version: 66.13
glider: 171
mission: 11
dive: 702
start: 1 10 120 21 0 53
data:
$ID,171
$MISSION,11
$DIVE,702
$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,45
$R_STBD_OVSHOOT,36
$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
$GPS1,100120,205330,502.4489,8033.3862,28,0.7,28,-2.2,0.6,268.1,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.6
$GPS2,100120,210000,502.4144,8033.1875,2,0.6,2,-2.2,1.2,251.0,12,10.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,24.5,15229,-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,-97.3,111,2505,983,872,0.0,0.0,0,89,0.00,0.00,-76.60,0.005,16386,0.000,0.000,110,2505,2744,2743,2745,0,0,0,0,0,0,14.83,28.83,14.86
$GC,94,-0.67,-97.3,110,2505,2744,2745,5.5,-16.1,16,120,9.25,2.42,-11.15,0.011,18692,0.343,0.097,2095,3890,3367,3380,3354,0,0,0,0,0,0,13.85,12.62,14.31
$GC,259,-0.67,-97.3,2095,3890,3381,3354,60.8,-24.6,49,263,0.00,2.28,0.00,0.000,1030,0.000,0.036,2095,2499,3367,3381,3354,0,0,0,0,0,0,14.54,14.47,14.57
$GC,444,-0.67,-97.3,2095,2497,3381,3354,94.3,-15.2,68,449,0.00,2.45,0.00,0.000,260,0.000,0.082,2085,3890,3368,3381,3355,0,0,0,0,0,0,14.98,14.30,15.01
$GC,617,-0.67,-97.3,2085,3890,3382,3355,120.0,-14.0,102,621,0.00,2.25,0.00,0.000,1030,0.000,0.032,2085,2484,3368,3382,3354,0,0,0,0,0,0,14.61,14.54,14.63
$GC,808,-0.67,-97.3,2084,2482,3383,3354,147.8,-15.0,122,815,0.00,2.47,0.00,0.000,260,0.000,0.086,2074,3883,3368,3383,3354,0,0,0,0,0,0,15.02,14.29,15.05
$GC,840,-0.67,-97.3,2074,3883,3383,3354,152.7,-16.4,128,847,0.15,2.22,0.00,0.000,3078,0.214,0.032,2109,2495,3368,3383,3354,0,0,0,0,0,0,14.16,14.54,14.38
$GC,1029,-0.67,-97.3,2108,2494,3383,3354,175.4,-11.9,148,1033,0.00,2.45,0.00,0.000,260,0.000,0.080,2100,3883,3368,3383,3354,0,0,0,0,0,0,15.03,14.31,15.05
$GC,1106,-0.67,-97.3,2099,3883,3383,3354,184.7,-12.4,163,1112,0.00,2.22,0.00,0.000,1030,0.000,0.031,2100,2499,3368,3383,3354,0,0,0,0,0,0,14.62,14.55,14.64
$GC,1290,-0.67,-97.3,2099,2498,3382,3354,207.5,-12.4,182,1295,0.00,2.47,0.00,0.000,260,0.000,0.083,2089,3892,3368,3382,3354,0,0,0,0,0,0,15.04,14.30,15.07
$GC,1322,-0.67,-97.3,2089,3891,3382,3354,211.3,-12.5,188,1326,0.00,2.22,0.00,0.000,1030,0.000,0.031,2089,2499,3368,3382,3354,0,0,0,0,0,0,14.62,14.56,14.64
$GC,1515,-0.67,-97.3,2088,2498,3380,3354,236.8,-13.1,208,1521,0.00,2.45,0.00,0.000,260,0.000,0.083,2078,3885,3367,3380,3354,0,0,0,0,0,0,15.03,14.30,15.05
$GC,1563,-0.67,-97.3,2078,3886,3380,3354,243.6,-14.0,218,1573,0.12,2.22,0.00,0.000,3078,0.213,0.032,2107,2499,3367,3380,3354,0,0,0,0,0,0,14.21,14.54,14.40
$GC,1765,-0.67,-97.3,2107,2499,3378,3354,268.3,-12.3,232,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3366,3378,3354,0,0,0,0,0,0,15.04,15.07,15.06
$GC,2063,-0.67,-97.3,2107,2499,3375,3354,303.8,-11.7,247,2068,0.00,2.47,0.00,0.000,260,0.000,0.086,2098,3891,3364,3375,3353,0,0,0,0,0,0,15.06,14.27,15.08
$GC,2136,-0.67,-97.3,2098,3891,3374,3353,312.5,-11.9,261,2140,0.00,2.25,0.00,0.000,1030,0.000,0.033,2098,2502,3363,3374,3353,0,0,0,0,0,0,14.60,14.54,14.62
$GC,2448,-0.67,-97.3,2098,2500,3373,3348,348.3,-11.4,278,2452,0.00,2.33,0.00,0.000,516,0.000,0.047,2098,1109,3360,3373,3348,0,0,0,0,0,0,15.04,14.42,15.07
$GC,2489,-0.67,-97.3,2098,1106,3373,3348,353.1,-11.2,286,2496,0.00,2.40,0.00,0.000,1030,0.000,0.059,2087,2493,3360,3372,3348,0,0,0,0,0,0,14.48,14.36,14.52
