version: 66.13
glider: 171
mission: 11
dive: 687
start: 1 7 120 2 52 51
data:
$ID,171
$MISSION,11
$DIVE,687
$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,71
$R_STBD_OVSHOOT,21
$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
$GPS1,070120,024600,506.3810,8109.1445,24,0.7,24,-2.2,1.4,243.1,11,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.3
$GPS2,070120,025158,506.3450,8108.9678,2,0.6,2,-2.2,0.6,277.6,12,9.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,253.8,72847,-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,-97.3,98,2494,980,874,0.0,0.0,0,89,0.00,0.00,-76.68,0.005,16386,0.000,0.000,94,2494,2733,2732,2734,0,0,0,0,0,0,14.85,28.83,14.88
$GC,94,-0.67,-97.3,94,2494,2733,2734,5.1,-14.1,16,120,9.32,2.33,-11.68,0.010,18948,0.344,0.070,2114,1112,3367,3381,3354,0,0,0,0,0,0,13.86,12.64,14.32
$GC,284,-0.67,-97.3,2114,1112,3382,3354,57.9,-17.3,54,291,0.00,2.40,0.00,0.000,1030,0.000,0.060,2105,2507,3368,3382,3354,0,0,0,0,0,0,14.52,14.40,14.55
$GC,474,-0.67,-97.3,2105,2507,3382,3354,89.3,-14.9,74,481,0.00,2.40,0.00,0.000,260,0.000,0.081,2094,3894,3368,3382,3354,0,0,0,0,0,0,15.00,14.34,15.03
$GC,710,-0.67,-97.3,2093,3894,3383,3354,126.3,-13.7,121,714,0.00,2.22,0.00,0.000,1030,0.000,0.031,2094,2497,3368,3383,3354,0,0,0,0,0,0,14.65,14.59,14.68
$GC,897,-0.67,-97.3,2093,2495,3383,3354,150.8,-12.0,140,903,0.00,2.45,0.00,0.000,260,0.000,0.080,2083,3899,3368,3383,3354,0,0,0,0,0,0,15.02,14.36,15.05
$GC,1131,-0.67,-97.3,2083,3899,3383,3354,181.0,-13.0,187,1136,0.12,2.25,0.00,0.000,3078,0.216,0.031,2112,2491,3369,3384,3354,0,0,0,0,0,0,14.26,14.59,14.45
$GC,1317,-0.67,-97.3,2111,2490,3383,3354,202.0,-11.4,206,1321,0.00,2.25,0.00,0.000,516,0.000,0.044,2112,1112,3368,3382,3354,0,0,0,0,0,0,15.03,14.50,15.06
$GC,1369,-0.67,-97.3,2111,1112,3381,3354,208.0,-11.2,216,1373,0.00,2.38,0.00,0.000,1030,0.000,0.056,2103,2508,3367,3381,3354,0,0,0,0,0,0,14.57,14.46,14.61
$GC,1562,-0.67,-97.3,2102,2508,3380,3354,230.6,-12.1,236,1566,0.00,2.40,0.00,0.000,260,0.000,0.080,2092,3893,3367,3380,3354,0,0,0,0,0,0,15.04,14.35,15.06
$GC,1658,-0.67,-97.3,2091,3894,3379,3354,242.6,-12.3,255,1663,0.00,2.22,0.00,0.000,1030,0.000,0.032,2092,2501,3366,3379,3354,0,0,0,0,0,0,14.66,14.59,14.68
$GC,1843,-0.67,-97.3,2091,2500,3377,3354,265.7,-12.5,268,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3365,3377,3354,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2144,-0.67,-97.3,2091,2500,3375,3351,301.8,-11.9,283,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3363,3375,3351,0,0,0,0,0,0,15.05,15.08,15.08
$GC,2443,-0.67,-97.3,2091,2500,3374,3348,337.3,-11.9,298,2450,0.00,2.45,0.00,0.000,260,0.000,0.081,2081,3891,3360,3373,3348,0,0,0,0,0,0,15.06,14.33,15.09
$GC,2484,-0.67,-97.3,2081,3891,3373,3348,342.2,-12.5,306,2489,0.12,2.25,0.00,0.000,3078,0.203,0.034,2111,2494,3360,3373,3347,0,0,0,0,0,0,14.27,14.57,14.45
$GC,2806,-0.67,-97.3,2110,2492,3371,3345,374.8,-9.8,325,2810,0.00,2.33,0.00,0.000,516,0.000,0.047,2111,1106,3358,3371,3345,0,0,0,0,0,0,15.07,14.45,15.09
$GC,2832,-0.67,-97.3,2110,1106,3371,3345,377.4,-10.3,330,2837,0.00,2.40,0.00,0.000,1030,0.000,0.055,2101,2504,3358,3371,3345,0,0,0,0,0,0,14.54,14.42,14.57
