version: 66.13
glider: 171
mission: 11
dive: 774
start: 1 28 120 14 0 13
data:
$ID,171
$MISSION,11
$DIVE,774
$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,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
$GPS1,280120,135300,545.6828,8015.4551,22,0.9,22,-2.1,0.5,271.9,8,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-74.5
$GPS2,280120,135919,545.6902,8015.3774,2,0.8,2,-2.1,0.6,263.6,12,10.0
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,303.2,902,-20.9,-8.049,-30.00,1687
$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,-0.70,-89.6,118,2506,971,881,0.0,0.0,0,84,0.00,0.00,-71.60,0.005,16386,0.000,0.000,118,2506,2653,2653,2653,0,0,0,0,0,0,14.81,28.83,14.83
$GC,89,-0.70,-89.6,118,2506,2654,2653,5.4,-14.8,15,117,9.15,2.35,-12.52,0.010,19204,0.347,0.061,2095,1096,3335,3352,3319,0,0,0,0,0,0,13.88,13.33,14.32
$GC,286,-0.70,-89.6,2095,1095,3352,3320,69.8,-28.9,54,291,0.00,2.47,0.00,0.000,1030,0.000,0.068,2086,2495,3335,3352,3319,0,0,0,0,0,0,14.30,14.15,14.35
$GC,480,-0.70,-89.6,2085,2494,3352,3320,108.6,-19.2,74,485,0.00,2.47,0.00,0.000,260,0.000,0.079,2075,3905,3335,3352,3319,0,0,0,0,0,0,14.95,14.11,14.97
$GC,712,-0.70,-89.6,2075,3904,3352,3320,147.7,-15.5,120,717,0.00,2.30,0.00,0.000,1030,0.000,0.031,2075,2486,3336,3352,3320,0,0,0,0,0,0,14.45,14.38,14.47
$GC,905,-0.70,-89.6,2075,2485,3352,3320,176.7,-15.2,140,912,0.00,2.55,0.00,0.000,260,0.000,0.091,2065,3899,3336,3352,3320,0,0,0,0,0,0,14.97,13.95,15.00
$GC,984,-0.70,-89.6,2064,3899,3352,3319,190.2,-16.3,156,989,0.15,2.28,0.00,0.000,3078,0.226,0.032,2098,2491,3335,3352,3319,0,0,0,0,0,0,13.92,14.38,14.14
$GC,1180,-0.70,-89.6,2098,2490,3352,3319,213.6,-10.8,176,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2490,3335,3352,3319,0,0,0,0,0,0,14.97,15.00,14.99
$GC,1366,-0.70,-89.6,2098,2490,3351,3319,234.2,-11.7,195,1373,0.00,2.53,0.00,0.000,260,0.000,0.082,2088,3899,3334,3350,3319,0,0,0,0,0,0,15.00,14.04,15.02
$GC,1507,-0.70,-89.6,2088,3899,3348,3319,251.7,-12.4,223,1511,0.00,2.28,0.00,0.000,1030,0.000,0.032,2088,2498,3333,3348,3319,0,0,0,0,0,0,14.43,14.36,14.45
$GC,1829,-0.70,-89.6,2088,2497,3344,3319,290.7,-12.4,242,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2497,3332,3345,3319,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2129,-0.70,-89.6,2088,2497,3343,3316,328.6,-12.3,257,2136,0.00,2.55,0.00,0.000,260,0.000,0.083,2078,3905,3329,3343,3316,0,0,0,0,0,0,15.02,13.97,15.04
$GC,2205,-0.70,-89.6,2077,3904,3342,3315,338.3,-12.9,272,2209,0.00,2.33,0.00,0.000,1030,0.000,0.034,2078,2494,3328,3342,3315,0,0,0,0,0,0,14.39,14.32,14.41
$GC,2509,-0.70,-89.6,2077,2492,3341,3313,376.3,-11.9,288,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2492,3327,3341,3313,0,0,0,0,0,0,15.01,15.04,15.04
$GC,2811,-0.70,-89.6,2077,2492,3338,3310,412.6,-12.8,303,2815,0.00,2.58,0.00,0.000,260,0.000,0.083,2067,3899,3324,3338,3310,0,0,0,0,0,0,15.00,13.94,15.02
$GC,2842,-0.70,-89.6,2066,3899,3338,3310,417.2,-14.7,309,2850,0.15,2.30,0.00,0.000,3078,0.203,0.034,2101,2500,3323,3337,3310,0,0,0,0,0,0,13.90,14.31,14.10
$GC,3152,-0.70,-89.6,2101,2498,3336,3308,455.0,-12.4,326,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2498,3322,3336,3308,0,0,0,0,0,0,15.02,15.04,15.04
