version: 66.13
glider: 171
mission: 11
dive: 693
start: 1 8 120 14 12 44
data:
$ID,171
$MISSION,11
$DIVE,693
$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,0.00223872
$HD_B,0.0163117
$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,29
$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,9
$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
$GPS1,080120,140600,504.8825,8055.8408,31,0.7,31,-2.2,1.0,268.0,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.2
$GPS2,080120,141150,504.8228,8055.6177,2,0.6,2,-2.2,1.8,242.0,12,8.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,264.8,48100,-19.5,-8.049,-26.91,1839
$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,10,-0.67,-97.3,97,2503,970,880,0.0,0.0,0,83,0.00,0.00,-71.30,0.005,16386,0.000,0.000,95,2503,2596,2600,2593,0,0,0,0,0,0,14.85,28.83,14.88
$GC,88,-0.67,-97.3,95,2503,2600,2593,4.5,-11.6,15,119,9.35,2.42,-15.00,0.008,18692,0.345,0.093,2095,3893,3368,3384,3352,0,0,0,0,0,0,13.88,12.64,14.33
$GC,348,-0.67,-97.3,2095,3893,3384,3352,75.6,-16.8,67,352,0.00,2.25,0.00,0.000,1030,0.000,0.033,2095,2491,3368,3384,3352,0,0,0,0,0,0,14.61,14.54,14.64
$GC,541,-0.67,-97.3,2094,2489,3384,3352,105.6,-15.1,87,548,0.00,2.45,0.00,0.000,260,0.000,0.083,2085,3892,3368,3384,3352,0,0,0,0,0,0,15.00,14.37,15.02
$GC,775,-0.67,-97.3,2084,3893,3384,3352,143.0,-14.0,134,780,0.00,2.25,0.00,0.000,1030,0.000,0.035,2085,2503,3368,3384,3352,0,0,0,0,0,0,14.63,14.56,14.66
$GC,961,-0.67,-97.3,2084,2501,3384,3352,170.1,-14.4,153,965,0.00,2.47,0.00,0.000,260,0.000,0.090,2074,3890,3368,3384,3352,0,0,0,0,0,0,15.04,14.32,15.07
$GC,1077,-0.67,-97.3,2073,3890,3384,3352,185.6,-12.8,176,1082,0.15,2.28,0.00,0.000,3078,0.210,0.041,2109,2505,3367,3384,3351,0,0,0,0,0,0,14.22,14.53,14.43
$GC,1264,-0.67,-97.3,2109,2503,3383,3351,206.2,-10.8,195,1268,0.00,2.33,0.00,0.000,516,0.000,0.048,2110,1092,3367,3383,3351,0,0,0,0,0,0,15.03,14.50,15.06
$GC,1340,-0.67,-97.3,2109,1092,3382,3351,214.7,-10.8,210,1345,0.00,2.40,0.00,0.000,1030,0.000,0.056,2100,2499,3366,3382,3351,0,0,0,0,0,0,14.56,14.45,14.60
$GC,1527,-0.67,-97.3,2100,2499,3380,3352,236.3,-11.8,229,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3365,3380,3351,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1726,-0.67,-97.3,2100,2499,3378,3351,259.8,-11.8,245,1729,0.00,2.42,0.00,0.000,260,0.000,0.083,2089,3892,3364,3377,3351,0,0,0,0,0,0,15.06,14.35,15.09
$GC,1793,-0.67,-97.3,2089,3891,3377,3351,267.7,-11.8,258,1798,0.00,2.28,0.00,0.000,1030,0.000,0.035,2089,2486,3364,3377,3351,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2111,-0.67,-97.3,2089,2485,3374,3350,305.0,-11.6,276,2118,0.00,2.50,0.00,0.000,260,0.000,0.086,2078,3899,3361,3373,3349,0,0,0,0,0,0,15.06,14.33,15.08
$GC,2190,-0.67,-97.3,2078,3899,3373,3349,314.9,-12.1,292,2195,0.12,2.28,0.00,0.000,3078,0.211,0.037,2107,2496,3360,3372,3349,0,0,0,0,0,0,14.26,14.56,14.45
$GC,2514,-0.67,-97.3,2107,2494,3372,3346,347.8,-10.1,311,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2494,3359,3372,3346,0,0,0,0,0,0,15.05,15.08,15.08
$GC,2812,-0.67,-97.3,2107,2495,3370,3343,377.2,-9.7,326,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2494,3356,3370,3343,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3112,-0.67,-97.3,2107,2495,3367,3340,407.1,-10.1,341,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2495,3353,3367,3340,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3413,-0.67,-97.3,2107,2494,3366,3339,438.4,-10.6,356,3418,0.00,2.50,0.00,0.000,260,0.000,0.084,2098,3890,3352,3365,3339,0,0,0,0,0,0,15.06,14.28,15.08
