version: 66.13
glider: 171
mission: 11
dive: 269
start: 9 24 119 4 7 52
data:
$ID,171
$MISSION,11
$DIVE,269
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,240919,040000,1340.3171,8701.8838,23,0.9,23,-0.9,0.4,287.9,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.9
$GPS2,240919,040707,1340.2203,8701.9404,2,0.6,2,-0.9,0.2,211.9,12,7.5
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,335.7,11700,-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,12,begin dive
$GC,15,-0.62,-116.8,98,2508,969,881,0.0,0.0,0,97,0.00,0.00,-77.50,0.005,16386,0.000,0.000,93,2508,2768,2767,2769,0,0,0,0,0,0,14.80,28.83,14.83
$GC,100,-0.62,-116.8,93,2508,2768,2769,4.9,-13.4,16,132,9.23,2.38,-12.52,0.010,18948,0.360,0.069,2130,1109,3449,3457,3441,0,0,0,0,0,0,14.16,13.07,14.51
$GC,255,-0.62,-116.8,2130,1109,3457,3441,51.0,-25.6,47,260,0.00,2.42,0.00,0.000,1030,0.000,0.066,2123,2495,3449,3457,3441,0,0,0,0,0,0,14.55,14.49,14.68
$GC,441,-0.62,-116.8,2121,2495,3457,3441,100.6,-22.6,66,446,0.00,2.40,0.00,0.000,260,0.000,0.084,2111,3899,3449,3457,3441,0,0,0,0,0,0,14.92,14.55,14.95
$GC,493,-0.62,-116.8,2110,3898,3457,3441,112.4,-21.3,76,497,0.00,2.22,0.00,0.000,1030,0.000,0.035,2111,2503,3449,3457,3441,0,0,0,0,0,0,14.75,14.69,14.76
$GC,684,-0.62,-116.8,2111,2501,3457,3441,148.4,-17.5,96,690,0.00,2.40,0.00,0.000,260,0.000,0.083,2100,3902,3449,3457,3441,0,0,0,0,0,0,14.95,14.59,14.97
$GC,744,-0.62,-116.8,2100,3902,3457,3441,159.1,-17.6,108,748,0.00,2.22,0.00,0.000,1030,0.000,0.034,2100,2490,3448,3457,3440,0,0,0,0,0,0,14.78,14.71,14.79
$GC,936,-0.62,-116.8,2099,2487,3457,3441,188.3,-14.4,128,943,0.00,2.40,0.00,0.000,260,0.000,0.081,2089,3900,3449,3458,3440,0,0,0,0,0,0,14.98,14.54,15.01
$GC,985,-0.62,-116.8,2088,3900,3458,3440,196.0,-15.6,138,991,0.15,2.20,0.00,0.000,3078,0.218,0.034,2125,2490,3449,3458,3440,0,0,0,0,0,0,14.47,14.73,14.68
$GC,1179,-0.62,-116.8,2125,2488,3457,3441,220.5,-12.2,158,1184,0.00,2.40,0.00,0.000,260,0.000,0.084,2116,3897,3448,3457,3440,0,0,0,0,0,0,15.00,14.62,15.02
$GC,1231,-0.62,-116.8,2116,3898,3458,3441,227.0,-12.1,168,1235,0.00,2.17,0.00,0.000,1030,0.000,0.034,2116,2509,3449,3458,3440,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1423,-0.62,-116.8,2116,2508,3456,3440,250.1,-12.4,188,1428,0.00,2.28,0.00,0.000,516,0.000,0.050,2116,1100,3448,3456,3440,0,0,0,0,0,0,15.01,14.69,15.04
$GC,1465,-0.62,-116.8,2116,1100,3455,3440,255.2,-11.4,196,1469,0.00,2.35,0.00,0.000,1030,0.000,0.058,2106,2504,3447,3455,3440,0,0,0,0,0,0,14.78,14.66,14.81
$GC,1786,-0.62,-116.8,2106,2504,3451,3440,292.4,-11.2,215,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2504,3445,3451,3440,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2086,-0.62,-116.8,2106,2504,3447,3440,325.5,-11.2,230,2091,0.00,2.38,0.00,0.000,260,0.000,0.087,2094,3900,3443,3447,3440,0,0,0,0,0,0,15.04,14.64,15.07
$GC,2128,-0.62,-116.8,2094,3900,3446,3440,330.7,-12.2,238,2134,0.12,2.22,0.00,0.000,3078,0.205,0.037,2125,2493,3443,3446,3440,0,0,0,0,0,0,14.55,14.77,14.73
$GC,2452,-0.62,-116.8,2125,2492,3444,3437,367.1,-11.9,257,2456,0.00,2.25,0.00,0.000,516,0.000,0.051,2125,1105,3440,3444,3437,0,0,0,0,0,0,15.04,14.72,15.07
$GC,2487,-0.62,-116.8,2125,1105,3443,3436,371.5,-11.9,264,2491,0.00,2.40,0.00,0.000,1030,0.000,0.063,2116,2503,3439,3443,3436,0,0,0,0,0,0,14.79,14.68,14.83
