version: 66.13
glider: 171
mission: 11
dive: 767
start: 1 26 120 21 22 58
data:
$ID,171
$MISSION,11
$DIVE,767
$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,51
$R_STBD_OVSHOOT,33
$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
$GPS1,260120,211500,529.2537,8019.7656,50,0.7,50,-2.2,1.3,252.7,10,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-75.5
$GPS2,260120,212206,529.2072,8019.5508,2,0.6,2,-2.2,1.2,263.9,12,8.5
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,18.0,32211,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-0.67,-97.3,106,2508,972,878,0.0,0.0,0,83,0.00,0.00,-71.25,0.005,16386,0.000,0.000,105,2508,2615,2615,2615,0,0,0,0,0,0,14.82,28.83,14.84
$GC,88,-0.67,-97.3,104,2508,2616,2615,4.9,-12.8,15,119,9.23,2.47,-14.18,0.009,18692,0.344,0.096,2095,3892,3368,3384,3353,0,0,0,0,0,0,13.89,12.63,14.33
$GC,163,-0.67,-97.3,2094,3892,3384,3353,30.9,-29.3,30,168,0.00,2.30,0.00,0.000,1030,0.000,0.034,2095,2490,3368,3384,3353,0,0,0,0,0,0,14.48,14.42,14.51
$GC,359,-0.67,-97.3,2094,2489,3384,3353,87.5,-21.0,55,365,0.00,2.47,0.00,0.000,260,0.000,0.076,2084,3893,3368,3384,3353,0,0,0,0,0,0,14.92,14.14,14.95
$GC,468,-0.67,-97.3,2084,3893,3384,3353,109.0,-15.1,77,472,0.00,2.25,0.00,0.000,1030,0.000,0.030,2084,2486,3368,3384,3353,0,0,0,0,0,0,14.49,14.42,14.51
$GC,660,-0.67,-97.3,2084,2484,3384,3352,136.3,-14.5,97,667,0.00,2.47,0.00,0.000,260,0.000,0.076,2073,3888,3368,3384,3353,0,0,0,0,0,0,14.98,14.13,15.01
$GC,771,-0.67,-97.3,2073,3889,3383,3353,152.7,-15.0,119,776,0.15,2.25,0.00,0.000,3078,0.226,0.031,2106,2491,3368,3384,3353,0,0,0,0,0,0,13.96,14.42,14.18
$GC,964,-0.67,-97.3,2106,2490,3384,3353,177.4,-12.0,139,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2490,3368,3384,3353,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1145,-0.67,-97.3,2106,2490,3384,3353,198.8,-12.0,157,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2490,3368,3384,3352,0,0,0,0,0,0,14.99,15.02,15.02
$GC,1334,-0.67,-97.3,2105,2490,3382,3353,220.5,-11.0,176,1340,0.00,2.50,0.00,0.000,260,0.000,0.080,2097,3894,3367,3382,3352,0,0,0,0,0,0,15.00,14.08,15.03
$GC,1394,-0.67,-97.3,2097,3894,3381,3352,227.9,-12.5,188,1398,0.00,2.25,0.00,0.000,1030,0.000,0.031,2097,2500,3366,3381,3352,0,0,0,0,0,0,14.48,14.42,14.50
$GC,1596,-0.67,-97.3,2097,2499,3379,3352,252.5,-11.9,208,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2499,3365,3379,3352,0,0,0,0,0,0,15.00,15.03,15.02
$GC,1895,-0.67,-97.3,2097,2498,3376,3352,288.4,-12.0,223,1902,0.00,2.47,0.00,0.000,260,0.000,0.081,2086,3884,3363,3375,3352,0,0,0,0,0,0,15.02,14.04,15.04
$GC,1960,-0.67,-97.3,2086,3885,3374,3352,296.6,-12.5,236,1964,0.00,2.25,0.00,0.000,1030,0.000,0.032,2086,2505,3363,3374,3352,0,0,0,0,0,0,14.45,14.38,14.47
$GC,2278,-0.67,-97.3,2086,2504,3373,3348,337.0,-12.9,254,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2504,3360,3373,3347,0,0,0,0,0,0,15.01,15.04,15.04
$GC,2576,-0.67,-97.3,2086,2504,3371,3345,373.9,-12.2,269,2584,0.00,2.50,0.00,0.000,260,0.000,0.082,2076,3890,3358,3371,3345,0,0,0,0,0,0,15.02,14.00,15.05
$GC,2642,-0.67,-97.3,2075,3890,3371,3345,382.1,-12.2,282,2648,0.15,2.28,0.00,0.000,3078,0.198,0.033,2111,2498,3358,3371,3345,0,0,0,0,0,0,13.96,14.35,14.15
$GC,2960,-0.67,-97.3,2111,2496,3369,3341,415.2,-10.3,300,2967,0.00,2.53,0.00,0.000,260,0.000,0.082,2102,3891,3354,3368,3341,0,0,0,0,0,0,15.02,13.97,15.05
