version: 66.13
glider: 171
mission: 11
dive: 348
start: 10 13 119 19 22 23
data:
$ID,171
$MISSION,11
$DIVE,348
$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,410
$T_MISSION,460
$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,100
$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,50
$R_STBD_OVSHOOT,33
$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,0
$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
$GPS1,131019,191508,1032.7548,8658.6133,20,1.0,20,-1.1,0.2,0.0,7,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.8
$GPS2,131019,192132,1032.7466,8658.5693,2,0.6,3,-1.1,0.5,3.7,12,6.1
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R2
$TGT_LATLONG,930.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,172.1,116236,-18.5,-8.049,-29.14,1821
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.64,-97.3,124,2500,975,878,0.0,0.0,0,83,0.00,0.00,-71.80,0.005,16386,0.000,0.000,124,2500,2674,2673,2676,0,0,0,0,0,0,14.84,28.83,14.88
$GC,87,-0.64,-97.3,124,2500,2674,2676,5.6,-15.3,15,114,9.05,0.00,-12.77,0.010,18950,0.352,0.000,2113,2500,3367,3378,3357,0,0,0,0,0,0,14.11,12.97,14.52
$GC,300,-0.64,-97.3,2113,2500,3378,3356,76.4,-27.4,49,305,0.00,2.28,0.00,0.000,516,0.000,0.045,2115,1100,3367,3378,3357,0,0,0,0,0,0,14.97,14.59,15.00
$GC,311,-0.64,-97.3,2114,1100,3378,3357,79.2,-25.3,51,315,0.00,2.35,0.00,0.000,1030,0.000,0.057,2106,2493,3367,3378,3357,0,0,0,0,0,0,14.67,14.56,14.71
$GC,503,-0.64,-97.3,2101,2493,3378,3356,115.5,-18.7,71,507,0.00,2.28,0.00,0.000,516,0.000,0.051,2101,1106,3367,3378,3357,0,0,0,0,0,0,15.02,14.59,15.04
$GC,569,-0.64,-97.3,2100,1106,3378,3356,128.0,-17.0,84,574,0.12,2.38,0.00,0.000,3078,0.239,0.060,2117,2508,3367,3378,3357,0,0,0,0,0,0,14.40,14.62,14.62
$GC,763,-0.64,-97.3,2115,2508,3378,3357,154.6,-12.6,104,767,0.00,2.35,0.00,0.000,260,0.000,0.078,2106,3897,3367,3378,3357,0,0,0,0,0,0,15.04,14.59,15.07
$GC,798,-0.64,-97.3,2106,3897,3378,3357,159.6,-13.3,111,802,0.00,2.22,0.00,0.000,1030,0.000,0.031,2106,2479,3367,3378,3357,0,0,0,0,0,0,14.81,14.75,14.82
$GC,984,-0.64,-97.3,2105,2478,3378,3357,181.4,-11.6,130,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2478,3367,3378,3357,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1163,-0.64,-97.3,2104,2478,3378,3357,203.3,-11.5,148,1168,0.00,2.42,0.00,0.000,260,0.000,0.080,2094,3893,3367,3378,3356,0,0,0,0,0,0,15.09,14.61,15.12
$GC,1204,-0.64,-97.3,2094,3893,3378,3356,208.4,-12.8,156,1208,0.00,2.20,0.00,0.000,1030,0.000,0.032,2094,2497,3367,3378,3356,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1395,-0.64,-97.3,2094,2495,3376,3356,232.2,-12.4,176,1399,0.00,2.25,0.00,0.000,516,0.000,0.045,2094,1104,3366,3376,3356,0,0,0,0,0,0,15.10,14.70,15.13
$GC,1447,-0.64,-97.3,2093,1104,3375,3356,238.1,-11.6,186,1454,0.15,2.35,0.00,0.000,3078,0.211,0.058,2118,2500,3366,3375,3357,0,0,0,0,0,0,14.46,14.66,14.67
$GC,1645,-0.64,-97.3,2118,2500,3373,3356,258.8,-10.3,203,1649,0.00,2.38,0.00,0.000,260,0.000,0.081,2110,3898,3364,3373,3356,0,0,0,0,0,0,15.12,14.61,15.15
