version: 66.13
glider: 171
mission: 11
dive: 351
start: 10 14 119 13 19 40
data:
$ID,171
$MISSION,11
$DIVE,351
$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,56
$R_STBD_OVSHOOT,27
$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
$GPS1,141019,131100,1027.9802,8658.1436,29,0.6,29,-1.1,0.5,270.6,12,4.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.9
$GPS2,141019,131849,1028.0096,8658.0557,2,0.6,3,-1.1,0.4,48.6,12,8.4
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R2
$TGT_LATLONG,930.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,160.4,107492,-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,5,begin dive
$GC,8,-0.64,-97.3,116,2509,969,883,0.0,0.0,0,83,0.00,0.00,-72.53,0.005,16386,0.000,0.000,117,2509,2695,2695,2696,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.64,-97.3,117,2509,2696,2696,5.7,-16.7,15,114,9.10,0.00,-12.10,0.010,18950,0.352,0.000,2113,2509,3367,3378,3357,0,0,0,0,0,0,14.14,13.00,14.53
$GC,295,-0.64,-97.3,2113,2509,3379,3357,76.7,-24.3,48,299,0.00,2.33,0.00,0.000,516,0.000,0.051,2117,1106,3368,3379,3357,0,0,0,0,0,0,14.97,14.58,15.00
$GC,395,-0.64,-97.3,2116,1106,3379,3357,96.1,-17.1,68,400,0.00,2.35,0.00,0.000,1030,0.000,0.057,2108,2498,3368,3379,3357,0,0,0,0,0,0,14.69,14.57,14.72
$GC,587,-0.64,-97.3,2108,2498,3379,3357,127.3,-16.0,88,591,0.00,2.38,0.00,0.000,260,0.000,0.080,2097,3897,3367,3379,3356,0,0,0,0,0,0,15.03,14.58,15.06
$GC,667,-0.64,-97.3,2097,3897,3379,3356,139.8,-14.1,104,671,0.00,2.22,0.00,0.000,1030,0.000,0.032,2097,2488,3368,3379,3357,0,0,0,0,0,0,14.79,14.73,14.81
$GC,859,-0.64,-97.3,2097,2487,3379,3357,165.1,-12.7,124,865,0.00,2.42,0.00,0.000,260,0.000,0.080,2086,3906,3368,3379,3357,0,0,0,0,0,0,15.07,14.60,15.09
$GC,938,-0.64,-97.3,2085,3906,3379,3357,175.6,-12.8,140,943,0.15,2.22,0.00,0.000,3078,0.211,0.033,2123,2494,3367,3379,3356,0,0,0,0,0,0,14.47,14.75,14.66
$GC,1132,-0.64,-97.3,2121,2493,3379,3356,195.4,-10.5,160,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2493,3367,3379,3356,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1319,-0.64,-97.3,2121,2492,3377,3357,214.9,-10.3,179,1324,0.00,2.25,0.00,0.000,516,0.000,0.050,2122,1107,3366,3377,3356,0,0,0,0,0,0,15.10,14.69,15.12
$GC,1350,-0.64,-97.3,2121,1107,3377,3357,218.2,-10.1,185,1354,0.00,2.35,0.00,0.000,1030,0.000,0.060,2113,2499,3366,3376,3356,0,0,0,0,0,0,14.76,14.64,14.80
$GC,1541,-0.64,-97.3,2112,2499,3375,3356,239.4,-10.9,205,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2499,3365,3375,3356,0,0,0,0,0,0,15.11,15.14,15.13
$GC,1730,-0.64,-97.3,2112,2499,3372,3356,259.2,-10.4,220,1736,0.00,2.30,0.00,0.000,516,0.000,0.057,2112,1111,3364,3372,3356,0,0,0,0,0,0,15.12,14.64,15.15
$GC,1757,-0.64,-97.3,2112,1110,3371,3356,262.0,-10.7,225,1761,0.00,2.35,0.00,0.000,1030,0.000,0.058,2102,2505,3364,3372,3356,0,0,0,0,0,0,14.78,14.67,14.81
$GC,2074,-0.64,-97.3,2102,2505,3370,3353,296.5,-11.0,243,2078,0.00,2.38,0.00,0.000,260,0.000,0.081,2091,3900,3361,3370,3353,0,0,0,0,0,0,15.12,14.61,15.14
$GC,2159,-0.64,-97.3,2091,3900,3369,3353,306.5,-11.4,260,2164,0.12,2.22,0.00,0.000,3078,0.211,0.034,2121,2498,3360,3368,3353,0,0,0,0,0,0,14.50,14.77,14.69
$GC,2476,-0.64,-97.3,2121,2497,3367,3348,338.6,-10.0,278,2481,0.00,2.42,0.00,0.000,260,0.000,0.086,2113,3896,3357,3367,3348,0,0,0,0,0,0,15.13,14.59,15.16
