version: 66.13
glider: 171
mission: 11
dive: 719
start: 1 15 120 3 43 10
data:
$ID,171
$MISSION,11
$DIVE,719
$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,53
$R_STBD_OVSHOOT,28
$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
$GPS1,150120,033609,504.0752,8029.6094,15,0.9,15,-2.2,0.5,321.6,7,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.8
$GPS2,150120,034217,504.1279,8029.4507,3,1.1,5,-2.2,0.9,320.0,6,7.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,8.6,10922,-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,-97.3,113,2503,972,878,0.0,0.0,0,88,0.00,0.00,-75.88,0.005,16386,0.000,0.000,112,2503,2718,2716,2721,0,0,0,0,0,0,14.84,28.83,14.87
$GC,93,-0.67,-97.3,111,2503,2717,2721,4.9,-12.4,16,120,9.30,2.40,-12.32,0.010,18692,0.346,0.091,2096,3894,3366,3379,3353,0,0,0,0,0,0,13.87,13.39,14.33
$GC,134,-0.67,-97.3,2096,3894,3380,3353,20.6,-36.2,24,138,0.00,2.25,0.00,0.000,1030,0.000,0.034,2096,2504,3366,3380,3353,0,0,0,0,0,0,14.57,14.50,14.59
$GC,329,-0.67,-97.3,2096,2501,3380,3353,79.0,-20.6,52,335,0.00,2.45,0.00,0.000,772,0.000,0.083,2086,3894,3366,3380,3353,0,0,0,0,0,0,14.94,14.26,14.97
$GC,393,-0.67,-97.3,2085,3894,3380,3353,96.6,-23.4,65,398,0.00,2.25,0.00,0.000,1030,0.000,0.031,2085,2490,3366,3380,3353,0,0,0,0,0,0,14.58,14.52,14.60
$GC,578,-0.67,-97.3,2085,2489,3380,3353,124.6,-15.1,84,584,0.00,2.45,0.00,0.000,260,0.000,0.074,2074,3900,3366,3380,3353,0,0,0,0,0,0,15.01,14.30,15.03
$GC,813,-0.67,-97.3,2074,3900,3381,3353,161.8,-14.0,131,819,0.15,2.25,0.00,0.000,3078,0.217,0.031,2109,2489,3366,3380,3353,0,0,0,0,0,0,14.13,14.54,14.35
$GC,999,-0.67,-97.3,2108,2487,3380,3353,182.1,-10.2,150,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2487,3367,3381,3353,0,0,0,0,0,0,15.03,15.06,15.06
$GC,1180,-0.67,-97.3,2108,2487,3380,3352,202.3,-11.5,168,1187,0.00,2.45,0.00,0.000,260,0.000,0.078,2100,3893,3366,3380,3352,0,0,0,0,0,0,15.02,14.28,15.04
$GC,1264,-0.67,-97.3,2099,3893,3380,3352,212.3,-11.2,185,1268,0.00,2.22,0.00,0.000,1030,0.000,0.031,2100,2501,3366,3380,3352,0,0,0,0,0,0,14.61,14.55,14.63
$GC,1451,-0.67,-97.3,2099,2499,3378,3352,233.0,-12.0,204,1455,0.00,2.30,0.00,0.000,516,0.000,0.045,2099,1106,3365,3378,3352,0,0,0,0,0,0,15.03,14.43,15.05
$GC,1477,-0.67,-97.3,2099,1106,3378,3352,236.5,-13.1,209,1483,0.00,2.40,0.00,0.000,1030,0.000,0.056,2089,2504,3364,3377,3352,0,0,0,0,0,0,14.50,14.38,14.54
$GC,1672,-0.67,-97.3,2088,2504,3376,3352,261.2,-12.6,226,1679,0.00,2.42,0.00,0.000,260,0.000,0.079,2078,3900,3364,3376,3352,0,0,0,0,0,0,15.05,14.28,15.08
$GC,1764,-0.67,-97.3,2077,3900,3374,3352,273.0,-13.2,244,1771,0.12,2.25,0.00,0.000,3078,0.209,0.033,2107,2503,3363,3375,3352,0,0,0,0,0,0,14.19,14.52,14.38
$GC,2072,-0.67,-97.3,2107,2501,3373,3348,305.7,-9.9,261,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2501,3360,3373,3348,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2374,-0.67,-97.3,2107,2501,3371,3346,335.8,-10.4,276,2378,0.00,2.33,0.00,0.000,516,0.000,0.047,2108,1107,3358,3371,3346,0,0,0,0,0,0,15.04,14.40,15.07
$GC,2425,-0.67,-97.3,2107,1107,3370,3346,341.2,-9.9,286,2432,0.00,2.40,0.00,0.000,1030,0.000,0.056,2098,2500,3357,3370,3345,0,0,0,0,0,0,14.47,14.35,14.51
$GC,2735,-0.67,-97.3,2098,2500,3367,3342,374.8,-10.9,303,2740,0.00,2.45,0.00,0.000,260,0.000,0.081,2087,3894,3354,3367,3342,0,0,0,0,0,0,15.06,14.22,15.08
