version: 66.13
glider: 171
mission: 11
dive: 757
start: 1 24 120 10 12 21
data:
$ID,171
$MISSION,11
$DIVE,757
$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,57
$R_STBD_OVSHOOT,47
$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
$GPS1,240120,100500,505.9164,8028.4370,29,0.7,29,-2.2,1.3,261.3,12,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.1
$GPS2,240120,101128,505.8797,8028.2183,2,0.5,3,-2.2,0.6,267.6,12,7.0
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,149.8,11375,-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,11,-0.67,-97.3,85,2524,974,877,0.0,0.0,0,84,0.00,0.00,-71.30,0.005,16386,0.000,0.000,79,2524,2619,2618,2620,0,0,0,0,0,0,14.82,28.83,14.85
$GC,89,-0.67,-97.3,79,2524,2618,2620,5.1,-14.1,15,120,9.48,2.42,-13.88,0.009,18948,0.349,0.064,2103,1107,3368,3384,3353,0,0,0,0,0,0,13.88,12.63,14.33
$GC,233,-0.67,-97.3,2103,1106,3384,3353,51.7,-31.2,44,237,0.00,2.38,0.00,0.000,1030,0.000,0.058,2094,2480,3368,3384,3352,0,0,0,0,0,0,14.40,14.28,14.44
$GC,418,-0.67,-97.3,2093,2481,3384,3352,96.4,-16.8,63,422,0.00,2.33,0.00,0.000,516,0.000,0.053,2094,1104,3368,3384,3352,0,0,0,0,0,0,14.97,14.28,14.99
$GC,451,-0.67,-97.3,2093,1103,3383,3352,102.2,-17.7,69,459,0.00,2.40,0.00,0.000,1030,0.000,0.055,2083,2502,3368,3383,3353,0,0,0,0,0,0,14.40,14.28,14.44
$GC,639,-0.67,-97.3,2083,2502,3384,3352,130.6,-14.6,89,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2502,3368,3383,3353,0,0,0,0,0,0,14.99,15.02,15.02
$GC,820,-0.67,-97.3,2083,2502,3384,3352,155.0,-13.8,107,824,0.00,2.42,0.00,0.000,260,0.000,0.076,2073,3891,3368,3384,3352,0,0,0,0,0,0,15.00,14.16,15.02
$GC,848,-0.67,-97.3,2072,3891,3384,3352,158.9,-14.8,112,852,0.15,2.25,0.00,0.000,3078,0.215,0.031,2106,2498,3368,3384,3352,0,0,0,0,0,0,14.01,14.44,14.23
$GC,1032,-0.67,-97.3,2106,2496,3384,3352,180.3,-10.8,131,1036,0.00,2.33,0.00,0.000,516,0.000,0.045,2107,1106,3368,3384,3352,0,0,0,0,0,0,15.01,14.30,15.03
$GC,1100,-0.67,-97.3,2106,1106,3384,3352,187.8,-11.2,144,1105,0.00,2.38,0.00,0.000,1030,0.000,0.054,2097,2493,3367,3383,3352,0,0,0,0,0,0,14.24,14.18,14.29
$GC,1284,-0.67,-97.3,2097,2493,3383,3352,210.3,-12.4,163,1291,0.00,2.45,0.00,0.000,260,0.000,0.078,2086,3891,3367,3383,3352,0,0,0,0,0,0,15.01,14.14,15.03
$GC,1348,-0.67,-97.3,2086,3891,3382,3352,218.9,-13.3,176,1352,0.00,2.25,0.00,0.000,1030,0.000,0.031,2086,2498,3367,3382,3352,0,0,0,0,0,0,14.49,14.42,14.51
$GC,1535,-0.67,-97.3,2086,2495,3381,3352,243.6,-13.7,195,1540,0.00,2.33,0.00,0.000,516,0.000,0.046,2086,1104,3366,3380,3352,0,0,0,0,0,0,15.00,14.28,15.02
$GC,1562,-0.67,-97.3,2086,1104,3380,3352,247.5,-13.6,200,1569,0.15,2.42,0.00,0.000,3078,0.202,0.055,2110,2501,3365,3379,3352,0,0,0,0,0,0,13.99,14.24,14.19
$GC,1768,-0.67,-97.3,2109,2501,3377,3352,271.7,-11.7,213,1775,0.00,2.45,0.00,0.000,260,0.000,0.080,2101,3892,3364,3377,3352,0,0,0,0,0,0,15.01,14.10,15.04
$GC,1808,-0.67,-97.3,2101,3893,3377,3352,276.6,-12.0,221,1814,0.00,2.25,0.00,0.000,1030,0.000,0.032,2101,2492,3364,3377,3352,0,0,0,0,0,0,14.38,14.35,14.40
$GC,2131,-0.67,-97.3,2101,2491,3375,3348,316.2,-12.3,240,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2491,3362,3375,3349,0,0,0,0,0,0,15.02,15.05,15.05
$GC,2432,-0.67,-97.3,2101,2491,3373,3346,352.4,-11.8,255,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2491,3359,3373,3346,0,0,0,0,0,0,15.01,15.04,15.04
