version: 66.13
glider: 171
mission: 11
dive: 229
start: 9 14 119 14 42 5
data:
$ID,171
$MISSION,11
$DIVE,229
$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,0.0019952599
$HD_B,0.0163117
$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,64
$R_STBD_OVSHOOT,48
$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
$GPS1,140919,143239,1308.1208,8700.5264,14,1.2,14,-0.9,0.2,0.0,5,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.6
$GPS2,140919,144118,1308.0685,8700.6143,3,1.3,4,-0.9,0.8,159.9,5,9.7
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,343.5,70721,-17.3,-8.462,-25.76,2103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.62,-116.8,103,2524,968,884,0.0,0.0,0,102,0.00,0.00,-77.32,0.005,16386,0.000,0.000,100,2524,2785,2782,2789,0,0,0,0,0,0,14.81,28.83,14.85
$GC,105,-0.62,-116.8,100,2524,2783,2790,5.1,-13.4,16,137,9.02,2.33,-11.50,0.013,18948,0.356,0.062,2120,1099,3447,3453,3441,0,0,0,0,0,0,14.26,13.78,14.48
$GC,216,-0.62,-116.8,2120,1099,3453,3442,42.7,-28.2,38,223,0.00,2.38,0.00,0.000,1030,0.000,0.057,2111,2474,3447,3453,3442,0,0,0,0,0,0,14.57,14.52,14.61
$GC,412,-0.62,-116.8,2111,2473,3453,3441,98.6,-24.0,59,421,0.00,2.42,0.00,0.000,260,0.000,0.084,2101,3897,3446,3452,3441,0,0,0,0,0,0,14.90,14.59,14.92
$GC,443,-0.62,-116.8,2100,3897,3453,3441,105.9,-22.7,65,449,0.00,2.20,0.00,0.000,1030,0.000,0.036,2100,2508,3447,3453,3441,0,0,0,0,0,0,14.78,14.72,14.79
$GC,637,-0.62,-116.8,2100,2507,3453,3442,145.2,-18.4,85,642,0.00,2.28,0.00,0.000,516,0.000,0.046,2100,1101,3446,3452,3441,0,0,0,0,0,0,14.94,14.69,14.97
$GC,683,-0.62,-116.8,2100,1100,3453,3442,154.1,-18.2,94,692,0.10,2.40,0.00,0.000,3078,0.205,0.057,2120,2498,3447,3453,3442,0,0,0,0,0,0,14.45,14.59,14.57
$GC,870,-0.62,-116.8,2119,2499,3453,3441,181.1,-13.7,113,880,0.00,2.38,0.00,0.000,260,0.000,0.085,2110,3899,3447,3453,3441,0,0,0,0,0,0,14.96,14.66,14.98
$GC,956,-0.62,-116.8,2110,3898,3453,3441,193.9,-16.2,129,962,0.00,2.22,0.00,0.000,1030,0.000,0.034,2110,2487,3447,3453,3442,0,0,0,0,0,0,14.77,14.73,14.78
$GC,1149,-0.62,-116.8,2110,2486,3453,3441,220.0,-12.5,149,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2485,3447,3453,3441,0,0,0,0,0,0,14.98,15.02,15.01
$GC,1339,-0.62,-116.8,2110,2485,3451,3441,242.9,-12.3,168,1345,0.00,2.42,0.00,0.000,260,0.000,0.085,2100,3900,3446,3452,3441,0,0,0,0,0,0,15.00,14.68,15.02
$GC,1384,-0.62,-116.8,2100,3900,3451,3441,248.3,-12.5,176,1390,0.00,2.20,0.00,0.000,1030,0.000,0.033,2100,2497,3446,3451,3441,0,0,0,0,0,0,14.85,14.79,14.87
$GC,1579,-0.62,-116.8,2099,2496,3450,3441,273.4,-12.9,187,1585,0.00,2.25,0.00,0.000,516,0.000,0.047,2100,1103,3445,3449,3441,0,0,0,0,0,0,15.02,14.75,15.04
$GC,1617,-0.62,-116.8,2100,1103,3449,3441,278.6,-12.3,194,1626,0.10,2.40,0.00,0.000,3078,0.184,0.057,2120,2501,3444,3448,3441,0,0,0,0,0,0,14.54,14.64,14.81
$GC,1923,-0.62,-116.8,2120,2502,3445,3441,314.7,-12.3,210,1929,0.00,2.38,0.00,0.000,260,0.000,0.084,2112,3903,3442,3444,3441,0,0,0,0,0,0,15.02,14.70,15.04
$GC,1968,-0.62,-116.8,2111,3903,3444,3441,320.2,-12.5,218,1975,0.00,2.22,0.00,0.000,1030,0.000,0.033,2112,2498,3443,3445,3441,0,0,0,0,0,0,14.87,14.81,14.90
$GC,2293,-0.62,-116.8,2111,2497,3443,3436,358.8,-11.5,237,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2497,3439,3443,3436,0,0,0,0,0,0,15.03,15.06,15.06
$GC,2593,-0.62,-116.8,2111,2497,3441,3433,392.3,-10.9,252,2598,0.00,2.25,0.00,0.000,516,0.000,0.048,2112,1109,3437,3441,3433,0,0,0,0,0,0,15.04,14.77,15.06
