version: 66.13
glider: 171
mission: 11
dive: 729
start: 1 17 120 14 20 36
data:
$ID,171
$MISSION,11
$DIVE,729
$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,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
$GPS1,170120,141339,507.7506,8029.5811,21,1.0,21,-2.2,0.8,291.7,8,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.0
$GPS2,170120,141942,507.7654,8029.4116,2,0.6,2,-2.2,1.1,253.6,12,9.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,156.6,14422,-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,9,-0.67,-97.3,122,2503,974,878,0.0,0.0,0,88,0.00,0.00,-76.55,0.005,16386,0.000,0.000,121,2503,2737,2735,2740,0,0,0,0,0,0,14.82,28.83,14.85
$GC,93,-0.67,-97.3,121,2504,2736,2740,5.4,-15.4,16,119,9.20,2.40,-11.52,0.011,18692,0.343,0.089,2093,3900,3367,3381,3353,0,0,0,0,0,0,13.85,12.61,14.31
$GC,132,-0.67,-97.3,2093,3900,3381,3354,21.8,-36.4,24,137,0.00,2.30,0.00,0.000,1030,0.000,0.039,2092,2509,3367,3381,3353,0,0,0,0,0,0,14.52,14.43,14.54
$GC,327,-0.67,-97.3,2092,2507,3381,3353,79.3,-21.6,52,333,0.00,2.38,0.00,0.000,516,0.000,0.050,2093,1090,3367,3381,3353,0,0,0,0,0,0,14.92,14.34,14.95
$GC,462,-0.67,-97.3,2093,1090,3381,3353,102.7,-14.2,79,467,0.12,2.45,0.00,0.000,3078,0.232,0.057,2110,2509,3367,3381,3353,0,0,0,0,0,0,14.04,14.31,14.26
$GC,645,-0.67,-97.3,2110,2508,3382,3353,127.3,-14.0,98,649,0.00,2.42,0.00,0.000,260,0.000,0.081,2101,3897,3367,3382,3353,0,0,0,0,0,0,15.00,14.23,15.02
$GC,661,-0.67,-97.3,2100,3897,3382,3353,129.4,-12.8,101,666,0.00,2.33,0.00,0.000,1030,0.000,0.042,2101,2485,3367,3382,3353,0,0,0,0,0,0,14.52,14.44,14.55
$GC,848,-0.67,-97.3,2100,2484,3383,3353,153.3,-13.2,120,855,0.00,2.47,0.00,0.000,260,0.000,0.079,2090,3895,3368,3383,3353,0,0,0,0,0,0,15.00,14.23,15.02
$GC,912,-0.67,-97.3,2089,3894,3383,3353,161.2,-12.3,133,916,0.00,2.28,0.00,0.000,1030,0.000,0.034,2090,2496,3368,3383,3353,0,0,0,0,0,0,14.54,14.47,14.57
$GC,1099,-0.67,-97.3,2089,2494,3383,3353,183.5,-12.6,152,1103,0.00,2.33,0.00,0.000,516,0.000,0.047,2090,1096,3368,3383,3353,0,0,0,0,0,0,15.01,14.38,15.04
$GC,1141,-0.67,-97.3,2089,1096,3382,3353,189.1,-13.2,160,1148,0.12,2.42,0.00,0.000,3078,0.216,0.057,2107,2505,3367,3382,3353,0,0,0,0,0,0,14.09,14.33,14.27
$GC,1331,-0.67,-97.3,2107,2504,3382,3353,212.0,-11.8,180,1335,0.00,2.40,0.00,0.000,516,0.000,0.061,2107,1108,3367,3381,3353,0,0,0,0,0,0,15.02,14.31,15.05
$GC,1358,-0.67,-97.3,2107,1108,3381,3353,215.1,-11.4,185,1362,0.00,2.40,0.00,0.000,1030,0.000,0.054,2098,2502,3367,3381,3353,0,0,0,0,0,0,14.45,14.33,14.49
$GC,1542,-0.67,-97.3,2097,2502,3379,3353,236.9,-11.9,204,1549,0.00,2.42,0.00,0.000,260,0.000,0.079,2087,3893,3366,3379,3353,0,0,0,0,0,0,15.03,14.21,15.05
$GC,1572,-0.67,-97.3,2086,3893,3379,3353,240.7,-12.5,210,1576,0.00,2.28,0.00,0.000,1030,0.000,0.033,2087,2486,3366,3379,3353,0,0,0,0,0,0,14.54,14.48,14.57
$GC,1774,-0.67,-97.3,2086,2484,3377,3353,266.3,-13.0,225,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2484,3365,3377,3353,0,0,0,0,0,0,15.03,15.06,15.05
$GC,2074,-0.67,-97.3,2086,2484,3374,3351,305.7,-13.0,240,2080,0.00,2.50,0.00,0.000,260,0.000,0.080,2076,3893,3362,3374,3350,0,0,0,0,0,0,15.04,14.18,15.07
$GC,2108,-0.67,-97.3,2076,3893,3374,3350,310.3,-13.3,247,2114,0.15,2.28,0.00,0.000,3078,0.203,0.033,2111,2496,3362,3374,3350,0,0,0,0,0,0,14.07,14.46,14.28
