version: 66.13
glider: 171
mission: 11
dive: 745
start: 1 21 120 12 42 25
data:
$ID,171
$MISSION,11
$DIVE,745
$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,62
$R_STBD_OVSHOOT,60
$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
$GPS1,210120,123540,506.9568,8029.3955,21,1.5,22,-2.2,0.8,248.8,6,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.1
$GPS2,210120,124132,506.9646,8029.2490,2,0.6,2,-2.2,1.3,257.2,12,10.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,157.8,12973,-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,-97.3,93,2538,976,875,0.0,0.0,0,89,0.00,0.00,-76.57,0.005,16386,0.000,0.000,90,2538,2757,2759,2756,0,0,0,0,0,0,14.83,28.83,14.86
$GC,94,-0.67,-97.3,90,2538,2759,2756,5.4,-15.0,16,120,9.35,2.40,-11.10,0.011,18948,0.346,0.065,2103,1104,3367,3381,3354,0,0,0,0,0,0,13.88,12.64,14.33
$GC,163,-0.67,-97.3,2103,1104,3382,3354,31.7,-31.3,30,167,0.00,2.38,0.00,0.000,1030,0.000,0.063,2094,2471,3368,3382,3354,0,0,0,0,0,0,14.45,14.33,14.48
$GC,352,-0.67,-97.3,2093,2471,3381,3354,89.3,-24.1,54,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2471,3368,3382,3354,0,0,0,0,0,0,14.94,14.97,14.97
$GC,540,-0.67,-97.3,2094,2471,3382,3354,125.8,-16.1,73,544,0.00,2.25,0.00,0.000,516,0.000,0.043,2094,1112,3368,3382,3354,0,0,0,0,0,0,14.98,14.36,15.01
$GC,557,-0.67,-97.3,2093,1112,3381,3354,128.1,-13.3,76,561,0.00,2.40,0.00,0.000,1030,0.000,0.057,2083,2503,3368,3382,3354,0,0,0,0,0,0,14.43,14.31,14.47
$GC,742,-0.67,-97.3,2083,2503,3382,3354,149.1,-12.4,95,744,0.12,0.00,0.00,0.000,2054,0.252,0.000,2110,2503,3368,3382,3354,0,0,0,0,0,0,14.27,14.48,14.41
$GC,923,-0.67,-97.3,2110,2503,3382,3354,169.7,-11.4,113,927,0.00,2.33,0.00,0.000,516,0.000,0.048,2110,1113,3367,3382,3353,0,0,0,0,0,0,15.00,14.35,15.02
$GC,1034,-0.67,-97.3,2110,1113,3382,3353,183.6,-12.1,135,1039,0.00,2.40,0.00,0.000,1030,0.000,0.056,2101,2501,3367,3382,3353,0,0,0,0,0,0,14.41,14.29,14.45
$GC,1228,-0.67,-97.3,2101,2501,3381,3353,208.2,-12.9,155,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3367,3381,3353,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1416,-0.67,-97.3,2101,2501,3379,3353,232.6,-12.2,174,1421,0.00,2.33,0.00,0.000,516,0.000,0.047,2101,1113,3366,3380,3353,0,0,0,0,0,0,15.02,14.33,15.04
$GC,1433,-0.67,-97.3,2101,1113,3379,3353,234.7,-12.8,177,1437,0.00,2.40,0.00,0.000,1030,0.000,0.055,2090,2502,3365,3378,3353,0,0,0,0,0,0,14.41,14.29,14.45
$GC,1619,-0.67,-97.3,2090,2502,3377,3353,258.7,-12.9,193,1626,0.00,2.45,0.00,0.000,260,0.000,0.080,2080,3896,3365,3378,3353,0,0,0,0,0,0,15.02,14.16,15.04
$GC,1693,-0.67,-97.3,2079,3896,3377,3353,268.5,-13.1,208,1698,0.12,2.28,0.00,0.000,3078,0.209,0.032,2108,2491,3365,3377,3353,0,0,0,0,0,0,14.10,14.45,14.28
$GC,2000,-0.67,-97.3,2108,2489,3374,3351,302.7,-11.2,224,2004,0.00,2.30,0.00,0.000,516,0.000,0.046,2108,1110,3362,3374,3350,0,0,0,0,0,0,15.02,14.31,15.04
$GC,2031,-0.67,-97.3,2108,1110,3373,3350,306.5,-11.5,230,2035,0.00,2.42,0.00,0.000,1030,0.000,0.056,2098,2509,3361,3373,3350,0,0,0,0,0,0,14.38,14.26,14.43
$GC,2342,-0.67,-97.3,2098,2510,3372,3347,344.2,-12.3,247,2347,0.00,2.45,0.00,0.000,260,0.000,0.082,2088,3893,3359,3372,3347,0,0,0,0,0,0,15.04,14.12,15.07
$GC,2374,-0.67,-97.3,2087,3893,3371,3347,348.4,-13.1,253,2379,0.00,2.28,0.00,0.000,1030,0.000,0.034,2088,2496,3359,3372,3347,0,0,0,0,0,0,14.50,14.43,14.52
