version: 66.13
glider: 171
mission: 11
dive: 393
start: 10 25 119 2 27 51
data:
$ID,171
$MISSION,11
$DIVE,393
$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,410
$T_MISSION,460
$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,100
$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,56
$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,0
$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
$GPS1,251019,022139,932.1028,8656.7725,25,1.3,25,-1.2,0.2,0.0,7,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.5
$GPS2,251019,022659,932.1113,8656.7305,2,0.8,2,-1.2,0.2,0.0,12,8.6
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,197.7,233242,-18.5,-8.049,-29.14,1821
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.64,-97.3,117,2511,968,886,0.0,0.0,0,83,0.00,0.00,-71.97,0.005,16386,0.000,0.000,117,2512,2664,2663,2665,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.64,-97.3,116,2512,2664,2666,5.5,-14.9,15,115,9.10,2.33,-12.95,0.010,18948,0.353,0.064,2126,1107,3367,3379,3355,0,0,0,0,0,0,14.07,13.52,14.48
$GC,189,-0.64,-97.3,2126,1107,3380,3355,41.6,-33.3,35,193,0.00,2.35,0.00,0.000,1030,0.000,0.060,2117,2484,3367,3380,3355,0,0,0,0,0,0,14.62,14.50,14.66
$GC,380,-0.64,-97.3,2117,2485,3380,3355,83.0,-14.7,57,384,0.00,2.28,0.00,0.000,516,0.000,0.048,2117,1100,3367,3380,3355,0,0,0,0,0,0,14.99,14.61,15.02
$GC,406,-0.64,-97.3,2117,1100,3380,3355,86.3,-13.9,62,411,0.00,2.38,0.00,0.000,1030,0.000,0.057,2107,2500,3367,3380,3355,0,0,0,0,0,0,14.67,14.55,14.71
$GC,590,-0.64,-97.3,2106,2501,3380,3355,109.9,-12.3,81,594,0.00,2.38,0.00,0.000,260,0.000,0.083,2096,3897,3367,3380,3355,0,0,0,0,0,0,15.03,14.55,15.06
$GC,641,-0.64,-97.3,2096,3897,3380,3355,117.6,-15.1,91,646,0.00,2.20,0.00,0.000,1030,0.000,0.031,2096,2484,3367,3380,3355,0,0,0,0,0,0,14.78,14.73,14.80
$GC,834,-0.64,-97.3,2095,2484,3381,3355,145.1,-14.6,111,838,0.00,2.20,0.00,0.000,516,0.000,0.044,2096,1114,3367,3380,3355,0,0,0,0,0,0,15.05,14.68,15.08
$GC,875,-0.64,-97.3,2095,1114,3380,3355,151.4,-15.0,119,882,0.15,2.33,0.00,0.000,3078,0.222,0.056,2121,2503,3368,3381,3355,0,0,0,0,0,0,14.42,14.62,14.64
$GC,1068,-0.64,-97.3,2120,2503,3381,3355,175.0,-12.3,139,1072,0.00,2.38,0.00,0.000,260,0.000,0.081,2112,3894,3368,3381,3355,0,0,0,0,0,0,15.06,14.59,15.08
$GC,1114,-0.64,-97.3,2111,3894,3381,3355,181.2,-12.4,148,1118,0.00,2.17,0.00,0.000,1030,0.000,0.032,2112,2511,3367,3380,3355,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1299,-0.64,-97.3,2111,2511,3379,3355,204.3,-12.5,167,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2511,3367,3380,3355,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1479,-0.64,-97.3,2111,2511,3378,3355,226.0,-11.5,185,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2510,3366,3378,3355,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1659,-0.64,-97.3,2111,2511,3376,3355,245.1,-10.4,203,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2511,3365,3376,3355,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1849,-0.64,-97.3,2111,2510,3374,3355,265.2,-10.7,215,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2511,3364,3374,3355,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2149,-0.64,-97.3,2111,2511,3372,3352,297.8,-11.1,230,2154,0.00,2.28,0.00,0.000,516,0.000,0.047,2112,1110,3361,3372,3351,0,0,0,0,0,0,15.12,14.69,15.15
