version: 66.13
glider: 171
mission: 11
dive: 667
start: 1 2 120 3 14 41
data:
$ID,171
$MISSION,11
$DIVE,667
$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,62
$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
$GPS1,020120,030700,507.4397,8147.3164,18,0.8,18,-2.1,1.0,263.3,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.2
$GPS2,020120,031347,507.3784,8147.1675,3,0.6,4,-2.1,1.2,274.1,12,8.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,260.8,143025,-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,-97.3,114,2505,971,881,0.0,0.0,0,88,0.00,0.00,-76.50,0.005,16386,0.000,0.000,114,2506,2745,2744,2746,0,0,0,0,0,0,14.85,28.83,14.88
$GC,92,-0.67,-97.3,114,2506,2745,2746,5.2,-14.6,16,119,9.32,2.35,-11.52,0.010,19204,0.349,0.068,2108,1106,3367,3381,3353,0,0,0,0,0,0,13.85,12.62,14.32
$GC,333,-0.67,-97.3,2108,1106,3381,3353,67.2,-15.6,64,337,0.00,2.38,0.00,0.000,1030,0.000,0.059,2099,2498,3367,3381,3353,0,0,0,0,0,0,14.56,14.44,14.59
$GC,526,-0.67,-97.3,2098,2498,3380,3353,94.6,-14.1,84,530,0.00,2.40,0.00,0.000,260,0.000,0.078,2088,3898,3367,3381,3353,0,0,0,0,0,0,15.00,14.41,15.02
$GC,670,-0.67,-97.3,2087,3897,3381,3353,116.8,-13.0,112,674,0.00,2.22,0.00,0.000,1030,0.000,0.031,2088,2493,3367,3381,3353,0,0,0,0,0,0,14.69,14.62,14.71
$GC,863,-0.67,-97.3,2088,2491,3381,3353,142.8,-12.5,132,867,0.00,2.42,0.00,0.000,260,0.000,0.077,2077,3894,3367,3381,3353,0,0,0,0,0,0,15.04,14.42,15.06
$GC,1059,-0.67,-97.3,2077,3894,3381,3353,170.0,-14.2,171,1065,0.15,2.22,0.00,0.000,3078,0.212,0.032,2113,2494,3366,3380,3353,0,0,0,0,0,0,14.27,14.63,14.48
$GC,1246,-0.67,-97.3,2113,2493,3380,3353,192.7,-12.1,190,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3366,3380,3353,0,0,0,0,0,0,15.04,15.08,15.07
$GC,1425,-0.67,-97.3,2113,2493,3379,3353,214.7,-11.9,208,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3366,3379,3354,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1607,-0.67,-97.3,2113,2493,3377,3353,235.6,-11.7,226,1614,0.00,2.45,0.00,0.000,260,0.000,0.081,2104,3895,3365,3377,3353,0,0,0,0,0,0,15.04,14.40,15.07
$GC,1626,-0.67,-97.3,2104,3895,3377,3353,238.3,-11.9,230,1631,0.00,2.22,0.00,0.000,1030,0.000,0.032,2104,2502,3365,3377,3353,0,0,0,0,0,0,14.69,14.63,14.71
$GC,1828,-0.67,-97.3,2104,2501,3375,3353,261.2,-11.0,246,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2501,3364,3375,3353,0,0,0,0,0,0,15.07,15.10,15.10
$GC,2129,-0.67,-97.3,2104,2500,3374,3348,294.6,-10.9,261,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2500,3361,3374,3348,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2428,-0.67,-97.3,2104,2500,3372,3346,327.2,-10.7,276,2433,0.00,2.45,0.00,0.000,260,0.000,0.083,2093,3892,3359,3372,3346,0,0,0,0,0,0,15.08,14.38,15.11
$GC,2465,-0.67,-97.3,2093,3892,3372,3346,331.3,-11.4,283,2470,0.00,2.25,0.00,0.000,1030,0.000,0.033,2093,2495,3359,3372,3346,0,0,0,0,0,0,14.68,14.62,14.70
$GC,2771,-0.67,-97.3,2092,2494,3370,3344,366.3,-11.6,299,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2494,3357,3370,3344,0,0,0,0,0,0,15.05,15.09,15.09
$GC,3070,-0.67,-97.3,2092,2494,3367,3342,400.8,-11.5,314,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2494,3354,3368,3341,0,0,0,0,0,0,15.07,15.11,15.10
