version: 66.13
glider: 171
mission: 11
dive: 727
start: 1 17 120 2 33 56
data:
$ID,171
$MISSION,11
$DIVE,727
$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,52
$R_STBD_OVSHOOT,55
$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
$GPS1,170120,022639,506.4973,8029.6221,21,1.0,21,-2.2,0.8,293.3,7,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-74.3
$GPS2,170120,023303,506.5072,8029.4727,2,0.6,4,-2.2,0.6,301.5,12,5.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,31.9,6541,-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,-97.3,109,2526,972,881,0.0,0.0,0,88,0.00,0.00,-76.12,0.005,16386,0.000,0.000,109,2526,2746,2745,2748,0,0,0,0,0,0,14.84,28.83,14.87
$GC,93,-0.67,-97.3,109,2526,2745,2748,5.3,-14.3,16,119,9.27,2.33,-11.40,0.011,18692,0.346,0.090,2094,3874,3368,3382,3355,0,0,0,0,0,0,13.88,12.64,14.33
$GC,204,-0.67,-97.3,2094,3874,3382,3355,42.0,-28.4,38,208,0.00,2.22,0.00,0.000,1030,0.000,0.034,2094,2501,3368,3382,3355,0,0,0,0,0,0,14.54,14.47,14.57
$GC,390,-0.67,-97.3,2094,2499,3382,3355,85.8,-19.8,59,395,0.00,2.30,0.00,0.000,516,0.000,0.045,2095,1103,3368,3382,3355,0,0,0,0,0,0,14.97,14.40,15.00
$GC,403,-0.67,-97.3,2094,1103,3382,3355,88.3,-21.6,61,410,0.00,2.35,0.00,0.000,1030,0.000,0.054,2084,2482,3368,3382,3355,0,0,0,0,0,0,14.49,14.38,14.53
$GC,593,-0.67,-97.3,2084,2482,3382,3354,115.6,-13.1,81,597,0.00,2.45,0.00,0.000,260,0.000,0.076,2073,3891,3368,3381,3355,0,0,0,0,0,0,15.01,14.28,15.03
$GC,826,-0.67,-97.3,2073,3892,3382,3355,154.4,-16.5,127,831,0.15,2.25,0.00,0.000,3078,0.228,0.031,2106,2473,3368,3382,3355,0,0,0,0,0,0,14.09,14.54,14.32
$GC,1020,-0.67,-97.3,2106,2471,3382,3355,178.1,-11.5,147,1025,0.00,2.47,0.00,0.000,260,0.000,0.077,2097,3890,3368,3382,3355,0,0,0,0,0,0,15.02,14.27,15.04
$GC,1093,-0.67,-97.3,2097,3890,3382,3355,187.3,-13.2,161,1097,0.00,2.20,0.00,0.000,1030,0.000,0.031,2097,2506,3368,3382,3354,0,0,0,0,0,0,14.60,14.54,14.62
$GC,1284,-0.67,-97.3,2097,2503,3381,3354,211.8,-12.1,181,1291,0.00,2.42,0.00,0.000,260,0.000,0.078,2086,3890,3367,3380,3354,0,0,0,0,0,0,15.04,14.26,15.06
$GC,1329,-0.67,-97.3,2086,3890,3380,3354,217.5,-12.9,190,1333,0.00,2.22,0.00,0.000,1030,0.000,0.031,2086,2502,3367,3380,3354,0,0,0,0,0,0,14.59,14.53,14.62
$GC,1516,-0.67,-97.3,2086,2500,3379,3354,239.5,-12.0,209,1522,0.00,2.45,0.00,0.000,260,0.000,0.079,2075,3892,3366,3378,3354,0,0,0,0,0,0,15.02,14.26,15.05
$GC,1570,-0.67,-97.3,2075,3893,3377,3354,246.6,-12.7,220,1577,0.15,2.25,0.00,0.000,3078,0.206,0.031,2111,2493,3365,3377,3354,0,0,0,0,0,0,14.14,14.52,14.34
$GC,1766,-0.67,-97.3,2110,2492,3376,3354,269.0,-11.5,233,1770,0.00,2.30,0.00,0.000,516,0.000,0.046,2111,1109,3364,3375,3354,0,0,0,0,0,0,15.03,14.40,15.06
$GC,1802,-0.67,-97.3,2111,1109,3375,3354,273.3,-11.5,240,1809,0.00,2.40,0.00,0.000,1030,0.000,0.055,2102,2504,3364,3374,3354,0,0,0,0,0,0,14.47,14.35,14.52
$GC,2127,-0.67,-97.3,2101,2504,3374,3348,309.8,-10.8,260,2134,0.00,2.42,0.00,0.000,260,0.000,0.081,2090,3890,3361,3374,3348,0,0,0,0,0,0,15.05,14.22,15.07
$GC,2220,-0.67,-97.3,2090,3890,3372,3348,320.5,-11.6,278,2224,0.00,2.25,0.00,0.000,1030,0.000,0.033,2091,2497,3360,3372,3349,0,0,0,0,0,0,14.57,14.50,14.59
$GC,2533,-0.67,-97.3,2090,2495,3370,3345,356.8,-11.7,295,2537,0.00,2.47,0.00,0.000,260,0.000,0.081,2080,3890,3358,3371,3345,0,0,0,0,0,0,15.03,14.20,15.06