$GC,2808,-0.67,-97.3,2087,3894,3367,3342,382.8,-11.2,317,2812,0.00,2.28,0.00,0.000,1030,0.000,0.034,2087,2503,3354,3367,3342,0,0,0,0,0,0,14.55,14.48,14.57
$GC,3120,-0.67,-97.3,2087,2501,3365,3339,418.9,-11.9,334,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2502,3352,3366,3339,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3419,-0.67,-97.3,2087,2501,3363,3338,454.3,-11.9,349,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2502,3350,3363,3338,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3721,-0.67,-97.3,2087,2501,3362,3335,490.4,-11.9,364,3728,0.00,2.47,0.00,0.000,260,0.000,0.085,2077,3891,3348,3362,3335,0,0,0,0,0,0,15.03,14.13,15.06
$GC,3750,-0.67,-97.3,2076,3891,3361,3335,494.1,-12.8,370,3757,0.15,2.28,0.00,0.000,3078,0.196,0.034,2112,2500,3348,3361,3335,0,0,0,0,0,0,14.10,14.45,14.29
$GC,4061,-0.67,-97.3,2112,2499,3360,3333,525.2,-9.9,387,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3346,3360,3333,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4360,-0.67,-97.3,2112,2498,3358,3332,555.3,-9.9,402,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3345,3358,3332,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4660,-0.67,-97.3,2112,2499,3356,3330,583.7,-9.2,417,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4961,-0.67,-97.3,2112,2498,3356,3329,609.8,-8.4,432,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3342,3356,3329,0,0,0,0,0,0,15.03,15.06,15.06
$GC,5260,-0.67,-97.3,2112,2499,3354,3327,635.6,-8.7,447,5265,0.00,2.40,0.00,0.000,516,0.000,0.049,2113,1105,3340,3354,3327,0,0,0,0,0,0,15.04,14.27,15.07
$GC,5292,-0.67,-97.3,2112,1104,3354,3327,638.5,-9.3,453,5299,0.00,2.45,0.00,0.000,1030,0.000,0.059,2104,2499,3340,3353,3327,0,0,0,0,0,0,14.34,14.22,14.39
$GC,5603,-0.67,-97.3,2103,2499,3352,3327,667.4,-9.2,470,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2499,3339,3352,3326,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5902,-0.67,-97.3,2103,2499,3351,3325,694.5,-9.1,485,5906,0.00,2.50,0.00,0.000,260,0.000,0.085,2092,3890,3338,3351,3325,0,0,0,0,0,0,15.04,14.06,15.07
$GC,5954,-0.67,-97.3,2092,3891,3351,3325,699.4,-9.6,495,5959,0.00,2.30,0.00,0.000,1030,0.000,0.036,2092,2501,3338,3351,3325,0,0,0,0,0,0,14.45,14.38,14.48
$GC,6267,-0.67,-97.3,2091,2500,3350,3324,729.2,-9.5,512,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3337,3350,3324,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6566,-0.67,-97.3,2091,2500,3349,3323,758.3,-9.9,527,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3336,3349,3323,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6866,-0.67,-97.3,2091,2500,3348,3321,788.9,-10.2,542,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3334,3348,3321,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7167,-0.67,-97.3,2091,2500,3347,3321,818.8,-9.9,557,7174,0.00,2.53,0.00,0.000,260,0.000,0.088,2082,3887,3333,3347,3320,0,0,0,0,0,0,15.02,13.95,15.04
$GC,7226,-0.67,-97.3,2081,3887,3347,3320,825.1,-10.4,569,7233,0.12,2.33,0.00,0.000,3078,0.199,0.037,2110,2491,3333,3347,3320,0,0,0,0,0,0,14.01,14.33,14.18
$GC,7548,-0.67,-97.3,2109,2490,3346,3320,852.4,-8.4,588,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2490,3333,3346,3320,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7846,-0.67,-97.3,2110,2490,3345,3320,877.8,-8.5,603,7851,0.00,2.58,0.00,0.000,260,0.000,0.087,2101,3890,3332,3344,3320,0,0,0,0,0,0,15.04,13.96,15.07
