version: 66.13
glider: 171
mission: 11
dive: 705
start: 1 11 120 14 52 27
data:
$ID,171
$MISSION,11
$DIVE,705
$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,51
$R_STBD_OVSHOOT,42
$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
$GPS1,110120,144439,506.2792,8031.6631,17,1.0,17,-2.2,1.0,251.2,6,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.4
$GPS2,110120,145133,506.2075,8031.4419,2,0.7,3,-2.2,0.9,225.6,12,7.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,10.1,7510,-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,-97.3,104,2512,976,875,0.0,0.0,0,88,0.00,0.00,-76.53,0.005,16386,0.000,0.000,101,2512,2733,2730,2737,0,0,0,0,0,0,14.83,28.83,14.85
$GC,93,-0.67,-97.3,101,2512,2732,2736,5.4,-15.1,16,119,9.35,2.40,-11.50,0.010,18692,0.346,0.099,2094,3881,3368,3382,3354,0,0,0,0,0,0,13.85,12.62,14.31
$GC,263,-0.67,-97.3,2093,3881,3383,3353,58.9,-23.2,50,267,0.00,2.28,0.00,0.000,1030,0.000,0.042,2094,2492,3368,3383,3354,0,0,0,0,0,0,14.53,14.45,14.56
$GC,454,-0.67,-97.3,2094,2489,3383,3354,92.6,-14.9,70,461,0.00,2.45,0.00,0.000,260,0.000,0.083,2084,3882,3368,3383,3354,0,0,0,0,0,0,14.97,14.30,15.00
$GC,690,-0.67,-97.3,2083,3883,3384,3354,131.3,-16.8,117,697,0.12,2.25,0.00,0.000,3078,0.227,0.034,2111,2497,3369,3384,3354,0,0,0,0,0,0,14.16,14.51,14.37
$GC,889,-0.67,-97.3,2110,2496,3384,3354,156.8,-11.9,138,893,0.00,2.33,0.00,0.000,516,0.000,0.048,2111,1099,3369,3384,3354,0,0,0,0,0,0,14.99,14.42,15.02
$GC,921,-0.67,-97.3,2111,1100,3384,3354,161.0,-11.7,144,929,0.00,2.38,0.00,0.000,1030,0.000,0.056,2102,2486,3369,3384,3354,0,0,0,0,0,0,14.51,14.40,14.55
$GC,1111,-0.67,-97.3,2101,2486,3384,3354,181.7,-10.5,164,1115,0.00,2.47,0.00,0.000,260,0.000,0.082,2090,3894,3370,3386,3354,0,0,0,0,0,0,15.03,14.31,15.05
$GC,1288,-0.67,-97.3,2090,3894,3384,3354,203.2,-12.5,199,1293,0.00,2.28,0.00,0.000,1030,0.000,0.034,2090,2498,3369,3384,3354,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1475,-0.67,-97.3,2090,2497,3383,3354,226.8,-12.9,218,1479,0.00,2.33,0.00,0.000,516,0.000,0.048,2091,1098,3368,3382,3354,0,0,0,0,0,0,15.02,14.42,15.05
$GC,1516,-0.67,-97.3,2090,1098,3381,3354,232.3,-12.6,226,1524,0.12,2.42,0.00,0.000,3078,0.209,0.061,2108,2501,3367,3381,3354,0,0,0,0,0,0,14.17,14.38,14.37
$GC,1709,-0.67,-97.3,2108,2501,3380,3354,253.2,-10.9,245,1713,0.00,2.45,0.00,0.000,260,0.000,0.083,2100,3891,3367,3380,3354,0,0,0,0,0,0,15.02,14.26,15.05
$GC,1811,-0.67,-97.3,2099,3891,3379,3353,265.6,-11.9,265,1816,0.00,2.30,0.00,0.000,1030,0.000,0.044,2099,2513,3366,3379,3353,0,0,0,0,0,0,14.53,14.43,14.57
$GC,2133,-0.67,-97.3,2099,2512,3376,3353,304.2,-12.1,284,2137,0.00,2.38,0.00,0.000,516,0.000,0.051,2099,1098,3364,3376,3353,0,0,0,0,0,0,15.04,14.37,15.07
$GC,2186,-0.67,-97.3,2099,1098,3375,3353,310.4,-11.5,294,2193,0.00,2.42,0.00,0.000,1030,0.000,0.057,2088,2502,3363,3374,3353,0,0,0,0,0,0,14.48,14.36,14.52
$GC,2495,-0.67,-97.3,2088,2503,3374,3348,347.8,-11.9,311,2500,0.00,2.45,0.00,0.000,260,0.000,0.082,2078,3897,3361,3374,3348,0,0,0,0,0,0,15.05,14.25,15.08
$GC,2544,-0.67,-97.3,2078,3897,3374,3348,353.6,-12.4,320,2551,0.15,2.30,0.00,0.000,3078,0.200,0.034,2113,2484,3361,3374,3348,0,0,0,0,0,0,14.15,14.51,14.33
