version: 66.13
glider: 171
mission: 11
dive: 668
start: 1 2 120 9 34 55
data:
$ID,171
$MISSION,11
$DIVE,668
$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,63
$R_STBD_OVSHOOT,22
$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
$GPS1,020120,092740,507.8391,8146.3481,21,1.0,22,-2.1,0.4,260.4,7,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.2
$GPS2,020120,093401,507.8264,8146.2769,2,0.7,3,-2.1,0.1,0.0,12,7.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,248.8,141471,-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,10,-0.67,-97.3,104,2493,973,878,0.0,0.0,0,85,0.00,0.00,-72.70,0.005,16386,0.000,0.000,103,2493,2623,2621,2625,0,0,0,0,0,0,14.83,28.83,14.86
$GC,89,-0.67,-97.3,103,2493,2621,2624,4.3,-10.8,15,119,9.38,2.38,-14.20,0.009,19204,0.347,0.071,2104,1116,3366,3382,3350,0,0,0,0,0,0,13.85,12.57,14.31
$GC,242,-0.67,-97.3,2104,1116,3382,3350,49.5,-29.6,46,248,0.00,2.42,0.00,0.000,1030,0.000,0.068,2095,2506,3366,3382,3350,0,0,0,0,0,0,14.50,14.37,14.54
$GC,428,-0.67,-97.3,2094,2506,3382,3350,84.2,-17.6,65,432,0.00,2.42,0.00,0.000,260,0.000,0.081,2084,3900,3366,3382,3350,0,0,0,0,0,0,14.98,14.37,15.01
$GC,578,-0.67,-97.3,2084,3900,3383,3350,106.8,-15.3,94,583,0.00,2.25,0.00,0.000,1030,0.000,0.034,2084,2508,3366,3383,3350,0,0,0,0,0,0,14.63,14.57,14.66
$GC,760,-0.67,-97.3,2084,2506,3384,3350,134.9,-15.3,113,764,0.00,2.42,0.00,0.000,260,0.000,0.080,2073,3900,3366,3383,3350,0,0,0,0,0,0,15.03,14.40,15.06
$GC,843,-0.67,-97.3,2073,3900,3383,3350,147.2,-13.1,129,848,0.15,2.25,0.00,0.000,3078,0.220,0.034,2108,2495,3367,3384,3350,0,0,0,0,0,0,14.22,14.59,14.45
$GC,1036,-0.67,-97.3,2108,2494,3384,3350,170.2,-11.4,149,1040,0.00,2.30,0.00,0.000,516,0.000,0.050,2108,1104,3366,3383,3350,0,0,0,0,0,0,15.04,14.50,15.07
$GC,1063,-0.67,-97.3,2108,1104,3384,3350,173.3,-11.7,154,1068,0.00,2.40,0.00,0.000,1030,0.000,0.058,2099,2506,3366,3383,3350,0,0,0,0,0,0,14.59,14.47,14.62
$GC,1247,-0.67,-97.3,2098,2506,3383,3350,194.8,-12.0,173,1251,0.00,2.42,0.00,0.000,260,0.000,0.080,2088,3899,3366,3383,3350,0,0,0,0,0,0,15.04,14.40,15.07
$GC,1268,-0.67,-97.3,2088,3899,3383,3350,197.3,-12.2,177,1272,0.00,2.25,0.00,0.000,1030,0.000,0.033,2088,2494,3367,3384,3350,0,0,0,0,0,0,14.68,14.61,14.70
$GC,1460,-0.67,-97.3,2087,2493,3382,3350,221.3,-12.5,197,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3366,3382,3350,0,0,0,0,0,0,15.04,15.08,15.07
$GC,1640,-0.67,-97.3,2087,2493,3380,3350,243.4,-12.4,215,1644,0.00,2.33,0.00,0.000,516,0.000,0.049,2088,1100,3365,3380,3350,0,0,0,0,0,0,15.05,14.51,15.08
$GC,1688,-0.67,-97.3,2087,1099,3379,3350,249.3,-12.2,224,1695,0.15,2.40,0.00,0.000,3078,0.205,0.056,2113,2501,3364,3379,3350,0,0,0,0,0,0,14.23,14.47,14.45
$GC,2006,-0.67,-97.3,2112,2501,3376,3349,283.1,-10.6,242,2011,0.00,2.42,0.00,0.000,260,0.000,0.081,2103,3897,3363,3376,3350,0,0,0,0,0,0,15.03,14.38,15.06
$GC,2079,-0.67,-97.3,2103,3897,3375,3349,291.3,-10.6,256,2083,0.00,2.25,0.00,0.000,1030,0.000,0.034,2104,2499,3362,3375,3349,0,0,0,0,0,0,14.66,14.60,14.69
$GC,2391,-0.67,-97.3,2103,2497,3373,3347,324.5,-10.5,273,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2497,3360,3373,3348,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2690,-0.67,-97.3,2103,2497,3372,3345,356.9,-11.0,288,2694,0.00,2.33,0.00,0.000,516,0.000,0.052,2103,1105,3358,3371,3345,0,0,0,0,0,0,15.07,14.48,15.09
