version: 66.13
glider: 171
mission: 11
dive: 751
start: 1 22 120 23 41 37
data:
$ID,171
$MISSION,11
$DIVE,751
$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,0.0019952599
$HD_B,0.019109501
$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,67
$R_STBD_OVSHOOT,55
$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
$GPS1,220120,233400,503.2142,8029.0181,30,0.7,30,-2.2,1.0,240.8,9,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.5
$GPS2,220120,234045,503.2148,8028.8569,2,0.6,2,-2.2,0.3,297.7,12,8.9
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,172.4,6316,-19.6,-8.049,-28.96,1831
$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,-97.3,85,2533,971,879,0.0,0.0,0,84,0.00,0.00,-71.70,0.005,16386,0.000,0.000,84,2533,2594,2594,2595,0,0,0,0,0,0,14.81,28.83,14.83
$GC,89,-0.67,-97.3,84,2533,2595,2595,4.5,-11.6,15,120,9.35,2.45,-14.85,0.009,18948,0.343,0.073,2105,1126,3366,3383,3350,0,0,0,0,0,0,13.86,12.59,14.30
$GC,213,-0.67,-97.3,2105,1126,3383,3350,44.4,-29.3,40,217,0.00,2.35,0.00,0.000,1030,0.000,0.063,2097,2468,3366,3383,3350,0,0,0,0,0,0,14.35,14.21,14.40
$GC,404,-0.67,-97.3,2096,2468,3383,3350,91.3,-17.5,61,408,0.00,2.28,0.00,0.000,516,0.000,0.051,2096,1120,3366,3383,3350,0,0,0,0,0,0,14.95,14.27,14.98
$GC,502,-0.67,-97.3,2096,1120,3383,3350,105.7,-13.7,80,508,0.00,2.42,0.00,0.000,1030,0.000,0.061,2086,2508,3366,3383,3350,0,0,0,0,0,0,14.35,14.21,14.39
$GC,695,-0.67,-97.3,2085,2508,3384,3350,135.5,-14.7,101,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2508,3367,3384,3350,0,0,0,0,0,0,14.99,15.02,15.02
$GC,877,-0.67,-97.3,2086,2508,3384,3350,162.5,-15.7,119,884,0.00,2.42,0.00,0.000,260,0.000,0.080,2075,3893,3367,3384,3350,0,0,0,0,0,0,14.98,14.13,15.01
$GC,946,-0.67,-97.3,2075,3893,3384,3350,172.8,-13.6,133,951,0.15,2.28,0.00,0.000,3078,0.216,0.038,2109,2516,3367,3384,3350,0,0,0,0,0,0,13.98,14.37,14.20
$GC,1142,-0.67,-97.3,2109,2514,3383,3350,196.1,-11.8,153,1146,0.00,2.38,0.00,0.000,516,0.000,0.052,2110,1109,3367,3384,3350,0,0,0,0,0,0,14.97,14.24,15.00
$GC,1203,-0.67,-97.3,2109,1108,3383,3350,203.9,-11.2,165,1208,0.00,2.42,0.00,0.000,1030,0.000,0.057,2100,2504,3366,3383,3350,0,0,0,0,0,0,14.36,14.23,14.40
$GC,1395,-0.67,-97.3,2100,2504,3382,3350,227.2,-12.5,185,1402,0.00,2.45,0.00,0.000,260,0.000,0.081,2090,3893,3366,3382,3350,0,0,0,0,0,0,15.02,14.10,15.04
$GC,1431,-0.67,-97.3,2089,3893,3381,3350,231.7,-13.3,192,1435,0.00,2.30,0.00,0.000,1030,0.000,0.033,2089,2490,3365,3381,3350,0,0,0,0,0,0,14.46,14.39,14.49
$GC,1625,-0.67,-97.3,2089,2488,3379,3350,255.6,-11.9,210,1630,0.00,2.35,0.00,0.000,516,0.000,0.051,2089,1099,3364,3379,3350,0,0,0,0,0,0,15.02,14.23,15.05
$GC,1653,-0.67,-97.3,2089,1099,3378,3350,258.9,-12.6,215,1660,0.12,2.42,0.00,0.000,3078,0.207,0.057,2107,2501,3364,3378,3350,0,0,0,0,0,0,14.01,14.23,14.21
$GC,1969,-0.67,-97.3,2106,2502,3375,3350,292.5,-10.6,233,1973,0.00,2.50,0.00,0.000,260,0.000,0.082,2098,3896,3362,3375,3349,0,0,0,0,0,0,15.02,14.07,15.04
$GC,2025,-0.67,-97.3,2097,3896,3374,3349,298.9,-11.0,244,2029,0.00,2.30,0.00,0.000,1030,0.000,0.032,2098,2492,3361,3374,3349,0,0,0,0,0,0,14.45,14.38,14.48
$GC,2331,-0.67,-97.3,2097,2490,3373,3346,334.1,-11.8,260,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2490,3359,3373,3346,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2631,-0.67,-97.3,2097,2490,3371,3344,369.0,-11.3,275,2637,0.00,2.53,0.00,0.000,260,0.000,0.082,2087,3892,3357,3371,3344,0,0,0,0,0,0,15.03,14.02,15.05