$GC,3454,-0.70,-89.6,2101,2498,3334,3305,489.8,-10.7,341,3461,0.00,2.55,0.00,0.000,260,0.000,0.084,2092,3904,3319,3334,3305,0,0,0,0,0,0,15.00,13.88,15.02
$GC,3513,-0.70,-89.6,2091,3904,3333,3305,496.4,-10.7,353,3518,0.00,2.35,0.00,0.000,1030,0.000,0.034,2091,2500,3319,3333,3305,0,0,0,0,0,0,14.33,14.26,14.36
$GC,3835,-0.70,-89.6,2091,2498,3332,3303,529.6,-10.3,372,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3317,3332,3303,0,0,0,0,0,0,15.00,15.03,15.03
$GC,4135,-0.70,-89.6,2091,2498,3330,3301,560.7,-10.5,387,4142,0.00,2.58,0.00,0.000,260,0.000,0.085,2081,3912,3315,3330,3301,0,0,0,0,0,0,15.00,13.85,15.02
$GC,4170,-0.70,-89.6,2081,3912,3329,3301,564.5,-11.1,394,4175,0.00,2.35,0.00,0.000,1030,0.000,0.035,2081,2503,3315,3330,3301,0,0,0,0,0,0,14.31,14.23,14.34
$GC,4476,-0.70,-89.6,2081,2501,3328,3299,597.9,-11.1,410,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2501,3313,3328,3299,0,0,0,0,0,0,14.99,15.02,15.02
$GC,4775,-0.70,-89.6,2081,2501,3326,3297,631.5,-11.0,425,4779,0.00,2.58,0.00,0.000,260,0.000,0.086,2070,3897,3311,3326,3297,0,0,0,0,0,0,15.00,13.86,15.03
$GC,4823,-0.70,-89.6,2070,3897,3326,3297,636.8,-11.3,434,4829,0.12,2.35,0.00,0.000,3078,0.206,0.035,2098,2490,3311,3326,3297,0,0,0,0,0,0,13.86,14.21,14.04
$GC,5143,-0.70,-89.6,2098,2489,3325,3296,667.7,-9.8,452,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2488,3310,3325,3296,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5442,-0.70,-89.6,2098,2488,3324,3295,696.8,-9.3,467,5449,0.00,2.58,0.00,0.000,260,0.000,0.085,2089,3895,3309,3324,3294,0,0,0,0,0,0,15.00,13.78,15.02
$GC,5471,-0.70,-89.6,2088,3894,3324,3294,699.8,-10.6,473,5475,0.00,2.33,0.00,0.000,1030,0.000,0.035,2088,2502,3309,3324,3294,0,0,0,0,0,0,14.26,14.19,14.29
$GC,5786,-0.70,-89.6,2088,2500,3322,3293,731.3,-10.6,490,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3308,3323,3293,0,0,0,0,0,0,14.97,15.00,15.00
$GC,6083,-0.70,-89.6,2088,2500,3321,3292,760.7,-9.3,505,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3307,3322,3292,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6384,-0.70,-89.6,2088,2500,3321,3290,788.4,-9.4,520,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3305,3321,3290,0,0,0,0,0,0,14.99,15.02,15.01
$GC,6683,-0.70,-89.6,2088,2500,3319,3289,817.0,-9.5,535,6690,0.00,2.58,0.00,0.000,260,0.000,0.086,2078,3898,3304,3319,3289,0,0,0,0,0,0,15.00,13.78,15.02
$GC,6759,-0.70,-89.6,2078,3897,3318,3289,824.6,-10.1,550,6764,0.00,2.38,0.00,0.000,1030,0.000,0.036,2078,2497,3303,3318,3289,0,0,0,0,0,0,14.21,14.13,14.24
$GC,7064,-0.70,-89.6,2078,2495,3318,3289,856.1,-10.2,566,7069,0.00,2.60,0.00,0.000,260,0.000,0.086,2067,3896,3302,3317,3288,0,0,0,0,0,0,14.98,13.82,15.00
$GC,7101,-0.70,-89.6,2066,3896,3317,3288,860.4,-11.3,573,7109,0.12,2.38,0.00,0.000,3078,0.207,0.036,2096,2493,3302,3317,3288,0,0,0,0,0,0,13.77,14.13,13.96
$GC,7431,-0.70,-89.6,2096,2493,3317,3288,892.3,-9.7,593,7435,0.00,2.42,0.00,0.000,516,0.000,0.050,2096,1107,3302,3317,3287,0,0,0,0,0,0,14.95,13.93,14.98
$GC,7457,-0.70,-89.6,2096,1105,3317,3287,895.3,-10.1,598,7462,0.00,2.55,0.00,0.000,1030,0.000,0.057,2087,2511,3302,3317,3287,0,0,0,0,0,0,14.10,13.97,14.15
$GC,7775,-0.70,-89.6,2086,2511,3316,3287,925.6,-9.6,616,7781,0.00,2.55,0.00,0.000,260,0.000,0.086,2076,3893,3301,3316,3287,0,0,0,0,0,0,14.99,13.83,15.01
