version: 66.13
glider: 171
mission: 11
dive: 698
start: 1 9 120 20 32 9
data:
$ID,171
$MISSION,11
$DIVE,698
$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,67
$R_STBD_OVSHOOT,30
$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
$GPS1,090120,202509,502.9263,8042.6455,17,1.3,17,-2.2,0.9,276.9,6,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,090120,203115,502.8774,8042.4111,2,0.8,3,-2.2,1.8,239.4,12,6.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,271.1,23510,-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,-97.3,97,2503,975,876,0.0,0.0,0,89,0.00,0.00,-76.57,0.005,16386,0.000,0.000,94,2503,2709,2707,2711,0,0,0,0,0,0,14.85,28.83,14.87
$GC,94,-0.67,-97.3,94,2504,2708,2711,4.7,-13.5,16,121,9.32,2.33,-12.25,0.010,19204,0.343,0.063,2109,1107,3366,3380,3353,0,0,0,0,0,0,13.87,13.39,14.33
$GC,350,-0.67,-97.3,2108,1108,3381,3353,71.9,-21.5,67,355,0.00,2.38,0.00,0.000,1030,0.000,0.055,2099,2504,3367,3381,3353,0,0,0,0,0,0,14.52,14.41,14.56
$GC,543,-0.67,-97.3,2099,2504,3381,3353,104.4,-15.5,87,548,0.00,2.42,0.00,0.000,260,0.000,0.082,2088,3897,3367,3382,3353,0,0,0,0,0,0,15.00,14.33,15.02
$GC,735,-0.67,-97.3,2088,3897,3382,3353,135.3,-15.9,125,740,0.00,2.22,0.00,0.000,1030,0.000,0.033,2088,2507,3367,3382,3353,0,0,0,0,0,0,14.63,14.57,14.66
$GC,928,-0.67,-97.3,2088,2506,3382,3353,161.7,-14.1,145,932,0.00,2.30,0.00,0.000,516,0.000,0.047,2088,1107,3367,3382,3353,0,0,0,0,0,0,15.02,14.47,15.04
$GC,965,-0.67,-97.3,2088,1107,3382,3353,167.0,-13.6,152,973,0.15,2.38,0.00,0.000,3078,0.214,0.054,2112,2501,3367,3382,3352,0,0,0,0,0,0,14.18,14.45,14.40
$GC,1162,-0.67,-97.3,2112,2502,3382,3352,191.5,-12.7,173,1166,0.00,2.40,0.00,0.000,260,0.000,0.080,2104,3891,3367,3382,3353,0,0,0,0,0,0,15.02,14.34,15.04
$GC,1280,-0.67,-97.3,2103,3892,3381,3352,206.4,-11.9,196,1284,0.00,2.25,0.00,0.000,1030,0.000,0.031,2104,2488,3366,3381,3352,0,0,0,0,0,0,14.65,14.59,14.67
$GC,1463,-0.67,-97.3,2103,2486,3379,3352,228.1,-11.3,215,1468,0.00,2.45,0.00,0.000,260,0.000,0.080,2092,3893,3365,3379,3352,0,0,0,0,0,0,15.04,14.33,15.07
$GC,1572,-0.67,-97.3,2092,3893,3378,3352,241.1,-11.9,236,1576,0.00,2.25,0.00,0.000,1030,0.000,0.032,2092,2493,3365,3378,3352,0,0,0,0,0,0,14.64,14.58,14.66
$GC,1756,-0.67,-97.3,2092,2491,3377,3352,262.7,-11.9,250,1760,0.00,2.28,0.00,0.000,516,0.000,0.046,2093,1111,3364,3376,3352,0,0,0,0,0,0,15.05,14.47,15.08
$GC,1798,-0.67,-97.3,2092,1111,3376,3352,267.6,-11.6,258,1806,0.12,2.38,0.00,0.000,3078,0.208,0.055,2111,2503,3364,3376,3352,0,0,0,0,0,0,14.22,14.43,14.42
$GC,2118,-0.67,-97.3,2111,2502,3374,3349,303.3,-11.4,277,2122,0.00,2.42,0.00,0.000,260,0.000,0.081,2102,3892,3361,3374,3349,0,0,0,0,0,0,15.07,14.31,15.09
$GC,2175,-0.67,-97.3,2102,3891,3373,3349,309.9,-11.8,288,2179,0.00,2.25,0.00,0.000,1030,0.000,0.032,2102,2497,3361,3373,3349,0,0,0,0,0,0,14.63,14.56,14.65
$GC,2481,-0.67,-97.3,2102,2496,3371,3346,345.1,-11.4,304,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2495,3359,3372,3346,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2779,-0.67,-97.3,2102,2496,3370,3344,378.9,-11.2,319,2784,0.00,2.47,0.00,0.000,260,0.000,0.081,2091,3891,3357,3370,3344,0,0,0,0,0,0,15.07,14.28,15.09
$GC,2807,-0.67,-97.3,2090,3892,3370,3344,382.1,-11.8,324,2811,0.00,2.25,0.00,0.000,1030,0.000,0.033,2091,2501,3357,3370,3344,0,0,0,0,0,0,14.62,14.55,14.64
