version: 66.13
glider: 171
mission: 11
dive: 683
start: 1 6 120 3 28 54
data:
$ID,171
$MISSION,11
$DIVE,683
$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,70
$R_STBD_OVSHOOT,40
$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
$GPS1,060120,032109,506.8803,8118.5420,15,1.1,15,-2.2,1.0,287.4,7,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.6
$GPS2,060120,032801,506.8451,8118.3462,3,1.1,5,-2.2,1.2,244.7,7,9.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,253.2,90093,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,111,2509,973,878,0.0,0.0,0,89,0.00,0.00,-76.68,0.005,16386,0.000,0.000,111,2510,2745,2744,2746,0,0,0,0,0,0,14.83,28.83,14.85
$GC,93,-0.67,-97.3,111,2509,2744,2746,5.3,-14.7,16,120,9.35,2.38,-11.48,0.011,18692,0.348,0.095,2096,3884,3367,3381,3353,0,0,0,0,0,0,13.84,12.59,14.31
$GC,349,-0.67,-97.3,2096,3884,3381,3353,76.7,-18.6,67,354,0.00,2.20,0.00,0.000,1030,0.000,0.032,2096,2510,3367,3381,3353,0,0,0,0,0,0,14.61,14.54,14.63
$GC,535,-0.67,-97.3,2096,2509,3382,3353,107.6,-17.7,86,539,0.00,2.40,0.00,0.000,260,0.000,0.079,2086,3884,3367,3382,3353,0,0,0,0,0,0,14.99,14.35,15.01
$GC,766,-0.67,-97.3,2085,3884,3383,3353,143.4,-13.7,132,770,0.00,2.22,0.00,0.000,1030,0.000,0.032,2086,2490,3367,3382,3353,0,0,0,0,0,0,14.65,14.59,14.68
$GC,959,-0.67,-97.3,2085,2489,3382,3353,168.1,-12.5,152,966,0.00,2.42,0.00,0.000,260,0.000,0.079,2075,3881,3367,3382,3353,0,0,0,0,0,0,15.02,14.36,15.05
$GC,1079,-0.67,-97.3,2075,3881,3382,3353,183.3,-13.6,176,1084,0.15,2.20,0.00,0.000,3078,0.207,0.032,2111,2495,3367,3382,3353,0,0,0,0,0,0,14.24,14.60,14.45
$GC,1276,-0.67,-97.3,2111,2494,3382,3353,206.1,-12.7,196,1280,0.00,2.28,0.00,0.000,516,0.000,0.044,2110,1108,3367,3382,3353,0,0,0,0,0,0,15.01,14.50,15.04
$GC,1302,-0.67,-97.3,2111,1107,3381,3353,210.0,-12.7,201,1306,0.00,2.38,0.00,0.000,1030,0.000,0.056,2102,2497,3368,3381,3355,0,0,0,0,0,0,14.57,14.46,14.61
$GC,1489,-0.67,-97.3,2102,2497,3380,3353,234.0,-12.6,220,1493,0.00,2.42,0.00,0.000,260,0.000,0.080,2091,3899,3366,3379,3353,0,0,0,0,0,0,15.04,14.35,15.07
$GC,1510,-0.67,-97.3,2090,3899,3378,3353,236.9,-12.6,224,1515,0.00,2.22,0.00,0.000,1030,0.000,0.032,2091,2505,3366,3379,3353,0,0,0,0,0,0,14.66,14.59,14.69
$GC,1702,-0.67,-97.3,2090,2504,3377,3353,260.2,-11.6,240,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2504,3365,3378,3353,0,0,0,0,0,0,15.05,15.08,15.08
$GC,2003,-0.67,-97.3,2090,2504,3374,3352,293.3,-10.5,255,2008,0.00,2.42,0.00,0.000,260,0.000,0.080,2080,3890,3363,3374,3352,0,0,0,0,0,0,15.05,14.34,15.07
$GC,2086,-0.67,-97.3,2080,3890,3373,3351,302.6,-11.1,271,2092,0.12,2.25,0.00,0.000,3078,0.206,0.033,2110,2491,3363,3376,3351,0,0,0,0,0,0,14.28,14.59,14.45
$GC,2411,-0.67,-97.3,2109,2490,3372,3347,335.4,-10.4,290,2418,0.00,2.47,0.00,0.000,260,0.000,0.082,2100,3893,3359,3372,3347,0,0,0,0,0,0,15.05,14.32,15.08
$GC,2461,-0.67,-97.3,2100,3893,3372,3347,340.9,-11.0,300,2465,0.00,2.25,0.00,0.000,1030,0.000,0.033,2100,2497,3359,3372,3347,0,0,0,0,0,0,14.64,14.58,14.66
$GC,2772,-0.67,-97.3,2100,2496,3371,3345,375.7,-11.2,317,2776,0.00,2.47,0.00,0.000,260,0.000,0.083,2089,3892,3357,3370,3345,0,0,0,0,0,0,15.06,14.30,15.09
$GC,2810,-0.67,-97.3,2089,3893,3370,3345,379.9,-11.7,324,2814,0.00,2.25,0.00,0.000,1030,0.000,0.034,2089,2503,3357,3370,3345,0,0,0,0,0,0,14.62,14.56,14.65
