version: 66.13
glider: 171
mission: 11
dive: 673
start: 1 3 120 14 22 46
data:
$ID,171
$MISSION,11
$DIVE,673
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,030120,141510,507.7204,8138.2114,17,1.6,18,-2.1,0.7,279.2,5,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.4
$GPS2,030120,142152,507.6710,8138.0703,2,1.1,4,-2.1,1.4,210.8,9,8.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,247.9,126388,-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,-97.3,115,2516,972,880,0.0,0.0,0,88,0.00,0.00,-76.47,0.005,16386,0.000,0.000,115,2517,2741,2742,2740,0,0,0,0,0,0,14.84,28.83,14.88
$GC,93,-0.67,-97.3,114,2517,2741,2740,5.3,-14.2,16,119,9.27,2.40,-11.55,0.011,18948,0.345,0.069,2111,1093,3368,3382,3355,0,0,0,0,0,0,13.85,12.62,14.32
$GC,223,-0.67,-97.3,2110,1093,3383,3355,45.0,-25.6,42,230,0.00,2.45,0.00,0.000,1030,0.000,0.070,2101,2492,3369,3383,3355,0,0,0,0,0,0,14.50,14.35,14.54
$GC,418,-0.67,-97.3,2101,2491,3383,3355,79.4,-15.9,64,423,0.00,2.47,0.00,0.000,260,0.000,0.084,2090,3903,3369,3383,3355,0,0,0,0,0,0,14.99,14.36,15.01
$GC,651,-0.67,-97.3,2090,3903,3383,3355,115.5,-16.0,110,655,0.00,2.25,0.00,0.000,1030,0.000,0.031,2090,2482,3369,3383,3355,0,0,0,0,0,0,14.68,14.62,14.70
$GC,844,-0.67,-97.3,2090,2479,3383,3355,144.0,-14.2,130,848,0.00,2.50,0.00,0.000,260,0.000,0.087,2079,3899,3369,3383,3355,0,0,0,0,0,0,15.03,14.38,15.06
$GC,999,-0.67,-97.3,2079,3899,3383,3355,166.9,-14.4,160,1004,0.12,2.22,0.00,0.000,3078,0.221,0.032,2108,2493,3369,3383,3355,0,0,0,0,0,0,14.28,14.63,14.49
$GC,1193,-0.67,-97.3,2107,2492,3383,3355,190.5,-11.4,180,1200,0.00,2.45,0.00,0.000,260,0.000,0.080,2098,3901,3368,3383,3354,0,0,0,0,0,0,15.04,14.40,15.07
$GC,1267,-0.67,-97.3,2098,3901,3382,3354,199.5,-11.9,195,1272,0.00,2.22,0.00,0.000,1030,0.000,0.032,2098,2506,3368,3383,3354,0,0,0,0,0,0,14.69,14.62,14.71
$GC,1452,-0.67,-97.3,2098,2504,3381,3354,221.2,-11.4,214,1456,0.00,2.30,0.00,0.000,516,0.000,0.047,2098,1105,3367,3380,3354,0,0,0,0,0,0,15.05,14.52,15.08
$GC,1520,-0.67,-97.3,2098,1105,3380,3354,228.7,-10.9,227,1525,0.00,2.40,0.00,0.000,1030,0.000,0.057,2087,2509,3366,3379,3354,0,0,0,0,0,0,14.59,14.49,14.64
$GC,1703,-0.67,-97.3,2087,2509,3378,3354,249.5,-11.3,246,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2509,3366,3378,3354,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1895,-0.67,-97.3,2087,2509,3376,3354,270.9,-11.4,256,1899,0.00,2.40,0.00,0.000,260,0.000,0.082,2076,3891,3365,3376,3354,0,0,0,0,0,0,15.06,14.39,15.09
$GC,1926,-0.67,-97.3,2076,3891,3375,3354,274.9,-12.1,262,1931,0.15,2.22,0.00,0.000,3078,0.204,0.034,2112,2498,3365,3376,3354,0,0,0,0,0,0,14.28,14.62,14.48
$GC,2238,-0.67,-97.3,2112,2497,3375,3349,306.9,-10.1,279,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3362,3375,3349,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2539,-0.67,-97.3,2112,2497,3373,3347,336.7,-10.0,294,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3360,3373,3347,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2838,-0.67,-97.3,2112,2497,3370,3345,367.0,-10.1,309,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3358,3371,3345,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3139,-0.67,-97.3,2112,2497,3369,3343,398.6,-10.5,324,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3355,3369,3342,0,0,0,0,0,0,15.07,15.10,15.10
