version: 66.13
glider: 171
mission: 11
dive: 699
start: 1 10 120 2 46 51
data:
$ID,171
$MISSION,11
$DIVE,699
$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,50
$R_STBD_OVSHOOT,34
$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
$GPS1,100120,023939,502.1386,8040.2642,20,1.0,20,-2.2,1.5,279.1,7,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.2
$GPS2,100120,024557,502.0979,8040.0420,2,0.6,3,-2.2,0.9,253.2,12,5.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,282.2,18930,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-0.67,-97.3,110,2502,973,877,0.0,0.0,0,83,0.00,0.00,-71.28,0.005,16386,0.000,0.000,108,2502,2575,2576,2574,0,0,0,0,0,0,14.83,28.83,14.85
$GC,88,-0.67,-97.3,107,2503,2577,2574,4.3,-11.0,15,119,9.27,2.45,-15.43,0.008,18692,0.343,0.094,2097,3892,3367,3383,3352,0,0,0,0,0,0,13.84,12.61,14.31
$GC,348,-0.67,-97.3,2097,3892,3383,3352,73.4,-17.9,67,353,0.00,2.25,0.00,0.000,1030,0.000,0.035,2098,2495,3367,3383,3352,0,0,0,0,0,0,14.58,14.51,14.60
$GC,541,-0.67,-97.3,2097,2494,3384,3352,104.0,-13.6,87,548,0.00,2.42,0.00,0.000,260,0.000,0.078,2086,3886,3367,3383,3352,0,0,0,0,0,0,14.98,14.31,15.00
$GC,740,-0.67,-97.3,2086,3886,3384,3352,134.6,-15.5,127,745,0.00,2.25,0.00,0.000,1030,0.000,0.033,2087,2494,3368,3384,3352,0,0,0,0,0,0,14.61,14.54,14.64
$GC,934,-0.67,-97.3,2086,2492,3384,3352,161.3,-12.5,147,938,0.00,2.30,0.00,0.000,516,0.000,0.047,2086,1098,3368,3384,3352,0,0,0,0,0,0,15.01,14.47,15.04
$GC,1000,-0.67,-97.3,2086,1097,3384,3352,170.7,-13.5,160,1007,0.15,2.40,0.00,0.000,3078,0.207,0.056,2111,2500,3368,3384,3352,0,0,0,0,0,0,14.17,14.41,14.38
$GC,1199,-0.67,-97.3,2111,2500,3384,3352,194.8,-12.2,181,1206,0.00,2.42,0.00,0.000,260,0.000,0.081,2102,3896,3368,3384,3352,0,0,0,0,0,0,15.01,14.31,15.04
$GC,1331,-0.67,-97.3,2102,3896,3383,3352,211.2,-11.9,207,1335,0.00,2.25,0.00,0.000,1030,0.000,0.031,2103,2492,3368,3384,3352,0,0,0,0,0,0,14.63,14.57,14.65
$GC,1524,-0.67,-97.3,2102,2491,3382,3352,233.7,-11.4,227,1530,0.00,2.47,0.00,0.000,260,0.000,0.083,2091,3897,3366,3382,3351,0,0,0,0,0,0,15.03,14.31,15.05
$GC,1633,-0.67,-97.3,2090,3897,3381,3351,246.6,-11.5,249,1637,0.00,2.25,0.00,0.000,1030,0.000,0.032,2091,2494,3366,3381,3351,0,0,0,0,0,0,14.63,14.57,14.65
$GC,1824,-0.67,-97.3,2091,2493,3379,3351,268.8,-11.5,261,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2493,3365,3379,3351,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2125,-0.67,-97.3,2090,2493,3376,3351,302.5,-11.1,276,2129,0.00,2.30,0.00,0.000,516,0.000,0.047,2091,1107,3363,3376,3351,0,0,0,0,0,0,15.05,14.44,15.08
$GC,2162,-0.67,-97.3,2090,1106,3375,3351,306.7,-11.1,283,2169,0.12,2.40,0.00,0.000,3078,0.209,0.054,2109,2503,3363,3375,3351,0,0,0,0,0,0,14.19,14.40,14.38
$GC,2488,-0.67,-97.3,2109,2503,3374,3348,340.8,-10.3,303,2493,0.00,2.45,0.00,0.000,260,0.000,0.083,2100,3899,3361,3374,3348,0,0,0,0,0,0,15.04,14.26,15.07
$GC,2530,-0.67,-97.3,2100,3899,3373,3348,345.3,-10.3,311,2535,0.00,2.28,0.00,0.000,1030,0.000,0.034,2100,2494,3360,3373,3347,0,0,0,0,0,0,14.59,14.54,14.62
$GC,2852,-0.67,-97.3,2100,2493,3372,3345,377.0,-9.5,330,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2493,3358,3372,3345,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3153,-0.67,-97.3,2100,2493,3370,3344,406.3,-10.0,345,3160,0.00,2.50,0.00,0.000,260,0.000,0.083,2089,3900,3356,3370,3343,0,0,0,0,0,0,15.04,14.23,15.07
