version: 66.13
glider: 171
mission: 11
dive: 697
start: 1 9 120 14 56 51
data:
$ID,171
$MISSION,11
$DIVE,697
$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,59
$R_STBD_OVSHOOT,26
$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
$GPS1,090120,144939,503.3705,8046.2275,19,1.0,19,-2.2,0.8,261.2,8,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.9
$GPS2,090120,145558,503.2954,8045.9673,2,0.6,3,-2.2,1.3,258.0,12,4.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,275.3,30084,-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,-97.3,100,2496,978,873,0.0,0.0,0,89,0.00,0.00,-76.78,0.005,16386,0.000,0.000,98,2497,2742,2740,2744,0,0,0,0,0,0,14.83,28.83,14.86
$GC,94,-0.67,-97.3,98,2497,2741,2744,5.4,-15.7,16,120,9.32,2.35,-11.35,0.011,18948,0.345,0.071,2115,1107,3367,3380,3354,0,0,0,0,0,0,13.86,12.64,14.32
$GC,349,-0.67,-97.3,2115,1107,3381,3354,75.8,-17.6,67,354,0.00,2.40,0.00,0.000,1030,0.000,0.057,2106,2505,3367,3381,3354,0,0,0,0,0,0,14.50,14.39,14.54
$GC,535,-0.67,-97.3,2106,2504,3382,3354,103.1,-14.2,86,542,0.00,2.40,0.00,0.000,260,0.000,0.080,2095,3893,3368,3382,3354,0,0,0,0,0,0,14.98,14.33,15.01
$GC,705,-0.67,-97.3,2095,3893,3382,3354,126.6,-14.7,120,709,0.00,2.22,0.00,0.000,1030,0.000,0.032,2095,2501,3368,3382,3354,0,0,0,0,0,0,14.62,14.54,14.64
$GC,898,-0.67,-97.3,2094,2500,3382,3354,155.6,-16.2,140,902,0.00,2.30,0.00,0.000,516,0.000,0.047,2095,1105,3368,3383,3354,0,0,0,0,0,0,15.02,14.46,15.04
$GC,924,-0.67,-97.3,2094,1105,3383,3354,160.0,-16.3,145,928,0.00,2.40,0.00,0.000,1030,0.000,0.056,2084,2508,3368,3383,3354,0,0,0,0,0,0,14.54,14.42,14.58
$GC,1115,-0.67,-97.3,2084,2508,3382,3354,187.0,-13.4,165,1119,0.00,2.42,0.00,0.000,260,0.000,0.080,2073,3896,3368,3382,3354,0,0,0,0,0,0,15.04,14.33,15.07
$GC,1260,-0.67,-97.3,2073,3896,3382,3354,206.1,-13.3,193,1266,0.15,2.25,0.00,0.000,3078,0.215,0.031,2108,2489,3368,3382,3354,0,0,0,0,0,0,14.18,14.57,14.39
$GC,1455,-0.67,-97.3,2108,2488,3380,3354,227.6,-10.2,213,1462,0.00,2.47,0.00,0.000,260,0.000,0.080,2099,3897,3367,3380,3354,0,0,0,0,0,0,15.02,14.31,15.04
$GC,1525,-0.67,-97.3,2099,3897,3380,3354,235.0,-10.2,227,1530,0.00,2.22,0.00,0.000,1030,0.000,0.032,2099,2507,3367,3380,3354,0,0,0,0,0,0,14.63,14.57,14.65
$GC,1727,-0.67,-97.3,2099,2507,3377,3354,256.5,-10.7,245,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2506,3366,3378,3354,0,0,0,0,0,0,15.05,15.08,15.08
$GC,2029,-0.67,-97.3,2099,2506,3375,3353,289.4,-11.0,260,2036,0.00,2.45,0.00,0.000,260,0.000,0.082,2088,3897,3363,3375,3352,0,0,0,0,0,0,15.04,14.29,15.07
$GC,2058,-0.67,-97.3,2088,3897,3375,3352,292.7,-10.9,266,2062,0.00,2.25,0.00,0.000,1030,0.000,0.033,2088,2502,3363,3375,3352,0,0,0,0,0,0,14.62,14.56,14.64
$GC,2369,-0.67,-97.3,2088,2500,3374,3348,328.2,-11.7,283,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2500,3361,3374,3348,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2670,-0.67,-97.3,2087,2500,3372,3347,363.9,-11.9,298,2678,0.00,2.47,0.00,0.000,260,0.000,0.083,2077,3896,3358,3371,3346,0,0,0,0,0,0,15.05,14.26,15.08
$GC,2750,-0.67,-97.3,2077,3896,3371,3346,373.8,-12.3,314,2758,0.15,2.28,0.00,0.000,3078,0.200,0.034,2113,2490,3358,3371,3346,0,0,0,0,0,0,14.18,14.53,14.38
$GC,3071,-0.67,-97.3,2113,2490,3370,3344,406.1,-9.9,333,3078,0.00,2.50,0.00,0.000,260,0.000,0.083,2105,3893,3356,3370,3343,0,0,0,0,0,0,15.04,14.24,15.07
