version: 66.13
glider: 171
mission: 11
dive: 670
start: 1 2 120 20 54 24
data:
$ID,171
$MISSION,11
$DIVE,670
$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,68
$R_STBD_OVSHOOT,35
$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
$GPS1,020120,204500,507.5788,8143.5488,32,0.8,32,-2.1,0.3,262.7,9,3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.6
$GPS2,020120,205332,507.4912,8143.4355,2,0.5,3,-2.1,0.3,272.8,12,5.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,261.4,136193,-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,-97.3,102,2513,970,881,0.0,0.0,0,88,0.00,0.00,-76.62,0.005,16386,0.000,0.000,102,2514,2760,2759,2762,0,0,0,0,0,0,14.85,28.83,14.88
$GC,93,-0.67,-97.3,102,2514,2759,2762,5.4,-15.5,16,119,9.38,2.35,-11.12,0.011,19204,0.347,0.063,2108,1105,3368,3381,3355,0,0,0,0,0,0,13.84,12.61,14.31
$GC,263,-0.67,-97.3,2107,1105,3381,3354,55.0,-18.7,50,267,0.00,2.38,0.00,0.000,1030,0.000,0.060,2099,2492,3367,3381,3354,0,0,0,0,0,0,14.54,14.43,14.58
$GC,455,-0.67,-97.3,2098,2491,3381,3355,86.4,-13.6,70,459,0.00,2.38,0.00,0.000,260,0.000,0.077,2088,3905,3368,3381,3355,0,0,0,0,0,0,15.00,14.36,15.02
$GC,661,-0.67,-97.3,2087,3905,3381,3354,117.2,-13.7,111,667,0.00,2.22,0.00,0.000,1030,0.000,0.032,2088,2511,3367,3381,3354,0,0,0,0,0,0,14.67,14.61,14.70
$GC,848,-0.67,-97.3,2087,2510,3381,3355,142.6,-14.9,130,852,0.00,2.40,0.00,0.000,260,0.000,0.080,2077,3894,3368,3381,3355,0,0,0,0,0,0,15.03,14.42,15.06
$GC,974,-0.67,-97.3,2077,3894,3381,3354,161.3,-13.4,155,979,0.15,2.22,0.00,0.000,3078,0.215,0.031,2113,2493,3367,3381,3354,0,0,0,0,0,0,14.26,14.63,14.47
$GC,1160,-0.67,-97.3,2112,2492,3381,3354,183.1,-11.8,174,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3367,3381,3354,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1340,-0.67,-97.3,2112,2492,3380,3354,204.5,-11.5,192,1346,0.00,2.45,0.00,0.000,260,0.000,0.083,2104,3896,3366,3379,3354,0,0,0,0,0,0,15.06,14.41,15.09
$GC,1369,-0.67,-97.3,2104,3896,3380,3354,208.0,-11.7,198,1373,0.00,2.22,0.00,0.000,1030,0.000,0.032,2104,2500,3366,3379,3354,0,0,0,0,0,0,14.69,14.63,14.71
$GC,1561,-0.67,-97.3,2104,2498,3378,3354,229.6,-11.4,218,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3365,3377,3354,0,0,0,0,0,0,15.05,15.09,15.08
$GC,1741,-0.67,-97.3,2103,2498,3376,3354,249.5,-11.2,236,1745,0.00,2.30,0.00,0.000,516,0.000,0.047,2104,1103,3364,3376,3353,0,0,0,0,0,0,15.06,14.53,15.09
$GC,1793,-0.67,-97.3,2103,1103,3374,3354,255.2,-10.8,246,1797,0.00,2.40,0.00,0.000,1030,0.000,0.057,2092,2506,3364,3375,3354,0,0,0,0,0,0,14.59,14.48,14.63
$GC,2104,-0.67,-97.3,2092,2507,3374,3349,291.8,-11.7,263,2109,0.00,2.42,0.00,0.000,260,0.000,0.082,2082,3899,3361,3374,3349,0,0,0,0,0,0,15.07,14.38,15.10
$GC,2176,-0.67,-97.3,2082,3899,3372,3349,300.6,-12.1,277,2181,0.12,2.25,0.00,0.000,3078,0.208,0.033,2111,2496,3361,3373,3349,0,0,0,0,0,0,14.31,14.62,14.50
$GC,2489,-0.67,-97.3,2111,2495,3371,3346,332.2,-9.7,294,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3358,3371,3346,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2788,-0.67,-97.3,2111,2495,3369,3344,360.7,-9.4,309,2792,0.00,2.33,0.00,0.000,516,0.000,0.047,2111,1105,3356,3369,3344,0,0,0,0,0,0,15.08,14.50,15.10
$GC,2831,-0.67,-97.3,2111,1105,3368,3344,364.6,-9.4,317,2835,0.00,2.40,0.00,0.000,1030,0.000,0.057,2102,2500,3356,3368,3344,0,0,0,0,0,0,14.57,14.45,14.61