$GC,2726,-0.67,-97.3,2103,1105,3371,3345,360.8,-10.8,295,2730,0.00,2.40,0.00,0.000,1030,0.000,0.057,2092,2500,3357,3370,3345,0,0,0,0,0,0,14.56,14.45,14.60
$GC,3033,-0.67,-97.3,2092,2500,3370,3342,396.2,-11.7,311,3037,0.00,2.42,0.00,0.000,260,0.000,0.083,2082,3892,3355,3369,3342,0,0,0,0,0,0,15.06,14.34,15.09
$GC,3079,-0.67,-97.3,2082,3892,3368,3342,402.1,-12.5,320,3083,0.12,2.25,0.00,0.000,3078,0.208,0.034,2111,2495,3355,3368,3342,0,0,0,0,0,0,14.27,14.58,14.45
$GC,3397,-0.67,-97.3,2110,2494,3367,3340,434.7,-10.1,338,3402,0.00,2.33,0.00,0.000,516,0.000,0.050,2111,1103,3353,3367,3340,0,0,0,0,0,0,15.06,14.46,15.09
$GC,3474,-0.67,-97.3,2111,1103,3367,3340,442.7,-10.0,353,3482,0.00,2.42,0.00,0.000,1030,0.000,0.057,2102,2506,3352,3366,3339,0,0,0,0,0,0,14.54,14.42,14.57
$GC,3799,-0.67,-97.3,2101,2505,3365,3338,476.6,-10.7,373,3803,0.00,2.35,0.00,0.000,516,0.000,0.049,2102,1109,3351,3365,3338,0,0,0,0,0,0,15.07,14.45,15.10
$GC,3841,-0.67,-97.3,2101,1109,3365,3338,481.1,-10.7,381,3848,0.00,2.40,0.00,0.000,1030,0.000,0.057,2091,2500,3351,3364,3338,0,0,0,0,0,0,14.53,14.41,14.57
$GC,4161,-0.67,-97.3,2090,2500,3363,3336,516.7,-11.1,400,4167,0.00,2.45,0.00,0.000,260,0.000,0.083,2080,3894,3349,3363,3336,0,0,0,0,0,0,15.07,14.29,15.09
$GC,4237,-0.67,-97.3,2080,3895,3362,3336,525.5,-11.9,415,4242,0.12,2.28,0.00,0.000,3078,0.209,0.035,2108,2499,3349,3362,3336,0,0,0,0,0,0,14.23,14.54,14.41
$GC,4541,-0.67,-97.3,2108,2498,3362,3334,556.0,-10.0,431,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2498,3348,3362,3334,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4841,-0.67,-97.3,2108,2498,3361,3333,585.4,-9.8,446,4846,0.00,2.50,0.00,0.000,260,0.000,0.086,2099,3897,3347,3361,3333,0,0,0,0,0,0,15.07,14.27,15.09
$GC,4904,-0.67,-97.3,2099,3897,3360,3333,591.9,-10.4,458,4909,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2507,3346,3360,3333,0,0,0,0,0,0,14.59,14.52,14.62
$GC,5226,-0.67,-97.3,2099,2506,3359,3332,626.1,-10.6,477,5230,0.00,2.35,0.00,0.000,516,0.000,0.050,2100,1106,3345,3359,3332,0,0,0,0,0,0,15.07,14.40,15.09
$GC,5247,-0.67,-97.3,2099,1106,3358,3332,628.4,-11.1,481,5255,0.00,2.42,0.00,0.000,1030,0.000,0.060,2088,2499,3344,3358,3331,0,0,0,0,0,0,14.48,14.35,14.52
$GC,5568,-0.67,-97.3,2088,2499,3357,3330,665.5,-11.8,500,5575,0.00,2.47,0.00,0.000,260,0.000,0.086,2078,3896,3343,3356,3330,0,0,0,0,0,0,15.05,14.23,15.08
$GC,5652,-0.67,-97.3,2078,3896,3356,3331,675.9,-12.3,517,5660,0.15,2.30,0.00,0.000,3078,0.198,0.037,2114,2493,3343,3356,3330,0,0,0,0,0,0,14.15,14.49,14.35
$GC,5969,-0.67,-97.3,2113,2493,3356,3329,706.5,-9.3,535,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2493,3342,3356,3329,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6267,-0.67,-97.3,2113,2493,3356,3327,733.8,-9.0,550,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2493,3341,3356,3327,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6569,-0.67,-97.3,2113,2493,3355,3326,760.3,-8.8,565,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2493,3340,3354,3327,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6867,-0.67,-97.3,2113,2493,3353,3326,786.1,-8.6,580,6872,0.00,2.53,0.00,0.000,260,0.000,0.086,2105,3893,3339,3353,3325,0,0,0,0,0,0,15.06,14.19,15.09