$GC,7852,-0.70,-89.6,2075,3893,3315,3287,933.4,-10.5,631,7856,0.00,2.38,0.00,0.000,1030,0.000,0.037,2076,2494,3301,3316,3287,0,0,0,0,0,0,14.19,14.11,14.22
$GC,8155,-0.70,-89.6,2076,2493,3314,3286,965.8,-10.4,647,8159,0.00,2.42,0.00,0.000,516,0.000,0.049,2076,1108,3300,3314,3286,0,0,0,0,0,0,14.98,13.91,15.01
$GC,8186,-0.70,-89.6,2075,1105,3313,3286,969.1,-10.3,653,8195,0.15,2.53,0.00,0.000,3078,0.198,0.058,2099,2508,3299,3313,3286,0,0,0,0,0,0,13.71,13.94,13.94
$STATE,8434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8434,begin apogee
$GC,8443,-0.15,0.0,2100,2440,3313,3285,990.3,-8.1,667,8534,0.65,0.00,84.35,1.982,10246,0.160,0.000,2278,2439,2968,3001,2935,0,0,0,0,0,0,13.69,14.01,12.78
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8539,0.70,89.6,2278,2439,3000,2935,992.4,0.0,672,8645,0.88,2.50,97.18,1.950,10756,0.090,0.050,2575,1043,2601,2632,2570,0,0,0,0,0,0,13.98,13.95,12.73
$GC,8687,0.74,89.6,2574,1043,2627,2568,989.5,6.2,701,8694,0.00,2.47,0.00,0.000,1094,0.000,0.054,2575,2445,2597,2627,2568,0,0,0,0,0,0,14.23,14.13,14.27
$GC,9002,0.75,89.6,2574,2445,2622,2565,964.9,7.5,719,9007,0.00,2.53,0.00,0.000,324,0.000,0.082,2574,3852,2593,2622,2564,0,0,0,0,0,0,14.86,14.27,14.89
$GC,9075,0.75,89.6,2574,3852,2620,2565,959.0,8.1,733,9079,0.00,2.35,0.00,0.000,1030,0.000,0.036,2587,2439,2592,2620,2564,0,0,0,0,0,0,14.47,14.41,14.51
$GC,9387,0.79,124.1,2586,2438,2619,2563,938.8,5.9,750,9430,0.00,2.47,33.92,1.878,8740,0.000,0.052,2598,1039,2460,2495,2426,0,0,0,0,0,0,14.93,14.28,13.01
$GC,9512,0.79,124.1,2598,1039,2491,2424,930.3,8.2,774,9517,0.00,2.45,0.00,0.000,1030,0.000,0.053,2598,2439,2457,2491,2424,0,0,0,0,0,0,14.40,14.29,14.43
$GC,9836,0.79,124.1,2598,2439,2489,2422,900.6,9.8,793,9840,0.00,2.42,0.00,0.000,516,0.000,0.050,2610,1043,2455,2489,2422,0,0,0,0,0,0,14.90,14.28,14.92
$GC,9872,0.79,124.1,2610,1040,2487,2422,896.7,10.4,800,9878,0.00,2.45,0.00,0.000,1030,0.000,0.052,2610,2439,2454,2487,2422,0,0,0,0,0,0,14.40,14.28,14.45
$GC,10198,0.79,124.1,2610,2439,2487,2421,862.5,10.5,820,10202,0.00,2.42,0.00,0.000,516,0.000,0.050,2622,1044,2454,2487,2421,0,0,0,0,0,0,14.92,14.24,14.95
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$STATE,20291,end climb,SURFACE_DEPTH_REACHED
$STATE,20291,begin surface coast
$STATE,20312,end surface coast,CONTROL_FINISHED_OK
$STATE,20312,begin surface
$SM_CCo,20333,94.85,0.581,1,0,929,500.17
$SM_GC,1.28,7.62,0.10,94.85,0.049,0.152,0.581,124,2512,929,-6.77,-0.90,500.17,0,0,0,0,1,0,14.42,14.47,13.64
$IRIDIUM_FIX,541.51,8016.22,280120,080707
$TT8_MAMPS,0.018725,0.158039
$HUMID,50.19
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,12.73,256.732
$10V_AH,12.73,0.000
$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,20.125,210.750,481.225,94.850,0.000,0.000,0.000,226.325,0.000,0.000,13.878,1639.148,15013.627,719.773,2843.198,593.828,0.000,2428.547,0.000,2596.936,0.000,0.541,0.000
$DEVICE_MAMPS,347.310,152.235,1982.115,580.635,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,874.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,79901,1827
$CAP_FILE_SIZE,197638,0
$CFSIZE,260034560,116105216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.095,293.38,1
$GPS,280120,194200,547.056,8013.268,29,0.7,29,-2.1,0.3,297.8,10,3.2