$GC,3153,-0.67,-97.3,2102,2500,3367,3341,398.9,-11.1,336,3157,0.00,2.42,0.00,0.000,260,0.000,0.083,2091,3892,3354,3367,3341,0,0,0,0,0,0,15.07,14.35,15.10
$GC,3194,-0.67,-97.3,2090,3892,3366,3341,403.8,-11.7,344,3198,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2500,3354,3367,3341,0,0,0,0,0,0,14.66,14.59,14.68
$GC,3517,-0.67,-97.3,2090,2499,3365,3339,441.4,-11.8,363,3522,0.00,2.33,0.00,0.000,516,0.000,0.048,2092,1108,3352,3365,3339,0,0,0,0,0,0,15.07,14.48,15.09
$GC,3549,-0.67,-97.3,2090,1108,3364,3339,445.3,-11.5,369,3556,0.12,2.40,0.00,0.000,3078,0.211,0.057,2109,2503,3351,3364,3339,0,0,0,0,0,0,14.23,14.43,14.42
$GC,3859,-0.67,-97.3,2109,2503,3362,3337,477.4,-10.3,386,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2503,3350,3363,3337,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4160,-0.67,-97.3,2109,2503,3362,3336,508.1,-10.2,401,4165,0.00,2.45,0.00,0.000,260,0.000,0.085,2100,3896,3347,3360,3335,0,0,0,0,0,0,15.07,14.31,15.09
$GC,4202,-0.67,-97.3,2100,3896,3361,3335,512.6,-10.5,409,4206,0.00,2.28,0.00,0.000,1030,0.000,0.035,2100,2500,3348,3361,3335,0,0,0,0,0,0,14.62,14.55,14.65
$GC,4525,-0.67,-97.3,2100,2499,3360,3333,546.4,-10.6,428,4531,0.00,2.47,0.00,0.000,260,0.000,0.087,2089,3892,3347,3360,3334,0,0,0,0,0,0,15.06,14.29,15.08
$GC,4565,-0.67,-97.3,2089,3892,3360,3333,551.1,-11.4,436,4569,0.00,2.28,0.00,0.000,1030,0.000,0.035,2089,2495,3347,3360,3334,0,0,0,0,0,0,14.62,14.54,14.64
$GC,4888,-0.67,-97.3,2089,2493,3357,3332,587.9,-11.3,455,4893,0.00,2.50,0.00,0.000,260,0.000,0.086,2078,3896,3344,3357,3332,0,0,0,0,0,0,15.05,14.28,15.08
$GC,4927,-0.67,-97.3,2078,3896,3356,3332,592.5,-12.2,462,4932,0.12,2.30,0.00,0.000,3078,0.207,0.035,2107,2491,3345,3357,3333,0,0,0,0,0,0,14.22,14.53,14.40
$GC,5230,-0.67,-97.3,2107,2490,3356,3331,624.2,-10.3,478,5238,0.00,2.50,0.00,0.000,260,0.000,0.086,2098,3891,3343,3356,3331,0,0,0,0,0,0,15.07,14.26,15.09
$GC,5275,-0.67,-97.3,2098,3891,3356,3331,628.9,-10.5,487,5280,0.00,2.28,0.00,0.000,1030,0.000,0.035,2098,2497,3343,3356,3330,0,0,0,0,0,0,14.59,14.52,14.62
$GC,5595,-0.67,-97.3,2098,2496,3355,3330,662.6,-10.8,505,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2496,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5893,-0.67,-97.3,2098,2496,3354,3328,694.2,-10.3,520,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2496,3341,3354,3328,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6192,-0.67,-97.3,2098,2496,3353,3327,724.5,-10.0,535,6197,0.00,2.35,0.00,0.000,516,0.000,0.050,2098,1103,3340,3353,3327,0,0,0,0,0,0,15.07,14.39,15.09
$GC,6221,-0.67,-97.3,2098,1103,3353,3327,727.3,-11.0,540,6228,0.00,2.42,0.00,0.000,1030,0.000,0.058,2087,2499,3339,3352,3327,0,0,0,0,0,0,14.46,14.33,14.51
$GC,6535,-0.67,-97.3,2087,2499,3352,3326,760.4,-10.7,558,6542,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3890,3339,3352,3326,0,0,0,0,0,0,15.07,14.21,15.09
$GC,6576,-0.67,-97.3,2076,3890,3352,3326,764.9,-10.9,566,6581,0.15,2.28,0.00,0.000,3078,0.194,0.036,2113,2500,3338,3351,3326,0,0,0,0,0,0,14.14,14.49,14.34
