version: 66.13
glider: 171
mission: 11
dive: 771
start: 1 27 120 20 31 11
data:
$ID,171
$MISSION,11
$DIVE,771
$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,47
$R_STBD_OVSHOOT,34
$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
$GPS1,270120,202408,539.3908,8016.5161,24,1.3,24,-2.1,0.8,295.8,6,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.6
$GPS2,270120,203019,539.3542,8016.3389,2,0.6,3,-2.1,0.7,245.9,12,4.0
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,35.8,12553,-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,-97.3,113,2518,975,878,0.0,0.0,0,83,0.00,0.00,-71.15,0.005,16386,0.000,0.000,113,2518,2590,2590,2590,0,0,0,0,0,0,14.81,28.83,14.84
$GC,88,-0.67,-97.3,113,2518,2592,2590,4.6,-12.1,15,119,9.20,2.47,-14.68,0.009,18692,0.347,0.104,2094,3889,3368,3384,3352,0,0,0,0,0,0,13.88,12.59,14.33
$GC,191,-0.67,-97.3,2094,3889,3384,3352,38.9,-28.3,35,195,0.00,2.28,0.00,0.000,1030,0.000,0.035,2094,2498,3367,3383,3352,0,0,0,0,0,0,14.45,14.38,14.47
$GC,377,-0.67,-97.3,2094,2497,3384,3352,95.4,-22.5,57,381,0.00,2.47,0.00,0.000,260,0.000,0.077,2084,3886,3368,3384,3352,0,0,0,0,0,0,14.95,14.10,14.97
$GC,404,-0.67,-97.3,2083,3886,3384,3352,99.9,-16.3,62,409,0.00,2.28,0.00,0.000,1030,0.000,0.031,2083,2473,3368,3384,3352,0,0,0,0,0,0,14.46,14.40,14.49
$GC,590,-0.67,-97.3,2083,2472,3384,3352,127.1,-14.3,81,594,0.00,2.53,0.00,0.000,260,0.000,0.077,2073,3886,3368,3384,3352,0,0,0,0,0,0,14.96,14.09,14.98
$GC,717,-0.67,-97.3,2072,3886,3384,3352,147.5,-15.9,106,722,0.15,2.25,0.00,0.000,3078,0.225,0.031,2106,2491,3368,3384,3352,0,0,0,0,0,0,13.92,14.39,14.14
$GC,903,-0.67,-97.3,2106,2490,3384,3352,170.3,-11.2,125,907,0.00,2.50,0.00,0.000,260,0.000,0.078,2097,3890,3368,3384,3352,0,0,0,0,0,0,14.97,14.07,15.00
$GC,990,-0.67,-97.3,2096,3890,3384,3352,180.5,-11.7,142,994,0.00,2.25,0.00,0.000,1030,0.000,0.030,2097,2490,3368,3384,3352,0,0,0,0,0,0,14.46,14.40,14.48
$GC,1176,-0.67,-97.3,2096,2489,3384,3352,202.4,-12.1,161,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2489,3368,3384,3352,0,0,0,0,0,0,14.98,15.01,15.01
$GC,1365,-0.67,-97.3,2096,2489,3384,3352,224.3,-11.8,180,1371,0.00,2.50,0.00,0.000,260,0.000,0.080,2086,3890,3367,3383,3352,0,0,0,0,0,0,15.00,14.04,15.02
$GC,1405,-0.67,-97.3,2086,3890,3382,3352,229.2,-12.4,188,1409,0.00,2.25,0.00,0.000,1030,0.000,0.031,2086,2495,3367,3382,3352,0,0,0,0,0,0,14.45,14.39,14.47
$GC,1598,-0.67,-97.3,2085,2494,3380,3352,253.9,-13.0,207,1602,0.00,2.30,0.00,0.000,516,0.000,0.044,2086,1113,3366,3380,3352,0,0,0,0,0,0,15.00,14.23,15.02
$GC,1634,-0.67,-97.3,2085,1113,3379,3352,258.8,-12.9,214,1640,0.15,2.40,0.00,0.000,3078,0.201,0.055,2110,2494,3365,3379,3352,0,0,0,0,0,0,13.92,14.18,14.12
$GC,1941,-0.67,-97.3,2110,2494,3376,3352,291.8,-10.9,230,1946,0.00,2.50,0.00,0.000,260,0.000,0.081,2101,3893,3363,3376,3351,0,0,0,0,0,0,15.00,13.99,15.02
$GC,1993,-0.67,-97.3,2101,3893,3375,3352,298.0,-11.4,240,1998,0.00,2.28,0.00,0.000,1030,0.000,0.032,2101,2495,3364,3376,3352,0,0,0,0,0,0,14.42,14.35,14.45
$GC,2305,-0.67,-97.3,2101,2494,3374,3348,332.9,-11.1,257,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2494,3361,3374,3348,0,0,0,0,0,0,15.01,15.04,15.04
$GC,2606,-0.67,-97.3,2101,2494,3372,3346,364.4,-10.4,272,2613,0.00,2.53,0.00,0.000,260,0.000,0.081,2090,3893,3359,3372,3346,0,0,0,0,0,0,15.00,13.95,15.02
