version: 66.13
glider: 171
mission: 11
dive: 256
start: 9 21 119 2 56 58
data:
$ID,171
$MISSION,11
$DIVE,256
$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,51
$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,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
$GPS1,210919,024909,1332.0680,8702.7207,25,0.8,25,-0.9,0.7,171.9,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.2
$GPS2,210919,025611,1331.8337,8702.7822,2,0.5,3,-0.9,0.8,192.9,12,6.2
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,334.7,27164,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.62,-116.8,119,2523,971,880,0.0,0.0,0,96,0.00,0.00,-77.32,0.005,16386,0.000,0.000,117,2524,2787,2784,2790,0,0,0,0,0,0,14.82,28.83,14.85
$GC,99,-0.62,-116.8,117,2524,2785,2790,5.5,-15.1,16,128,8.98,2.35,-11.85,0.011,18948,0.355,0.059,2120,1093,3445,3453,3438,0,0,0,0,0,0,14.21,13.66,14.54
$GC,142,-0.62,-116.8,2119,1093,3454,3438,22.9,-33.6,25,147,0.00,2.38,0.00,0.000,1030,0.000,0.060,2110,2477,3446,3454,3438,0,0,0,0,0,0,14.66,14.56,14.69
$GC,336,-0.62,-116.8,2110,2477,3453,3438,82.0,-26.4,52,343,0.00,2.45,0.00,0.000,260,0.000,0.084,2100,3904,3445,3453,3438,0,0,0,0,0,0,14.91,14.48,14.94
$GC,376,-0.62,-116.8,2099,3905,3453,3438,91.0,-22.4,60,380,0.00,2.25,0.00,0.000,1030,0.000,0.035,2100,2495,3446,3454,3438,0,0,0,0,0,0,14.65,14.59,14.67
$GC,569,-0.62,-116.8,2099,2493,3454,3438,132.2,-20.5,80,575,0.00,2.42,0.00,0.000,260,0.000,0.086,2088,3899,3446,3454,3438,0,0,0,0,0,0,14.95,14.62,14.97
$GC,622,-0.62,-116.8,2088,3899,3453,3438,143.6,-20.2,91,628,0.15,2.22,0.00,0.000,3078,0.231,0.032,2124,2487,3446,3454,3438,0,0,0,0,0,0,14.48,14.74,14.69
$GC,808,-0.62,-116.8,2123,2485,3454,3438,173.1,-15.4,110,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2486,3445,3453,3438,0,0,0,0,0,0,14.97,15.01,15.00
$GC,989,-0.62,-116.8,2123,2486,3454,3438,197.7,-13.5,128,996,0.00,2.42,0.00,0.000,260,0.000,0.085,2114,3899,3445,3453,3438,0,0,0,0,0,0,14.98,14.64,15.01
$GC,1028,-0.62,-116.8,2114,3899,3454,3438,203.2,-13.6,136,1033,0.00,2.20,0.00,0.000,1030,0.000,0.032,2115,2499,3445,3453,3438,0,0,0,0,0,0,14.83,14.77,14.84
$GC,1221,-0.62,-116.8,2114,2498,3454,3438,226.9,-12.1,156,1225,0.00,2.40,0.00,0.000,260,0.000,0.085,2104,3897,3445,3453,3438,0,0,0,0,0,0,15.01,14.66,15.04
$GC,1252,-0.62,-116.8,2104,3897,3453,3438,230.9,-12.4,162,1256,0.00,2.20,0.00,0.000,1030,0.000,0.033,2104,2504,3445,3453,3438,0,0,0,0,0,0,14.84,14.78,14.85
$GC,1453,-0.62,-116.8,2104,2503,3451,3438,256.2,-12.4,181,1463,0.00,2.40,0.00,0.000,260,0.000,0.086,2093,3902,3444,3451,3438,0,0,0,0,0,0,15.03,14.66,15.05
$GC,1535,-0.62,-116.8,2092,3901,3450,3438,267.2,-13.2,197,1540,0.12,2.22,0.00,0.000,3078,0.213,0.034,2123,2486,3444,3451,3438,0,0,0,0,0,0,14.57,14.79,14.76
$GC,1858,-0.62,-116.8,2122,2485,3446,3438,305.1,-12.0,216,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2486,3442,3447,3438,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2157,-0.62,-116.8,2123,2485,3443,3437,340.5,-11.5,231,2161,0.00,2.42,0.00,0.000,260,0.000,0.086,2114,3896,3440,3443,3437,0,0,0,0,0,0,15.05,14.67,15.08
$GC,2193,-0.62,-116.8,2114,3896,3443,3437,344.6,-11.3,238,2197,0.00,2.25,0.00,0.000,1030,0.000,0.034,2114,2496,3440,3443,3437,0,0,0,0,0,0,14.85,14.81,14.88
