version: 66.13
glider: 171
mission: 11
dive: 671
start: 1 3 120 3 16 13
data:
$ID,171
$MISSION,11
$DIVE,671
$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,71
$R_STBD_OVSHOOT,30
$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
$GPS1,030120,030830,507.6468,8141.7173,23,0.7,23,-2.1,0.3,206.3,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.3
$GPS2,030120,031519,507.6089,8141.5947,2,0.5,3,-2.1,0.3,176.7,12,7.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,255.3,132838,-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,-97.3,96,2566,971,880,0.0,0.0,0,83,0.00,0.00,-71.60,0.005,16386,0.000,0.000,96,2566,2588,2587,2589,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,96,2566,2589,2589,4.3,-10.8,15,119,9.38,2.47,-15.50,0.008,18948,0.347,0.068,2103,1121,3366,3382,3351,0,0,0,0,0,0,13.85,12.59,14.31
$GC,308,-0.67,-97.3,2103,1121,3383,3351,61.2,-19.4,59,315,0.00,2.40,0.00,0.000,1030,0.000,0.069,2094,2497,3367,3383,3351,0,0,0,0,0,0,14.50,14.37,14.55
$GC,500,-0.67,-97.3,2094,2497,3383,3351,92.4,-13.7,79,504,0.00,2.42,0.00,0.000,260,0.000,0.081,2084,3901,3366,3383,3350,0,0,0,0,0,0,14.98,14.39,15.01
$GC,616,-0.67,-97.3,2083,3901,3383,3351,111.0,-15.7,102,621,0.00,2.22,0.00,0.000,1030,0.000,0.033,2084,2514,3367,3383,3351,0,0,0,0,0,0,14.66,14.59,14.68
$GC,801,-0.67,-97.3,2083,2513,3383,3350,138.1,-14.9,121,808,0.00,2.42,0.00,0.000,260,0.000,0.084,2073,3901,3367,3384,3350,0,0,0,0,0,0,15.04,14.40,15.07
$GC,927,-0.67,-97.3,2073,3901,3383,3351,154.3,-14.1,146,933,0.15,2.25,0.00,0.000,3078,0.213,0.034,2109,2500,3367,3383,3351,0,0,0,0,0,0,14.25,14.60,14.46
$GC,1111,-0.67,-97.3,2108,2498,3384,3350,176.1,-11.8,165,1118,0.00,2.47,0.00,0.000,260,0.000,0.085,2099,3908,3366,3383,3350,0,0,0,0,0,0,15.05,14.40,15.08
$GC,1167,-0.67,-97.3,2099,3908,3383,3350,183.0,-13.1,176,1172,0.00,2.28,0.00,0.000,1030,0.000,0.032,2099,2497,3366,3383,3350,0,0,0,0,0,0,14.68,14.62,14.71
$GC,1351,-0.67,-97.3,2098,2495,3382,3350,208.3,-13.2,195,1355,0.00,2.28,0.00,0.000,516,0.000,0.046,2099,1108,3365,3381,3350,0,0,0,0,0,0,15.05,14.54,15.08
$GC,1394,-0.67,-97.3,2098,1108,3381,3350,213.8,-13.0,203,1399,0.00,2.40,0.00,0.000,1030,0.000,0.057,2088,2513,3365,3381,3350,0,0,0,0,0,0,14.59,14.47,14.63
$GC,1586,-0.67,-97.3,2088,2513,3380,3350,239.3,-13.2,223,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2513,3364,3379,3350,0,0,0,0,0,0,15.05,15.08,15.08
$GC,1776,-0.67,-97.3,2087,2513,3378,3350,263.8,-13.0,237,1780,0.00,2.40,0.00,0.000,260,0.000,0.084,2077,3891,3363,3377,3350,0,0,0,0,0,0,15.07,14.38,15.09
$GC,1818,-0.67,-97.3,2077,3891,3377,3350,269.3,-13.4,245,1823,0.15,2.22,0.00,0.000,3078,0.204,0.033,2113,2497,3363,3377,3350,0,0,0,0,0,0,14.26,14.62,14.47
$GC,2140,-0.67,-97.3,2113,2496,3374,3348,304.4,-10.3,264,2146,0.00,2.45,0.00,0.000,260,0.000,0.083,2104,3891,3361,3374,3348,0,0,0,0,0,0,15.07,14.37,15.09
$GC,2177,-0.67,-97.3,2104,3891,3373,3348,308.1,-11.0,271,2181,0.00,2.25,0.00,0.000,1030,0.000,0.033,2104,2495,3361,3374,3348,0,0,0,0,0,0,14.67,14.61,14.69