$GC,1696,-0.64,-97.3,2110,3898,3373,3356,264.1,-10.6,213,1701,0.00,2.20,0.00,0.000,1030,0.000,0.033,2110,2500,3364,3373,3356,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2010,-0.64,-97.3,2109,2499,3371,3353,299.2,-11.6,230,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2499,3362,3371,3353,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2308,-0.64,-97.3,2109,2499,3368,3350,331.3,-10.3,245,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2499,3359,3368,3350,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2608,-0.64,-97.3,2110,2499,3366,3347,360.7,-9.7,260,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2499,3356,3366,3347,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2908,-0.64,-97.3,2110,2499,3364,3345,390.3,-10.2,275,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2499,3354,3364,3345,0,0,0,0,0,0,15.14,15.18,15.17
$GC,3208,-0.64,-97.3,2111,2499,3362,3342,421.3,-10.4,290,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3352,3362,3342,0,0,0,0,0,0,15.14,15.17,15.17
$GC,3508,-0.64,-97.3,2112,2499,3360,3339,450.6,-9.1,305,3514,0.00,2.45,0.00,0.000,260,0.000,0.090,2102,3897,3349,3360,3339,0,0,0,0,0,0,15.14,14.56,15.17
$GC,3550,-0.64,-97.3,2102,3897,3359,3339,454.4,-9.1,313,3555,0.00,2.22,0.00,0.000,1030,0.000,0.035,2102,2504,3349,3360,3339,0,0,0,0,0,0,14.81,14.75,14.83
$GC,3872,-0.64,-97.3,2102,2503,3357,3338,482.8,-8.9,332,3877,0.00,2.30,0.00,0.000,516,0.000,0.048,2102,1102,3346,3356,3337,0,0,0,0,0,0,15.14,14.66,15.16
$GC,3933,-0.64,-97.3,2102,1102,3356,3337,488.4,-9.0,344,3938,0.12,2.40,0.00,0.000,3078,0.213,0.060,2120,2508,3346,3356,3337,0,0,0,0,0,0,14.42,14.61,14.63
$GC,4254,-0.64,-97.3,2120,2508,3355,3335,515.2,-8.6,363,4258,0.00,2.40,0.00,0.000,260,0.000,0.087,2112,3894,3345,3355,3335,0,0,0,0,0,0,15.14,14.52,15.16
$GC,4295,-0.64,-97.3,2111,3894,3355,3335,519.0,-9.4,371,4300,0.00,2.22,0.00,0.000,1030,0.000,0.036,2112,2498,3345,3355,3335,0,0,0,0,0,0,14.79,14.72,14.81
$GC,4618,-0.64,-97.3,2111,2497,3353,3333,550.3,-9.9,390,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2497,3343,3353,3333,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4918,-0.64,-97.3,2111,2497,3352,3332,579.6,-9.6,405,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2497,3342,3352,3332,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5217,-0.64,-97.3,2111,2497,3350,3330,607.9,-9.2,420,5221,0.00,2.30,0.00,0.000,516,0.000,0.049,2119,1104,3339,3351,3327,0,0,0,0,0,0,15.14,14.62,15.16
$GC,5253,-0.64,-97.3,2119,1105,3351,3328,611.2,-9.2,427,5257,0.00,2.40,0.00,0.000,1030,0.000,0.060,2110,2501,3339,3351,3327,0,0,0,0,0,0,14.69,14.58,14.73
$GC,5558,-0.64,-97.3,2109,2501,3349,3327,640.1,-9.3,443,5565,0.00,2.42,0.00,0.000,260,0.000,0.087,2099,3896,3337,3349,3326,0,0,0,0,0,0,15.13,14.47,15.16
$GC,5593,-0.64,-97.3,2098,3896,3349,3327,643.6,-10.0,450,5597,0.00,2.25,0.00,0.000,1030,0.000,0.036,2098,2499,3338,3349,3327,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5898,-0.64,-97.3,2098,2498,3347,3327,673.1,-9.5,466,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2498,3337,3347,3327,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6198,-0.64,-97.3,2098,2498,3347,3325,702.6,-10.0,481,6203,0.00,2.47,0.00,0.000,260,0.000,0.090,2088,3897,3336,3347,3325,0,0,0,0,0,0,15.13,14.45,15.16
$GC,6229,-0.64,-97.3,2087,3897,3347,3325,706.0,-10.6,487,6234,0.12,2.25,0.00,0.000,3078,0.213,0.037,2117,2500,3335,3346,3325,0,0,0,0,0,0,14.37,14.67,14.57
$GC,6541,-0.64,-97.3,2117,2498,3345,3324,733.5,-8.6,504,6545,0.00,2.30,0.00,0.000,516,0.000,0.050,2118,1109,3334,3345,3324,0,0,0,0,0,0,15.13,14.57,15.16