$GC,2687,-0.67,-97.3,2087,2494,3370,3345,388.8,-12.7,270,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2494,3357,3369,3345,0,0,0,0,0,0,15.02,15.05,15.05
$GC,2986,-0.67,-97.3,2087,2494,3366,3342,426.0,-12.1,285,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2494,3354,3367,3342,0,0,0,0,0,0,15.03,15.07,15.06
$GC,3286,-0.67,-97.3,2087,2494,3366,3339,460.9,-11.4,300,3291,0.00,2.55,0.00,0.000,260,0.000,0.082,2077,3899,3352,3366,3339,0,0,0,0,0,0,15.02,14.06,15.05
$GC,3353,-0.67,-97.3,2077,3899,3364,3339,468.7,-11.6,313,3360,0.15,2.30,0.00,0.000,3078,0.200,0.034,2112,2495,3352,3365,3339,0,0,0,0,0,0,14.00,14.38,14.19
$GC,3669,-0.67,-97.3,2112,2494,3363,3337,498.3,-9.3,331,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2494,3350,3363,3337,0,0,0,0,0,0,15.02,15.05,15.05
$GC,3968,-0.67,-97.3,2112,2494,3362,3335,526.0,-9.3,346,3972,0.00,2.55,0.00,0.000,260,0.000,0.083,2103,3897,3348,3362,3335,0,0,0,0,0,0,15.04,14.02,15.07
$GC,4005,-0.67,-97.3,2103,3897,3362,3335,529.6,-10.1,353,4009,0.00,2.33,0.00,0.000,1030,0.000,0.034,2103,2503,3347,3360,3335,0,0,0,0,0,0,14.41,14.34,14.45
$GC,4311,-0.67,-97.3,2103,2501,3360,3334,560.3,-10.2,369,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3346,3360,3333,0,0,0,0,0,0,15.02,15.04,15.04
$GC,4610,-0.67,-97.3,2103,2501,3358,3332,591.6,-10.3,384,4617,0.00,2.53,0.00,0.000,260,0.000,0.083,2091,3894,3344,3357,3332,0,0,0,0,0,0,15.02,14.00,15.04
$GC,4635,-0.67,-97.3,2091,3894,3357,3332,594.3,-11.2,389,4639,0.00,2.30,0.00,0.000,1030,0.000,0.035,2091,2501,3344,3357,3332,0,0,0,0,0,0,14.40,14.33,14.43
$GC,4952,-0.67,-97.3,2091,2500,3356,3331,628.2,-10.5,407,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3343,3356,3331,0,0,0,0,0,0,15.02,15.04,15.04
$GC,5251,-0.67,-97.3,2091,2500,3355,3330,658.9,-10.2,422,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3343,3356,3330,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5551,-0.67,-97.3,2091,2500,3354,3328,689.1,-10.3,437,5557,0.00,2.55,0.00,0.000,260,0.000,0.087,2081,3893,3340,3354,3327,0,0,0,0,0,0,15.02,13.95,15.05
$GC,5604,-0.67,-97.3,2081,3893,3354,3327,694.4,-10.6,447,5609,0.12,2.33,0.00,0.000,3078,0.200,0.035,2109,2494,3340,3354,3327,0,0,0,0,0,0,13.96,14.29,14.13
$GC,5917,-0.67,-97.3,2109,2492,3352,3327,724.0,-9.4,464,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2493,3339,3352,3327,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6218,-0.67,-97.3,2109,2493,3352,3325,751.8,-9.3,479,6223,0.00,2.58,0.00,0.000,260,0.000,0.086,2100,3896,3338,3352,3325,0,0,0,0,0,0,15.01,13.91,15.03
$GC,6245,-0.67,-97.3,2100,3896,3352,3324,754.5,-10.4,484,6250,0.00,2.33,0.00,0.000,1030,0.000,0.036,2100,2503,3338,3352,3325,0,0,0,0,0,0,14.34,14.27,14.38
$GC,6562,-0.67,-97.3,2100,2501,3350,3324,785.5,-9.5,502,6566,0.00,2.40,0.00,0.000,516,0.000,0.050,2100,1109,3336,3350,3323,0,0,0,0,0,0,15.02,14.10,15.04
$GC,6595,-0.67,-97.3,2099,1108,3350,3323,788.6,-9.7,508,6601,0.00,2.47,0.00,0.000,1030,0.000,0.060,2089,2498,3337,3350,3324,0,0,0,0,0,0,14.19,14.05,14.23
$GC,6903,-0.67,-97.3,2088,2498,3349,3322,820.2,-10.5,525,6907,0.00,2.55,0.00,0.000,260,0.000,0.086,2078,3893,3335,3349,3322,0,0,0,0,0,0,15.02,13.89,15.05
