version: 66.13
glider: 171
mission: 11
dive: 277
start: 9 26 119 2 19 46
data:
$ID,171
$MISSION,11
$DIVE,277
$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,51
$R_STBD_OVSHOOT,30
$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
$GPS1,260919,021138,1328.1768,8701.2002,19,0.9,19,-0.9,0.1,0.0,7,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.2
$GPS2,260919,021856,1328.0466,8701.1846,2,0.6,2,-0.9,0.6,205.9,12,10.0
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,205.6,274190,-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,-116.8,71,2463,974,877,0.0,0.0,0,97,0.00,0.00,-77.72,0.005,16386,0.000,0.000,68,2463,2726,2724,2729,0,0,0,0,0,0,14.80,28.83,14.82
$GC,100,-0.62,-116.8,68,2463,2725,2729,4.9,-17.4,16,130,9.20,2.47,-12.82,0.010,19204,0.352,0.086,2112,3893,3448,3456,3440,0,0,0,0,0,0,14.15,13.07,14.50
$GC,158,-0.62,-116.8,2111,3893,3456,3441,30.5,-40.5,28,163,0.00,2.22,0.00,0.000,1030,0.000,0.029,2120,2463,3448,3456,3441,0,0,0,0,0,0,14.69,14.65,14.70
$GC,350,-0.62,-116.8,2121,2460,3455,3441,69.2,-19.4,56,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2461,3448,3455,3441,0,0,0,0,0,0,14.88,14.92,14.91
$GC,537,-0.62,-116.8,2120,2460,3455,3441,114.8,-18.4,75,541,0.00,2.47,0.00,0.000,260,0.000,0.082,2111,3896,3448,3456,3441,0,0,0,0,0,0,14.93,14.46,14.96
$GC,719,-0.62,-116.8,2110,3896,3456,3441,148.2,-16.1,111,725,0.00,2.15,0.00,0.000,1030,0.000,0.032,2111,2525,3449,3457,3441,0,0,0,0,0,0,14.77,14.72,14.79
$GC,912,-0.62,-116.8,2110,2524,3456,3441,173.2,-11.7,131,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2524,3449,3457,3441,0,0,0,0,0,0,14.96,14.99,14.99
$GC,1093,-0.62,-116.8,2109,2524,3457,3441,192.5,-11.0,149,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2524,3449,3457,3441,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1272,-0.62,-116.8,2108,2524,3457,3441,213.2,-12.1,167,1277,0.00,2.35,0.00,0.000,260,0.000,0.086,2098,3890,3449,3457,3441,0,0,0,0,0,0,15.00,14.62,15.02
$GC,1309,-0.62,-116.8,2098,3890,3457,3441,218.2,-13.6,174,1314,0.12,2.22,0.00,0.000,3078,0.203,0.032,2128,2491,3449,3458,3440,0,0,0,0,0,0,14.53,14.75,14.71
$GC,1495,-0.62,-116.8,2127,2490,3456,3440,238.0,-10.4,193,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2490,3448,3455,3441,0,0,0,0,0,0,15.01,15.04,15.04
$GC,1675,-0.62,-116.8,2127,2490,3453,3440,256.4,-10.3,208,1679,0.00,2.40,0.00,0.000,260,0.000,0.083,2119,3890,3447,3453,3441,0,0,0,0,0,0,15.02,14.62,15.05
$GC,1741,-0.62,-116.8,2119,3890,3452,3441,263.6,-10.8,221,1745,0.00,2.17,0.00,0.000,1030,0.000,0.031,2119,2504,3446,3453,3440,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2057,-0.62,-116.8,2119,2502,3449,3440,298.7,-11.4,239,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2502,3444,3449,3440,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2357,-0.62,-116.8,2120,2502,3446,3437,333.2,-11.1,254,2361,0.00,2.28,0.00,0.000,516,0.000,0.050,2121,1103,3441,3446,3437,0,0,0,0,0,0,15.04,14.71,15.07
$GC,2378,-0.62,-116.8,2120,1103,3446,3437,335.6,-11.3,258,2382,0.00,2.35,0.00,0.000,1030,0.000,0.057,2110,2501,3441,3446,3437,0,0,0,0,0,0,14.79,14.69,14.83
$GC,2699,-0.62,-116.8,2110,2501,3444,3433,369.8,-10.5,277,2703,0.00,2.38,0.00,0.000,260,0.000,0.084,2100,3893,3439,3444,3434,0,0,0,0,0,0,15.04,14.62,15.07
$GC,2729,-0.62,-116.8,2099,3893,3443,3434,373.2,-11.2,283,2735,0.00,2.22,0.00,0.000,1030,0.000,0.034,2100,2492,3439,3444,3434,0,0,0,0,0,0,14.83,14.77,14.85