$GC,3095,-0.67,-97.3,2104,3893,3369,3343,408.7,-10.5,338,3099,0.00,2.25,0.00,0.000,1030,0.000,0.033,2105,2501,3356,3369,3343,0,0,0,0,0,0,14.59,14.53,14.62
$GC,3411,-0.67,-97.3,2105,2500,3367,3341,441.6,-10.5,356,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3353,3367,3340,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3711,-0.67,-97.3,2104,2500,3366,3339,472.8,-10.3,371,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3352,3366,3339,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4011,-0.67,-97.3,2104,2500,3364,3338,503.8,-10.4,386,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2500,3351,3364,3338,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4311,-0.67,-97.3,2104,2500,3362,3336,536.0,-10.8,401,4315,0.00,2.53,0.00,0.000,260,0.000,0.085,2093,3897,3349,3362,3336,0,0,0,0,0,0,15.06,14.19,15.09
$GC,4364,-0.67,-97.3,2093,3897,3362,3336,541.6,-10.9,411,4369,0.00,2.28,0.00,0.000,1030,0.000,0.035,2093,2504,3349,3362,3336,0,0,0,0,0,0,14.55,14.48,14.58
$GC,4676,-0.67,-97.3,2093,2502,3362,3335,575.7,-10.7,428,4683,0.00,2.47,0.00,0.000,260,0.000,0.084,2083,3890,3348,3362,3334,0,0,0,0,0,0,15.05,14.18,15.08
$GC,4727,-0.67,-97.3,2082,3890,3361,3334,581.2,-11.1,438,4732,0.12,2.28,0.00,0.000,3078,0.206,0.034,2112,2497,3347,3361,3334,0,0,0,0,0,0,14.15,14.47,14.33
$GC,5041,-0.67,-97.3,2111,2496,3360,3333,610.7,-9.2,455,5046,0.00,2.53,0.00,0.000,260,0.000,0.085,2103,3894,3346,3360,3333,0,0,0,0,0,0,15.05,14.16,15.08
$GC,5083,-0.67,-97.3,2103,3894,3360,3333,614.8,-9.6,463,5088,0.00,2.30,0.00,0.000,1030,0.000,0.034,2103,2495,3346,3360,3333,0,0,0,0,0,0,14.52,14.46,14.55
$GC,5407,-0.67,-97.3,2102,2492,3358,3332,645.5,-9.5,482,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2493,3345,3358,3332,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5706,-0.67,-97.3,2103,2493,3357,3331,673.7,-9.4,497,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2493,3344,3357,3331,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6007,-0.67,-97.3,2102,2493,3356,3330,703.0,-9.8,512,6014,0.00,2.53,0.00,0.000,260,0.000,0.086,2091,3893,3343,3356,3330,0,0,0,0,0,0,15.03,14.12,15.06
$GC,6041,-0.67,-97.3,2091,3893,3356,3330,706.7,-10.4,519,6046,0.00,2.30,0.00,0.000,1030,0.000,0.034,2091,2498,3343,3356,3330,0,0,0,0,0,0,14.50,14.43,14.52
$GC,6346,-0.67,-97.3,2090,2497,3355,3329,739.1,-10.6,535,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2497,3342,3355,3329,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6647,-0.67,-97.3,2091,2497,3354,3328,769.5,-10.0,550,6652,0.00,2.53,0.00,0.000,260,0.000,0.086,2081,3890,3340,3354,3327,0,0,0,0,0,0,15.04,14.09,15.07
$GC,6689,-0.67,-97.3,2081,3890,3354,3327,774.0,-10.7,558,6694,0.12,2.30,0.00,0.000,3078,0.206,0.035,2110,2500,3340,3354,3327,0,0,0,0,0,0,14.08,14.40,14.26
$GC,7011,-0.67,-97.3,2110,2499,3353,3327,803.4,-9.1,577,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2499,3340,3353,3327,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7313,-0.67,-97.3,2110,2499,3353,3325,831.0,-9.3,592,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2499,3339,3353,3325,0,0,0,0,0,0,15.03,15.07,15.06
$GC,7611,-0.67,-97.3,2110,2499,3352,3325,858.8,-9.2,607,7616,0.00,2.53,0.00,0.000,260,0.000,0.087,2101,3890,3338,3351,3325,0,0,0,0,0,0,15.05,14.05,15.07
