version: 66.13
glider: 171
mission: 11
dive: 703
start: 1 11 120 2 51 44
data:
$ID,171
$MISSION,11
$DIVE,703
$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,52
$R_STBD_OVSHOOT,31
$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
$GPS1,110120,024400,503.6777,8033.3516,21,0.8,21,-2.2,0.5,274.3,10,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.4
$GPS2,110120,025050,503.6314,8033.1392,2,0.5,2,-2.2,0.9,261.5,12,8.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,1.9,13139,-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,-97.3,120,2505,969,884,0.0,0.0,0,88,0.00,0.00,-76.38,0.005,16386,0.000,0.000,120,2505,2758,2758,2759,0,0,0,0,0,0,14.85,28.83,14.88
$GC,93,-0.67,-97.3,120,2505,2759,2759,5.4,-15.3,16,119,9.32,2.45,-11.02,0.011,18692,0.349,0.097,2097,3886,3367,3381,3354,0,0,0,0,0,0,13.88,12.65,14.33
$GC,267,-0.67,-97.3,2097,3886,3381,3355,62.5,-22.2,51,273,0.00,2.28,0.00,0.000,1030,0.000,0.043,2097,2500,3368,3381,3355,0,0,0,0,0,0,14.57,14.50,14.59
$GC,453,-0.67,-97.3,2097,2498,3382,3355,94.6,-14.5,70,457,0.00,2.40,0.00,0.000,260,0.000,0.085,2086,3887,3368,3381,3355,0,0,0,0,0,0,15.00,14.28,15.02
$GC,686,-0.67,-97.3,2086,3887,3381,3355,129.3,-13.4,116,690,0.00,2.28,0.00,0.000,1030,0.000,0.043,2086,2503,3368,3381,3355,0,0,0,0,0,0,14.59,14.50,14.62
$GC,879,-0.67,-97.3,2086,2501,3381,3355,153.9,-12.9,136,883,0.00,2.33,0.00,0.000,516,0.000,0.047,2086,1088,3368,3382,3355,0,0,0,0,0,0,15.03,14.48,15.05
$GC,920,-0.67,-97.3,2086,1088,3381,3354,159.6,-13.0,144,927,0.10,2.38,0.00,0.000,3078,0.190,0.056,2105,2489,3367,3381,3354,0,0,0,0,0,0,14.09,14.35,14.23
$GC,1114,-0.67,-97.3,2105,2489,3381,3354,183.8,-11.2,164,1121,0.00,2.45,0.00,0.000,260,0.000,0.083,2096,3898,3367,3381,3354,0,0,0,0,0,0,15.04,14.33,15.07
$GC,1258,-0.67,-97.3,2096,3899,3380,3354,200.9,-11.6,192,1263,0.00,2.33,0.00,0.000,1030,0.000,0.041,2096,2498,3367,3380,3354,0,0,0,0,0,0,14.59,14.50,14.63
$GC,1450,-0.67,-97.3,2096,2497,3378,3354,223.5,-11.0,212,1456,0.00,2.47,0.00,0.000,260,0.000,0.087,2085,3891,3366,3378,3354,0,0,0,0,0,0,15.05,14.28,15.07
$GC,1481,-0.67,-97.3,2085,3891,3378,3354,226.9,-12.0,218,1486,0.00,2.28,0.00,0.000,1030,0.000,0.044,2085,2506,3366,3378,3354,0,0,0,0,0,0,14.49,14.45,14.52
$GC,1673,-0.67,-97.3,2085,2505,3376,3354,249.1,-11.4,238,1678,0.00,2.47,0.00,0.000,260,0.000,0.089,2075,3888,3365,3376,3354,0,0,0,0,0,0,15.05,14.26,15.07
$GC,1705,-0.67,-97.3,2074,3889,3375,3354,252.8,-11.8,244,1712,0.15,2.33,0.00,0.000,3078,0.204,0.047,2111,2492,3364,3375,3354,0,0,0,0,0,0,14.19,14.48,14.40
$GC,2016,-0.67,-97.3,2111,2491,3374,3351,285.3,-10.7,261,2022,0.00,2.50,0.00,0.000,260,0.000,0.090,2102,3895,3362,3374,3350,0,0,0,0,0,0,15.05,14.22,15.08
$GC,2105,-0.67,-97.3,2101,3895,3372,3351,295.2,-11.2,279,2110,0.00,2.33,0.00,0.000,1030,0.000,0.047,2102,2504,3361,3373,3350,0,0,0,0,0,0,14.55,14.45,14.59
$GC,2418,-0.67,-97.3,2101,2503,3371,3347,330.8,-11.6,296,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2503,3359,3371,3347,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2717,-0.67,-97.3,2101,2503,3369,3345,365.3,-11.4,311,2722,0.00,2.50,0.00,0.000,260,0.000,0.093,2091,3890,3356,3369,3344,0,0,0,0,0,0,15.07,14.21,15.09
$GC,2749,-0.67,-97.3,2090,3891,3368,3345,368.9,-11.6,317,2753,0.00,2.35,0.00,0.000,1030,0.000,0.048,2091,2497,3356,3368,3345,0,0,0,0,0,0,14.53,14.42,14.57
