version: 66.13
glider: 171
mission: 11
dive: 677
start: 1 4 120 15 33 1
data:
$ID,171
$MISSION,11
$DIVE,677
$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,57
$R_STBD_OVSHOOT,45
$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
$GPS1,040120,152538,507.3002,8132.0547,25,1.5,25,-2.1,1.0,293.2,5,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.4
$GPS2,040120,153207,507.2663,8131.9028,3,0.7,4,-2.1,0.9,266.8,12,8.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,258.2,114998,-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,6,begin dive
$GC,10,-0.67,-97.3,122,2519,970,880,0.0,0.0,0,88,0.00,0.00,-76.10,0.005,16386,0.000,0.000,122,2520,2720,2721,2720,0,0,0,0,0,0,14.82,28.83,14.85
$GC,93,-0.67,-97.3,122,2520,2722,2720,5.3,-15.4,16,119,9.27,2.38,-11.90,0.010,19204,0.347,0.066,2108,1100,3368,3382,3354,0,0,0,0,0,0,13.83,12.61,14.31
$GC,348,-0.67,-97.3,2107,1099,3382,3354,68.6,-17.2,67,355,0.00,2.40,0.00,0.000,1030,0.000,0.062,2099,2489,3368,3382,3354,0,0,0,0,0,0,14.52,14.40,14.56
$GC,544,-0.67,-97.3,2098,2489,3383,3354,97.2,-12.4,88,548,0.00,2.42,0.00,0.000,260,0.000,0.080,2088,3893,3368,3382,3354,0,0,0,0,0,0,15.00,14.34,15.02
$GC,716,-0.67,-97.3,2087,3893,3383,3354,122.1,-14.5,122,721,0.00,2.22,0.00,0.000,1030,0.000,0.031,2088,2490,3368,3383,3354,0,0,0,0,0,0,14.66,14.60,14.68
$GC,909,-0.67,-97.3,2087,2488,3384,3354,152.3,-14.9,142,914,0.00,2.25,0.00,0.000,516,0.000,0.044,2087,1110,3369,3384,3354,0,0,0,0,0,0,15.02,14.51,15.05
$GC,946,-0.67,-97.3,2087,1110,3383,3354,157.4,-13.2,149,954,0.15,2.38,0.00,0.000,3078,0.216,0.053,2112,2509,3368,3383,3354,0,0,0,0,0,0,14.20,14.47,14.42
$GC,1145,-0.67,-97.3,2111,2509,3383,3354,180.7,-12.5,170,1150,0.00,2.40,0.00,0.000,260,0.000,0.081,2103,3896,3368,3383,3354,0,0,0,0,0,0,15.01,14.36,15.04
$GC,1193,-0.67,-97.3,2103,3896,3383,3354,187.3,-13.3,179,1197,0.00,2.22,0.00,0.000,1030,0.000,0.031,2103,2499,3369,3384,3354,0,0,0,0,0,0,14.66,14.61,14.69
$GC,1377,-0.67,-97.3,2103,2498,3383,3354,211.0,-12.6,198,1382,0.00,2.45,0.00,0.000,260,0.000,0.080,2091,3899,3368,3382,3354,0,0,0,0,0,0,15.05,14.35,15.07
$GC,1406,-0.67,-97.3,2091,3899,3382,3354,214.5,-13.6,203,1410,0.00,2.25,0.00,0.000,1030,0.000,0.032,2092,2492,3368,3382,3354,0,0,0,0,0,0,14.66,14.60,14.69
$GC,1589,-0.67,-97.3,2091,2491,3380,3354,238.1,-12.2,222,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2491,3366,3380,3353,0,0,0,0,0,0,15.05,15.08,15.07
$GC,1769,-0.67,-97.3,2091,2491,3378,3354,259.4,-11.6,236,1776,0.00,2.45,0.00,0.000,260,0.000,0.081,2081,3890,3365,3378,3353,0,0,0,0,0,0,15.06,14.35,15.09
$GC,1816,-0.67,-97.3,2081,3890,3378,3353,264.9,-12.4,245,1821,0.12,2.22,0.00,0.000,3078,0.209,0.032,2110,2497,3365,3377,3353,0,0,0,0,0,0,14.28,14.59,14.46
$GC,2133,-0.67,-97.3,2110,2496,3376,3352,297.5,-10.4,263,2140,0.00,2.45,0.00,0.000,260,0.000,0.082,2101,3890,3363,3375,3351,0,0,0,0,0,0,15.06,14.33,15.09
$GC,2174,-0.67,-97.3,2100,3890,3375,3351,301.8,-10.9,271,2179,0.00,2.22,0.00,0.000,1030,0.000,0.033,2101,2501,3363,3375,3351,0,0,0,0,0,0,14.66,14.59,14.68
$GC,2496,-0.67,-97.3,2101,2500,3374,3348,337.5,-11.0,290,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3361,3374,3348,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2796,-0.67,-97.3,2101,2499,3372,3346,370.7,-11.0,305,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3359,3372,3346,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3097,-0.67,-97.3,2100,2500,3371,3344,403.5,-10.7,320,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3357,3371,3344,0,0,0,0,0,0,15.05,15.08,15.08