$GC,2731,-0.67,-97.3,2101,2491,3371,3344,386.9,-11.5,270,2736,0.00,2.53,0.00,0.000,260,0.000,0.080,2090,3892,3357,3371,3344,0,0,0,0,0,0,15.02,14.03,15.05
$GC,2768,-0.67,-97.3,2089,3891,3371,3344,391.2,-11.8,277,2772,0.00,2.30,0.00,0.000,1030,0.000,0.034,2090,2498,3357,3371,3344,0,0,0,0,0,0,14.42,14.35,14.45
$GC,3074,-0.67,-97.3,2089,2497,3368,3340,427.8,-11.8,293,3082,0.00,2.53,0.00,0.000,260,0.000,0.081,2079,3899,3354,3368,3340,0,0,0,0,0,0,15.02,14.02,15.04
$GC,3125,-0.67,-97.3,2079,3899,3367,3340,434.0,-12.4,303,3129,0.12,2.30,0.00,0.000,3078,0.207,0.034,2107,2498,3353,3367,3340,0,0,0,0,0,0,14.00,14.35,14.19
$GC,3437,-0.67,-97.3,2107,2497,3366,3338,467.4,-10.4,320,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3352,3366,3339,0,0,0,0,0,0,15.02,15.05,15.04
$GC,3739,-0.67,-97.3,2107,2497,3364,3337,499.0,-10.7,335,3743,0.00,2.55,0.00,0.000,260,0.000,0.082,2098,3898,3350,3363,3337,0,0,0,0,0,0,15.00,13.97,15.03
$GC,3775,-0.67,-97.3,2097,3897,3363,3337,503.2,-11.2,342,3781,0.00,2.33,0.00,0.000,1030,0.000,0.034,2098,2500,3350,3363,3337,0,0,0,0,0,0,14.38,14.31,14.41
$GC,4082,-0.67,-97.3,2097,2498,3362,3335,537.1,-11.0,358,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3348,3362,3335,0,0,0,0,0,0,15.01,15.04,15.04
$GC,4380,-0.67,-97.3,2097,2499,3361,3333,570.8,-10.9,373,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2499,3347,3361,3334,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4680,-0.67,-97.3,2097,2498,3360,3332,603.0,-10.5,388,4687,0.00,2.55,0.00,0.000,260,0.000,0.083,2087,3897,3346,3360,3332,0,0,0,0,0,0,15.02,13.93,15.04
$GC,4717,-0.67,-97.3,2087,3897,3359,3332,606.7,-10.6,395,4722,0.00,2.33,0.00,0.000,1030,0.000,0.035,2087,2502,3345,3358,3332,0,0,0,0,0,0,14.35,14.27,14.38
$GC,5021,-0.67,-97.3,2086,2500,3357,3331,637.8,-10.1,411,5027,0.00,2.55,0.00,0.000,260,0.000,0.083,2076,3898,3344,3357,3331,0,0,0,0,0,0,15.02,13.92,15.04
$GC,5061,-0.67,-97.3,2076,3899,3356,3331,642.0,-10.7,419,5068,0.15,2.33,0.00,0.000,3078,0.194,0.035,2111,2497,3344,3357,3331,0,0,0,0,0,0,13.90,14.26,14.08
$GC,5382,-0.67,-97.3,2110,2497,3356,3330,669.4,-8.3,438,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3342,3356,3329,0,0,0,0,0,0,15.00,15.03,15.02
$GC,5680,-0.67,-97.3,2111,2496,3356,3328,694.3,-8.3,453,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3343,3358,3328,0,0,0,0,0,0,15.02,15.04,15.04
$GC,5982,-0.67,-97.3,2111,2497,3354,3327,719.0,-8.2,468,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3340,3354,3327,0,0,0,0,0,0,15.00,15.03,15.03
$GC,6281,-0.67,-97.3,2111,2497,3353,3326,744.5,-8.6,483,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3339,3353,3326,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6580,-0.67,-97.3,2111,2497,3352,3325,770.7,-8.9,498,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3338,3352,3325,0,0,0,0,0,0,15.02,15.04,15.04
$GC,6882,-0.67,-97.3,2111,2497,3352,3324,797.2,-8.8,513,6889,0.00,2.58,0.00,0.000,260,0.000,0.084,2102,3899,3337,3351,3323,0,0,0,0,0,0,15.00,13.82,15.02
$GC,6917,-0.67,-97.3,2102,3899,3351,3323,800.5,-9.4,520,6921,0.00,2.35,0.00,0.000,1030,0.000,0.036,2102,2504,3337,3351,3324,0,0,0,0,0,0,14.27,14.19,14.30
$GC,7222,-0.67,-97.3,2101,2503,3350,3323,829.6,-9.5,536,7226,0.00,2.42,0.00,0.000,516,0.000,0.049,2102,1109,3336,3350,3323,0,0,0,0,0,0,15.00,14.02,15.03
