version: 66.13
glider: 171
mission: 11
dive: 692
start: 1 8 120 8 31 56
data:
$ID,171
$MISSION,11
$DIVE,692
$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,51
$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
$GPS1,080120,082500,505.0255,8058.5547,20,0.7,20,-2.2,1.0,278.5,12,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.4
$GPS2,080120,083102,504.9851,8058.3584,2,0.5,3,-2.2,1.2,269.0,12,7.2
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,267.1,53128,-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,-97.3,83,2509,972,878,0.0,0.0,0,84,0.00,0.00,-71.88,0.005,16386,0.000,0.000,81,2509,2603,2601,2605,0,0,0,0,0,0,14.84,28.83,14.88
$GC,88,-0.67,-97.3,81,2509,2604,2605,4.4,-10.9,15,120,9.35,2.40,-14.98,0.008,18692,0.342,0.090,2094,3886,3366,3381,3351,0,0,0,0,0,0,13.87,12.61,14.32
$GC,349,-0.67,-97.3,2094,3886,3382,3351,73.8,-15.9,67,354,0.00,2.25,0.00,0.000,1030,0.000,0.032,2094,2485,3366,3381,3351,0,0,0,0,0,0,14.61,14.54,14.63
$GC,542,-0.67,-97.3,2094,2483,3382,3351,103.6,-13.6,87,549,0.00,2.47,0.00,0.000,260,0.000,0.086,2084,3896,3366,3382,3351,0,0,0,0,0,0,14.99,14.28,15.02
$GC,776,-0.67,-97.3,2083,3896,3383,3351,136.8,-15.9,134,781,0.00,2.25,0.00,0.000,1030,0.000,0.033,2084,2496,3366,3382,3351,0,0,0,0,0,0,14.64,14.57,14.66
$GC,962,-0.67,-97.3,2084,2494,3382,3351,164.8,-14.6,153,967,0.00,2.45,0.00,0.000,260,0.000,0.081,2073,3889,3366,3382,3351,0,0,0,0,0,0,15.03,14.35,15.06
$GC,1134,-0.67,-97.3,2072,3889,3382,3351,190.8,-14.0,187,1139,0.15,2.22,0.00,0.000,3078,0.210,0.032,2108,2491,3366,3382,3351,0,0,0,0,0,0,14.23,14.59,14.43
$GC,1331,-0.67,-97.3,2108,2489,3380,3351,213.4,-11.1,207,1335,0.00,2.28,0.00,0.000,516,0.000,0.044,2108,1111,3365,3380,3351,0,0,0,0,0,0,15.02,14.49,15.04
$GC,1347,-0.67,-97.3,2108,1111,3380,3351,215.7,-10.8,210,1352,0.00,2.35,0.00,0.000,1030,0.000,0.054,2100,2494,3365,3380,3351,0,0,0,0,0,0,14.56,14.45,14.60
$GC,1534,-0.67,-97.3,2099,2494,3378,3351,236.3,-10.9,229,1538,0.00,2.30,0.00,0.000,516,0.000,0.044,2099,1107,3364,3378,3351,0,0,0,0,0,0,15.04,14.49,15.07
$GC,1550,-0.67,-97.3,2099,1106,3378,3351,238.3,-10.9,232,1554,0.00,2.38,0.00,0.000,1030,0.000,0.055,2089,2500,3364,3377,3351,0,0,0,0,0,0,14.56,14.44,14.59
$GC,1735,-0.67,-97.3,2088,2500,3376,3351,260.0,-12.4,247,1742,0.00,2.42,0.00,0.000,260,0.000,0.081,2078,3899,3363,3376,3351,0,0,0,0,0,0,15.05,14.33,15.08
$GC,1846,-0.67,-97.3,2078,3899,3375,3351,274.7,-13.5,269,1851,0.12,2.25,0.00,0.000,3078,0.209,0.033,2107,2493,3363,3375,3351,0,0,0,0,0,0,14.26,14.58,14.45
$GC,2158,-0.67,-97.3,2107,2492,3373,3348,311.1,-11.4,286,2163,0.00,2.45,0.00,0.000,260,0.000,0.081,2098,3891,3360,3373,3347,0,0,0,0,0,0,15.07,14.32,15.09
$GC,2200,-0.67,-97.3,2097,3890,3372,3347,316.0,-11.7,294,2205,0.00,2.22,0.00,0.000,1030,0.000,0.032,2098,2505,3360,3373,3347,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2524,-0.67,-97.3,2097,2503,3371,3345,352.5,-11.2,313,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2503,3358,3371,3345,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2822,-0.67,-97.3,2097,2503,3368,3342,385.9,-10.9,328,2829,0.00,2.45,0.00,0.000,260,0.000,0.083,2087,3890,3354,3368,3341,0,0,0,0,0,0,15.07,14.29,15.09
$GC,2863,-0.67,-97.3,2086,3890,3367,3342,390.5,-11.5,336,2867,0.00,2.25,0.00,0.000,1030,0.000,0.034,2087,2499,3354,3368,3341,0,0,0,0,0,0,14.62,14.55,14.64