$GC,3396,-0.67,-97.3,2101,2500,3368,3342,434.9,-10.3,335,3401,0.00,2.47,0.00,0.000,260,0.000,0.084,2090,3890,3355,3368,3342,0,0,0,0,0,0,15.06,14.28,15.09
$GC,3438,-0.67,-97.3,2089,3890,3367,3342,439.5,-11.1,343,3443,0.00,2.28,0.00,0.000,1030,0.000,0.034,2090,2498,3354,3368,3341,0,0,0,0,0,0,14.62,14.55,14.64
$GC,3761,-0.67,-97.3,2089,2497,3367,3340,475.5,-11.2,362,3766,0.00,2.33,0.00,0.000,516,0.000,0.047,2090,1105,3353,3366,3340,0,0,0,0,0,0,15.06,14.43,15.08
$GC,3789,-0.67,-97.3,2089,1105,3366,3340,478.8,-12.0,367,3796,0.12,2.40,0.00,0.000,3078,0.211,0.056,2108,2498,3352,3365,3340,0,0,0,0,0,0,14.18,14.39,14.38
$GC,4105,-0.67,-97.3,2108,2498,3365,3338,511.5,-10.5,385,4109,0.00,2.45,0.00,0.000,260,0.000,0.085,2099,3890,3351,3365,3338,0,0,0,0,0,0,15.05,14.25,15.08
$GC,4153,-0.67,-97.3,2098,3890,3365,3338,516.7,-10.9,394,4158,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2498,3351,3364,3338,0,0,0,0,0,0,14.60,14.54,14.63
$GC,4470,-0.67,-97.3,2098,2497,3363,3337,551.2,-10.6,412,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3350,3363,3337,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4772,-0.67,-97.3,2099,2497,3362,3335,582.2,-10.2,427,4778,0.00,2.50,0.00,0.000,260,0.000,0.085,2088,3898,3348,3362,3335,0,0,0,0,0,0,15.05,14.23,15.08
$GC,4795,-0.67,-97.3,2087,3897,3362,3335,584.9,-10.8,432,4799,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2504,3348,3362,3335,0,0,0,0,0,0,14.58,14.52,14.61
$GC,5111,-0.67,-97.3,2087,2502,3361,3334,617.7,-10.0,450,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2503,3347,3361,3334,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5413,-0.67,-97.3,2087,2503,3360,3333,648.9,-10.4,465,5420,0.00,2.47,0.00,0.000,260,0.000,0.083,2077,3890,3346,3360,3333,0,0,0,0,0,0,15.05,14.21,15.07
$GC,5443,-0.67,-97.3,2077,3890,3359,3333,652.3,-11.1,471,5450,0.15,2.28,0.00,0.000,3078,0.200,0.035,2113,2498,3346,3359,3333,0,0,0,0,0,0,14.13,14.50,14.33
$GC,5754,-0.67,-97.3,2112,2497,3358,3332,681.1,-9.2,488,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3345,3358,3332,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6053,-0.67,-97.3,2112,2496,3357,3331,708.8,-9.0,503,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2496,3344,3357,3331,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6352,-0.67,-97.3,2112,2496,3356,3330,735.3,-8.7,518,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3343,3356,3330,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6652,-0.67,-97.3,2112,2496,3356,3329,761.5,-8.9,533,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3342,3356,3329,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6952,-0.67,-97.3,2112,2496,3355,3328,788.9,-9.4,548,6957,0.00,2.53,0.00,0.000,260,0.000,0.086,2104,3890,3341,3355,3328,0,0,0,0,0,0,15.06,14.14,15.09
$GC,6984,-0.67,-97.3,2103,3890,3355,3327,792.0,-10.4,554,6989,0.00,2.28,0.00,0.000,1030,0.000,0.035,2104,2501,3341,3355,3327,0,0,0,0,0,0,14.52,14.46,14.55
$GC,7298,-0.67,-97.3,2103,2500,3354,3327,823.4,-10.2,571,7302,0.00,2.38,0.00,0.000,516,0.000,0.050,2104,1106,3340,3354,3327,0,0,0,0,0,0,15.03,14.31,15.06
