version: 66.13
glider: 171
mission: 11
dive: 247
start: 9 18 119 23 48 6
data:
$ID,171
$MISSION,11
$DIVE,247
$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,54
$R_STBD_OVSHOOT,60
$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
$GPS1,180919,234023,1327.4507,8702.9463,17,1.2,32,-0.9,1.2,154.3,8,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.2
$GPS2,180919,234719,1327.3235,8702.9971,2,0.6,3,-0.9,1.3,156.8,12,5.8
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,331.0,35464,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-0.62,-116.8,92,2529,968,883,0.0,0.0,0,90,0.00,0.00,-72.28,0.005,16386,0.000,0.000,90,2529,2631,2631,2632,0,0,0,0,0,0,14.81,28.83,14.84
$GC,93,-0.62,-116.8,89,2530,2633,2631,4.5,-11.3,15,125,9.18,2.38,-15.68,0.009,18948,0.357,0.071,2124,1100,3447,3457,3438,0,0,0,0,0,0,14.27,13.23,14.62
$GC,183,-0.62,-116.8,2124,1100,3457,3438,33.0,-28.0,33,187,0.00,2.35,0.00,0.000,1030,0.000,0.064,2116,2469,3448,3458,3438,0,0,0,0,0,0,14.67,14.57,14.71
$GC,371,-0.62,-116.8,2115,2470,3457,3438,83.7,-23.7,57,377,0.00,2.42,0.00,0.000,260,0.000,0.083,2105,3900,3446,3455,3438,0,0,0,0,0,0,14.92,14.59,14.95
$GC,410,-0.62,-116.8,2104,3899,3457,3438,91.7,-19.7,65,414,0.00,2.22,0.00,0.000,1030,0.000,0.039,2105,2504,3448,3457,3439,0,0,0,0,0,0,14.76,14.70,14.78
$GC,603,-0.62,-116.8,2104,2501,3455,3438,130.7,-19.5,85,607,0.00,2.25,0.00,0.000,516,0.000,0.044,2105,1098,3447,3457,3438,0,0,0,0,0,0,14.95,14.70,14.97
$GC,618,-0.62,-116.8,2104,1097,3457,3438,134.0,-18.5,88,624,0.15,2.40,0.00,0.000,3078,0.226,0.058,2128,2510,3447,3457,3438,0,0,0,0,0,0,14.51,14.66,14.70
$GC,805,-0.62,-116.8,2128,2509,3457,3438,161.7,-12.4,107,812,0.00,2.35,0.00,0.000,260,0.000,0.084,2119,3896,3447,3457,3438,0,0,0,0,0,0,14.98,14.64,15.01
$GC,896,-0.62,-116.8,2119,3897,3457,3438,173.6,-12.0,125,900,0.00,2.22,0.00,0.000,1030,0.000,0.032,2120,2481,3447,3457,3438,0,0,0,0,0,0,14.71,14.66,14.73
$GC,1088,-0.62,-116.8,2119,2480,3457,3438,195.9,-11.5,145,1094,0.00,2.42,0.00,0.000,260,0.000,0.083,2109,3893,3447,3457,3438,0,0,0,0,0,0,15.00,14.65,15.03
$GC,1138,-0.62,-116.8,2109,3893,3457,3438,202.3,-12.7,155,1142,0.00,2.20,0.00,0.000,1030,0.000,0.033,2109,2500,3447,3457,3438,0,0,0,0,0,0,14.83,14.78,14.85
$GC,1329,-0.62,-116.8,2109,2499,3456,3437,226.5,-12.5,175,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2498,3447,3455,3440,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1510,-0.62,-116.8,2109,2498,3454,3438,248.0,-11.8,193,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2498,3445,3453,3438,0,0,0,0,0,0,15.03,15.07,15.06
$GC,1691,-0.62,-116.8,2109,2498,3451,3438,268.9,-11.5,203,1695,0.00,2.40,0.00,0.000,260,0.000,0.085,2098,3899,3444,3451,3438,0,0,0,0,0,0,15.04,14.69,15.06
$GC,1717,-0.62,-116.8,2098,3898,3450,3438,272.3,-12.9,208,1723,0.12,2.20,0.00,0.000,3078,0.211,0.034,2128,2494,3444,3451,3438,0,0,0,0,0,0,14.59,14.81,14.77
$GC,2035,-0.62,-116.8,2128,2493,3446,3437,307.0,-11.0,226,2039,0.00,2.22,0.00,0.000,516,0.000,0.044,2129,1109,3441,3446,3437,0,0,0,0,0,0,15.05,14.77,15.08
$GC,2066,-0.62,-116.8,2128,1109,3445,3438,310.5,-11.4,232,2071,0.00,2.33,0.00,0.000,1030,0.000,0.056,2119,2501,3442,3446,3438,0,0,0,0,0,0,14.83,14.73,14.86
$GC,2378,-0.62,-116.8,2119,2501,3444,3435,345.2,-11.0,249,2382,0.00,2.38,0.00,0.000,260,0.000,0.084,2109,3899,3439,3444,3435,0,0,0,0,0,0,15.06,14.69,15.09