$GC,3185,-0.67,-97.3,2086,2497,3367,3339,427.9,-11.6,355,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2497,3352,3366,3339,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3485,-0.67,-97.3,2086,2497,3364,3338,463.0,-11.6,370,3490,0.00,2.50,0.00,0.000,260,0.000,0.083,2077,3894,3350,3364,3337,0,0,0,0,0,0,15.07,14.26,15.09
$GC,3530,-0.67,-97.3,2076,3894,3363,3337,468.1,-12.0,378,3536,0.15,2.28,0.00,0.000,3078,0.198,0.034,2112,2491,3351,3364,3338,0,0,0,0,0,0,14.19,14.53,14.38
$GC,3853,-0.67,-97.3,2112,2490,3362,3335,499.7,-9.5,397,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2490,3349,3363,3335,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4154,-0.67,-97.3,2112,2490,3361,3334,527.7,-9.3,412,4161,0.00,2.50,0.00,0.000,260,0.000,0.084,2104,3893,3347,3361,3334,0,0,0,0,0,0,15.05,14.23,15.08
$GC,4223,-0.67,-97.3,2104,3893,3360,3333,534.5,-9.9,426,4228,0.00,2.28,0.00,0.000,1030,0.000,0.034,2104,2496,3346,3360,3333,0,0,0,0,0,0,14.58,14.51,14.60
$GC,4536,-0.67,-97.3,2103,2494,3359,3332,567.0,-10.6,443,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3346,3360,3332,0,0,0,0,0,0,15.05,15.09,15.08
$GC,4837,-0.67,-97.3,2104,2494,3357,3331,598.8,-10.5,458,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3344,3358,3331,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5135,-0.67,-97.3,2103,2494,3356,3330,628.8,-9.9,473,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2494,3343,3356,3330,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5435,-0.67,-97.3,2104,2494,3355,3329,658.1,-9.7,488,5440,0.00,2.53,0.00,0.000,260,0.000,0.085,2092,3889,3342,3355,3329,0,0,0,0,0,0,15.06,14.18,15.08
$GC,5494,-0.67,-97.3,2092,3889,3354,3328,663.9,-10.4,499,5498,0.00,2.28,0.00,0.000,1030,0.000,0.034,2092,2500,3341,3354,3328,0,0,0,0,0,0,14.53,14.46,14.56
$GC,5798,-0.67,-97.3,2092,2500,3354,3327,696.0,-10.7,515,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3340,3353,3327,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6097,-0.67,-97.3,2092,2500,3353,3326,728.1,-10.8,530,6102,0.00,2.50,0.00,0.000,260,0.000,0.085,2082,3888,3339,3352,3326,0,0,0,0,0,0,15.05,14.15,15.08
$GC,6124,-0.67,-97.3,2082,3889,3352,3326,731.2,-11.8,535,6129,0.12,2.28,0.00,0.000,3078,0.203,0.035,2111,2500,3339,3352,3326,0,0,0,0,0,0,14.13,14.45,14.31
$GC,6441,-0.67,-97.3,2111,2499,3351,3325,762.0,-9.6,553,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3338,3352,3325,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6743,-0.67,-97.3,2111,2499,3351,3323,791.5,-9.8,568,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3337,3351,3323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7042,-0.67,-97.3,2111,2499,3350,3322,820.1,-9.3,583,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2499,3336,3350,3322,0,0,0,0,0,0,15.05,15.08,15.07
$GC,7341,-0.67,-97.3,2111,2499,3349,3321,847.7,-9.1,598,7347,0.00,2.53,0.00,0.000,260,0.000,0.087,2103,3889,3335,3349,3321,0,0,0,0,0,0,15.05,14.09,15.08
$GC,7380,-0.67,-97.3,2102,3888,3349,3321,851.2,-9.7,605,7384,0.00,2.30,0.00,0.000,1030,0.000,0.035,2102,2503,3335,3349,3321,0,0,0,0,0,0,14.47,14.40,14.50
$GC,7684,-0.67,-97.3,2102,2501,3348,3321,879.6,-9.2,621,7688,0.00,2.38,0.00,0.000,516,0.000,0.050,2103,1108,3333,3347,3320,0,0,0,0,0,0,15.05,14.27,15.08