$GC,2810,-0.67,-97.3,2087,2493,3371,3346,391.5,-11.8,305,2815,0.00,2.47,0.00,0.000,260,0.000,0.083,2076,3894,3358,3371,3346,0,0,0,0,0,0,15.04,14.23,15.07
$GC,2897,-0.67,-97.3,2076,3894,3370,3346,402.7,-12.6,322,2905,0.15,2.28,0.00,0.000,3078,0.198,0.034,2112,2495,3358,3371,3346,0,0,0,0,0,0,14.16,14.50,14.35
$GC,3212,-0.67,-97.3,2112,2494,3369,3344,436.2,-10.4,340,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3356,3370,3343,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3513,-0.67,-97.3,2112,2494,3367,3341,466.4,-9.8,355,3518,0.00,2.50,0.00,0.000,260,0.000,0.083,2103,3893,3353,3367,3340,0,0,0,0,0,0,15.04,14.21,15.07
$GC,3550,-0.67,-97.3,2103,3893,3367,3340,470.2,-10.2,362,3554,0.00,2.28,0.00,0.000,1030,0.000,0.034,2103,2500,3353,3367,3340,0,0,0,0,0,0,14.55,14.48,14.58
$GC,3855,-0.67,-97.3,2103,2499,3366,3339,500.1,-9.7,378,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3352,3366,3339,0,0,0,0,0,0,15.05,15.08,15.08
$GC,4157,-0.67,-97.3,2103,2499,3364,3338,529.5,-9.9,393,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2499,3351,3364,3338,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4456,-0.67,-97.3,2103,2499,3362,3337,559.0,-10.0,408,4462,0.00,2.50,0.00,0.000,260,0.000,0.085,2092,3891,3349,3362,3337,0,0,0,0,0,0,15.05,14.16,15.07
$GC,4501,-0.67,-97.3,2091,3892,3362,3337,563.8,-10.6,417,4505,0.00,2.28,0.00,0.000,1030,0.000,0.035,2092,2502,3349,3362,3337,0,0,0,0,0,0,14.53,14.46,14.56
$GC,4818,-0.67,-97.3,2091,2500,3362,3335,597.7,-10.6,435,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2500,3348,3362,3335,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5117,-0.67,-97.3,2091,2500,3361,3334,628.7,-10.1,450,5122,0.00,2.53,0.00,0.000,260,0.000,0.086,2081,3891,3346,3360,3333,0,0,0,0,0,0,15.05,14.13,15.08
$GC,5155,-0.67,-97.3,2081,3891,3360,3333,632.6,-10.8,457,5162,0.12,2.30,0.00,0.000,3078,0.199,0.035,2110,2498,3346,3360,3333,0,0,0,0,0,0,14.12,14.42,14.29
$GC,5482,-0.67,-97.3,2110,2497,3359,3333,662.4,-9.1,477,5486,0.00,2.35,0.00,0.000,516,0.000,0.049,2110,1109,3345,3359,3332,0,0,0,0,0,0,15.02,14.31,15.05
$GC,5533,-0.67,-97.3,2110,1109,3358,3332,667.4,-9.3,487,5538,0.00,2.45,0.00,0.000,1030,0.000,0.058,2101,2507,3345,3358,3332,0,0,0,0,0,0,14.36,14.23,14.41
$GC,5847,-0.67,-97.3,2101,2507,3356,3331,698.2,-10.0,504,5851,0.00,2.50,0.00,0.000,260,0.000,0.086,2090,3899,3344,3356,3332,0,0,0,0,0,0,15.04,14.10,15.06
$GC,5895,-0.67,-97.3,2090,3899,3356,3331,703.3,-10.7,513,5899,0.00,2.30,0.00,0.000,1030,0.000,0.036,2089,2503,3343,3356,3331,0,0,0,0,0,0,14.48,14.41,14.51
$GC,6212,-0.67,-97.3,2089,2502,3356,3331,737.1,-10.5,531,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2502,3343,3356,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6511,-0.67,-97.3,2089,2502,3356,3329,768.8,-10.5,546,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2502,3343,3356,3330,0,0,0,0,0,0,15.04,15.08,15.07
$GC,6811,-0.67,-97.3,2090,2502,3355,3328,799.6,-10.1,561,6817,0.00,2.53,0.00,0.000,260,0.000,0.089,2079,3891,3341,3355,3328,0,0,0,0,0,0,15.05,14.06,15.07
$GC,6848,-0.67,-97.3,2079,3892,3354,3328,803.3,-10.7,568,6855,0.12,2.33,0.00,0.000,3078,0.201,0.036,2107,2492,3341,3354,3328,0,0,0,0,0,0,14.05,14.38,14.23
