version: 66.13
glider: 171
mission: 11
dive: 684
start: 1 6 120 9 32 57
data:
$ID,171
$MISSION,11
$DIVE,684
$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,35
$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
$GPS1,060120,092600,506.9247,8116.6108,19,0.7,19,-2.2,1.4,260.5,12,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.8
$GPS2,060120,093204,506.8669,8116.3857,2,0.6,2,-2.2,1.4,273.9,12,9.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,250.4,86519,-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,-97.3,110,2508,982,871,0.0,0.0,0,88,0.00,0.00,-75.88,0.005,16386,0.000,0.000,109,2508,2676,2675,2678,0,0,0,0,0,0,14.83,28.83,14.86
$GC,93,-0.67,-97.3,109,2508,2676,2678,4.8,-13.9,16,121,9.25,2.40,-13.07,0.010,18692,0.343,0.095,2094,3887,3365,3380,3351,0,0,0,0,0,0,13.85,13.38,14.31
$GC,350,-0.67,-97.3,2093,3887,3381,3351,77.5,-17.7,67,354,0.00,2.22,0.00,0.000,1030,0.000,0.034,2094,2512,3366,3381,3352,0,0,0,0,0,0,14.58,14.52,14.61
$GC,543,-0.67,-97.3,2094,2510,3382,3351,110.1,-17.9,87,549,0.00,2.42,0.00,0.000,260,0.000,0.086,2084,3887,3366,3382,3351,0,0,0,0,0,0,14.99,14.33,15.01
$GC,776,-0.67,-97.3,2083,3887,3383,3351,145.4,-13.1,134,782,0.00,2.25,0.00,0.000,1030,0.000,0.033,2084,2486,3367,3383,3351,0,0,0,0,0,0,14.63,14.57,14.66
$GC,963,-0.67,-97.3,2083,2485,3384,3351,171.5,-13.2,153,970,0.00,2.45,0.00,0.000,260,0.000,0.083,2073,3885,3367,3383,3351,0,0,0,0,0,0,15.02,14.34,15.04
$GC,1147,-0.67,-97.3,2072,3884,3383,3351,196.6,-13.0,190,1153,0.15,2.22,0.00,0.000,3078,0.208,0.033,2108,2499,3366,3383,3350,0,0,0,0,0,0,14.21,14.57,14.42
$GC,1334,-0.67,-97.3,2108,2497,3383,3351,216.4,-11.0,209,1338,0.00,2.30,0.00,0.000,516,0.000,0.047,2108,1109,3366,3382,3350,0,0,0,0,0,0,15.04,14.47,15.06
$GC,1380,-0.67,-97.3,2108,1109,3381,3351,221.7,-10.8,218,1387,0.00,2.38,0.00,0.000,1030,0.000,0.064,2099,2489,3366,3382,3351,0,0,0,0,0,0,14.41,14.35,14.46
$GC,1566,-0.67,-97.3,2099,2490,3380,3351,244.7,-12.9,237,1574,0.00,2.45,0.00,0.000,260,0.000,0.081,2088,3899,3365,3380,3351,0,0,0,0,0,0,15.04,14.34,15.07
$GC,1621,-0.67,-97.3,2088,3899,3380,3350,252.0,-12.8,248,1625,0.00,2.25,0.00,0.000,1030,0.000,0.033,2088,2499,3365,3380,3351,0,0,0,0,0,0,14.64,14.57,14.66
$GC,1927,-0.67,-97.3,2088,2497,3377,3350,290.6,-12.1,264,1932,0.00,2.47,0.00,0.000,260,0.000,0.083,2078,3896,3363,3377,3350,0,0,0,0,0,0,15.05,14.32,15.08
$GC,1964,-0.67,-97.3,2077,3896,3376,3351,295.2,-12.4,271,1969,0.15,2.25,0.00,0.000,3078,0.202,0.034,2113,2498,3363,3376,3350,0,0,0,0,0,0,14.22,14.57,14.42
$GC,2269,-0.67,-97.3,2113,2497,3374,3348,326.2,-9.8,287,2274,0.00,2.50,0.00,0.000,260,0.000,0.083,2105,3902,3361,3374,3348,0,0,0,0,0,0,15.06,14.31,15.08
$GC,2332,-0.67,-97.3,2105,3902,3373,3348,332.5,-10.3,299,2337,0.00,2.28,0.00,0.000,1030,0.000,0.034,2104,2503,3360,3373,3348,0,0,0,0,0,0,14.63,14.56,14.66
$GC,2654,-0.67,-97.3,2104,2501,3372,3345,367.7,-11.2,318,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2502,3358,3372,3345,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2954,-0.67,-97.3,2104,2501,3370,3343,400.4,-10.4,333,2958,0.00,2.35,0.00,0.000,516,0.000,0.049,2105,1105,3356,3370,3343,0,0,0,0,0,0,15.06,14.43,15.09
$GC,3001,-0.67,-97.3,2104,1105,3370,3343,405.2,-10.2,342,3007,0.00,2.45,0.00,0.000,1030,0.000,0.059,2093,2508,3356,3369,3343,0,0,0,0,0,0,14.50,14.38,14.54
