version: 66.13
glider: 171
mission: 11
dive: 778
start: 1 29 120 13 21 8
data:
$ID,171
$MISSION,11
$DIVE,778
$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,53
$R_STBD_OVSHOOT,47
$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
$GPS1,290120,131408,546.5726,8014.5273,21,1.0,21,-2.1,0.5,306.1,7,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.7
$GPS2,290120,132012,546.5856,8014.4409,2,0.8,3,-2.1,0.2,309.7,12,6.2
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,140.4,1496,-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,5,begin dive
$GC,9,-0.70,-89.6,106,2522,971,880,0.0,0.0,0,83,0.00,0.00,-71.55,0.005,16386,0.000,0.000,106,2522,2601,2601,2601,0,0,0,0,0,0,14.79,28.83,14.83
$GC,88,-0.70,-89.6,106,2522,2602,2601,4.6,-12.2,15,119,9.20,2.47,-14.00,0.009,18948,0.347,0.070,2095,1106,3336,3352,3320,0,0,0,0,0,0,13.88,12.56,14.31
$GC,191,-0.70,-89.6,2095,1106,3352,3320,38.9,-26.9,35,198,0.00,2.40,0.00,0.000,1030,0.000,0.058,2086,2485,3336,3352,3320,0,0,0,0,0,0,14.34,14.21,14.38
$GC,388,-0.70,-89.6,2086,2486,3352,3320,95.7,-18.3,58,393,0.00,2.50,0.00,0.000,260,0.000,0.079,2076,3902,3336,3352,3320,0,0,0,0,0,0,14.90,14.07,14.93
$GC,471,-0.70,-89.6,2075,3901,3352,3320,111.9,-18.8,74,477,0.00,2.30,0.00,0.000,1030,0.000,0.034,2075,2498,3336,3352,3320,0,0,0,0,0,0,14.40,14.33,14.43
$GC,664,-0.70,-89.6,2075,2496,3353,3320,143.9,-15.7,94,669,0.00,2.33,0.00,0.000,516,0.000,0.044,2076,1102,3336,3353,3320,0,0,0,0,0,0,14.97,14.22,14.99
$GC,716,-0.70,-89.6,2075,1102,3353,3320,151.2,-13.0,104,723,0.15,2.42,0.00,0.000,3078,0.230,0.054,2098,2508,3336,3353,3320,0,0,0,0,0,0,13.85,14.19,14.09
$GC,907,-0.70,-89.6,2097,2508,3353,3320,173.9,-11.9,124,914,0.00,2.45,0.00,0.000,260,0.000,0.080,2088,3893,3336,3353,3320,0,0,0,0,0,0,14.97,14.04,15.00
$GC,951,-0.70,-89.6,2088,3893,3353,3320,179.7,-13.2,133,955,0.00,2.28,0.00,0.000,1030,0.000,0.031,2088,2488,3336,3353,3319,0,0,0,0,0,0,14.43,14.37,14.45
$GC,1136,-0.70,-89.6,2088,2488,3353,3320,203.6,-13.0,152,1141,0.00,2.53,0.00,0.000,260,0.000,0.078,2078,3898,3336,3353,3320,0,0,0,0,0,0,14.99,14.02,15.02
$GC,1168,-0.70,-89.6,2077,3897,3353,3320,208.2,-14.4,158,1173,0.00,2.28,0.00,0.000,1030,0.000,0.031,2078,2492,3336,3353,3320,0,0,0,0,0,0,14.43,14.37,14.45
$GC,1360,-0.70,-89.6,2077,2490,3352,3320,234.0,-12.6,178,1365,0.00,2.50,0.00,0.000,260,0.000,0.078,2067,3891,3336,3352,3320,0,0,0,0,0,0,15.00,14.02,15.02
$GC,1399,-0.70,-89.6,2066,3891,3351,3320,239.1,-13.8,185,1407,0.15,2.28,0.00,0.000,3078,0.209,0.031,2102,2491,3336,3352,3320,0,0,0,0,0,0,13.92,14.35,14.12
$GC,1595,-0.70,-89.6,2101,2490,3350,3320,261.6,-11.2,201,1602,0.00,2.53,0.00,0.000,260,0.000,0.080,2092,3896,3334,3350,3319,0,0,0,0,0,0,15.00,13.98,15.03
$GC,1647,-0.70,-89.6,2092,3896,3349,3319,267.5,-11.8,211,1651,0.00,2.28,0.00,0.000,1030,0.000,0.031,2092,2500,3334,3349,3319,0,0,0,0,0,0,14.40,14.34,14.42
$GC,1958,-0.70,-89.6,2092,2498,3345,3319,305.9,-12.3,228,1962,0.00,2.38,0.00,0.000,516,0.000,0.046,2092,1107,3332,3345,3319,0,0,0,0,0,0,15.00,14.15,15.03
$GC,1985,-0.70,-89.6,2091,1107,3344,3319,309.3,-12.9,233,1992,0.00,2.42,0.00,0.000,1030,0.000,0.054,2082,2498,3331,3344,3319,0,0,0,0,0,0,14.25,14.13,14.29