$GC,3370,-0.67,-97.3,2092,2494,3366,3339,435.8,-11.8,329,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2494,3352,3366,3339,0,0,0,0,0,0,15.07,15.11,15.10
$GC,3672,-0.67,-97.3,2092,2494,3364,3338,471.2,-11.9,344,3676,0.00,2.33,0.00,0.000,516,0.000,0.050,2093,1112,3351,3364,3338,0,0,0,0,0,0,15.06,14.47,15.09
$GC,3724,-0.67,-97.3,2092,1112,3363,3338,477.5,-11.6,354,3732,0.12,2.40,0.00,0.000,3078,0.210,0.059,2112,2503,3350,3363,3338,0,0,0,0,0,0,14.23,14.44,14.43
$GC,4034,-0.67,-97.3,2111,2503,3362,3336,510.2,-10.4,371,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2503,3349,3362,3337,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4333,-0.67,-97.3,2111,2503,3362,3335,540.8,-10.1,386,4340,0.00,2.45,0.00,0.000,260,0.000,0.084,2102,3899,3348,3362,3334,0,0,0,0,0,0,15.08,14.32,15.10
$GC,4358,-0.67,-97.3,2102,3899,3361,3334,543.5,-10.6,391,4363,0.00,2.28,0.00,0.000,1030,0.000,0.034,2103,2496,3347,3361,3334,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4676,-0.67,-97.3,2102,2494,3360,3333,577.1,-10.5,409,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2494,3346,3360,3333,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4976,-0.67,-97.3,2102,2494,3358,3332,609.4,-11.1,424,4980,0.00,2.53,0.00,0.000,260,0.000,0.086,2091,3900,3345,3358,3332,0,0,0,0,0,0,15.07,14.28,15.09
$GC,5018,-0.67,-97.3,2091,3900,3357,3332,614.2,-11.7,432,5022,0.00,2.30,0.00,0.000,1030,0.000,0.036,2091,2505,3344,3357,3332,0,0,0,0,0,0,14.61,14.53,14.63
$GC,5342,-0.67,-97.3,2091,2503,3356,3330,651.8,-11.4,451,5347,0.00,2.47,0.00,0.000,260,0.000,0.085,2081,3891,3343,3356,3330,0,0,0,0,0,0,15.05,14.28,15.08
$GC,5379,-0.67,-97.3,2081,3891,3357,3330,656.3,-12.1,458,5384,0.12,2.30,0.00,0.000,3078,0.209,0.036,2110,2491,3343,3356,3330,0,0,0,0,0,0,14.21,14.52,14.40
$GC,5685,-0.67,-97.3,2110,2490,3356,3329,687.2,-9.8,474,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2490,3343,3356,3330,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5984,-0.67,-97.3,2110,2490,3355,3328,715.6,-9.2,489,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2490,3341,3354,3328,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6285,-0.67,-97.3,2110,2490,3353,3327,743.0,-9.2,504,6289,0.00,2.35,0.00,0.000,516,0.000,0.050,2111,1102,3340,3353,3327,0,0,0,0,0,0,15.07,14.39,15.09
$GC,6312,-0.67,-97.3,2110,1102,3352,3327,745.6,-9.6,509,6319,0.00,2.45,0.00,0.000,1030,0.000,0.059,2101,2506,3339,3352,3326,0,0,0,0,0,0,14.47,14.34,14.51
$GC,6626,-0.67,-97.3,2101,2506,3352,3325,775.8,-9.6,527,6631,0.00,2.47,0.00,0.000,260,0.000,0.086,2090,3892,3338,3352,3325,0,0,0,0,0,0,15.07,14.22,15.09
$GC,6683,-0.67,-97.3,2090,3891,3352,3325,781.6,-10.3,538,6687,0.00,2.30,0.00,0.000,1030,0.000,0.036,2090,2496,3338,3352,3325,0,0,0,0,0,0,14.56,14.48,14.58
$GC,6990,-0.67,-97.3,2090,2494,3351,3324,811.9,-10.0,554,6997,0.00,2.50,0.00,0.000,260,0.000,0.085,2080,3891,3337,3351,3324,0,0,0,0,0,0,15.04,14.21,15.07
$GC,7034,-0.67,-97.3,2079,3891,3351,3324,816.8,-10.6,563,7040,0.12,2.30,0.00,0.000,3078,0.208,0.036,2108,2492,3337,3351,3324,0,0,0,0,0,0,14.16,14.48,14.35
$GC,7353,-0.67,-97.3,2108,2491,3350,3324,846.5,-9.5,581,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2491,3337,3350,3324,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7652,-0.67,-97.3,2108,2491,3350,3322,876.2,-9.9,596,7659,0.00,2.53,0.00,0.000,260,0.000,0.086,2099,3896,3336,3350,3322,0,0,0,0,0,0,15.06,14.19,15.09
