version: 66.13
glider: 171
mission: 11
dive: 288
start: 9 28 119 19 4 14
data:
$ID,171
$MISSION,11
$DIVE,288
$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,65
$R_STBD_OVSHOOT,31
$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
$GPS1,280919,185609,1258.8687,8659.0605,14,1.1,14,-0.9,0.2,0.0,7,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.3
$GPS2,280919,190325,1258.7662,8659.0781,3,1.6,5,-0.9,0.5,0.0,6,10.0
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,R1
$TGT_LATLONG,1100.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,174.9,219961,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-116.8,117,2503,970,882,0.0,0.0,0,91,0.00,0.00,-72.12,0.005,16386,0.000,0.000,116,2503,2651,2652,2650,0,0,0,0,0,0,14.79,28.83,14.82
$GC,95,-0.62,-116.8,117,2503,2650,2650,4.9,-12.6,15,125,9.05,2.45,-14.80,0.009,18692,0.355,0.103,2111,3890,3446,3457,3436,0,0,0,0,0,0,14.19,13.05,14.56
$GC,153,-0.62,-116.8,2111,3890,3457,3437,27.7,-37.5,27,158,0.00,2.25,0.00,0.000,1030,0.000,0.041,2111,2514,3446,3457,3436,0,0,0,0,0,0,14.66,14.58,14.67
$GC,341,-0.62,-116.8,2111,2512,3457,3436,90.9,-30.9,52,345,0.00,2.33,0.00,0.000,516,0.000,0.047,2111,1088,3446,3457,3436,0,0,0,0,0,0,14.89,14.59,14.91
$GC,363,-0.62,-116.8,2110,1087,3457,3437,96.9,-28.4,56,370,0.00,2.40,0.00,0.000,1030,0.000,0.060,2101,2501,3447,3457,3437,0,0,0,0,0,0,14.67,14.57,14.71
$GC,553,-0.62,-116.8,2100,2501,3457,3437,138.6,-17.5,76,557,0.00,2.38,0.00,0.000,260,0.000,0.080,2089,3898,3446,3457,3436,0,0,0,0,0,0,14.92,14.56,14.95
$GC,625,-0.62,-116.8,2089,3899,3457,3436,151.6,-17.3,90,631,0.15,2.25,0.00,0.000,3078,0.224,0.038,2125,2487,3446,3457,3436,0,0,0,0,0,0,14.40,14.69,14.62
$GC,820,-0.62,-116.8,2124,2486,3458,3436,178.4,-14.2,110,825,0.00,2.42,0.00,0.000,260,0.000,0.084,2116,3896,3447,3457,3437,0,0,0,0,0,0,14.95,14.58,14.98
$GC,898,-0.62,-116.8,2116,3896,3457,3436,189.5,-14.2,125,902,0.00,2.25,0.00,0.000,1030,0.000,0.034,2116,2498,3447,3458,3436,0,0,0,0,0,0,14.74,14.65,14.77
$GC,1084,-0.62,-116.8,2116,2497,3458,3437,214.5,-12.6,144,1090,0.00,2.42,0.00,0.000,260,0.000,0.090,2106,3895,3447,3458,3436,0,0,0,0,0,0,14.98,14.59,15.01
$GC,1117,-0.62,-116.8,2105,3894,3457,3437,218.9,-13.3,151,1121,0.00,2.25,0.00,0.000,1030,0.000,0.038,2106,2499,3447,3457,3437,0,0,0,0,0,0,14.79,14.72,14.81
$GC,1304,-0.62,-116.8,2105,2496,3456,3436,242.8,-12.4,170,1309,0.00,2.42,0.00,0.000,260,0.000,0.090,2095,3896,3446,3456,3436,0,0,0,0,0,0,15.00,14.60,15.03
$GC,1337,-0.62,-116.8,2095,3896,3456,3436,247.3,-13.6,176,1342,0.12,2.22,0.00,0.000,3078,0.209,0.036,2125,2490,3445,3455,3436,0,0,0,0,0,0,14.50,14.74,14.69
$GC,1539,-0.62,-116.8,2124,2489,3454,3436,270.1,-11.2,188,1543,0.00,2.42,0.00,0.000,260,0.000,0.088,2116,3893,3444,3453,3436,0,0,0,0,0,0,15.02,14.61,15.04
$GC,1644,-0.62,-116.8,2116,3893,3452,3436,281.6,-11.1,208,1648,0.00,2.22,0.00,0.000,1030,0.000,0.037,2116,2491,3444,3452,3436,0,0,0,0,0,0,14.82,14.76,14.83
$GC,1965,-0.62,-116.8,2115,2490,3449,3436,317.3,-10.8,227,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2490,3442,3449,3436,0,0,0,0,0,0,15.04,15.07,15.06