$GC,2480,-0.67,-97.3,2104,2494,3372,3346,340.2,-10.3,287,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3358,3372,3345,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2780,-0.67,-97.3,2104,2494,3370,3344,369.6,-9.5,302,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2494,3357,3371,3343,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3081,-0.67,-97.3,2104,2494,3368,3340,397.7,-9.4,317,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2494,3354,3368,3340,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3380,-0.67,-97.3,2104,2493,3366,3339,426.9,-10.0,332,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2493,3353,3367,3339,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3680,-0.67,-97.3,2104,2493,3365,3338,457.1,-10.1,347,3684,0.00,2.33,0.00,0.000,516,0.000,0.048,2104,1102,3351,3365,3337,0,0,0,0,0,0,15.07,14.47,15.09
$GC,3708,-0.67,-97.3,2104,1102,3364,3337,459.9,-11.0,352,3714,0.00,2.42,0.00,0.000,1030,0.000,0.057,2093,2504,3350,3364,3337,0,0,0,0,0,0,14.54,14.41,14.57
$GC,4021,-0.67,-97.3,2093,2504,3363,3336,494.8,-11.5,370,4027,0.00,2.45,0.00,0.000,260,0.000,0.085,2083,3893,3348,3362,3335,0,0,0,0,0,0,15.07,14.30,15.09
$GC,4065,-0.67,-97.3,2082,3893,3362,3335,499.9,-12.0,378,4071,0.12,2.28,0.00,0.000,3078,0.208,0.034,2111,2491,3348,3362,3335,0,0,0,0,0,0,14.23,14.56,14.42
$GC,4389,-0.67,-97.3,2111,2490,3362,3334,535.2,-11.0,397,4396,0.00,2.50,0.00,0.000,260,0.000,0.085,2102,3896,3348,3362,3334,0,0,0,0,0,0,15.06,14.28,15.09
$GC,4419,-0.67,-97.3,2102,3896,3362,3333,538.7,-12.2,403,4423,0.00,2.28,0.00,0.000,1030,0.000,0.035,2102,2500,3347,3362,3333,0,0,0,0,0,0,14.62,14.54,14.64
$GC,4733,-0.67,-97.3,2102,2498,3360,3333,575.1,-11.5,420,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2499,3346,3360,3332,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5032,-0.67,-97.3,2102,2499,3359,3331,609.1,-11.4,435,5036,0.00,2.53,0.00,0.000,260,0.000,0.087,2090,3900,3344,3358,3331,0,0,0,0,0,0,15.06,14.25,15.09
$GC,5128,-0.67,-97.3,2090,3900,3357,3331,620.6,-11.9,454,5133,0.00,2.30,0.00,0.000,1030,0.000,0.036,2091,2499,3344,3357,3331,0,0,0,0,0,0,14.58,14.51,14.61
$GC,5435,-0.67,-97.3,2090,2499,3356,3330,656.4,-11.7,470,5440,0.00,2.50,0.00,0.000,260,0.000,0.086,2080,3894,3343,3356,3330,0,0,0,0,0,0,15.05,14.24,15.07
$GC,5462,-0.67,-97.3,2080,3894,3356,3330,659.8,-12.1,475,5467,0.12,2.30,0.00,0.000,3078,0.206,0.036,2109,2492,3343,3356,3330,0,0,0,0,0,0,14.19,14.50,14.38
$GC,5781,-0.67,-97.3,2109,2491,3356,3329,692.3,-9.9,493,5788,0.00,2.53,0.00,0.000,260,0.000,0.086,2100,3900,3342,3356,3329,0,0,0,0,0,0,15.05,14.23,15.07
$GC,5815,-0.67,-97.3,2100,3900,3356,3329,696.0,-10.2,500,5819,0.00,2.30,0.00,0.000,1030,0.000,0.036,2100,2500,3342,3355,3329,0,0,0,0,0,0,14.57,14.50,14.59
$GC,6120,-0.67,-97.3,2100,2499,3355,3327,726.2,-9.7,516,6124,0.00,2.35,0.00,0.000,516,0.000,0.050,2100,1105,3340,3354,3327,0,0,0,0,0,0,15.07,14.38,15.09
$GC,6147,-0.67,-97.3,2099,1105,3354,3327,728.7,-9.7,521,6155,0.00,2.42,0.00,0.000,1030,0.000,0.058,2089,2499,3340,3354,3327,0,0,0,0,0,0,14.45,14.33,14.50
$GC,6462,-0.67,-97.3,2088,2499,3353,3326,760.3,-10.2,539,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3339,3353,3326,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6762,-0.67,-97.3,2088,2499,3353,3325,791.2,-10.5,554,6767,0.00,2.50,0.00,0.000,260,0.000,0.087,2078,3896,3339,3353,3325,0,0,0,0,0,0,15.07,14.19,15.09
$GC,6816,-0.67,-97.3,2077,3896,3352,3325,797.0,-11.0,564,6821,0.12,2.30,0.00,0.000,3078,0.203,0.037,2108,2498,3338,3352,3325,0,0,0,0,0,0,14.15,14.47,14.34