$GC,3061,-0.67,-97.3,2090,2495,3366,3341,403.3,-10.6,334,3065,0.00,2.38,0.00,0.000,516,0.000,0.050,2090,1080,3353,3366,3341,0,0,0,0,0,0,15.05,14.42,15.08
$GC,3082,-0.67,-97.3,2090,1079,3366,3341,405.7,-10.9,338,3090,0.12,2.47,0.00,0.000,3078,0.210,0.059,2109,2507,3353,3366,3341,0,0,0,0,0,0,14.16,14.37,14.36
$GC,3404,-0.67,-97.3,2109,2507,3365,3339,436.4,-9.6,357,3408,0.00,2.45,0.00,0.000,260,0.000,0.085,2100,3893,3352,3365,3339,0,0,0,0,0,0,15.04,14.24,15.07
$GC,3465,-0.67,-97.3,2100,3893,3364,3339,442.9,-10.2,369,3469,0.00,2.33,0.00,0.000,1030,0.000,0.037,2100,2472,3351,3363,3339,0,0,0,0,0,0,14.57,14.50,14.60
$GC,3787,-0.67,-97.3,2100,2471,3362,3337,476.1,-10.3,388,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2471,3349,3362,3337,0,0,0,0,0,0,15.05,15.09,15.08
$GC,4088,-0.67,-97.3,2099,2471,3361,3335,506.8,-10.2,403,4093,0.00,2.58,0.00,0.000,260,0.000,0.086,2089,3896,3348,3361,3335,0,0,0,0,0,0,15.04,14.21,15.07
$GC,4145,-0.67,-97.3,2088,3896,3360,3335,513.0,-10.7,414,4149,0.00,2.30,0.00,0.000,1030,0.000,0.037,2089,2500,3348,3361,3335,0,0,0,0,0,0,14.55,14.47,14.57
$GC,4451,-0.67,-97.3,2088,2498,3359,3333,545.7,-10.7,430,4455,0.00,2.35,0.00,0.000,516,0.000,0.050,2089,1105,3346,3359,3333,0,0,0,0,0,0,15.05,14.36,15.07
$GC,4479,-0.67,-97.3,2088,1105,3358,3333,548.8,-11.0,435,4485,0.12,2.45,0.00,0.000,3078,0.209,0.066,2107,2494,3345,3358,3333,0,0,0,0,0,0,14.09,14.24,14.28
$GC,4797,-0.67,-97.3,2107,2494,3357,3332,579.3,-9.6,453,4804,0.00,2.50,0.00,0.000,260,0.000,0.086,2098,3899,3344,3356,3332,0,0,0,0,0,0,15.05,14.18,15.08
$GC,4868,-0.67,-97.3,2098,3899,3356,3332,586.4,-10.1,467,4873,0.00,2.30,0.00,0.000,1030,0.000,0.035,2098,2497,3344,3356,3332,0,0,0,0,0,0,14.53,14.46,14.56
$GC,5181,-0.67,-97.3,2098,2496,3356,3330,619.0,-10.7,484,5185,0.00,2.35,0.00,0.000,516,0.000,0.050,2098,1103,3343,3356,3330,0,0,0,0,0,0,15.05,14.34,15.07
$GC,5212,-0.67,-97.3,2098,1103,3355,3330,622.5,-10.8,490,5220,0.00,2.47,0.00,0.000,1030,0.000,0.062,2087,2512,3342,3355,3330,0,0,0,0,0,0,14.40,14.28,14.45
$GC,5524,-0.67,-97.3,2087,2512,3354,3329,657.8,-11.5,507,5528,0.00,2.47,0.00,0.000,260,0.000,0.087,2077,3892,3341,3354,3329,0,0,0,0,0,0,15.04,14.14,15.07
$GC,5556,-0.67,-97.3,2076,3892,3353,3329,661.9,-12.7,513,5563,0.15,2.30,0.00,0.000,3078,0.197,0.035,2113,2492,3341,3354,3329,0,0,0,0,0,0,14.09,14.44,14.28
$GC,5867,-0.67,-97.3,2113,2491,3353,3327,692.5,-9.5,530,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2491,3340,3353,3327,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6166,-0.67,-97.3,2113,2491,3352,3326,720.0,-9.0,545,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2491,3339,3352,3326,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6466,-0.67,-97.3,2113,2491,3352,3325,746.4,-8.5,560,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2491,3338,3352,3325,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6767,-0.67,-97.3,2113,2491,3350,3324,771.1,-8.2,575,6772,0.00,2.35,0.00,0.000,516,0.000,0.048,2113,1106,3337,3350,3324,0,0,0,0,0,0,15.04,14.29,15.06
$GC,6799,-0.67,-97.3,2113,1106,3350,3324,773.9,-8.1,581,6805,0.00,2.45,0.00,0.000,1030,0.000,0.057,2104,2502,3336,3349,3324,0,0,0,0,0,0,14.35,14.23,14.40