$GC,2859,-0.67,-97.3,2113,2483,3372,3347,385.6,-9.7,338,2863,0.00,2.33,0.00,0.000,516,0.000,0.053,2113,1106,3359,3372,3346,0,0,0,0,0,0,15.04,14.36,15.07
$GC,2891,-0.67,-97.3,2113,1106,3372,3346,388.7,-9.9,344,2897,0.00,2.42,0.00,0.000,1030,0.000,0.057,2105,2506,3358,3371,3346,0,0,0,0,0,0,14.46,14.34,14.50
$GC,3200,-0.67,-97.3,2104,2506,3370,3344,419.3,-10.2,361,3205,0.00,2.47,0.00,0.000,260,0.000,0.083,2093,3894,3357,3370,3344,0,0,0,0,0,0,15.05,14.21,15.08
$GC,3253,-0.67,-97.3,2093,3894,3370,3344,424.8,-10.9,371,3258,0.00,2.28,0.00,0.000,1030,0.000,0.034,2093,2497,3356,3368,3344,0,0,0,0,0,0,14.56,14.49,14.58
$GC,3566,-0.67,-97.3,2093,2496,3368,3341,459.1,-10.9,388,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2495,3354,3367,3341,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3867,-0.67,-97.3,2093,2496,3367,3340,490.6,-10.4,403,3872,0.00,2.50,0.00,0.000,260,0.000,0.083,2083,3893,3353,3367,3339,0,0,0,0,0,0,15.04,14.19,15.07
$GC,3898,-0.67,-97.3,2083,3893,3366,3339,494.1,-11.2,409,3905,0.12,2.28,0.00,0.000,3078,0.205,0.034,2111,2499,3352,3366,3339,0,0,0,0,0,0,14.14,14.47,14.33
$GC,4209,-0.67,-97.3,2111,2497,3365,3338,522.7,-9.1,426,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3351,3365,3338,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4510,-0.67,-97.3,2111,2497,3363,3337,551.0,-9.4,441,4514,0.00,2.35,0.00,0.000,516,0.000,0.050,2111,1109,3350,3363,3337,0,0,0,0,0,0,15.04,14.31,15.06
$GC,4533,-0.67,-97.3,2111,1109,3363,3337,553.3,-9.8,445,4539,0.00,2.42,0.00,0.000,1030,0.000,0.058,2102,2499,3349,3362,3337,0,0,0,0,0,0,14.40,14.27,14.45
$GC,4853,-0.67,-97.3,2102,2499,3362,3335,585.5,-10.1,464,4857,0.00,2.50,0.00,0.000,260,0.000,0.085,2091,3897,3348,3362,3335,0,0,0,0,0,0,15.04,14.14,15.07
$GC,4916,-0.67,-97.3,2091,3897,3362,3335,592.1,-10.6,476,4923,0.00,2.30,0.00,0.000,1030,0.000,0.035,2091,2499,3348,3362,3335,0,0,0,0,0,0,14.50,14.43,14.53
$GC,5235,-0.67,-97.3,2090,2497,3360,3334,626.8,-11.0,495,5240,0.00,2.38,0.00,0.000,516,0.000,0.050,2091,1109,3347,3360,3334,0,0,0,0,0,0,15.04,14.28,15.07
$GC,5272,-0.67,-97.3,2090,1109,3360,3334,630.9,-10.9,502,5281,0.12,2.45,0.00,0.000,3078,0.207,0.059,2109,2502,3347,3360,3334,0,0,0,0,0,0,14.03,14.24,14.22
$GC,5600,-0.67,-97.3,2108,2502,3360,3332,662.1,-9.4,522,5607,0.00,2.47,0.00,0.000,260,0.000,0.084,2100,3896,3346,3361,3332,0,0,0,0,0,0,15.03,14.08,15.06
$GC,5650,-0.67,-97.3,2099,3896,3359,3332,667.0,-9.7,532,5656,0.00,2.30,0.00,0.000,1030,0.000,0.036,2100,2501,3346,3359,3333,0,0,0,0,0,0,14.47,14.40,14.50
$GC,5960,-0.67,-97.3,2099,2500,3357,3332,696.9,-9.5,549,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3344,3358,3331,0,0,0,0,0,0,15.03,15.07,15.06
$GC,6259,-0.67,-97.3,2099,2500,3357,3331,725.8,-9.6,564,6263,0.00,2.38,0.00,0.000,516,0.000,0.050,2100,1109,3343,3357,3330,0,0,0,0,0,0,15.04,14.26,15.07
$GC,6285,-0.67,-97.3,2099,1108,3356,3330,728.4,-10.6,569,6290,0.00,2.47,0.00,0.000,1030,0.000,0.059,2089,2504,3343,3356,3330,0,0,0,0,0,0,14.33,14.20,14.38
$GC,6603,-0.67,-97.3,2088,2504,3356,3330,760.3,-9.9,587,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2504,3343,3356,3330,0,0,0,0,0,0,15.03,15.06,15.05
$GC,6902,-0.67,-97.3,2088,2504,3355,3328,790.5,-10.1,602,6909,0.00,2.50,0.00,0.000,260,0.000,0.085,2078,3895,3341,3355,3328,0,0,0,0,0,0,15.04,14.06,15.07