$GC,3151,-0.67,-97.3,2101,2504,3369,3343,410.0,-10.6,348,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2504,3356,3369,3343,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3449,-0.67,-97.3,2101,2504,3367,3340,442.2,-10.8,363,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2504,3353,3367,3340,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3749,-0.67,-97.3,2101,2504,3366,3339,473.3,-10.0,378,3756,0.00,2.45,0.00,0.000,260,0.000,0.083,2090,3899,3352,3366,3339,0,0,0,0,0,0,15.06,14.26,15.09
$GC,3826,-0.67,-97.3,2090,3899,3365,3339,481.4,-10.8,393,3831,0.00,2.28,0.00,0.000,1030,0.000,0.034,2090,2504,3352,3365,3339,0,0,0,0,0,0,14.59,14.53,14.62
$GC,4129,-0.67,-97.3,2090,2503,3363,3338,515.4,-11.2,409,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3350,3363,3338,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4430,-0.67,-97.3,2090,2503,3362,3336,549.0,-11.3,424,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3349,3362,3336,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4729,-0.67,-97.3,2090,2503,3361,3334,582.1,-10.9,439,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3348,3361,3335,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5029,-0.67,-97.3,2090,2503,3360,3333,614.1,-10.5,454,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3346,3360,3333,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5330,-0.67,-97.3,2090,2503,3358,3333,644.8,-10.1,469,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3345,3358,3332,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5629,-0.67,-97.3,2090,2503,3357,3331,676.2,-10.7,484,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3344,3357,3331,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5929,-0.67,-97.3,2090,2503,3357,3330,708.4,-10.7,499,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3343,3356,3330,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6230,-0.67,-97.3,2090,2503,3356,3329,740.8,-11.0,514,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6529,-0.67,-97.3,2090,2503,3354,3328,773.7,-11.0,529,6533,0.00,2.53,0.00,0.000,260,0.000,0.085,2080,3897,3341,3354,3328,0,0,0,0,0,0,15.05,14.15,15.08
$GC,6560,-0.67,-97.3,2080,3897,3354,3328,777.3,-12.2,535,6566,0.12,2.30,0.00,0.000,3078,0.200,0.037,2108,2501,3341,3354,3328,0,0,0,0,0,0,14.13,14.45,14.31
$GC,6875,-0.67,-97.3,2108,2500,3353,3327,808.7,-9.7,552,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2500,3340,3353,3327,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7173,-0.67,-97.3,2108,2500,3353,3326,836.2,-8.8,567,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3339,3353,3326,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7474,-0.67,-97.3,2108,2500,3352,3325,861.5,-8.2,582,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3338,3352,3325,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7773,-0.67,-97.3,2108,2500,3351,3324,886.6,-8.3,597,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3337,3351,3324,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8074,-0.67,-97.3,2108,2500,3350,3323,911.9,-8.5,612,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2500,3337,3351,3323,0,0,0,0,0,0,15.04,15.08,15.07
$GC,8375,-0.67,-97.3,2108,2500,3350,3322,937.9,-8.7,627,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3336,3350,3323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8673,-0.67,-97.3,2108,2500,3349,3322,964.6,-8.9,642,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3335,3348,3322,0,0,0,0,0,0,15.05,15.08,15.07