$GC,6899,-0.67,-97.3,2105,3893,3353,3325,788.9,-9.1,586,6904,0.00,2.30,0.00,0.000,1030,0.000,0.037,2105,2497,3339,3353,3325,0,0,0,0,0,0,14.54,14.47,14.57
$GC,7213,-0.67,-97.3,2104,2496,3352,3325,817.3,-9.3,603,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2496,3338,3352,3325,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7511,-0.67,-97.3,2104,2496,3352,3324,844.8,-9.2,618,7516,0.00,2.53,0.00,0.000,260,0.000,0.088,2093,3894,3338,3352,3324,0,0,0,0,0,0,15.07,14.16,15.09
$GC,7573,-0.67,-97.3,2093,3895,3352,3324,850.8,-9.6,630,7578,0.00,2.30,0.00,0.000,1030,0.000,0.037,2093,2501,3337,3352,3323,0,0,0,0,0,0,14.52,14.44,14.54
$GC,7897,-0.67,-97.3,2093,2500,3351,3323,881.9,-9.7,649,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3337,3351,3323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8195,-0.67,-97.3,2093,2500,3350,3322,910.6,-9.5,664,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3336,3350,3322,0,0,0,0,0,0,15.07,15.09,15.08
$GC,8496,-0.67,-97.3,2093,2500,3350,3321,938.8,-9.4,679,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3335,3350,3321,0,0,0,0,0,0,15.05,15.09,15.08
$GC,8795,-0.67,-97.3,2093,2500,3348,3321,966.4,-9.0,694,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3334,3348,3321,0,0,0,0,0,0,15.05,15.09,15.08
$STATE,9052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9053,begin apogee
$GC,9060,-0.15,0.0,2093,2500,3348,3320,990.1,-9.2,707,9157,0.65,0.00,92.88,1.980,10246,0.168,0.000,2275,2500,2968,3001,2935,0,0,0,0,0,0,13.93,13.95,12.64
$STATE,9158,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9163,0.67,97.3,2275,2500,2998,2935,992.7,0.0,712,9278,0.85,2.55,104.18,1.964,10756,0.094,0.050,2560,1043,2569,2601,2538,0,0,0,0,0,0,14.12,13.57,12.59
$GC,9331,0.71,97.3,2560,1043,2595,2536,989.3,6.3,746,9338,0.00,2.47,0.00,0.000,1094,0.000,0.063,2560,2440,2565,2595,2535,0,0,0,0,0,0,14.35,14.25,14.39
$GC,9642,0.71,97.3,2560,2440,2591,2534,964.7,8.0,763,9648,0.00,2.47,0.00,0.000,260,0.000,0.084,2561,3845,2562,2591,2534,0,0,0,0,0,0,14.89,14.26,14.92
$GC,9745,0.71,97.3,2560,3845,2589,2534,955.0,9.7,783,9750,0.00,2.33,0.00,0.000,1030,0.000,0.037,2574,2437,2561,2589,2534,0,0,0,0,0,0,14.57,14.50,14.59
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$STATE,20964,end climb,SURFACE_DEPTH_REACHED
$STATE,20964,begin surface coast
$STATE,20984,end surface coast,CONTROL_FINISHED_OK
$STATE,20984,begin surface
$SM_CCo,21004,108.50,0.623,1,0,929,500.17
$SM_GC,1.29,7.55,0.10,108.50,0.051,0.146,0.623,119,2518,929,-6.77,-0.82,500.17,0,0,0,0,1,0,14.53,14.52,13.53
$IRIDIUM_FIX,504.37,8140.25,020120,030937
$TT8_MAMPS,0.018725,0.159537
$HUMID,49.68
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,12.57,224.860
$10V_AH,12.77,0.000
$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,19.875,215.900,469.225,108.500,0.000,0.000,0.000,230.025,0.000,0.000,15.497,1712.618,15509.338,730.305,2980.587,563.046,0.000,2497.185,0.000,2727.466,0.000,0.539,0.000
$DEVICE_MAMPS,347.310,146.115,1979.820,622.710,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,916.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250392
$DATA_FILE_SIZE,83216,1920
$CAP_FILE_SIZE,206673,0
$CFSIZE,260034560,125829120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.066,75.66,1
$GPS,020120,152800,507.527,8145.478,23,0.7,23,-2.1,0.4,257.6,11,3.1