$GC,2616,-0.62,-116.8,2111,1109,3440,3433,394.9,-11.4,256,2622,0.00,2.35,0.00,0.000,1030,0.000,0.058,2101,2508,3436,3440,3433,0,0,0,0,0,0,14.85,14.75,14.87
$GC,2940,-0.62,-116.8,2100,2508,3438,3429,430.6,-10.7,275,2948,0.00,2.35,0.00,0.000,260,0.000,0.086,2090,3890,3433,3438,3429,0,0,0,0,0,0,15.04,14.69,15.07
$GC,2996,-0.62,-116.8,2089,3890,3437,3429,436.8,-11.0,286,3003,0.10,2.25,0.00,0.000,3078,0.181,0.035,2122,2501,3433,3437,3429,0,0,0,0,0,0,14.50,14.71,14.61
$GC,3301,-0.62,-116.8,2121,2500,3434,3425,465.2,-9.4,302,3308,0.00,2.25,0.00,0.000,516,0.000,0.047,2122,1110,3430,3435,3425,0,0,0,0,0,0,15.04,14.76,15.06
$GC,3355,-0.62,-116.8,2121,1109,3435,3425,470.2,-9.0,312,3360,0.00,2.35,0.00,0.000,1030,0.000,0.056,2114,2507,3429,3434,3425,0,0,0,0,0,0,14.83,14.73,14.86
$GC,3668,-0.62,-116.8,2113,2507,3432,3423,501.6,-10.1,329,3674,0.00,2.38,0.00,0.000,260,0.000,0.087,2103,3889,3427,3431,3423,0,0,0,0,0,0,15.03,14.67,15.07
$GC,3701,-0.62,-116.8,2102,3889,3431,3423,505.2,-10.7,335,3707,0.00,2.22,0.00,0.000,1030,0.000,0.035,2103,2498,3426,3430,3423,0,0,0,0,0,0,14.86,14.81,14.88
$GC,4016,-0.62,-116.8,2102,2498,3430,3421,539.5,-10.9,352,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2498,3425,3430,3421,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4316,-0.62,-116.8,2102,2499,3428,3420,572.3,-11.1,367,4322,0.00,2.28,0.00,0.000,516,0.000,0.049,2103,1108,3424,3429,3420,0,0,0,0,0,0,15.02,14.74,15.04
$GC,4348,-0.62,-116.8,2102,1108,3428,3420,576.2,-11.4,373,4360,0.15,2.35,0.00,0.000,3078,0.210,0.058,2128,2501,3423,3429,3417,0,0,0,0,0,0,14.57,14.71,14.76
$GC,4660,-0.62,-116.8,2128,2500,3427,3417,606.5,-9.8,390,4666,0.00,2.40,0.00,0.000,260,0.000,0.088,2119,3895,3422,3428,3417,0,0,0,0,0,0,15.02,14.65,15.05
$GC,4713,-0.62,-116.8,2119,3896,3427,3417,612.1,-10.3,400,4719,0.00,2.25,0.00,0.000,1030,0.000,0.037,2118,2498,3422,3427,3417,0,0,0,0,0,0,14.84,14.78,14.87
$GC,5027,-0.62,-116.8,2119,2498,3424,3417,645.1,-10.5,417,5033,0.00,2.28,0.00,0.000,516,0.000,0.049,2119,1109,3419,3423,3416,0,0,0,0,0,0,15.02,14.72,15.04
$GC,5091,-0.62,-116.8,2119,1109,3423,3416,651.9,-10.3,429,5098,0.00,2.38,0.00,0.000,1030,0.000,0.057,2109,2501,3419,3423,3415,0,0,0,0,0,0,14.81,14.70,14.83
$GC,5415,-0.62,-116.8,2108,2501,3423,3413,687.4,-10.9,448,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3418,3423,3413,0,0,0,0,0,0,15.02,15.05,15.04
$GC,5716,-0.62,-116.8,2108,2501,3422,3412,718.7,-10.3,463,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3417,3422,3412,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6015,-0.62,-116.8,2108,2501,3421,3411,749.2,-10.2,478,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3416,3421,3411,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6315,-0.62,-116.8,2108,2501,3419,3410,780.7,-10.8,493,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3416,3422,3410,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6615,-0.62,-116.8,2108,2501,3418,3408,814.3,-11.4,508,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3413,3418,3409,0,0,0,0,0,0,15.02,15.04,15.03
$GC,6916,-0.62,-116.8,2109,2501,3417,3408,849.3,-11.9,523,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2501,3412,3417,3408,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7215,-0.62,-116.8,2108,2501,3416,3407,883.5,-11.1,538,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3411,3416,3407,0,0,0,0,0,0,15.00,15.04,15.03