$GC,2265,-0.62,-116.8,2115,2490,3444,3436,348.9,-10.4,242,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2490,3440,3444,3436,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2564,-0.62,-116.8,2115,2490,3442,3432,379.7,-10.3,257,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2490,3437,3442,3432,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2865,-0.62,-116.8,2115,2490,3441,3429,411.0,-10.6,272,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2490,3434,3439,3429,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3165,-0.62,-116.8,2115,2490,3437,3425,442.0,-10.4,287,3169,0.00,2.28,0.00,0.000,516,0.000,0.049,2116,1102,3431,3437,3425,0,0,0,0,0,0,15.04,14.67,15.07
$GC,3207,-0.62,-116.8,2115,1102,3436,3425,446.4,-10.3,295,3212,0.00,2.35,0.00,0.000,1030,0.000,0.058,2106,2496,3430,3436,3425,0,0,0,0,0,0,14.66,14.60,14.71
$GC,3529,-0.62,-116.8,2105,2496,3434,3423,482.1,-11.3,314,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2497,3428,3434,3423,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3829,-0.62,-116.8,2104,2496,3431,3421,516.2,-11.1,329,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2496,3426,3431,3421,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4129,-0.62,-116.8,2105,2497,3430,3420,548.5,-10.5,344,4136,0.00,2.42,0.00,0.000,260,0.000,0.087,2094,3900,3425,3430,3420,0,0,0,0,0,0,15.04,14.57,15.07
$GC,4184,-0.62,-116.8,2094,3900,3430,3420,554.5,-11.0,355,4190,0.12,2.28,0.00,0.000,3078,0.203,0.037,2125,2501,3424,3429,3420,0,0,0,0,0,0,14.48,14.72,14.66
$GC,4491,-0.62,-116.8,2124,2499,3428,3418,582.1,-8.7,371,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2499,3423,3428,3418,0,0,0,0,0,0,15.03,15.06,15.06
$GC,4789,-0.62,-116.8,2124,2499,3426,3416,609.1,-9.0,386,4794,0.00,2.30,0.00,0.000,516,0.000,0.050,2124,1106,3420,3426,3415,0,0,0,0,0,0,15.03,14.63,15.06
$GC,4858,-0.62,-116.8,2124,1106,3426,3415,615.2,-9.1,399,4862,0.00,2.40,0.00,0.000,1030,0.000,0.060,2116,2509,3421,3426,3416,0,0,0,0,0,0,14.73,14.61,14.76
$GC,5174,-0.62,-116.8,2115,2509,3424,3414,645.9,-9.7,417,5178,0.00,2.40,0.00,0.000,260,0.000,0.089,2106,3893,3419,3424,3414,0,0,0,0,0,0,15.02,14.53,15.06
$GC,5236,-0.62,-116.8,2105,3893,3423,3414,652.0,-9.9,429,5240,0.00,2.25,0.00,0.000,1030,0.000,0.037,2106,2493,3418,3423,3414,0,0,0,0,0,0,14.77,14.71,14.80
$GC,5558,-0.62,-116.8,2105,2492,3421,3413,685.1,-10.3,448,5562,0.00,2.33,0.00,0.000,516,0.000,0.050,2106,1103,3416,3421,3412,0,0,0,0,0,0,15.02,14.62,15.04
$GC,5609,-0.62,-116.8,2105,1103,3421,3412,690.7,-10.6,458,5614,0.12,2.40,0.00,0.000,3078,0.213,0.063,2124,2501,3416,3421,3412,0,0,0,0,0,0,14.42,14.60,14.62
$GC,5923,-0.62,-116.8,2124,2501,3421,3411,720.4,-9.6,475,5927,0.00,2.45,0.00,0.000,260,0.000,0.089,2115,3897,3416,3421,3411,0,0,0,0,0,0,15.02,14.51,15.04
$GC,5958,-0.62,-116.8,2115,3897,3420,3411,724.1,-10.0,482,5964,0.00,2.30,0.00,0.000,1030,0.000,0.037,2115,2499,3416,3421,3411,0,0,0,0,0,0,14.75,14.66,14.77
$GC,6265,-0.62,-116.8,2115,2498,3419,3410,754.2,-9.8,498,6270,0.00,2.33,0.00,0.000,516,0.000,0.051,2116,1098,3414,3419,3410,0,0,0,0,0,0,15.01,14.60,15.04
$GC,6296,-0.62,-116.8,2115,1097,3418,3410,757.5,-10.0,504,6300,0.00,2.42,0.00,0.000,1030,0.000,0.063,2105,2501,3413,3418,3409,0,0,0,0,0,0,14.70,14.59,14.74
$GC,6602,-0.62,-116.8,2104,2502,3417,3408,787.2,-9.5,520,6606,0.00,2.42,0.00,0.000,260,0.000,0.088,2093,3893,3413,3418,3408,0,0,0,0,0,0,15.01,14.50,15.04
$GC,6638,-0.62,-116.8,2093,3892,3417,3408,790.7,-9.8,527,6643,0.12,2.30,0.00,0.000,3078,0.202,0.037,2124,2491,3412,3417,3408,0,0,0,0,0,0,14.44,14.68,14.62
