version: 66.13
glider: 171
mission: 11
dive: 691
start: 1 8 120 2 56 47
data:
$ID,171
$MISSION,11
$DIVE,691
$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,77
$R_STBD_OVSHOOT,59
$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
$GPS1,080120,024939,505.5362,8101.0371,22,1.1,22,-2.2,1.2,256.1,6,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.1
$GPS2,080120,025552,505.4710,8100.8105,2,0.7,3,-2.2,2.0,260.0,12,5.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,260.3,57740,-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,-97.3,91,2534,640,559,0.0,0.0,0,99,0.00,0.00,-86.45,0.005,16386,0.000,0.000,90,2534,2621,2622,2620,0,0,0,0,0,0,14.81,28.83,14.85
$GC,104,-0.67,-97.3,91,2534,2622,2620,4.4,-11.8,18,135,9.38,2.40,-14.52,0.009,19204,0.344,0.068,2108,1129,3368,3383,3353,0,0,0,0,0,0,13.82,12.57,14.28
$GC,304,-0.67,-97.3,2108,1129,3384,3353,62.0,-20.6,58,308,0.00,2.30,0.00,0.000,1030,0.000,0.060,2100,2469,3368,3383,3353,0,0,0,0,0,0,14.50,14.37,14.53
$GC,496,-0.67,-97.3,2099,2469,3384,3353,93.1,-15.0,78,500,0.00,2.22,0.00,0.000,516,0.000,0.047,2100,1128,3368,3384,3353,0,0,0,0,0,0,14.98,14.45,15.01
$GC,728,-0.67,-97.3,2099,1128,3384,3353,124.6,-13.6,124,732,0.00,2.35,0.00,0.000,1030,0.000,0.058,2091,2500,3368,3384,3353,0,0,0,0,0,0,14.52,14.41,14.57
$GC,921,-0.67,-97.3,2088,2500,3384,3353,152.2,-14.1,144,926,0.00,2.38,0.00,0.000,260,0.000,0.076,2078,3892,3369,3386,3353,0,0,0,0,0,0,15.01,14.28,15.04
$GC,943,-0.67,-97.3,2078,3891,3384,3353,155.7,-14.5,148,948,0.12,2.20,0.00,0.000,3078,0.219,0.032,2107,2515,3368,3384,3353,0,0,0,0,0,0,14.22,14.57,14.42
$GC,1138,-0.67,-97.3,2107,2513,3384,3353,180.1,-12.5,168,1142,0.00,2.33,0.00,0.000,516,0.000,0.045,2107,1109,3368,3384,3353,0,0,0,0,0,0,15.02,14.47,15.04
$GC,1165,-0.67,-97.3,2106,1108,3384,3353,183.8,-12.8,173,1171,0.00,2.40,0.00,0.000,1030,0.000,0.057,2097,2508,3368,3384,3353,0,0,0,0,0,0,14.53,14.42,14.57
$GC,1349,-0.67,-97.3,2097,2508,3383,3353,206.6,-12.0,192,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2508,3368,3383,3353,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1530,-0.67,-97.3,2097,2508,3382,3353,227.8,-11.5,210,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2508,3367,3382,3353,0,0,0,0,0,0,15.04,15.07,15.06
$GC,1712,-0.67,-97.3,2097,2508,3380,3353,248.6,-11.8,228,1716,0.00,2.42,0.00,0.000,260,0.000,0.082,2087,3900,3366,3380,3353,0,0,0,0,0,0,15.02,14.31,15.05
$GC,1793,-0.67,-97.3,2086,3900,3379,3353,259.0,-12.2,244,1797,0.00,2.28,0.00,0.000,1030,0.000,0.034,2086,2499,3366,3379,3353,0,0,0,0,0,0,14.62,14.55,14.64
$GC,2116,-0.67,-97.3,2086,2498,3376,3353,296.6,-11.5,263,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2498,3364,3376,3353,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2415,-0.67,-97.3,2086,2498,3373,3352,332.4,-12.2,278,2421,0.00,2.47,0.00,0.000,260,0.000,0.084,2076,3894,3362,3373,3351,0,0,0,0,0,0,15.06,14.29,15.08
$GC,2464,-0.67,-97.3,2076,3894,3372,3351,338.9,-13.0,288,2469,0.15,2.28,0.00,0.000,3078,0.201,0.034,2112,2491,3361,3372,3351,0,0,0,0,0,0,14.19,14.54,14.38
$GC,2777,-0.67,-97.3,2111,2490,3372,3348,373.8,-11.0,305,2783,0.00,2.33,0.00,0.000,516,0.000,0.047,2112,1108,3359,3371,3348,0,0,0,0,0,0,15.04,14.42,15.07
$GC,2805,-0.67,-97.3,2112,1108,3371,3348,377.0,-11.3,310,2812,0.00,2.40,0.00,0.000,1030,0.000,0.056,2103,2499,3359,3371,3347,0,0,0,0,0,0,14.50,14.38,14.54