$GC,3114,-0.67,-97.3,2089,2501,3367,3342,415.8,-11.7,340,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3354,3367,3341,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3413,-0.67,-97.3,2089,2501,3366,3340,451.0,-11.8,355,3418,0.00,2.47,0.00,0.000,260,0.000,0.083,2078,3894,3353,3366,3340,0,0,0,0,0,0,15.07,14.28,15.09
$GC,3448,-0.67,-97.3,2078,3894,3366,3340,454.9,-12.7,361,3453,0.12,2.28,0.00,0.000,3078,0.207,0.034,2108,2494,3352,3365,3340,0,0,0,0,0,0,14.22,14.54,14.41
$GC,3760,-0.67,-97.3,2107,2493,3364,3338,486.8,-9.8,378,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2493,3351,3364,3338,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4061,-0.67,-97.3,2107,2493,3362,3337,515.7,-9.4,393,4067,0.00,2.50,0.00,0.000,260,0.000,0.083,2099,3896,3349,3362,3337,0,0,0,0,0,0,15.05,14.25,15.07
$GC,4105,-0.67,-97.3,2098,3896,3362,3336,520.1,-10.0,402,4109,0.00,2.28,0.00,0.000,1030,0.000,0.034,2098,2500,3349,3362,3337,0,0,0,0,0,0,14.59,14.52,14.62
$GC,4421,-0.67,-97.3,2098,2499,3362,3334,552.5,-10.4,420,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2499,3348,3361,3335,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4722,-0.67,-97.3,2098,2499,3360,3333,583.2,-10.2,435,4727,0.00,2.50,0.00,0.000,260,0.000,0.085,2087,3893,3346,3360,3333,0,0,0,0,0,0,15.05,14.22,15.08
$GC,4761,-0.67,-97.3,2087,3893,3360,3333,587.4,-10.8,442,4765,0.00,2.30,0.00,0.000,1030,0.000,0.035,2087,2492,3346,3360,3333,0,0,0,0,0,0,14.57,14.50,14.59
$GC,5066,-0.67,-97.3,2087,2491,3357,3332,620.5,-11.0,458,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3345,3358,3332,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5367,-0.67,-97.3,2087,2491,3357,3331,653.7,-11.3,473,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2491,3343,3356,3331,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5666,-0.67,-97.3,2087,2491,3356,3330,688.5,-11.8,488,5673,0.00,2.50,0.00,0.000,260,0.000,0.084,2076,3890,3343,3356,3331,0,0,0,0,0,0,15.06,14.19,15.09
$GC,5701,-0.67,-97.3,2076,3890,3356,3330,692.9,-12.6,495,5707,0.15,2.30,0.00,0.000,3078,0.196,0.035,2113,2493,3342,3355,3330,0,0,0,0,0,0,14.12,14.47,14.31
$GC,6007,-0.67,-97.3,2113,2492,3355,3329,724.3,-10.2,511,6012,0.00,2.35,0.00,0.000,516,0.000,0.050,2113,1103,3342,3355,3329,0,0,0,0,0,0,15.04,14.34,15.07
$GC,6049,-0.67,-97.3,2113,1103,3354,3329,728.8,-10.2,519,6054,0.00,2.45,0.00,0.000,1030,0.000,0.060,2104,2502,3341,3354,3329,0,0,0,0,0,0,14.41,14.28,14.46
$GC,6373,-0.67,-97.3,2104,2502,3354,3327,761.2,-9.8,538,6380,0.00,2.47,0.00,0.000,260,0.000,0.085,2093,3893,3340,3353,3327,0,0,0,0,0,0,15.04,14.16,15.07
$GC,6423,-0.67,-97.3,2093,3893,3353,3326,766.3,-10.1,548,6427,0.00,2.30,0.00,0.000,1030,0.000,0.036,2093,2494,3340,3353,3327,0,0,0,0,0,0,14.52,14.45,14.54
$GC,6734,-0.67,-97.3,2092,2492,3352,3326,795.5,-8.9,565,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2492,3339,3352,3326,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7036,-0.67,-97.3,2092,2492,3352,3325,821.8,-8.9,580,7040,0.00,2.55,0.00,0.000,260,0.000,0.086,2083,3893,3339,3352,3326,0,0,0,0,0,0,15.04,14.13,15.07
$GC,7072,-0.67,-97.3,2082,3893,3351,3325,825.4,-9.7,587,7079,0.12,2.33,0.00,0.000,3078,0.201,0.036,2111,2496,3338,3352,3325,0,0,0,0,0,0,14.11,14.41,14.28
