version: 66.13
glider: 171
mission: 11
dive: 700
start: 1 10 120 8 53 19
data:
$ID,171
$MISSION,11
$DIVE,700
$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,86
$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
$GPS1,100120,084557,501.8423,8037.1323,31,1.1,31,-2.2,1.7,255.9,8,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.5
$GPS2,100120,085225,501.8043,8036.8892,2,0.5,3,-2.2,1.0,254.6,12,6.9
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,271.2,13142,-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,9,-0.67,-97.3,109,2469,970,881,0.0,0.0,0,83,0.00,0.00,-71.65,0.005,16386,0.000,0.000,108,2469,2603,2603,2603,0,0,0,0,0,0,14.84,28.83,14.87
$GC,88,-0.67,-97.3,108,2469,2605,2603,4.5,-11.6,15,119,9.32,2.50,-14.80,0.009,18692,0.347,0.093,2094,3887,3368,3384,3352,0,0,0,0,0,0,13.87,12.63,14.33
$GC,348,-0.67,-97.3,2093,3887,3384,3352,76.7,-16.8,67,352,0.00,2.17,0.00,0.000,1030,0.000,0.031,2094,2523,3368,3384,3352,0,0,0,0,0,0,14.60,14.54,14.63
$GC,541,-0.67,-97.3,2093,2522,3385,3352,104.7,-14.4,87,547,0.00,2.40,0.00,0.000,260,0.000,0.080,2084,3896,3368,3384,3352,0,0,0,0,0,0,15.00,14.34,15.02
$GC,774,-0.67,-97.3,2083,3896,3384,3352,140.3,-13.2,134,779,0.00,2.22,0.00,0.000,1030,0.000,0.031,2084,2500,3368,3385,3352,0,0,0,0,0,0,14.64,14.57,14.66
$GC,961,-0.67,-97.3,2083,2499,3385,3352,164.9,-13.4,153,968,0.00,2.42,0.00,0.000,260,0.000,0.076,2073,3893,3368,3384,3352,0,0,0,0,0,0,15.02,14.35,15.05
$GC,1196,-0.67,-97.3,2072,3893,3384,3352,196.3,-13.2,200,1201,0.15,2.22,0.00,0.000,3078,0.214,0.031,2108,2498,3368,3384,3352,0,0,0,0,0,0,14.19,14.57,14.40
$GC,1381,-0.67,-97.3,2108,2496,3382,3352,218.3,-11.5,219,1387,0.00,2.47,0.00,0.000,260,0.000,0.080,2099,3897,3367,3382,3352,0,0,0,0,0,0,15.04,14.32,15.07
$GC,1506,-0.67,-97.3,2098,3897,3381,3352,232.7,-11.9,243,1510,0.00,2.22,0.00,0.000,1030,0.000,0.032,2099,2504,3366,3380,3352,0,0,0,0,0,0,14.64,14.57,14.66
$GC,1697,-0.67,-97.3,2098,2503,3378,3352,256.0,-12.3,261,1701,0.00,2.33,0.00,0.000,516,0.000,0.049,2099,1104,3365,3378,3352,0,0,0,0,0,0,15.05,14.45,15.08
$GC,1733,-0.67,-97.3,2098,1104,3377,3352,260.4,-12.0,268,1737,0.00,2.40,0.00,0.000,1030,0.000,0.055,2088,2504,3365,3378,3352,0,0,0,0,0,0,14.53,14.42,14.57
$GC,2040,-0.67,-97.3,2088,2504,3374,3350,299.0,-12.6,284,2044,0.00,2.42,0.00,0.000,260,0.000,0.080,2077,3896,3362,3375,3350,0,0,0,0,0,0,15.04,14.31,15.07
$GC,2098,-0.67,-97.3,2077,3896,3374,3350,306.6,-13.2,295,2103,0.15,2.28,0.00,0.000,3078,0.200,0.033,2113,2488,3362,3374,3350,0,0,0,0,0,0,14.20,14.55,14.40
$GC,2403,-0.67,-97.3,2113,2487,3373,3347,339.7,-10.7,311,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2487,3360,3373,3347,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2701,-0.67,-97.3,2113,2487,3371,3344,371.3,-10.5,326,2706,0.00,2.47,0.00,0.000,260,0.000,0.082,2104,3892,3357,3371,3344,0,0,0,0,0,0,15.06,14.27,15.09
$GC,2763,-0.67,-97.3,2104,3892,3370,3344,378.1,-10.9,338,2768,0.00,2.25,0.00,0.000,1030,0.000,0.033,2104,2500,3357,3370,3344,0,0,0,0,0,0,14.61,14.54,14.63
$GC,3086,-0.67,-97.3,2104,2499,3368,3341,412.9,-10.6,357,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2499,3354,3368,3341,0,0,0,0,0,0,15.05,15.08,15.08