$GC,7710,-0.67,-97.3,2102,1108,3348,3320,882.1,-9.9,626,7715,0.00,2.45,0.00,0.000,1030,0.000,0.060,2091,2497,3334,3348,3320,0,0,0,0,0,0,14.33,14.21,14.38
$GC,8029,-0.67,-97.3,2091,2497,3347,3320,912.0,-9.4,644,8035,0.00,2.50,0.00,0.000,260,0.000,0.086,2081,3891,3333,3347,3320,0,0,0,0,0,0,15.03,14.07,15.06
$GC,8067,-0.67,-97.3,2080,3892,3347,3320,916.0,-10.1,652,8075,0.12,2.30,0.00,0.000,3078,0.203,0.036,2110,2498,3333,3347,3320,0,0,0,0,0,0,14.07,14.38,14.24
$GC,8389,-0.67,-97.3,2109,2497,3346,3319,943.4,-8.6,671,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3333,3347,3319,0,0,0,0,0,0,15.02,15.05,15.05
$GC,8689,-0.67,-97.3,2109,2497,3345,3318,969.7,-9.0,686,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3331,3345,3318,0,0,0,0,0,0,15.03,15.06,15.05
$STATE,8924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8924,begin apogee
$GC,8932,-0.15,0.0,2110,2497,3344,3318,991.6,-9.2,698,9027,0.60,0.00,91.85,1.984,10246,0.161,0.000,2278,2497,2968,3000,2936,0,0,0,0,0,0,13.91,13.97,12.70
$STATE,9028,end apogee,CONTROL_FINISHED_OK
$STATE,9028,begin climb
$GC,9033,0.67,97.3,2278,2497,2999,2935,995.1,0.0,703,9150,0.85,2.60,104.32,1.959,10756,0.091,0.051,2564,1046,2568,2599,2538,0,0,0,0,0,0,14.10,13.95,12.62
$GC,9189,0.73,153.4,2564,1046,2595,2537,994.4,4.9,734,9255,0.00,2.47,58.17,1.939,9254,0.000,0.054,2565,2452,2340,2380,2301,0,0,0,0,0,0,14.34,14.24,12.66
$GC,9573,0.73,153.4,2564,2452,2372,2296,955.8,10.9,766,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2452,2334,2372,2297,0,0,0,0,0,0,14.88,14.91,14.90
$GC,9874,0.73,153.4,2564,2452,2370,2295,922.8,11.3,781,9878,0.00,2.42,0.00,0.000,516,0.000,0.052,2577,1047,2332,2370,2295,0,0,0,0,0,0,14.95,14.38,14.97
$GC,9945,0.73,153.4,2575,1046,2368,2293,914.5,11.3,795,9952,0.00,2.42,0.00,0.000,1030,0.000,0.056,2575,2440,2330,2368,2293,0,0,0,0,0,0,14.50,14.38,14.54
$GC,10255,0.73,153.4,2575,2441,2368,2293,878.4,11.1,812,10259,0.00,2.40,0.00,0.000,516,0.000,0.052,2586,1049,2330,2368,2293,0,0,0,0,0,0,15.00,14.38,15.03
$GC,10293,0.73,153.4,2586,1049,2367,2292,874.4,11.4,819,10300,0.00,2.42,0.00,0.000,1030,0.000,0.054,2586,2442,2329,2367,2292,0,0,0,0,0,0,14.48,14.36,14.54
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$STATE,19780,end climb,SURFACE_DEPTH_REACHED
$STATE,19780,begin surface coast
$STATE,19835,end surface coast,CONTROL_FINISHED_OK
$STATE,19835,begin surface
$SM_CCo,19857,107.30,0.601,1,0,929,500.17
$SM_GC,1.33,7.43,0.10,107.30,0.049,0.162,0.601,116,2501,929,-6.78,-0.93,500.17,0,0,0,0,1,0,14.53,14.53,13.61
$IRIDIUM_FIX,502.26,8100.74,080120,025212
$TT8_MAMPS,0.018725,0.158788
$HUMID,48.62
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,12.61,232.075
$10V_AH,12.58,0.000
$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,19.500,187.325,478.750,107.300,0.000,0.000,0.000,217.075,0.250,0.000,14.645,1544.046,14888.726,706.994,2658.005,531.608,0.000,2311.388,0.000,2427.982,0.000,0.540,0.000
$DEVICE_MAMPS,341.955,162.180,1984.410,600.525,0.000,0.000,0.000,176.715,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,893.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249928
$DATA_FILE_SIZE,73269,1708
$CAP_FILE_SIZE,188172,0
$CFSIZE,260034560,123637760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.068,251.45,1
$GPS,080120,140600,504.882,8055.841,31,0.7,31,-2.2,1.0,268.0,11,4.4