$GC,3043,-0.62,-116.8,2099,2490,3442,3430,407.7,-11.0,300,3045,0.12,0.00,0.00,0.000,2054,0.207,0.000,2129,2490,3435,3441,3430,0,0,0,0,0,0,14.59,14.79,14.74
$GC,3342,-0.62,-116.8,2129,2490,3439,3428,434.6,-8.8,315,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2490,3434,3439,3429,0,0,0,0,0,0,15.05,15.08,15.08
$GC,3642,-0.62,-116.8,2128,2490,3436,3425,463.2,-10.0,330,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2490,3430,3436,3425,0,0,0,0,0,0,15.05,15.09,15.08
$GC,3942,-0.62,-116.8,2128,2490,3434,3424,493.3,-9.8,345,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2490,3428,3434,3423,0,0,0,0,0,0,15.05,15.08,15.08
$GC,4243,-0.62,-116.8,2129,2490,3432,3421,521.2,-9.0,360,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2490,3426,3432,3421,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4543,-0.62,-116.8,2128,2490,3431,3420,547.8,-9.0,375,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2490,3425,3430,3421,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4842,-0.62,-116.8,2128,2490,3430,3420,575.2,-9.2,390,4846,0.00,2.28,0.00,0.000,516,0.000,0.050,2129,1108,3424,3430,3419,0,0,0,0,0,0,15.04,14.66,15.07
$GC,4877,-0.62,-116.8,2128,1107,3429,3419,578.6,-9.2,397,4881,0.00,2.40,0.00,0.000,1030,0.000,0.060,2120,2499,3424,3429,3419,0,0,0,0,0,0,14.76,14.64,14.78
$GC,5183,-0.62,-116.8,2125,2502,3429,3415,607.1,-9.2,413,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3422,3429,3415,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5483,-0.62,-116.8,2125,2501,3427,3415,634.0,-8.9,428,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3421,3427,3415,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5783,-0.62,-116.8,2126,2501,3425,3415,660.1,-8.6,443,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3419,3424,3415,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6083,-0.62,-116.8,2126,2500,3423,3413,685.7,-8.6,458,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3418,3424,3413,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6383,-0.62,-116.8,2125,2501,3425,3412,711.2,-8.6,473,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3416,3421,3412,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6684,-0.62,-116.8,2126,2501,3421,3411,737.0,-8.7,488,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3416,3421,3411,0,0,0,0,0,0,15.03,15.07,15.06
$GC,6983,-0.62,-116.8,2126,2501,3421,3410,762.6,-8.4,503,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3415,3421,3410,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7283,-0.62,-116.8,2126,2501,3419,3409,786.9,-8.0,518,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3414,3419,3409,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7583,-0.62,-116.8,2126,2501,3418,3408,810.7,-7.9,533,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2501,3413,3418,3408,0,0,0,0,0,0,15.02,15.05,15.05
$GC,7884,-0.62,-116.8,2126,2501,3417,3408,834.3,-7.8,548,7888,0.00,2.42,0.00,0.000,260,0.000,0.088,2117,3888,3412,3417,3408,0,0,0,0,0,0,15.02,14.50,15.04
$GC,7905,-0.62,-116.8,2117,3888,3417,3408,836.1,-8.1,552,7910,0.00,2.25,0.00,0.000,1030,0.000,0.039,2117,2502,3412,3417,3408,0,0,0,0,0,0,14.76,14.68,14.78
$GC,8227,-0.62,-116.8,2117,2501,3416,3407,864.4,-9.1,571,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2501,3411,3416,3407,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8527,-0.62,-116.8,2116,2502,3415,3407,892.5,-9.4,586,8531,0.00,2.33,0.00,0.000,516,0.000,0.052,2117,1106,3410,3414,3407,0,0,0,0,0,0,15.02,14.58,15.04
