version: 66.13
glider: 171
mission: 11
dive: 713
start: 1 13 120 15 25 16
data:
$ID,171
$MISSION,11
$DIVE,713
$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,49
$R_STBD_OVSHOOT,26
$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
$GPS1,130120,151800,506.9202,8028.9932,19,0.9,19,-2.2,1.5,257.8,8,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.5
$GPS2,130120,152423,506.9241,8028.7275,3,0.7,4,-2.2,1.9,270.4,12,3.9
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,46.2,6161,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,101,2503,968,884,0.0,0.0,0,89,0.00,0.00,-76.68,0.005,16386,0.000,0.000,99,2504,2698,2698,2699,0,0,0,0,0,0,14.83,28.83,14.86
$GC,94,-0.67,-97.3,99,2504,2699,2699,4.3,-10.9,16,120,9.25,0.00,-13.23,0.009,18950,0.341,0.000,2104,2504,3366,3381,3351,0,0,0,0,0,0,13.88,13.46,14.33
$GC,309,-0.67,-97.3,2103,2504,3381,3351,65.8,-18.1,52,315,0.00,2.42,0.00,0.000,260,0.000,0.080,2094,3896,3366,3382,3351,0,0,0,0,0,0,14.95,14.28,14.98
$GC,485,-0.67,-97.3,2094,3896,3382,3351,97.3,-16.0,87,490,0.00,2.28,0.00,0.000,1030,0.000,0.038,2094,2494,3366,3382,3351,0,0,0,0,0,0,14.57,14.48,14.59
$GC,669,-0.67,-97.3,2094,2492,3382,3351,125.7,-15.1,106,676,0.00,2.47,0.00,0.000,260,0.000,0.081,2084,3903,3366,3382,3351,0,0,0,0,0,0,15.01,14.31,15.04
$GC,764,-0.67,-97.3,2084,3903,3382,3351,140.0,-14.3,125,768,0.00,2.28,0.00,0.000,1030,0.000,0.032,2084,2489,3367,3383,3351,0,0,0,0,0,0,14.61,14.54,14.63
$GC,950,-0.67,-97.3,2083,2488,3383,3351,168.0,-15.6,144,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2488,3367,3383,3351,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1139,-0.67,-97.3,2083,2488,3383,3351,193.2,-12.9,163,1144,0.00,2.53,0.00,0.000,260,0.000,0.089,2073,3894,3366,3382,3351,0,0,0,0,0,0,15.03,14.25,15.06
$GC,1192,-0.67,-97.3,2073,3894,3383,3351,200.3,-13.7,173,1200,0.15,2.25,0.00,0.000,3078,0.210,0.031,2108,2488,3367,3383,3351,0,0,0,0,0,0,14.17,14.55,14.38
$GC,1384,-0.67,-97.3,2108,2487,3381,3351,220.6,-10.7,193,1390,0.00,2.47,0.00,0.000,260,0.000,0.081,2098,3895,3366,3381,3351,0,0,0,0,0,0,15.02,14.29,15.04
$GC,1418,-0.67,-97.3,2098,3895,3380,3350,224.6,-11.0,200,1422,0.00,2.25,0.00,0.000,1030,0.000,0.031,2098,2494,3365,3380,3351,0,0,0,0,0,0,14.62,14.55,14.64
$GC,1604,-0.67,-97.3,2098,2492,3379,3351,246.4,-12.1,219,1609,0.00,2.47,0.00,0.000,260,0.000,0.082,2088,3894,3364,3379,3350,0,0,0,0,0,0,15.03,14.28,15.06
$GC,1696,-0.67,-97.3,2087,3894,3378,3350,258.1,-12.6,237,1700,0.00,2.28,0.00,0.000,1030,0.000,0.033,2087,2497,3364,3378,3350,0,0,0,0,0,0,14.60,14.53,14.62
$GC,2009,-0.67,-97.3,2087,2496,3374,3350,296.1,-12.1,254,2013,0.00,2.33,0.00,0.000,516,0.000,0.048,2087,1103,3362,3374,3350,0,0,0,0,0,0,15.04,14.42,15.07
$GC,2045,-0.67,-97.3,2087,1102,3373,3350,300.7,-12.3,261,2052,0.15,2.45,0.00,0.000,3078,0.202,0.068,2112,2494,3361,3373,3350,0,0,0,0,0,0,14.12,14.28,14.33
$GC,2374,-0.67,-97.3,2111,2494,3372,3346,334.2,-10.6,281,2378,0.00,2.50,0.00,0.000,260,0.000,0.084,2103,3905,3359,3372,3346,0,0,0,0,0,0,15.02,14.23,15.04
$GC,2491,-0.67,-97.3,2102,3905,3370,3346,347.8,-11.5,304,2495,0.00,2.30,0.00,0.000,1030,0.000,0.034,2103,2497,3358,3371,3346,0,0,0,0,0,0,14.57,14.50,14.59
$GC,2796,-0.67,-97.3,2103,2495,3369,3343,382.7,-11.2,320,2800,0.00,2.33,0.00,0.000,516,0.000,0.048,2103,1107,3355,3368,3343,0,0,0,0,0,0,15.05,14.39,15.07