$GC,2996,-0.67,-97.3,2102,3891,3368,3341,418.8,-10.8,307,3000,0.00,2.30,0.00,0.000,1030,0.000,0.033,2102,2495,3354,3368,3341,0,0,0,0,0,0,14.40,14.34,14.42
$GC,3302,-0.67,-97.3,2102,2493,3366,3339,451.2,-10.4,323,3306,0.00,2.38,0.00,0.000,516,0.000,0.047,2102,1104,3352,3366,3339,0,0,0,0,0,0,15.01,14.16,15.03
$GC,3344,-0.67,-97.3,2102,1104,3366,3339,455.6,-10.0,331,3351,0.00,2.45,0.00,0.000,1030,0.000,0.055,2091,2502,3352,3366,3339,0,0,0,0,0,0,14.25,14.13,14.29
$GC,3665,-0.67,-97.3,2091,2502,3363,3337,487.5,-9.6,350,3670,0.00,2.50,0.00,0.000,260,0.000,0.082,2080,3893,3350,3364,3337,0,0,0,0,0,0,15.00,13.95,15.03
$GC,3717,-0.67,-97.3,2080,3893,3363,3337,493.1,-10.5,360,3724,0.12,2.30,0.00,0.000,3078,0.204,0.034,2108,2499,3350,3363,3337,0,0,0,0,0,0,13.96,14.31,14.14
$GC,4027,-0.67,-97.3,2108,2497,3362,3334,521.3,-9.2,377,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3348,3362,3335,0,0,0,0,0,0,15.02,15.04,15.04
$GC,4329,-0.67,-97.3,2108,2497,3361,3333,550.8,-10.0,392,4333,0.00,2.55,0.00,0.000,260,0.000,0.083,2099,3890,3347,3361,3333,0,0,0,0,0,0,15.00,13.90,15.03
$GC,4366,-0.67,-97.3,2099,3890,3360,3333,554.6,-10.3,399,4370,0.00,2.33,0.00,0.000,1030,0.000,0.034,2099,2501,3346,3360,3333,0,0,0,0,0,0,14.33,14.26,14.36
$GC,4671,-0.67,-97.3,2099,2500,3359,3332,585.4,-9.9,415,4677,0.00,2.38,0.00,0.000,516,0.000,0.047,2099,1110,3345,3358,3332,0,0,0,0,0,0,15.01,14.10,15.04
$GC,4702,-0.67,-97.3,2098,1110,3358,3332,588.4,-10.1,421,4706,0.00,2.47,0.00,0.000,1030,0.000,0.056,2088,2505,3344,3357,3332,0,0,0,0,0,0,14.19,14.06,14.24
$GC,5013,-0.67,-97.3,2088,2505,3356,3330,620.6,-10.4,438,5018,0.00,2.50,0.00,0.000,260,0.000,0.083,2078,3893,3343,3356,3330,0,0,0,0,0,0,15.01,13.89,15.04
$GC,5083,-0.67,-97.3,2077,3893,3356,3330,628.0,-11.1,451,5090,0.12,2.33,0.00,0.000,3078,0.205,0.034,2106,2494,3343,3356,3330,0,0,0,0,0,0,13.88,14.24,14.06
$GC,5397,-0.67,-97.3,2106,2493,3356,3329,658.5,-10.0,469,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2492,3342,3355,3329,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5697,-0.67,-97.3,2106,2493,3354,3327,689.2,-10.4,484,5704,0.00,2.58,0.00,0.000,260,0.000,0.083,2097,3897,3340,3354,3327,0,0,0,0,0,0,15.01,13.85,15.04
$GC,5744,-0.67,-97.3,2097,3897,3354,3327,694.0,-10.7,493,5751,0.00,2.33,0.00,0.000,1030,0.000,0.035,2097,2503,3340,3354,3327,0,0,0,0,0,0,14.29,14.22,14.32
$GC,6058,-0.67,-97.3,2097,2501,3353,3326,726.9,-10.2,511,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2501,3339,3353,3326,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6358,-0.67,-97.3,2097,2501,3352,3325,756.2,-9.4,526,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2501,3338,3352,3325,0,0,0,0,0,0,15.00,15.03,15.03
$GC,6659,-0.67,-97.3,2097,2502,3351,3324,785.0,-9.8,541,6664,0.00,2.60,0.00,0.000,260,0.000,0.083,2086,3896,3336,3350,3323,0,0,0,0,0,0,14.99,13.83,15.02
$GC,6701,-0.67,-97.3,2085,3896,3350,3323,789.5,-10.5,549,6705,0.00,2.38,0.00,0.000,1030,0.000,0.035,2086,2493,3336,3350,3323,0,0,0,0,0,0,14.24,14.17,14.27
$GC,7024,-0.67,-97.3,2086,2492,3349,3322,824.2,-11.0,568,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2491,3335,3349,3322,0,0,0,0,0,0,14.99,15.02,15.02
