version: 66.13
glider: 171
mission: 11
dive: 655
start: 12 30 119 3 44 3
data:
$ID,171
$MISSION,11
$DIVE,655
$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,0.00223872
$HD_B,0.0163117
$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,59
$R_STBD_OVSHOOT,27
$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
$GPS1,301219,033509,507.1957,8159.4565,25,1.0,25,-2.1,1.0,263.5,7,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.4
$GPS2,301219,034311,507.1967,8159.2754,2,0.6,3,-2.1,1.0,293.9,12,7.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,224.9,165247,-19.5,-8.049,-26.91,1839
$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,-0.67,-97.3,106,2495,972,879,0.0,0.0,0,88,0.00,0.00,-76.60,0.005,16386,0.000,0.000,106,2495,2756,2756,2757,0,0,0,0,0,0,14.85,28.83,14.88
$GC,92,-0.67,-97.3,106,2495,2756,2757,5.4,-15.4,16,119,9.32,2.33,-11.20,0.011,18948,0.346,0.069,2110,1110,3367,3380,3354,0,0,0,0,0,0,13.85,12.62,14.31
$GC,337,-0.67,-97.3,2110,1110,3380,3354,65.1,-13.6,65,341,0.00,2.38,0.00,0.000,1030,0.000,0.058,2101,2501,3367,3381,3354,0,0,0,0,0,0,14.57,14.45,14.60
$GC,524,-0.67,-97.3,2101,2502,3381,3354,91.4,-12.8,84,528,0.00,2.38,0.00,0.000,260,0.000,0.077,2090,3893,3367,3381,3354,0,0,0,0,0,0,15.00,14.41,15.02
$GC,755,-0.67,-97.3,2090,3893,3381,3354,122.8,-13.3,130,759,0.00,2.20,0.00,0.000,1030,0.000,0.031,2090,2497,3367,3381,3353,0,0,0,0,0,0,14.69,14.64,14.71
$GC,946,-0.67,-97.3,2090,2495,3381,3354,149.2,-14.5,150,954,0.00,2.42,0.00,0.000,260,0.000,0.079,2080,3896,3367,3381,3354,0,0,0,0,0,0,15.04,14.42,15.07
$GC,1061,-0.67,-97.3,2079,3896,3381,3354,166.5,-15.1,173,1066,0.12,2.22,0.00,0.000,3078,0.219,0.031,2108,2494,3367,3381,3354,0,0,0,0,0,0,14.31,14.64,14.52
$GC,1248,-0.67,-97.3,2107,2492,3380,3354,189.1,-11.4,192,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3367,3380,3354,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1436,-0.67,-97.3,2107,2492,3378,3354,210.3,-11.3,211,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3365,3378,3353,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1616,-0.67,-97.3,2108,2492,3377,3353,231.1,-11.6,229,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3365,3377,3353,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1806,-0.67,-97.3,2107,2492,3374,3353,252.3,-10.9,247,1812,0.00,2.45,0.00,0.000,260,0.000,0.080,2098,3893,3363,3374,3353,0,0,0,0,0,0,15.07,14.41,15.09
$GC,1844,-0.67,-97.3,2098,3893,3374,3353,256.5,-11.6,254,1848,0.00,2.22,0.00,0.000,1030,0.000,0.032,2099,2504,3363,3374,3353,0,0,0,0,0,0,14.69,14.63,14.71
$GC,2150,-0.67,-97.3,2098,2503,3373,3348,292.4,-12.2,270,2154,0.00,2.30,0.00,0.000,516,0.000,0.047,2098,1106,3360,3373,3348,0,0,0,0,0,0,15.06,14.54,15.09
$GC,2191,-0.67,-97.3,2098,1106,3372,3348,297.5,-11.8,278,2195,0.00,2.38,0.00,0.000,1030,0.000,0.057,2088,2501,3360,3373,3348,0,0,0,0,0,0,14.61,14.50,14.65
$GC,2513,-0.67,-97.3,2087,2501,3371,3346,338.0,-12.6,297,2517,0.00,2.40,0.00,0.000,260,0.000,0.081,2077,3893,3358,3371,3346,0,0,0,0,0,0,15.07,14.40,15.09
$GC,2570,-0.67,-97.3,2076,3893,3370,3346,345.4,-12.9,308,2575,0.15,2.25,0.00,0.000,3078,0.202,0.033,2113,2493,3358,3370,3346,0,0,0,0,0,0,14.28,14.62,14.48
$GC,2875,-0.67,-97.3,2113,2492,3369,3343,379.0,-10.9,324,2879,0.00,2.28,0.00,0.000,516,0.000,0.047,2113,1112,3356,3368,3344,0,0,0,0,0,0,15.07,14.52,15.10