$GC,2302,-0.70,-89.6,2082,2498,3343,3316,350.6,-12.7,251,2306,0.00,2.53,0.00,0.000,260,0.000,0.081,2071,3898,3329,3343,3316,0,0,0,0,0,0,14.99,13.94,15.02
$GC,2373,-0.70,-89.6,2070,3899,3342,3316,360.2,-13.3,265,2381,0.12,2.30,0.00,0.000,3078,0.207,0.033,2099,2497,3329,3342,3316,0,0,0,0,0,0,13.94,14.29,14.12
$GC,2685,-0.70,-89.6,2099,2496,3342,3313,396.1,-11.5,282,2690,0.00,2.38,0.00,0.000,516,0.000,0.046,2099,1110,3327,3341,3313,0,0,0,0,0,0,15.00,14.12,15.02
$GC,2738,-0.70,-89.6,2099,1110,3340,3313,402.4,-11.5,292,2745,0.00,2.45,0.00,0.000,1030,0.000,0.055,2090,2507,3326,3340,3313,0,0,0,0,0,0,14.21,14.08,14.26
$GC,3047,-0.70,-89.6,2089,2507,3338,3310,437.6,-10.8,309,3054,0.00,2.50,0.00,0.000,260,0.000,0.083,2079,3893,3324,3338,3310,0,0,0,0,0,0,15.01,13.90,15.04
$GC,3139,-0.70,-89.6,2079,3893,3337,3310,447.6,-11.0,327,3143,0.00,2.30,0.00,0.000,1030,0.000,0.033,2079,2500,3323,3337,3310,0,0,0,0,0,0,14.33,14.26,14.35
$GC,3450,-0.70,-89.6,2078,2498,3336,3308,482.3,-11.6,344,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2499,3322,3336,3308,0,0,0,0,0,0,15.01,15.04,15.03
$GC,3752,-0.70,-89.6,2079,2499,3334,3306,518.8,-12.3,359,3757,0.00,2.58,0.00,0.000,260,0.000,0.083,2068,3896,3320,3334,3306,0,0,0,0,0,0,14.99,13.87,15.02
$GC,3804,-0.70,-89.6,2068,3896,3333,3306,525.6,-12.8,369,3812,0.12,2.33,0.00,0.000,3078,0.207,0.034,2096,2495,3319,3333,3306,0,0,0,0,0,0,13.87,14.23,14.04
$GC,4114,-0.70,-89.6,2096,2494,3332,3304,559.7,-10.7,386,4119,0.00,2.58,0.00,0.000,260,0.000,0.083,2086,3897,3317,3332,3303,0,0,0,0,0,0,15.00,13.85,15.02
$GC,4152,-0.70,-89.6,2086,3898,3332,3303,563.9,-11.5,393,4157,0.00,2.33,0.00,0.000,1030,0.000,0.034,2086,2504,3317,3332,3303,0,0,0,0,0,0,14.28,14.21,14.31
$GC,4456,-0.70,-89.6,2086,2502,3331,3302,598.1,-11.1,409,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2502,3315,3330,3301,0,0,0,0,0,0,15.00,15.04,15.03
$GC,4756,-0.70,-89.6,2086,2502,3328,3300,630.4,-10.8,424,4761,0.00,2.55,0.00,0.000,260,0.000,0.084,2075,3890,3314,3328,3300,0,0,0,0,0,0,15.00,13.83,15.03
$GC,4799,-0.70,-89.6,2075,3890,3328,3300,635.2,-11.5,432,4804,0.00,2.35,0.00,0.000,1030,0.000,0.035,2075,2496,3314,3328,3300,0,0,0,0,0,0,14.25,14.18,14.28
$GC,5122,-0.70,-89.6,2075,2494,3327,3298,671.5,-11.2,451,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2494,3312,3327,3298,0,0,0,0,0,0,14.99,15.02,15.02
$GC,5421,-0.70,-89.6,2075,2494,3326,3297,703.7,-11.0,466,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2494,3311,3325,3297,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5722,-0.70,-89.6,2075,2494,3324,3297,736.4,-10.8,481,5730,0.00,2.55,0.00,0.000,260,0.000,0.083,2065,3884,3310,3324,3296,0,0,0,0,0,0,14.98,13.78,15.00
$GC,5802,-0.70,-89.6,2064,3884,3324,3296,745.7,-11.5,497,5810,0.15,2.33,0.00,0.000,3078,0.201,0.035,2098,2497,3310,3324,3296,0,0,0,0,0,0,13.74,14.14,13.93
$GC,6124,-0.70,-89.6,2099,2497,3323,3294,776.3,-9.6,516,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3308,3323,3294,0,0,0,0,0,0,14.98,15.01,15.01
$GC,6423,-0.70,-89.6,2099,2497,3322,3293,806.0,-9.9,531,6427,0.00,2.62,0.00,0.000,260,0.000,0.086,2090,3897,3307,3322,3293,0,0,0,0,0,0,15.00,13.82,15.02
$GC,6459,-0.70,-89.6,2089,3897,3322,3293,809.9,-10.5,538,6465,0.00,2.35,0.00,0.000,1030,0.000,0.035,2089,2503,3307,3322,3293,0,0,0,0,0,0,14.21,14.14,14.23