$GC,3319,-0.67,-97.3,2092,2508,3367,3340,438.8,-10.4,360,3325,0.00,2.45,0.00,0.000,260,0.000,0.084,2083,3901,3353,3367,3340,0,0,0,0,0,0,15.06,14.27,15.09
$GC,3344,-0.67,-97.3,2082,3902,3367,3340,441.6,-11.1,365,3348,0.12,2.28,0.00,0.000,3078,0.204,0.035,2111,2499,3353,3367,3340,0,0,0,0,0,0,14.22,14.53,14.40
$GC,3662,-0.67,-97.3,2111,2498,3366,3338,471.6,-9.6,383,3669,0.00,2.50,0.00,0.000,260,0.000,0.085,2102,3902,3352,3366,3338,0,0,0,0,0,0,15.04,14.24,15.07
$GC,3691,-0.67,-97.3,2101,3902,3366,3338,474.6,-10.5,389,3695,0.00,2.28,0.00,0.000,1030,0.000,0.035,2102,2503,3352,3366,3338,0,0,0,0,0,0,14.59,14.52,14.62
$GC,4004,-0.67,-97.3,2102,2501,3364,3337,506.8,-10.4,406,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2501,3350,3364,3337,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4302,-0.67,-97.3,2102,2501,3362,3335,538.6,-10.6,421,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2501,3349,3363,3335,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4602,-0.67,-97.3,2102,2501,3362,3334,569.7,-10.3,436,4607,0.00,2.50,0.00,0.000,260,0.000,0.086,2091,3893,3348,3362,3334,0,0,0,0,0,0,15.06,14.21,15.09
$GC,4640,-0.67,-97.3,2090,3893,3362,3334,573.5,-10.9,443,4645,0.00,2.30,0.00,0.000,1030,0.000,0.035,2091,2492,3348,3362,3334,0,0,0,0,0,0,14.57,14.50,14.59
$GC,4944,-0.67,-97.3,2090,2491,3361,3333,606.3,-10.6,459,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3347,3361,3333,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5244,-0.67,-97.3,2090,2491,3359,3332,637.1,-10.0,474,5249,0.00,2.53,0.00,0.000,260,0.000,0.086,2080,3897,3345,3359,3332,0,0,0,0,0,0,15.05,14.19,15.08
$GC,5277,-0.67,-97.3,2080,3897,3359,3332,640.5,-10.6,480,5282,0.12,2.30,0.00,0.000,3078,0.203,0.035,2109,2494,3345,3359,3332,0,0,0,0,0,0,14.16,14.47,14.35
$GC,5589,-0.67,-97.3,2109,2493,3357,3331,667.4,-8.4,497,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2493,3344,3358,3331,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5890,-0.67,-97.3,2109,2493,3355,3330,691.8,-8.1,512,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2493,3343,3357,3330,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6191,-0.67,-97.3,2109,2493,3356,3329,716.2,-8.3,527,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2493,3342,3356,3329,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6489,-0.67,-97.3,2109,2493,3356,3327,741.5,-8.5,542,6494,0.00,2.35,0.00,0.000,516,0.000,0.050,2109,1109,3341,3355,3327,0,0,0,0,0,0,15.06,14.32,15.09
$GC,6522,-0.67,-97.3,2109,1109,3355,3327,744.3,-8.9,548,6529,0.00,2.45,0.00,0.000,1030,0.000,0.061,2100,2503,3341,3355,3327,0,0,0,0,0,0,14.39,14.26,14.44
$GC,6831,-0.67,-97.3,2100,2503,3354,3326,773.4,-9.6,565,6838,0.00,2.50,0.00,0.000,260,0.000,0.086,2089,3900,3340,3354,3327,0,0,0,0,0,0,15.05,14.14,15.08
$GC,6891,-0.67,-97.3,2089,3900,3354,3327,779.5,-10.2,577,6895,0.00,2.30,0.00,0.000,1030,0.000,0.037,2089,2504,3340,3354,3326,0,0,0,0,0,0,14.50,14.42,14.52
$GC,7214,-0.67,-97.3,2089,2503,3353,3325,813.1,-10.6,596,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2503,3339,3353,3325,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7513,-0.67,-97.3,2089,2503,3352,3325,845.3,-10.8,611,7519,0.00,2.53,0.00,0.000,260,0.000,0.086,2078,3897,3338,3352,3325,0,0,0,0,0,0,15.04,14.11,15.07
