version: 66.13
glider: 171
mission: 11
dive: 728
start: 1 17 120 8 2 54
data:
$ID,171
$MISSION,11
$DIVE,728
$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,34
$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
$GPS1,170120,075539,508.8964,8030.3540,22,1.0,22,-2.2,0.9,294.0,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.8
$GPS2,170120,080159,508.8991,8030.1602,2,0.5,3,-2.2,1.3,272.2,12,6.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,174.0,16484,-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,-97.3,120,2515,968,884,0.0,0.0,0,89,0.00,0.00,-76.78,0.005,16386,0.000,0.000,118,2515,2743,2745,2741,0,0,0,0,0,0,14.84,28.83,14.87
$GC,94,-0.67,-97.3,118,2515,2745,2741,5.0,-14.0,16,120,9.18,2.40,-11.77,0.010,18948,0.342,0.073,2106,1103,3367,3381,3353,0,0,0,0,0,0,13.89,12.66,14.34
$GC,178,-0.67,-97.3,2106,1103,3381,3353,33.7,-27.7,33,184,0.00,2.40,0.00,0.000,1030,0.000,0.057,2097,2503,3367,3382,3352,0,0,0,0,0,0,14.48,14.36,14.52
$GC,377,-0.67,-97.3,2097,2503,3381,3353,85.7,-19.5,58,381,0.00,2.35,0.00,0.000,516,0.000,0.047,2097,1099,3366,3381,3351,0,0,0,0,0,0,14.95,14.39,14.97
$GC,479,-0.67,-97.3,2097,1096,3381,3353,101.6,-13.0,78,486,0.00,2.40,0.00,0.000,1030,0.000,0.054,2086,2504,3367,3381,3353,0,0,0,0,0,0,14.49,14.38,14.53
$GC,668,-0.67,-97.3,2086,2504,3382,3353,128.9,-15.3,98,672,0.00,2.33,0.00,0.000,516,0.000,0.046,2086,1104,3367,3382,3353,0,0,0,0,0,0,15.02,14.38,15.04
$GC,684,-0.67,-97.3,2086,1104,3382,3353,131.4,-15.1,101,691,0.15,2.40,0.00,0.000,3078,0.223,0.054,2110,2509,3367,3382,3353,0,0,0,0,0,0,14.09,14.38,14.32
$GC,880,-0.67,-97.3,2109,2509,3382,3353,157.1,-13.6,122,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2509,3367,3382,3353,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1069,-0.67,-97.3,2109,2509,3381,3353,182.5,-13.2,141,1073,0.00,2.35,0.00,0.000,516,0.000,0.046,2109,1106,3367,3382,3352,0,0,0,0,0,0,15.04,14.40,15.07
$GC,1137,-0.67,-97.3,2109,1106,3381,3352,191.3,-12.8,154,1141,0.00,2.40,0.00,0.000,1030,0.000,0.057,2100,2503,3366,3381,3352,0,0,0,0,0,0,14.49,14.38,14.53
$GC,1320,-0.67,-97.3,2100,2503,3380,3352,214.1,-12.2,173,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2501,3365,3378,3352,0,0,0,0,0,0,15.04,15.07,15.06
$GC,1500,-0.67,-97.3,2100,2503,3378,3352,237.6,-13.2,191,1505,0.00,2.38,0.00,0.000,516,0.000,0.048,2100,1099,3365,3378,3352,0,0,0,0,0,0,15.04,14.38,15.07
$GC,1539,-0.67,-97.3,2100,1099,3377,3352,242.4,-12.7,198,1543,0.00,2.45,0.00,0.000,1030,0.000,0.062,2089,2504,3364,3377,3352,0,0,0,0,0,0,14.46,14.34,14.50
$GC,1723,-0.67,-97.3,2089,2504,3376,3352,265.4,-12.3,211,1727,0.00,2.42,0.00,0.000,260,0.000,0.080,2079,3894,3364,3376,3352,0,0,0,0,0,0,15.04,14.25,15.07
$GC,1771,-0.67,-97.3,2078,3894,3375,3352,271.4,-12.7,220,1776,0.12,2.28,0.00,0.000,3078,0.211,0.033,2108,2488,3363,3375,3352,0,0,0,0,0,0,14.16,14.50,14.35
$GC,2089,-0.67,-97.3,2106,2487,3373,3348,304.4,-9.9,238,2093,0.00,2.30,0.00,0.000,516,0.000,0.049,2107,1108,3360,3373,3348,0,0,0,0,0,0,15.05,14.38,15.07
$GC,2120,-0.67,-97.3,2107,1107,3372,3348,307.5,-9.8,244,2125,0.00,2.40,0.00,0.000,1030,0.000,0.057,2097,2500,3361,3374,3348,0,0,0,0,0,0,14.45,14.33,14.50
$GC,2433,-0.67,-97.3,2097,2501,3371,3346,340.1,-10.7,261,2439,0.00,2.45,0.00,0.000,260,0.000,0.081,2087,3895,3358,3371,3345,0,0,0,0,0,0,15.04,14.21,15.06