$GC,6945,-0.62,-116.8,2124,2490,3417,3407,815.4,-8.1,543,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2490,3412,3417,3407,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7244,-0.62,-116.8,2123,2490,3416,3406,841.2,-8.8,558,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2490,3411,3416,3406,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7543,-0.62,-116.8,2124,2490,3415,3406,868.4,-9.3,573,7551,0.00,2.50,0.00,0.000,260,0.000,0.093,2115,3898,3409,3414,3405,0,0,0,0,0,0,15.01,14.47,15.04
$GC,7568,-0.62,-116.8,2115,3898,3415,3405,870.8,-10.0,578,7573,0.00,2.28,0.00,0.000,1030,0.000,0.037,2115,2494,3409,3414,3405,0,0,0,0,0,0,14.73,14.66,14.76
$GC,7885,-0.62,-116.8,2115,2493,3413,3405,902.6,-10.1,596,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2493,3409,3413,3405,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8186,-0.62,-116.8,2115,2493,3413,3403,931.9,-9.6,611,8190,0.00,2.33,0.00,0.000,516,0.000,0.052,2115,1103,3408,3413,3403,0,0,0,0,0,0,15.01,14.55,15.03
$GC,8216,-0.62,-116.8,2115,1103,3413,3403,935.0,-9.8,617,8220,0.00,2.42,0.00,0.000,1030,0.000,0.063,2105,2505,3407,3412,3403,0,0,0,0,0,0,14.66,14.54,14.71
$GC,8522,-0.62,-116.8,2104,2505,3412,3402,964.0,-9.1,633,8530,0.00,2.42,0.00,0.000,260,0.000,0.090,2093,3892,3407,3412,3402,0,0,0,0,0,0,15.00,14.46,15.02
$GC,8582,-0.62,-116.8,2093,3892,3412,3402,969.7,-9.5,645,8587,0.12,2.28,0.00,0.000,3078,0.200,0.038,2125,2492,3407,3412,3402,0,0,0,0,0,0,14.40,14.64,14.58
$STATE,8862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8862,begin apogee
$GC,8867,-0.15,0.0,2125,2491,3411,3402,991.3,-7.6,662,8982,0.52,0.00,108.32,2.008,10246,0.164,0.000,2278,2490,2967,2992,2942,0,0,0,0,0,0,14.40,14.10,13.07
$STATE,8984,end apogee,CONTROL_FINISHED_OK
$STATE,8984,begin climb
$GC,8986,0.62,116.8,2278,2491,2991,2942,993.9,0.0,668,9115,0.77,2.55,116.60,1.994,10500,0.091,0.090,2533,3840,2489,2517,2462,0,0,0,0,0,0,14.15,13.94,12.96
$GC,9172,0.62,116.8,2533,3841,2510,2462,986.7,9.8,705,9176,0.00,2.35,0.00,0.000,1030,0.000,0.037,2545,2445,2485,2510,2461,0,0,0,0,0,0,14.28,14.23,14.31
$GC,9488,0.62,116.8,2545,2444,2507,2456,956.0,9.6,723,9493,0.00,2.40,0.00,0.000,516,0.000,0.054,2555,1038,2481,2507,2456,0,0,0,0,0,0,14.79,14.50,14.82
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$STATE,20767,end climb,SURFACE_DEPTH_REACHED
$STATE,20767,begin surface coast
$STATE,20798,end surface coast,CONTROL_FINISHED_OK
$STATE,20798,begin surface
$SM_CCo,20816,121.07,0.614,1,0,928,500.17
$SM_GC,1.38,7.22,0.10,121.07,0.049,0.146,0.614,125,2514,928,-6.78,-1.05,500.17,0,0,0,0,1,0,14.66,14.62,13.90
$IRIDIUM_FIX,1301.77,8700.63,280919,130027
$TT8_MAMPS,0.018725,0.198485
$HUMID,41.92
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,26.20
$XPDR_PINGS,1
$SC_FREEKB,3781056
$24V_AH,12.96,109.536
$10V_AH,13.07,0.000
$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
$DEVICE_SECS,19.075,222.675,458.675,121.075,0.000,0.000,0.000,239.375,0.250,0.000,17.086,1646.771,14488.581,717.126,3914.031,604.506,0.000,2418.487,0.000,3567.144,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3070.551,0.000,0.000,0.000,0.000,0.000,20817.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.128,0.000,0.000,0.000
$MEM,251580
$DATA_FILE_SIZE,76550,1769
$CAP_FILE_SIZE,304547,0
$CFSIZE,260034560,161976320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.066,191.50,1
$GPS,290919,005430,1256.337,8659.039,28,0.7,28,-0.9,0.5,176.5,9,3.0