version: 66.13
glider: 171
mission: 11
dive: 768
start: 1 27 120 3 31 11
data:
$ID,171
$MISSION,11
$DIVE,768
$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,50
$R_STBD_OVSHOOT,32
$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
$GPS1,270120,032408,531.7726,8019.9771,21,0.8,21,-2.2,1.0,239.6,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.5
$GPS2,270120,033019,531.7528,8019.8037,2,0.6,2,-2.2,0.3,0.0,12,8.8
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,335.2,27831,-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,9,-0.67,-97.3,110,2500,973,878,0.0,0.0,0,78,0.00,0.00,-66.45,0.005,16386,0.000,0.000,110,2501,2482,2487,2478,0,0,0,0,0,0,14.79,28.83,14.83
$GC,83,-0.67,-97.3,109,2501,2488,2478,4.5,-11.2,14,115,9.30,2.42,-17.20,0.008,18692,0.348,0.091,2095,3890,3366,3384,3349,0,0,0,0,0,0,13.86,13.30,14.30
$GC,209,-0.67,-97.3,2094,3890,3384,3349,46.0,-29.8,39,213,0.00,2.28,0.00,0.000,1030,0.000,0.036,2094,2506,3366,3384,3349,0,0,0,0,0,0,14.42,14.34,14.45
$GC,395,-0.67,-97.3,2094,2504,3383,3349,100.1,-18.7,59,402,0.00,2.45,0.00,0.000,260,0.000,0.074,2084,3894,3366,3383,3349,0,0,0,0,0,0,14.94,14.11,14.96
$GC,497,-0.67,-97.3,2083,3894,3384,3349,116.4,-14.6,79,501,0.00,2.28,0.00,0.000,1030,0.000,0.031,2084,2485,3366,3383,3349,0,0,0,0,0,0,14.43,14.37,14.46
$GC,688,-0.67,-97.3,2084,2484,3384,3349,145.6,-14.2,99,692,0.00,2.50,0.00,0.000,260,0.000,0.076,2073,3888,3366,3384,3349,0,0,0,0,0,0,14.98,14.08,15.00
$GC,887,-0.67,-97.3,2072,3889,3385,3349,177.3,-15.9,138,892,0.15,2.25,0.00,0.000,3078,0.220,0.031,2107,2494,3366,3384,3349,0,0,0,0,0,0,13.91,14.38,14.12
$GC,1072,-0.67,-97.3,2106,2493,3385,3349,200.8,-12.5,157,1077,0.00,2.50,0.00,0.000,260,0.000,0.078,2097,3891,3367,3385,3349,0,0,0,0,0,0,15.00,14.06,15.02
$GC,1131,-0.67,-97.3,2097,3891,3384,3349,208.1,-12.5,168,1135,0.00,2.25,0.00,0.000,1030,0.000,0.031,2097,2504,3366,3384,3349,0,0,0,0,0,0,14.44,14.38,14.47
$GC,1314,-0.67,-97.3,2097,2503,3382,3349,230.1,-11.7,187,1321,0.00,2.47,0.00,0.000,260,0.000,0.078,2086,3891,3366,3384,3349,0,0,0,0,0,0,15.00,14.05,15.02
$GC,1350,-0.67,-97.3,2086,3891,3383,3348,234.1,-11.8,194,1354,0.00,2.28,0.00,0.000,1030,0.000,0.032,2086,2496,3366,3383,3349,0,0,0,0,0,0,14.43,14.36,14.45
$GC,1546,-0.67,-97.3,2086,2495,3382,3349,258.3,-12.3,211,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2495,3365,3382,3349,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1845,-0.67,-97.3,2086,2495,3378,3349,295.1,-12.2,226,1852,0.00,2.50,0.00,0.000,260,0.000,0.081,2076,3887,3363,3378,3348,0,0,0,0,0,0,15.01,14.00,15.04
$GC,1906,-0.67,-97.3,2075,3887,3377,3348,302.7,-12.6,238,1914,0.15,2.28,0.00,0.000,3078,0.202,0.033,2111,2496,3363,3378,3348,0,0,0,0,0,0,13.93,14.33,14.12
$GC,2226,-0.67,-97.3,2110,2494,3374,3348,336.1,-10.0,257,2231,0.00,2.35,0.00,0.000,516,0.000,0.047,2111,1104,3360,3373,3348,0,0,0,0,0,0,15.01,14.17,15.04
$GC,2268,-0.67,-97.3,2111,1104,3373,3348,340.3,-9.8,265,2274,0.00,2.42,0.00,0.000,1030,0.000,0.057,2102,2495,3360,3373,3348,0,0,0,0,0,0,14.24,14.12,14.29
$GC,2592,-0.67,-97.3,2102,2495,3372,3345,375.8,-11.3,284,2599,0.00,2.47,0.00,0.000,260,0.000,0.082,2091,3889,3358,3372,3345,0,0,0,0,0,0,15.00,13.91,15.02
$GC,2646,-0.67,-97.3,2090,3888,3371,3345,382.3,-11.7,295,2650,0.00,2.30,0.00,0.000,1030,0.000,0.034,2091,2496,3358,3371,3345,0,0,0,0,0,0,14.36,14.29,14.39
