version: 66.13
glider: 171
mission: 11
dive: 328
start: 10 8 119 15 47 41
data:
$ID,171
$MISSION,11
$DIVE,328
$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,54
$R_STBD_OVSHOOT,53
$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
$GPS1,081019,153929,1117.0619,8658.3691,31,1.5,31,-1.1,0.1,0.0,5,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.1
$GPS2,081019,154651,1117.0549,8658.3662,2,0.5,2,-1.1,0.2,26.9,12,8.8
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,171.5,31725,-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,12,begin dive
$GC,15,-0.62,-116.8,128,2529,972,880,0.0,0.0,0,92,0.00,0.00,-72.03,0.005,16386,0.000,0.000,128,2529,2648,2647,2650,0,0,0,0,0,0,14.81,28.83,14.83
$GC,95,-0.62,-116.8,128,2529,2649,2650,4.9,-13.5,15,125,9.00,2.42,-14.55,0.009,18948,0.353,0.067,2130,1100,3446,3455,3438,0,0,0,0,0,0,14.15,13.03,14.54
$GC,178,-0.62,-116.8,2129,1100,3455,3439,34.3,-27.7,32,183,0.00,2.38,0.00,0.000,1030,0.000,0.057,2121,2482,3447,3456,3439,0,0,0,0,0,0,14.63,14.54,14.66
$GC,370,-0.62,-116.8,2121,2482,3455,3439,93.2,-27.4,56,376,0.00,2.40,0.00,0.000,260,0.000,0.075,2110,3897,3447,3455,3439,0,0,0,0,0,0,14.90,14.53,14.92
$GC,410,-0.62,-116.8,2112,3896,3455,3439,102.4,-21.3,64,415,0.00,2.22,0.00,0.000,1030,0.000,0.033,2110,2494,3447,3455,3439,0,0,0,0,0,0,14.72,14.66,14.73
$GC,603,-0.62,-116.8,2110,2493,3456,3439,136.4,-16.6,84,607,0.00,2.40,0.00,0.000,260,0.000,0.076,2100,3897,3447,3456,3439,0,0,0,0,0,0,14.93,14.56,14.95
$GC,654,-0.62,-116.8,2099,3897,3455,3439,145.0,-16.5,94,659,0.00,2.22,0.00,0.000,1030,0.000,0.032,2100,2490,3447,3455,3439,0,0,0,0,0,0,14.75,14.69,14.77
$GC,846,-0.62,-116.8,2100,2488,3455,3438,174.0,-14.0,114,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2488,3447,3456,3439,0,0,0,0,0,0,14.96,15.00,14.99
$GC,1027,-0.62,-116.8,2100,2488,3456,3439,198.6,-12.7,132,1032,0.00,2.25,0.00,0.000,516,0.000,0.046,2099,1109,3446,3455,3438,0,0,0,0,0,0,14.97,14.62,15.00
$GC,1079,-0.62,-116.8,2099,1109,3455,3439,204.8,-11.4,142,1084,0.15,2.35,0.00,0.000,3078,0.213,0.056,2126,2508,3446,3455,3438,0,0,0,0,0,0,14.45,14.63,14.64
$GC,1272,-0.62,-116.8,2125,2509,3454,3438,225.1,-11.5,162,1277,0.00,2.35,0.00,0.000,260,0.000,0.081,2117,3893,3446,3454,3438,0,0,0,0,0,0,14.99,14.59,15.02
$GC,1346,-0.62,-116.8,2116,3893,3453,3438,234.3,-12.7,176,1350,0.00,2.20,0.00,0.000,1030,0.000,0.032,2117,2498,3445,3453,3438,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1547,-0.62,-116.8,2116,2496,3451,3437,260.7,-13.2,193,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2496,3444,3451,3438,0,0,0,0,0,0,15.01,15.04,15.04
$GC,1848,-0.62,-116.8,2116,2496,3448,3437,296.2,-11.6,208,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2496,3442,3448,3437,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2148,-0.62,-116.8,2116,2496,3444,3436,329.2,-10.6,223,2154,0.00,2.42,0.00,0.000,260,0.000,0.086,2107,3897,3440,3445,3435,0,0,0,0,0,0,15.04,14.59,15.07
$GC,2189,-0.62,-116.8,2107,3897,3444,3434,333.5,-10.9,231,2193,0.00,2.22,0.00,0.000,1030,0.000,0.035,2107,2506,3439,3444,3435,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2510,-0.62,-116.8,2106,2504,3442,3431,371.5,-12.3,250,2515,0.00,2.30,0.00,0.000,516,0.000,0.050,2107,1100,3436,3442,3430,0,0,0,0,0,0,15.04,14.67,15.07
$GC,2538,-0.62,-116.8,2106,1100,3442,3431,374.9,-12.8,255,2545,0.12,2.38,0.00,0.000,3078,0.212,0.060,2126,2496,3436,3442,3430,0,0,0,0,0,0,14.47,14.61,14.66
