version: 66.13
glider: 171
mission: 11
dive: 776
start: 1 29 120 1 47 50
data:
$ID,171
$MISSION,11
$DIVE,776
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,290120,014038,546.1791,8014.7783,20,1.1,20,-2.1,0.7,267.6,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.2
$GPS2,290120,014655,546.1805,8014.6958,2,0.7,3,-2.1,0.8,284.5,12,4.4
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,127.3,653,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.70,-89.6,122,2506,977,877,0.0,0.0,0,83,0.00,0.00,-70.90,0.005,16386,0.000,0.000,122,2507,2582,2582,2582,0,0,0,0,0,0,14.79,28.83,14.82
$GC,88,-0.70,-89.6,121,2507,2583,2582,4.6,-12.1,15,119,9.15,2.42,-14.23,0.009,18948,0.347,0.070,2094,1112,3336,3353,3320,0,0,0,0,0,0,13.87,12.57,14.31
$GC,153,-0.70,-89.6,2094,1112,3353,3320,29.1,-33.2,28,159,0.00,2.45,0.00,0.000,1030,0.000,0.067,2085,2499,3336,3353,3320,0,0,0,0,0,0,14.35,14.21,14.39
$GC,344,-0.70,-89.6,2085,2499,3353,3320,91.2,-24.8,53,352,0.00,2.47,0.00,0.000,260,0.000,0.083,2075,3900,3336,3353,3320,0,0,0,0,0,0,14.90,14.07,14.92
$GC,369,-0.70,-89.6,2074,3900,3353,3320,96.7,-20.3,58,374,0.00,2.28,0.00,0.000,1030,0.000,0.031,2074,2498,3336,3353,3320,0,0,0,0,0,0,14.43,14.37,14.45
$GC,555,-0.70,-89.6,2074,2497,3353,3320,125.1,-13.5,77,563,0.00,2.53,0.00,0.000,260,0.000,0.084,2063,3900,3336,3353,3320,0,0,0,0,0,0,14.95,14.06,14.97
$GC,645,-0.70,-89.6,2063,3900,3353,3320,139.7,-15.4,95,653,0.15,2.28,0.00,0.000,3078,0.231,0.031,2096,2493,3336,3353,3320,0,0,0,0,0,0,13.85,14.35,14.09
$GC,837,-0.70,-89.6,2096,2492,3355,3320,165.4,-13.0,115,841,0.00,2.33,0.00,0.000,516,0.000,0.044,2097,1110,3337,3354,3320,0,0,0,0,0,0,14.96,14.21,14.99
$GC,924,-0.70,-89.6,2096,1110,3354,3320,175.6,-11.4,132,930,0.00,2.42,0.00,0.000,1030,0.000,0.056,2087,2507,3337,3354,3320,0,0,0,0,0,0,14.28,14.17,14.33
$GC,1120,-0.70,-89.6,2087,2507,3354,3320,200.6,-12.7,153,1127,0.00,2.45,0.00,0.000,260,0.000,0.078,2077,3894,3337,3354,3320,0,0,0,0,0,0,14.97,14.04,15.00
$GC,1175,-0.70,-89.6,2076,3894,3354,3319,207.9,-13.2,164,1179,0.00,2.28,0.00,0.000,1030,0.000,0.031,2076,2496,3337,3354,3320,0,0,0,0,0,0,14.41,14.35,14.43
$GC,1360,-0.70,-89.6,2076,2494,3353,3320,232.4,-13.8,183,1365,0.00,2.53,0.00,0.000,260,0.000,0.079,2066,3893,3336,3352,3320,0,0,0,0,0,0,14.98,14.02,15.00
$GC,1393,-0.70,-89.6,2065,3893,3352,3320,236.9,-14.4,189,1402,0.15,2.28,0.00,0.000,3078,0.212,0.031,2100,2492,3335,3352,3319,0,0,0,0,0,0,13.90,14.34,14.12
$GC,1582,-0.70,-89.6,2100,2491,3350,3319,259.7,-11.6,205,1590,0.00,2.53,0.00,0.000,260,0.000,0.082,2091,3894,3334,3350,3319,0,0,0,0,0,0,15.00,13.99,15.03
$GC,1635,-0.70,-89.6,2090,3894,3350,3319,265.4,-11.7,215,1640,0.00,2.28,0.00,0.000,1030,0.000,0.032,2090,2503,3334,3350,3319,0,0,0,0,0,0,14.38,14.33,14.42
$GC,1947,-0.70,-89.6,2090,2502,3346,3319,301.0,-11.1,232,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3333,3346,3320,0,0,0,0,0,0,15.00,15.03,15.02
$GC,2247,-0.70,-89.6,2090,2502,3344,3316,333.8,-11.1,247,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3330,3344,3316,0,0,0,0,0,0,15.00,15.03,15.02
$GC,2548,-0.70,-89.6,2090,2502,3342,3314,367.9,-11.7,262,2553,0.00,2.38,0.00,0.000,516,0.000,0.047,2091,1107,3328,3342,3314,0,0,0,0,0,0,14.99,14.12,15.02