$GC,6941,-0.67,-97.3,2077,3896,3355,3328,794.7,-10.7,610,6947,0.15,2.33,0.00,0.000,3078,0.195,0.037,2113,2495,3342,3355,3329,0,0,0,0,0,0,14.00,14.35,14.19
$GC,7260,-0.67,-97.3,2113,2494,3354,3327,821.9,-8.3,628,7267,0.00,2.53,0.00,0.000,260,0.000,0.085,2104,3890,3341,3355,3327,0,0,0,0,0,0,15.02,13.98,15.04
$GC,7299,-0.67,-97.3,2104,3890,3354,3327,825.2,-8.6,636,7305,0.00,2.33,0.00,0.000,1030,0.000,0.037,2104,2492,3340,3354,3327,0,0,0,0,0,0,14.42,14.35,14.45
$GC,7620,-0.67,-97.3,2104,2491,3353,3326,852.0,-8.2,655,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2491,3339,3353,3326,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7919,-0.67,-97.3,2104,2491,3352,3326,877.1,-8.6,670,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2491,3339,3353,3326,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8219,-0.67,-97.3,2104,2491,3352,3325,903.6,-8.9,685,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2491,3338,3352,3325,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8521,-0.67,-97.3,2104,2491,3351,3324,930.7,-9.0,700,8525,0.00,2.58,0.00,0.000,260,0.000,0.087,2093,3892,3337,3351,3324,0,0,0,0,0,0,15.01,13.98,15.04
$GC,8552,-0.67,-97.3,2092,3893,3351,3324,933.8,-9.7,706,8559,0.00,2.33,0.00,0.000,1030,0.000,0.037,2093,2501,3337,3351,3324,0,0,0,0,0,0,14.39,14.31,14.42
$GC,8862,-0.67,-97.3,2092,2500,3350,3323,963.7,-9.5,723,8867,0.00,2.40,0.00,0.000,516,0.000,0.051,2093,1106,3336,3350,3323,0,0,0,0,0,0,15.04,14.16,15.06
$GC,8915,-0.67,-97.3,2092,1106,3350,3323,968.6,-9.3,733,8922,0.08,2.47,0.00,0.000,3078,0.174,0.061,2105,2499,3336,3349,3324,0,0,0,0,0,0,13.74,14.11,13.83
$STATE,9181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9181,begin apogee
$GC,9189,-0.15,0.0,2105,2499,3349,3323,991.3,-8.4,748,9286,0.62,0.00,92.70,1.984,10246,0.159,0.000,2279,2499,2968,3000,2936,0,0,0,0,0,0,13.83,13.97,12.73
$STATE,9287,end apogee,CONTROL_FINISHED_OK
$STATE,9287,begin climb
$GC,9292,0.67,97.3,2280,2500,2999,2936,993.6,0.0,753,9402,0.82,0.00,103.07,1.959,10758,0.089,0.000,2549,2499,2570,2602,2538,0,0,0,0,0,0,14.09,13.88,12.66
$GC,9704,0.67,97.3,2548,2499,2592,2534,971.7,7.9,792,9709,0.00,2.53,0.00,0.000,516,0.000,0.053,2560,1047,2563,2592,2534,0,0,0,0,0,0,14.87,14.36,14.90
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$STATE,21602,end climb,SURFACE_DEPTH_REACHED
$STATE,21603,begin surface coast
$STATE,21613,end surface coast,CONTROL_FINISHED_OK
$STATE,21613,begin surface
$SM_CCo,21635,61.88,0.511,1,0,929,500.17
$SM_GC,1.04,7.88,0.12,61.88,0.049,0.138,0.511,111,2519,929,-6.79,-0.74,500.17,0,0,0,0,1,0,14.44,14.38,13.54
$IRIDIUM_FIX,502.24,8032.26,110120,084350
$TT8_MAMPS,0.018725,0.159537
$HUMID,51.89
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,12.62,235.946
$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
$DEVICE_SECS,20.475,236.775,516.100,61.875,0.000,0.000,0.000,264.700,0.250,0.000,15.059,1662.809,16086.908,728.589,3040.747,595.964,0.000,2590.497,0.000,2751.403,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,909.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83315,1937
$CAP_FILE_SIZE,210782,0
$CFSIZE,260034560,122380288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.149,248.44,1
$GPS,110120,205509,507.126,8030.020,16,0.9,16,-2.2,0.8,235.3,8,5.7