$GC,2581,-0.67,-97.3,2080,3890,3370,3345,362.6,-12.2,304,2589,0.12,2.25,0.00,0.000,3078,0.206,0.034,2108,2499,3357,3370,3345,0,0,0,0,0,0,14.16,14.49,14.34
$GC,2896,-0.67,-97.3,2108,2498,3368,3342,395.6,-10.3,322,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3355,3368,3342,0,0,0,0,0,0,15.04,15.09,15.08
$GC,3196,-0.67,-97.3,2107,2498,3366,3339,426.1,-10.3,337,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3352,3366,3339,0,0,0,0,0,0,15.05,15.08,15.08
$GC,3498,-0.67,-97.3,2108,2498,3364,3338,458.2,-11.2,352,3504,0.00,2.47,0.00,0.000,260,0.000,0.083,2099,3890,3350,3364,3337,0,0,0,0,0,0,15.03,14.12,15.07
$GC,3531,-0.67,-97.3,2099,3890,3363,3338,462.4,-11.9,359,3536,0.00,2.28,0.00,0.000,1030,0.000,0.034,2099,2502,3350,3363,3337,0,0,0,0,0,0,14.52,14.45,14.54
$GC,3836,-0.67,-97.3,2099,2500,3362,3335,498.1,-11.5,375,3841,0.00,2.50,0.00,0.000,260,0.000,0.083,2088,3893,3348,3362,3335,0,0,0,0,0,0,15.05,14.12,15.07
$GC,3869,-0.67,-97.3,2088,3893,3362,3335,501.9,-12.5,381,3873,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2501,3348,3362,3335,0,0,0,0,0,0,14.50,14.43,14.53
$GC,4180,-0.67,-97.3,2088,2499,3360,3333,538.4,-11.3,398,4187,0.00,2.35,0.00,0.000,516,0.000,0.049,2088,1110,3346,3360,3333,0,0,0,0,0,0,15.04,14.28,15.07
$GC,4211,-0.67,-97.3,2088,1111,3360,3333,541.9,-12.0,404,4219,0.15,2.42,0.00,0.000,3078,0.198,0.057,2112,2502,3345,3358,3333,0,0,0,0,0,0,14.01,14.25,14.21
$GC,4522,-0.67,-97.3,2112,2502,3358,3332,570.1,-8.7,421,4529,0.00,2.47,0.00,0.000,260,0.000,0.084,2104,3899,3345,3358,3332,0,0,0,0,0,0,15.04,14.07,15.06
$GC,4551,-0.67,-97.3,2103,3898,3357,3332,572.7,-9.7,427,4556,0.00,2.30,0.00,0.000,1030,0.000,0.035,2104,2499,3344,3357,3332,0,0,0,0,0,0,14.48,14.41,14.51
$GC,4865,-0.67,-97.3,2103,2497,3356,3330,602.1,-10.1,444,4869,0.00,2.53,0.00,0.000,260,0.000,0.084,2092,3894,3343,3356,3330,0,0,0,0,0,0,15.03,14.07,15.05
$GC,4896,-0.67,-97.3,2092,3894,3356,3330,605.6,-10.9,450,4900,0.00,2.30,0.00,0.000,1030,0.000,0.035,2092,2499,3343,3356,3330,0,0,0,0,0,0,14.47,14.40,14.50
$GC,5207,-0.67,-97.3,2092,2496,3355,3329,641.3,-11.5,467,5212,0.00,2.53,0.00,0.000,260,0.000,0.083,2082,3891,3341,3355,3328,0,0,0,0,0,0,15.04,14.06,15.07
$GC,5241,-0.67,-97.3,2081,3891,3355,3329,645.1,-12.5,473,5248,0.12,2.30,0.00,0.000,3078,0.202,0.035,2110,2498,3341,3355,3328,0,0,0,0,0,0,14.05,14.38,14.23
$GC,5550,-0.67,-97.3,2110,2496,3354,3327,675.8,-9.4,490,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3340,3353,3327,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5850,-0.67,-97.3,2110,2497,3352,3326,702.5,-8.8,505,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3339,3352,3326,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6152,-0.67,-97.3,2110,2497,3352,3325,728.6,-8.7,520,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3338,3352,3325,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6450,-0.67,-97.3,2110,2497,3350,3324,755.2,-8.9,535,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3337,3350,3324,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6750,-0.67,-97.3,2110,2497,3350,3322,781.9,-9.0,550,6757,0.00,2.55,0.00,0.000,260,0.000,0.086,2101,3893,3335,3349,3322,0,0,0,0,0,0,15.03,13.98,15.06
$GC,6786,-0.67,-97.3,2101,3893,3349,3322,785.2,-9.8,557,6790,0.00,2.33,0.00,0.000,1030,0.000,0.035,2102,2501,3335,3349,3322,0,0,0,0,0,0,14.39,14.32,14.42