$GC,2854,-0.62,-116.8,2125,2496,3439,3428,408.9,-10.5,273,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2497,3433,3439,3428,0,0,0,0,0,0,15.04,15.07,15.06
$GC,3153,-0.62,-116.8,2125,2496,3437,3424,439.1,-9.8,288,3159,0.00,2.42,0.00,0.000,260,0.000,0.090,2117,3894,3430,3437,3424,0,0,0,0,0,0,15.04,14.55,15.07
$GC,3182,-0.62,-116.8,2116,3894,3436,3424,442.1,-10.2,294,3187,0.00,2.28,0.00,0.000,1030,0.000,0.044,2116,2495,3430,3437,3424,0,0,0,0,0,0,14.78,14.71,14.81
$GC,3495,-0.62,-116.8,2116,2494,3434,3422,472.5,-9.4,311,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2494,3428,3434,3422,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3794,-0.62,-116.8,2116,2494,3432,3421,501.4,-9.9,326,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2494,3426,3432,3421,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4094,-0.62,-116.8,2116,2493,3430,3419,530.9,-9.7,341,4098,0.00,2.33,0.00,0.000,516,0.000,0.053,2117,1098,3424,3430,3419,0,0,0,0,0,0,15.04,14.62,15.06
$GC,4120,-0.62,-116.8,2116,1097,3430,3419,533.5,-9.8,346,4126,0.00,2.40,0.00,0.000,1030,0.000,0.061,2106,2504,3424,3430,3419,0,0,0,0,0,0,14.71,14.60,14.75
$GC,4439,-0.62,-116.8,2106,2504,3429,3417,564.6,-9.8,364,4443,0.00,2.40,0.00,0.000,260,0.000,0.086,2095,3891,3423,3429,3417,0,0,0,0,0,0,15.02,14.52,15.05
$GC,4461,-0.62,-116.8,2095,3891,3428,3417,566.9,-9.8,368,4466,0.12,2.28,0.00,0.000,3078,0.203,0.038,2126,2492,3422,3428,3416,0,0,0,0,0,0,14.45,14.69,14.63
$GC,4785,-0.62,-116.8,2126,2490,3427,3414,596.2,-9.3,387,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2490,3420,3427,3414,0,0,0,0,0,0,15.02,15.06,15.04
$GC,5083,-0.62,-116.8,2127,2490,3426,3413,624.8,-9.6,402,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3419,3426,3413,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5384,-0.62,-116.8,2125,2490,3423,3411,653.4,-9.5,417,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3417,3424,3411,0,0,0,0,0,0,15.03,15.05,15.04
$GC,5684,-0.62,-116.8,2126,2490,3422,3410,682.5,-9.7,432,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3416,3422,3410,0,0,0,0,0,0,15.02,15.06,15.04
$GC,5984,-0.62,-116.8,2126,2490,3422,3409,710.6,-9.1,447,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3414,3421,3408,0,0,0,0,0,0,15.02,15.05,15.05
$GC,6284,-0.62,-116.8,2126,2490,3421,3407,737.1,-8.7,462,6289,0.00,2.33,0.00,0.000,516,0.000,0.052,2126,1096,3414,3420,3408,0,0,0,0,0,0,15.02,14.57,15.04
$GC,6306,-0.62,-116.8,2126,1096,3420,3407,739.0,-9.1,466,6311,0.00,2.42,0.00,0.000,1030,0.000,0.062,2117,2502,3413,3420,3407,0,0,0,0,0,0,14.67,14.54,14.71
$GC,6628,-0.62,-116.8,2117,2502,3419,3406,767.4,-8.7,485,6635,0.00,2.42,0.00,0.000,260,0.000,0.089,2107,3890,3412,3418,3406,0,0,0,0,0,0,15.01,14.45,15.04
$GC,6662,-0.62,-116.8,2106,3890,3418,3406,770.6,-9.4,492,6667,0.00,2.30,0.00,0.000,1030,0.000,0.038,2107,2497,3412,3419,3406,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6968,-0.62,-116.8,2106,2496,3417,3406,799.6,-9.6,508,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2496,3411,3417,3406,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7269,-0.62,-116.8,2106,2495,3416,3405,828.6,-9.6,523,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2496,3411,3416,3406,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7568,-0.62,-116.8,2106,2495,3415,3403,856.7,-9.3,538,7573,0.00,2.33,0.00,0.000,516,0.000,0.052,2107,1108,3409,3416,3402,0,0,0,0,0,0,15.01,14.53,15.03