$GC,3439,-0.67,-97.3,2112,2497,3367,3340,429.8,-10.3,339,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2498,3353,3367,3340,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3738,-0.67,-97.3,2112,2497,3365,3339,461.5,-10.6,354,3742,0.00,2.50,0.00,0.000,260,0.000,0.089,2104,3892,3352,3366,3338,0,0,0,0,0,0,15.07,14.31,15.10
$GC,3776,-0.67,-97.3,2103,3892,3365,3338,465.5,-11.2,361,3780,0.00,2.25,0.00,0.000,1030,0.000,0.034,2104,2505,3352,3366,3338,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4079,-0.67,-97.3,2103,2503,3363,3337,498.7,-10.4,377,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2503,3350,3363,3338,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4380,-0.67,-97.3,2103,2503,3362,3336,528.6,-10.0,392,4386,0.00,2.47,0.00,0.000,260,0.000,0.086,2092,3894,3348,3362,3335,0,0,0,0,0,0,15.07,14.29,15.09
$GC,4421,-0.67,-97.3,2092,3894,3362,3336,532.8,-10.6,400,4425,0.00,2.28,0.00,0.000,1030,0.000,0.035,2092,2495,3349,3362,3336,0,0,0,0,0,0,14.62,14.55,14.64
$GC,4742,-0.67,-97.3,2092,2494,3361,3334,568.4,-11.3,419,4747,0.00,2.50,0.00,0.000,260,0.000,0.086,2082,3890,3347,3361,3334,0,0,0,0,0,0,15.07,14.28,15.09
$GC,4770,-0.67,-97.3,2082,3890,3361,3333,571.6,-12.4,424,4775,0.12,2.28,0.00,0.000,3078,0.204,0.035,2111,2493,3347,3361,3334,0,0,0,0,0,0,14.23,14.54,14.42
$GC,5090,-0.67,-97.3,2110,2492,3359,3333,603.0,-9.5,442,5097,0.00,2.50,0.00,0.000,260,0.000,0.086,2102,3891,3346,3359,3333,0,0,0,0,0,0,15.06,14.26,15.08
$GC,5134,-0.67,-97.3,2101,3891,3359,3332,607.6,-10.1,451,5139,0.00,2.28,0.00,0.000,1030,0.000,0.036,2102,2500,3345,3359,3332,0,0,0,0,0,0,14.59,14.52,14.62
$GC,5452,-0.67,-97.3,2102,2499,3357,3331,639.6,-10.1,469,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2499,3344,3357,3331,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5752,-0.67,-97.3,2102,2499,3356,3330,669.5,-10.1,484,5756,0.00,2.35,0.00,0.000,516,0.000,0.050,2102,1106,3343,3356,3330,0,0,0,0,0,0,15.06,14.40,15.09
$GC,5778,-0.67,-97.3,2101,1106,3356,3330,672.2,-10.6,489,5785,0.00,2.42,0.00,0.000,1030,0.000,0.058,2091,2500,3343,3356,3330,0,0,0,0,0,0,14.47,14.35,14.52
$GC,6094,-0.67,-97.3,2090,2500,3356,3329,705.6,-11.0,507,6100,0.00,2.47,0.00,0.000,260,0.000,0.086,2080,3893,3342,3355,3329,0,0,0,0,0,0,15.05,14.22,15.08
$GC,6152,-0.67,-97.3,2080,3893,3355,3329,712.4,-11.5,518,6157,0.12,2.30,0.00,0.000,3078,0.205,0.036,2109,2493,3342,3355,3329,0,0,0,0,0,0,14.19,14.49,14.37
$GC,6457,-0.67,-97.3,2108,2492,3354,3327,742.8,-9.7,534,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3340,3354,3327,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6758,-0.67,-97.3,2108,2492,3353,3326,771.7,-9.5,549,6762,0.00,2.33,0.00,0.000,516,0.000,0.049,2109,1111,3339,3353,3326,0,0,0,0,0,0,15.04,14.36,15.07
$GC,6795,-0.67,-97.3,2109,1110,3353,3326,775.3,-9.5,556,6801,0.00,2.42,0.00,0.000,1030,0.000,0.057,2100,2502,3340,3353,3327,0,0,0,0,0,0,14.43,14.31,14.48
$GC,7121,-0.67,-97.3,2099,2502,3352,3325,807.0,-9.7,576,7127,0.00,2.47,0.00,0.000,260,0.000,0.086,2089,3892,3339,3353,3326,0,0,0,0,0,0,15.04,14.19,15.07
$GC,7150,-0.67,-97.3,2088,3891,3352,3326,810.1,-10.9,582,7154,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2503,3339,3352,3326,0,0,0,0,0,0,14.54,14.47,14.57