$GC,2953,-0.67,-97.3,2090,2495,3370,3342,419.1,-11.9,311,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2495,3356,3370,3342,0,0,0,0,0,0,15.00,15.03,15.02
$GC,3252,-0.67,-97.3,2090,2495,3367,3340,454.3,-11.6,326,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2495,3353,3367,3340,0,0,0,0,0,0,15.01,15.04,15.04
$GC,3551,-0.67,-97.3,2090,2495,3366,3338,488.2,-11.0,341,3557,0.00,2.58,0.00,0.000,260,0.000,0.085,2080,3890,3352,3366,3338,0,0,0,0,0,0,15.01,13.90,15.04
$GC,3595,-0.67,-97.3,2080,3890,3366,3338,493.1,-11.5,349,3601,0.12,2.33,0.00,0.000,3078,0.202,0.034,2109,2496,3352,3366,3338,0,0,0,0,0,0,13.91,14.25,14.09
$GC,3919,-0.67,-97.3,2108,2494,3364,3336,524.3,-9.6,368,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2494,3350,3364,3336,0,0,0,0,0,0,15.01,15.04,15.03
$GC,4219,-0.67,-97.3,2108,2494,3362,3335,553.4,-9.7,383,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2494,3348,3362,3335,0,0,0,0,0,0,15.00,15.04,15.03
$GC,4521,-0.67,-97.3,2108,2494,3362,3333,582.7,-9.7,398,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2494,3347,3362,3333,0,0,0,0,0,0,14.99,15.02,15.01
$GC,4819,-0.67,-97.3,2108,2494,3360,3332,612.2,-10.0,413,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2494,3346,3360,3332,0,0,0,0,0,0,15.01,15.04,15.03
$GC,5120,-0.67,-97.3,2109,2494,3359,3331,641.6,-9.7,428,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2494,3345,3359,3331,0,0,0,0,0,0,14.99,15.02,15.02
$GC,5419,-0.67,-97.3,2109,2494,3357,3329,670.7,-9.7,443,5423,0.00,2.60,0.00,0.000,260,0.000,0.085,2100,3890,3343,3357,3330,0,0,0,0,0,0,15.00,13.85,15.02
$GC,5460,-0.67,-97.3,2099,3890,3356,3330,674.8,-10.2,451,5465,0.00,2.35,0.00,0.000,1030,0.000,0.035,2100,2500,3343,3356,3330,0,0,0,0,0,0,14.26,14.18,14.28
$GC,5784,-0.67,-97.3,2099,2499,3356,3329,707.4,-10.1,470,5788,0.00,2.40,0.00,0.000,516,0.000,0.050,2100,1111,3342,3356,3328,0,0,0,0,0,0,14.99,14.00,15.01
$GC,5806,-0.67,-97.3,2099,1109,3356,3328,709.8,-10.9,474,5813,0.00,2.47,0.00,0.000,1030,0.000,0.057,2088,2497,3342,3356,3328,0,0,0,0,0,0,14.12,13.99,14.16
$GC,6126,-0.67,-97.3,2088,2497,3354,3327,745.2,-11.3,493,6131,0.00,2.55,0.00,0.000,260,0.000,0.085,2078,3893,3340,3354,3327,0,0,0,0,0,0,15.00,13.83,15.02
$GC,6164,-0.67,-97.3,2077,3893,3354,3327,749.6,-12.1,500,6172,0.12,2.35,0.00,0.000,3078,0.206,0.035,2107,2495,3340,3354,3327,0,0,0,0,0,0,13.81,14.16,13.99
$GC,6492,-0.67,-97.3,2106,2494,3354,3326,782.9,-9.8,520,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2494,3340,3354,3326,0,0,0,0,0,0,14.97,15.00,15.00
$GC,6791,-0.67,-97.3,2106,2494,3353,3324,810.8,-8.9,535,6795,0.00,2.40,0.00,0.000,516,0.000,0.049,2107,1111,3338,3353,3324,0,0,0,0,0,0,14.98,13.95,15.01
$GC,6832,-0.67,-97.3,2106,1110,3352,3325,814.5,-8.5,543,6838,0.00,2.50,0.00,0.000,1030,0.000,0.057,2097,2507,3338,3352,3324,0,0,0,0,0,0,14.09,13.95,14.14
$GC,7153,-0.67,-97.3,2097,2507,3352,3323,841.5,-8.6,562,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2507,3337,3352,3323,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7454,-0.67,-97.3,2097,2507,3351,3322,868.3,-9.4,577,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2507,3336,3351,3322,0,0,0,0,0,0,14.99,15.02,15.01
