version: 66.13
glider: 171
mission: 11
dive: 681
start: 1 5 120 15 43 15
data:
$ID,171
$MISSION,11
$DIVE,681
$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,55
$R_STBD_OVSHOOT,41
$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
$GPS1,050120,153540,506.9044,8123.5830,15,1.6,16,-2.2,0.8,244.0,5,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.9
$GPS2,050120,154221,506.8485,8123.4141,4,1.5,7,-2.2,1.1,272.1,5,9.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,262.2,99359,-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,-97.3,104,2508,971,879,0.0,0.0,0,83,0.00,0.00,-71.60,0.005,16386,0.000,0.000,104,2508,2585,2584,2586,0,0,0,0,0,0,14.83,28.83,14.85
$GC,87,-0.67,-97.3,104,2508,2586,2586,4.4,-11.2,15,120,9.32,2.42,-15.35,0.008,18692,0.346,0.097,2095,3883,3367,3383,3352,0,0,0,0,0,0,13.84,12.59,14.31
$GC,349,-0.67,-97.3,2095,3883,3384,3352,74.7,-15.6,67,354,0.00,2.22,0.00,0.000,1030,0.000,0.032,2095,2492,3368,3384,3352,0,0,0,0,0,0,14.61,14.54,14.63
$GC,542,-0.67,-97.3,2095,2491,3384,3352,103.3,-13.0,87,548,0.00,2.42,0.00,0.000,260,0.000,0.079,2085,3881,3368,3384,3352,0,0,0,0,0,0,14.99,14.35,15.02
$GC,777,-0.67,-97.3,2084,3881,3385,3352,137.9,-14.9,134,781,0.00,2.22,0.00,0.000,1030,0.000,0.031,2085,2491,3369,3387,3351,0,0,0,0,0,0,14.65,14.59,14.67
$GC,962,-0.67,-97.3,2084,2489,3385,3352,163.0,-12.9,153,966,0.00,2.42,0.00,0.000,260,0.000,0.078,2074,3883,3368,3385,3352,0,0,0,0,0,0,15.04,14.37,15.06
$GC,1038,-0.67,-97.3,2074,3883,3385,3352,173.6,-13.9,168,1043,0.15,2.22,0.00,0.000,3078,0.210,0.031,2110,2490,3368,3385,3352,0,0,0,0,0,0,14.23,14.60,14.44
$GC,1225,-0.67,-97.3,2109,2488,3384,3352,194.7,-10.9,187,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2488,3368,3385,3352,0,0,0,0,0,0,15.03,15.07,15.06
$GC,1414,-0.67,-97.3,2109,2488,3383,3352,215.5,-11.3,206,1419,0.00,2.45,0.00,0.000,260,0.000,0.080,2101,3880,3367,3383,3352,0,0,0,0,0,0,15.04,14.35,15.07
$GC,1466,-0.67,-97.3,2100,3880,3383,3352,221.7,-12.2,216,1470,0.00,2.20,0.00,0.000,1030,0.000,0.032,2101,2503,3367,3383,3352,0,0,0,0,0,0,14.66,14.60,14.69
$GC,1658,-0.67,-97.3,2100,2501,3381,3352,244.3,-11.8,236,1662,0.00,2.30,0.00,0.000,516,0.000,0.048,2101,1112,3366,3380,3352,0,0,0,0,0,0,15.04,14.47,15.07
$GC,1679,-0.67,-97.3,2100,1112,3380,3352,247.0,-12.6,240,1684,0.00,2.35,0.00,0.000,1030,0.000,0.056,2090,2491,3366,3380,3352,0,0,0,0,0,0,14.57,14.45,14.60
$GC,1873,-0.67,-97.3,2090,2491,3378,3352,270.0,-11.7,252,1877,0.00,2.42,0.00,0.000,260,0.000,0.080,2079,3891,3365,3378,3352,0,0,0,0,0,0,15.04,14.34,15.07
$GC,1925,-0.67,-97.3,2079,3891,3377,3352,276.6,-12.6,262,1930,0.12,2.22,0.00,0.000,3078,0.206,0.033,2108,2500,3364,3377,3352,0,0,0,0,0,0,14.28,14.59,14.46
$GC,2237,-0.67,-97.3,2108,2499,3375,3350,309.2,-10.3,279,2241,0.00,2.30,0.00,0.000,516,0.000,0.049,2108,1113,3362,3375,3349,0,0,0,0,0,0,15.07,14.47,15.09
$GC,2306,-0.67,-97.3,2108,1114,3374,3349,316.1,-10.1,292,2310,0.00,2.38,0.00,0.000,1030,0.000,0.056,2099,2500,3361,3374,3349,0,0,0,0,0,0,14.54,14.42,14.59
$GC,2623,-0.67,-97.3,2098,2500,3373,3346,349.5,-10.2,310,2629,0.00,2.42,0.00,0.000,260,0.000,0.083,2088,3889,3359,3372,3346,0,0,0,0,0,0,15.07,14.31,15.09
