version: 66.13
glider: 171
mission: 11
dive: 732
start: 1 18 120 7 55 20
data:
$ID,171
$MISSION,11
$DIVE,732
$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,54
$R_STBD_OVSHOOT,48
$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
$GPS1,180120,074800,503.8671,8029.9038,22,0.6,22,-2.2,1.7,252.1,12,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.9
$GPS2,180120,075426,503.8648,8029.7041,3,0.5,4,-2.2,1.4,245.9,12,4.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,185.7,7178,-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,-97.3,114,2522,968,884,0.0,0.0,0,88,0.00,0.00,-76.15,0.005,16386,0.000,0.000,113,2522,2753,2753,2754,0,0,0,0,0,0,14.83,28.83,14.86
$GC,93,-0.67,-97.3,113,2522,2755,2754,5.4,-15.0,16,119,9.27,2.40,-11.38,0.011,18948,0.344,0.070,2106,1106,3367,3382,3352,0,0,0,0,0,0,13.87,12.64,14.32
$GC,217,-0.67,-97.3,2105,1106,3382,3353,45.8,-29.3,41,221,0.00,2.35,0.00,0.000,1030,0.000,0.054,2097,2478,3367,3382,3353,0,0,0,0,0,0,14.45,14.34,14.49
$GC,403,-0.67,-97.3,2096,2479,3381,3353,88.6,-15.0,61,407,0.00,2.28,0.00,0.000,516,0.000,0.044,2097,1104,3367,3382,3353,0,0,0,0,0,0,14.98,14.39,15.00
$GC,481,-0.67,-97.3,2096,1104,3382,3353,101.6,-16.2,76,486,0.00,2.40,0.00,0.000,1030,0.000,0.054,2086,2504,3368,3382,3354,0,0,0,0,0,0,14.45,14.34,14.50
$GC,664,-0.67,-97.3,2085,2504,3382,3353,133.6,-18.4,95,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2504,3367,3382,3353,0,0,0,0,0,0,15.01,15.04,15.04
$GC,846,-0.67,-97.3,2085,2504,3382,3353,162.1,-15.1,113,852,0.00,2.42,0.00,0.000,260,0.000,0.080,2075,3896,3367,3382,3353,0,0,0,0,0,0,14.97,14.23,15.00
$GC,954,-0.67,-97.3,2075,3896,3382,3353,176.5,-12.8,135,960,0.15,2.25,0.00,0.000,3078,0.212,0.031,2110,2486,3367,3382,3353,0,0,0,0,0,0,14.11,14.52,14.31
$GC,1151,-0.67,-97.3,2110,2484,3382,3353,195.3,-9.5,155,1156,0.00,2.28,0.00,0.000,516,0.000,0.044,2110,1106,3367,3381,3353,0,0,0,0,0,0,15.00,14.38,15.02
$GC,1208,-0.67,-97.3,2110,1106,3380,3353,201.5,-10.1,166,1215,0.00,2.40,0.00,0.000,1030,0.000,0.054,2101,2504,3366,3380,3353,0,0,0,0,0,0,14.45,14.33,14.50
$GC,1403,-0.67,-97.3,2101,2504,3379,3352,223.1,-11.4,187,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2504,3365,3379,3352,0,0,0,0,0,0,15.04,15.07,15.06
$GC,1585,-0.67,-97.3,2101,2504,3377,3352,244.1,-12.1,205,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2504,3364,3377,3352,0,0,0,0,0,0,15.02,15.05,15.05
$GC,1773,-0.67,-97.3,2101,2504,3375,3352,267.8,-12.4,217,1778,0.00,2.45,0.00,0.000,260,0.000,0.082,2090,3894,3363,3374,3352,0,0,0,0,0,0,15.04,14.19,15.07
$GC,1825,-0.67,-97.3,2089,3894,3374,3352,274.0,-12.3,227,1830,0.00,2.25,0.00,0.000,1030,0.000,0.031,2090,2497,3362,3373,3352,0,0,0,0,0,0,14.56,14.50,14.58
$GC,2139,-0.67,-97.3,2090,2495,3372,3348,309.9,-10.7,244,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2496,3360,3372,3348,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2437,-0.67,-97.3,2090,2496,3371,3345,340.4,-9.8,259,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2496,3358,3371,3345,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2738,-0.67,-97.3,2089,2496,3367,3342,369.6,-9.9,274,2746,0.00,2.50,0.00,0.000,260,0.000,0.083,2079,3894,3354,3367,3342,0,0,0,0,0,0,15.04,14.14,15.06
$GC,2798,-0.67,-97.3,2079,3894,3367,3342,376.1,-10.5,286,2803,0.12,2.25,0.00,0.000,3078,0.207,0.033,2108,2503,3354,3366,3342,0,0,0,0,0,0,14.12,14.45,14.29