$GC,3440,-0.67,-97.3,2097,3890,3365,3339,441.4,-11.0,361,3444,0.00,2.28,0.00,0.000,1030,0.000,0.036,2098,2498,3352,3366,3339,0,0,0,0,0,0,14.60,14.53,14.63
$GC,3757,-0.67,-97.3,2097,2497,3363,3337,477.2,-11.2,379,3763,0.00,2.47,0.00,0.000,260,0.000,0.086,2087,3890,3350,3363,3337,0,0,0,0,0,0,15.06,14.26,15.09
$GC,3783,-0.67,-97.3,2087,3890,3362,3337,480.1,-12.0,384,3787,0.00,2.28,0.00,0.000,1030,0.000,0.036,2087,2500,3350,3363,3337,0,0,0,0,0,0,14.59,14.52,14.62
$GC,4099,-0.67,-97.3,2086,2499,3362,3335,517.2,-11.6,402,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3348,3362,3335,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4400,-0.67,-97.3,2086,2499,3360,3333,550.6,-10.8,417,4407,0.00,2.50,0.00,0.000,260,0.000,0.086,2076,3897,3346,3360,3333,0,0,0,0,0,0,15.05,14.23,15.07
$GC,4484,-0.67,-97.3,2076,3897,3360,3333,560.0,-10.9,434,4490,0.15,2.30,0.00,0.000,3078,0.200,0.037,2112,2494,3346,3360,3333,0,0,0,0,0,0,14.15,14.50,14.35
$GC,4802,-0.67,-97.3,2112,2493,3358,3332,587.8,-8.4,452,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2493,3345,3358,3332,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5104,-0.67,-97.3,2112,2493,3357,3330,613.2,-8.6,467,5109,0.00,2.53,0.00,0.000,260,0.000,0.088,2104,3893,3343,3357,3330,0,0,0,0,0,0,15.04,14.19,15.07
$GC,5132,-0.67,-97.3,2103,3893,3356,3330,615.9,-9.2,472,5136,0.00,2.28,0.00,0.000,1030,0.000,0.034,2104,2501,3343,3356,3330,0,0,0,0,0,0,14.55,14.48,14.58
$GC,5448,-0.67,-97.3,2103,2500,3356,3329,645.9,-9.6,490,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3342,3356,3329,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5749,-0.67,-97.3,2103,2500,3354,3328,674.9,-9.8,505,5753,0.00,2.35,0.00,0.000,516,0.000,0.050,2104,1108,3340,3353,3328,0,0,0,0,0,0,15.04,14.35,15.07
$GC,5771,-0.67,-97.3,2103,1108,3354,3328,677.2,-10.6,509,5775,0.00,2.47,0.00,0.000,1030,0.000,0.069,2092,2494,3341,3354,3328,0,0,0,0,0,0,14.38,14.21,14.42
$GC,6094,-0.67,-97.3,2092,2494,3353,3326,711.4,-10.8,528,6100,0.00,2.50,0.00,0.000,260,0.000,0.087,2082,3900,3340,3353,3327,0,0,0,0,0,0,15.04,14.16,15.07
$GC,6142,-0.67,-97.3,2082,3900,3352,3327,717.1,-11.4,538,6148,0.12,2.30,0.00,0.000,3078,0.200,0.036,2111,2500,3339,3353,3326,0,0,0,0,0,0,14.14,14.45,14.32
$GC,6456,-0.67,-97.3,2110,2499,3352,3326,747.4,-9.5,555,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3338,3352,3325,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6756,-0.67,-97.3,2110,2499,3351,3324,774.7,-8.9,570,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3337,3351,3324,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7055,-0.67,-97.3,2110,2499,3351,3323,800.5,-8.5,585,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3337,3351,3323,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7355,-0.67,-97.3,2110,2499,3350,3322,825.5,-8.4,600,7359,0.00,2.38,0.00,0.000,516,0.000,0.050,2111,1107,3335,3349,3322,0,0,0,0,0,0,15.05,14.29,15.08
$GC,7397,-0.67,-97.3,2111,1108,3349,3322,829.1,-8.4,608,7401,0.00,2.50,0.00,0.000,1030,0.000,0.062,2102,2513,3334,3348,3321,0,0,0,0,0,0,14.35,14.22,14.40
$GC,7719,-0.67,-97.3,2102,2513,3348,3321,857.4,-8.8,627,7725,0.00,2.47,0.00,0.000,260,0.000,0.088,2090,3893,3334,3348,3321,0,0,0,0,0,0,15.04,14.09,15.07