$GC,7324,-0.67,-97.3,2103,1106,3353,3327,826.4,-10.6,576,7330,0.00,2.42,0.00,0.000,1030,0.000,0.057,2092,2499,3340,3353,3327,0,0,0,0,0,0,14.40,14.27,14.44
$GC,7639,-0.67,-97.3,2092,2499,3353,3326,859.7,-10.6,594,7645,0.00,2.50,0.00,0.000,260,0.000,0.086,2082,3897,3339,3353,3326,0,0,0,0,0,0,15.06,14.12,15.08
$GC,7693,-0.67,-97.3,2082,3897,3353,3326,865.4,-10.9,604,7698,0.12,2.30,0.00,0.000,3078,0.203,0.036,2111,2498,3339,3353,3326,0,0,0,0,0,0,14.11,14.43,14.28
$GC,8005,-0.67,-97.3,2110,2497,3353,3325,893.8,-8.9,621,8009,0.00,2.35,0.00,0.000,516,0.000,0.049,2111,1112,3338,3352,3325,0,0,0,0,0,0,15.05,14.29,15.08
$GC,8031,-0.67,-97.3,2110,1112,3352,3325,896.2,-9.6,626,8036,0.00,2.42,0.00,0.000,1030,0.000,0.057,2101,2499,3338,3352,3325,0,0,0,0,0,0,14.38,14.25,14.42
$GC,8350,-0.67,-97.3,2101,2499,3351,3324,924.3,-8.7,644,8354,0.00,2.50,0.00,0.000,260,0.000,0.086,2090,3890,3338,3352,3324,0,0,0,0,0,0,15.04,14.09,15.06
$GC,8441,-0.67,-97.3,2090,3890,3351,3324,932.8,-9.0,662,8446,0.00,2.30,0.00,0.000,1030,0.000,0.036,2090,2497,3337,3351,3324,0,0,0,0,0,0,14.48,14.41,14.51
$GC,8755,-0.67,-97.3,2090,2495,3350,3324,960.7,-9.1,679,8760,0.00,2.38,0.00,0.000,516,0.000,0.050,2090,1111,3336,3350,3323,0,0,0,0,0,0,15.03,14.26,15.06
$GC,8777,-0.67,-97.3,2090,1111,3350,3324,962.9,-9.3,683,8785,0.12,2.45,0.00,0.000,3078,0.210,0.057,2109,2506,3336,3350,3323,0,0,0,0,0,0,14.01,14.22,14.21
$GC,9098,-0.67,-97.3,2109,2506,3350,3322,988.7,-8.1,702,9103,0.00,2.50,0.00,0.000,260,0.000,0.087,2100,3894,3336,3350,3322,0,0,0,0,0,0,15.04,14.07,15.06
$STATE,9112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9112,begin apogee
$GC,9123,-0.15,0.0,2100,2432,3350,3322,990.3,-8.3,705,9219,0.62,0.00,92.22,1.992,10246,0.162,0.000,2275,2431,2968,3001,2935,0,0,0,0,0,0,13.93,13.96,12.62
$STATE,9220,end apogee,CONTROL_FINISHED_OK
$STATE,9220,begin climb
$GC,9223,0.67,97.3,2275,2432,2999,2935,993.2,0.0,710,9338,0.85,2.42,103.03,1.961,10756,0.091,0.048,2562,1040,2569,2602,2537,0,0,0,0,0,0,14.12,13.57,12.60
$GC,9361,0.74,164.1,2562,1040,2598,2537,992.6,4.3,738,9438,0.00,2.47,68.32,1.943,9254,0.000,0.054,2562,2445,2297,2342,2253,0,0,0,0,0,0,14.30,14.21,12.61
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$STATE,19440,end climb,SURFACE_DEPTH_REACHED
$STATE,19440,begin surface coast
$STATE,19475,end surface coast,CONTROL_FINISHED_OK
$STATE,19475,begin surface
$SM_CCo,19499,112.68,0.618,1,0,928,500.17
$SM_GC,1.25,7.43,2.60,112.68,0.050,0.065,0.618,121,2490,928,-6.76,-0.96,500.17,0,0,0,0,1,0,14.54,14.30,13.57
$IRIDIUM_FIX,508.77,8131.37,040120,090903
$TT8_MAMPS,0.018725,0.158788
$HUMID,49.17
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,12.60,227.565
$10V_AH,11.80,0.000
$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,20.000,205.975,472.250,112.675,0.000,0.000,0.000,237.450,0.750,0.000,15.726,1542.539,14538.549,729.143,2649.248,541.799,0.000,2352.040,0.000,2396.646,0.000,0.540,0.000
$DEVICE_MAMPS,346.545,87.210,1992.060,618.120,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,884.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73283,1686
$CAP_FILE_SIZE,192034,0
$CFSIZE,260034560,125005824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.028,292.87,1
$GPS,040120,210100,507.137,8129.772,20,0.8,20,-2.1,0.6,249.1,9,3.5