$GC,6964,-0.67,-97.3,2078,3892,3348,3322,826.9,-10.7,537,6972,0.12,2.33,0.00,0.000,3078,0.203,0.037,2108,2497,3335,3349,3322,0,0,0,0,0,0,13.90,14.23,14.07
$GC,7287,-0.67,-97.3,2107,2497,3348,3321,856.2,-9.3,556,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3334,3348,3321,0,0,0,0,0,0,15.00,15.03,15.02
$GC,7585,-0.67,-97.3,2107,2497,3347,3321,883.9,-9.2,571,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3334,3347,3321,0,0,0,0,0,0,15.02,15.04,15.04
$GC,7886,-0.67,-97.3,2107,2497,3346,3320,910.8,-9.0,586,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3333,3346,3320,0,0,0,0,0,0,15.00,15.03,15.03
$GC,8185,-0.67,-97.3,2107,2497,3344,3319,936.8,-8.6,601,8189,0.00,2.42,0.00,0.000,516,0.000,0.050,2108,1105,3332,3344,3320,0,0,0,0,0,0,15.01,14.02,15.04
$GC,8216,-0.67,-97.3,2107,1105,3343,3320,939.6,-8.9,607,8222,0.00,2.50,0.00,0.000,1030,0.000,0.059,2098,2501,3332,3344,3320,0,0,0,0,0,0,14.12,13.99,14.17
$GC,8531,-0.67,-97.3,2098,2501,3343,3318,968.2,-9.4,624,8537,0.00,2.55,0.00,0.000,260,0.000,0.086,2087,3899,3331,3344,3318,0,0,0,0,0,0,14.99,13.80,15.02
$GC,8570,-0.67,-97.3,2087,3898,3343,3318,972.2,-10.2,632,8574,0.00,2.35,0.00,0.000,1030,0.000,0.037,2087,2504,3331,3343,3319,0,0,0,0,0,0,14.26,14.18,14.28
$STATE,8748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8749,begin apogee
$GC,8757,-0.15,0.0,2087,2426,3343,3318,991.1,-10.5,644,8853,0.70,0.00,91.75,1.982,10246,0.171,0.000,2276,2426,2968,3000,2936,0,0,0,0,0,0,13.70,14.00,12.78
$STATE,8854,end apogee,CONTROL_FINISHED_OK
$STATE,8854,begin climb
$GC,8859,0.67,97.3,2276,2426,2999,2936,995.1,0.0,649,8970,0.85,2.42,104.40,1.954,10756,0.093,0.051,2559,1054,2570,2601,2539,0,0,0,0,0,0,14.04,13.96,12.73
$GC,9006,0.74,162.9,2559,1050,2595,2538,995.2,4.4,664,9081,0.00,2.47,67.70,1.940,9254,0.000,0.056,2559,2446,2302,2344,2261,0,0,0,0,0,0,14.26,14.15,12.71
$GC,9393,0.74,162.9,2559,2447,2334,2253,955.9,11.2,697,9397,0.00,2.40,0.00,0.000,516,0.000,0.053,2571,1062,2293,2334,2253,0,0,0,0,0,0,14.87,14.35,14.90
$GC,9445,0.74,162.9,2570,1062,2333,2253,950.2,11.1,707,9450,0.00,2.40,0.00,0.000,1030,0.000,0.055,2571,2439,2293,2333,2253,0,0,0,0,0,0,14.46,14.35,14.51
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$STATE,18991,end climb,SURFACE_DEPTH_REACHED
$STATE,18991,begin surface coast
$STATE,19020,end surface coast,CONTROL_FINISHED_OK
$STATE,19020,begin surface
$SM_CCo,19043,102.45,0.584,1,0,928,500.17
$SM_GC,1.26,7.50,2.53,102.45,0.055,0.048,0.584,123,2497,928,-6.78,-1.02,500.17,0,0,0,0,1,0,14.47,14.29,13.64
$IRIDIUM_FIX,506.50,8027.99,210120,071044
$TT8_MAMPS,0.018725,0.155043
$HUMID,47.99
$INTERNAL_PRESSURE,9.58542
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,12.64,247.996
$10V_AH,13.19,0.000
$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,20.025,198.875,488.550,102.450,0.000,0.000,0.000,208.200,0.250,0.000,13.961,1503.936,14166.869,733.089,2550.306,548.783,0.000,2283.900,0.000,2328.159,0.000,0.542,0.000
$DEVICE_MAMPS,345.780,205.020,1982.115,584.460,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,853.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249892
$DATA_FILE_SIZE,69954,1637
$CAP_FILE_SIZE,184836,0
$CFSIZE,260034560,118755328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.125,304.58,1
$GPS,210120,180238,505.928,8028.845,17,1.2,17,-2.2,1.1,258.6,6,7.3