version: 66.13
glider: 171
mission: 11
dive: 775
start: 1 28 120 19 49 15
data:
$ID,171
$MISSION,11
$DIVE,775
$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,64
$R_STBD_OVSHOOT,41
$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
$GPS1,280120,194200,547.0559,8013.2676,29,0.7,29,-2.1,0.3,297.8,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.4
$GPS2,280120,194823,547.0573,8013.2256,2,0.6,2,-2.1,0.2,248.3,12,6.8
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,118.1,3811,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,112,2513,971,880,0.0,0.0,0,84,0.00,0.00,-71.53,0.005,16386,0.000,0.000,112,2514,2636,2637,2635,0,0,0,0,0,0,14.80,28.83,14.83
$GC,89,-0.67,-97.3,112,2514,2638,2635,5.3,-14.9,15,119,9.32,2.40,-13.30,0.009,18948,0.351,0.060,2103,1105,3367,3382,3353,0,0,0,0,0,0,13.87,12.58,14.32
$GC,153,-0.67,-97.3,2102,1104,3383,3353,28.4,-28.7,28,160,0.00,2.40,0.00,0.000,1030,0.000,0.060,2094,2484,3368,3383,3353,0,0,0,0,0,0,14.38,14.26,14.42
$GC,350,-0.67,-97.3,2093,2484,3383,3353,91.8,-25.4,54,355,0.00,2.50,0.00,0.000,260,0.000,0.080,2083,3902,3368,3383,3353,0,0,0,0,0,0,14.91,14.09,14.94
$GC,569,-0.67,-97.3,2083,3902,3383,3353,129.9,-15.3,97,573,0.00,2.28,0.00,0.000,1030,0.000,0.032,2083,2507,3368,3383,3353,0,0,0,0,0,0,14.42,14.35,14.45
$GC,754,-0.67,-97.3,2083,2505,3383,3353,158.6,-15.9,116,760,0.00,2.45,0.00,0.000,260,0.000,0.074,2072,3894,3368,3383,3353,0,0,0,0,0,0,14.97,14.09,15.00
$GC,771,-0.67,-97.3,2072,3894,3384,3353,161.0,-16.4,119,778,0.15,2.28,0.00,0.000,3078,0.220,0.031,2106,2492,3368,3383,3353,0,0,0,0,0,0,13.93,14.38,14.15
$GC,968,-0.67,-97.3,2106,2491,3383,3353,186.9,-12.2,140,974,0.00,2.50,0.00,0.000,260,0.000,0.077,2097,3909,3368,3383,3353,0,0,0,0,0,0,14.97,14.00,14.99
$GC,991,-0.67,-97.3,2096,3909,3383,3353,190.3,-13.3,145,996,0.00,2.30,0.00,0.000,1030,0.000,0.031,2096,2491,3368,3383,3353,0,0,0,0,0,0,14.45,14.38,14.47
$GC,1178,-0.67,-97.3,2096,2490,3383,3353,213.3,-12.2,164,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2490,3368,3383,3353,0,0,0,0,0,0,14.98,15.01,15.00
$GC,1367,-0.67,-97.3,2096,2490,3382,3353,237.2,-12.6,183,1371,0.00,2.53,0.00,0.000,260,0.000,0.079,2086,3899,3367,3381,3353,0,0,0,0,0,0,14.99,14.04,15.02
$GC,1390,-0.67,-97.3,2085,3899,3381,3353,240.0,-12.5,187,1395,0.00,2.28,0.00,0.000,1030,0.000,0.031,2085,2500,3367,3381,3353,0,0,0,0,0,0,14.42,14.37,14.46
$GC,1592,-0.67,-97.3,2085,2498,3379,3352,266.2,-12.5,202,1597,0.00,2.50,0.00,0.000,260,0.000,0.079,2075,3898,3365,3378,3352,0,0,0,0,0,0,15.00,14.02,15.03
$GC,1654,-0.67,-97.3,2074,3898,3378,3352,274.4,-13.1,214,1660,0.15,2.30,0.00,0.000,3078,0.207,0.033,2110,2496,3365,3378,3352,0,0,0,0,0,0,13.93,14.33,14.12
$GC,1978,-0.67,-97.3,2109,2494,3374,3352,309.1,-10.2,233,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3363,3374,3352,0,0,0,0,0,0,15.00,15.02,15.02
$GC,2277,-0.67,-97.3,2109,2494,3374,3348,340.2,-10.4,248,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3361,3374,3348,0,0,0,0,0,0,15.01,15.04,15.04
$GC,2579,-0.67,-97.3,2110,2494,3372,3346,372.6,-10.8,263,2585,0.00,2.53,0.00,0.000,260,0.000,0.081,2101,3897,3358,3371,3345,0,0,0,0,0,0,15.00,13.91,15.02
$GC,2612,-0.67,-97.3,2101,3897,3371,3345,376.8,-11.8,270,2617,0.00,2.33,0.00,0.000,1030,0.000,0.033,2101,2492,3358,3371,3345,0,0,0,0,0,0,14.37,14.30,14.39
