version: 66.13
glider: 171
mission: 11
dive: 169
start: 8 31 119 4 32 29
data:
$ID,171
$MISSION,11
$DIVE,169
$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,53
$R_STBD_OVSHOOT,46
$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,5
$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
$GPS1,310819,042311,1340.0763,8700.7734,17,1.6,20,-0.9,0.4,0.0,4,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.3
$GPS2,310819,043138,1340.0424,8700.7529,3,1.6,5,-0.9,0.5,155.8,6,8.3
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,339.4,11576,-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
$WARN,HPMAR logging already started
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.62,-116.8,82,2517,968,879,0.0,0.0,0,97,0.00,0.00,-72.55,0.005,16386,0.000,0.000,76,2517,2670,2669,2672,0,0,0,0,0,0,14.84,28.83,14.87
$GC,100,-0.62,-116.8,76,2517,2670,2672,5.3,-15.2,15,133,9.02,2.38,-13.38,0.011,18948,0.357,0.074,2122,1108,3448,3454,3442,0,0,0,0,0,0,14.38,13.38,14.60
$GC,213,-0.62,-116.8,2122,1109,3454,3442,46.6,-25.2,37,219,0.00,2.38,0.00,0.000,1030,0.000,0.065,2113,2480,3447,3453,3442,0,0,0,0,0,0,14.67,14.62,14.71
$GC,408,-0.62,-116.8,2113,2480,3453,3442,95.0,-22.8,57,417,0.00,2.40,0.00,0.000,260,0.000,0.084,2103,3895,3447,3453,3442,0,0,0,0,0,0,14.91,14.67,14.94
$GC,510,-0.62,-116.8,2102,3896,3454,3441,115.6,-18.1,77,516,0.00,2.22,0.00,0.000,1030,0.000,0.038,2102,2493,3448,3454,3442,0,0,0,0,0,0,14.83,14.77,14.85
$GC,704,-0.62,-116.8,2102,2491,3454,3442,147.9,-15.7,97,714,0.00,2.42,0.00,0.000,260,0.000,0.089,2091,3905,3448,3454,3442,0,0,0,0,0,0,14.96,14.66,14.99
$GC,801,-0.62,-116.8,2091,3904,3454,3442,163.7,-14.8,116,809,0.10,2.28,0.00,0.000,3078,0.206,0.036,2122,2485,3448,3454,3442,0,0,0,0,0,0,14.59,14.76,14.70
$GC,989,-0.62,-116.8,2122,2485,3454,3442,186.6,-12.1,135,995,0.00,2.42,0.00,0.000,260,0.000,0.089,2113,3897,3447,3453,3441,0,0,0,0,0,0,14.98,14.73,15.00
$GC,1023,-0.62,-116.8,2113,3897,3454,3443,190.7,-12.7,141,1029,0.00,2.17,0.00,0.000,1030,0.000,0.034,2113,2503,3448,3454,3442,0,0,0,0,0,0,14.88,14.83,14.89
$GC,1218,-0.62,-116.8,2113,2502,3453,3442,215.9,-13.2,161,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2502,3447,3453,3442,0,0,0,0,0,0,15.01,15.04,15.04
$GC,1407,-0.62,-116.8,2113,2502,3452,3442,240.6,-13.0,180,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2502,3447,3452,3442,0,0,0,0,0,0,15.02,15.05,15.05
$GC,1607,-0.62,-116.8,2113,2502,3450,3442,266.1,-12.6,194,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2502,3446,3450,3442,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1907,-0.62,-116.8,2113,2502,3446,3442,303.8,-12.3,209,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2502,3443,3445,3441,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2207,-0.62,-116.8,2111,2502,3445,3437,338.9,-11.5,224,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2502,3441,3445,3437,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2507,-0.62,-116.8,2113,2502,3443,3434,373.5,-11.7,239,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2502,3438,3443,3434,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2807,-0.62,-116.8,2113,2502,3442,3430,409.6,-12.0,254,2815,0.00,2.40,0.00,0.000,260,0.000,0.089,2103,3905,3434,3439,3430,0,0,0,0,0,0,15.07,14.79,15.10
$GC,2847,-0.62,-116.8,2102,3904,3439,3430,414.5,-12.3,262,2853,0.00,2.22,0.00,0.000,1030,0.000,0.037,2103,2496,3435,3440,3430,0,0,0,0,0,0,14.94,14.88,14.95