$GC,2680,-0.67,-97.3,2086,3893,3370,3344,375.0,-12.2,285,2684,0.00,2.30,0.00,0.000,1030,0.000,0.034,2087,2491,3357,3371,3344,0,0,0,0,0,0,14.43,14.35,14.46
$GC,2993,-0.67,-97.3,2086,2490,3368,3340,412.6,-12.1,302,2998,0.00,2.53,0.00,0.000,260,0.000,0.082,2076,3893,3354,3368,3340,0,0,0,0,0,0,15.01,14.01,15.04
$GC,3015,-0.67,-97.3,2076,3893,3367,3340,415.5,-12.2,306,3021,0.15,2.30,0.00,0.000,3078,0.199,0.034,2111,2494,3353,3367,3340,0,0,0,0,0,0,13.96,14.35,14.16
$GC,3338,-0.67,-97.3,2110,2493,3366,3338,451.0,-10.7,325,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2493,3353,3367,3339,0,0,0,0,0,0,15.03,15.06,15.05
$GC,3639,-0.67,-97.3,2110,2493,3365,3337,482.6,-10.4,340,3646,0.00,2.55,0.00,0.000,260,0.000,0.083,2102,3906,3350,3364,3337,0,0,0,0,0,0,15.02,13.95,15.04
$GC,3683,-0.67,-97.3,2101,3906,3364,3337,487.4,-10.9,349,3687,0.00,2.33,0.00,0.000,1030,0.000,0.034,2102,2498,3350,3364,3337,0,0,0,0,0,0,14.40,14.33,14.42
$GC,4001,-0.67,-97.3,2101,2497,3363,3335,522.4,-11.1,367,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3349,3363,3335,0,0,0,0,0,0,15.01,15.04,15.03
$GC,4299,-0.67,-97.3,2101,2497,3362,3333,555.3,-10.9,382,4304,0.00,2.58,0.00,0.000,260,0.000,0.086,2090,3896,3347,3361,3333,0,0,0,0,0,0,15.02,13.93,15.05
$GC,4353,-0.67,-97.3,2090,3896,3361,3333,561.4,-11.3,392,4357,0.00,2.33,0.00,0.000,1030,0.000,0.034,2090,2493,3347,3361,3333,0,0,0,0,0,0,14.38,14.30,14.40
$GC,4666,-0.67,-97.3,2090,2491,3360,3332,596.7,-11.3,409,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2491,3346,3360,3332,0,0,0,0,0,0,15.01,15.04,15.03
$GC,4964,-0.67,-97.3,2091,2491,3357,3331,629.8,-11.0,424,4968,0.00,2.38,0.00,0.000,516,0.000,0.048,2090,1105,3343,3357,3330,0,0,0,0,0,0,15.02,14.13,15.04
$GC,4981,-0.67,-97.3,2090,1104,3357,3330,631.6,-10.9,427,4988,0.12,2.47,0.00,0.000,3078,0.200,0.057,2108,2499,3343,3357,3330,0,0,0,0,0,0,13.87,14.07,14.06
$GC,5308,-0.67,-97.3,2108,2499,3356,3329,663.6,-9.8,447,5312,0.00,2.55,0.00,0.000,260,0.000,0.086,2099,3891,3342,3356,3329,0,0,0,0,0,0,15.00,13.90,15.02
$GC,5356,-0.67,-97.3,2098,3892,3356,3329,668.6,-10.5,456,5360,0.00,2.33,0.00,0.000,1030,0.000,0.034,2099,2494,3342,3356,3329,0,0,0,0,0,0,14.34,14.26,14.37
$GC,5673,-0.67,-97.3,2098,2493,3355,3328,701.5,-10.3,474,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3341,3355,3328,0,0,0,0,0,0,15.00,15.03,15.03
$GC,5972,-0.67,-97.3,2098,2492,3354,3327,731.0,-9.7,489,5979,0.00,2.58,0.00,0.000,260,0.000,0.086,2088,3893,3340,3353,3327,0,0,0,0,0,0,15.02,13.87,15.04
$GC,6007,-0.67,-97.3,2088,3893,3354,3326,734.6,-10.2,496,6011,0.00,2.35,0.00,0.000,1030,0.000,0.034,2088,2492,3340,3354,3326,0,0,0,0,0,0,14.31,14.23,14.33
$GC,6313,-0.67,-97.3,2087,2490,3353,3325,764.9,-9.7,512,6317,0.00,2.40,0.00,0.000,516,0.000,0.048,2088,1102,3339,3353,3325,0,0,0,0,0,0,15.00,14.06,15.02
$GC,6350,-0.67,-97.3,2087,1101,3352,3325,768.7,-9.9,519,6357,0.10,2.50,0.00,0.000,3078,0.217,0.057,2104,2500,3338,3352,3325,0,0,0,0,0,0,13.79,14.03,13.88
$GC,6675,-0.67,-97.3,2104,2500,3352,3323,796.8,-8.6,539,6682,0.00,2.55,0.00,0.000,260,0.000,0.086,2095,3894,3338,3352,3324,0,0,0,0,0,0,15.00,13.84,15.03