$GC,2498,-0.62,-116.8,2112,2494,3442,3432,378.2,-10.7,254,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3437,3443,3431,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2799,-0.62,-116.8,2111,2493,3438,3430,410.7,-10.9,269,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3433,3437,3430,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3099,-0.62,-116.8,2112,2493,3436,3427,443.3,-11.2,284,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3431,3436,3427,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3398,-0.62,-116.8,2111,2494,3434,3424,476.9,-11.1,299,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3429,3434,3424,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3698,-0.62,-116.8,2112,2494,3431,3423,509.3,-10.5,314,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3427,3431,3423,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3999,-0.62,-116.8,2112,2494,3430,3421,540.5,-10.2,329,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3425,3430,3421,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4299,-0.62,-116.8,2112,2494,3428,3420,571.2,-10.3,344,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3424,3428,3420,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4598,-0.62,-116.8,2111,2493,3427,3418,602.3,-10.3,359,4603,0.00,2.28,0.00,0.000,516,0.000,0.050,2112,1105,3422,3426,3418,0,0,0,0,0,0,15.05,14.71,15.08
$GC,4626,-0.62,-116.8,2112,1104,3426,3418,605.1,-11.2,364,4630,0.00,2.40,0.00,0.000,1030,0.000,0.063,2103,2511,3422,3426,3418,0,0,0,0,0,0,14.79,14.68,14.83
$GC,4943,-0.62,-116.8,2102,2509,3424,3416,640.1,-11.3,382,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2509,3420,3424,3416,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5243,-0.62,-116.8,2102,2509,3422,3414,675.5,-12.2,397,5247,0.00,2.40,0.00,0.000,260,0.000,0.090,2091,3896,3418,3422,3415,0,0,0,0,0,0,15.05,14.60,15.08
$GC,5268,-0.62,-116.8,2090,3896,3422,3414,678.8,-12.7,402,5273,0.15,2.25,0.00,0.000,3078,0.200,0.037,2129,2490,3418,3422,3414,0,0,0,0,0,0,14.52,14.76,14.71
$GC,5586,-0.62,-116.8,2129,2489,3421,3413,713.2,-10.9,420,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2488,3417,3421,3413,0,0,0,0,0,0,15.04,15.08,15.08
$GC,5885,-0.62,-116.8,2129,2489,3421,3412,745.5,-10.8,435,5890,0.00,2.28,0.00,0.000,516,0.000,0.050,2130,1105,3416,3420,3412,0,0,0,0,0,0,15.04,14.69,15.07
$GC,5916,-0.62,-116.8,2129,1105,3419,3412,749.0,-10.8,441,5920,0.00,2.40,0.00,0.000,1030,0.000,0.063,2121,2504,3415,3419,3412,0,0,0,0,0,0,14.77,14.65,14.80
$GC,6227,-0.62,-116.8,2120,2504,3418,3411,782.5,-10.4,458,6231,0.00,2.42,0.00,0.000,260,0.000,0.091,2110,3897,3414,3418,3411,0,0,0,0,0,0,15.04,14.57,15.07
$GC,6268,-0.62,-116.8,2110,3897,3418,3411,786.9,-10.7,466,6273,0.00,2.25,0.00,0.000,1030,0.000,0.037,2110,2497,3414,3418,3411,0,0,0,0,0,0,14.81,14.74,14.83
$GC,6590,-0.62,-116.8,2109,2496,3417,3409,819.7,-9.8,485,6596,0.00,2.45,0.00,0.000,260,0.000,0.092,2099,3890,3413,3417,3409,0,0,0,0,0,0,15.04,14.56,15.07
$GC,6620,-0.62,-116.8,2099,3890,3417,3409,822.7,-10.5,491,6626,0.12,2.25,0.00,0.000,3078,0.202,0.038,2130,2492,3413,3417,3409,0,0,0,0,0,0,14.50,14.73,14.69
$GC,6934,-0.62,-116.8,2129,2491,3416,3408,847.8,-7.7,508,6938,0.00,2.28,0.00,0.000,516,0.000,0.049,2130,1106,3412,3416,3408,0,0,0,0,0,0,15.04,14.66,15.06
$GC,6969,-0.62,-116.8,2130,1106,3415,3408,850.7,-7.7,515,6975,0.00,2.42,0.00,0.000,1030,0.000,0.063,2121,2502,3411,3415,3408,0,0,0,0,0,0,14.75,14.63,14.78