$GC,2508,-0.64,-97.3,2112,3896,3366,3348,341.8,-10.3,284,2512,0.00,2.22,0.00,0.000,1030,0.000,0.035,2112,2503,3357,3366,3348,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2818,-0.64,-97.3,2112,2501,3364,3346,372.2,-9.7,301,2822,0.00,2.30,0.00,0.000,516,0.000,0.051,2113,1104,3355,3364,3346,0,0,0,0,0,0,15.14,14.67,15.16
$GC,2854,-0.64,-97.3,2112,1104,3363,3346,375.7,-9.8,308,2858,0.00,2.38,0.00,0.000,1030,0.000,0.059,2102,2501,3354,3363,3346,0,0,0,0,0,0,14.76,14.65,14.80
$GC,3159,-0.64,-97.3,2101,2501,3362,3343,405.8,-9.9,324,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2500,3352,3362,3343,0,0,0,0,0,0,15.14,15.17,15.16
$GC,3460,-0.64,-97.3,2101,2501,3360,3340,435.3,-9.9,339,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2501,3350,3360,3340,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3759,-0.64,-97.3,2103,2501,3359,3337,465.8,-10.4,354,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3348,3359,3337,0,0,0,0,0,0,15.14,15.17,15.17
$GC,4059,-0.64,-97.3,2103,2501,3356,3337,497.0,-10.2,369,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3346,3356,3337,0,0,0,0,0,0,15.14,15.17,15.17
$GC,4360,-0.64,-97.3,2103,2501,3354,3335,526.8,-9.8,384,4364,0.00,2.42,0.00,0.000,260,0.000,0.087,2094,3890,3344,3354,3334,0,0,0,0,0,0,15.14,14.53,15.16
$GC,4401,-0.64,-97.3,2093,3890,3354,3335,531.1,-10.3,392,4405,0.00,2.28,0.00,0.000,1030,0.000,0.037,2094,2491,3344,3354,3335,0,0,0,0,0,0,14.79,14.71,14.81
$GC,4723,-0.64,-97.3,2093,2490,3352,3333,563.8,-10.2,411,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2490,3342,3352,3333,0,0,0,0,0,0,15.14,15.17,15.16
$GC,5023,-0.64,-97.3,2093,2490,3351,3332,594.0,-9.9,426,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2490,3341,3351,3332,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5322,-0.64,-97.3,2093,2490,3349,3330,623.2,-9.6,441,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2490,3339,3349,3330,0,0,0,0,0,0,15.14,15.17,15.17
$GC,5623,-0.64,-97.3,2093,2490,3348,3329,651.6,-9.5,456,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2490,3338,3348,3329,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5923,-0.64,-97.3,2093,2490,3347,3327,679.7,-9.4,471,5929,0.00,2.50,0.00,0.000,260,0.000,0.093,2083,3899,3337,3347,3327,0,0,0,0,0,0,15.14,14.46,15.16
$GC,5952,-0.64,-97.3,2082,3899,3347,3327,682.7,-10.4,477,5957,0.15,2.28,0.00,0.000,3078,0.203,0.037,2120,2491,3337,3347,3327,0,0,0,0,0,0,14.37,14.69,14.57
$GC,6258,-0.64,-97.3,2120,2490,3345,3326,707.6,-8.1,493,6262,0.00,2.30,0.00,0.000,516,0.000,0.052,2120,1107,3335,3345,3325,0,0,0,0,0,0,15.13,14.57,15.16
$GC,6309,-0.64,-97.3,2120,1107,3345,3326,711.9,-8.4,503,6316,0.00,2.42,0.00,0.000,1030,0.000,0.066,2111,2502,3334,3344,3325,0,0,0,0,0,0,14.64,14.50,14.69
$GC,6619,-0.64,-97.3,2112,2502,3344,3324,739.2,-8.9,520,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2502,3334,3344,3324,0,0,0,0,0,0,15.13,15.16,15.16
$GC,6920,-0.64,-97.3,2112,2502,3343,3323,767.0,-9.4,535,6927,0.00,2.45,0.00,0.000,260,0.000,0.092,2102,3896,3333,3343,3323,0,0,0,0,0,0,15.12,14.43,15.14
$GC,6959,-0.64,-97.3,2101,3896,3343,3323,770.9,-10.0,543,6964,0.00,2.25,0.00,0.000,1030,0.000,0.037,2102,2502,3333,3343,3323,0,0,0,0,0,0,14.73,14.66,14.75
$GC,7281,-0.64,-97.3,2101,2500,3342,3323,802.7,-9.9,562,7286,0.00,2.35,0.00,0.000,516,0.000,0.049,2101,1098,3332,3342,3322,0,0,0,0,0,0,15.11,14.56,15.14
