version: 66.13
glider: 171
mission: 11
dive: 733
start: 1 18 120 14 1 11
data:
$ID,171
$MISSION,11
$DIVE,733
$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,56
$R_STBD_OVSHOOT,25
$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
$GPS1,180120,135408,502.6247,8028.9854,20,1.1,20,-2.2,0.3,284.6,7,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.5
$GPS2,180120,140017,502.6427,8028.8252,2,0.6,2,-2.2,0.7,285.2,12,9.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,28.7,13797,-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,-97.3,115,2491,972,879,0.0,0.0,0,83,0.00,0.00,-71.53,0.005,16386,0.000,0.000,112,2491,2598,2598,2599,0,0,0,0,0,0,14.81,28.83,14.85
$GC,88,-0.67,-97.3,112,2491,2599,2599,4.7,-12.0,15,119,9.30,2.50,-14.90,0.008,18692,0.347,0.096,2094,3897,3368,3384,3353,0,0,0,0,0,0,13.84,12.60,14.30
$GC,167,-0.67,-97.3,2093,3897,3383,3353,31.6,-29.9,31,171,0.00,2.28,0.00,0.000,1030,0.000,0.034,2094,2500,3368,3383,3353,0,0,0,0,0,0,14.51,14.44,14.54
$GC,357,-0.67,-97.3,2093,2498,3383,3353,88.7,-22.7,55,363,0.00,2.47,0.00,0.000,260,0.000,0.079,2083,3902,3368,3384,3353,0,0,0,0,0,0,14.92,14.20,14.95
$GC,451,-0.67,-97.3,2083,3901,3384,3353,108.0,-20.3,74,457,0.12,2.28,0.00,0.000,3078,0.222,0.032,2110,2493,3368,3384,3353,0,0,0,0,0,0,14.08,14.45,14.28
$GC,635,-0.67,-97.3,2110,2492,3384,3353,133.2,-13.1,93,639,0.00,2.30,0.00,0.000,516,0.000,0.044,2110,1110,3368,3384,3353,0,0,0,0,0,0,15.00,14.35,15.02
$GC,671,-0.67,-97.3,2110,1111,3384,3353,138.7,-14.4,100,678,0.00,2.40,0.00,0.000,1030,0.000,0.053,2101,2511,3368,3384,3353,0,0,0,0,0,0,14.44,14.33,14.48
$GC,868,-0.67,-97.3,2101,2511,3385,3353,164.9,-13.9,121,875,0.00,2.40,0.00,0.000,260,0.000,0.077,2090,3891,3369,3385,3353,0,0,0,0,0,0,15.00,14.21,15.02
$GC,917,-0.67,-97.3,2090,3891,3385,3353,172.0,-14.0,131,921,0.00,2.22,0.00,0.000,1030,0.000,0.031,2090,2500,3369,3385,3353,0,0,0,0,0,0,14.55,14.49,14.57
$GC,1110,-0.67,-97.3,2090,2498,3385,3353,195.1,-10.6,151,1117,0.00,2.45,0.00,0.000,260,0.000,0.078,2079,3891,3369,3385,3353,0,0,0,0,0,0,15.00,14.20,15.02
$GC,1189,-0.67,-97.3,2079,3891,3385,3352,203.9,-11.3,167,1194,0.12,2.25,0.00,0.000,3078,0.218,0.031,2107,2492,3368,3385,3352,0,0,0,0,0,0,14.11,14.48,14.31
$GC,1386,-0.67,-97.3,2107,2491,3384,3353,225.9,-11.6,187,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2490,3368,3384,3352,0,0,0,0,0,0,14.98,15.02,15.01
$GC,1572,-0.67,-97.3,2107,2490,3383,3352,247.2,-11.6,206,1576,0.00,2.30,0.00,0.000,516,0.000,0.045,2107,1109,3367,3382,3352,0,0,0,0,0,0,15.02,14.34,15.04
$GC,1594,-0.67,-97.3,2107,1109,3382,3353,249.9,-12.3,210,1599,0.00,2.40,0.00,0.000,1030,0.000,0.056,2098,2502,3367,3381,3353,0,0,0,0,0,0,14.42,14.30,14.46
$GC,1788,-0.67,-97.3,2098,2502,3379,3352,273.7,-12.6,221,1796,0.00,2.45,0.00,0.000,260,0.000,0.080,2087,3896,3366,3380,3352,0,0,0,0,0,0,15.01,14.16,15.04
$GC,1838,-0.67,-97.3,2086,3896,3379,3352,280.6,-13.3,231,1842,0.00,2.25,0.00,0.000,1030,0.000,0.032,2086,2506,3365,3379,3352,0,0,0,0,0,0,14.53,14.47,14.56
$GC,2150,-0.67,-97.3,2087,2504,3376,3352,321.9,-12.8,248,2156,0.00,2.47,0.00,0.000,260,0.000,0.080,2076,3896,3363,3375,3352,0,0,0,0,0,0,15.04,14.14,15.07
$GC,2191,-0.67,-97.3,2076,3896,3375,3352,327.1,-12.9,256,2196,0.15,2.28,0.00,0.000,3078,0.203,0.033,2111,2497,3363,3375,3352,0,0,0,0,0,0,14.05,14.44,14.25