$GC,3387,-0.67,-97.3,2104,2499,3366,3339,444.3,-10.3,372,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2499,3352,3366,3339,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3685,-0.67,-97.3,2104,2499,3366,3337,475.2,-10.3,387,3692,0.00,2.50,0.00,0.000,260,0.000,0.084,2093,3898,3351,3365,3337,0,0,0,0,0,0,15.06,14.22,15.08
$GC,3736,-0.67,-97.3,2092,3898,3363,3337,480.7,-11.1,397,3740,0.00,2.28,0.00,0.000,1030,0.000,0.034,2093,2503,3350,3364,3337,0,0,0,0,0,0,14.57,14.50,14.60
$GC,4047,-0.67,-97.3,2092,2502,3362,3335,516.2,-11.5,414,4052,0.00,2.35,0.00,0.000,516,0.000,0.049,2093,1110,3348,3362,3335,0,0,0,0,0,0,15.06,14.36,15.08
$GC,4097,-0.67,-97.3,2092,1110,3362,3335,521.7,-11.6,423,4102,0.12,2.42,0.00,0.000,3078,0.207,0.058,2111,2501,3348,3362,3335,0,0,0,0,0,0,14.12,14.32,14.31
$GC,4414,-0.67,-97.3,2111,2501,3361,3333,555.4,-10.5,441,4421,0.00,2.47,0.00,0.000,260,0.000,0.084,2102,3894,3346,3360,3333,0,0,0,0,0,0,15.06,14.20,15.09
$GC,4484,-0.67,-97.3,2102,3894,3360,3333,563.0,-11.0,455,4489,0.00,2.30,0.00,0.000,1030,0.000,0.035,2102,2495,3346,3360,3333,0,0,0,0,0,0,14.54,14.47,14.57
$GC,4797,-0.67,-97.3,2102,2494,3359,3332,596.9,-10.8,472,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2494,3345,3359,3332,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5096,-0.67,-97.3,2102,2493,3357,3331,629.3,-10.6,487,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2494,3344,3357,3331,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5397,-0.67,-97.3,2102,2494,3356,3330,660.1,-10.1,502,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2494,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5696,-0.67,-97.3,2102,2494,3356,3328,689.4,-9.5,517,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2493,3342,3356,3328,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5996,-0.67,-97.3,2102,2494,3355,3327,716.7,-8.8,532,6002,0.00,2.53,0.00,0.000,260,0.000,0.085,2091,3894,3340,3354,3327,0,0,0,0,0,0,15.05,14.13,15.07
$GC,6042,-0.67,-97.3,2090,3894,3354,3327,720.8,-9.2,541,6046,0.00,2.30,0.00,0.000,1030,0.000,0.035,2090,2497,3340,3354,3327,0,0,0,0,0,0,14.50,14.43,14.52
$GC,6359,-0.67,-97.3,2091,2497,3353,3326,749.9,-9.2,559,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2497,3339,3353,3326,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6658,-0.67,-97.3,2090,2496,3352,3325,777.9,-9.6,574,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2496,3338,3352,3325,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6960,-0.67,-97.3,2091,2497,3351,3325,807.9,-10.1,589,6967,0.00,2.55,0.00,0.000,260,0.000,0.086,2080,3900,3337,3351,3324,0,0,0,0,0,0,15.04,14.09,15.06
$GC,6990,-0.67,-97.3,2080,3900,3352,3324,811.2,-11.4,595,6997,0.12,2.33,0.00,0.000,3078,0.202,0.037,2109,2494,3337,3351,3324,0,0,0,0,0,0,14.07,14.39,14.26
$GC,7301,-0.67,-97.3,2109,2493,3351,3323,839.9,-9.3,612,7305,0.00,2.38,0.00,0.000,516,0.000,0.051,2110,1103,3336,3350,3323,0,0,0,0,0,0,15.03,14.25,15.06
$GC,7342,-0.67,-97.3,2110,1103,3350,3323,844.0,-9.6,620,7348,0.00,2.45,0.00,0.000,1030,0.000,0.059,2101,2501,3336,3350,3323,0,0,0,0,0,0,14.33,14.20,14.38
$GC,7663,-0.67,-97.3,2100,2501,3350,3321,876.4,-10.2,639,7669,0.00,2.50,0.00,0.000,260,0.000,0.086,2089,3893,3336,3350,3322,0,0,0,0,0,0,15.04,14.05,15.07
$GC,7718,-0.67,-97.3,2089,3893,3349,3322,882.3,-10.8,650,7723,0.00,2.33,0.00,0.000,1030,0.000,0.036,2089,2497,3335,3349,3321,0,0,0,0,0,0,14.44,14.36,14.47