$GC,2414,-0.67,-97.3,2111,2494,3373,3347,344.6,-11.1,263,2419,0.00,2.35,0.00,0.000,516,0.000,0.050,2111,1108,3360,3373,3347,0,0,0,0,0,0,15.03,14.31,15.06
$GC,2462,-0.67,-97.3,2111,1108,3372,3347,350.0,-10.9,272,2467,0.00,2.42,0.00,0.000,1030,0.000,0.057,2102,2499,3359,3372,3347,0,0,0,0,0,0,14.40,14.28,14.44
$GC,2780,-0.67,-97.3,2101,2500,3370,3344,385.6,-11.0,290,2787,0.00,2.47,0.00,0.000,260,0.000,0.082,2091,3897,3357,3371,3344,0,0,0,0,0,0,15.03,14.14,15.05
$GC,2859,-0.67,-97.3,2090,3897,3370,3344,394.7,-11.3,306,2864,0.00,2.28,0.00,0.000,1030,0.000,0.034,2091,2503,3357,3370,3344,0,0,0,0,0,0,14.50,14.43,14.52
$GC,3182,-0.67,-97.3,2090,2501,3366,3341,432.1,-11.6,325,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2501,3354,3367,3341,0,0,0,0,0,0,15.03,15.06,15.05
$GC,3481,-0.67,-97.3,2090,2501,3366,3339,467.0,-11.8,340,3486,0.00,2.53,0.00,0.000,260,0.000,0.083,2080,3894,3352,3366,3339,0,0,0,0,0,0,15.03,14.09,15.06
$GC,3503,-0.67,-97.3,2080,3894,3365,3339,469.8,-12.1,344,3508,0.12,2.30,0.00,0.000,3078,0.204,0.034,2108,2496,3352,3365,3339,0,0,0,0,0,0,14.08,14.40,14.26
$GC,3827,-0.67,-97.3,2108,2495,3363,3337,506.5,-11.6,363,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2495,3350,3364,3337,0,0,0,0,0,0,15.03,15.06,15.06
$GC,4125,-0.67,-97.3,2108,2495,3362,3335,542.2,-12.1,378,4133,0.00,2.53,0.00,0.000,260,0.000,0.083,2099,3894,3348,3362,3335,0,0,0,0,0,0,15.04,14.07,15.07
$GC,4156,-0.67,-97.3,2099,3894,3362,3335,546.0,-12.9,384,4160,0.00,2.30,0.00,0.000,1030,0.000,0.035,2099,2503,3348,3362,3335,0,0,0,0,0,0,14.46,14.38,14.49
$GC,4468,-0.67,-97.3,2098,2502,3361,3333,585.5,-12.6,401,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3347,3361,3333,0,0,0,0,0,0,15.03,15.06,15.05
$GC,4768,-0.67,-97.3,2098,2502,3360,3332,621.8,-11.9,416,4774,0.00,2.53,0.00,0.000,260,0.000,0.084,2088,3894,3346,3360,3332,0,0,0,0,0,0,15.04,14.04,15.06
$GC,4792,-0.67,-97.3,2087,3894,3359,3332,624.9,-12.9,421,4796,0.00,2.33,0.00,0.000,1030,0.000,0.035,2088,2494,3345,3359,3332,0,0,0,0,0,0,14.43,14.35,14.46
$GC,5111,-0.67,-97.3,2087,2493,3358,3331,662.2,-11.3,439,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3344,3358,3331,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5408,-0.67,-97.3,2087,2493,3356,3330,694.7,-10.8,454,5416,0.00,2.55,0.00,0.000,260,0.000,0.084,2077,3897,3343,3356,3330,0,0,0,0,0,0,15.04,14.00,15.06
$GC,5460,-0.67,-97.3,2077,3897,3356,3330,700.3,-11.2,464,5467,0.15,2.33,0.00,0.000,3078,0.198,0.036,2112,2499,3343,3356,3330,0,0,0,0,0,0,13.96,14.33,14.15
$GC,5768,-0.67,-97.3,2112,2498,3356,3329,728.3,-8.8,481,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2498,3342,3356,3328,0,0,0,0,0,0,15.03,15.07,15.06
$GC,6069,-0.67,-97.3,2112,2498,3354,3327,754.1,-8.5,496,6073,0.00,2.58,0.00,0.000,260,0.000,0.085,2103,3894,3340,3354,3327,0,0,0,0,0,0,15.03,13.97,15.06
$GC,6097,-0.67,-97.3,2103,3895,3354,3327,756.6,-9.1,501,6101,0.00,2.33,0.00,0.000,1030,0.000,0.036,2103,2499,3340,3354,3327,0,0,0,0,0,0,14.38,14.31,14.41
$GC,6413,-0.67,-97.3,2103,2497,3353,3326,786.1,-9.4,519,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2497,3339,3353,3326,0,0,0,0,0,0,15.02,15.06,15.05
$GC,6713,-0.67,-97.3,2103,2497,3352,3325,814.4,-9.2,534,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2497,3338,3352,3325,0,0,0,0,0,0,15.02,15.05,15.05