$GC,7461,-0.67,-97.3,2088,2502,3352,3325,840.8,-9.7,599,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2502,3338,3351,3325,0,0,0,0,0,0,15.06,15.09,15.09
$GC,7762,-0.67,-97.3,2088,2501,3350,3324,870.8,-10.3,614,7769,0.00,2.53,0.00,0.000,260,0.000,0.088,2078,3900,3337,3350,3324,0,0,0,0,0,0,15.05,14.16,15.07
$GC,7801,-0.67,-97.3,2077,3900,3350,3323,875.2,-11.0,622,7806,0.12,2.30,0.00,0.000,3078,0.204,0.037,2108,2499,3337,3350,3324,0,0,0,0,0,0,14.13,14.45,14.31
$GC,8123,-0.67,-97.3,2107,2497,3350,3323,905.9,-9.8,641,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3336,3350,3322,0,0,0,0,0,0,15.05,15.09,15.08
$GC,8425,-0.67,-97.3,2107,2497,3349,3322,935.9,-10.1,656,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3335,3349,3322,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8723,-0.67,-97.3,2108,2497,3348,3322,965.3,-9.7,671,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3334,3348,3321,0,0,0,0,0,0,15.05,15.09,15.08
$STATE,9001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9002,begin apogee
$GC,9009,-0.15,0.0,2108,2497,3347,3321,991.2,-9.0,685,9106,0.60,0.00,92.72,1.976,10246,0.164,0.000,2276,2497,2968,3000,2936,0,0,0,0,0,0,13.97,13.96,12.66
$STATE,9107,end apogee,CONTROL_FINISHED_OK
$STATE,9107,begin climb
$GC,9111,0.67,97.3,2276,2497,2999,2935,994.4,0.0,690,9221,0.85,0.00,104.40,1.951,10758,0.091,0.000,2552,2497,2570,2602,2538,0,0,0,0,0,0,14.12,13.89,12.63
$GC,9525,0.67,97.3,2552,2497,2592,2534,973.9,7.7,720,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2497,2563,2592,2534,0,0,0,0,0,0,14.86,14.90,14.90
$GC,9824,0.68,97.3,2552,2497,2591,2534,951.0,7.5,735,9829,0.00,2.50,0.00,0.000,580,0.000,0.052,2563,1044,2562,2590,2534,0,0,0,0,0,0,14.97,14.41,14.99
$GC,9881,0.68,97.3,2563,1043,2589,2532,946.6,7.7,746,9889,0.00,2.45,0.00,0.000,1030,0.000,0.058,2563,2447,2560,2589,2532,0,0,0,0,0,0,14.51,14.40,14.56
$GC,10208,0.69,97.3,2563,2447,2589,2531,921.7,7.5,766,10212,0.00,2.40,0.00,0.000,580,0.000,0.051,2574,1048,2560,2589,2531,0,0,0,0,0,0,15.00,14.41,15.02
$GC,10264,0.69,97.3,2574,1048,2587,2530,917.2,7.7,777,10271,0.00,2.42,0.00,0.000,1030,0.000,0.054,2575,2444,2558,2587,2530,0,0,0,0,0,0,14.50,14.39,14.56
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$STATE,22313,end climb,SURFACE_DEPTH_REACHED
$STATE,22313,begin surface coast
$STATE,22333,end surface coast,CONTROL_FINISHED_OK
$STATE,22333,begin surface
$SM_CCo,22356,147.38,0.666,1,0,929,500.17
$SM_GC,1.02,7.95,0.10,147.38,0.054,0.154,0.666,127,2514,929,-6.76,-0.79,500.17,0,0,0,0,1,0,14.50,14.51,13.50
$IRIDIUM_FIX,506.53,8140.25,030120,083143
$TT8_MAMPS,0.019474,0.158039
$HUMID,50.43
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,12.62,226.377
$10V_AH,11.77,0.000
$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,19.850,191.975,425.925,147.375,0.000,0.000,0.000,251.075,0.000,0.000,15.908,1750.116,16833.941,739.233,3023.562,561.823,0.000,2502.443,0.000,2744.512,0.000,0.539,0.000
$DEVICE_MAMPS,345.015,153.765,1975.995,665.550,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,943.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250356
$DATA_FILE_SIZE,83168,1932
$CAP_FILE_SIZE,207950,0
$CFSIZE,260034560,125362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.038,7.92,1
$GPS,030120,203900,507.641,8136.565,21,1.0,21,-2.1,0.8,269.8,8,3.9