$GC,7109,-0.67,-97.3,2104,2502,3348,3323,800.6,-8.7,598,7116,0.00,2.50,0.00,0.000,260,0.000,0.087,2093,3892,3336,3349,3323,0,0,0,0,0,0,15.05,14.07,15.08
$GC,7195,-0.67,-97.3,2093,3891,3348,3323,808.5,-9.2,615,7200,0.00,2.30,0.00,0.000,1030,0.000,0.036,2093,2501,3335,3348,3323,0,0,0,0,0,0,14.46,14.39,14.49
$GC,7512,-0.67,-97.3,2092,2500,3348,3321,837.2,-9.0,633,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3335,3348,3322,0,0,0,0,0,0,15.04,15.08,15.07
$GC,7814,-0.67,-97.3,2092,2500,3347,3321,865.1,-9.3,648,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3334,3347,3321,0,0,0,0,0,0,15.03,15.06,15.06
$GC,8112,-0.67,-97.3,2092,2500,3346,3321,893.2,-9.5,663,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3333,3346,3321,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8412,-0.67,-97.3,2092,2500,3344,3321,921.9,-9.7,678,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2500,3332,3344,3320,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8713,-0.67,-97.3,2092,2500,3344,3320,950.7,-9.5,693,8720,0.00,2.55,0.00,0.000,260,0.000,0.096,2083,3887,3331,3343,3320,0,0,0,0,0,0,15.03,13.94,15.06
$GC,8762,-0.67,-97.3,2083,3887,3344,3319,955.8,-10.2,703,8768,0.12,2.30,0.00,0.000,3078,0.200,0.036,2112,2499,3331,3343,3319,0,0,0,0,0,0,14.02,14.34,14.20
$GC,9075,-0.67,-97.3,2111,2498,3344,3318,982.4,-8.5,720,9080,0.00,2.40,0.00,0.000,516,0.000,0.050,2112,1111,3330,3343,3318,0,0,0,0,0,0,15.04,14.19,15.07
$GC,9113,-0.67,-97.3,2112,1111,3343,3318,985.6,-8.5,727,9118,0.00,2.47,0.00,0.000,1030,0.000,0.057,2103,2505,3330,3343,3318,0,0,0,0,0,0,14.26,14.14,14.31
$STATE,9174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9174,begin apogee
$GC,9182,-0.15,0.0,2103,2425,3343,3318,991.3,-8.7,731,9278,0.62,0.00,91.43,1.994,10246,0.162,0.000,2277,2425,2968,3000,2937,0,0,0,0,0,0,13.86,13.99,12.74
$STATE,9279,end apogee,CONTROL_FINISHED_OK
$STATE,9279,begin climb
$GC,9282,0.67,97.3,2277,2425,2999,2937,994.0,0.0,736,9401,0.82,2.45,103.65,1.964,10756,0.092,0.050,2556,1056,2569,2600,2539,0,0,0,0,0,0,14.09,13.95,12.66
$GC,9444,0.71,135.0,2556,1056,2595,2538,991.4,5.9,768,9491,0.00,2.45,39.17,1.916,9254,0.000,0.057,2557,2447,2416,2452,2380,0,0,0,0,0,0,14.34,14.24,12.69
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$STATE,20767,end climb,SURFACE_DEPTH_REACHED
$STATE,20767,begin surface coast
$STATE,20792,end surface coast,CONTROL_FINISHED_OK
$STATE,20792,begin surface
$SM_CCo,20814,78.72,0.563,1,0,928,500.17
$SM_GC,1.15,7.40,0.10,78.72,0.051,0.139,0.563,120,2514,928,-6.79,-0.99,500.17,0,0,0,0,1,0,14.47,14.51,13.59
$IRIDIUM_FIX,459.92,8034.75,100120,205605
$TT8_MAMPS,0.019474,0.158039
$HUMID,50.86
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,12.65,235.355
$10V_AH,12.18,0.000
$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
$DEVICE_SECS,20.150,221.725,504.200,78.725,0.000,0.000,0.000,259.625,0.250,0.000,14.012,1589.470,15495.384,741.913,2887.131,590.754,0.000,2518.950,0.000,2611.765,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,913.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,79943,1838
$CAP_FILE_SIZE,203345,0
$CFSIZE,260034560,122580992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,250.47,1
$GPS,110120,084109,505.099,8032.211,23,1.0,23,-2.2,1.0,239.6,8,9.0