$GC,7764,-0.67,-97.3,2090,3893,3348,3321,861.6,-9.6,636,7769,0.00,2.30,0.00,0.000,1030,0.000,0.037,2090,2502,3334,3348,3321,0,0,0,0,0,0,14.47,14.40,14.50
$GC,8081,-0.67,-97.3,2090,2500,3348,3321,891.0,-9.1,654,8085,0.00,2.38,0.00,0.000,516,0.000,0.049,2091,1105,3333,3348,3319,0,0,0,0,0,0,15.04,14.28,15.07
$GC,8112,-0.67,-97.3,2090,1105,3347,3320,894.0,-9.5,660,8117,0.12,2.47,0.00,0.000,3078,0.206,0.058,2109,2503,3333,3347,3320,0,0,0,0,0,0,14.00,14.20,14.20
$GC,8426,-0.67,-97.3,2109,2503,3347,3320,919.0,-8.0,677,8433,0.00,2.50,0.00,0.000,260,0.000,0.088,2100,3893,3333,3347,3319,0,0,0,0,0,0,15.03,14.06,15.06
$GC,8480,-0.67,-97.3,2100,3893,3346,3320,923.7,-8.8,688,8484,0.00,2.33,0.00,0.000,1030,0.000,0.037,2099,2494,3333,3346,3320,0,0,0,0,0,0,14.45,14.37,14.47
$GC,8785,-0.67,-97.3,2100,2493,3345,3319,950.1,-8.8,704,8790,0.00,2.38,0.00,0.000,516,0.000,0.049,2100,1104,3332,3345,3319,0,0,0,0,0,0,15.04,14.25,15.07
$GC,8828,-0.67,-97.3,2100,1103,3344,3319,953.9,-8.9,712,8832,0.00,2.47,0.00,0.000,1030,0.000,0.058,2089,2500,3331,3344,3319,0,0,0,0,0,0,14.31,14.17,14.35
$GC,9150,-0.67,-97.3,2089,2500,3343,3319,984.0,-9.5,731,9157,0.00,2.53,0.00,0.000,260,0.000,0.088,2078,3897,3331,3344,3319,0,0,0,0,0,0,15.04,14.04,15.06
$GC,9201,-0.67,-97.3,2078,3897,3343,3318,988.9,-10.2,741,9209,0.12,2.33,0.00,0.000,3078,0.205,0.037,2107,2498,3330,3343,3318,0,0,0,0,0,0,14.02,14.35,14.21
$STATE,9226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9226,begin apogee
$GC,9234,-0.15,0.0,2107,2497,3342,3318,991.8,-9.5,744,9329,0.60,0.00,91.90,1.987,10246,0.160,0.000,2277,2497,2968,3000,2937,0,0,0,0,0,0,13.92,13.98,12.70
$STATE,9330,end apogee,CONTROL_FINISHED_OK
$STATE,9330,begin climb
$GC,9334,0.67,97.3,2277,2497,2999,2936,994.4,0.0,749,9442,0.82,0.00,104.88,1.961,10246,0.091,0.000,2547,2497,2571,2602,2541,0,0,0,0,0,0,14.12,13.89,12.65
$GC,9735,0.67,97.3,2547,2497,2591,2536,975.0,7.6,769,9742,0.00,2.47,0.00,0.000,516,0.000,0.050,2558,1048,2562,2590,2535,0,0,0,0,0,0,14.83,14.38,14.87
$GC,9809,0.67,97.3,2558,1048,2590,2535,968.7,7.8,784,9816,0.00,2.45,0.00,0.000,1030,0.000,0.057,2558,2448,2562,2590,2535,0,0,0,0,0,0,14.47,14.36,14.52
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$STATE,21646,end climb,SURFACE_DEPTH_REACHED
$STATE,21646,begin surface coast
$STATE,21671,end surface coast,CONTROL_FINISHED_OK
$STATE,21672,begin surface
$SM_CCo,21693,120.03,0.630,1,0,928,500.17
$SM_GC,1.08,7.57,0.10,120.03,0.054,0.156,0.630,125,2511,928,-6.78,-0.85,500.17,0,0,0,0,1,0,14.50,14.52,13.57
$IRIDIUM_FIX,504.39,8058.60,080120,082746
$TT8_MAMPS,0.018725,0.158039
$HUMID,49.68
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.20
$XPDR_PINGS,5
$24V_AH,12.64,232.375
$10V_AH,12.42,0.000
$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,20.700,211.825,460.050,120.025,0.000,0.000,0.000,205.500,1.250,0.000,14.007,1717.664,16214.707,757.490,2893.895,582.614,0.000,2466.990,0.000,2673.767,0.000,0.542,0.000
$DEVICE_MAMPS,345.015,156.060,1987.470,630.360,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,956.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249920
$DATA_FILE_SIZE,83252,1882
$CAP_FILE_SIZE,208204,0
$CFSIZE,260034560,123518976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.109,259.49,1
$GPS,080120,201730,504.626,8052.577,25,0.8,25,-2.2,1.6,279.2,9,3.6