version: 66.13
glider: 171
mission: 11
dive: 678
start: 1 4 120 21 7 42
data:
$ID,171
$MISSION,11
$DIVE,678
$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,20
$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
$GPS1,040120,210100,507.1365,8129.7725,20,0.8,20,-2.1,0.6,249.1,9,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.0
$GPS2,040120,210648,507.0679,8129.6025,3,0.6,4,-2.1,1.5,253.5,12,4.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,260.3,110740,-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,-97.3,117,2492,969,881,0.0,0.0,0,88,0.00,0.00,-76.43,0.005,16386,0.000,0.000,117,2492,2732,2730,2734,0,0,0,0,0,0,14.84,28.83,14.87
$GC,92,-0.67,-97.3,117,2492,2731,2734,5.3,-15.0,16,119,9.27,2.42,-11.70,0.010,18692,0.347,0.091,2093,3909,3368,3381,3355,0,0,0,0,0,0,13.85,12.62,14.32
$GC,348,-0.67,-97.3,2093,3909,3381,3355,75.3,-14.6,67,353,0.00,2.28,0.00,0.000,1030,0.000,0.032,2093,2489,3368,3381,3355,0,0,0,0,0,0,14.63,14.57,14.65
$GC,534,-0.67,-97.3,2093,2488,3382,3355,101.7,-13.2,86,541,0.00,2.45,0.00,0.000,260,0.000,0.077,2083,3908,3368,3382,3355,0,0,0,0,0,0,15.00,14.32,15.02
$GC,729,-0.67,-97.3,2082,3908,3382,3355,129.8,-13.6,125,734,0.12,2.25,0.00,0.000,3078,0.220,0.034,2111,2505,3369,3383,3355,0,0,0,0,0,0,14.26,14.59,14.46
$GC,916,-0.67,-97.3,2110,2503,3383,3354,152.4,-11.9,144,920,0.00,2.45,0.00,0.000,260,0.000,0.080,2102,3906,3368,3382,3355,0,0,0,0,0,0,15.02,14.38,15.05
$GC,967,-0.67,-97.3,2101,3906,3383,3354,158.9,-11.8,154,971,0.00,2.25,0.00,0.000,1030,0.000,0.033,2101,2496,3368,3382,3354,0,0,0,0,0,0,14.68,14.62,14.70
$GC,1158,-0.67,-97.3,2101,2494,3382,3354,183.0,-12.9,174,1165,0.00,2.45,0.00,0.000,260,0.000,0.079,2090,3903,3368,3382,3354,0,0,0,0,0,0,15.05,14.38,15.07
$GC,1234,-0.67,-97.3,2090,3902,3381,3354,192.7,-12.5,189,1239,0.00,2.25,0.00,0.000,1030,0.000,0.033,2090,2497,3367,3381,3354,0,0,0,0,0,0,14.67,14.62,14.69
$GC,1419,-0.67,-97.3,2090,2496,3380,3354,215.4,-12.2,208,1423,0.00,2.28,0.00,0.000,516,0.000,0.045,2090,1109,3367,3380,3354,0,0,0,0,0,0,15.05,14.52,15.08
$GC,1446,-0.67,-97.3,2090,1109,3379,3354,218.7,-12.1,213,1453,0.12,2.40,0.00,0.000,3078,0.210,0.056,2108,2512,3366,3379,3354,0,0,0,0,0,0,14.26,14.47,14.46
$GC,1644,-0.67,-97.3,2108,2512,3377,3354,239.6,-10.7,234,1648,0.00,2.40,0.00,0.000,260,0.000,0.080,2100,3899,3365,3377,3354,0,0,0,0,0,0,15.03,14.38,15.06
$GC,1726,-0.67,-97.3,2099,3899,3377,3354,248.8,-10.9,250,1731,0.00,2.25,0.00,0.000,1030,0.000,0.033,2099,2493,3365,3377,3354,0,0,0,0,0,0,14.66,14.60,14.69
$GC,1918,-0.67,-97.3,2099,2492,3375,3354,270.2,-11.0,261,1922,0.00,2.28,0.00,0.000,516,0.000,0.047,2099,1113,3364,3375,3353,0,0,0,0,0,0,15.07,14.51,15.09
$GC,1949,-0.67,-97.3,2099,1112,3374,3353,273.8,-11.3,267,1954,0.00,2.38,0.00,0.000,1030,0.000,0.057,2089,2501,3363,3374,3353,0,0,0,0,0,0,14.58,14.47,14.62
$GC,2263,-0.67,-97.3,2088,2501,3374,3349,311.2,-11.9,284,2267,0.00,2.42,0.00,0.000,260,0.000,0.081,2078,3900,3361,3374,3349,0,0,0,0,0,0,15.05,14.36,15.08
$GC,2344,-0.67,-97.3,2078,3900,3372,3348,321.2,-12.0,300,2349,0.12,2.25,0.00,0.000,3078,0.210,0.034,2107,2499,3360,3372,3348,0,0,0,0,0,0,14.27,14.59,14.46