$GC,2580,-0.70,-89.6,2090,1107,3342,3314,372.0,-11.7,268,2587,0.00,2.45,0.00,0.000,1030,0.000,0.057,2080,2498,3328,3342,3314,0,0,0,0,0,0,14.20,14.07,14.25
$GC,2891,-0.70,-89.6,2080,2498,3340,3312,411.1,-12.9,285,2895,0.00,2.53,0.00,0.000,260,0.000,0.082,2069,3893,3326,3341,3312,0,0,0,0,0,0,15.00,13.91,15.03
$GC,2949,-0.70,-89.6,2069,3893,3340,3312,418.4,-13.0,296,2957,0.12,2.33,0.00,0.000,3078,0.209,0.034,2097,2490,3325,3339,3312,0,0,0,0,0,0,13.89,14.26,14.07
$GC,3275,-0.70,-89.6,2097,2490,3338,3310,455.5,-11.0,316,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2490,3324,3338,3310,0,0,0,0,0,0,15.00,15.03,15.03
$GC,3576,-0.70,-89.6,2097,2490,3336,3308,488.8,-11.2,331,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2490,3322,3336,3308,0,0,0,0,0,0,14.99,15.02,15.01
$GC,3875,-0.70,-89.6,2097,2490,3334,3306,522.2,-11.3,346,3880,0.00,2.60,0.00,0.000,260,0.000,0.083,2087,3899,3320,3334,3306,0,0,0,0,0,0,15.00,13.87,15.02
$GC,3943,-0.70,-89.6,2087,3898,3334,3306,530.2,-11.9,359,3947,0.00,2.33,0.00,0.000,1030,0.000,0.034,2087,2502,3320,3334,3306,0,0,0,0,0,0,14.28,14.21,14.31
$GC,4259,-0.70,-89.6,2087,2501,3333,3304,566.5,-11.3,377,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2501,3318,3333,3304,0,0,0,0,0,0,15.00,15.04,15.03
$GC,4559,-0.70,-89.6,2087,2501,3331,3302,600.6,-11.3,392,4563,0.00,2.60,0.00,0.000,260,0.000,0.086,2077,3896,3316,3331,3302,0,0,0,0,0,0,15.00,13.85,15.03
$GC,4622,-0.70,-89.6,2076,3896,3331,3302,607.9,-11.9,404,4626,0.00,2.33,0.00,0.000,1030,0.000,0.035,2076,2502,3316,3331,3302,0,0,0,0,0,0,14.26,14.19,14.28
$GC,4944,-0.70,-89.6,2076,2500,3330,3301,645.0,-11.7,423,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2500,3315,3330,3301,0,0,0,0,0,0,14.99,15.02,15.02
$GC,5244,-0.70,-89.6,2076,2500,3328,3299,680.8,-11.9,438,5249,0.00,2.60,0.00,0.000,260,0.000,0.086,2066,3897,3313,3328,3299,0,0,0,0,0,0,15.00,13.85,15.02
$GC,5283,-0.70,-89.6,2065,3897,3328,3299,685.5,-12.5,445,5291,0.15,2.35,0.00,0.000,3078,0.201,0.035,2100,2499,3313,3328,3299,0,0,0,0,0,0,13.76,14.16,13.96
$GC,5608,-0.70,-89.6,2100,2498,3327,3297,717.8,-9.5,465,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3312,3326,3298,0,0,0,0,0,0,15.00,15.03,15.02
$GC,5910,-0.70,-89.6,2100,2498,3326,3297,745.6,-9.2,480,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2498,3311,3326,3297,0,0,0,0,0,0,14.99,15.02,15.01
$GC,6209,-0.70,-89.6,2100,2498,3325,3296,773.5,-9.5,495,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2498,3310,3325,3296,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6508,-0.70,-89.6,2100,2498,3324,3294,800.3,-8.6,510,6513,0.00,2.60,0.00,0.000,260,0.000,0.086,2091,3892,3309,3324,3294,0,0,0,0,0,0,15.00,13.84,15.02
$GC,6582,-0.70,-89.6,2090,3891,3323,3294,806.9,-9.3,524,6586,0.00,2.35,0.00,0.000,1030,0.000,0.036,2091,2499,3308,3323,3294,0,0,0,0,0,0,14.19,14.11,14.21
$GC,6893,-0.70,-89.6,2091,2497,3323,3293,834.8,-8.7,541,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2497,3308,3323,3293,0,0,0,0,0,0,14.99,15.02,15.02
$GC,7193,-0.70,-89.6,2090,2497,3322,3292,861.9,-9.1,556,7198,0.00,2.60,0.00,0.000,260,0.000,0.087,2080,3890,3307,3322,3292,0,0,0,0,0,0,14.99,13.85,15.02