$GC,7090,-0.67,-97.3,2101,2499,3348,3321,814.5,-9.6,573,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3334,3348,3321,0,0,0,0,0,0,15.03,15.07,15.05
$GC,7392,-0.67,-97.3,2101,2499,3347,3321,842.7,-9.1,588,7398,0.00,2.53,0.00,0.000,260,0.000,0.086,2090,3889,3334,3347,3321,0,0,0,0,0,0,15.01,13.90,15.04
$GC,7425,-0.67,-97.3,2090,3889,3347,3321,846.1,-10.0,595,7430,0.00,2.33,0.00,0.000,1030,0.000,0.036,2090,2499,3334,3347,3321,0,0,0,0,0,0,14.37,14.30,14.40
$GC,7730,-0.67,-97.3,2090,2498,3345,3321,876.4,-10.0,611,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3333,3346,3321,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8031,-0.67,-97.3,2090,2498,3344,3320,905.8,-9.7,626,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3332,3345,3320,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8330,-0.67,-97.3,2090,2498,3344,3319,934.2,-9.3,641,8334,0.00,2.58,0.00,0.000,260,0.000,0.086,2080,3890,3331,3344,3319,0,0,0,0,0,0,15.03,13.91,15.06
$GC,8382,-0.67,-97.3,2080,3890,3344,3319,939.4,-10.3,651,8388,0.12,2.33,0.00,0.000,3078,0.205,0.036,2108,2497,3331,3343,3319,0,0,0,0,0,0,13.93,14.27,14.11
$GC,8697,-0.67,-97.3,2107,2496,3343,3317,965.8,-8.4,668,8703,0.00,2.40,0.00,0.000,516,0.000,0.051,2108,1111,3330,3343,3317,0,0,0,0,0,0,15.00,14.09,15.03
$GC,8740,-0.67,-97.3,2108,1110,3343,3317,969.7,-8.6,677,8746,0.00,2.47,0.00,0.000,1030,0.000,0.059,2099,2502,3330,3343,3317,0,0,0,0,0,0,14.19,14.06,14.24
$STATE,8971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8972,begin apogee
$GC,8981,-0.15,0.0,2099,2502,3343,3317,990.4,-8.8,691,9077,0.65,0.00,92.05,2.008,10246,0.164,0.000,2277,2502,2968,3001,2935,0,0,0,0,0,0,13.74,13.99,12.74
$STATE,9078,end apogee,CONTROL_FINISHED_OK
$STATE,9078,begin climb
$GC,9081,0.67,97.3,2277,2502,2999,2935,993.1,0.0,696,9198,0.85,2.58,104.62,1.978,10756,0.091,0.051,2562,1050,2569,2600,2538,0,0,0,0,0,0,14.06,13.95,12.69
$GC,9217,0.74,164.6,2562,1050,2596,2538,991.8,4.3,723,9293,0.00,2.47,69.50,1.970,9254,0.000,0.054,2563,2449,2296,2339,2253,0,0,0,0,0,0,14.26,14.16,12.67
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$STATE,19065,end climb,SURFACE_DEPTH_REACHED
$STATE,19065,begin surface coast
$STATE,19096,end surface coast,CONTROL_FINISHED_OK
$STATE,19096,begin surface
$SM_CCo,19117,112.45,0.610,1,0,929,500.17
$SM_GC,1.34,7.53,0.10,112.45,0.057,0.148,0.610,124,2513,929,-6.78,-0.68,500.17,0,0,0,0,1,0,14.52,14.56,13.59
$IRIDIUM_FIX,502.20,8030.12,160120,203705
$TT8_MAMPS,0.018725,0.160286
$HUMID,48.77
$INTERNAL_PRESSURE,9.56589
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,12.64,242.567
$10V_AH,12.59,0.000
$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,20.075,207.100,478.950,112.450,0.000,0.000,0.000,230.275,0.000,0.000,16.119,1486.836,14162.616,735.113,2685.284,544.656,0.000,2376.834,0.000,2436.848,0.000,0.541,0.000
$DEVICE_MAMPS,345.780,148.410,2008.125,609.705,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,859.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249868
$DATA_FILE_SIZE,73262,1714
$CAP_FILE_SIZE,189883,0
$CFSIZE,260034560,120373248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,16846.02,0x2147a0,1,24
$CURRENT,0.092,344.96,1
$GPS,170120,075539,508.896,8030.354,22,1.0,22,-2.2,0.9,294.0,7,10.0