$GC,7378,-0.67,-97.3,2111,2495,3351,3324,850.8,-8.6,603,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2495,3337,3351,3324,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7679,-0.67,-97.3,2111,2495,3350,3323,876.9,-8.7,618,7686,0.00,2.55,0.00,0.000,260,0.000,0.087,2102,3899,3336,3350,3323,0,0,0,0,0,0,15.04,14.10,15.07
$GC,7733,-0.67,-97.3,2102,3899,3350,3322,882.0,-9.3,629,7737,0.00,2.33,0.00,0.000,1030,0.000,0.037,2102,2502,3336,3350,3323,0,0,0,0,0,0,14.47,14.40,14.50
$GC,8040,-0.67,-97.3,2102,2500,3349,3322,909.4,-8.9,645,8044,0.00,2.40,0.00,0.000,516,0.000,0.050,2102,1105,3335,3349,3322,0,0,0,0,0,0,15.04,14.26,15.05
$GC,8097,-0.67,-97.3,2102,1105,3348,3322,914.7,-9.0,656,8103,0.00,2.47,0.00,0.000,1030,0.000,0.060,2091,2500,3335,3348,3322,0,0,0,0,0,0,14.33,14.21,14.38
$GC,8422,-0.67,-97.3,2090,2500,3348,3321,945.3,-9.6,676,8428,0.00,2.50,0.00,0.000,260,0.000,0.086,2081,3890,3334,3348,3321,0,0,0,0,0,0,15.04,14.08,15.07
$GC,8487,-0.67,-97.3,2080,3890,3348,3321,951.9,-10.0,689,8494,0.12,2.33,0.00,0.000,3078,0.200,0.037,2109,2490,3334,3347,3321,0,0,0,0,0,0,14.07,14.38,14.24
$GC,8802,-0.67,-97.3,2109,2489,3347,3321,978.2,-8.1,707,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2489,3334,3347,3321,0,0,0,0,0,0,15.04,15.07,15.07
$STATE,8960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8960,begin apogee
$GC,8969,-0.15,0.0,2109,2489,3347,3320,991.0,-7.9,715,9065,0.60,0.00,92.30,1.972,10246,0.161,0.000,2278,2489,2967,3000,2935,0,0,0,0,0,0,13.92,13.96,12.69
$STATE,9066,end apogee,CONTROL_FINISHED_OK
$STATE,9066,begin climb
$GC,9070,0.67,97.3,2278,2489,2999,2935,993.5,0.0,720,9179,0.82,0.00,104.93,1.948,10246,0.089,0.000,2548,2489,2570,2603,2538,0,0,0,0,0,0,14.12,13.56,12.63
$GC,9486,0.68,97.3,2548,2489,2592,2534,973.0,7.5,741,9490,0.00,2.47,0.00,0.000,580,0.000,0.051,2559,1047,2563,2592,2534,0,0,0,0,0,0,14.84,14.38,14.87
$GC,9553,0.70,97.3,2559,1047,2590,2534,967.9,7.2,754,9560,0.00,2.42,0.00,0.000,1094,0.000,0.055,2559,2445,2562,2590,2534,0,0,0,0,0,0,14.48,14.37,14.52
$GC,9868,0.71,97.3,2558,2445,2590,2533,944.6,7.2,772,9870,0.00,0.00,0.00,0.000,70,0.000,0.000,2559,2445,2561,2590,2533,0,0,0,0,0,0,14.96,15.00,15.00
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$STATE,21288,end climb,SURFACE_DEPTH_REACHED
$STATE,21288,begin surface coast
$STATE,21298,end surface coast,CONTROL_FINISHED_OK
$STATE,21298,begin surface
$SM_CCo,21319,39.22,0.363,1,0,928,500.17
$SM_GC,1.09,7.70,0.12,39.22,0.040,0.157,0.363,116,2507,928,-6.77,-0.90,500.17,0,0,0,0,1,0,14.45,14.34,13.52
$IRIDIUM_FIX,504.33,8122.80,050120,210743
$TT8_MAMPS,0.019474,0.15729
$HUMID,52.32
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,12.59,229.361
$10V_AH,12.65,0.000
$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,20.125,196.425,538.375,39.225,0.000,0.000,0.000,258.675,0.000,0.000,16.991,1610.785,16073.138,724.135,2797.809,564.880,0.000,2421.471,0.000,2526.124,0.000,0.539,0.000
$DEVICE_MAMPS,348.075,156.825,1972.170,363.375,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,902.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76571,1777
$CAP_FILE_SIZE,197502,0
$CFSIZE,260034560,124436480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,964.22,0x214798,0,24
$CURRENT,0.037,340.33,1
$GPS,060120,092600,506.925,8116.611,19,0.7,19,-2.2,1.4,260.5,12,6.0