$GC,2917,-0.67,-97.3,2100,2491,3370,3343,413.8,-11.7,286,2922,0.00,2.55,0.00,0.000,260,0.000,0.081,2089,3896,3355,3369,3342,0,0,0,0,0,0,15.01,13.93,15.04
$GC,2956,-0.67,-97.3,2089,3896,3368,3342,418.2,-12.1,293,2960,0.00,2.33,0.00,0.000,1030,0.000,0.034,2090,2492,3355,3368,3342,0,0,0,0,0,0,14.35,14.28,14.38
$GC,3260,-0.67,-97.3,2089,2491,3367,3340,455.1,-12.5,309,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2491,3353,3367,3340,0,0,0,0,0,0,15.01,15.04,15.03
$GC,3560,-0.67,-97.3,2089,2491,3365,3339,491.6,-12.0,324,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2491,3352,3365,3339,0,0,0,0,0,0,15.01,15.04,15.04
$GC,3861,-0.67,-97.3,2089,2491,3363,3337,527.6,-12.1,339,3866,0.00,2.58,0.00,0.000,260,0.000,0.083,2079,3894,3350,3363,3337,0,0,0,0,0,0,14.99,13.88,15.02
$GC,3893,-0.67,-97.3,2078,3894,3363,3337,531.8,-12.7,345,3901,0.12,2.33,0.00,0.000,3078,0.204,0.034,2107,2494,3350,3363,3337,0,0,0,0,0,0,13.89,14.24,14.07
$GC,4203,-0.67,-97.3,2107,2493,3362,3334,566.5,-11.1,362,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2493,3348,3362,3335,0,0,0,0,0,0,15.01,15.04,15.04
$GC,4504,-0.67,-97.3,2106,2493,3361,3333,598.5,-10.6,377,4512,0.00,2.58,0.00,0.000,260,0.000,0.084,2098,3900,3346,3360,3333,0,0,0,0,0,0,15.00,13.82,15.02
$GC,4545,-0.67,-97.3,2097,3900,3360,3333,603.2,-11.2,385,4549,0.00,2.35,0.00,0.000,1030,0.000,0.035,2098,2496,3346,3360,3333,0,0,0,0,0,0,14.28,14.21,14.31
$GC,4868,-0.67,-97.3,2097,2495,3358,3332,639.1,-11.1,404,4872,0.00,2.42,0.00,0.000,516,0.000,0.050,2098,1098,3345,3358,3332,0,0,0,0,0,0,14.99,14.02,15.01
$GC,4899,-0.67,-97.3,2097,1098,3357,3332,642.7,-11.0,410,4905,0.00,2.50,0.00,0.000,1030,0.000,0.060,2086,2499,3344,3357,3332,0,0,0,0,0,0,14.14,14.00,14.19
$GC,5213,-0.67,-97.3,2086,2499,3356,3330,675.7,-10.1,427,5217,0.00,2.58,0.00,0.000,260,0.000,0.085,2076,3897,3343,3357,3330,0,0,0,0,0,0,15.00,13.85,15.02
$GC,5281,-0.67,-97.3,2075,3897,3356,3330,682.8,-10.7,440,5288,0.15,2.35,0.00,0.000,3078,0.197,0.037,2111,2499,3343,3356,3330,0,0,0,0,0,0,13.78,14.16,13.97
$GC,5595,-0.67,-97.3,2111,2497,3356,3329,709.9,-8.4,458,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3342,3356,3329,0,0,0,0,0,0,14.99,15.02,15.02
$GC,5895,-0.67,-97.3,2110,2497,3354,3327,735.9,-9.0,473,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3340,3354,3327,0,0,0,0,0,0,14.99,15.02,15.02
$GC,6196,-0.67,-97.3,2110,2497,3353,3326,764.6,-9.5,488,6201,0.00,2.60,0.00,0.000,260,0.000,0.088,2102,3893,3339,3353,3325,0,0,0,0,0,0,14.98,13.84,15.01
$GC,6263,-0.67,-97.3,2101,3893,3352,3326,771.2,-9.7,501,6267,0.00,2.35,0.00,0.000,1030,0.000,0.036,2102,2500,3339,3353,3326,0,0,0,0,0,0,14.21,14.13,14.23
$GC,6581,-0.67,-97.3,2101,2498,3352,3324,802.1,-9.9,519,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3338,3352,3324,0,0,0,0,0,0,14.98,15.01,15.00
$GC,6879,-0.67,-97.3,2101,2498,3351,3323,830.8,-9.5,534,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3337,3351,3323,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7179,-0.67,-97.3,2101,2498,3350,3322,858.2,-9.0,549,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3336,3350,3322,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7481,-0.67,-97.3,2101,2498,3349,3321,884.5,-8.8,564,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3335,3349,3321,0,0,0,0,0,0,14.98,15.01,15.00