$GC,8022,-0.67,-97.3,2089,2496,3348,3321,914.3,-10.4,666,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2496,3334,3348,3321,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8322,-0.67,-97.3,2089,2496,3348,3320,944.9,-10.2,681,8332,0.00,2.55,0.00,0.000,260,0.000,0.086,2079,3897,3333,3347,3320,0,0,0,0,0,0,15.04,14.03,15.07
$GC,8380,-0.67,-97.3,2078,3898,3347,3320,951.0,-10.7,692,8387,0.12,2.35,0.00,0.000,3078,0.200,0.037,2108,2495,3334,3347,3321,0,0,0,0,0,0,14.02,14.33,14.19
$GC,8706,-0.67,-97.3,2107,2494,3347,3319,979.5,-8.6,712,8710,0.00,2.38,0.00,0.000,516,0.000,0.051,2108,1108,3333,3347,3320,0,0,0,0,0,0,15.02,14.19,15.05
$GC,8748,-0.67,-97.3,2108,1107,3346,3320,983.2,-8.6,720,8755,0.00,2.47,0.00,0.000,1030,0.000,0.060,2098,2504,3333,3346,3320,0,0,0,0,0,0,14.28,14.15,14.33
$STATE,8824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8825,begin apogee
$GC,8833,-0.15,0.0,2098,2427,3346,3320,990.2,-8.8,727,8929,0.65,0.00,91.62,1.984,10246,0.163,0.000,2278,2427,2968,3000,2936,0,0,0,0,0,0,13.87,13.98,12.72
$STATE,8930,end apogee,CONTROL_FINISHED_OK
$STATE,8930,begin climb
$GC,8933,0.67,97.3,2278,2426,2999,2936,992.9,0.0,732,9051,0.85,2.45,102.62,1.956,10756,0.091,0.054,2565,1061,2569,2599,2539,0,0,0,0,0,0,14.10,13.95,12.67
$GC,9089,0.70,97.3,2564,1061,2595,2538,990.2,6.4,763,9094,0.00,2.45,0.00,0.000,1094,0.000,0.057,2565,2448,2566,2594,2538,0,0,0,0,0,0,14.33,14.23,14.36
$GC,9395,0.70,97.3,2564,2448,2591,2535,965.6,8.0,779,9400,0.00,2.42,0.00,0.000,516,0.000,0.052,2576,1053,2562,2590,2535,0,0,0,0,0,0,14.88,14.37,14.91
$GC,9463,0.70,97.3,2576,1053,2589,2534,960.2,8.1,792,9469,0.00,2.42,0.00,0.000,1030,0.000,0.059,2576,2441,2561,2589,2534,0,0,0,0,0,0,14.47,14.35,14.52
$GC,9777,0.70,97.3,2576,2440,2588,2534,934.7,7.8,810,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2440,2561,2588,2534,0,0,0,0,0,0,14.98,15.01,15.00
$GC,10079,0.70,97.3,2576,2440,2587,2533,911.7,7.6,825,10085,0.00,2.50,0.00,0.000,260,0.000,0.085,2576,3845,2560,2587,2533,0,0,0,0,0,0,14.99,14.23,15.02
$GC,10129,0.70,97.3,2576,3845,2585,2533,907.4,8.7,835,10135,0.12,2.33,0.00,0.000,5126,0.250,0.037,2562,2439,2559,2585,2533,0,0,0,0,0,0,14.05,14.46,14.32
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$STATE,20600,end climb,SURFACE_DEPTH_REACHED
$STATE,20601,begin surface coast
$STATE,20616,end surface coast,CONTROL_FINISHED_OK
$STATE,20616,begin surface
$SM_CCo,20637,67.82,0.536,1,0,928,500.17
$SM_GC,1.17,7.65,0.08,67.82,0.040,0.168,0.536,133,2500,928,-6.77,-0.99,500.17,0,0,0,0,1,0,14.44,14.47,13.55
$IRIDIUM_FIX,502.20,8043.30,100120,024219
$TT8_MAMPS,0.018725,0.159537
$HUMID,51.14
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,12.63,234.454
$10V_AH,12.64,0.000
$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,19.875,197.500,507.500,67.825,0.000,0.000,0.000,236.350,0.250,0.000,14.644,1608.721,15391.578,703.123,2816.491,574.437,0.000,2411.905,0.000,2565.736,0.000,0.542,0.000
$DEVICE_MAMPS,347.310,168.300,1983.645,536.265,0.000,0.000,0.000,185.895,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,890.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249936
$DATA_FILE_SIZE,79958,1805
$CAP_FILE_SIZE,196934,0
$CFSIZE,260034560,122867712
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,8861.29,0x23576e,2,24
$INTR,1,10084.69,0x2147a0,1,24
$CURRENT,0.113,238.66,1
$GPS,100120,143939,501.355,8034.218,24,0.9,24,-2.2,0.8,258.6,8,6.8