$GC,7900,-0.67,-97.3,2100,3890,3344,3319,882.5,-9.1,613,7904,0.00,2.33,0.00,0.000,1030,0.000,0.036,2101,2495,3332,3344,3320,0,0,0,0,0,0,14.38,14.31,14.41
$GC,8213,-0.67,-97.3,2100,2494,3344,3319,911.5,-9.2,630,8216,0.00,2.38,0.00,0.000,516,0.000,0.050,2101,1110,3331,3343,3319,0,0,0,0,0,0,15.02,14.16,15.04
$GC,8239,-0.67,-97.3,2100,1109,3343,3319,914.1,-9.5,635,8244,0.00,2.47,0.00,0.000,1030,0.000,0.058,2090,2504,3331,3343,3319,0,0,0,0,0,0,14.23,14.10,14.28
$GC,8556,-0.67,-97.3,2089,2504,3343,3317,945.1,-9.8,653,8563,0.00,2.53,0.00,0.000,260,0.000,0.086,2079,3893,3330,3343,3317,0,0,0,0,0,0,15.04,13.94,15.06
$GC,8609,-0.67,-97.3,2078,3893,3343,3317,950.3,-10.4,663,8614,0.12,2.33,0.00,0.000,3078,0.203,0.036,2107,2500,3330,3343,3317,0,0,0,0,0,0,13.95,14.28,14.13
$GC,8922,-0.67,-97.3,2107,2499,3343,3316,977.7,-8.6,680,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3330,3343,3317,0,0,0,0,0,0,15.02,15.06,15.05
$STATE,9078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9078,begin apogee
$GC,9087,-0.15,0.0,2108,2499,3342,3316,991.6,-8.7,688,9183,0.60,0.00,92.00,1.996,10246,0.161,0.000,2275,2498,2968,3001,2936,0,0,0,0,0,0,13.80,13.98,12.74
$STATE,9184,end apogee,CONTROL_FINISHED_OK
$STATE,9184,begin climb
$GC,9187,0.67,97.3,2275,2499,2999,2935,994.7,0.0,693,9298,0.85,0.00,104.00,1.985,10246,0.090,0.000,2550,2499,2570,2602,2538,0,0,0,0,0,0,14.07,13.90,12.69
$GC,9605,0.69,97.3,2549,2498,2592,2534,975.8,6.9,714,9610,0.00,2.50,0.00,0.000,580,0.000,0.051,2561,1050,2563,2592,2534,0,0,0,0,0,0,14.84,14.36,14.87
$GC,9652,0.71,97.3,2561,1050,2591,2534,972.3,7.2,723,9658,0.00,2.45,0.00,0.000,1094,0.000,0.056,2561,2444,2562,2590,2534,0,0,0,0,0,0,14.45,14.33,14.50
$GC,9970,0.71,97.3,2560,2444,2590,2533,948.2,7.8,741,9976,0.00,2.50,0.00,0.000,260,0.000,0.082,2561,3846,2561,2590,2533,0,0,0,0,0,0,14.96,14.23,14.99
$GC,10031,0.71,97.3,2561,3846,2588,2533,942.9,9.0,753,10035,0.00,2.33,0.00,0.000,1030,0.000,0.036,2572,2442,2561,2589,2533,0,0,0,0,0,0,14.51,14.45,14.54
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$STATE,21604,end climb,SURFACE_DEPTH_REACHED
$STATE,21604,begin surface coast
$STATE,21612,end surface coast,CONTROL_FINISHED_OK
$STATE,21612,begin surface
$SM_CCo,21636,111.90,0.634,1,0,928,500.17
$SM_GC,1.18,8.30,2.25,111.90,0.083,0.037,0.634,119,2495,928,-6.77,1.92,500.17,0,0,0,0,1,0,14.47,14.42,13.51
$IRIDIUM_FIX,502.17,8027.99,140120,220413
$TT8_MAMPS,0.018725,0.160286
$HUMID,52.12
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,12.69,240.125
$10V_AH,12.91,0.000
$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,20.450,207.400,465.825,111.900,0.000,0.000,0.000,217.350,0.000,0.000,16.630,1599.245,16334.803,758.726,2848.199,579.289,0.000,2463.036,0.000,2612.986,0.000,0.541,0.000
$DEVICE_MAMPS,345.780,91.035,1995.885,634.185,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,883.489,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249852
$DATA_FILE_SIZE,80071,1839
$CAP_FILE_SIZE,201664,0
$CFSIZE,260034560,121077760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,301.71,1
$GPS,150120,094701,505.965,8029.092,30,0.7,33,-2.2,0.7,274.1,12,5.5