$GC,7317,-0.64,-97.3,2101,1097,3342,3322,806.5,-10.0,569,7323,0.12,2.45,0.00,0.000,3078,0.211,0.060,2120,2512,3332,3342,3322,0,0,0,0,0,0,14.33,14.51,14.52
$GC,7641,-0.64,-97.3,2120,2512,3341,3320,833.5,-8.1,588,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2512,3331,3341,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7941,-0.64,-97.3,2120,2512,3340,3320,857.1,-7.7,603,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2512,3330,3340,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8239,-0.64,-97.3,2120,2512,3338,3320,879.0,-7.1,618,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2512,3329,3339,3320,0,0,0,0,0,0,15.13,15.16,15.15
$GC,8539,-0.64,-97.3,2120,2512,3338,3318,900.4,-7.1,633,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2512,3328,3338,3318,0,0,0,0,0,0,15.13,15.16,15.16
$GC,8840,-0.64,-97.3,2120,2512,3337,3317,922.5,-7.5,648,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2512,3327,3337,3317,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9140,-0.64,-97.3,2120,2512,3337,3316,945.7,-7.8,663,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2512,3327,3337,3317,0,0,0,0,0,0,15.12,15.15,15.15
$GC,9440,-0.64,-97.3,2120,2512,3336,3315,969.3,-7.8,678,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2512,3326,3336,3316,0,0,0,0,0,0,15.11,15.15,15.14
$STATE,9718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9718,begin apogee
$GC,9725,-0.15,0.0,2120,2439,3336,3315,991.5,-7.9,692,9818,0.55,0.00,89.25,2.018,10246,0.161,0.000,2279,2439,2968,2997,2940,0,0,0,0,0,0,14.21,14.14,12.94
$STATE,9819,end apogee,CONTROL_FINISHED_OK
$STATE,9819,begin climb
$GC,9822,0.64,97.3,2279,2438,2995,2939,994.2,0.0,697,9928,0.80,0.00,101.95,2.001,10246,0.086,0.000,2546,2438,2571,2599,2543,0,0,0,0,0,0,14.20,13.89,12.62
$GC,10222,0.64,97.3,2546,2438,2587,2538,973.1,7.9,717,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2438,2562,2587,2537,0,0,0,0,0,0,14.80,14.83,14.83
$GC,10519,0.64,97.3,2546,2438,2585,2536,949.5,7.7,732,10523,0.00,2.35,0.00,0.000,516,0.000,0.050,2558,1044,2560,2585,2536,0,0,0,0,0,0,14.94,14.55,14.97
$GC,10571,0.64,97.3,2557,1044,2584,2535,945.7,7.9,742,10576,0.00,2.42,0.00,0.000,1030,0.000,0.060,2557,2447,2559,2584,2535,0,0,0,0,0,0,14.64,14.53,14.68
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$STATE,22479,end climb,SURFACE_DEPTH_REACHED
$STATE,22479,begin surface coast
$STATE,22494,end surface coast,CONTROL_FINISHED_OK
$STATE,22494,begin surface
$SM_CCo,22512,128.57,0.650,1,0,928,500.17
$SM_GC,1.25,7.78,0.00,128.57,0.060,0.000,0.650,108,2451,928,-6.79,-1.39,500.17,0,0,0,0,1,0,14.61,14.91,13.83
$IRIDIUM_FIX,1028.94,8702.23,141019,071416
$TT8_MAMPS,0.018725,0.158039
$HUMID,45.66
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,12.62,130.491
$10V_AH,12.81,0.000
$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
$DEVICE_SECS,19.975,169.675,432.000,128.575,0.000,0.000,0.000,282.250,0.250,0.000,14.974,1658.342,17530.529,716.629,2811.822,400.008,0.000,2384.022,0.000,2506.967,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,931.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251416
$DATA_FILE_SIZE,76524,1764
$CAP_FILE_SIZE,199151,0
$CFSIZE,260034560,155197440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.016,247.97,1
$GPS,141019,193808,1026.438,8658.388,20,1.2,20,-1.1,0.4,290.2,8,6.3