$GC,2420,-0.62,-116.8,2109,3898,3443,3435,349.8,-11.1,257,2424,0.00,2.20,0.00,0.000,1030,0.000,0.034,2109,2501,3439,3443,3435,0,0,0,0,0,0,14.88,14.82,14.90
$GC,2741,-0.62,-116.8,2106,2499,3441,3432,386.6,-11.5,276,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3436,3441,3432,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3042,-0.62,-116.8,2106,2499,3439,3429,421.1,-11.5,291,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3433,3438,3429,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3341,-0.62,-116.8,2106,2499,3436,3425,455.1,-11.2,306,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2499,3431,3436,3426,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3642,-0.62,-116.8,2106,2499,3434,3424,487.2,-10.4,321,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2500,3429,3434,3424,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3941,-0.62,-116.8,2106,2499,3431,3422,517.9,-10.2,336,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3426,3431,3422,0,0,0,0,0,0,15.06,15.10,15.09
$GC,4241,-0.62,-116.8,2106,2499,3430,3421,548.8,-10.4,351,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3425,3430,3421,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4541,-0.62,-116.8,2106,2499,3429,3420,579.3,-9.9,366,4545,0.00,2.28,0.00,0.000,516,0.000,0.047,2106,1107,3424,3429,3420,0,0,0,0,0,0,15.06,14.73,15.09
$GC,4563,-0.62,-116.8,2106,1106,3430,3420,581.5,-10.3,370,4570,0.12,2.35,0.00,0.000,3078,0.216,0.059,2126,2501,3424,3428,3420,0,0,0,0,0,0,14.55,14.71,14.74
$GC,4884,-0.62,-116.8,2126,2501,3427,3418,608.5,-8.2,389,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3422,3427,3418,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5183,-0.62,-116.8,2126,2501,3425,3416,632.8,-8.1,404,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2502,3420,3425,3416,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5483,-0.62,-116.8,2126,2501,3423,3415,657.1,-8.1,419,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3418,3423,3414,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5783,-0.62,-116.8,2126,2501,3422,3413,682.0,-8.5,434,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3417,3422,3413,0,0,0,0,0,0,15.04,15.09,15.08
$GC,6084,-0.62,-116.8,2126,2501,3421,3412,707.7,-8.8,449,6088,0.00,2.30,0.00,0.000,516,0.000,0.050,2127,1112,3416,3421,3412,0,0,0,0,0,0,15.05,14.70,15.08
$GC,6115,-0.62,-116.8,2126,1112,3421,3412,710.6,-8.9,455,6119,0.00,2.38,0.00,0.000,1030,0.000,0.060,2119,2501,3416,3421,3412,0,0,0,0,0,0,14.79,14.68,14.82
$GC,6426,-0.62,-116.8,2118,2500,3420,3411,739.8,-9.5,472,6431,0.00,2.40,0.00,0.000,260,0.000,0.087,2107,3890,3415,3420,3411,0,0,0,0,0,0,15.04,14.59,15.07
$GC,6468,-0.62,-116.8,2107,3890,3420,3411,744.0,-10.0,480,6473,0.00,2.22,0.00,0.000,1030,0.000,0.038,2107,2509,3415,3419,3411,0,0,0,0,0,0,14.82,14.75,14.84
$GC,6790,-0.62,-116.8,2107,2508,3418,3410,777.1,-10.4,499,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2507,3414,3418,3410,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7090,-0.62,-116.8,2107,2507,3417,3409,809.5,-10.8,514,7094,0.00,2.33,0.00,0.000,516,0.000,0.050,2107,1098,3413,3417,3409,0,0,0,0,0,0,15.04,14.67,15.07
$GC,7126,-0.62,-116.8,2107,1097,3417,3409,813.4,-10.8,521,7131,0.12,2.42,0.00,0.000,3078,0.217,0.063,2125,2497,3412,3416,3408,0,0,0,0,0,0,14.50,14.64,14.69
