version: 66.13
glider: 171
mission: 11
dive: 272
start: 9 24 119 21 22 15
data:
$ID,171
$MISSION,11
$DIVE,272
$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,54
$R_STBD_OVSHOOT,25
$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
$GPS1,240919,211324,1342.9829,8701.3281,29,1.9,29,-0.9,0.4,0.0,8,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.4
$GPS2,240919,212124,1342.8103,8701.3340,2,0.6,3,-0.9,0.8,219.1,12,5.5
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,193.6,301534,-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
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.62,-116.8,91,2496,975,878,0.0,0.0,0,97,0.00,0.00,-77.82,0.005,16386,0.000,0.000,89,2496,2796,2793,2799,0,0,0,0,0,0,14.81,28.83,14.85
$GC,100,-0.62,-116.8,89,2496,2794,2799,5.3,-14.4,16,129,9.15,2.33,-11.48,0.011,18948,0.356,0.064,2131,1094,3446,3454,3439,0,0,0,0,0,0,14.19,13.62,14.55
$GC,153,-0.62,-116.8,2131,1095,3454,3439,26.8,-32.6,27,158,0.00,2.42,0.00,0.000,1030,0.000,0.066,2122,2501,3446,3454,3439,0,0,0,0,0,0,14.66,14.56,14.69
$GC,341,-0.62,-116.8,2122,2501,3454,3439,87.4,-32.9,53,345,0.00,2.38,0.00,0.000,260,0.000,0.083,2111,3894,3447,3454,3440,0,0,0,0,0,0,14.90,14.56,14.92
$GC,562,-0.62,-116.8,2111,3895,3453,3438,131.5,-15.7,97,567,0.00,2.20,0.00,0.000,1030,0.000,0.033,2111,2497,3446,3453,3439,0,0,0,0,0,0,14.77,14.71,14.79
$GC,754,-0.62,-116.8,2111,2495,3454,3439,163.6,-15.7,117,758,0.00,2.40,0.00,0.000,260,0.000,0.079,2101,3903,3446,3454,3439,0,0,0,0,0,0,14.97,14.62,15.00
$GC,910,-0.62,-116.8,2100,3903,3454,3439,188.6,-15.4,148,914,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2499,3446,3454,3439,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1097,-0.62,-116.8,2100,2498,3454,3439,217.3,-14.7,167,1102,0.00,2.38,0.00,0.000,260,0.000,0.079,2089,3897,3446,3454,3439,0,0,0,0,0,0,15.00,14.63,15.03
$GC,1149,-0.62,-116.8,2089,3897,3452,3439,225.4,-14.9,177,1154,0.15,2.20,0.00,0.000,3078,0.217,0.033,2126,2496,3446,3453,3439,0,0,0,0,0,0,14.49,14.76,14.69
$GC,1341,-0.62,-116.8,2126,2493,3452,3438,246.2,-9.6,197,1345,0.00,2.25,0.00,0.000,516,0.000,0.047,2126,1104,3445,3451,3439,0,0,0,0,0,0,15.02,14.69,15.04
$GC,1372,-0.62,-116.8,2126,1105,3451,3439,249.3,-10.4,203,1378,0.00,2.35,0.00,0.000,1030,0.000,0.058,2117,2504,3445,3451,3439,0,0,0,0,0,0,14.78,14.67,14.81
$GC,1566,-0.62,-116.8,2117,2504,3450,3439,270.5,-11.6,214,1570,0.00,2.35,0.00,0.000,260,0.000,0.081,2107,3893,3444,3450,3439,0,0,0,0,0,0,15.02,14.64,15.05
$GC,1681,-0.62,-116.8,2107,3893,3448,3438,284.8,-12.1,237,1686,0.00,2.20,0.00,0.000,1030,0.000,0.033,2107,2504,3443,3448,3438,0,0,0,0,0,0,14.83,14.78,14.85
$GC,1988,-0.62,-116.8,2107,2502,3444,3438,321.5,-11.9,253,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2503,3441,3444,3438,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2288,-0.62,-116.8,2107,2502,3442,3434,354.2,-10.4,268,2292,0.00,2.28,0.00,0.000,516,0.000,0.049,2107,1103,3438,3442,3434,0,0,0,0,0,0,15.05,14.72,15.08
$GC,2309,-0.62,-116.8,2106,1103,3442,3434,356.4,-10.6,272,2316,0.12,2.38,0.00,0.000,3078,0.213,0.061,2126,2502,3438,3442,3434,0,0,0,0,0,0,14.52,14.69,14.71
$GC,2629,-0.62,-116.8,2125,2502,3439,3431,385.8,-9.7,291,2634,0.00,2.38,0.00,0.000,260,0.000,0.085,2117,3894,3434,3437,3431,0,0,0,0,0,0,15.05,14.63,15.08
$GC,2671,-0.62,-116.8,2116,3894,3438,3431,390.3,-10.8,299,2676,0.00,2.22,0.00,0.000,1030,0.000,0.035,2117,2493,3434,3439,3430,0,0,0,0,0,0,14.84,14.78,14.86