$GC,3172,-0.62,-116.8,2102,2494,3438,3428,453.4,-11.7,281,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3433,3438,3428,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3471,-0.62,-116.8,2102,2494,3436,3425,487.3,-11.2,296,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3430,3435,3425,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3771,-0.62,-116.8,2104,2494,3433,3423,521.6,-11.5,311,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3427,3431,3423,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4071,-0.62,-116.8,2102,2494,3431,3422,556.0,-11.5,326,4077,0.00,2.40,0.00,0.000,260,0.000,0.090,2091,3894,3426,3431,3421,0,0,0,0,0,0,15.06,14.78,15.09
$GC,4103,-0.62,-116.8,2091,3894,3431,3422,560.0,-11.8,332,4110,0.15,2.22,0.00,0.000,3078,0.207,0.037,2130,2489,3426,3431,3421,0,0,0,0,0,0,14.70,14.87,14.87
$GC,4419,-0.62,-116.8,2129,2488,3430,3420,590.3,-9.6,349,4425,0.00,2.25,0.00,0.000,516,0.000,0.049,2130,1101,3425,3430,3420,0,0,0,0,0,0,15.07,14.83,15.09
$GC,4456,-0.62,-116.8,2130,1101,3429,3420,594.1,-9.4,356,4464,0.00,2.42,0.00,0.000,1030,0.000,0.062,2121,2504,3426,3432,3420,0,0,0,0,0,0,14.78,14.73,14.82
$GC,4763,-0.62,-116.8,2120,2505,3428,3418,624.6,-10.0,372,4769,0.00,2.38,0.00,0.000,260,0.000,0.090,2111,3894,3423,3429,3418,0,0,0,0,0,0,15.06,14.76,15.09
$GC,4788,-0.62,-116.8,2110,3894,3428,3418,627.1,-10.1,376,4795,0.00,2.22,0.00,0.000,1030,0.000,0.038,2111,2493,3423,3428,3418,0,0,0,0,0,0,14.92,14.86,14.94
$GC,5113,-0.62,-116.8,2110,2491,3425,3418,661.4,-10.6,395,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3421,3425,3418,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5414,-0.62,-116.8,2110,2491,3425,3415,693.8,-10.9,410,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3420,3425,3415,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5714,-0.62,-116.8,2110,2491,3423,3413,727.1,-11.2,425,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2492,3418,3423,3413,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6013,-0.62,-116.8,2110,2491,3421,3412,760.9,-11.4,440,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3417,3422,3412,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6313,-0.62,-116.8,2110,2491,3421,3411,793.5,-10.8,455,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3416,3421,3411,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6613,-0.62,-116.8,2110,2491,3420,3410,825.1,-10.5,470,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3415,3420,3410,0,0,0,0,0,0,15.04,15.08,15.08
$GC,6914,-0.62,-116.8,2110,2491,3419,3409,856.2,-10.2,485,6919,0.00,2.28,0.00,0.000,516,0.000,0.050,2110,1101,3414,3418,3410,0,0,0,0,0,0,15.05,14.78,15.07
$GC,6938,-0.62,-116.8,2110,1101,3418,3409,858.7,-10.6,489,6944,0.00,2.38,0.00,0.000,1030,0.000,0.063,2100,2499,3413,3418,3409,0,0,0,0,0,0,14.87,14.76,14.90
$GC,7261,-0.62,-116.8,2099,2500,3417,3408,892.7,-10.3,508,7269,0.12,2.42,0.00,0.000,2308,0.224,0.090,2121,3903,3412,3417,3408,0,0,0,0,0,0,14.64,14.71,14.78
$GC,7300,-0.62,-116.8,2120,3903,3417,3408,896.5,-9.1,515,7307,0.00,2.30,0.00,0.000,1030,0.000,0.038,2120,2502,3412,3417,3408,0,0,0,0,0,0,14.76,14.73,14.79
$GC,7607,-0.62,-116.8,2120,2501,3416,3408,923.6,-8.8,531,7612,0.00,2.30,0.00,0.000,516,0.000,0.052,2121,1101,3412,3416,3408,0,0,0,0,0,0,15.04,14.78,15.07
$GC,7644,-0.62,-116.8,2120,1101,3415,3408,927.2,-9.0,538,7650,0.00,2.45,0.00,0.000,1030,0.000,0.064,2110,2502,3411,3414,3408,0,0,0,0,0,0,14.72,14.66,14.78