$GC,2839,-0.67,-97.3,2102,1106,3367,3343,387.4,-11.1,328,2845,0.00,2.42,0.00,0.000,1030,0.000,0.058,2091,2505,3355,3367,3343,0,0,0,0,0,0,14.45,14.33,14.50
$GC,3157,-0.67,-97.3,2091,2505,3366,3339,423.8,-11.3,347,3162,0.00,2.45,0.00,0.000,260,0.000,0.083,2081,3894,3352,3366,3339,0,0,0,0,0,0,15.05,14.21,15.08
$GC,3256,-0.67,-97.3,2081,3895,3366,3339,435.1,-11.5,366,3264,0.12,2.30,0.00,0.000,3078,0.204,0.034,2110,2488,3352,3366,3339,0,0,0,0,0,0,14.16,14.47,14.33
$GC,3583,-0.67,-97.3,2109,2486,3364,3338,467.9,-10.1,386,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2486,3350,3364,3337,0,0,0,0,0,0,15.02,15.05,15.05
$GC,3881,-0.67,-97.3,2109,2486,3362,3335,497.9,-10.0,401,3885,0.00,2.55,0.00,0.000,260,0.000,0.084,2100,3896,3348,3362,3335,0,0,0,0,0,0,15.04,14.17,15.07
$GC,3939,-0.67,-97.3,2101,3896,3361,3335,503.8,-10.4,412,3943,0.00,2.30,0.00,0.000,1030,0.000,0.035,2102,2498,3349,3362,3336,0,0,0,0,0,0,14.52,14.45,14.55
$GC,4243,-0.67,-97.3,2100,2497,3360,3333,536.2,-10.4,428,4247,0.00,2.35,0.00,0.000,516,0.000,0.050,2100,1107,3346,3360,3333,0,0,0,0,0,0,15.04,14.33,15.07
$GC,4274,-0.67,-97.3,2100,1106,3360,3333,539.6,-10.7,434,4282,0.00,2.45,0.00,0.000,1030,0.000,0.060,2089,2504,3346,3360,3333,0,0,0,0,0,0,14.40,14.27,14.45
$GC,4585,-0.67,-97.3,2088,2505,3358,3332,573.7,-10.8,451,4590,0.00,2.47,0.00,0.000,260,0.000,0.085,2079,3893,3345,3358,3332,0,0,0,0,0,0,15.04,14.14,15.07
$GC,4642,-0.67,-97.3,2078,3893,3357,3332,580.2,-11.4,462,4647,0.12,2.33,0.00,0.000,3078,0.201,0.035,2108,2496,3344,3357,3332,0,0,0,0,0,0,14.11,14.42,14.28
$GC,4949,-0.67,-97.3,2107,2495,3356,3330,609.8,-9.6,478,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2495,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5247,-0.67,-97.3,2107,2495,3356,3329,638.4,-9.4,493,5254,0.00,2.53,0.00,0.000,260,0.000,0.084,2099,3893,3342,3356,3328,0,0,0,0,0,0,15.04,14.11,15.07
$GC,5277,-0.67,-97.3,2098,3893,3356,3329,641.4,-10.6,499,5282,0.00,2.30,0.00,0.000,1030,0.000,0.035,2099,2499,3342,3355,3329,0,0,0,0,0,0,14.49,14.42,14.52
$GC,5591,-0.67,-97.3,2098,2497,3354,3327,673.1,-10.3,516,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3340,3354,3327,0,0,0,0,0,0,15.03,15.06,15.05
$GC,5890,-0.67,-97.3,2098,2497,3353,3326,704.2,-10.4,531,5894,0.00,2.53,0.00,0.000,260,0.000,0.086,2087,3893,3339,3353,3326,0,0,0,0,0,0,15.04,14.07,15.07
$GC,5917,-0.67,-97.3,2087,3893,3353,3326,707.1,-10.8,536,5921,0.00,2.30,0.00,0.000,1030,0.000,0.035,2088,2499,3339,3353,3326,0,0,0,0,0,0,14.47,14.40,14.50
$GC,6234,-0.67,-97.3,2087,2497,3352,3325,742.2,-11.0,554,6242,0.00,2.38,0.00,0.000,516,0.000,0.050,2087,1105,3338,3352,3324,0,0,0,0,0,0,15.04,14.25,15.06
$GC,6259,-0.67,-97.3,2087,1105,3351,3325,745.2,-11.9,559,6265,0.15,2.47,0.00,0.000,3078,0.195,0.060,2112,2507,3338,3351,3325,0,0,0,0,0,0,13.97,14.19,14.16
$GC,6578,-0.67,-97.3,2111,2507,3351,3323,776.4,-9.8,577,6584,0.00,2.50,0.00,0.000,260,0.000,0.087,2103,3904,3337,3351,3324,0,0,0,0,0,0,15.02,14.01,15.05
$GC,6637,-0.67,-97.3,2102,3904,3350,3324,782.6,-10.4,589,6643,0.00,2.33,0.00,0.000,1030,0.000,0.036,2103,2500,3336,3350,3323,0,0,0,0,0,0,14.43,14.36,14.47
$GC,6957,-0.67,-97.3,2102,2499,3350,3322,814.6,-9.8,608,6963,0.00,2.38,0.00,0.000,516,0.000,0.050,2103,1108,3336,3350,3322,0,0,0,0,0,0,15.03,14.22,15.06