$GC,2655,-0.67,-97.3,2089,3893,3371,3346,369.8,-10.5,282,2660,0.00,2.28,0.00,0.000,1030,0.000,0.032,2090,2503,3358,3371,3346,0,0,0,0,0,0,14.39,14.33,14.42
$GC,2969,-0.67,-97.3,2089,2502,3370,3343,403.6,-11.1,299,2975,0.00,2.50,0.00,0.000,260,0.000,0.081,2079,3894,3356,3370,3343,0,0,0,0,0,0,14.99,13.91,15.02
$GC,3017,-0.67,-97.3,2079,3894,3369,3343,409.5,-11.9,309,3025,0.12,2.30,0.00,0.000,3078,0.205,0.033,2107,2491,3356,3369,3343,0,0,0,0,0,0,13.95,14.31,14.13
$GC,3328,-0.67,-97.3,2107,2490,3367,3340,441.8,-10.3,326,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2490,3353,3367,3340,0,0,0,0,0,0,15.01,15.04,15.04
$GC,3629,-0.67,-97.3,2107,2490,3366,3339,472.7,-10.3,341,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2490,3352,3366,3339,0,0,0,0,0,0,15.00,15.03,15.02
$GC,3928,-0.67,-97.3,2107,2490,3364,3337,504.0,-10.6,356,3932,0.00,2.55,0.00,0.000,260,0.000,0.083,2098,3890,3350,3364,3337,0,0,0,0,0,0,15.01,13.89,15.04
$GC,3989,-0.67,-97.3,2098,3890,3363,3337,510.6,-10.6,368,3993,0.00,2.30,0.00,0.000,1030,0.000,0.034,2098,2500,3350,3363,3337,0,0,0,0,0,0,14.33,14.27,14.36
$GC,4312,-0.67,-97.3,2098,2497,3362,3335,543.8,-9.9,387,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2497,3348,3362,3335,0,0,0,0,0,0,15.00,15.02,15.02
$GC,4611,-0.67,-97.3,2097,2497,3361,3334,574.0,-10.2,402,4616,0.00,2.58,0.00,0.000,260,0.000,0.083,2087,3898,3347,3361,3333,0,0,0,0,0,0,15.01,13.86,15.03
$GC,4639,-0.67,-97.3,2086,3898,3361,3334,576.9,-11.5,407,4643,0.00,2.33,0.00,0.000,1030,0.000,0.034,2087,2501,3347,3361,3334,0,0,0,0,0,0,14.31,14.24,14.34
$GC,4956,-0.67,-97.3,2086,2499,3360,3332,613.1,-11.6,425,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2499,3346,3360,3332,0,0,0,0,0,0,14.99,15.02,15.02
$GC,5255,-0.67,-97.3,2086,2498,3357,3331,646.0,-10.6,440,5261,0.00,2.55,0.00,0.000,260,0.000,0.083,2076,3890,3344,3357,3331,0,0,0,0,0,0,15.00,13.84,15.03
$GC,5292,-0.67,-97.3,2076,3890,3356,3331,649.8,-11.2,447,5299,0.15,2.33,0.00,0.000,3078,0.195,0.034,2112,2500,3344,3357,3331,0,0,0,0,0,0,13.82,14.20,14.01
$GC,5617,-0.67,-97.3,2111,2499,3356,3330,678.6,-8.9,467,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3343,3356,3330,0,0,0,0,0,0,15.00,15.03,15.03
$GC,5916,-0.67,-97.3,2111,2499,3356,3329,706.5,-9.4,482,5921,0.00,2.58,0.00,0.000,260,0.000,0.085,2103,3891,3342,3355,3329,0,0,0,0,0,0,15.00,13.83,15.03
$GC,5975,-0.67,-97.3,2103,3892,3355,3328,712.2,-10.0,493,5982,0.00,2.35,0.00,0.000,1030,0.000,0.035,2103,2493,3341,3355,3328,0,0,0,0,0,0,14.25,14.18,14.27
$GC,6299,-0.67,-97.3,2103,2492,3354,3327,744.1,-9.6,513,6304,0.00,2.40,0.00,0.000,516,0.000,0.049,2103,1109,3340,3354,3327,0,0,0,0,0,0,15.00,13.98,15.03
$GC,6347,-0.67,-97.3,2102,1109,3353,3327,748.6,-9.7,522,6353,0.00,2.50,0.00,0.000,1030,0.000,0.057,2092,2499,3340,3353,3327,0,0,0,0,0,0,14.12,13.99,14.16
$GC,6665,-0.67,-97.3,2091,2499,3352,3326,781.5,-10.3,540,6671,0.00,2.55,0.00,0.000,260,0.000,0.084,2081,3891,3339,3353,3326,0,0,0,0,0,0,15.00,13.82,15.02
$GC,6730,-0.67,-97.3,2081,3891,3352,3326,788.6,-10.9,553,6735,0.12,2.35,0.00,0.000,3078,0.202,0.035,2109,2493,3339,3352,3326,0,0,0,0,0,0,13.81,14.14,13.98