$GC,3120,-0.67,-97.3,2107,2501,3366,3339,406.1,-9.5,305,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2501,3352,3366,3339,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3422,-0.67,-97.3,2107,2501,3363,3337,435.9,-10.2,320,3426,0.00,2.50,0.00,0.000,260,0.000,0.083,2098,3892,3350,3363,3337,0,0,0,0,0,0,15.03,14.09,15.05
$GC,3449,-0.67,-97.3,2098,3891,3362,3337,439.0,-11.0,325,3453,0.00,2.28,0.00,0.000,1030,0.000,0.034,2098,2499,3349,3362,3337,0,0,0,0,0,0,14.50,14.43,14.52
$GC,3765,-0.67,-97.3,2098,2498,3361,3335,474.3,-11.3,343,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3348,3362,3335,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4066,-0.67,-97.3,2098,2498,3360,3333,508.3,-11.5,358,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2498,3346,3360,3333,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4365,-0.67,-97.3,2098,2498,3357,3332,542.9,-11.5,373,4372,0.00,2.53,0.00,0.000,260,0.000,0.084,2088,3896,3344,3357,3332,0,0,0,0,0,0,15.04,14.05,15.07
$GC,4421,-0.67,-97.3,2087,3896,3356,3332,549.5,-12.1,384,4425,0.00,2.30,0.00,0.000,1030,0.000,0.034,2087,2504,3344,3357,3332,0,0,0,0,0,0,14.45,14.38,14.47
$GC,4726,-0.67,-97.3,2087,2502,3356,3330,586.8,-12.2,400,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2501,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5025,-0.67,-97.3,2086,2502,3355,3329,622.2,-11.5,415,5030,0.00,2.53,0.00,0.000,260,0.000,0.084,2077,3890,3341,3354,3329,0,0,0,0,0,0,15.04,14.01,15.07
$GC,5059,-0.67,-97.3,2077,3891,3354,3329,626.1,-12.1,421,5066,0.15,2.30,0.00,0.000,3078,0.197,0.034,2112,2497,3341,3354,3329,0,0,0,0,0,0,13.98,14.35,14.17
$GC,5368,-0.67,-97.3,2112,2496,3353,3327,656.5,-9.7,438,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3340,3353,3327,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5668,-0.67,-97.3,2112,2496,3352,3326,685.0,-9.3,453,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3339,3352,3326,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5970,-0.67,-97.3,2112,2496,3351,3325,712.3,-8.9,468,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3338,3351,3325,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6268,-0.67,-97.3,2112,2496,3350,3324,738.5,-8.8,483,6273,0.00,2.55,0.00,0.000,260,0.000,0.086,2103,3893,3336,3350,3323,0,0,0,0,0,0,15.03,13.96,15.06
$GC,6321,-0.67,-97.3,2103,3893,3349,3323,743.4,-9.4,493,6325,0.00,2.33,0.00,0.000,1030,0.000,0.034,2103,2494,3336,3349,3323,0,0,0,0,0,0,14.38,14.31,14.41
$GC,6632,-0.67,-97.3,2103,2493,3348,3322,772.2,-9.3,510,6637,0.00,2.58,0.00,0.000,260,0.000,0.086,2092,3888,3335,3348,3322,0,0,0,0,0,0,15.03,13.94,15.06
$GC,6659,-0.67,-97.3,2092,3888,3348,3322,774.8,-10.2,515,6664,0.00,2.30,0.00,0.000,1030,0.000,0.035,2092,2502,3335,3348,3322,0,0,0,0,0,0,14.38,14.31,14.40
$GC,6978,-0.67,-97.3,2092,2500,3347,3321,806.6,-10.0,533,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3334,3347,3321,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7277,-0.67,-97.3,2092,2500,3347,3320,836.4,-10.0,548,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3333,3346,3320,0,0,0,0,0,0,15.02,15.06,15.05
$GC,7576,-0.67,-97.3,2092,2500,3345,3320,866.0,-9.9,563,7581,0.00,2.55,0.00,0.000,260,0.000,0.086,2082,3890,3332,3345,3320,0,0,0,0,0,0,15.03,13.90,15.05