$GC,2514,-0.67,-97.3,2111,2496,3374,3348,361.2,-10.3,275,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3360,3374,3347,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2813,-0.67,-97.3,2111,2496,3372,3345,391.4,-10.2,290,2818,0.00,2.50,0.00,0.000,260,0.000,0.082,2102,3889,3358,3372,3345,0,0,0,0,0,0,15.04,14.10,15.07
$GC,2852,-0.67,-97.3,2101,3889,3371,3345,395.3,-10.7,297,2856,0.00,2.28,0.00,0.000,1030,0.000,0.034,2102,2500,3358,3371,3345,0,0,0,0,0,0,14.49,14.42,14.52
$GC,3155,-0.67,-97.3,2101,2498,3370,3343,427.7,-10.6,313,3162,0.00,2.35,0.00,0.000,516,0.000,0.048,2102,1111,3356,3370,3343,0,0,0,0,0,0,15.04,14.26,15.07
$GC,3186,-0.67,-97.3,2101,1111,3369,3343,430.9,-11.1,319,3192,0.00,2.42,0.00,0.000,1030,0.000,0.056,2091,2502,3356,3369,3343,0,0,0,0,0,0,14.35,14.23,14.40
$GC,3496,-0.67,-97.3,2090,2502,3367,3340,466.9,-11.7,336,3503,0.00,2.50,0.00,0.000,260,0.000,0.083,2080,3904,3353,3367,3340,0,0,0,0,0,0,15.03,14.04,15.05
$GC,3580,-0.67,-97.3,2080,3904,3366,3340,477.2,-12.1,353,3588,0.12,2.30,0.00,0.000,3078,0.204,0.034,2108,2500,3353,3367,3340,0,0,0,0,0,0,14.06,14.39,14.23
$GC,3897,-0.67,-97.3,2108,2500,3366,3338,509.6,-9.9,371,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3352,3366,3338,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4195,-0.67,-97.3,2108,2500,3364,3337,539.4,-9.9,386,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3350,3364,3337,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4497,-0.67,-97.3,2108,2500,3362,3335,568.3,-9.5,401,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3348,3362,3335,0,0,0,0,0,0,15.02,15.06,15.05
$GC,4795,-0.67,-97.3,2108,2499,3362,3334,597.7,-10.0,416,4799,0.00,2.55,0.00,0.000,260,0.000,0.085,2099,3891,3348,3362,3334,0,0,0,0,0,0,15.04,14.00,15.07
$GC,4837,-0.67,-97.3,2099,3891,3361,3334,602.0,-10.6,424,4841,0.00,2.33,0.00,0.000,1030,0.000,0.034,2099,2494,3347,3361,3334,0,0,0,0,0,0,14.42,14.35,14.45
$GC,5160,-0.67,-97.3,2099,2493,3360,3333,635.8,-10.5,443,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3346,3360,3333,0,0,0,0,0,0,15.02,15.05,15.04
$GC,5458,-0.67,-97.3,2099,2493,3359,3332,666.7,-10.4,458,5463,0.00,2.55,0.00,0.000,260,0.000,0.085,2088,3894,3345,3359,3332,0,0,0,0,0,0,15.04,13.97,15.06
$GC,5500,-0.67,-97.3,2088,3894,3358,3331,671.3,-10.9,466,5505,0.00,2.33,0.00,0.000,1030,0.000,0.035,2088,2490,3344,3358,3331,0,0,0,0,0,0,14.40,14.33,14.42
$GC,5823,-0.67,-97.3,2087,2489,3357,3330,707.1,-11.4,485,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2489,3343,3357,3330,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6122,-0.67,-97.3,2088,2489,3356,3330,740.3,-10.8,500,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2489,3342,3356,3329,0,0,0,0,0,0,15.03,15.06,15.06
$GC,6423,-0.67,-97.3,2087,2489,3355,3328,771.4,-10.2,515,6429,0.00,2.38,0.00,0.000,516,0.000,0.049,2088,1106,3341,3355,3328,0,0,0,0,0,0,15.03,14.14,15.05
$GC,6448,-0.67,-97.3,2087,1106,3355,3328,774.0,-10.7,520,6453,0.15,2.47,0.00,0.000,3078,0.196,0.060,2112,2498,3341,3355,3328,0,0,0,0,0,0,13.85,14.09,14.06
$GC,6766,-0.67,-97.3,2112,2499,3354,3327,800.9,-8.3,538,6771,0.00,2.53,0.00,0.000,260,0.000,0.086,2103,3891,3340,3354,3327,0,0,0,0,0,0,15.02,13.92,15.05