$GC,7590,-0.62,-116.8,2106,1107,3415,3403,858.8,-9.8,542,7597,0.12,2.42,0.00,0.000,3078,0.206,0.068,2126,2497,3408,3415,3402,0,0,0,0,0,0,14.35,14.47,14.54
$GC,7914,-0.62,-116.8,2125,2496,3414,3402,885.2,-8.0,561,7922,0.00,2.47,0.00,0.000,260,0.000,0.090,2117,3897,3408,3414,3402,0,0,0,0,0,0,15.00,14.41,15.02
$GC,7944,-0.62,-116.8,2116,3897,3414,3402,887.6,-9.2,567,7948,0.00,2.28,0.00,0.000,1030,0.000,0.038,2117,2501,3407,3413,3402,0,0,0,0,0,0,14.69,14.62,14.71
$GC,8255,-0.62,-116.8,2116,2500,3413,3401,913.3,-8.0,584,8259,0.00,2.33,0.00,0.000,516,0.000,0.051,2116,1106,3407,3413,3401,0,0,0,0,0,0,15.00,14.52,15.02
$GC,8292,-0.62,-116.8,2117,1106,3413,3401,916.3,-8.1,591,8297,0.00,2.45,0.00,0.000,1030,0.000,0.061,2106,2501,3407,3413,3401,0,0,0,0,0,0,14.62,14.50,14.66
$GC,8597,-0.62,-116.8,2106,2501,3413,3401,941.4,-8.2,607,8602,0.00,2.47,0.00,0.000,260,0.000,0.090,2095,3895,3407,3413,3401,0,0,0,0,0,0,15.00,14.39,15.02
$GC,8629,-0.62,-116.8,2095,3896,3412,3401,944.2,-9.0,613,8634,0.12,2.28,0.00,0.000,3078,0.200,0.038,2126,2498,3406,3412,3401,0,0,0,0,0,0,14.35,14.61,14.53
$GC,8941,-0.62,-116.8,2126,2497,3412,3399,966.5,-7.1,630,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2497,3405,3412,3399,0,0,0,0,0,0,14.99,15.02,15.02
$GC,9241,-0.62,-116.8,2126,2497,3411,3399,988.9,-7.7,645,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2497,3404,3411,3398,0,0,0,0,0,0,14.99,15.02,15.02
$STATE,9258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9258,begin apogee
$GC,9264,-0.15,0.0,2126,2497,3411,3398,990.4,-7.7,646,9375,0.52,0.00,105.97,2.013,10246,0.161,0.000,2280,2497,2968,2995,2941,0,0,0,0,0,0,14.32,14.10,13.09
$STATE,9376,end apogee,CONTROL_FINISHED_OK
$STATE,9376,begin climb
$GC,9380,0.62,116.8,2280,2497,2993,2941,993.5,0.0,651,9504,0.77,2.53,115.78,2.000,10500,0.089,0.092,2538,3851,2490,2519,2461,0,0,0,0,0,0,14.14,13.94,12.97
$GC,9568,0.62,116.8,2538,3851,2510,2460,988.3,9.5,692,9573,0.00,2.38,0.00,0.000,1030,0.000,0.037,2549,2437,2485,2510,2460,0,0,0,0,0,0,14.31,14.24,14.32
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$STATE,21122,end climb,SURFACE_DEPTH_REACHED
$STATE,21123,begin surface coast
$STATE,21143,end surface coast,CONTROL_FINISHED_OK
$STATE,21143,begin surface
$SM_CCo,21165,122.15,0.625,1,0,928,500.17
$SM_GC,1.47,7.32,2.55,122.15,0.054,0.063,0.625,128,2498,928,-6.78,-0.90,500.17,0,0,0,0,1,0,14.62,14.52,13.92
$IRIDIUM_FIX,1117.43,8657.38,081019,094254
$TT8_MAMPS,0.018725,0.594706
$HUMID,42.91
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,26.00
$XPDR_PINGS,1
$SC_FREEKB,3763136
$24V_AH,12.97,123.382
$10V_AH,13.40,0.000
$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,18.875,203.900,453.550,122.150,0.000,0.000,0.000,240.150,0.250,0.000,13.874,1601.704,14938.137,692.859,3871.506,621.820,0.000,2365.285,0.000,3528.827,0.000,0.541,0.000
$DEVICE_MAMPS,352.665,91.800,2012.715,625.005,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3129.932,0.000,0.000,0.000,0.000,0.000,21163.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.468,0.000,0.000,0.000
$MEM,251600
$DATA_FILE_SIZE,76643,1727
$CAP_FILE_SIZE,302649,0
$CFSIZE,260034560,157364224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.059,182.99,1
$GPS,081019,214338,1114.678,8658.518,20,1.0,20,-1.1,0.3,148.8,7,9.3