$GC,7663,-0.67,-97.3,2101,3890,3352,3324,863.8,-9.6,617,7667,0.00,2.30,0.00,0.000,1030,0.000,0.035,2101,2501,3338,3352,3325,0,0,0,0,0,0,14.45,14.38,14.48
$GC,7976,-0.67,-97.3,2101,2500,3351,3324,892.9,-9.3,634,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3337,3351,3324,0,0,0,0,0,0,15.03,15.06,15.06
$GC,8274,-0.67,-97.3,2101,2500,3350,3323,920.3,-9.0,649,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3336,3350,3323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8576,-0.67,-97.3,2101,2500,3350,3321,947.6,-9.3,664,8581,0.00,2.58,0.00,0.000,260,0.000,0.088,2090,3896,3335,3350,3321,0,0,0,0,0,0,15.02,14.00,15.05
$GC,8603,-0.67,-97.3,2090,3896,3349,3321,950.3,-10.0,669,8607,0.00,2.33,0.00,0.000,1030,0.000,0.036,2090,2496,3335,3349,3322,0,0,0,0,0,0,14.42,14.35,14.45
$GC,8919,-0.67,-97.3,2090,2494,3348,3321,981.3,-9.7,687,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2494,3334,3348,3321,0,0,0,0,0,0,15.04,15.07,15.07
$STATE,9018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9018,begin apogee
$GC,9027,-0.15,0.0,2090,2494,3348,3321,991.0,-9.7,692,9124,0.68,0.00,92.50,1.987,10246,0.169,0.000,2276,2494,2968,3001,2935,0,0,0,0,0,0,13.83,13.97,12.72
$STATE,9124,end apogee,CONTROL_FINISHED_OK
$STATE,9125,begin climb
$GC,9128,0.67,97.3,2276,2494,3000,2935,994.2,0.0,697,9244,0.85,2.55,103.55,1.967,10500,0.093,0.084,2552,3846,2569,2601,2538,0,0,0,0,0,0,14.09,13.94,12.62
$GC,9259,0.73,159.5,2552,3846,2597,2538,993.3,4.6,724,9330,0.00,2.38,64.35,1.948,9254,0.000,0.034,2563,2428,2317,2360,2274,0,0,0,0,0,0,14.31,14.26,12.64
$GC,9644,0.73,159.5,2562,2428,2351,2267,951.7,11.5,756,9648,0.00,2.35,0.00,0.000,516,0.000,0.053,2573,1059,2309,2351,2267,0,0,0,0,0,0,14.85,14.38,14.88
$GC,9732,0.73,159.5,2573,1058,2349,2266,941.3,11.6,773,9736,0.00,2.42,0.00,0.000,1030,0.000,0.054,2573,2446,2307,2349,2266,0,0,0,0,0,0,14.49,14.37,14.53
$GC,10048,0.73,159.5,2573,2446,2348,2265,903.0,11.8,791,10053,0.00,2.40,0.00,0.000,516,0.000,0.052,2584,1053,2306,2348,2265,0,0,0,0,0,0,14.97,14.38,15.00
$GC,10085,0.73,159.5,2584,1053,2347,2265,898.7,11.8,798,10089,0.00,2.40,0.00,0.000,1030,0.000,0.053,2584,2439,2306,2347,2265,0,0,0,0,0,0,14.49,14.37,14.53
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$STATE,19490,end climb,SURFACE_DEPTH_REACHED
$STATE,19490,begin surface coast
$STATE,19526,end surface coast,CONTROL_FINISHED_OK
$STATE,19526,begin surface
$SM_CCo,19548,83.07,0.568,1,0,928,500.17
$SM_GC,1.24,7.38,0.10,83.07,0.047,0.155,0.568,118,2501,928,-6.77,-0.99,500.17,0,0,0,0,1,0,14.52,14.50,13.60
$IRIDIUM_FIX,502.14,8052.19,090120,085340
$TT8_MAMPS,0.018725,0.158039
$HUMID,49.96
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.62,233.574
$10V_AH,12.74,0.000
$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,19.850,187.275,504.175,83.075,0.000,0.000,0.000,228.250,0.000,0.000,15.515,1527.470,14602.593,699.880,2640.685,540.552,0.000,2313.641,0.000,2400.070,0.000,0.541,0.000
$DEVICE_MAMPS,345.015,154.530,1986.705,567.630,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,883.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249888
$DATA_FILE_SIZE,73091,1688
$CAP_FILE_SIZE,188121,0
$CFSIZE,260034560,123162624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.151,244.46,1
$GPS,090120,202509,502.926,8042.646,17,1.3,17,-2.2,0.9,276.9,6,7.8