$GC,3123,-0.67,-97.3,2102,2498,3369,3346,412.0,-10.7,328,3130,0.00,2.45,0.00,0.000,260,0.000,0.083,2091,3891,3357,3369,3346,0,0,0,0,0,0,15.04,14.26,15.07
$GC,3209,-0.67,-97.3,2091,3891,3368,3345,421.6,-10.9,345,3214,0.00,2.28,0.00,0.000,1030,0.000,0.034,2091,2492,3357,3368,3346,0,0,0,0,0,0,14.59,14.52,14.62
$GC,3526,-0.67,-97.3,2091,2490,3367,3343,457.0,-11.2,363,3532,0.00,2.50,0.00,0.000,260,0.000,0.084,2081,3893,3355,3367,3343,0,0,0,0,0,0,15.05,14.25,15.08
$GC,3562,-0.67,-97.3,2081,3893,3367,3343,461.1,-12.0,370,3567,0.12,2.28,0.00,0.000,3078,0.204,0.034,2110,2501,3354,3366,3343,0,0,0,0,0,0,14.19,14.50,14.38
$GC,3866,-0.67,-97.3,2109,2499,3366,3340,492.1,-9.8,386,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2499,3353,3366,3341,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4167,-0.67,-97.3,2109,2499,3364,3339,520.7,-9.5,401,4172,0.00,2.50,0.00,0.000,260,0.000,0.086,2101,3891,3351,3364,3339,0,0,0,0,0,0,15.04,14.20,15.07
$GC,4216,-0.67,-97.3,2100,3891,3362,3339,525.5,-9.9,410,4220,0.00,2.28,0.00,0.000,1030,0.000,0.034,2101,2502,3351,3363,3339,0,0,0,0,0,0,14.56,14.49,14.59
$GC,4532,-0.67,-97.3,2100,2500,3362,3338,558.3,-10.5,428,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3350,3361,3339,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4834,-0.67,-97.3,2100,2500,3362,3337,590.0,-10.6,443,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3349,3361,3337,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5133,-0.67,-97.3,2100,2500,3360,3336,621.2,-10.3,458,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3348,3360,3336,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5432,-0.67,-97.3,2100,2500,3359,3334,651.5,-10.2,473,5437,0.00,2.53,0.00,0.000,260,0.000,0.087,2089,3899,3346,3359,3334,0,0,0,0,0,0,15.05,14.16,15.08
$GC,5496,-0.67,-97.3,2089,3899,3358,3335,658.1,-10.6,485,5501,0.00,2.33,0.00,0.000,1030,0.000,0.036,2090,2498,3346,3358,3334,0,0,0,0,0,0,14.51,14.44,14.54
$GC,5818,-0.67,-97.3,2089,2497,3356,3333,693.0,-10.7,504,5822,0.00,2.35,0.00,0.000,516,0.000,0.050,2090,1109,3345,3357,3333,0,0,0,0,0,0,15.04,14.31,15.07
$GC,5855,-0.67,-97.3,2089,1109,3356,3333,696.9,-10.6,511,5862,0.12,2.45,0.00,0.000,3078,0.210,0.058,2107,2503,3344,3356,3333,0,0,0,0,0,0,14.04,14.25,14.21
$GC,6182,-0.67,-97.3,2107,2502,3356,3332,727.7,-9.4,531,6189,0.00,2.50,0.00,0.000,260,0.000,0.086,2098,3900,3344,3356,3332,0,0,0,0,0,0,15.02,14.12,15.05
$GC,6236,-0.67,-97.3,2098,3900,3356,3332,733.2,-9.9,542,6240,0.00,2.33,0.00,0.000,1030,0.000,0.036,2098,2497,3344,3356,3332,0,0,0,0,0,0,14.48,14.41,14.52
$GC,6543,-0.67,-97.3,2098,2496,3355,3331,762.7,-9.7,558,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2496,3343,3355,3331,0,0,0,0,0,0,15.03,15.06,15.05
$GC,6841,-0.67,-97.3,2098,2496,3354,3331,791.6,-9.6,573,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2496,3342,3354,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7142,-0.67,-97.3,2097,2496,3353,3330,819.6,-9.2,588,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2496,3342,3354,3330,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7441,-0.67,-97.3,2098,2496,3353,3329,847.9,-9.5,603,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2496,3341,3353,3329,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7741,-0.67,-97.3,2098,2496,3352,3328,876.8,-9.8,618,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2496,3340,3352,3328,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8042,-0.67,-97.3,2098,2496,3351,3327,905.7,-9.3,633,8047,0.00,2.58,0.00,0.000,260,0.000,0.090,2087,3896,3339,3351,3327,0,0,0,0,0,0,15.03,14.05,15.06