$GC,2902,-0.67,-97.3,2113,1112,3367,3344,382.0,-11.1,329,2907,0.00,2.40,0.00,0.000,1030,0.000,0.057,2105,2502,3355,3367,3343,0,0,0,0,0,0,14.58,14.47,14.62
$GC,3219,-0.67,-97.3,2104,2503,3367,3341,418.3,-11.6,347,3223,0.00,2.42,0.00,0.000,260,0.000,0.082,2093,3896,3353,3367,3340,0,0,0,0,0,0,15.07,14.38,15.10
$GC,3266,-0.67,-97.3,2092,3896,3366,3340,423.9,-12.1,356,3270,0.00,2.25,0.00,0.000,1030,0.000,0.034,2093,2501,3353,3366,3340,0,0,0,0,0,0,14.67,14.60,14.69
$GC,3585,-0.67,-97.3,2093,2500,3365,3338,461.5,-11.7,374,3589,0.00,2.30,0.00,0.000,516,0.000,0.048,2093,1109,3352,3365,3339,0,0,0,0,0,0,15.05,14.50,15.08
$GC,3631,-0.67,-97.3,2093,1109,3364,3339,467.1,-11.3,383,3637,0.12,2.40,0.00,0.000,3078,0.210,0.060,2111,2502,3351,3364,3339,0,0,0,0,0,0,14.25,14.45,14.45
$GC,3950,-0.67,-97.3,2111,2503,3362,3337,499.7,-10.3,401,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2502,3349,3362,3336,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4250,-0.67,-97.3,2111,2502,3362,3335,529.1,-9.5,416,4254,0.00,2.45,0.00,0.000,260,0.000,0.084,2102,3894,3349,3363,3335,0,0,0,0,0,0,15.07,14.33,15.10
$GC,4301,-0.67,-97.3,2102,3894,3362,3335,534.0,-9.6,426,4305,0.00,2.25,0.00,0.000,1030,0.000,0.034,2102,2501,3348,3361,3335,0,0,0,0,0,0,14.64,14.58,14.67
$GC,4614,-0.67,-97.3,2102,2500,3360,3334,564.1,-9.7,443,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2499,3346,3360,3333,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4912,-0.67,-97.3,2102,2500,3359,3333,592.9,-9.6,458,4916,0.00,2.33,0.00,0.000,516,0.000,0.049,2102,1108,3345,3358,3333,0,0,0,0,0,0,15.07,14.46,15.10
$GC,4933,-0.67,-97.3,2102,1108,3358,3333,595.0,-10.2,462,4937,0.00,2.40,0.00,0.000,1030,0.000,0.059,2092,2499,3345,3357,3334,0,0,0,0,0,0,14.52,14.41,14.57
$GC,5256,-0.67,-97.3,2091,2499,3357,3332,628.1,-10.5,481,5262,0.00,2.45,0.00,0.000,260,0.000,0.084,2081,3892,3344,3356,3332,0,0,0,0,0,0,15.06,14.30,15.09
$GC,5279,-0.67,-97.3,2081,3891,3356,3332,630.9,-11.5,486,5284,0.12,2.28,0.00,0.000,3078,0.207,0.035,2110,2492,3344,3356,3332,0,0,0,0,0,0,14.24,14.54,14.42
$GC,5598,-0.67,-97.3,2110,2491,3356,3330,660.4,-9.3,504,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3343,3356,3330,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5896,-0.67,-97.3,2110,2491,3356,3329,689.6,-9.9,519,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3342,3356,3329,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6198,-0.67,-97.3,2110,2491,3355,3328,719.0,-9.8,534,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3341,3354,3328,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6497,-0.67,-97.3,2109,2491,3353,3327,747.6,-9.5,549,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3340,3353,3327,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6797,-0.67,-97.3,2109,2491,3352,3326,775.1,-8.9,564,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3339,3352,3326,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7096,-0.67,-97.3,2110,2491,3352,3325,800.8,-8.4,579,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3338,3352,3325,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7397,-0.67,-97.3,2110,2491,3351,3324,825.9,-8.4,594,7402,0.00,2.53,0.00,0.000,260,0.000,0.088,2101,3893,3337,3351,3324,0,0,0,0,0,0,15.06,14.22,15.09
$GC,7429,-0.67,-97.3,2100,3893,3350,3324,828.8,-9.0,600,7434,0.00,2.28,0.00,0.000,1030,0.000,0.036,2101,2503,3337,3350,3324,0,0,0,0,0,0,14.57,14.50,14.59