$GC,6587,-0.64,-97.3,2117,1109,3344,3324,737.5,-8.5,513,6592,0.00,2.42,0.00,0.000,1030,0.000,0.067,2109,2505,3334,3344,3324,0,0,0,0,0,0,14.65,14.53,14.70
$GC,6904,-0.64,-97.3,2108,2505,3343,3323,764.9,-8.5,531,6908,0.00,2.42,0.00,0.000,260,0.000,0.087,2098,3892,3333,3343,3323,0,0,0,0,0,0,15.13,14.43,15.16
$GC,6934,-0.64,-97.3,2098,3892,3343,3323,767.7,-9.3,537,6941,0.00,2.25,0.00,0.000,1030,0.000,0.037,2098,2498,3333,3343,3323,0,0,0,0,0,0,14.64,14.61,14.66
$GC,7240,-0.64,-97.3,2097,2498,3342,3322,794.8,-8.9,553,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3332,3343,3322,0,0,0,0,0,0,15.12,15.15,15.14
$GC,7539,-0.64,-97.3,2098,2498,3342,3321,823.1,-9.7,568,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3331,3342,3321,0,0,0,0,0,0,15.13,15.16,15.16
$GC,7840,-0.64,-97.3,2098,2498,3342,3320,852.7,-9.9,583,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3331,3342,3320,0,0,0,0,0,0,15.12,15.16,15.15
$GC,8140,-0.64,-97.3,2098,2498,3341,3319,882.3,-9.8,598,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3330,3341,3319,0,0,0,0,0,0,15.12,15.16,15.15
$GC,8439,-0.64,-97.3,2098,2498,3339,3318,910.9,-9.5,613,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3328,3339,3318,0,0,0,0,0,0,15.13,15.16,15.16
$GC,8740,-0.64,-97.3,2097,2498,3339,3317,938.7,-9.2,628,8747,0.00,2.50,0.00,0.000,260,0.000,0.090,2087,3900,3327,3338,3317,0,0,0,0,0,0,15.12,14.36,15.14
$GC,8770,-0.64,-97.3,2086,3900,3338,3317,941.6,-10.6,634,8775,0.12,2.30,0.00,0.000,3078,0.212,0.038,2116,2493,3327,3338,3317,0,0,0,0,0,0,14.30,14.60,14.49
$GC,9081,-0.64,-97.3,2116,2491,3338,3316,967.2,-8.0,651,9085,0.00,2.33,0.00,0.000,516,0.000,0.051,2116,1104,3327,3338,3316,0,0,0,0,0,0,15.12,14.49,15.14
$GC,9113,-0.64,-97.3,2116,1104,3337,3316,969.7,-8.1,657,9118,0.00,2.42,0.00,0.000,1030,0.000,0.063,2107,2499,3326,3337,3316,0,0,0,0,0,0,14.59,14.46,14.63
$STATE,9362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9362,begin apogee
$GC,9368,-0.15,0.0,2108,2500,3337,3315,990.4,-8.2,671,9463,0.60,0.00,88.80,2.011,10246,0.168,0.000,2279,2500,2967,2997,2938,0,0,0,0,0,0,14.21,14.14,12.97
$STATE,9464,end apogee,CONTROL_FINISHED_OK
$STATE,9464,begin climb
$GC,9468,0.64,97.3,2279,2500,2996,2938,992.6,0.0,676,9572,0.80,0.00,100.18,1.995,10246,0.093,0.000,2545,2501,2571,2602,2541,0,0,0,0,0,0,14.21,13.94,12.87
$GC,9868,0.64,97.3,2545,2501,2590,2536,969.9,8.0,696,9875,0.00,2.50,0.00,0.000,516,0.000,0.052,2556,1038,2563,2590,2536,0,0,0,0,0,0,14.81,14.47,14.83
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$STATE,21917,end climb,SURFACE_DEPTH_REACHED
$STATE,21917,begin surface coast
$STATE,21932,end surface coast,CONTROL_FINISHED_OK
$STATE,21933,begin surface
$SM_CCo,21954,114.28,0.622,1,0,928,500.17
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$IRIDIUM_FIX,1035.34,8702.23,131019,125248
$TT8_MAMPS,0.019474,0.159537
$HUMID,44.56
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,12.87,129.616
$10V_AH,13.37,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251420
$DATA_FILE_SIZE,76600,1783
$CAP_FILE_SIZE,200420,0
$CFSIZE,260034560,155467776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.042,316.83,1
$GPS,141019,013128,1031.601,8658.446,31,0.9,31,-1.1,0.5,253.9,8,3.6