$GC,7515,-0.62,-116.8,2108,2501,3414,3407,916.0,-10.7,553,7524,0.00,2.42,0.00,0.000,260,0.000,0.090,2098,3899,3409,3412,3406,0,0,0,0,0,0,15.00,14.58,15.02
$GC,7557,-0.62,-116.8,2097,3899,3413,3406,920.5,-11.2,561,7563,0.12,2.25,0.00,0.000,3078,0.202,0.038,2128,2500,3410,3414,3407,0,0,0,0,0,0,14.51,14.73,14.69
$GC,7881,-0.62,-116.8,2128,2498,3414,3405,950.6,-9.1,580,7887,0.00,2.30,0.00,0.000,516,0.000,0.050,2129,1108,3409,3413,3405,0,0,0,0,0,0,14.99,14.66,15.02
$GC,7939,-0.62,-116.8,2128,1107,3413,3405,956.2,-9.8,591,7946,0.00,2.45,0.00,0.000,1030,0.000,0.058,2120,2504,3409,3413,3405,0,0,0,0,0,0,14.57,14.52,14.62
$GC,8245,-0.62,-116.8,2119,2504,3413,3403,984.4,-9.3,607,8253,0.00,2.42,0.00,0.000,260,0.000,0.090,2109,3897,3409,3415,3403,0,0,0,0,0,0,15.00,14.57,15.02
$GC,8290,-0.62,-116.8,2109,3897,3413,3403,988.9,-9.7,616,8296,0.00,2.25,0.00,0.000,1030,0.000,0.038,2109,2503,3407,3413,3402,0,0,0,0,0,0,14.78,14.72,14.81
$STATE,8307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8307,begin apogee
$GC,8313,-0.15,0.0,2109,2501,3413,3404,990.5,-9.6,619,8424,0.57,0.00,104.90,2.033,10246,0.168,0.000,2276,2502,2968,2995,2941,0,0,0,0,0,0,14.49,14.14,13.19
$STATE,8426,end apogee,CONTROL_FINISHED_OK
$STATE,8426,begin climb
$GC,8429,0.62,116.8,2276,2501,2993,2941,993.5,0.0,624,8555,0.80,0.00,113.60,2.027,10502,0.099,0.000,2537,2501,2491,2524,2458,0,0,0,0,0,0,14.21,13.99,13.09
$GC,8850,0.62,116.8,2537,2501,2513,2453,961.5,10.7,661,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2501,2482,2513,2452,0,0,0,0,0,0,14.76,14.78,14.78
$GC,9149,0.62,116.8,2537,2501,2511,2451,928.6,10.9,676,9156,0.00,2.45,0.00,0.000,516,0.000,0.052,2548,1042,2480,2511,2450,0,0,0,0,0,0,14.87,14.62,14.90
$GC,9302,0.62,116.8,2548,1043,2509,2449,912.0,10.4,706,9311,0.00,2.40,0.00,0.000,1030,0.000,0.054,2548,2452,2479,2509,2449,0,0,0,0,0,0,14.71,14.63,14.75
$GC,9614,0.62,116.8,2548,2452,2509,2449,879.1,10.4,723,9620,0.00,2.40,0.00,0.000,260,0.000,0.083,2548,3844,2479,2509,2449,0,0,0,0,0,0,14.92,14.61,14.95
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$STATE,19833,end climb,SURFACE_DEPTH_REACHED
$STATE,19833,begin surface coast
$STATE,19848,end surface coast,CONTROL_FINISHED_OK
$STATE,19848,begin surface
$SM_CCo,19876,50.20,0.440,1,0,928,500.17
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$IRIDIUM_FIX,1306.00,8700.63,140919,085208
$TT8_MAMPS,0.020972,0.228445
$HUMID,43.69
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,3807520
$PM_FREEKB_00,48614528
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.09,88.671
$10V_AH,13.47,0.000
$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
$DEVICE_SECS,19.150,197.400,517.375,50.200,0.000,0.000,0.000,276.350,0.250,0.000,17.490,1490.763,12881.875,590.378,4909.762,580.506,0.000,2521.064,0.000,4297.588,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3865.774,0.000,0.000,0.000,0.000,0.000,19857.000,0.000,19872.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.220,0.000,3.429,0.000
$MEM,251848
$DATA_FILE_SIZE,73434,1647
$CAP_FILE_SIZE,285500,0
$CFSIZE,260034560,168865792
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,959.85,0x2147a0,0,24
$INTR,1,2946.70,0x2147a0,0,24
$CURRENT,0.047,139.12,1
$GPS,140919,201539,1309.273,8700.517,18,0.9,18,-0.9,0.8,53.8,8,5.3