$GC,2993,-0.62,-116.8,2117,2491,3436,3428,427.8,-11.9,318,2997,0.00,2.25,0.00,0.000,516,0.000,0.048,2117,1106,3431,3436,3427,0,0,0,0,0,0,15.05,14.70,15.08
$GC,3015,-0.62,-116.8,2117,1106,3435,3428,430.4,-12.3,322,3020,0.00,2.38,0.00,0.000,1030,0.000,0.057,2106,2502,3431,3435,3427,0,0,0,0,0,0,14.78,14.67,14.82
$GC,3336,-0.62,-116.8,2106,2502,3432,3424,471.1,-12.7,341,3340,0.00,2.38,0.00,0.000,260,0.000,0.084,2095,3893,3428,3432,3424,0,0,0,0,0,0,15.05,14.61,15.08
$GC,3378,-0.62,-116.8,2095,3893,3432,3424,476.5,-13.1,349,3383,0.12,2.22,0.00,0.000,3078,0.204,0.036,2126,2494,3428,3432,3424,0,0,0,0,0,0,14.51,14.76,14.70
$GC,3701,-0.62,-116.8,2126,2492,3430,3422,511.8,-10.6,368,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2492,3426,3430,3422,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4000,-0.62,-116.8,2125,2492,3429,3421,541.5,-9.5,383,4005,0.00,2.28,0.00,0.000,516,0.000,0.049,2126,1107,3424,3428,3421,0,0,0,0,0,0,15.04,14.66,15.08
$GC,4027,-0.62,-116.8,2126,1107,3429,3421,544.1,-10.1,388,4031,0.00,2.38,0.00,0.000,1030,0.000,0.059,2117,2504,3424,3428,3420,0,0,0,0,0,0,14.76,14.64,14.79
$GC,4343,-0.62,-116.8,2117,2504,3427,3419,574.9,-10.0,406,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2504,3423,3427,3419,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4643,-0.62,-116.8,2116,2504,3425,3417,603.9,-9.4,421,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2504,3421,3425,3417,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4943,-0.62,-116.8,2117,2504,3423,3415,630.8,-8.9,436,4947,0.00,2.40,0.00,0.000,260,0.000,0.086,2106,3893,3418,3422,3415,0,0,0,0,0,0,15.05,14.53,15.07
$GC,4969,-0.62,-116.8,2106,3893,3422,3415,633.2,-9.3,441,4973,0.00,2.22,0.00,0.000,1030,0.000,0.036,2106,2502,3418,3422,3415,0,0,0,0,0,0,14.81,14.74,14.83
$GC,5286,-0.62,-116.8,2106,2501,3421,3414,664.4,-10.1,459,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3417,3421,3413,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5585,-0.62,-116.8,2106,2501,3420,3412,695.9,-10.6,474,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3416,3421,3412,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5885,-0.62,-116.8,2106,2501,3418,3411,726.8,-10.0,489,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2501,3414,3418,3411,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6186,-0.62,-116.8,2106,2501,3417,3410,756.6,-9.9,504,6192,0.00,2.45,0.00,0.000,260,0.000,0.093,2095,3892,3413,3417,3410,0,0,0,0,0,0,15.04,14.53,15.06
$GC,6220,-0.62,-116.8,2095,3892,3417,3409,760.3,-10.6,511,6227,0.12,2.28,0.00,0.000,3078,0.203,0.037,2126,2495,3413,3418,3409,0,0,0,0,0,0,14.45,14.69,14.64
$GC,6525,-0.62,-116.8,2125,2494,3416,3408,787.4,-8.9,527,6530,0.00,2.30,0.00,0.000,516,0.000,0.050,2126,1106,3412,3416,3408,0,0,0,0,0,0,15.02,14.62,15.05
$GC,6548,-0.62,-116.8,2125,1105,3416,3408,789.5,-9.4,531,6553,0.00,2.40,0.00,0.000,1030,0.000,0.059,2117,2507,3411,3415,3408,0,0,0,0,0,0,14.72,14.60,14.76
$GC,6870,-0.62,-116.8,2116,2507,3414,3407,821.4,-10.1,550,6875,0.00,2.42,0.00,0.000,260,0.000,0.089,2106,3891,3411,3415,3407,0,0,0,0,0,0,15.02,14.52,15.05
$GC,6932,-0.62,-116.8,2106,3892,3414,3406,827.9,-10.7,562,6937,0.00,2.25,0.00,0.000,1030,0.000,0.037,2106,2496,3410,3414,3407,0,0,0,0,0,0,14.77,14.70,14.79