$GC,3197,-0.67,-97.3,2089,3900,3369,3343,411.2,-10.8,354,3203,0.00,2.28,0.00,0.000,1030,0.000,0.034,2089,2501,3356,3370,3343,0,0,0,0,0,0,14.59,14.52,14.62
$GC,3516,-0.67,-97.3,2088,2499,3367,3340,446.1,-10.8,372,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3353,3367,3340,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3815,-0.67,-97.3,2089,2499,3366,3339,477.1,-10.1,387,3822,0.00,2.50,0.00,0.000,260,0.000,0.084,2079,3899,3352,3366,3339,0,0,0,0,0,0,15.05,14.21,15.08
$GC,3855,-0.67,-97.3,2078,3899,3366,3339,481.4,-10.8,395,3860,0.12,2.28,0.00,0.000,3078,0.207,0.035,2107,2500,3352,3366,3339,0,0,0,0,0,0,14.16,14.49,14.35
$GC,4178,-0.67,-97.3,2107,2499,3365,3338,510.7,-9.1,414,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3351,3364,3338,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4477,-0.67,-97.3,2107,2499,3363,3335,538.0,-9.1,429,4481,0.00,2.35,0.00,0.000,516,0.000,0.048,2108,1110,3349,3363,3335,0,0,0,0,0,0,15.06,14.35,15.08
$GC,4503,-0.67,-97.3,2107,1111,3362,3335,540.5,-10.2,434,4509,0.00,2.42,0.00,0.000,1030,0.000,0.057,2098,2505,3348,3362,3335,0,0,0,0,0,0,14.43,14.31,14.48
$GC,4822,-0.67,-97.3,2099,2505,3362,3334,572.0,-10.3,452,4828,0.00,2.47,0.00,0.000,260,0.000,0.084,2087,3897,3348,3362,3334,0,0,0,0,0,0,15.04,14.17,15.07
$GC,4892,-0.67,-97.3,2087,3897,3361,3334,579.6,-10.6,466,4897,0.00,2.30,0.00,0.000,1030,0.000,0.035,2087,2494,3347,3361,3334,0,0,0,0,0,0,14.53,14.46,14.56
$GC,5206,-0.67,-97.3,2087,2493,3360,3333,613.8,-11.2,483,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3346,3360,3333,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5504,-0.67,-97.3,2087,2492,3359,3332,647.1,-11.2,498,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2493,3345,3359,3332,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5804,-0.67,-97.3,2087,2493,3357,3331,681.1,-11.6,513,5808,0.00,2.55,0.00,0.000,260,0.000,0.084,2077,3896,3344,3357,3331,0,0,0,0,0,0,15.06,14.13,15.08
$GC,5847,-0.67,-97.3,2076,3896,3357,3331,686.1,-12.1,521,5852,0.15,2.30,0.00,0.000,3078,0.195,0.035,2112,2497,3343,3357,3330,0,0,0,0,0,0,14.07,14.43,14.26
$GC,6169,-0.67,-97.3,2112,2496,3356,3330,717.1,-9.2,540,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6469,-0.67,-97.3,2112,2496,3356,3329,743.4,-8.5,555,6476,0.00,2.53,0.00,0.000,260,0.000,0.086,2104,3893,3342,3356,3329,0,0,0,0,0,0,15.04,14.10,15.07
$GC,6520,-0.67,-97.3,2103,3893,3355,3329,747.9,-9.1,565,6524,0.00,2.30,0.00,0.000,1030,0.000,0.034,2104,2498,3342,3355,3329,0,0,0,0,0,0,14.48,14.42,14.51
$GC,6831,-0.67,-97.3,2103,2496,3355,3328,775.7,-9.0,582,6837,0.00,2.38,0.00,0.000,516,0.000,0.049,2104,1109,3341,3354,3328,0,0,0,0,0,0,15.04,14.27,15.07
$GC,6875,-0.67,-97.3,2103,1109,3354,3327,779.7,-9.3,590,6880,0.00,2.47,0.00,0.000,1030,0.000,0.059,2092,2506,3340,3354,3327,0,0,0,0,0,0,14.34,14.21,14.38
$GC,7198,-0.67,-97.3,2092,2507,3353,3326,811.9,-10.1,609,7205,0.00,2.50,0.00,0.000,260,0.000,0.086,2082,3898,3340,3353,3327,0,0,0,0,0,0,15.04,14.07,15.07
$GC,7288,-0.67,-97.3,2082,3898,3353,3326,821.5,-10.6,627,7295,0.12,2.33,0.00,0.000,3078,0.201,0.036,2111,2493,3340,3353,3327,0,0,0,0,0,0,14.06,14.38,14.24