$GC,2502,-0.67,-97.3,2087,3894,3370,3345,348.0,-11.4,275,2507,0.00,2.28,0.00,0.000,1030,0.000,0.034,2087,2500,3357,3370,3344,0,0,0,0,0,0,14.54,14.47,14.57
$GC,2816,-0.67,-97.3,2086,2498,3367,3342,383.9,-11.7,292,2820,0.00,2.50,0.00,0.000,260,0.000,0.081,2078,3891,3354,3367,3342,0,0,0,0,0,0,15.03,14.19,15.05
$GC,2858,-0.67,-97.3,2076,3891,3367,3342,389.1,-12.2,300,2863,0.15,2.30,0.00,0.000,3078,0.199,0.034,2112,2490,3354,3367,3342,0,0,0,0,0,0,14.09,14.46,14.30
$GC,3180,-0.67,-97.3,2111,2488,3366,3339,422.9,-10.6,319,3185,0.00,2.50,0.00,0.000,260,0.000,0.083,2102,3892,3351,3365,3338,0,0,0,0,0,0,15.04,14.16,15.07
$GC,3233,-0.67,-97.3,2102,3892,3365,3339,428.6,-11.0,329,3237,0.00,2.28,0.00,0.000,1030,0.000,0.034,2102,2499,3352,3365,3339,0,0,0,0,0,0,14.52,14.45,14.54
$GC,3544,-0.67,-97.3,2102,2498,3363,3337,462.8,-10.9,346,3549,0.00,2.38,0.00,0.000,516,0.000,0.050,2102,1100,3349,3362,3337,0,0,0,0,0,0,15.04,14.31,15.07
$GC,3581,-0.67,-97.3,2102,1100,3362,3337,466.8,-10.9,353,3587,0.00,2.45,0.00,0.000,1030,0.000,0.058,2091,2499,3349,3362,3337,0,0,0,0,0,0,14.38,14.26,14.42
$GC,3907,-0.67,-97.3,2090,2500,3360,3334,502.8,-10.9,373,3913,0.00,2.47,0.00,0.000,260,0.000,0.083,2081,3892,3347,3361,3334,0,0,0,0,0,0,15.03,14.13,15.06
$GC,3937,-0.67,-97.3,2080,3891,3360,3334,506.4,-11.6,379,3943,0.12,2.30,0.00,0.000,3078,0.203,0.035,2109,2496,3347,3360,3334,0,0,0,0,0,0,14.11,14.42,14.28
$GC,4252,-0.67,-97.3,2108,2494,3359,3332,537.0,-9.5,396,4256,0.00,2.35,0.00,0.000,516,0.000,0.050,2109,1106,3345,3359,3332,0,0,0,0,0,0,15.02,14.28,15.05
$GC,4283,-0.67,-97.3,2108,1106,3358,3332,540.1,-9.3,402,4290,0.00,2.45,0.00,0.000,1030,0.000,0.057,2100,2507,3345,3358,3332,0,0,0,0,0,0,14.36,14.23,14.40
$GC,4593,-0.67,-97.3,2099,2507,3356,3331,569.9,-9.5,419,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2507,3342,3354,3331,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4894,-0.67,-97.3,2099,2507,3356,3329,598.0,-9.2,434,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2507,3342,3356,3329,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5193,-0.67,-97.3,2099,2507,3354,3328,626.1,-9.4,449,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2507,3341,3354,3328,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5493,-0.67,-97.3,2099,2507,3352,3327,655.0,-9.8,464,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2507,3340,3353,3327,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5794,-0.67,-97.3,2100,2507,3352,3326,684.9,-10.1,479,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2507,3339,3352,3326,0,0,0,0,0,0,15.02,15.05,15.05
$GC,6093,-0.67,-97.3,2099,2507,3351,3324,715.0,-9.9,494,6097,0.00,2.50,0.00,0.000,260,0.000,0.086,2089,3890,3337,3351,3324,0,0,0,0,0,0,15.04,14.02,15.06
$GC,6159,-0.67,-97.3,2088,3890,3350,3324,721.9,-10.5,507,6164,0.00,2.33,0.00,0.000,1030,0.000,0.036,2088,2494,3337,3350,3324,0,0,0,0,0,0,14.40,14.33,14.44
$GC,6478,-0.67,-97.3,2088,2493,3349,3323,755.2,-10.4,525,6484,0.00,2.55,0.00,0.000,260,0.000,0.084,2077,3904,3336,3349,3323,0,0,0,0,0,0,15.02,13.97,15.05
$GC,6506,-0.67,-97.3,2077,3904,3349,3323,758.5,-11.9,531,6512,0.15,2.35,0.00,0.000,3078,0.194,0.036,2112,2495,3336,3349,3323,0,0,0,0,0,0,13.96,14.32,14.15