$GC,2206,-0.64,-97.3,2112,1110,3371,3351,304.4,-11.1,241,2210,0.00,2.35,0.00,0.000,1030,0.000,0.056,2101,2504,3361,3371,3351,0,0,0,0,0,0,14.77,14.66,14.80
$GC,2512,-0.64,-97.3,2101,2504,3370,3348,342.1,-12.3,257,2516,0.00,2.38,0.00,0.000,260,0.000,0.083,2090,3894,3359,3370,3349,0,0,0,0,0,0,15.12,14.59,15.15
$GC,2563,-0.64,-97.3,2089,3895,3368,3348,348.7,-12.8,267,2568,0.12,2.22,0.00,0.000,3078,0.213,0.034,2120,2487,3358,3368,3348,0,0,0,0,0,0,14.50,14.76,14.68
$GC,2876,-0.64,-97.3,2120,2486,3367,3346,380.7,-9.7,284,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2486,3356,3367,3346,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3176,-0.64,-97.3,2120,2486,3366,3343,407.5,-8.5,299,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2486,3354,3365,3343,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3474,-0.64,-97.3,2120,2486,3363,3341,431.8,-8.2,314,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2486,3351,3363,3340,0,0,0,0,0,0,15.14,15.17,15.16
$GC,3774,-0.64,-97.3,2120,2486,3362,3339,458.6,-9.2,329,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2486,3350,3362,3339,0,0,0,0,0,0,15.14,15.17,15.17
$GC,4075,-0.64,-97.3,2120,2486,3360,3337,487.6,-9.8,344,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2486,3349,3360,3338,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4375,-0.64,-97.3,2120,2486,3358,3336,516.7,-9.4,359,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2486,3347,3358,3336,0,0,0,0,0,0,15.14,15.17,15.16
$GC,4675,-0.64,-97.3,2120,2486,3356,3334,544.5,-9.3,374,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2486,3345,3356,3334,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4974,-0.64,-97.3,2120,2486,3355,3333,572.2,-9.1,389,4979,0.00,2.47,0.00,0.000,260,0.000,0.087,2112,3899,3343,3355,3332,0,0,0,0,0,0,15.14,14.51,15.16
$GC,5015,-0.64,-97.3,2111,3898,3355,3332,576.1,-9.6,397,5019,0.00,2.25,0.00,0.000,1030,0.000,0.035,2112,2494,3344,3355,3333,0,0,0,0,0,0,14.78,14.71,14.81
$GC,5332,-0.64,-97.3,2112,2493,3354,3331,605.4,-9.2,415,5336,0.00,2.30,0.00,0.000,516,0.000,0.051,2112,1107,3342,3353,3331,0,0,0,0,0,0,15.12,14.60,15.15
$GC,5363,-0.64,-97.3,2111,1107,3353,3331,608.4,-9.5,421,5367,0.00,2.40,0.00,0.000,1030,0.000,0.062,2101,2504,3341,3352,3331,0,0,0,0,0,0,14.69,14.58,14.73
$GC,5668,-0.64,-97.3,2101,2504,3352,3330,637.2,-9.3,437,5672,0.00,2.42,0.00,0.000,260,0.000,0.086,2090,3899,3341,3352,3330,0,0,0,0,0,0,15.13,14.48,15.15
$GC,5705,-0.64,-97.3,2089,3899,3352,3330,640.6,-9.8,444,5710,0.12,2.28,0.00,0.000,3078,0.211,0.037,2121,2495,3341,3352,3330,0,0,0,0,0,0,14.40,14.68,14.59
$GC,6009,-0.64,-97.3,2120,2494,3350,3329,665.2,-8.0,460,6013,0.00,2.30,0.00,0.000,516,0.000,0.051,2121,1107,3339,3351,3328,0,0,0,0,0,0,15.13,14.59,15.16
$GC,6034,-0.64,-97.3,2120,1107,3350,3328,667.3,-8.3,465,6039,0.00,2.40,0.00,0.000,1030,0.000,0.062,2111,2502,3339,3350,3328,0,0,0,0,0,0,14.67,14.55,14.71
$GC,6346,-0.64,-97.3,2111,2502,3350,3327,694.0,-8.6,482,6351,0.00,2.45,0.00,0.000,260,0.000,0.087,2101,3896,3338,3350,3327,0,0,0,0,0,0,15.11,14.46,15.14
$GC,6373,-0.64,-97.3,2101,3896,3350,3327,696.5,-9.4,487,6378,0.00,2.28,0.00,0.000,1030,0.000,0.037,2101,2494,3338,3349,3327,0,0,0,0,0,0,14.73,14.66,14.76
$GC,6690,-0.64,-97.3,2100,2493,3348,3326,725.6,-9.2,505,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3337,3348,3326,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6989,-0.64,-97.3,2100,2492,3347,3325,753.5,-9.2,520,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3336,3348,3325,0,0,0,0,0,0,15.12,15.15,15.15