$GC,7128,-0.67,-97.3,2107,2497,3352,3324,825.0,-8.8,581,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3338,3352,3324,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7428,-0.67,-97.3,2107,2496,3351,3323,850.7,-8.5,596,7432,0.00,2.35,0.00,0.000,516,0.000,0.050,2108,1108,3336,3351,3322,0,0,0,0,0,0,15.05,14.35,15.08
$GC,7470,-0.67,-97.3,2107,1108,3351,3323,854.3,-8.6,604,7476,0.00,2.42,0.00,0.000,1030,0.000,0.057,2098,2500,3337,3351,3323,0,0,0,0,0,0,14.42,14.28,14.46
$GC,7790,-0.67,-97.3,2098,2500,3350,3322,883.5,-9.2,623,7796,0.00,2.50,0.00,0.000,260,0.000,0.087,2087,3897,3336,3350,3322,0,0,0,0,0,0,15.05,14.16,15.08
$GC,7875,-0.67,-97.3,2087,3897,3349,3322,892.1,-10.2,640,7880,0.00,2.33,0.00,0.000,1030,0.000,0.037,2087,2494,3335,3350,3321,0,0,0,0,0,0,14.51,14.43,14.54
$GC,8192,-0.67,-97.3,2087,2493,3349,3321,925.7,-10.9,658,8197,0.00,2.55,0.00,0.000,260,0.000,0.089,2077,3899,3335,3349,3321,0,0,0,0,0,0,15.05,14.14,15.07
$GC,8239,-0.67,-97.3,2076,3899,3348,3321,931.2,-11.6,667,8247,0.15,2.33,0.00,0.000,3078,0.198,0.037,2112,2492,3335,3349,3321,0,0,0,0,0,0,14.07,14.43,14.27
$GC,8555,-0.67,-97.3,2112,2490,3348,3320,962.6,-10.1,685,8561,0.00,2.35,0.00,0.000,516,0.000,0.049,2112,1108,3334,3348,3320,0,0,0,0,0,0,15.04,14.31,15.07
$GC,8578,-0.67,-97.3,2112,1108,3348,3320,965.2,-11.0,689,8586,0.00,2.45,0.00,0.000,1030,0.000,0.058,2103,2506,3334,3348,3320,0,0,0,0,0,0,14.38,14.25,14.42
$STATE,8815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8815,begin apogee
$GC,8825,-0.15,0.0,2103,2434,3348,3320,990.2,-10.3,704,8921,0.62,0.00,92.65,1.971,10246,0.166,0.000,2276,2434,2968,3001,2935,0,0,0,0,0,0,13.97,13.96,12.66
$STATE,8922,end apogee,CONTROL_FINISHED_OK
$STATE,8922,begin climb
$GC,8926,0.67,97.3,2277,2434,2999,2935,994.5,0.0,709,9042,0.85,2.42,104.22,1.952,10756,0.093,0.048,2561,1043,2569,2601,2538,0,0,0,0,0,0,14.12,13.59,12.61
$GC,9064,0.75,178.2,2561,1043,2596,2537,994.7,3.5,737,9153,0.00,2.47,82.43,1.946,9254,0.000,0.054,2561,2451,2241,2290,2193,0,0,0,0,0,0,14.32,14.22,12.62
$GC,9461,0.75,178.2,2561,2451,2279,2186,952.2,12.1,771,9465,0.00,2.42,0.00,0.000,516,0.000,0.052,2572,1046,2232,2279,2186,0,0,0,0,0,0,14.88,14.41,14.90
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$STATE,18564,end climb,SURFACE_DEPTH_REACHED
$STATE,18564,begin surface coast
$STATE,18580,end surface coast,CONTROL_FINISHED_OK
$STATE,18580,begin surface
$SM_CCo,18604,101.97,0.598,1,0,928,500.17
$SM_GC,1.28,7.65,2.55,101.97,0.077,0.055,0.598,120,2499,928,-6.78,-0.85,500.17,0,0,0,0,1,0,14.56,14.38,13.60
$IRIDIUM_FIX,506.59,8144.54,020120,204938
$TT8_MAMPS,0.018725,0.15729
$HUMID,48.85
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,12.59,225.778
$10V_AH,12.68,0.000
$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,20.400,206.575,486.300,101.975,0.000,0.000,0.000,255.400,0.000,0.000,14.988,1510.617,13717.918,725.596,2635.584,523.457,0.000,2354.385,0.000,2370.393,0.000,0.540,0.000
$DEVICE_MAMPS,347.310,148.410,1970.640,598.230,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,843.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250308
$DATA_FILE_SIZE,73318,1667
$CAP_FILE_SIZE,186895,0
$CFSIZE,260034560,125575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.056,34.62,1
$GPS,030120,082909,507.726,8140.085,20,1.0,20,-2.1,0.9,237.1,8,9.2