$GC,7245,-0.67,-97.3,2102,1109,3350,3323,831.7,-10.3,540,7251,0.00,2.50,0.00,0.000,1030,0.000,0.058,2091,2506,3336,3349,3323,0,0,0,0,0,0,14.13,14.00,14.18
$GC,7564,-0.67,-97.3,2090,2506,3349,3321,863.3,-10.0,559,7571,0.00,2.55,0.00,0.000,260,0.000,0.085,2080,3900,3335,3349,3321,0,0,0,0,0,0,15.00,13.84,15.02
$GC,7589,-0.67,-97.3,2080,3900,3348,3321,865.8,-11.1,564,7594,0.12,2.38,0.00,0.000,3078,0.200,0.037,2108,2497,3335,3349,3321,0,0,0,0,0,0,13.83,14.16,14.01
$GC,7908,-0.67,-97.3,2108,2496,3348,3320,893.8,-8.6,582,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3334,3348,3320,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8206,-0.67,-97.3,2108,2495,3348,3320,919.9,-8.9,597,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3333,3347,3320,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8508,-0.67,-97.3,2108,2496,3347,3320,946.3,-8.8,612,8513,0.00,2.58,0.00,0.000,260,0.000,0.085,2098,3889,3333,3346,3320,0,0,0,0,0,0,15.00,13.71,15.02
$GC,8551,-0.67,-97.3,2099,3889,3346,3320,950.3,-9.3,620,8555,0.00,2.35,0.00,0.000,1030,0.000,0.037,2099,2497,3333,3346,3320,0,0,0,0,0,0,14.22,14.14,14.25
$GC,8873,-0.67,-97.3,2098,2496,3345,3319,979.2,-8.9,639,8877,0.00,2.42,0.00,0.000,516,0.000,0.050,2099,1109,3332,3345,3319,0,0,0,0,0,0,15.00,13.95,15.02
$GC,8896,-0.67,-97.3,2098,1106,3344,3320,981.2,-9.1,643,8903,0.00,2.50,0.00,0.000,1030,0.000,0.058,2088,2500,3331,3344,3319,0,0,0,0,0,0,14.09,13.95,14.14
$STATE,8992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8992,begin apogee
$GC,9000,-0.15,0.0,2088,2499,3344,3319,990.4,-9.2,651,9095,0.70,0.00,91.32,1.989,10246,0.167,0.000,2277,2500,2968,3001,2935,0,0,0,0,0,0,13.74,14.00,12.78
$STATE,9096,end apogee,CONTROL_FINISHED_OK
$STATE,9096,begin climb
$GC,9100,0.67,97.3,2277,2499,2999,2935,992.7,0.0,656,9208,0.85,0.00,103.85,1.967,10246,0.093,0.000,2549,2499,2570,2602,2539,0,0,0,0,0,0,14.02,13.90,12.71
$GC,9501,0.67,97.3,2549,2499,2591,2535,970.3,8.1,676,9508,0.00,2.53,0.00,0.000,516,0.000,0.050,2560,1043,2562,2591,2534,0,0,0,0,0,0,14.81,14.35,14.84
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$STATE,21088,end climb,SURFACE_DEPTH_REACHED
$STATE,21088,begin surface coast
$STATE,21104,end surface coast,CONTROL_FINISHED_OK
$STATE,21104,begin surface
$SM_CCo,21127,83.82,0.574,1,0,928,500.17
$SM_GC,1.32,7.68,0.10,83.82,0.048,0.160,0.574,114,2509,928,-6.77,-1.02,500.17,0,0,0,0,1,0,14.45,14.42,13.60
$IRIDIUM_FIX,504.33,8027.99,240120,045136
$TT8_MAMPS,0.019474,0.159537
$HUMID,51.77
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,12.63,251.607
$10V_AH,12.66,0.000
$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,19.900,209.200,498.550,83.825,0.000,0.000,0.000,242.675,0.250,0.000,14.592,1619.812,15856.043,742.427,2782.020,602.209,0.000,2434.093,0.000,2528.670,0.000,0.541,0.000
$DEVICE_MAMPS,348.840,159.885,1989.000,573.750,0.000,0.000,0.000,176.715,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,893.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249688
$DATA_FILE_SIZE,76672,1779
$CAP_FILE_SIZE,198766,0
$CFSIZE,260034560,117669888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.115,328.20,1
$GPS,240120,160700,505.609,8028.231,20,0.8,20,-2.2,1.2,240.2,9,3.5