$GC,3125,-0.67,-97.3,2090,2500,3367,3341,419.5,-11.9,342,3132,0.00,2.47,0.00,0.000,260,0.000,0.083,2080,3894,3353,3366,3341,0,0,0,0,0,0,15.05,14.27,15.08
$GC,3159,-0.67,-97.3,2080,3894,3367,3340,423.9,-12.3,349,3164,0.12,2.28,0.00,0.000,3078,0.205,0.034,2109,2493,3353,3367,3340,0,0,0,0,0,0,14.21,14.53,14.40
$GC,3465,-0.67,-97.3,2109,2492,3366,3339,455.9,-10.4,365,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3352,3366,3339,0,0,0,0,0,0,15.05,15.09,15.08
$GC,3764,-0.67,-97.3,2109,2491,3364,3338,485.5,-9.6,380,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3351,3364,3338,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4064,-0.67,-97.3,2109,2492,3362,3336,513.3,-9.2,395,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2492,3348,3361,3336,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4365,-0.67,-97.3,2109,2492,3362,3334,541.3,-9.4,410,4373,0.00,2.50,0.00,0.000,260,0.000,0.084,2100,3891,3347,3361,3334,0,0,0,0,0,0,15.05,14.21,15.07
$GC,4396,-0.67,-97.3,2100,3891,3361,3334,544.4,-10.1,416,4400,0.00,2.28,0.00,0.000,1030,0.000,0.034,2100,2495,3347,3361,3334,0,0,0,0,0,0,14.57,14.50,14.59
$GC,4708,-0.67,-97.3,2100,2494,3360,3333,576.4,-10.6,433,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3346,3360,3333,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5009,-0.67,-97.3,2100,2494,3358,3332,608.2,-10.7,448,5016,0.00,2.50,0.00,0.000,260,0.000,0.083,2089,3892,3344,3357,3332,0,0,0,0,0,0,15.04,14.19,15.07
$GC,5048,-0.67,-97.3,2089,3891,3357,3332,612.7,-11.1,456,5052,0.00,2.28,0.00,0.000,1030,0.000,0.034,2089,2501,3344,3357,3332,0,0,0,0,0,0,14.54,14.47,14.57
$GC,5371,-0.67,-97.3,2089,2500,3356,3331,647.2,-10.5,475,5376,0.00,2.35,0.00,0.000,516,0.000,0.048,2089,1111,3343,3356,3330,0,0,0,0,0,0,15.04,14.34,15.07
$GC,5408,-0.67,-97.3,2089,1111,3356,3330,651.3,-10.5,482,5416,0.12,2.42,0.00,0.000,3078,0.207,0.057,2107,2500,3343,3356,3330,0,0,0,0,0,0,14.09,14.29,14.28
$GC,5734,-0.67,-97.3,2107,2499,3355,3329,682.0,-9.4,502,5741,0.00,2.47,0.00,0.000,260,0.000,0.085,2098,3893,3342,3355,3329,0,0,0,0,0,0,15.05,14.16,15.07
$GC,5810,-0.67,-97.3,2098,3893,3355,3329,689.4,-9.8,517,5814,0.00,2.30,0.00,0.000,1030,0.000,0.034,2098,2494,3342,3355,3329,0,0,0,0,0,0,14.51,14.44,14.54
$GC,6114,-0.67,-97.3,2098,2492,3354,3327,720.0,-10.1,533,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2492,3340,3354,3327,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6415,-0.67,-97.3,2098,2492,3353,3326,750.6,-10.1,548,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2492,3339,3353,3326,0,0,0,0,0,0,15.03,15.07,15.06
$GC,6714,-0.67,-97.3,2098,2492,3352,3325,780.7,-9.9,563,6719,0.00,2.53,0.00,0.000,260,0.000,0.085,2087,3893,3338,3352,3325,0,0,0,0,0,0,15.04,14.12,15.07
$GC,6746,-0.67,-97.3,2087,3893,3352,3325,784.0,-10.6,569,6750,0.00,2.30,0.00,0.000,1030,0.000,0.034,2087,2496,3338,3352,3325,0,0,0,0,0,0,14.50,14.42,14.52
$GC,7058,-0.67,-97.3,2087,2494,3352,3324,816.6,-10.2,586,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2494,3338,3352,3324,0,0,0,0,0,0,15.03,15.07,15.06
$GC,7357,-0.67,-97.3,2087,2495,3350,3323,847.0,-10.0,601,7361,0.00,2.53,0.00,0.000,260,0.000,0.086,2076,3890,3336,3350,3323,0,0,0,0,0,0,15.04,14.08,15.07