$GC,6766,-0.70,-89.6,2089,2502,3321,3292,842.5,-10.6,554,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2502,3306,3321,3291,0,0,0,0,0,0,14.98,15.01,15.00
$GC,7064,-0.70,-89.6,2089,2502,3320,3290,873.9,-10.2,569,7072,0.00,2.60,0.00,0.000,260,0.000,0.086,2079,3897,3304,3320,3289,0,0,0,0,0,0,15.00,13.80,15.02
$GC,7111,-0.70,-89.6,2078,3897,3320,3289,878.7,-11.0,578,7116,0.00,2.38,0.00,0.000,1030,0.000,0.036,2079,2496,3304,3320,3289,0,0,0,0,0,0,14.18,14.10,14.21
$GC,7428,-0.70,-89.6,2079,2494,3319,3289,911.3,-9.6,596,7432,0.00,2.45,0.00,0.000,516,0.000,0.050,2079,1106,3303,3318,3289,0,0,0,0,0,0,14.99,13.89,15.02
$GC,7455,-0.70,-89.6,2079,1106,3318,3289,913.9,-10.1,601,7463,0.15,2.50,0.00,0.000,3078,0.197,0.058,2102,2498,3303,3318,3289,0,0,0,0,0,0,13.74,13.95,13.95
$GC,7773,-0.70,-89.6,2102,2499,3318,3288,940.0,-8.4,619,7779,0.00,2.58,0.00,0.000,260,0.000,0.087,2093,3900,3303,3318,3288,0,0,0,0,0,0,14.96,13.83,14.99
$GC,7852,-0.70,-89.6,2092,3900,3317,3288,947.3,-9.3,635,7856,0.00,2.40,0.00,0.000,1030,0.000,0.036,2092,2491,3303,3318,3288,0,0,0,0,0,0,14.15,14.07,14.19
$GC,8175,-0.70,-89.6,2092,2490,3317,3288,977.9,-9.6,654,8180,0.00,2.62,0.00,0.000,260,0.000,0.085,2083,3900,3302,3317,3287,0,0,0,0,0,0,14.97,13.83,14.99
$GC,8203,-0.70,-89.6,2082,3900,3317,3287,980.9,-11.1,659,8207,0.00,2.38,0.00,0.000,1030,0.000,0.037,2082,2502,3302,3317,3287,0,0,0,0,0,0,14.14,14.07,14.18
$STATE,8296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8296,begin apogee
$GC,8305,-0.15,0.0,2083,2427,3316,3287,991.6,-11.0,666,8394,0.70,0.00,85.12,1.991,10246,0.168,0.000,2274,2427,2967,3000,2935,0,0,0,0,0,0,13.78,14.01,12.81
$STATE,8395,end apogee,CONTROL_FINISHED_OK
$STATE,8395,begin climb
$GC,8400,0.70,89.6,2274,2426,2999,2935,995.1,0.0,670,8503,0.88,0.00,98.35,1.956,10246,0.093,0.000,2562,2426,2602,2634,2570,0,0,0,0,0,0,13.92,13.90,12.73
$GC,8804,0.75,134.6,2562,2426,2622,2566,983.0,5.3,691,8857,0.00,2.45,45.67,1.917,8740,0.000,0.053,2573,1058,2418,2455,2381,0,0,0,0,0,0,14.81,14.15,12.90
$GC,8877,0.77,134.6,2573,1058,2452,2380,978.5,7.0,700,8884,0.00,2.45,0.00,0.000,1094,0.000,0.054,2573,2445,2416,2452,2380,0,0,0,0,0,0,14.28,14.17,14.31
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$STATE,19822,end climb,SURFACE_DEPTH_REACHED
$STATE,19822,begin surface coast
$STATE,19842,end surface coast,CONTROL_FINISHED_OK
$STATE,19842,begin surface
$SM_CCo,19865,122.35,0.614,1,0,928,500.17
$SM_GC,1.32,7.50,2.58,122.35,0.056,0.052,0.614,128,2503,928,-6.77,-0.82,500.17,0,0,0,0,1,0,14.45,14.27,13.62
$IRIDIUM_FIX,545.87,8018.36,290120,073325
$TT8_MAMPS,0.019474,0.158039
$HUMID,48.81
$INTERNAL_PRESSURE,9.56589
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,12.56,257.911
$10V_AH,12.74,0.000
$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
$DEVICE_SECS,20.025,209.775,460.225,122.350,0.000,0.000,0.000,214.375,0.000,0.000,15.049,1587.510,14708.181,762.556,2706.354,595.337,0.000,2390.350,0.000,2480.709,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,871.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249636
$DATA_FILE_SIZE,76601,1745
$CAP_FILE_SIZE,194168,0
$CFSIZE,260034560,115748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.023,252.27,1
$GPS,290120,185530,545.258,8015.197,20,0.8,20,-2.1,1.1,245.6,8,3.5