$GC,7605,-0.67,-97.3,2082,3891,3345,3320,868.9,-10.5,568,7612,0.12,2.33,0.00,0.000,3078,0.202,0.036,2110,2497,3332,3345,3320,0,0,0,0,0,0,13.93,14.27,14.11
$GC,7920,-0.67,-97.3,2110,2495,3344,3319,897.0,-8.8,586,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3331,3344,3319,0,0,0,0,0,0,15.02,15.05,15.05
$GC,8220,-0.67,-97.3,2110,2495,3343,3319,922.8,-8.4,601,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3331,3343,3319,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8520,-0.67,-97.3,2110,2495,3343,3318,947.9,-8.5,616,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3330,3343,3317,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8820,-0.67,-97.3,2110,2495,3343,3317,973.1,-8.3,631,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3330,3343,3317,0,0,0,0,0,0,15.02,15.05,15.04
$STATE,9036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9036,begin apogee
$GC,9045,-0.15,0.0,2111,2495,3342,3316,991.2,-8.3,642,9140,0.60,0.00,91.22,1.998,10246,0.161,0.000,2276,2495,2968,3000,2936,0,0,0,0,0,0,13.74,14.00,12.77
$STATE,9141,end apogee,CONTROL_FINISHED_OK
$STATE,9141,begin climb
$GC,9145,0.67,97.3,2276,2495,2999,2936,994.2,0.0,647,9254,0.85,0.00,105.12,1.968,10246,0.090,0.000,2550,2495,2570,2601,2540,0,0,0,0,0,0,14.07,13.90,12.70
$GC,9546,0.68,97.3,2550,2495,2591,2535,976.1,7.3,667,9550,0.00,2.50,0.00,0.000,580,0.000,0.050,2562,1050,2563,2591,2535,0,0,0,0,0,0,14.83,14.35,14.85
$GC,9671,0.70,97.3,2561,1050,2589,2534,967.0,7.2,691,9676,0.00,2.40,0.00,0.000,1094,0.000,0.053,2561,2438,2561,2588,2534,0,0,0,0,0,0,14.33,14.28,14.38
$GC,9995,0.72,97.3,2561,2438,2588,2534,943.2,7.2,710,10000,0.00,2.42,0.00,0.000,580,0.000,0.050,2574,1044,2561,2588,2534,0,0,0,0,0,0,14.95,14.30,14.97
$GC,10042,0.74,97.3,2574,1044,2587,2534,939.8,7.2,719,10047,0.00,2.45,0.00,0.000,1094,0.000,0.053,2574,2441,2560,2586,2534,0,0,0,0,0,0,14.41,14.30,14.47
$GC,10360,0.74,97.3,2574,2442,2586,2533,914.9,7.8,737,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2442,2559,2586,2533,0,0,0,0,0,0,14.99,15.02,15.02
$GC,10661,0.75,97.3,2574,2442,2586,2530,892.3,7.3,752,10663,0.00,0.00,0.00,0.000,70,0.000,0.000,2574,2442,2558,2586,2531,0,0,0,0,0,0,14.99,15.02,15.01
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$STATE,21343,end climb,SURFACE_DEPTH_REACHED
$STATE,21343,begin surface coast
$STATE,21345,end surface coast,CONTROL_FINISHED_OK
$STATE,21345,begin surface
$SM_CCo,21369,89.03,0.584,1,0,929,500.17
$SM_GC,1.27,7.90,2.55,89.03,0.054,0.053,0.584,129,2489,929,-6.77,-1.16,500.17,0,0,0,0,1,0,14.42,14.26,13.56
$IRIDIUM_FIX,500.10,8034.40,180120,012336
$TT8_MAMPS,0.018725,0.159537
$HUMID,51.49
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,12.64,244.060
$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,20.100,174.300,493.000,89.025,0.000,0.000,0.000,231.400,0.750,0.000,15.652,1549.863,16344.976,747.587,2633.361,569.044,0.000,2330.806,0.000,2394.619,0.000,0.542,0.000
$DEVICE_MAMPS,344.250,86.445,1998.180,583.695,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,880.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249960
$DATA_FILE_SIZE,73345,1684
$CAP_FILE_SIZE,189610,0
$CFSIZE,260034560,119926784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.052,302.45,1
$GPS,180120,135408,502.625,8028.985,20,1.1,20,-2.2,0.3,284.6,7,6.7