$STATE,8970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8970,begin apogee
$GC,8979,-0.15,0.0,2108,2500,3348,3321,991.7,-9.1,657,9075,0.60,0.00,92.20,1.997,10246,0.161,0.000,2277,2500,2968,3000,2936,0,0,0,0,0,0,13.93,13.97,12.69
$STATE,9076,end apogee,CONTROL_FINISHED_OK
$STATE,9076,begin climb
$GC,9079,0.67,97.3,2277,2500,2999,2936,995.0,0.0,662,9194,0.85,2.50,104.15,1.961,10500,0.092,0.083,2553,3855,2569,2601,2538,0,0,0,0,0,0,14.11,13.95,12.62
$GC,9255,0.70,97.3,2553,3855,2593,2538,992.0,6.8,697,9259,0.00,2.38,0.00,0.000,1094,0.000,0.036,2564,2437,2565,2593,2538,0,0,0,0,0,0,14.41,14.35,14.43
$GC,9557,0.71,97.3,2564,2436,2591,2535,969.8,7.5,713,9561,0.00,2.38,0.00,0.000,580,0.000,0.052,2575,1051,2563,2591,2535,0,0,0,0,0,0,14.90,14.38,14.92
$GC,9740,0.72,97.3,2575,1050,2588,2534,956.2,7.3,749,9747,0.00,2.42,0.00,0.000,1094,0.000,0.056,2575,2443,2560,2587,2534,0,0,0,0,0,0,14.48,14.38,14.53
$GC,10061,0.73,97.3,2575,2442,2587,2533,932.4,7.5,768,10063,0.00,0.00,0.00,0.000,70,0.000,0.000,2575,2442,2560,2588,2533,0,0,0,0,0,0,14.98,15.02,15.01
$GC,10361,0.73,97.3,2575,2443,2587,2534,909.8,7.6,783,10366,0.00,2.40,0.00,0.000,516,0.000,0.050,2586,1049,2560,2587,2533,0,0,0,0,0,0,15.00,14.38,15.02
$GC,10403,0.73,97.3,2585,1049,2586,2531,906.4,7.8,791,10408,0.00,2.42,0.00,0.000,1030,0.000,0.054,2586,2447,2558,2586,2531,0,0,0,0,0,0,14.47,14.36,14.53
$GC,10727,0.73,97.3,2585,2447,2585,2531,880.7,8.0,810,10731,0.00,2.42,0.00,0.000,516,0.000,0.050,2597,1043,2558,2585,2531,0,0,0,0,0,0,15.01,14.36,15.04
$GC,10764,0.73,97.3,2596,1041,2585,2530,877.7,8.0,817,10771,0.00,2.45,0.00,0.000,1030,0.000,0.052,2597,2450,2557,2585,2530,0,0,0,0,0,0,14.46,14.35,14.52
$GC,11088,0.73,97.3,2597,2450,2585,2531,850.6,8.4,837,11096,0.12,2.47,0.00,0.000,4356,0.257,0.076,2572,3846,2557,2584,2530,0,0,0,0,0,0,14.24,14.22,14.34
$GC,11125,0.73,97.3,2571,3846,2584,2530,847.6,8.7,844,11129,0.00,2.33,0.00,0.000,1030,0.000,0.036,2581,2439,2557,2584,2530,0,0,0,0,0,0,14.53,14.46,14.57
$GC,11429,0.75,97.3,2581,2438,2584,2529,825.5,7.0,860,11433,0.00,2.38,0.00,0.000,580,0.000,0.050,2592,1048,2556,2584,2529,0,0,0,0,0,0,15.03,14.33,15.05
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$STATE,21357,end climb,SURFACE_DEPTH_REACHED
$STATE,21357,begin surface coast
$STATE,21377,end surface coast,CONTROL_FINISHED_OK
$STATE,21377,begin surface
$SM_CCo,21400,103.50,0.622,1,0,929,500.17
$SM_GC,1.08,7.68,0.10,103.50,0.056,0.139,0.622,127,2521,929,-6.78,-0.79,500.17,0,0,0,0,1,0,14.47,14.52,13.54
$IRIDIUM_FIX,504.38,8111.77,060120,211843
$TT8_MAMPS,0.018725,0.158039
$HUMID,51.57
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,12.62,230.557
$10V_AH,12.79,0.000
$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,19.375,176.850,472.150,103.500,0.000,0.000,0.000,214.250,0.250,0.000,14.073,1654.841,16090.738,697.415,2871.720,548.731,0.000,2382.897,0.000,2640.115,0.000,0.540,0.000
$DEVICE_MAMPS,344.250,139.230,1996.650,621.945,0.000,0.000,0.000,184.365,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,912.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249964
$DATA_FILE_SIZE,79970,1858
$CAP_FILE_SIZE,195948,0
$CFSIZE,260034560,124076032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.034,51.57,1
$GPS,070120,085230,506.217,8107.665,27,0.6,27,-2.2,1.1,238.0,12,5.3