$GC,7276,-0.62,-116.8,2121,2502,3415,3407,874.8,-7.8,531,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3411,3415,3407,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7576,-0.62,-116.8,2121,2502,3414,3406,898.2,-7.7,546,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3409,3413,3406,0,0,0,0,0,0,15.02,15.06,15.05
$GC,7875,-0.62,-116.8,2121,2502,3413,3406,921.1,-7.6,561,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3409,3413,3406,0,0,0,0,0,0,15.02,15.07,15.05
$GC,8176,-0.62,-116.8,2121,2502,3412,3405,944.6,-8.0,576,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3408,3412,3405,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8476,-0.62,-116.8,2120,2502,3411,3404,969.4,-8.5,591,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2502,3407,3410,3404,0,0,0,0,0,0,15.02,15.05,15.04
$STATE,8714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8714,begin apogee
$GC,8720,-0.15,0.0,2121,2502,3411,3402,990.2,-8.7,603,8829,0.55,0.00,105.18,2.017,10246,0.167,0.000,2279,2502,2967,2993,2942,0,0,0,0,0,0,14.45,14.14,13.19
$STATE,8830,end apogee,CONTROL_FINISHED_OK
$STATE,8831,begin climb
$GC,8834,0.62,116.8,2279,2502,2991,2942,993.1,0.0,608,8960,0.77,2.53,114.80,1.997,10500,0.091,0.090,2534,3846,2489,2519,2460,0,0,0,0,0,0,14.18,13.98,13.06
$GC,8978,0.65,116.8,2534,3847,2514,2460,991.4,7.0,628,8982,0.00,2.38,0.00,0.000,1094,0.000,0.038,2546,2440,2486,2514,2459,0,0,0,0,0,0,14.21,14.15,14.22
$GC,9299,0.65,116.8,2546,2438,2510,2455,960.2,9.9,647,9304,0.00,2.38,0.00,0.000,516,0.000,0.054,2556,1044,2482,2510,2455,0,0,0,0,0,0,14.79,14.52,14.81
$GC,9391,0.65,116.8,2556,1044,2507,2453,951.2,9.7,665,9395,0.00,2.42,0.00,0.000,1030,0.000,0.058,2556,2443,2480,2508,2453,0,0,0,0,0,0,14.62,14.52,14.66
$GC,9702,0.65,116.8,2556,2443,2507,2453,919.7,10.0,682,9706,0.00,2.38,0.00,0.000,516,0.000,0.052,2567,1039,2480,2507,2453,0,0,0,0,0,0,14.90,14.61,14.94
$GC,9734,0.65,116.8,2567,1038,2506,2452,916.7,10.0,688,9738,0.00,2.40,0.00,0.000,1030,0.000,0.057,2567,2442,2479,2506,2452,0,0,0,0,0,0,14.69,14.59,14.73
$GC,10045,0.65,116.8,2567,2442,2506,2452,885.3,10.0,705,10049,0.00,2.38,0.00,0.000,516,0.000,0.052,2578,1043,2479,2506,2452,0,0,0,0,0,0,14.95,14.63,14.97
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$STATE,19443,end climb,SURFACE_DEPTH_REACHED
$STATE,19443,begin surface coast
$STATE,19474,end surface coast,CONTROL_FINISHED_OK
$STATE,19474,begin surface
$SM_CCo,19492,66.38,0.512,1,0,928,500.17
$SM_GC,1.26,7.20,0.10,66.38,0.051,0.125,0.512,126,2553,928,-6.78,-0.68,500.17,0,0,0,0,1,0,14.64,14.66,14.07
$IRIDIUM_FIX,1330.75,8702.50,200919,213950
$TT8_MAMPS,0.018725,0.827645
$HUMID,43.46
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,3795392
$24V_AH,13.06,98.412
$10V_AH,13.14,0.000
$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
$DEVICE_SECS,18.950,165.525,506.550,66.375,0.000,0.000,0.000,234.875,0.000,0.000,15.011,1454.349,13736.388,670.765,3613.852,501.491,0.000,2237.393,0.000,3272.920,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,2884.613,0.000,0.000,0.000,0.000,0.000,19491.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.247,0.000,0.000,0.000
$MEM,251812
$DATA_FILE_SIZE,69959,1608
$CAP_FILE_SIZE,275628,0
$CFSIZE,260034560,165675008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,1456.76,0x235770,0,24
$CURRENT,0.124,137.26,1
$GPS,210919,082414,1332.524,8702.985,23,1.8,29,-0.9,1.0,183.2,6,10.0