$GC,7290,-0.64,-97.3,2100,2492,3347,3324,781.1,-9.3,535,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3335,3347,3324,0,0,0,0,0,0,15.12,15.15,15.14
$GC,7590,-0.64,-97.3,2100,2492,3346,3323,809.4,-9.5,550,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3334,3346,3323,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7889,-0.64,-97.3,2100,2492,3344,3322,837.9,-9.3,565,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2492,3333,3345,3322,0,0,0,0,0,0,15.12,15.15,15.15
$GC,8189,-0.64,-97.3,2100,2492,3343,3321,864.2,-8.4,580,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3332,3343,3321,0,0,0,0,0,0,15.12,15.15,15.14
$GC,8491,-0.64,-97.3,2100,2492,3343,3321,887.7,-7.7,595,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3332,3343,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8789,-0.64,-97.3,2100,2492,3343,3320,910.3,-7.5,610,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3331,3343,3320,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9089,-0.64,-97.3,2100,2492,3342,3320,934.1,-8.3,625,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2492,3331,3342,3320,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9390,-0.64,-97.3,2101,2490,3342,3318,960.9,-9.3,640,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2492,3330,3342,3319,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,9687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9687,begin apogee
$GC,9693,-0.15,0.0,2101,2492,3341,3317,990.3,-10.1,655,9788,0.62,0.00,89.93,2.001,10246,0.170,0.000,2279,2492,2968,2998,2938,0,0,0,0,0,0,14.18,13.81,12.86
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9792,0.64,97.3,2279,2491,2996,2938,994.3,0.0,660,9898,0.80,0.00,100.85,1.997,10246,0.093,0.000,2543,2492,2570,2600,2541,0,0,0,0,0,0,14.19,13.93,12.86
$GC,10191,0.68,97.3,2543,2491,2590,2536,979.6,6.1,680,10196,0.00,2.47,0.00,0.000,580,0.000,0.053,2555,1045,2563,2590,2536,0,0,0,0,0,0,14.81,14.48,14.84
$GC,10259,0.72,97.3,2554,1045,2587,2535,975.4,6.1,693,10266,0.00,2.42,0.00,0.000,1094,0.000,0.060,2555,2444,2561,2587,2535,0,0,0,0,0,0,14.59,14.50,14.63
$GC,10573,0.75,97.3,2555,2445,2587,2534,954.8,6.7,711,10576,0.00,0.00,0.00,0.000,70,0.000,0.000,2555,2445,2560,2587,2534,0,0,0,0,0,0,14.96,15.00,14.99
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$STATE,21614,end climb,SURFACE_DEPTH_REACHED
$STATE,21614,begin surface coast
$STATE,21634,end surface coast,CONTROL_FINISHED_OK
$STATE,21634,begin surface
$SM_CCo,21656,88.80,0.582,1,0,928,500.17
$SM_GC,1.26,7.43,2.55,88.80,0.049,0.061,0.582,124,2488,928,-6.77,-1.10,500.17,0,0,0,0,1,0,14.58,14.46,13.85
$IRIDIUM_FIX,933.59,8700.61,241019,205311
$TT8_MAMPS,0.019474,0.15729
$HUMID,46.02
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,12.86,142.680
$10V_AH,12.81,0.000
$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
$DEVICE_SECS,19.275,184.375,477.750,88.800,0.000,0.000,0.000,194.800,0.000,0.000,13.731,1596.988,16679.553,711.079,2650.779,434.338,0.000,2279.998,0.000,2438.406,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,932.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251224
$DATA_FILE_SIZE,73352,1715
$CAP_FILE_SIZE,195343,0
$CFSIZE,260034560,151420928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.073,259.69,1
$GPS,251019,083130,930.339,8655.290,29,0.8,29,-1.2,0.9,250.3,9,6.8