$GC,7951,-0.62,-116.8,2109,2502,3414,3407,955.5,-9.1,554,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2502,3410,3414,3407,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8251,-0.62,-116.8,2110,2502,3413,3406,983.5,-9.4,569,8257,0.00,2.40,0.00,0.000,260,0.000,0.094,2099,3894,3409,3413,3406,0,0,0,0,0,0,15.04,14.69,15.06
$GC,8288,-0.62,-116.8,2099,3894,3413,3406,987.4,-9.6,576,8296,0.00,2.30,0.00,0.000,1030,0.000,0.040,2099,2498,3409,3413,3406,0,0,0,0,0,0,14.75,14.71,14.77
$STATE,8332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8332,begin apogee
$GC,8338,-0.15,0.0,2099,2499,3413,3406,991.9,-10.2,579,8447,0.62,0.00,104.43,2.049,10246,0.176,0.000,2281,2498,2968,2997,2940,0,0,0,0,0,0,14.60,14.17,13.23
$STATE,8450,end apogee,CONTROL_FINISHED_OK
$STATE,8450,begin climb
$GC,8453,0.62,116.8,2282,2498,2995,2940,994.8,0.0,584,8584,0.77,2.50,112.25,2.037,10500,0.096,0.090,2538,3852,2488,2519,2457,0,0,0,0,0,0,14.23,14.03,13.14
$GC,8601,0.62,116.8,2538,3852,2516,2456,991.5,8.3,617,8608,0.00,2.38,0.00,0.000,1030,0.000,0.039,2547,2441,2485,2515,2456,0,0,0,0,0,0,14.27,14.21,14.28
$GC,8921,0.62,116.8,2549,2441,2510,2452,956.9,11.2,635,8927,0.00,2.38,0.00,0.000,516,0.000,0.054,2560,1037,2481,2510,2452,0,0,0,0,0,0,14.80,14.59,14.83
$GC,8953,0.62,116.8,2560,1037,2508,2452,953.1,11.2,641,8960,0.00,2.42,0.00,0.000,1030,0.000,0.058,2560,2452,2480,2508,2452,0,0,0,0,0,0,14.69,14.59,14.71
$GC,9268,0.62,116.8,2560,2452,2507,2451,917.1,11.3,658,9274,0.00,2.38,0.00,0.000,516,0.000,0.052,2571,1040,2479,2507,2451,0,0,0,0,0,0,14.91,14.69,14.94
$GC,9313,0.62,116.8,2571,1040,2507,2450,912.2,11.1,666,9322,0.17,2.38,0.00,0.000,5126,0.242,0.057,2531,2440,2477,2506,2448,0,0,0,0,0,0,14.52,14.69,14.73
$GC,9635,0.62,116.8,2531,2440,2506,2449,880.9,9.5,685,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2440,2477,2506,2449,0,0,0,0,0,0,14.95,14.99,14.99
$GC,9935,0.62,116.8,2531,2440,2506,2448,853.1,9.0,700,9941,0.00,2.35,0.00,0.000,516,0.000,0.054,2540,1039,2478,2508,2448,0,0,0,0,0,0,14.98,14.75,15.01
$GC,9961,0.62,116.8,2541,1037,2504,2448,850.5,9.1,705,9968,0.00,2.38,0.00,0.000,1030,0.000,0.055,2541,2444,2477,2505,2449,0,0,0,0,0,0,14.83,14.74,14.85
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$STATE,19774,end climb,SURFACE_DEPTH_REACHED
$STATE,19774,begin surface coast
$STATE,19831,end surface coast,CONTROL_FINISHED_OK
$STATE,19831,begin surface
$SM_CCo,19857,112.15,0.613,1,0,928,500.17
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$IRIDIUM_FIX,1339.83,8809.00,300819,223533
$TT8_MAMPS,0.019474,0.388731
$HUMID,41.02
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.90
$XPDR_PINGS,1
$SC_FREEKB,3834400
$PM_FREEKB_00,53164736
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.14,65.804
$10V_AH,13.56,0.000
$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
$DEVICE_SECS,18.925,188.275,449.400,112.150,0.000,0.000,0.000,275.150,0.250,0.000,18.756,1467.167,13008.899,611.776,4868.066,531.913,0.000,2471.592,0.000,4257.288,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3954.816,0.000,0.000,0.000,0.000,0.000,19837.000,0.000,19850.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.497,0.000,3.487,0.000
$MEM,251856
$DATA_FILE_SIZE,70111,1582
$CAP_FILE_SIZE,285491,0
$CFSIZE,260034560,176201728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.028,57.29,1
$GPS,310819,100701,1341.833,8700.448,29,0.7,36,-0.9,0.9,70.4,10,3.4