$GC,2666,-0.67,-97.3,2107,2498,3371,3346,354.9,-10.4,319,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3358,3371,3346,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2968,-0.67,-97.3,2107,2498,3369,3344,385.8,-10.2,334,2975,0.00,2.47,0.00,0.000,260,0.000,0.085,2099,3892,3356,3369,3344,0,0,0,0,0,0,15.06,14.33,15.08
$GC,3012,-0.67,-97.3,2098,3892,3368,3344,390.6,-10.7,343,3018,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2503,3356,3368,3344,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3331,-0.67,-97.3,2098,2501,3367,3341,423.6,-10.2,361,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3354,3367,3341,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3631,-0.67,-97.3,2098,2502,3366,3339,452.1,-9.2,376,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2501,3352,3366,3339,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3930,-0.67,-97.3,2098,2502,3363,3338,480.5,-9.6,391,3935,0.00,2.47,0.00,0.000,260,0.000,0.089,2087,3891,3350,3363,3338,0,0,0,0,0,0,15.07,14.29,15.10
$GC,3958,-0.67,-97.3,2087,3891,3363,3338,483.2,-10.0,396,3963,0.00,2.28,0.00,0.000,1030,0.000,0.035,2087,2494,3350,3363,3338,0,0,0,0,0,0,14.62,14.54,14.64
$GC,4275,-0.67,-97.3,2087,2493,3362,3337,516.9,-10.7,414,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3349,3362,3337,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4575,-0.67,-97.3,2087,2493,3361,3335,550.5,-11.3,429,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3348,3361,3335,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4877,-0.67,-97.3,2087,2493,3359,3333,583.9,-11.1,444,4881,0.00,2.53,0.00,0.000,260,0.000,0.086,2077,3896,3346,3359,3334,0,0,0,0,0,0,15.05,14.24,15.07
$GC,4925,-0.67,-97.3,2076,3896,3359,3333,589.5,-11.8,453,4929,0.15,2.28,0.00,0.000,3078,0.200,0.036,2113,2499,3346,3359,3333,0,0,0,0,0,0,14.16,14.52,14.37
$GC,5243,-0.67,-97.3,2113,2498,3357,3333,619.7,-9.4,471,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2497,3344,3357,3332,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5541,-0.67,-97.3,2113,2497,3357,3331,648.4,-9.6,486,5548,0.00,2.50,0.00,0.000,260,0.000,0.086,2104,3892,3343,3356,3331,0,0,0,0,0,0,15.07,14.22,15.09
$GC,5576,-0.67,-97.3,2104,3892,3356,3331,651.9,-10.1,493,5580,0.00,2.30,0.00,0.000,1030,0.000,0.035,2104,2494,3343,3356,3331,0,0,0,0,0,0,14.57,14.49,14.59
$GC,5883,-0.67,-97.3,2104,2492,3356,3330,682.5,-9.9,509,5887,0.00,2.35,0.00,0.000,516,0.000,0.049,2104,1102,3343,3356,3330,0,0,0,0,0,0,15.05,14.37,15.07
$GC,5920,-0.67,-97.3,2104,1101,3356,3330,686.2,-9.8,516,5926,0.00,2.45,0.00,0.000,1030,0.000,0.058,2093,2503,3342,3356,3329,0,0,0,0,0,0,14.44,14.31,14.48
$GC,6244,-0.67,-97.3,2092,2502,3354,3328,718.5,-9.7,536,6251,0.00,2.47,0.00,0.000,260,0.000,0.086,2083,3894,3341,3355,3328,0,0,0,0,0,0,15.06,14.20,15.09
$GC,6280,-0.67,-97.3,2082,3895,3354,3328,722.1,-10.6,543,6286,0.12,2.30,0.00,0.000,3078,0.203,0.037,2111,2498,3341,3354,3328,0,0,0,0,0,0,14.16,14.47,14.34
$GC,6584,-0.67,-97.3,2111,2496,3353,3327,748.0,-8.2,559,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3340,3354,3327,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6885,-0.67,-97.3,2111,2496,3353,3326,772.3,-8.1,574,6892,0.00,2.53,0.00,0.000,260,0.000,0.088,2102,3897,3339,3353,3326,0,0,0,0,0,0,15.05,14.16,15.07
$GC,6924,-0.67,-97.3,2102,3897,3353,3326,775.8,-8.8,582,6928,0.00,2.30,0.00,0.000,1030,0.000,0.037,2102,2499,3339,3353,3326,0,0,0,0,0,0,14.53,14.45,14.55