$GC,7693,-0.67,-97.3,2099,3896,3349,3321,880.3,-10.4,604,7697,0.00,2.30,0.00,0.000,1030,0.000,0.036,2100,2499,3335,3349,3322,0,0,0,0,0,0,14.54,14.47,14.57
$GC,8017,-0.67,-97.3,2099,2498,3348,3321,911.9,-9.6,623,8021,0.00,2.38,0.00,0.000,516,0.000,0.051,2099,1100,3334,3348,3321,0,0,0,0,0,0,15.03,14.33,15.06
$GC,8058,-0.67,-97.3,2099,1100,3348,3321,916.1,-9.3,631,8064,0.00,2.45,0.00,0.000,1030,0.000,0.059,2088,2497,3334,3348,3321,0,0,0,0,0,0,14.41,14.28,14.45
$GC,8381,-0.67,-97.3,2088,2497,3348,3321,946.8,-9.7,650,8388,0.00,2.50,0.00,0.000,260,0.000,0.086,2077,3900,3333,3347,3320,0,0,0,0,0,0,15.05,14.16,15.08
$GC,8447,-0.67,-97.3,2077,3900,3347,3321,953.4,-10.4,663,8453,0.15,2.33,0.00,0.000,3078,0.197,0.037,2114,2494,3334,3347,3321,0,0,0,0,0,0,14.08,14.43,14.28
$GC,8765,-0.67,-97.3,2113,2493,3347,3320,979.5,-8.2,681,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2493,3333,3347,3320,0,0,0,0,0,0,15.06,15.09,15.09
$STATE,8902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8902,begin apogee
$GC,8911,-0.15,0.0,2114,2493,3346,3320,991.0,-8.2,688,9008,0.57,0.00,92.65,1.978,10246,0.161,0.000,2277,2493,2967,3000,2935,0,0,0,0,0,0,14.02,13.96,12.65
$STATE,9009,end apogee,CONTROL_FINISHED_OK
$STATE,9009,begin climb
$GC,9012,0.67,97.3,2277,2493,2999,2935,993.9,0.0,693,9123,0.82,0.00,104.88,1.947,10246,0.087,0.000,2549,2493,2570,2603,2538,0,0,0,0,0,0,14.14,13.90,12.61
$GC,9429,0.69,97.3,2549,2493,2592,2534,974.2,7.2,714,9434,0.00,2.47,0.00,0.000,580,0.000,0.052,2560,1047,2563,2592,2534,0,0,0,0,0,0,14.85,14.40,14.88
$GC,9486,0.70,97.3,2559,1046,2591,2534,969.7,7.5,725,9493,0.00,2.45,0.00,0.000,1094,0.000,0.056,2560,2451,2562,2591,2534,0,0,0,0,0,0,14.50,14.39,14.55
$GC,9811,0.71,97.3,2559,2452,2590,2532,944.4,7.5,745,9818,0.00,2.47,0.00,0.000,324,0.000,0.083,2560,3851,2561,2590,2532,0,0,0,0,0,0,14.97,14.33,15.00
$GC,9857,0.71,97.3,2559,3851,2589,2532,940.6,8.7,754,9861,0.00,2.35,0.00,0.000,1030,0.000,0.037,2571,2439,2560,2589,2532,0,0,0,0,0,0,14.59,14.52,14.62
$GC,10174,0.71,97.3,2570,2437,2589,2530,916.2,7.8,772,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2437,2559,2589,2530,0,0,0,0,0,0,15.01,15.04,15.04
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$STATE,22143,end climb,SURFACE_DEPTH_REACHED
$STATE,22143,begin surface coast
$STATE,22158,end surface coast,CONTROL_FINISHED_OK
$STATE,22158,begin surface
$SM_CCo,22183,123.20,0.645,1,0,928,500.17
$SM_GC,1.16,8.07,2.58,123.20,0.060,0.064,0.645,116,2491,928,-6.79,-0.99,500.17,0,0,0,0,1,0,14.50,14.31,13.50
$IRIDIUM_FIX,506.51,8153.42,010120,212352
$TT8_MAMPS,0.018725,0.155792
$HUMID,50.47
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,12.61,224.562
$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
$DEVICE_SECS,19.750,206.175,452.800,123.200,0.000,0.000,0.000,257.300,0.000,0.000,15.743,1791.268,16495.855,753.429,3093.271,584.152,0.000,2562.448,0.000,2818.995,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,940.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250364
$DATA_FILE_SIZE,86530,1985
$CAP_FILE_SIZE,211636,0
$CFSIZE,260034560,125919232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.086,50.83,1
$GPS,020120,092740,507.839,8146.348,21,1.0,22,-2.1,0.4,260.4,7,7.5