$GC,7014,-0.67,-97.3,2103,2497,3352,3324,843.1,-9.7,549,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2497,3338,3352,3324,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7313,-0.67,-97.3,2103,2497,3351,3323,873.3,-10.3,564,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2497,3337,3351,3323,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7613,-0.67,-97.3,2103,2497,3350,3322,905.3,-10.7,579,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2497,3336,3350,3322,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7914,-0.67,-97.3,2103,2497,3349,3321,937.3,-10.5,594,7921,0.00,2.58,0.00,0.000,260,0.000,0.087,2092,3889,3334,3348,3321,0,0,0,0,0,0,15.01,13.89,15.04
$GC,7949,-0.67,-97.3,2091,3889,3348,3321,941.2,-11.4,601,7953,0.00,2.35,0.00,0.000,1030,0.000,0.037,2092,2497,3334,3348,3321,0,0,0,0,0,0,14.32,14.23,14.35
$GC,8255,-0.67,-97.3,2091,2496,3348,3321,974.0,-10.5,617,8262,0.00,2.42,0.00,0.000,516,0.000,0.051,2092,1102,3334,3348,3320,0,0,0,0,0,0,15.01,14.07,15.03
$GC,8284,-0.67,-97.3,2091,1102,3347,3320,977.2,-10.9,623,8290,0.12,2.50,0.00,0.000,3078,0.203,0.060,2109,2502,3333,3347,3320,0,0,0,0,0,0,13.83,14.04,14.02
$STATE,8434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8434,begin apogee
$GC,8443,-0.15,0.0,2109,2440,3347,3320,991.7,-9.3,632,8540,0.60,0.00,92.72,1.987,10246,0.159,0.000,2275,2438,2968,3001,2935,0,0,0,0,0,0,13.76,13.99,12.75
$STATE,8541,end apogee,CONTROL_FINISHED_OK
$STATE,8541,begin climb
$GC,8546,0.67,97.3,2276,2438,2999,2935,995.4,0.0,637,8655,0.85,0.00,104.35,1.970,10758,0.093,0.000,2549,2438,2571,2604,2538,0,0,0,0,0,0,14.05,13.90,12.69
$GC,8958,0.71,97.3,2549,2438,2593,2534,979.7,6.2,676,8960,0.00,0.00,0.00,0.000,70,0.000,0.000,2549,2438,2563,2593,2534,0,0,0,0,0,0,14.86,14.89,14.89
$GC,9258,0.75,137.1,2549,2438,2591,2533,961.4,5.8,691,9300,0.00,0.00,39.92,1.910,8230,0.000,0.000,2549,2438,2409,2449,2370,0,0,0,0,0,0,14.95,14.16,12.93
$GC,9598,0.75,137.1,2549,2438,2441,2367,933.7,8.7,708,9602,0.00,2.42,0.00,0.000,516,0.000,0.057,2560,1045,2403,2440,2366,0,0,0,0,0,0,14.89,14.34,14.91
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$STATE,19908,end climb,SURFACE_DEPTH_REACHED
$STATE,19908,begin surface coast
$STATE,19928,end surface coast,CONTROL_FINISHED_OK
$STATE,19928,begin surface
$SM_CCo,19950,65.00,0.506,1,0,929,500.17
$SM_GC,1.26,7.62,0.10,65.00,0.056,0.151,0.506,127,2509,929,-6.77,-0.99,500.17,0,0,0,0,1,0,14.46,14.50,13.64
$IRIDIUM_FIX,506.54,8111.77,170120,075828
$TT8_MAMPS,0.018725,0.159537
$HUMID,50.66
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,12.61,243.163
$10V_AH,12.48,0.000
$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,19.900,189.125,521.400,65.000,0.000,0.000,0.000,215.650,0.000,0.000,14.069,1522.852,14958.996,708.234,2648.110,541.174,0.000,2310.359,0.000,2418.662,0.000,0.540,0.000
$DEVICE_MAMPS,343.485,204.255,1986.705,506.430,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,860.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249936
$DATA_FILE_SIZE,73180,1701
$CAP_FILE_SIZE,186467,0
$CFSIZE,260034560,120201216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,352.54,1
$GPS,170120,195530,506.466,8029.996,30,0.8,30,-2.2,1.3,275.5,10,3.9