$GC,2794,-0.62,-116.8,2116,2504,3442,3433,409.7,-12.4,280,2800,0.00,2.40,0.00,0.000,260,0.000,0.090,2106,3902,3437,3442,3433,0,0,0,0,0,0,15.05,14.63,15.07
$GC,2842,-0.62,-116.8,2104,3903,3442,3430,416.0,-12.3,290,2848,0.00,2.22,0.00,0.000,1030,0.000,0.038,2104,2505,3437,3442,3432,0,0,0,0,0,0,14.83,14.76,14.85
$GC,3155,-0.62,-116.8,2104,2504,3439,3429,452.1,-11.0,307,3159,0.00,2.30,0.00,0.000,516,0.000,0.052,2104,1097,3433,3438,3429,0,0,0,0,0,0,15.05,14.69,15.08
$GC,3180,-0.62,-116.8,2104,1097,3439,3429,455.0,-10.7,312,3185,0.12,2.40,0.00,0.000,3078,0.215,0.065,2124,2499,3433,3438,3429,0,0,0,0,0,0,14.48,14.62,14.68
$GC,3497,-0.62,-116.8,2125,2499,3436,3427,483.3,-8.7,330,3502,0.00,2.42,0.00,0.000,260,0.000,0.096,2115,3891,3432,3436,3428,0,0,0,0,0,0,15.06,14.55,15.08
$GC,3528,-0.62,-116.8,2114,3891,3435,3427,486.2,-9.4,336,3533,0.00,2.25,0.00,0.000,1030,0.000,0.041,2115,2496,3431,3435,3427,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3840,-0.62,-116.8,2115,2494,3433,3424,517.4,-10.6,353,3844,0.00,2.30,0.00,0.000,516,0.000,0.051,2115,1095,3428,3433,3424,0,0,0,0,0,0,15.04,14.67,15.07
$GC,3881,-0.62,-116.8,2115,1095,3432,3424,521.9,-10.7,361,3888,0.00,2.42,0.00,0.000,1030,0.000,0.066,2105,2508,3428,3433,3424,0,0,0,0,0,0,14.76,14.63,14.79
$GC,4201,-0.62,-116.8,2104,2508,3431,3422,558.9,-11.6,380,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2508,3426,3431,3422,0,0,0,0,0,0,15.05,15.08,15.08
$GC,4502,-0.62,-116.8,2104,2508,3430,3421,593.1,-11.2,395,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2508,3425,3429,3421,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4801,-0.62,-116.8,2104,2509,3428,3420,625.5,-10.6,410,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2509,3424,3428,3420,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5101,-0.62,-116.8,2104,2509,3426,3419,656.6,-10.4,425,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2509,3422,3426,3419,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5402,-0.62,-116.8,2104,2509,3424,3417,686.9,-10.0,440,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2509,3420,3424,3417,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5702,-0.62,-116.8,2104,2509,3422,3416,716.1,-9.6,455,5708,0.00,2.42,0.00,0.000,260,0.000,0.094,2093,3896,3418,3422,3415,0,0,0,0,0,0,15.04,14.52,15.07
$GC,5730,-0.62,-116.8,2092,3896,3422,3416,719.1,-10.8,461,5735,0.12,2.28,0.00,0.000,3078,0.202,0.042,2124,2499,3418,3422,3415,0,0,0,0,0,0,14.46,14.68,14.64
$GC,6042,-0.62,-116.8,2123,2498,3421,3414,745.4,-8.5,478,6047,0.00,2.35,0.00,0.000,516,0.000,0.054,2124,1089,3417,3421,3414,0,0,0,0,0,0,15.04,14.62,15.06
$GC,6099,-0.62,-116.8,2124,1089,3421,3414,750.4,-8.9,489,6103,0.00,2.47,0.00,0.000,1030,0.000,0.067,2115,2504,3417,3421,3414,0,0,0,0,0,0,14.72,14.59,14.76
$GC,6404,-0.62,-116.8,2114,2504,3420,3412,778.5,-9.2,505,6408,0.00,2.42,0.00,0.000,260,0.000,0.093,2104,3893,3416,3420,3412,0,0,0,0,0,0,15.03,14.51,15.06
$GC,6440,-0.62,-116.8,2104,3892,3420,3412,781.9,-9.8,512,6444,0.00,2.30,0.00,0.000,1030,0.000,0.042,2104,2495,3415,3419,3412,0,0,0,0,0,0,14.76,14.69,14.79
$GC,6745,-0.62,-116.8,2104,2494,3419,3411,811.7,-9.7,528,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3415,3419,3411,0,0,0,0,0,0,15.02,15.06,15.06
$GC,7046,-0.62,-116.8,2104,2494,3418,3410,840.5,-9.6,543,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3414,3418,3410,0,0,0,0,0,0,15.03,15.06,15.06