$GC,7780,-0.67,-97.3,2101,2498,3348,3320,910.7,-9.0,579,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3334,3348,3320,0,0,0,0,0,0,14.99,15.02,15.01
$GC,8079,-0.67,-97.3,2101,2498,3347,3320,937.3,-9.3,594,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2498,3333,3347,3320,0,0,0,0,0,0,14.99,15.02,15.02
$GC,8381,-0.67,-97.3,2101,2497,3346,3320,965.7,-9.8,609,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2498,3333,3346,3320,0,0,0,0,0,0,14.97,15.00,15.00
$STATE,8636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8636,begin apogee
$GC,8644,-0.15,0.0,2102,2498,3344,3320,991.7,-10.2,622,8740,0.65,0.00,92.35,1.982,10246,0.163,0.000,2278,2498,2967,3000,2935,0,0,0,0,0,0,13.68,14.00,12.78
$STATE,8741,end apogee,CONTROL_FINISHED_OK
$STATE,8741,begin climb
$GC,8746,0.67,97.3,2278,2498,2999,2935,995.5,0.0,627,8857,0.85,0.00,104.85,1.955,10758,0.093,0.000,2551,2498,2570,2602,2538,0,0,0,0,0,0,13.99,13.62,12.73
$GC,9161,0.70,97.3,2551,2498,2592,2534,978.9,7.0,660,9163,0.00,0.00,0.00,0.000,70,0.000,0.000,2551,2498,2563,2592,2534,0,0,0,0,0,0,14.83,14.86,14.86
$GC,9461,0.71,97.3,2551,2498,2591,2533,957.5,7.1,675,9468,0.00,2.53,0.00,0.000,580,0.000,0.051,2562,1044,2561,2590,2533,0,0,0,0,0,0,14.90,14.30,14.93
$GC,9561,0.73,97.3,2562,1044,2588,2532,950.0,7.4,695,9568,0.00,2.47,0.00,0.000,1094,0.000,0.059,2562,2447,2560,2589,2531,0,0,0,0,0,0,14.39,14.27,14.44
$GC,9882,0.73,97.3,2562,2446,2588,2531,925.5,7.7,714,9886,0.00,2.47,0.00,0.000,516,0.000,0.051,2573,1038,2559,2588,2531,0,0,0,0,0,0,14.94,14.18,14.97
$GC,9944,0.73,97.3,2573,1038,2587,2530,920.8,7.6,726,9950,0.00,2.47,0.00,0.000,1030,0.000,0.057,2573,2439,2558,2587,2530,0,0,0,0,0,0,14.33,14.21,14.38
$GC,10265,0.75,97.3,2573,2439,2587,2529,898.0,7.0,745,10269,0.00,2.45,0.00,0.000,580,0.000,0.051,2584,1047,2557,2586,2529,0,0,0,0,0,0,14.95,14.12,14.98
$GC,10334,0.76,97.3,2584,1044,2586,2529,892.9,7.5,758,10340,0.00,2.45,0.00,0.000,1094,0.000,0.054,2584,2437,2557,2585,2529,0,0,0,0,0,0,14.14,14.08,14.19
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$STATE,20917,end climb,SURFACE_DEPTH_REACHED
$STATE,20917,begin surface coast
$STATE,20933,end surface coast,CONTROL_FINISHED_OK
$STATE,20933,begin surface
$SM_CCo,20959,55.22,0.470,1,0,929,500.17
$SM_GC,1.20,7.68,2.60,55.22,0.044,0.060,0.470,125,2505,929,-6.79,-0.79,500.17,0,0,0,0,1,0,14.38,14.23,13.64
$IRIDIUM_FIX,543.64,8014.09,280120,135538
$TT8_MAMPS,0.018725,0.15729
$HUMID,51.61
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,12.58,257.029
$10V_AH,13.17,0.000
$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
$DEVICE_SECS,20.050,195.875,528.000,55.225,0.000,0.000,0.000,228.650,0.000,0.000,14.272,1573.212,15762.800,714.418,2773.260,571.548,0.000,2393.531,0.000,2526.064,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,871.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249620
$DATA_FILE_SIZE,76685,1777
$CAP_FILE_SIZE,194560,0
$CFSIZE,260034560,116019200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.022,91.42,1
$GPS,290120,014038,546.179,8014.778,20,1.1,20,-2.1,0.7,267.6,7,8.8