$GC,6898,-0.67,-97.3,2113,2498,3351,3324,794.2,-9.1,585,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2498,3338,3351,3325,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7198,-0.67,-97.3,2113,2499,3350,3324,821.5,-9.1,600,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2498,3337,3350,3324,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7499,-0.67,-97.3,2113,2499,3349,3323,848.2,-8.7,615,7504,0.00,2.53,0.00,0.000,260,0.000,0.090,2104,3895,3336,3349,3323,0,0,0,0,0,0,15.04,14.17,15.07
$GC,7531,-0.67,-97.3,2104,3894,3348,3323,851.2,-9.2,621,7535,0.00,2.30,0.00,0.000,1030,0.000,0.036,2104,2496,3335,3348,3323,0,0,0,0,0,0,14.54,14.47,14.56
$GC,7843,-0.67,-97.3,2104,2495,3348,3322,879.8,-9.4,638,7851,0.00,2.53,0.00,0.000,260,0.000,0.087,2093,3895,3335,3348,3322,0,0,0,0,0,0,15.05,14.16,15.07
$GC,7883,-0.67,-97.3,2092,3894,3348,3322,883.8,-10.1,646,7887,0.00,2.30,0.00,0.000,1030,0.000,0.037,2093,2499,3335,3348,3322,0,0,0,0,0,0,14.52,14.45,14.55
$GC,8204,-0.67,-97.3,2092,2497,3347,3321,915.7,-9.9,665,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3334,3347,3321,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8506,-0.67,-97.3,2092,2497,3347,3321,945.2,-9.8,680,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3334,3347,3321,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8804,-0.67,-97.3,2092,2497,3345,3320,973.0,-9.0,695,8809,0.00,2.55,0.00,0.000,260,0.000,0.089,2082,3897,3333,3345,3321,0,0,0,0,0,0,15.05,14.12,15.08
$GC,8861,-0.67,-97.3,2082,3897,3344,3321,978.5,-9.7,706,8869,0.12,2.33,0.00,0.000,3078,0.203,0.037,2111,2495,3332,3345,3320,0,0,0,0,0,0,14.10,14.41,14.28
$STATE,9023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9023,begin apogee
$GC,9032,-0.15,0.0,2111,2494,3344,3320,991.4,-7.6,718,9128,0.60,0.00,92.45,1.974,10246,0.162,0.000,2281,2494,2968,3001,2936,0,0,0,0,0,0,13.97,13.97,12.66
$STATE,9129,end apogee,CONTROL_FINISHED_OK
$STATE,9129,begin climb
$GC,9132,0.67,97.3,2281,2494,2999,2935,993.5,0.0,723,9244,0.82,0.00,104.38,1.952,10502,0.083,0.000,2556,2494,2569,2601,2538,0,0,0,0,0,0,14.15,13.90,12.62
$GC,9547,0.67,97.3,2556,2494,2592,2534,969.8,8.6,759,9555,0.00,2.47,0.00,0.000,516,0.000,0.052,2567,1053,2562,2591,2534,0,0,0,0,0,0,14.87,14.39,14.90
$GC,9585,0.67,97.3,2567,1053,2590,2534,966.7,8.6,766,9591,0.00,2.42,0.00,0.000,1030,0.000,0.056,2567,2444,2562,2590,2534,0,0,0,0,0,0,14.50,14.38,14.54
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$STATE,22228,end climb,SURFACE_DEPTH_REACHED
$STATE,22228,begin surface coast
$STATE,22238,end surface coast,CONTROL_FINISHED_OK
$STATE,22238,begin surface
$SM_CCo,22260,115.47,0.630,1,0,928,500.17
$SM_GC,1.13,8.05,0.12,115.47,0.050,0.112,0.630,130,2564,928,-6.79,-0.71,500.17,0,0,0,0,1,0,14.42,14.47,13.52
$IRIDIUM_FIX,504.43,8144.54,020120,204730
$TT8_MAMPS,0.018725,0.16478
$HUMID,49.68
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,12.61,225.468
$10V_AH,12.70,0.000
$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,20.500,225.150,461.050,115.475,0.000,0.000,0.000,304.625,0.250,0.000,15.017,1854.053,16455.113,739.847,3249.555,590.781,0.000,2671.877,0.000,2916.581,0.000,0.541,0.000
$DEVICE_MAMPS,346.545,112.455,1974.465,629.595,0.000,0.000,0.000,180.540,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,967.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250328
$DATA_FILE_SIZE,89799,2054
$CAP_FILE_SIZE,220194,0
$CFSIZE,260034560,125624320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.030,343.20,1
$GPS,030120,030830,507.647,8141.717,23,0.7,23,-2.1,0.3,206.3,11,4.1