$GC,6821,-0.67,-97.3,2112,2494,3348,3322,786.3,-8.7,548,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3335,3348,3322,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7119,-0.67,-97.3,2112,2494,3348,3321,812.5,-8.8,563,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2494,3334,3348,3321,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7419,-0.67,-97.3,2112,2494,3346,3320,838.2,-8.6,578,7423,0.00,2.40,0.00,0.000,516,0.000,0.050,2113,1104,3333,3346,3320,0,0,0,0,0,0,15.03,14.15,15.06
$GC,7454,-0.67,-97.3,2112,1102,3346,3320,841.0,-9.1,584,7461,0.00,2.47,0.00,0.000,1030,0.000,0.059,2104,2498,3333,3346,3320,0,0,0,0,0,0,14.23,14.09,14.28
$GC,7760,-0.67,-97.3,2103,2498,3345,3319,868.5,-9.0,601,7767,0.00,2.53,0.00,0.000,260,0.000,0.086,2092,3893,3332,3345,3319,0,0,0,0,0,0,15.03,13.94,15.05
$GC,7810,-0.67,-97.3,2092,3893,3345,3319,873.4,-9.7,611,7815,0.00,2.33,0.00,0.000,1030,0.000,0.037,2092,2500,3332,3345,3319,0,0,0,0,0,0,14.35,14.27,14.38
$GC,8124,-0.67,-97.3,2092,2499,3343,3320,903.5,-9.6,628,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3331,3343,3319,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8422,-0.67,-97.3,2092,2499,3343,3317,932.5,-9.7,643,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3330,3343,3318,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8724,-0.67,-97.3,2092,2499,3343,3317,962.0,-9.8,658,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3330,3343,3317,0,0,0,0,0,0,15.02,15.04,15.04
$STATE,9019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9019,begin apogee
$GC,9027,-0.15,0.0,2092,2499,3342,3316,990.9,-9.5,673,9123,0.68,0.00,91.97,1.990,10246,0.168,0.000,2276,2499,2968,3000,2936,0,0,0,0,0,0,13.73,14.00,12.78
$STATE,9124,end apogee,CONTROL_FINISHED_OK
$STATE,9124,begin climb
$GC,9128,0.67,97.3,2276,2498,2999,2935,994.0,0.0,678,9240,0.85,0.00,105.10,1.971,10246,0.091,0.000,2551,2498,2569,2600,2539,0,0,0,0,0,0,14.07,13.90,12.71
$GC,9548,0.69,97.3,2551,2499,2591,2535,974.4,7.1,699,9550,0.00,0.00,0.00,0.000,70,0.000,0.000,2551,2498,2563,2591,2535,0,0,0,0,0,0,14.84,14.87,14.86
$GC,9843,0.71,97.3,2551,2498,2589,2534,954.0,6.8,714,9850,0.00,2.50,0.00,0.000,580,0.000,0.051,2562,1047,2561,2588,2534,0,0,0,0,0,0,14.95,14.33,14.97
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$STATE,22036,end climb,SURFACE_DEPTH_REACHED
$STATE,22036,begin surface coast
$STATE,22050,end surface coast,CONTROL_FINISHED_OK
$STATE,22050,begin surface
$SM_CCo,22075,100.40,0.603,1,0,928,500.17
$SM_GC,1.22,7.80,2.55,100.40,0.051,0.047,0.603,128,2501,928,-6.77,-0.88,500.17,0,0,0,0,1,0,14.42,14.28,13.54
$IRIDIUM_FIX,506.56,8032.26,170120,022919
$TT8_MAMPS,0.018725,0.158788
$HUMID,50.74
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,12.66,242.861
$10V_AH,13.18,0.000
$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,19.975,179.200,480.350,100.400,0.000,0.000,0.000,232.800,0.500,0.000,14.625,1618.515,16867.869,740.419,2773.456,558.465,0.000,2392.654,0.000,2524.269,0.000,0.543,0.000
$DEVICE_MAMPS,341.955,86.445,1989.765,602.820,0.000,0.000,0.000,179.010,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,915.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249928
$DATA_FILE_SIZE,76603,1776
$CAP_FILE_SIZE,195792,0
$CFSIZE,260034560,120279040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.074,305.09,1
$GPS,170120,141339,507.751,8029.581,21,1.0,21,-2.2,0.8,291.7,8,6.5