$GC,6717,-0.67,-97.3,2094,3894,3352,3324,800.4,-9.1,547,6721,0.00,2.33,0.00,0.000,1030,0.000,0.035,2095,2500,3338,3352,3324,0,0,0,0,0,0,14.28,14.21,14.31
$GC,7038,-0.67,-97.3,2094,2498,3350,3323,829.0,-8.6,566,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2498,3336,3350,3322,0,0,0,0,0,0,15.01,15.04,15.03
$GC,7339,-0.67,-97.3,2094,2498,3350,3321,855.1,-8.7,581,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2499,3335,3350,3321,0,0,0,0,0,0,15.00,15.04,15.02
$GC,7638,-0.67,-97.3,2094,2498,3349,3321,882.3,-9.3,596,7642,0.00,2.60,0.00,0.000,260,0.000,0.086,2085,3890,3334,3349,3320,0,0,0,0,0,0,15.00,13.82,15.03
$GC,7686,-0.67,-97.3,2084,3890,3348,3320,886.9,-9.9,605,7690,0.00,2.35,0.00,0.000,1030,0.000,0.036,2084,2495,3334,3348,3321,0,0,0,0,0,0,14.25,14.17,14.28
$GC,8004,-0.67,-97.3,2084,2494,3348,3320,918.8,-10.2,623,8008,0.00,2.40,0.00,0.000,516,0.000,0.050,2084,1112,3334,3348,3320,0,0,0,0,0,0,14.99,13.97,15.02
$GC,8035,-0.67,-97.3,2084,1110,3348,3319,922.3,-11.0,629,8044,0.15,2.50,0.00,0.000,3078,0.190,0.059,2108,2505,3334,3348,3320,0,0,0,0,0,0,13.74,13.97,13.95
$GC,8345,-0.67,-97.3,2108,2505,3347,3319,951.1,-9.4,646,8350,0.00,2.55,0.00,0.000,260,0.000,0.086,2099,3891,3332,3347,3318,0,0,0,0,0,0,15.00,13.83,15.03
$GC,8399,-0.67,-97.3,2099,3892,3347,3318,956.4,-10.1,656,8404,0.00,2.35,0.00,0.000,1030,0.000,0.036,2099,2496,3333,3347,3319,0,0,0,0,0,0,14.23,14.15,14.26
$GC,8711,-0.67,-97.3,2099,2494,3346,3318,987.9,-10.3,673,8715,0.00,2.42,0.00,0.000,516,0.000,0.050,2099,1109,3332,3346,3318,0,0,0,0,0,0,15.00,13.95,15.02
$STATE,8729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8729,begin apogee
$GC,8740,-0.15,0.0,2088,2439,3345,3317,990.2,-10.9,677,8837,0.70,0.00,92.22,1.989,10246,0.166,0.000,2279,2440,2968,3001,2936,0,0,0,0,0,0,13.71,14.00,12.76
$STATE,8838,end apogee,CONTROL_FINISHED_OK
$STATE,8838,begin climb
$GC,8841,0.67,97.3,2279,2439,2999,2935,994.5,0.0,682,8958,0.85,2.55,104.00,1.965,10756,0.090,0.052,2565,1040,2569,2600,2539,0,0,0,0,0,0,14.04,13.95,12.69
$GC,9028,0.72,146.2,2564,1040,2594,2537,993.7,5.3,720,9085,0.00,2.47,50.60,1.941,9254,0.000,0.053,2565,2447,2371,2410,2332,0,0,0,0,0,0,14.32,14.21,12.74
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$STATE,20071,end climb,SURFACE_DEPTH_REACHED
$STATE,20071,begin surface coast
$STATE,20099,end surface coast,CONTROL_FINISHED_OK
$STATE,20099,begin surface
$SM_CCo,20120,96.15,0.586,1,0,928,500.17
$SM_GC,1.23,7.38,0.08,96.15,0.052,0.154,0.586,119,2549,928,-6.79,-0.90,500.17,0,0,0,0,1,0,14.47,14.60,13.62
$IRIDIUM_FIX,502.24,8032.26,220120,172312
$TT8_MAMPS,0.019474,0.155043
$HUMID,49.05
$INTERNAL_PRESSURE,9.56589
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,12.59,249.796
$10V_AH,12.70,0.000
$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,20.200,213.900,491.525,96.150,0.000,0.000,0.000,253.050,0.500,0.000,17.072,1607.882,14897.961,732.712,2798.853,583.402,0.000,2439.257,0.000,2535.413,0.000,0.541,0.000
$DEVICE_MAMPS,342.720,153.765,1989.000,585.990,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,899.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249696
$DATA_FILE_SIZE,76549,1784
$CAP_FILE_SIZE,197492,0
$CFSIZE,260034560,118202368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.076,318.66,1
$GPS,230120,051939,502.170,8028.471,16,1.4,16,-2.2,0.7,293.0,6,9.8