$GC,7741,-0.67,-97.3,2101,2501,3350,3324,856.9,-9.0,617,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3337,3350,3324,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8042,-0.67,-97.3,2100,2501,3349,3322,884.1,-9.0,632,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3336,3349,3323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8341,-0.67,-97.3,2100,2501,3348,3321,910.7,-8.7,647,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3335,3348,3322,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8641,-0.67,-97.3,2101,2501,3348,3321,936.9,-8.8,662,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3334,3348,3321,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8942,-0.67,-97.3,2100,2501,3347,3321,964.0,-9.2,677,8946,0.00,2.35,0.00,0.000,516,0.000,0.050,2101,1109,3334,3347,3321,0,0,0,0,0,0,15.04,14.34,15.07
$GC,8978,-0.67,-97.3,2100,1109,3346,3321,967.6,-9.4,684,8985,0.00,2.45,0.00,0.000,1030,0.000,0.059,2090,2503,3333,3346,3321,0,0,0,0,0,0,14.40,14.28,14.45
$STATE,9220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9220,begin apogee
$GC,9229,-0.15,0.0,2090,2503,3346,3320,991.5,-10.0,700,9326,0.68,0.00,92.32,1.973,10246,0.168,0.000,2277,2503,2968,3000,2936,0,0,0,0,0,0,13.97,13.95,12.62
$STATE,9327,end apogee,CONTROL_FINISHED_OK
$STATE,9327,begin climb
$GC,9330,0.67,97.3,2277,2503,2999,2935,995.0,0.0,705,9441,0.82,0.00,104.05,1.948,10758,0.092,0.000,2547,2503,2570,2603,2538,0,0,0,0,0,0,14.14,13.88,12.59
$GC,9745,0.69,97.3,2547,2503,2592,2534,977.1,7.1,741,9747,0.00,0.00,0.00,0.000,70,0.000,0.000,2547,2503,2563,2592,2534,0,0,0,0,0,0,14.86,14.90,14.89
$GC,10043,0.71,97.3,2547,2503,2591,2533,955.8,7.0,756,10049,0.00,2.53,0.00,0.000,580,0.000,0.051,2558,1042,2562,2591,2534,0,0,0,0,0,0,14.97,14.43,15.00
$GC,10217,0.73,97.3,2557,1041,2589,2531,943.6,7.0,790,10224,0.00,2.42,0.00,0.000,1094,0.000,0.054,2558,2445,2560,2589,2531,0,0,0,0,0,0,14.53,14.42,14.57
$GC,10527,0.73,97.3,2558,2446,2589,2530,920.0,7.8,807,10531,0.00,2.40,0.00,0.000,516,0.000,0.050,2569,1043,2559,2589,2530,0,0,0,0,0,0,15.02,14.44,15.04
$GC,10600,0.73,97.3,2569,1043,2587,2529,914.3,8.1,821,10607,0.00,2.42,0.00,0.000,1030,0.000,0.054,2569,2445,2558,2587,2530,0,0,0,0,0,0,14.52,14.41,14.57
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$STATE,21090,end climb,SURFACE_DEPTH_REACHED
$STATE,21090,begin surface coast
$STATE,21099,end surface coast,CONTROL_FINISHED_OK
$STATE,21099,begin surface
$SM_CCo,21123,32.22,0.275,1,0,929,500.17
$SM_GC,0.89,7.82,2.62,32.22,0.045,0.070,0.275,121,2495,929,-6.77,-0.88,500.17,0,0,0,0,1,0,14.42,14.26,13.43
$IRIDIUM_FIX,506.62,8202.00,291219,215544
$TT8_MAMPS,0.019474,0.160286
$HUMID,51.69
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,12.59,220.948
$10V_AH,12.80,0.000
$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,20.350,167.150,543.350,32.225,0.000,0.000,0.000,276.750,0.000,0.000,14.826,1562.021,16106.438,689.867,2757.311,524.207,0.000,2368.606,0.000,2471.732,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,87.975,1972.935,274.635,0.000,0.000,0.000,182.835,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,922.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250376
$DATA_FILE_SIZE,76595,1739
$CAP_FILE_SIZE,190198,0
$CFSIZE,260034560,127078400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.127,25.52,1
$GPS,301219,093759,507.375,8158.700,31,1.0,31,-2.1,0.7,231.6,8,7.3