$GC,7345,-0.62,-116.8,2104,2494,3417,3409,869.2,-9.6,558,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3413,3416,3410,0,0,0,0,0,0,15.02,15.05,15.05
$GC,7645,-0.62,-116.8,2104,2494,3416,3408,898.5,-9.9,573,7649,0.00,2.33,0.00,0.000,516,0.000,0.053,2104,1094,3412,3416,3408,0,0,0,0,0,0,15.02,14.59,15.04
$GC,7687,-0.62,-116.8,2103,1095,3415,3408,902.7,-9.9,581,7695,0.12,2.45,0.00,0.000,3078,0.211,0.067,2122,2508,3411,3415,3408,0,0,0,0,0,0,14.40,14.56,14.60
$GC,8007,-0.62,-116.8,2122,2508,3414,3407,931.5,-9.1,600,8011,0.00,2.42,0.00,0.000,260,0.000,0.094,2114,3893,3411,3415,3407,0,0,0,0,0,0,15.02,14.46,15.04
$GC,8044,-0.62,-116.8,2113,3893,3414,3407,935.0,-9.8,607,8049,0.00,2.30,0.00,0.000,1030,0.000,0.039,2114,2487,3410,3414,3407,0,0,0,0,0,0,14.74,14.67,14.77
$GC,8349,-0.62,-116.8,2113,2487,3413,3407,964.6,-9.5,623,8353,0.00,2.30,0.00,0.000,516,0.000,0.054,2114,1106,3410,3413,3407,0,0,0,0,0,0,15.02,14.58,15.04
$GC,8385,-0.62,-116.8,2113,1106,3413,3407,968.2,-9.5,630,8390,0.00,2.45,0.00,0.000,1030,0.000,0.070,2103,2499,3410,3413,3407,0,0,0,0,0,0,14.69,14.56,14.73
$STATE,8609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8609,begin apogee
$GC,8616,-0.15,0.0,2101,2430,3414,3402,991.1,-10.2,642,8728,0.60,0.00,106.80,2.020,10246,0.171,0.000,2275,2429,2967,2992,2942,0,0,0,0,0,0,14.40,14.11,13.10
$STATE,8730,end apogee,CONTROL_FINISHED_OK
$STATE,8730,begin climb
$GC,8733,0.62,116.8,2275,2429,2991,2942,994.7,0.0,648,8860,0.80,2.47,115.57,1.992,10756,0.100,0.054,2545,1050,2489,2519,2459,0,0,0,0,0,0,14.15,13.98,12.98
$GC,8897,0.62,116.8,2545,1050,2514,2457,989.3,8.0,681,8904,0.00,2.50,0.00,0.000,1030,0.000,0.063,2545,2445,2485,2514,2456,0,0,0,0,0,0,14.23,14.14,14.25
$GC,9213,0.62,116.8,2545,2445,2510,2454,957.1,10.5,699,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2444,2482,2510,2454,0,0,0,0,0,0,14.78,14.82,14.81
$GC,9512,0.62,116.8,2545,2444,2509,2453,925.5,10.3,714,9517,0.00,2.38,0.00,0.000,516,0.000,0.056,2555,1056,2481,2509,2453,0,0,0,0,0,0,14.89,14.58,14.91
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$STATE,20127,end climb,SURFACE_DEPTH_REACHED
$STATE,20127,begin surface coast
$STATE,20156,end surface coast,CONTROL_FINISHED_OK
$STATE,20156,begin surface
$SM_CCo,20174,141.23,0.633,1,0,928,500.17
$SM_GC,1.35,7.35,0.08,141.23,0.069,0.178,0.633,120,2497,928,-6.78,-1.13,500.17,0,0,0,0,1,0,14.68,14.66,13.94
$IRIDIUM_FIX,1339.72,8704.60,230919,221419
$TT8_MAMPS,0.018725,0.166278
$HUMID,40.98
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,26.50
$XPDR_PINGS,1
$SC_FREEKB,3789568
$24V_AH,12.98,102.927
$10V_AH,13.16,0.000
$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,19.625,203.700,433.175,141.225,0.000,0.000,0.000,237.950,0.250,0.000,14.251,1559.302,14131.747,709.633,3796.862,539.878,0.000,2357.100,0.000,3428.062,0.000,0.541,0.000
$DEVICE_MAMPS,359.550,318.240,2020.365,632.655,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3002.766,0.000,0.000,0.000,0.000,0.000,20172.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.212,0.000,0.000,0.000
$MEM,251844
$DATA_FILE_SIZE,73281,1698
$CAP_FILE_SIZE,295552,0
$CFSIZE,260034560,164167680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,143.13,1
$GPS,240919,094740,1341.339,8701.625,21,1.4,23,-0.9,0.7,148.5,6,9.1