$GC,6829,-0.67,-97.3,2103,3892,3354,3326,806.5,-9.0,550,6834,0.00,2.35,0.00,0.000,1030,0.000,0.035,2103,2491,3340,3354,3327,0,0,0,0,0,0,14.34,14.26,14.37
$GC,7151,-0.67,-97.3,2103,2490,3353,3326,836.1,-9.3,569,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2490,3339,3353,3326,0,0,0,0,0,0,15.02,15.05,15.05
$GC,7451,-0.67,-97.3,2103,2490,3352,3325,863.9,-9.2,584,7458,0.00,2.58,0.00,0.000,260,0.000,0.086,2092,3891,3338,3352,3325,0,0,0,0,0,0,15.02,13.89,15.05
$GC,7503,-0.67,-97.3,2091,3891,3352,3325,868.8,-9.7,594,7507,0.00,2.33,0.00,0.000,1030,0.000,0.036,2092,2501,3338,3352,3325,0,0,0,0,0,0,14.33,14.25,14.35
$GC,7815,-0.67,-97.3,2091,2500,3352,3324,898.7,-9.6,611,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3338,3352,3324,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8114,-0.67,-97.3,2091,2500,3351,3323,927.5,-9.5,626,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3337,3351,3323,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8416,-0.67,-97.3,2092,2500,3350,3322,955.3,-9.2,641,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3336,3350,3322,0,0,0,0,0,0,15.01,15.04,15.03
$GC,8714,-0.67,-97.3,2091,2500,3349,3321,983.0,-9.3,656,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3335,3349,3321,0,0,0,0,0,0,15.02,15.05,15.04
$STATE,8791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8791,begin apogee
$GC,8799,-0.15,0.0,2092,2500,3349,3321,990.3,-9.1,660,8895,0.68,0.00,92.72,1.986,10246,0.166,0.000,2275,2500,2968,3001,2935,0,0,0,0,0,0,13.71,13.99,12.75
$STATE,8896,end apogee,CONTROL_FINISHED_OK
$STATE,8896,begin climb
$GC,8901,0.67,97.3,2275,2500,2999,2935,992.9,0.0,665,9013,0.85,2.50,104.43,1.965,10500,0.091,0.084,2551,3854,2569,2601,2538,0,0,0,0,0,0,14.06,13.95,12.66
$GC,9053,0.70,97.3,2551,3854,2594,2538,990.7,6.7,681,9059,0.00,2.38,0.00,0.000,1094,0.000,0.036,2562,2439,2566,2594,2538,0,0,0,0,0,0,14.24,14.21,14.27
$GC,9356,0.70,97.3,2561,2438,2591,2535,966.2,8.1,697,9361,0.00,2.42,0.00,0.000,516,0.000,0.054,2572,1042,2562,2590,2534,0,0,0,0,0,0,14.87,14.34,14.90
$GC,9428,0.70,97.3,2572,1041,2589,2534,960.4,8.1,711,9435,0.00,2.45,0.00,0.000,1030,0.000,0.057,2572,2445,2561,2589,2534,0,0,0,0,0,0,14.44,14.33,14.49
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$STATE,21153,end climb,SURFACE_DEPTH_REACHED
$STATE,21153,begin surface coast
$STATE,21168,end surface coast,CONTROL_FINISHED_OK
$STATE,21172,begin surface
$SM_CCo,21193,100.18,0.592,1,0,928,500.17
$SM_GC,1.21,7.62,0.00,100.18,0.043,0.000,0.592,119,2461,928,-6.77,-1.10,500.17,0,0,0,0,1,0,14.44,14.87,13.57
$IRIDIUM_FIX,502.14,8221.89,180120,075035
$TT8_MAMPS,0.019474,0.158039
$HUMID,50.47
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.60,244.354
$10V_AH,13.16,0.000
$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,19.800,198.250,481.975,100.175,0.000,0.000,0.000,221.775,0.250,0.000,14.386,1546.600,16019.723,756.677,2783.318,558.744,0.000,2426.140,0.000,2537.219,0.000,0.540,0.000
$DEVICE_MAMPS,346.545,95.625,1985.940,592.110,0.000,0.000,0.000,182.835,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,884.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249884
$DATA_FILE_SIZE,76614,1785
$CAP_FILE_SIZE,196702,0
$CFSIZE,260034560,119828480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.090,355.61,1
$GPS,180120,195709,504.982,8029.615,15,1.0,15,-2.2,1.4,265.7,8,5.1