$GC,7569,-0.67,-97.3,2078,3897,3352,3324,851.5,-11.3,622,7575,0.12,2.33,0.00,0.000,3078,0.203,0.037,2108,2497,3338,3352,3325,0,0,0,0,0,0,14.08,14.40,14.26
$GC,7872,-0.67,-97.3,2107,2496,3352,3323,880.3,-9.2,638,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3338,3352,3324,0,0,0,0,0,0,15.04,15.08,15.07
$GC,8172,-0.67,-97.3,2107,2496,3351,3323,906.6,-8.6,653,8177,0.00,2.38,0.00,0.000,516,0.000,0.050,2108,1108,3336,3351,3322,0,0,0,0,0,0,15.04,14.26,15.07
$GC,8210,-0.67,-97.3,2108,1107,3351,3322,909.8,-8.5,660,8217,0.00,2.47,0.00,0.000,1030,0.000,0.059,2098,2507,3336,3350,3322,0,0,0,0,0,0,14.33,14.20,14.38
$GC,8534,-0.67,-97.3,2098,2507,3350,3321,937.7,-8.4,680,8540,0.00,2.50,0.00,0.000,260,0.000,0.088,2088,3894,3335,3350,3321,0,0,0,0,0,0,15.05,14.07,15.07
$GC,8564,-0.67,-97.3,2087,3894,3350,3321,940.4,-9.3,686,8569,0.00,2.33,0.00,0.000,1030,0.000,0.037,2087,2495,3335,3350,3321,0,0,0,0,0,0,14.45,14.38,14.48
$GC,8878,-0.67,-97.3,2087,2493,3349,3321,968.6,-9.0,703,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3335,3349,3321,0,0,0,0,0,0,15.03,15.06,15.05
$STATE,9113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9113,begin apogee
$GC,9121,-0.15,0.0,2087,2493,3349,3320,990.3,-9.2,715,9217,0.68,0.00,92.22,1.973,10246,0.168,0.000,2274,2493,2968,3001,2935,0,0,0,0,0,0,13.88,13.96,12.69
$STATE,9218,end apogee,CONTROL_FINISHED_OK
$STATE,9218,begin climb
$GC,9223,0.67,97.3,2274,2493,3000,2935,992.9,0.0,720,9334,0.85,0.00,105.07,1.945,10246,0.094,0.000,2550,2493,2569,2602,2537,0,0,0,0,0,0,14.10,13.88,12.63
$GC,9639,0.68,97.3,2549,2493,2593,2533,971.2,7.3,741,9643,0.00,2.50,0.00,0.000,580,0.000,0.051,2560,1041,2563,2592,2534,0,0,0,0,0,0,14.85,14.38,14.88
$GC,9727,0.71,97.3,2560,1041,2591,2531,964.9,6.9,758,9732,0.00,2.45,0.00,0.000,1094,0.000,0.055,2561,2450,2561,2591,2531,0,0,0,0,0,0,14.48,14.37,14.52
$GC,10045,0.72,97.3,2560,2450,2590,2530,941.7,7.5,776,10048,0.00,2.42,0.00,0.000,580,0.000,0.050,2572,1042,2560,2590,2530,0,0,0,0,0,0,14.97,14.39,15.00
$GC,10101,0.73,97.3,2571,1040,2589,2529,937.5,7.4,787,10108,0.00,2.45,0.00,0.000,1094,0.000,0.054,2572,2448,2559,2589,2529,0,0,0,0,0,0,14.48,14.37,14.53
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$STATE,21928,end climb,SURFACE_DEPTH_REACHED
$STATE,21928,begin surface coast
$STATE,21938,end surface coast,CONTROL_FINISHED_OK
$STATE,21938,begin surface
$SM_CCo,21961,64.07,0.532,1,0,928,500.17
$SM_GC,1.09,8.00,0.12,64.07,0.051,0.138,0.532,128,2512,928,-6.76,-0.79,500.17,0,0,0,0,1,0,14.43,14.39,13.53
$IRIDIUM_FIX,508.82,8120.34,060120,032351
$TT8_MAMPS,0.019474,0.160286
$HUMID,52.12
$INTERNAL_PRESSURE,9.48776
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,12.63,229.653
$10V_AH,13.15,0.000
$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,20.075,206.825,512.750,64.075,0.000,0.000,0.000,216.275,0.000,0.000,16.912,1660.504,16609.273,733.057,2833.281,553.624,0.000,2428.097,0.000,2596.272,0.000,0.539,0.000
$DEVICE_MAMPS,342.720,138.465,1972.935,532.440,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,916.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250448
$DATA_FILE_SIZE,79934,1827
$CAP_FILE_SIZE,203050,0
$CFSIZE,260034560,124334080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.090,310.36,1
$GPS,060120,154109,507.181,8114.020,19,1.2,19,-2.2,1.4,234.0,5,6.0