$GC,7049,-0.67,-97.3,2109,2492,3352,3325,818.3,-9.2,571,7056,0.00,2.40,0.00,0.000,516,0.000,0.048,2109,1109,3338,3351,3325,0,0,0,0,0,0,14.98,13.95,15.00
$GC,7083,-0.67,-97.3,2109,1109,3350,3325,821.6,-9.5,578,7088,0.00,2.50,0.00,0.000,1030,0.000,0.057,2100,2506,3338,3351,3325,0,0,0,0,0,0,14.12,13.99,14.16
$GC,7389,-0.67,-97.3,2099,2507,3351,3323,849.2,-8.8,594,7394,0.00,2.55,0.00,0.000,260,0.000,0.085,2089,3896,3337,3351,3323,0,0,0,0,0,0,14.97,13.83,15.00
$GC,7426,-0.67,-97.3,2088,3896,3350,3323,852.7,-9.2,601,7434,0.00,2.35,0.00,0.000,1030,0.000,0.036,2089,2502,3336,3351,3322,0,0,0,0,0,0,14.21,14.14,14.24
$GC,7751,-0.67,-97.3,2088,2502,3350,3322,881.0,-8.7,621,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3336,3350,3322,0,0,0,0,0,0,14.99,15.02,15.02
$GC,8053,-0.67,-97.3,2089,2502,3348,3321,906.5,-8.5,636,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3334,3348,3321,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8352,-0.67,-97.3,2088,2502,3348,3321,933.5,-9.1,651,8358,0.00,2.60,0.00,0.000,260,0.000,0.085,2078,3897,3334,3348,3321,0,0,0,0,0,0,14.99,13.80,15.02
$GC,8396,-0.67,-97.3,2078,3897,3347,3321,937.9,-9.8,660,8404,0.12,2.38,0.00,0.000,3078,0.200,0.037,2106,2496,3334,3347,3321,0,0,0,0,0,0,13.76,14.09,13.93
$GC,8713,-0.67,-97.3,2107,2494,3347,3320,964.4,-8.5,678,8718,0.00,2.45,0.00,0.000,516,0.000,0.050,2106,1103,3333,3347,3320,0,0,0,0,0,0,14.97,13.89,15.00
$GC,8741,-0.67,-97.3,2106,1103,3347,3320,966.9,-8.9,683,8747,0.00,2.50,0.00,0.000,1030,0.000,0.058,2097,2498,3333,3347,3320,0,0,0,0,0,0,13.93,13.85,13.98
$STATE,9016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9016,begin apogee
$GC,9025,-0.15,0.0,2097,2498,3346,3320,991.6,-8.8,699,9121,0.68,0.00,92.62,1.985,10246,0.163,0.000,2279,2498,2968,3000,2936,0,0,0,0,0,0,13.71,14.00,12.78
$STATE,9122,end apogee,CONTROL_FINISHED_OK
$STATE,9122,begin climb
$GC,9126,0.67,97.3,2279,2498,2999,2936,994.3,0.0,704,9238,0.85,2.45,104.85,1.955,10500,0.090,0.079,2554,3854,2570,2600,2540,0,0,0,0,0,0,14.00,13.63,12.71
$GC,9283,0.71,97.3,2554,3854,2593,2539,992.3,6.4,724,9289,0.00,2.38,0.00,0.000,1094,0.000,0.035,2565,2439,2566,2593,2539,0,0,0,0,0,0,14.28,14.22,14.30
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$STATE,20615,end climb,SURFACE_DEPTH_REACHED
$STATE,20615,begin surface coast
$STATE,20624,end surface coast,CONTROL_FINISHED_OK
$STATE,20624,begin surface
$SM_CCo,20648,72.97,0.532,1,0,928,500.17
$SM_GC,1.23,7.55,2.58,72.97,0.044,0.054,0.532,124,2497,928,-6.79,-0.99,500.17,0,0,0,0,1,0,14.41,14.22,13.66
$IRIDIUM_FIX,534.81,7808.69,270120,144647
$TT8_MAMPS,0.019474,0.158788
$HUMID,51.26
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,12.59,255.843
$10V_AH,13.18,0.000
$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,20.225,218.975,514.100,72.975,0.000,0.000,0.000,221.250,0.000,0.000,15.418,1567.646,15392.756,747.715,2803.354,582.054,0.000,2449.704,0.000,2559.912,0.000,0.541,0.000
$DEVICE_MAMPS,346.545,104.040,1985.175,532.440,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,886.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249708
$DATA_FILE_SIZE,79955,1801
$CAP_FILE_SIZE,198287,0
$CFSIZE,260034560,116383744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.079,336.82,1
$GPS,280120,021753,541.411,8017.000,31,0.8,31,-2.1,1.1,251.2,12,4.2