$GC,2708,-0.67,-97.3,2088,3889,3372,3346,358.6,-10.6,327,2712,0.00,2.25,0.00,0.000,1030,0.000,0.034,2088,2497,3359,3372,3346,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3024,-0.67,-97.3,2088,2496,3370,3344,393.4,-11.3,345,3029,0.00,2.47,0.00,0.000,260,0.000,0.082,2077,3897,3357,3370,3344,0,0,0,0,0,0,15.07,14.29,15.09
$GC,3106,-0.67,-97.3,2077,3897,3370,3344,403.2,-11.9,361,3113,0.12,2.28,0.00,0.000,3078,0.208,0.034,2108,2497,3357,3370,3344,0,0,0,0,0,0,14.23,14.54,14.41
$GC,3431,-0.67,-97.3,2108,2496,3368,3340,437.9,-10.7,380,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3354,3368,3340,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3730,-0.67,-97.3,2108,2496,3366,3339,469.8,-10.5,395,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3352,3366,3339,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4032,-0.67,-97.3,2108,2496,3365,3337,500.6,-10.0,410,4038,0.00,2.50,0.00,0.000,260,0.000,0.085,2099,3897,3351,3365,3337,0,0,0,0,0,0,15.04,14.25,15.07
$GC,4071,-0.67,-97.3,2098,3897,3364,3337,504.7,-10.4,418,4075,0.00,2.28,0.00,0.000,1030,0.000,0.034,2099,2500,3351,3365,3337,0,0,0,0,0,0,14.59,14.52,14.62
$GC,4392,-0.67,-97.3,2098,2499,3362,3335,537.9,-10.2,437,4397,0.00,2.35,0.00,0.000,516,0.000,0.049,2099,1105,3348,3362,3335,0,0,0,0,0,0,15.07,14.39,15.09
$GC,4421,-0.67,-97.3,2098,1105,3362,3335,540.8,-10.4,442,4428,0.00,2.42,0.00,0.000,1030,0.000,0.057,2088,2502,3348,3362,3335,0,0,0,0,0,0,14.47,14.35,14.52
$GC,4737,-0.67,-97.3,2087,2502,3362,3334,574.9,-10.9,460,4745,0.00,2.45,0.00,0.000,260,0.000,0.084,2077,3893,3348,3362,3334,0,0,0,0,0,0,15.05,14.23,15.07
$GC,4823,-0.67,-97.3,2077,3893,3361,3334,584.9,-11.6,477,4829,0.15,2.30,0.00,0.000,3078,0.196,0.035,2113,2494,3347,3361,3334,0,0,0,0,0,0,14.14,14.49,14.34
$GC,5141,-0.67,-97.3,2113,2492,3360,3333,616.8,-10.2,495,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2492,3346,3360,3333,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5442,-0.67,-97.3,2113,2492,3359,3332,648.1,-10.4,510,5448,0.00,2.53,0.00,0.000,260,0.000,0.085,2104,3900,3345,3358,3332,0,0,0,0,0,0,15.06,14.19,15.08
$GC,5472,-0.67,-97.3,2104,3900,3358,3332,651.3,-11.3,516,5477,0.00,2.30,0.00,0.000,1030,0.000,0.035,2104,2494,3345,3358,3332,0,0,0,0,0,0,14.55,14.49,14.59
$GC,5784,-0.67,-97.3,2104,2493,3357,3331,684.7,-10.4,533,5788,0.00,2.35,0.00,0.000,516,0.000,0.049,2104,1105,3343,3356,3330,0,0,0,0,0,0,15.06,14.35,15.08
$GC,5811,-0.67,-97.3,2103,1104,3356,3330,687.6,-11.3,538,5818,0.00,2.45,0.00,0.000,1030,0.000,0.058,2092,2508,3343,3356,3330,0,0,0,0,0,0,14.42,14.31,14.47
$GC,6127,-0.67,-97.3,2092,2508,3356,3329,720.6,-10.2,556,6131,0.00,2.47,0.00,0.000,260,0.000,0.086,2082,3892,3342,3356,3329,0,0,0,0,0,0,15.04,14.16,15.07
$GC,6179,-0.67,-97.3,2082,3892,3356,3330,726.1,-10.5,566,6184,0.12,2.30,0.00,0.000,3078,0.201,0.035,2111,2491,3342,3356,3329,0,0,0,0,0,0,14.15,14.46,14.33
$GC,6493,-0.67,-97.3,2111,2490,3356,3328,753.5,-8.6,583,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2490,3341,3355,3328,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6792,-0.67,-97.3,2111,2489,3355,3327,778.9,-8.4,598,6796,0.00,2.35,0.00,0.000,516,0.000,0.049,2112,1105,3340,3354,3327,0,0,0,0,0,0,15.05,14.32,15.07
$GC,6818,-0.67,-97.3,2111,1105,3354,3326,781.2,-8.7,603,6824,0.00,2.45,0.00,0.000,1030,0.000,0.057,2102,2505,3340,3354,3327,0,0,0,0,0,0,14.40,14.27,14.45