$GC,7217,-0.70,-89.6,2080,3890,3321,3292,864.0,-9.6,560,7221,0.00,2.35,0.00,0.000,1030,0.000,0.036,2080,2502,3306,3321,3292,0,0,0,0,0,0,14.16,14.09,14.20
$GC,7539,-0.70,-89.6,2080,2500,3321,3290,896.4,-9.9,579,7545,0.00,2.58,0.00,0.000,260,0.000,0.086,2069,3890,3305,3321,3290,0,0,0,0,0,0,14.99,13.79,15.01
$GC,7583,-0.70,-89.6,2069,3890,3320,3290,901.1,-10.7,588,7590,0.12,2.38,0.00,0.000,3078,0.203,0.036,2097,2490,3305,3321,3290,0,0,0,0,0,0,13.74,14.09,13.92
$GC,7899,-0.70,-89.6,2097,2489,3320,3289,929.6,-8.6,606,7904,0.00,2.42,0.00,0.000,516,0.000,0.050,2097,1108,3304,3320,3289,0,0,0,0,0,0,14.97,13.88,15.00
$GC,7932,-0.70,-89.6,2097,1108,3319,3288,932.6,-8.9,612,7939,0.00,2.53,0.00,0.000,1030,0.000,0.059,2087,2505,3304,3319,3289,0,0,0,0,0,0,14.08,13.94,14.13
$GC,8243,-0.70,-89.6,2087,2505,3318,3289,962.2,-9.8,629,8248,0.00,2.58,0.00,0.000,260,0.000,0.087,2077,3893,3303,3318,3289,0,0,0,0,0,0,14.97,13.91,15.00
$GC,8275,-0.70,-89.6,2076,3894,3318,3289,965.6,-10.5,635,8279,0.00,2.38,0.00,0.000,1030,0.000,0.036,2077,2496,3303,3318,3289,0,0,0,0,0,0,14.15,14.07,14.18
$STATE,8503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8503,begin apogee
$GC,8511,-0.15,0.0,2077,2494,3318,3289,990.1,-10.5,648,8601,0.75,0.00,85.65,1.986,10246,0.171,0.000,2280,2493,2968,3001,2935,0,0,0,0,0,0,13.77,14.00,12.79
$STATE,8602,end apogee,CONTROL_FINISHED_OK
$STATE,8602,begin climb
$GC,8607,0.70,89.6,2280,2493,3000,2935,992.8,0.0,652,8709,0.88,0.00,98.15,1.963,10246,0.093,0.000,2566,2493,2602,2635,2570,0,0,0,0,0,0,13.93,13.89,12.69
$GC,9010,0.72,89.6,2565,2493,2622,2565,974.4,7.2,673,9014,0.00,2.50,0.00,0.000,580,0.000,0.051,2577,1046,2593,2622,2565,0,0,0,0,0,0,14.81,14.33,14.84
$GC,9066,0.74,89.6,2576,1046,2621,2564,970.5,7.0,683,9074,0.00,2.47,0.00,0.000,1094,0.000,0.063,2577,2447,2592,2621,2564,0,0,0,0,0,0,14.42,14.32,14.47
$GC,9372,0.74,89.6,2576,2447,2621,2563,947.0,7.9,700,9378,0.00,2.50,0.00,0.000,260,0.000,0.082,2577,3844,2591,2620,2563,0,0,0,0,0,0,14.92,14.19,14.95
$GC,9448,0.74,89.6,2576,3844,2619,2563,940.3,9.2,715,9452,0.00,2.35,0.00,0.000,1030,0.000,0.037,2587,2438,2591,2619,2563,0,0,0,0,0,0,14.45,14.37,14.47
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$STATE,20325,end climb,SURFACE_DEPTH_REACHED
$STATE,20325,begin surface coast
$STATE,20351,end surface coast,CONTROL_FINISHED_OK
$STATE,20351,begin surface
$SM_CCo,20373,113.93,0.606,1,0,929,500.17
$SM_GC,1.37,7.47,0.10,113.93,0.044,0.125,0.606,127,2550,929,-6.77,-0.79,500.17,0,0,0,0,1,0,14.40,14.56,13.63
$IRIDIUM_FIX,545.84,8016.22,280120,194443
$TT8_MAMPS,0.018725,0.159537
$HUMID,49.17
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,12.57,257.324
$10V_AH,12.82,0.000
$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,19.975,225.025,464.550,113.925,0.000,0.000,0.000,224.700,0.000,0.000,15.032,1623.228,15084.078,755.323,2802.194,600.989,0.000,2451.732,0.000,2559.958,0.000,0.540,0.000
$DEVICE_MAMPS,347.310,124.695,1985.940,605.880,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,880.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249680
$DATA_FILE_SIZE,79937,1801
$CAP_FILE_SIZE,201093,0
$CFSIZE,260034560,115916800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.013,82.76,1
$GPS,290120,073030,545.170,8016.057,23,0.6,23,-2.1,0.6,284.3,12,5.4