$GC,7254,-0.62,-116.8,2106,2494,3413,3406,863.2,-11.0,581,7258,0.00,2.30,0.00,0.000,516,0.000,0.051,2106,1108,3409,3413,3406,0,0,0,0,0,0,15.02,14.61,15.04
$GC,7284,-0.62,-116.8,2106,1107,3413,3406,866.8,-10.9,587,7290,0.12,2.40,0.00,0.000,3078,0.213,0.060,2125,2505,3409,3413,3406,0,0,0,0,0,0,14.42,14.59,14.62
$GC,7599,-0.62,-116.8,2125,2505,3412,3405,896.0,-9.0,604,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2505,3409,3413,3405,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7898,-0.62,-116.8,2125,2505,3412,3404,921.6,-8.3,619,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2505,3408,3412,3404,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8197,-0.62,-116.8,2125,2505,3410,3402,945.3,-7.7,634,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2505,3406,3411,3402,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8497,-0.62,-116.8,2125,2505,3410,3402,968.6,-7.9,649,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2505,3406,3410,3402,0,0,0,0,0,0,15.01,15.04,15.04
$STATE,8775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8775,begin apogee
$GC,8782,-0.15,0.0,2125,2436,3409,3401,990.9,-8.0,663,8891,0.52,0.00,106.20,1.999,10246,0.161,0.000,2278,2437,2968,2994,2942,0,0,0,0,0,0,14.40,14.12,13.07
$STATE,8893,end apogee,CONTROL_FINISHED_OK
$STATE,8893,begin climb
$GC,8895,0.62,116.8,2278,2436,2992,2942,993.5,0.0,668,9018,0.77,2.50,114.80,1.974,10756,0.090,0.053,2544,1054,2490,2521,2460,0,0,0,0,0,0,14.16,13.98,13.00
$GC,9051,0.64,116.8,2544,1055,2515,2459,990.8,7.4,702,9059,0.00,2.47,0.00,0.000,1094,0.000,0.057,2545,2445,2486,2515,2458,0,0,0,0,0,0,14.21,14.12,14.23
$GC,9361,0.64,116.8,2544,2444,2514,2455,961.5,9.6,719,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2444,2483,2511,2455,0,0,0,0,0,0,14.78,14.81,14.81
$GC,9660,0.64,116.8,2544,2444,2510,2453,932.0,9.8,734,9665,0.00,2.38,0.00,0.000,516,0.000,0.054,2556,1050,2481,2510,2453,0,0,0,0,0,0,14.88,14.57,14.91
$GC,9706,0.64,116.8,2555,1049,2509,2452,927.4,10.2,743,9711,0.00,2.40,0.00,0.000,1030,0.000,0.056,2555,2448,2481,2509,2453,0,0,0,0,0,0,14.66,14.56,14.70
$GC,10023,0.64,116.8,2555,2448,2508,2452,895.6,9.8,761,10027,0.00,2.38,0.00,0.000,516,0.000,0.052,2567,1046,2480,2508,2452,0,0,0,0,0,0,14.93,14.59,14.96
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$STATE,20233,end climb,SURFACE_DEPTH_REACHED
$STATE,20233,begin surface coast
$STATE,20259,end surface coast,CONTROL_FINISHED_OK
$STATE,20259,begin surface
$SM_CCo,20277,106.20,0.599,1,0,929,500.17
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$IRIDIUM_FIX,1339.70,8702.38,240919,154317
$TT8_MAMPS,0.019474,0.160286
$HUMID,43.14
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,26.10
$XPDR_PINGS,1
$SC_FREEKB,3788224
$24V_AH,13.00,103.972
$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
$DEVICE_SECS,19.125,184.275,472.450,106.200,0.000,0.000,0.000,290.300,0.250,0.000,14.677,1512.699,14407.877,672.459,3717.028,552.096,0.000,2328.253,0.000,3334.084,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,2970.876,0.000,0.000,0.000,0.000,0.000,20277.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.200,0.000,0.000,0.000
$MEM,251736
$DATA_FILE_SIZE,69921,1631
$CAP_FILE_SIZE,288947,0
$CFSIZE,260034560,163823616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,8777.92,0x214798,2,24
$CURRENT,0.136,162.22,1
$GPS,250919,030309,1339.753,8701.330,22,1.2,22,-0.9,1.5,170.3,7,7.6