$GC,7175,-0.67,-97.3,2108,2491,3353,3327,833.5,-9.2,588,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2491,3340,3353,3327,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7472,-0.67,-97.3,2108,2491,3353,3326,860.9,-9.2,603,7477,0.00,2.55,0.00,0.000,260,0.000,0.087,2099,3892,3339,3353,3326,0,0,0,0,0,0,15.04,14.04,15.07
$GC,7510,-0.67,-97.3,2099,3891,3353,3326,864.5,-10.0,610,7514,0.00,2.33,0.00,0.000,1030,0.000,0.036,2099,2498,3339,3353,3326,0,0,0,0,0,0,14.43,14.35,14.45
$GC,7814,-0.67,-97.3,2098,2496,3352,3325,894.6,-9.8,626,7821,0.00,2.38,0.00,0.000,516,0.000,0.050,2099,1108,3338,3351,3325,0,0,0,0,0,0,15.04,14.22,15.07
$GC,7839,-0.67,-97.3,2098,1108,3352,3325,897.1,-10.9,631,7844,0.00,2.47,0.00,0.000,1030,0.000,0.060,2088,2507,3338,3352,3325,0,0,0,0,0,0,14.29,14.16,14.34
$GC,8158,-0.67,-97.3,2087,2508,3351,3324,929.7,-10.1,649,8164,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3889,3337,3351,3324,0,0,0,0,0,0,15.03,13.98,15.05
$GC,8201,-0.67,-97.3,2077,3889,3350,3324,934.3,-10.5,658,8207,0.15,2.33,0.00,0.000,3078,0.194,0.036,2113,2494,3337,3350,3324,0,0,0,0,0,0,13.97,14.33,14.16
$GC,8521,-0.67,-97.3,2112,2493,3351,3323,960.2,-7.9,676,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3337,3351,3323,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8819,-0.67,-97.3,2112,2493,3350,3322,983.5,-7.8,691,8824,0.00,2.58,0.00,0.000,260,0.000,0.087,2104,3900,3336,3350,3322,0,0,0,0,0,0,15.04,13.97,15.06
$GC,8851,-0.67,-97.3,2103,3900,3349,3322,986.1,-8.3,697,8857,0.00,2.33,0.00,0.000,1030,0.000,0.036,2104,2503,3335,3349,3322,0,0,0,0,0,0,14.40,14.33,14.43
$STATE,8897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8897,begin apogee
$GC,8906,-0.15,0.0,2104,2501,3349,3322,990.3,-8.6,701,9002,0.62,0.00,92.60,1.984,10246,0.163,0.000,2277,2501,2968,3001,2936,0,0,0,0,0,0,13.85,13.98,12.73
$STATE,9003,end apogee,CONTROL_FINISHED_OK
$STATE,9003,begin climb
$GC,9007,0.67,97.3,2277,2501,2999,2935,992.8,0.0,706,9123,0.85,2.53,103.07,1.957,10500,0.091,0.084,2553,3849,2569,2601,2538,0,0,0,0,0,0,14.10,13.95,12.67
$GC,9145,0.72,143.5,2553,3849,2596,2538,990.9,5.5,734,9199,0.00,2.38,47.72,1.933,9254,0.000,0.034,2564,2425,2383,2423,2344,0,0,0,0,0,0,14.33,14.27,12.66
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$STATE,20331,end climb,SURFACE_DEPTH_REACHED
$STATE,20331,begin surface coast
$STATE,20379,end surface coast,CONTROL_FINISHED_OK
$STATE,20379,begin surface
$SM_CCo,20399,117.53,0.617,1,0,929,500.17
$SM_GC,1.22,7.30,0.10,117.53,0.045,0.155,0.617,123,2503,929,-6.77,-0.88,500.17,0,0,0,0,1,0,14.52,14.54,13.59
$IRIDIUM_FIX,502.27,8034.40,100120,144217
$TT8_MAMPS,0.018725,0.159537
$HUMID,47.87
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,12.62,235.051
$10V_AH,12.54,0.000
$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,19.725,225.900,465.375,117.525,0.000,0.000,0.000,241.950,0.250,0.000,17.084,1603.261,15122.183,726.585,2863.420,594.160,0.000,2473.460,0.000,2609.139,0.000,0.540,0.000
$DEVICE_MAMPS,343.485,155.295,1984.410,616.590,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,920.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249948
$DATA_FILE_SIZE,79994,1836
$CAP_FILE_SIZE,202782,0
$CFSIZE,260034560,122675200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.069,245.37,1
$GPS,110120,024400,503.678,8033.352,21,0.8,21,-2.2,0.5,274.3,10,3.6