,3422,3429,3416,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4700,-0.62,-116.8,2117,2481,3427,3414,580.4,-10.4,372,4704,0.00,2.30,0.00,0.000,516,0.000,0.052,2118,1097,3420,3427,3414,0,0,0,0,0,0,15.03,14.60,15.05
$GC,4742,-0.62,-116.8,2117,1097,3427,3414,584.8,-10.3,380,4749,0.00,2.40,0.00,0.000,1030,0.000,0.060,2107,2500,3420,3427,3414,0,0,0,0,0,0,14.69,14.58,14.73
$GC,5062,-0.62,-116.8,2107,2499,3426,3412,617.9,-10.0,399,5068,0.00,2.42,0.00,0.000,260,0.000,0.086,2096,3894,3418,3426,3410,0,0,0,0,0,0,15.02,14.50,15.05
$GC,5111,-0.62,-116.8,2095,3894,3425,3412,623.0,-10.2,409,5116,0.12,2.28,0.00,0.000,3078,0.203,0.037,2126,2491,3418,3425,3412,0,0,0,0,0,0,14.42,14.67,14.60
$GC,5425,-0.62,-116.8,2126,2490,3423,3411,649.1,-8.2,426,5429,0.00,2.30,0.00,0.000,516,0.000,0.052,2127,1104,3417,3423,3411,0,0,0,0,0,0,15.02,14.59,15.05
$GC,5460,-0.62,-116.8,2126,1105,3423,3411,652.2,-8.1,433,5466,0.00,2.42,0.00,0.000,1030,0.000,0.058,2118,2499,3416,3422,3411,0,0,0,0,0,0,14.68,14.56,14.71
$GC,5766,-0.62,-116.8,2118,2499,3421,3409,678.5,-8.6,449,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2500,3415,3422,3409,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6066,-0.62,-116.8,2117,2499,3421,3408,703.5,-8.2,464,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2499,3414,3421,3408,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6366,-0.62,-116.8,2117,2499,3420,3407,728.4,-8.5,479,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2499,3413,3420,3406,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6666,-0.62,-116.8,2117,2499,3418,3406,754.7,-8.9,494,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2499,3412,3418,3406,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6966,-0.62,-116.8,2117,2499,3418,3405,781.7,-9.2,509,6971,0.00,2.45,0.00,0.000,260,0.000,0.087,2108,3891,3411,3418,3405,0,0,0,0,0,0,15.01,14.44,15.04
$GC,7002,-0.62,-116.8,2107,3891,3417,3405,785.3,-9.8,516,7007,0.00,2.30,0.00,0.000,1030,0.000,0.037,2107,2498,3411,3417,3405,0,0,0,0,0,0,14.68,14.59,14.71
$GC,7308,-0.62,-116.8,2107,2497,3417,3404,816.3,-10.3,532,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3410,3417,3404,0,0,0,0,0,0,15.00,15.04,15.03
$GC,7608,-0.62,-116.8,2107,2497,3415,3403,846.7,-10.0,547,7612,0.00,2.33,0.00,0.000,516,0.000,0.053,2107,1106,3409,3415,3403,0,0,0,0,0,0,15.00,14.53,15.04
$GC,7645,-0.62,-116.8,2107,1106,3414,3403,850.4,-9.9,554,7650,0.12,2.45,0.00,0.000,3078,0.212,0.059,2126,2505,3408,3414,3403,0,0,0,0,0,0,14.35,14.51,14.54
$GC,7951,-0.62,-116.8,2126,2505,3413,3402,875.4,-7.8,570,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2505,3408,3414,3402,0,0,0,0,0,0,15.00,15.03,15.03
$GC,8250,-0.62,-116.8,2126,2505,3413,3401,897.9,-7.3,585,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2505,3407,3413,3401,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8550,-0.62,-116.8,2126,2505,3413,3401,920.3,-7.6,600,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2505,3406,3413,3400,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8850,-0.62,-116.8,2126,2505,3412,3400,943.8,-7.9,615,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2505,3406,3412,3400,0,0,0,0,0,0,14.99,15.02,15.02
$GC,9151,-0.62,-116.8,2126,2505,3412,3398,967.3,-7.9,630,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2505,3405,3412,3398,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,9447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9447,begin apogee
$GC,9454,-0.15,0.0,2126,2430,3411,3398,991.1,-8.0,645,9568,0.52,0.00,107.25,2.022,10246,0.159,0.000,2279,2429,2967,2994,2941,0,0,0,0,0,0,14.29,14.07,12.93
$STATE,9569,end apogee,CONTROL_FINISHED_OK
$STATE,9569,begin climb
$GC,9572,0.62,116.8,2279,2429,2993,2941,994.9,0.0,651,9703,0.77,2.67,115.97,2.011,10500,0.090,0.083,2535,3848,2489,2516,2462,0,0,0,0,0,0,14.12,13.94,12.91
$GC,9755,0.62,116.8,2535,3849,2510,2462,989.7,9.6,684,9760,0.00,2.35,0.00,0.000,1030,0.000,0.037,2547,2451,2486,2510,2462,0,0,0,0,0,0,14.28,14.22,14.30
$GC,10077,0.62,116.8,2547,2450,2507,2456,959.7,9.1,703,10081,0.00,2.40,0.00,0.000,516,0.000,0.055,2557,1042,2482,2507,2457,0,0,0,0,0,0,14.80,14.49,14.83
$GC,10138,0.62,116.8,2557,1042,2505,2456,954.2,9.0,715,10145,0.00,2.42,0.00,0.000,1030,0.000,0.059,2558,2443,2480,2505,2456,0,0,0,0,0,0,14.59,14.50,14.63
$GC,10459,0.62,116.8,2557,2443,2505,2455,924.6,8.9,734,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2443,2480,2505,2455,0,0,0,0,0,0,14.90,14.93,14.92
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$STATE,20887,end climb,SURFACE_DEPTH_REACHED
$STATE,20887,begin surface coast
$STATE,20918,end surface coast,CONTROL_FINISHED_OK
$STATE,20918,begin surface
$SM_CCo,20937,88.32,0.574,1,0,928,500.17
$SM_GC,1.53,7.30,0.10,88.32,0.059,0.148,0.574,128,2528,928,-6.78,-0.82,500.17,0,0,0,0,1,0,14.62,14.60,13.98
$IRIDIUM_FIX,1121.69,8657.38,081019,034034
$TT8_MAMPS,0.018725,0.159537
$HUMID,43.81
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,26.10
$XPDR_PINGS,1
$SC_FREEKB,3763584
$24V_AH,12.91,123.039
$10V_AH,12.94,0.000
$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,19.325,186.325,493.250,88.325,0.000,0.000,0.000,238.825,0.250,0.000,14.826,1545.578,14840.199,697.924,3770.098,610.030,0.000,2323.258,0.000,3442.487,0.000,0.542,0.000
$DEVICE_MAMPS,358.785,151.470,2021.895,573.750,0.000,0.000,0.000,191.250,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3125.917,0.000,0.000,0.000,0.000,0.000,20929.000,0.000,0.000,0.000
$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,73285,1665
$CAP_FILE_SIZE,295018,0
$CFSIZE,260034560,157487104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.068,184.64,1
$GPS,081019,153929,1117.062,8658.369,31,1.5,31,-1.1,0.1,0.0,5,4.5