$GC,7134,-0.67,-97.3,2102,2506,3353,3326,808.6,-8.7,621,7140,0.00,2.50,0.00,0.000,260,0.000,0.086,2091,3899,3339,3353,3326,0,0,0,0,0,0,15.04,14.12,15.07
$GC,7187,-0.67,-97.3,2090,3899,3353,3326,813.6,-9.2,631,7191,0.00,2.30,0.00,0.000,1030,0.000,0.036,2091,2503,3339,3353,3326,0,0,0,0,0,0,14.50,14.43,14.53
$GC,7498,-0.67,-97.3,2090,2501,3352,3325,842.6,-9.4,648,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2502,3338,3352,3325,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7800,-0.67,-97.3,2091,2502,3352,3324,872.0,-9.9,663,7806,0.00,2.53,0.00,0.000,260,0.000,0.086,2080,3897,3338,3352,3324,0,0,0,0,0,0,15.04,14.10,15.07
$GC,7834,-0.67,-97.3,2080,3897,3352,3324,875.6,-10.9,670,7841,0.12,2.33,0.00,0.000,3078,0.204,0.036,2110,2493,3338,3352,3324,0,0,0,0,0,0,14.09,14.41,14.27
$GC,8163,-0.67,-97.3,2109,2492,3351,3323,905.5,-9.3,690,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3337,3351,3323,0,0,0,0,0,0,15.01,15.04,15.03
$GC,8458,-0.67,-97.3,2109,2492,3350,3322,933.2,-9.1,705,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3336,3351,3322,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8758,-0.67,-97.3,2109,2492,3350,3322,959.5,-8.5,720,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3336,3350,3322,0,0,0,0,0,0,15.05,15.08,15.07
$GC,9060,-0.67,-97.3,2109,2492,3349,3321,983.7,-8.0,735,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2492,3335,3349,3321,0,0,0,0,0,0,15.04,15.07,15.06
$STATE,9135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9135,begin apogee
$GC,9143,-0.15,0.0,2110,2492,3349,3321,990.1,-7.9,739,9239,0.60,0.00,92.62,1.983,10246,0.163,0.000,2277,2492,2968,3000,2936,0,0,0,0,0,0,13.92,13.97,12.67
$STATE,9240,end apogee,CONTROL_FINISHED_OK
$STATE,9240,begin climb
$GC,9244,0.67,97.3,2277,2492,2999,2936,992.3,0.0,744,9359,0.85,2.58,103.80,1.956,10756,0.089,0.050,2565,1057,2569,2600,2538,0,0,0,0,0,0,14.12,13.95,12.63
$GC,9379,0.73,161.3,2565,1057,2596,2538,991.1,4.5,768,9452,0.00,2.45,65.97,1.939,9254,0.000,0.053,2565,2447,2309,2352,2267,0,0,0,0,0,0,14.30,14.20,12.47
$GC,9765,0.73,161.3,2564,2447,2343,2260,947.8,11.9,800,9769,0.00,2.42,0.00,0.000,516,0.000,0.053,2576,1047,2301,2343,2260,0,0,0,0,0,0,14.87,14.38,14.89
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$STATE,19109,end climb,SURFACE_DEPTH_REACHED
$STATE,19109,begin surface coast
$STATE,19134,end surface coast,CONTROL_FINISHED_OK
$STATE,19134,begin surface
$SM_CCo,19154,90.80,0.584,1,0,928,500.17
$SM_GC,1.21,7.25,0.08,90.80,0.039,0.173,0.584,117,2502,928,-6.77,-1.07,500.17,0,0,0,0,1,0,14.53,14.59,13.59
$IRIDIUM_FIX,504.42,8129.23,050120,091733
$TT8_MAMPS,0.019474,0.159537
$HUMID,50.86
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,12.47,228.761
$10V_AH,12.53,0.000
$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,20.050,215.750,497.150,90.800,0.000,0.000,0.000,247.075,0.000,0.000,19.063,1560.609,14094.187,731.974,2702.604,560.190,0.000,2395.901,0.000,2439.704,0.000,0.539,0.000
$DEVICE_MAMPS,345.780,172.890,1982.880,584.460,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,860.736,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250408
$DATA_FILE_SIZE,73240,1716
$CAP_FILE_SIZE,193429,0
$CFSIZE,260034560,124628992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047,258.46,1
$GPS,050120,210509,506.739,8121.070,19,1.1,19,-2.2,1.3,266.5,7,6.1