$GC,8558,-0.62,-116.8,2117,1106,3414,3407,895.6,-10.2,592,8563,0.00,2.40,0.00,0.000,1030,0.000,0.060,2107,2501,3410,3414,3407,0,0,0,0,0,0,14.68,14.56,14.72
$GC,8870,-0.62,-116.8,2107,2501,3413,3406,926.2,-9.5,609,8874,0.00,2.42,0.00,0.000,260,0.000,0.089,2096,3890,3410,3414,3406,0,0,0,0,0,0,15.00,14.47,15.03
$GC,8906,-0.62,-116.8,2096,3890,3413,3406,929.7,-10.0,616,8912,0.12,2.28,0.00,0.000,3078,0.204,0.037,2126,2498,3409,3413,3406,0,0,0,0,0,0,14.41,14.67,14.59
$GC,9212,-0.62,-116.8,2126,2497,3413,3405,953.7,-7.4,632,9216,0.00,2.33,0.00,0.000,516,0.000,0.052,2126,1106,3409,3413,3405,0,0,0,0,0,0,15.00,14.56,15.03
$GC,9267,-0.62,-116.8,2126,1106,3413,3405,958.0,-7.3,643,9274,0.00,2.42,0.00,0.000,1030,0.000,0.059,2118,2498,3409,3413,3405,0,0,0,0,0,0,14.67,14.55,14.71
$GC,9574,-0.62,-116.8,2117,2498,3412,3404,980.8,-7.4,659,9579,0.00,2.45,0.00,0.000,260,0.000,0.090,2107,3896,3408,3413,3403,0,0,0,0,0,0,15.00,14.46,15.02
$GC,9616,-0.62,-116.8,2107,3896,3413,3403,984.2,-8.1,667,9621,0.00,2.28,0.00,0.000,1030,0.000,0.038,2107,2497,3407,3412,3403,0,0,0,0,0,0,14.72,14.64,14.74
$STATE,9696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9696,begin apogee
$GC,9702,-0.15,0.0,2107,2496,3412,3404,991.2,-8.5,674,9816,0.60,0.00,107.78,2.004,10246,0.166,0.000,2281,2496,2967,2993,2941,0,0,0,0,0,0,14.39,14.09,13.04
$STATE,9817,end apogee,CONTROL_FINISHED_OK
$STATE,9818,begin climb
$GC,9821,0.62,116.8,2281,2495,2992,2941,993.8,0.0,680,9944,0.77,0.00,116.03,1.994,10502,0.090,0.000,2538,2494,2490,2523,2458,0,0,0,0,0,0,14.15,13.93,12.96
$GC,10239,0.62,116.8,2537,2495,2513,2452,967.8,9.0,713,10243,0.00,2.45,0.00,0.000,516,0.000,0.053,2549,1050,2482,2512,2452,0,0,0,0,0,0,14.74,14.46,14.77
$GC,10269,0.62,116.8,2549,1047,2511,2452,965.0,9.0,719,10274,0.00,2.42,0.00,0.000,1030,0.000,0.056,2549,2449,2481,2511,2452,0,0,0,0,0,0,14.57,14.47,14.60
$GC,10582,0.62,116.8,2549,2449,2510,2451,937.3,8.7,736,10586,0.00,2.38,0.00,0.000,516,0.000,0.052,2560,1049,2480,2510,2450,0,0,0,0,0,0,14.88,14.55,14.90
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$STATE,21568,end climb,SURFACE_DEPTH_REACHED
$STATE,21568,begin surface coast
$STATE,21591,end surface coast,CONTROL_FINISHED_OK
$STATE,21591,begin surface
$SM_CCo,21610,148.02,0.649,1,0,928,500.17
$SM_GC,1.43,7.32,0.10,148.02,0.051,0.134,0.649,125,2532,928,-6.76,-1.13,500.17,0,0,0,0,1,0,14.66,14.64,13.92
$IRIDIUM_FIX,1330.77,8704.71,250919,202451
$TT8_MAMPS,0.018725,0.476364
$HUMID,42.04
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.60
$XPDR_PINGS,2
$SC_FREEKB,3785984
$24V_AH,12.96,105.701
$10V_AH,13.15,0.000
$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,19.200,179.500,425.525,148.025,0.000,0.000,0.000,245.225,0.500,0.000,13.808,1615.144,15410.153,710.687,3891.997,564.400,0.000,2356.466,0.000,3524.337,0.000,0.541,0.000
$DEVICE_MAMPS,351.900,133.875,2003.535,648.720,0.000,0.000,0.000,192.015,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3170.997,0.000,0.000,0.000,0.000,0.000,21609.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.297,0.000,0.000,0.000
$MEM,251652
$DATA_FILE_SIZE,76636,1721
$CAP_FILE_SIZE,301604,0
$CFSIZE,260034560,163237888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.104,163.07,1
$GPS,260919,082338,1325.298,8700.780,24,0.9,24,-0.9,0.8,183.7,9,9.4