$GC,6983,-0.67,-97.3,2102,1108,3349,3322,817.1,-10.4,613,6987,0.00,2.47,0.00,0.000,1030,0.000,0.059,2091,2500,3335,3349,3321,0,0,0,0,0,0,14.28,14.16,14.34
$GC,7299,-0.67,-97.3,2091,2500,3348,3321,848.9,-9.8,631,7304,0.00,2.53,0.00,0.000,260,0.000,0.086,2081,3899,3334,3348,3321,0,0,0,0,0,0,15.04,14.02,15.07
$GC,7387,-0.67,-97.3,2080,3899,3348,3321,857.7,-9.8,648,7394,0.12,2.33,0.00,0.000,3078,0.200,0.037,2110,2499,3334,3348,3321,0,0,0,0,0,0,14.02,14.33,14.19
$GC,7703,-0.67,-97.3,2110,2498,3348,3320,883.9,-8.1,666,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2498,3333,3347,3320,0,0,0,0,0,0,15.02,15.05,15.05
$GC,8003,-0.67,-97.3,2110,2498,3347,3320,907.6,-7.7,681,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2498,3333,3347,3320,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8303,-0.67,-97.3,2110,2498,3346,3319,931.2,-7.8,696,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2498,3332,3346,3319,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8601,-0.67,-97.3,2110,2498,3345,3318,956.1,-8.4,711,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2498,3331,3345,3318,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8901,-0.67,-97.3,2110,2498,3344,3317,982.2,-8.8,726,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2498,3331,3344,3318,0,0,0,0,0,0,15.03,15.07,15.06
$STATE,8998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8998,begin apogee
$GC,9007,-0.15,0.0,2110,2498,3344,3318,990.9,-8.7,731,9103,0.60,0.00,91.95,1.980,10246,0.161,0.000,2277,2498,2968,3000,2936,0,0,0,0,0,0,13.82,13.99,12.72
$STATE,9104,end apogee,CONTROL_FINISHED_OK
$STATE,9104,begin climb
$GC,9108,0.67,97.3,2277,2498,2999,2935,994.0,0.0,736,9219,0.85,0.00,104.97,1.958,10246,0.092,0.000,2551,2497,2570,2601,2539,0,0,0,0,0,0,14.08,13.89,12.66
$GC,9527,0.69,97.3,2551,2497,2591,2535,974.8,7.1,757,9535,0.00,2.50,0.00,0.000,580,0.000,0.051,2562,1045,2562,2591,2534,0,0,0,0,0,0,14.84,14.36,14.87
$GC,9603,0.71,97.3,2562,1044,2590,2534,969.2,6.9,772,9610,0.00,2.45,0.00,0.000,1094,0.000,0.055,2562,2445,2562,2590,2534,0,0,0,0,0,0,14.45,14.34,14.50
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$STATE,20992,end climb,SURFACE_DEPTH_REACHED
$STATE,20992,begin surface coast
$STATE,21001,end surface coast,CONTROL_FINISHED_OK
$STATE,21001,begin surface
$SM_CCo,21021,67.05,0.533,1,0,929,500.17
$SM_GC,1.10,7.57,0.00,67.05,0.040,0.000,0.533,133,2462,929,-6.76,-1.10,500.17,0,0,0,0,1,0,14.40,14.85,13.57
$IRIDIUM_FIX,506.50,8027.99,130120,093322
$TT8_MAMPS,0.018725,0.162533
$HUMID,53.07
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,12.66,238.338
$10V_AH,12.75,0.000
$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,19.450,202.950,513.300,67.050,0.000,0.000,0.000,232.100,0.500,0.000,15.570,1588.962,15696.780,737.682,2871.941,578.473,0.000,2455.652,0.000,2621.983,0.000,0.541,0.000
$DEVICE_MAMPS,341.190,88.740,1979.820,533.205,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,863.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249904
$DATA_FILE_SIZE,80000,1845
$CAP_FILE_SIZE,196677,0
$CFSIZE,260034560,121647104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097,261.40,1
$GPS,130120,211800,507.796,8028.878,26,0.9,26,-2.2,0.8,264.3,9,3.5