$GC,7404,-0.67,-97.3,2076,3890,3350,3323,851.9,-10.6,610,7411,0.15,2.30,0.00,0.000,3078,0.195,0.036,2113,2497,3336,3350,3323,0,0,0,0,0,0,14.04,14.40,14.23
$GC,7720,-0.67,-97.3,2113,2496,3350,3322,879.3,-8.8,628,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2496,3335,3349,3322,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8018,-0.67,-97.3,2112,2496,3348,3321,905.3,-8.7,643,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2496,3334,3348,3321,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8318,-0.67,-97.3,2112,2496,3348,3321,931.4,-8.7,658,8326,0.00,2.53,0.00,0.000,260,0.000,0.086,2104,3890,3334,3348,3320,0,0,0,0,0,0,15.04,14.04,15.07
$GC,8365,-0.67,-97.3,2104,3890,3347,3320,935.5,-9.3,667,8370,0.00,2.33,0.00,0.000,1030,0.000,0.036,2104,2497,3334,3348,3320,0,0,0,0,0,0,14.44,14.37,14.47
$GC,8682,-0.67,-97.3,2104,2496,3347,3321,965.4,-9.4,685,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2496,3333,3347,3320,0,0,0,0,0,0,15.04,15.07,15.07
$STATE,8938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8939,begin apogee
$GC,8947,-0.15,0.0,2104,2497,3346,3320,990.4,-9.6,698,9044,0.62,0.00,92.25,1.974,10246,0.164,0.000,2278,2496,2968,3001,2935,0,0,0,0,0,0,13.86,13.97,12.72
$STATE,9045,end apogee,CONTROL_FINISHED_OK
$STATE,9045,begin climb
$GC,9048,0.67,97.3,2277,2496,3000,2935,994.0,0.0,703,9159,0.85,0.00,103.80,1.950,10502,0.092,0.000,2553,2496,2570,2602,2538,0,0,0,0,0,0,14.09,13.90,12.66
$GC,9465,0.69,97.3,2553,2496,2592,2534,975.4,7.0,739,9472,0.00,2.47,0.00,0.000,580,0.000,0.050,2564,1051,2562,2591,2534,0,0,0,0,0,0,14.85,14.38,14.88
$GC,9549,0.69,97.3,2564,1052,2590,2533,968.8,7.8,756,9556,0.00,2.42,0.00,0.000,1030,0.000,0.054,2564,2442,2562,2590,2534,0,0,0,0,0,0,14.47,14.36,14.52
$GC,9870,0.69,97.3,2564,2443,2590,2532,942.8,8.3,774,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2442,2561,2590,2532,0,0,0,0,0,0,14.96,14.99,14.99
$GC,10169,0.69,97.3,2564,2442,2589,2530,918.0,8.3,789,10173,0.00,2.40,0.00,0.000,516,0.000,0.050,2576,1047,2560,2589,2531,0,0,0,0,0,0,15.00,14.37,15.02
$GC,10211,0.69,97.3,2575,1047,2587,2530,914.5,8.4,797,10217,0.00,2.42,0.00,0.000,1030,0.000,0.052,2576,2448,2558,2587,2530,0,0,0,0,0,0,14.47,14.35,14.52
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$STATE,21846,end climb,SURFACE_DEPTH_REACHED
$STATE,21846,begin surface coast
$STATE,21860,end surface coast,CONTROL_FINISHED_OK
$STATE,21860,begin surface
$SM_CCo,21881,99.18,0.610,1,0,928,500.17
$SM_GC,1.13,7.78,0.10,99.18,0.047,0.152,0.610,119,2502,928,-6.78,-1.10,500.17,0,0,0,0,1,0,14.46,14.45,13.54
$IRIDIUM_FIX,502.26,8047.57,090120,145214
$TT8_MAMPS,0.019474,0.158788
$HUMID,50.39
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,12.66,233.865
$10V_AH,13.16,0.000
$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,20.150,210.750,477.425,99.175,0.000,0.000,0.000,220.050,0.250,0.000,15.298,1675.547,16488.139,740.269,2874.311,571.884,0.000,2453.240,0.000,2630.807,0.000,0.539,0.000
$DEVICE_MAMPS,343.485,152.235,1974.465,610.470,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,922.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249908
$DATA_FILE_SIZE,79975,1851
$CAP_FILE_SIZE,205525,0
$CFSIZE,260034560,123047936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,213.09,1
$GPS,100120,023939,502.139,8040.264,20,1.0,20,-2.2,1.5,279.1,7,7.9