$GC,8070,-0.67,-97.3,2087,3896,3351,3327,908.4,-10.2,638,8074,0.00,2.33,0.00,0.000,1030,0.000,0.037,2087,2497,3339,3351,3327,0,0,0,0,0,0,14.45,14.38,14.48
$GC,8386,-0.67,-97.3,2086,2496,3350,3327,939.6,-9.8,656,8394,0.00,2.55,0.00,0.000,260,0.000,0.087,2076,3897,3338,3350,3326,0,0,0,0,0,0,15.04,14.04,15.07
$GC,8427,-0.67,-97.3,2076,3897,3350,3326,943.7,-10.4,664,8436,0.15,2.33,0.00,0.000,3078,0.195,0.037,2112,2495,3338,3350,3326,0,0,0,0,0,0,14.00,14.35,14.19
$GC,8748,-0.67,-97.3,2112,2496,3350,3325,970.2,-8.1,683,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2496,3337,3350,3325,0,0,0,0,0,0,15.04,15.07,15.06
$STATE,9004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9004,begin apogee
$GC,9013,-0.15,0.0,2113,2496,3348,3325,990.6,-7.8,696,9109,0.57,0.00,92.38,2.000,10246,0.159,0.000,2275,2495,2968,2999,2937,0,0,0,0,0,0,13.90,13.97,12.69
$STATE,9110,end apogee,CONTROL_FINISHED_OK
$STATE,9111,begin climb
$GC,9114,0.67,97.3,2275,2495,2998,2937,993.0,0.0,701,9228,0.85,2.60,103.70,1.971,10756,0.093,0.050,2561,1050,2569,2599,2540,0,0,0,0,0,0,14.09,13.94,12.62
$GC,9255,0.73,160.2,2561,1049,2595,2538,991.3,4.5,723,9326,0.00,2.47,64.70,1.951,9254,0.000,0.059,2561,2445,2314,2355,2274,0,0,0,0,0,0,14.30,14.20,12.65
$GC,9633,0.73,160.2,2561,2445,2344,2268,950.1,11.6,754,9638,0.00,2.42,0.00,0.000,516,0.000,0.054,2572,1053,2305,2344,2267,0,0,0,0,0,0,14.88,14.37,14.90
$GC,9665,0.73,160.2,2572,1053,2343,2267,946.2,12.5,760,9672,0.00,2.42,0.00,0.000,1030,0.000,0.056,2572,2442,2305,2343,2267,0,0,0,0,0,0,14.48,14.36,14.53
$GC,9977,0.73,160.2,2572,2442,2343,2266,908.0,12.3,777,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2442,2304,2343,2266,0,0,0,0,0,0,14.95,14.98,14.97
$GC,10275,0.73,160.2,2572,2442,2342,2265,871.9,11.4,792,10280,0.00,2.42,0.00,0.000,516,0.000,0.052,2583,1052,2304,2344,2265,0,0,0,0,0,0,15.00,14.37,15.02
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$STATE,19476,end climb,SURFACE_DEPTH_REACHED
$STATE,19476,begin surface coast
$STATE,19494,end surface coast,CONTROL_FINISHED_OK
$STATE,19494,begin surface
$SM_CCo,19516,107.60,0.606,1,0,928,500.17
$SM_GC,1.18,7.40,0.08,107.60,0.048,0.179,0.606,134,2506,928,-6.76,-0.96,500.17,0,0,0,0,1,0,14.48,14.59,13.58
$IRIDIUM_FIX,504.29,8105.36,070120,204639
$TT8_MAMPS,0.018725,0.156541
$HUMID,49.01
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,12.57,231.775
$10V_AH,13.13,0.000
$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,20.250,187.575,478.125,107.600,0.000,0.000,0.000,226.975,0.000,0.000,14.627,1527.693,14586.310,737.880,2617.511,530.558,0.000,2335.726,0.000,2377.419,0.000,0.539,0.000
$DEVICE_MAMPS,344.250,179.010,1999.710,605.880,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,887.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73289,1672
$CAP_FILE_SIZE,187378,0
$CFSIZE,260034560,123723776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.043,241.62,1
$GPS,080120,082500,505.025,8058.555,20,0.7,20,-2.2,1.0,278.5,12,5.4