$GC,7752,-0.67,-97.3,2097,2507,3350,3322,896.4,-9.5,592,7756,0.00,2.58,0.00,0.000,260,0.000,0.087,2086,3894,3335,3350,3321,0,0,0,0,0,0,15.00,13.83,15.02
$GC,7789,-0.67,-97.3,2086,3894,3350,3321,900.1,-10.4,599,7793,0.00,2.38,0.00,0.000,1030,0.000,0.036,2086,2494,3335,3350,3321,0,0,0,0,0,0,14.19,14.12,14.23
$GC,8095,-0.67,-97.3,2086,2493,3349,3321,931.1,-10.0,615,8102,0.00,2.42,0.00,0.000,516,0.000,0.050,2086,1105,3334,3348,3321,0,0,0,0,0,0,14.97,13.91,15.00
$GC,8150,-0.67,-97.3,2086,1105,3348,3320,936.6,-9.8,626,8157,0.12,2.53,0.00,0.000,3078,0.204,0.058,2107,2505,3334,3348,3321,0,0,0,0,0,0,13.71,13.96,13.82
$GC,8476,-0.67,-97.3,2107,2505,3348,3320,964.1,-8.5,646,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2505,3334,3348,3320,0,0,0,0,0,0,14.97,15.00,14.98
$GC,8774,-0.67,-97.3,2107,2505,3347,3319,989.9,-8.7,661,8779,0.00,2.58,0.00,0.000,260,0.000,0.087,2098,3897,3333,3347,3320,0,0,0,0,0,0,14.98,13.83,15.01
$STATE,8782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8782,begin apogee
$GC,8793,-0.15,0.0,2098,2443,3347,3320,990.8,-8.8,663,8888,0.65,0.00,92.18,1.988,10246,0.158,0.000,2276,2442,2968,3000,2936,0,0,0,0,0,0,13.74,14.00,12.78
$STATE,8889,end apogee,CONTROL_FINISHED_OK
$STATE,8890,begin climb
$GC,8895,0.67,97.3,2276,2442,2999,2936,994.2,0.0,668,9011,0.85,2.47,103.68,1.956,10756,0.093,0.048,2560,1040,2569,2599,2539,0,0,0,0,0,0,14.00,13.64,12.71
$GC,9034,0.74,165.9,2559,1040,2595,2538,993.5,4.2,697,9111,0.00,2.50,70.62,1.950,9254,0.000,0.053,2560,2448,2291,2334,2248,0,0,0,0,0,0,14.19,14.08,12.71
$GC,9428,0.74,165.9,2560,2448,2324,2241,950.7,11.9,731,9435,0.00,2.45,0.00,0.000,516,0.000,0.053,2572,1041,2282,2324,2241,0,0,0,0,0,0,14.85,14.33,14.88
$GC,9454,0.74,165.9,2571,1041,2322,2240,947.7,11.8,736,9461,0.00,2.45,0.00,0.000,1030,0.000,0.054,2572,2447,2281,2322,2240,0,0,0,0,0,0,14.45,14.33,14.49
$GC,9770,0.74,165.9,2571,2447,2322,2239,908.6,12.1,754,9777,0.00,2.45,0.00,0.000,516,0.000,0.052,2583,1039,2280,2322,2239,0,0,0,0,0,0,14.91,14.31,14.93
$GC,9819,0.74,165.9,2583,1039,2321,2239,902.7,11.6,764,9826,0.00,2.45,0.00,0.000,1030,0.000,0.054,2583,2440,2280,2321,2239,0,0,0,0,0,0,14.42,14.31,14.47
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$STATE,19052,end climb,SURFACE_DEPTH_REACHED
$STATE,19052,begin surface coast
$STATE,19082,end surface coast,CONTROL_FINISHED_OK
$STATE,19082,begin surface
$SM_CCo,19103,73.47,0.523,1,0,927,500.17
$SM_GC,1.46,7.38,0.10,73.47,0.044,0.157,0.523,125,2503,927,-6.77,-0.71,500.17,0,0,0,0,1,0,14.45,14.51,13.71
$IRIDIUM_FIX,526.25,8020.86,260120,212145
$TT8_MAMPS,0.018725,0.160286
$HUMID,48.93
$INTERNAL_PRESSURE,9.58542
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,12.71,254.931
$10V_AH,12.38,0.000
$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,19.925,200.425,518.575,73.475,0.000,0.000,0.000,221.275,0.250,0.000,14.234,1493.325,14152.608,720.122,2619.745,561.556,0.000,2336.100,0.000,2383.307,0.000,0.540,0.000
$DEVICE_MAMPS,348.075,156.825,1988.235,523.260,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,851.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73249,1676
$CAP_FILE_SIZE,186323,0
$CFSIZE,260034560,116674560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.159,305.66,1
$GPS,270120,085200,534.362,8017.825,22,0.7,22,-2.2,1.0,271.8,11,6.0