$GC,7323,-0.67,-97.3,2086,2491,3348,3321,855.0,-10.3,583,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2491,3334,3348,3321,0,0,0,0,0,0,15.00,15.03,15.02
$GC,7622,-0.67,-97.3,2086,2491,3348,3320,886.0,-10.1,598,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2491,3333,3347,3320,0,0,0,0,0,0,15.00,15.03,15.02
$GC,7924,-0.67,-97.3,2085,2491,3347,3320,915.8,-9.7,613,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2491,3333,3346,3320,0,0,0,0,0,0,14.99,15.02,15.01
$GC,8222,-0.67,-97.3,2086,2491,3345,3320,945.1,-9.9,628,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2491,3332,3345,3320,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8523,-0.67,-97.3,2086,2491,3344,3319,976.3,-10.7,643,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2491,3331,3344,3319,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,8659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8659,begin apogee
$GC,8668,-0.15,0.0,2086,2491,3344,3319,990.8,-10.3,650,8764,0.70,0.00,91.60,1.991,10246,0.168,0.000,2274,2491,2968,3000,2936,0,0,0,0,0,0,13.71,14.01,12.81
$STATE,8765,end apogee,CONTROL_FINISHED_OK
$STATE,8765,begin climb
$GC,8768,0.67,97.3,2274,2491,2999,2936,994.4,0.0,655,8877,0.88,0.00,104.47,1.959,10246,0.093,0.000,2554,2491,2570,2601,2540,0,0,0,0,0,0,14.02,13.91,12.74
$GC,9171,0.69,97.3,2553,2491,2591,2536,975.3,7.4,675,9177,0.00,2.47,0.00,0.000,580,0.000,0.050,2565,1042,2562,2590,2535,0,0,0,0,0,0,14.81,14.32,14.84
$GC,9234,0.70,97.3,2564,1042,2589,2534,970.0,7.4,688,9241,0.00,2.45,0.00,0.000,1094,0.000,0.053,2564,2447,2561,2589,2534,0,0,0,0,0,0,14.43,14.32,14.47
$GC,9550,0.71,97.3,2564,2448,2589,2534,946.2,7.4,706,9555,0.00,2.45,0.00,0.000,580,0.000,0.050,2576,1040,2561,2588,2534,0,0,0,0,0,0,14.94,14.27,14.97
$GC,9639,0.72,97.3,2576,1040,2586,2534,939.6,7.4,723,9645,0.00,2.45,0.00,0.000,1094,0.000,0.052,2576,2442,2560,2587,2534,0,0,0,0,0,0,14.33,14.27,14.37
$GC,9953,0.74,97.3,2576,2442,2586,2533,916.3,7.2,741,9957,0.00,2.45,0.00,0.000,580,0.000,0.050,2587,1043,2560,2587,2533,0,0,0,0,0,0,14.96,14.18,14.99
$GC,9987,0.76,97.3,2587,1043,2585,2533,914.0,7.0,747,9993,0.00,2.45,0.00,0.000,1094,0.000,0.052,2587,2441,2559,2585,2533,0,0,0,0,0,0,14.27,14.23,14.27
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$STATE,21461,end climb,SURFACE_DEPTH_REACHED
$STATE,21461,begin surface coast
$STATE,21476,end surface coast,CONTROL_FINISHED_OK
$STATE,21476,begin surface
$SM_CCo,21499,100.18,0.601,1,0,928,500.17
$SM_GC,1.20,7.95,0.08,100.18,0.053,0.169,0.601,120,2499,928,-6.78,-1.02,500.17,0,0,0,0,1,0,14.42,14.52,13.59
$IRIDIUM_FIX,526.28,8023.00,260120,152543
$TT8_MAMPS,0.018725,0.158039
$HUMID,52.44
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,12.63,254.621
$10V_AH,12.62,0.000
$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,19.900,189.675,478.475,100.175,0.000,0.000,0.000,273.850,0.500,0.000,14.430,1547.084,16359.354,742.643,2799.720,577.381,0.000,2450.456,0.000,2512.795,0.000,0.541,0.000
$DEVICE_MAMPS,344.250,169.065,1991.295,601.290,0.000,0.000,0.000,174.420,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,887.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249692
$DATA_FILE_SIZE,76517,1768
$CAP_FILE_SIZE,195478,0
$CFSIZE,260034560,116752384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.095,354.47,1
$GPS,270120,032408,531.773,8019.977,21,0.8,21,-2.2,1.0,239.6,9,6.8