$GC,7247,-0.67,-97.3,2102,2497,3352,3325,804.9,-9.2,601,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2497,3338,3352,3325,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7547,-0.67,-97.3,2102,2497,3351,3325,833.6,-9.6,616,7551,0.00,2.35,0.00,0.000,516,0.000,0.050,2102,1110,3338,3351,3325,0,0,0,0,0,0,15.04,14.32,15.07
$GC,7578,-0.67,-97.3,2102,1110,3350,3325,836.8,-9.9,622,7583,0.00,2.45,0.00,0.000,1030,0.000,0.058,2091,2501,3337,3350,3325,0,0,0,0,0,0,14.39,14.26,14.43
$GC,7890,-0.67,-97.3,2091,2501,3350,3324,867.9,-10.0,639,7895,0.00,2.50,0.00,0.000,260,0.000,0.087,2081,3900,3336,3350,3323,0,0,0,0,0,0,15.06,14.13,15.08
$GC,7933,-0.67,-97.3,2080,3900,3350,3323,872.3,-10.5,647,7939,0.12,2.30,0.00,0.000,3078,0.203,0.037,2110,2502,3336,3350,3323,0,0,0,0,0,0,14.11,14.42,14.29
$GC,8258,-0.67,-97.3,2109,2500,3349,3323,900.0,-8.3,666,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2500,3336,3349,3323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8557,-0.67,-97.3,2109,2500,3348,3322,924.9,-8.4,681,8562,0.00,2.38,0.00,0.000,516,0.000,0.050,2110,1105,3334,3348,3321,0,0,0,0,0,0,15.04,14.28,15.07
$GC,8595,-0.67,-97.3,2109,1105,3348,3321,928.1,-8.5,688,8601,0.00,2.47,0.00,0.000,1030,0.000,0.059,2100,2506,3334,3348,3321,0,0,0,0,0,0,14.35,14.22,14.40
$GC,8919,-0.67,-97.3,2100,2506,3347,3321,957.9,-9.5,708,8926,0.00,2.50,0.00,0.000,260,0.000,0.087,2089,3900,3334,3347,3321,0,0,0,0,0,0,15.04,14.09,15.07
$GC,8975,-0.67,-97.3,2089,3900,3347,3321,963.3,-10.1,719,8980,0.00,2.33,0.00,0.000,1030,0.000,0.037,2089,2502,3334,3347,3321,0,0,0,0,0,0,14.46,14.39,14.49
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9263,-0.15,0.0,2089,2500,3347,3321,991.7,-9.9,734,9359,0.68,0.00,92.25,1.980,10246,0.170,0.000,2275,2500,2968,3000,2936,0,0,0,0,0,0,13.90,13.96,12.67
$STATE,9360,end apogee,CONTROL_FINISHED_OK
$STATE,9360,begin climb
$GC,9364,0.67,97.3,2275,2500,2999,2936,995.1,0.0,739,9472,0.85,0.00,103.97,1.957,10246,0.093,0.000,2551,2500,2570,2603,2538,0,0,0,0,0,0,14.11,13.89,12.62
$GC,9765,0.68,97.3,2551,2500,2592,2534,977.0,7.5,759,9772,0.00,2.50,0.00,0.000,580,0.000,0.052,2562,1040,2562,2591,2534,0,0,0,0,0,0,14.83,14.38,14.87
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$STATE,22117,end climb,SURFACE_DEPTH_REACHED
$STATE,22117,begin surface coast
$STATE,22132,end surface coast,CONTROL_FINISHED_OK
$STATE,22132,begin surface
$SM_CCo,22153,141.73,0.674,1,0,928,500.17
$SM_GC,1.08,8.02,0.10,141.73,0.062,0.151,0.674,121,2499,928,-6.78,-1.02,500.17,0,0,0,0,1,0,14.47,14.49,13.47
$IRIDIUM_FIX,506.61,8131.37,040120,152815
$TT8_MAMPS,0.019474,0.158039
$HUMID,51.10
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,12.62,227.858
$10V_AH,13.14,0.000
$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,20.600,234.900,431.825,141.725,0.000,0.000,0.000,202.900,0.000,0.000,15.481,1753.153,16590.266,776.965,2949.551,580.367,0.000,2511.065,0.000,2718.855,0.000,0.539,0.000
$DEVICE_MAMPS,346.545,151.470,1979.820,673.965,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,919.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250412
$DATA_FILE_SIZE,83234,1914
$CAP_FILE_SIZE,213804,0
$CFSIZE,260034560,124882944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.029,315.38,1
$GPS,050120,032030,507.184,8127.768,22,0.7,22,-2.2,0.7,261.0,9,4.3