$GC,7599,-0.67,-97.3,2111,2492,3353,3325,850.1,-9.2,644,7603,0.00,2.35,0.00,0.000,516,0.000,0.049,2111,1110,3338,3352,3325,0,0,0,0,0,0,15.02,14.25,15.05
$GC,7625,-0.67,-97.3,2111,1110,3352,3325,852.6,-9.4,649,7632,0.00,2.45,0.00,0.000,1030,0.000,0.058,2102,2503,3338,3352,3325,0,0,0,0,0,0,14.33,14.20,14.38
$GC,7942,-0.67,-97.3,2102,2503,3352,3324,882.1,-9.5,667,7946,0.00,2.50,0.00,0.000,260,0.000,0.086,2091,3890,3338,3352,3324,0,0,0,0,0,0,15.02,14.04,15.05
$GC,8008,-0.67,-97.3,2090,3890,3351,3324,888.9,-10.2,680,8012,0.00,2.30,0.00,0.000,1030,0.000,0.036,2091,2502,3337,3351,3324,0,0,0,0,0,0,14.45,14.37,14.47
$GC,8325,-0.67,-97.3,2090,2500,3351,3324,920.4,-9.8,698,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3337,3351,3323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8626,-0.67,-97.3,2090,2500,3350,3323,948.6,-9.2,713,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3336,3350,3323,0,0,0,0,0,0,15.02,15.06,15.05
$GC,8925,-0.67,-97.3,2090,2500,3349,3322,974.8,-8.7,728,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3335,3350,3321,0,0,0,0,0,0,15.04,15.07,15.07
$STATE,9101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9101,begin apogee
$GC,9109,-0.15,0.0,2091,2500,3349,3321,990.4,-8.7,737,9205,0.68,0.00,92.30,1.973,10246,0.167,0.000,2276,2500,2968,3001,2936,0,0,0,0,0,0,13.82,13.97,12.71
$STATE,9206,end apogee,CONTROL_FINISHED_OK
$STATE,9206,begin climb
$GC,9211,0.67,97.3,2276,2500,2999,2935,992.6,0.0,742,9318,0.85,0.00,103.53,1.958,10246,0.093,0.000,2551,2500,2570,2603,2538,0,0,0,0,0,0,14.09,13.89,12.66
$GC,9608,0.67,97.3,2550,2500,2592,2534,971.1,7.8,762,9612,0.00,2.50,0.00,0.000,516,0.000,0.051,2562,1047,2563,2592,2534,0,0,0,0,0,0,14.84,14.36,14.87
$GC,9666,0.68,97.3,2561,1048,2590,2534,966.6,7.5,773,9673,0.00,2.42,0.00,0.000,1094,0.000,0.053,2562,2443,2562,2590,2534,0,0,0,0,0,0,14.47,14.36,14.52
$GC,9990,0.68,97.3,2562,2443,2590,2533,942.1,7.9,793,9994,0.00,2.40,0.00,0.000,516,0.000,0.050,2573,1049,2561,2590,2533,0,0,0,0,0,0,14.97,14.35,15.00
$GC,10106,0.69,97.3,2573,1049,2588,2531,933.7,7.4,815,10111,0.00,2.42,0.00,0.000,1094,0.000,0.053,2573,2444,2559,2588,2530,0,0,0,0,0,0,14.46,14.35,14.51
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$STATE,21299,end climb,SURFACE_DEPTH_REACHED
$STATE,21299,begin surface coast
$STATE,21324,end surface coast,CONTROL_FINISHED_OK
$STATE,21325,begin surface
$SM_CCo,21348,118.43,0.619,1,0,929,500.17
$SM_GC,1.20,7.45,2.22,118.43,0.044,0.034,0.619,121,2472,929,-6.78,1.81,500.17,0,0,0,0,1,0,14.49,14.54,13.57
$IRIDIUM_FIX,502.14,8039.02,090120,202743
$TT8_MAMPS,0.018725,0.160286
$HUMID,49.64
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,12.61,234.161
$10V_AH,12.84,0.000
$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,19.600,211.150,458.350,118.425,0.000,0.000,0.000,226.550,0.000,0.000,15.029,1699.906,15889.881,754.313,2919.423,582.349,0.000,2475.992,0.000,2677.460,0.000,0.540,0.000
$DEVICE_MAMPS,343.485,94.095,1972.935,618.885,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,953.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249912
$DATA_FILE_SIZE,83291,1884
$CAP_FILE_SIZE,204605,0
$CFSIZE,260034560,122953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.131,238.66,1
$GPS,100120,084557,501.842,8037.132,31,1.1,31,-2.2,1.7,255.9,8,7.3