$GC,7432,-0.62,-116.8,2125,2496,3416,3408,842.4,-9.4,537,7436,0.00,2.42,0.00,0.000,260,0.000,0.090,2116,3894,3411,3416,3407,0,0,0,0,0,0,15.04,14.58,15.07
$GC,7463,-0.62,-116.8,2116,3894,3416,3408,845.4,-10.2,543,7467,0.00,2.25,0.00,0.000,1030,0.000,0.037,2117,2491,3412,3416,3408,0,0,0,0,0,0,14.81,14.74,14.83
$GC,7774,-0.62,-116.8,2116,2490,3415,3407,875.0,-9.1,560,7779,0.00,2.28,0.00,0.000,516,0.000,0.050,2116,1109,3411,3415,3407,0,0,0,0,0,0,15.04,14.66,15.06
$GC,7826,-0.62,-116.8,2116,1108,3414,3407,879.7,-8.7,570,7830,0.00,2.40,0.00,0.000,1030,0.000,0.063,2106,2504,3410,3414,3407,0,0,0,0,0,0,14.76,14.64,14.78
$GC,8137,-0.62,-116.8,2106,2504,3414,3406,908.1,-9.0,587,8141,0.00,2.42,0.00,0.000,260,0.000,0.092,2095,3897,3410,3414,3406,0,0,0,0,0,0,15.03,14.57,15.06
$GC,8168,-0.62,-116.8,2094,3897,3413,3406,910.8,-9.3,593,8173,0.12,2.25,0.00,0.000,3078,0.205,0.038,2125,2497,3409,3413,3406,0,0,0,0,0,0,14.50,14.73,14.68
$GC,8480,-0.62,-116.8,2124,2496,3413,3405,934.7,-7.6,610,8485,0.00,2.30,0.00,0.000,516,0.000,0.050,2125,1103,3409,3413,3405,0,0,0,0,0,0,15.02,14.66,15.05
$GC,8542,-0.62,-116.8,2125,1102,3413,3405,939.4,-7.7,622,8546,0.00,2.40,0.00,0.000,1030,0.000,0.061,2116,2504,3409,3413,3405,0,0,0,0,0,0,14.74,14.63,14.78
$GC,8864,-0.62,-116.8,2116,2504,3412,3404,966.2,-8.4,641,8870,0.00,2.42,0.00,0.000,260,0.000,0.090,2106,3897,3408,3412,3404,0,0,0,0,0,0,15.02,14.55,15.05
$GC,8904,-0.62,-116.8,2105,3897,3412,3404,969.7,-9.1,649,8909,0.00,2.25,0.00,0.000,1030,0.000,0.038,2106,2501,3408,3412,3404,0,0,0,0,0,0,14.78,14.71,14.81
$STATE,9143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9143,begin apogee
$GC,9150,-0.15,0.0,2106,2499,3411,3404,991.6,-9.0,664,9258,0.60,0.00,104.75,2.030,10246,0.170,0.000,2279,2500,2967,2993,2942,0,0,0,0,0,0,14.46,14.14,13.18
$STATE,9260,end apogee,CONTROL_FINISHED_OK
$STATE,9260,begin climb
$GC,9263,0.62,116.8,2279,2500,2991,2942,994.0,0.0,669,9386,0.77,2.53,113.03,2.026,10500,0.091,0.086,2536,3861,2489,2519,2460,0,0,0,0,0,0,14.18,13.97,13.05
$GC,9403,0.65,116.8,2535,3861,2514,2460,990.9,7.0,700,9409,0.00,2.42,0.00,0.000,1094,0.000,0.037,2548,2437,2487,2514,2460,0,0,0,0,0,0,14.20,14.15,14.21
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$STATE,20305,end climb,SURFACE_DEPTH_REACHED
$STATE,20305,begin surface coast
$STATE,20343,end surface coast,CONTROL_FINISHED_OK
$STATE,20343,begin surface
$SM_CCo,20363,163.88,0.660,1,0,928,500.17
$SM_GC,1.30,7.32,2.55,163.88,0.061,0.065,0.660,126,2498,928,-6.78,-0.79,500.17,0,0,0,0,1,0,14.68,14.56,13.90
$IRIDIUM_FIX,1323.91,8702.61,180919,182210
$TT8_MAMPS,0.018725,0.912282
$HUMID,41.69
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,3799456
$24V_AH,13.05,95.323
$10V_AH,13.38,0.000
$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,19.475,183.550,398.300,163.875,0.000,0.000,0.000,232.350,0.250,0.000,14.806,1506.630,14542.092,685.037,3678.971,528.742,0.000,2255.360,0.000,3325.500,0.000,0.542,0.000
$DEVICE_MAMPS,357.255,91.800,2029.545,660.195,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3006.573,0.000,0.000,0.000,0.000,0.000,20360.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.293,0.000,0.000,0.000
$MEM,251840
$DATA_FILE_SIZE,70046,1621
$CAP_FILE_SIZE,288554,0
$CFSIZE,260034560,166690816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.102,122.69,1
$GPS,190919,053130,1328.240,8703.047,29,0.7,29,-0.9,0.6,207.4,10,5.0