version: 66.13
glider: 171
mission: 11
dive: 709
start: 1 12 120 15 14 37
data:
$ID,171
$MISSION,11
$DIVE,709
$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,69
$R_STBD_OVSHOOT,32
$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
$GPS1,120120,150700,503.3955,8029.5464,22,1.1,22,-2.2,1.3,255.3,6,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.2
$GPS2,120120,151344,503.3586,8029.2466,2,0.8,3,-2.2,1.3,256.3,12,8.1
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,27.3,12378,-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,6,begin dive
$GC,10,-0.67,-97.3,65,2482,968,882,0.0,0.0,0,88,0.00,0.00,-76.03,0.005,16386,0.000,0.000,65,2483,2705,2701,2710,0,0,0,0,0,0,14.83,28.83,14.85
$GC,93,-0.67,-97.3,65,2483,2703,2710,4.7,-12.2,16,123,9.48,2.45,-12.73,0.010,18692,0.343,0.091,2093,3891,3366,3381,3352,0,0,0,0,0,0,13.85,13.38,14.31
$GC,177,-0.67,-97.3,2093,3891,3382,3351,33.7,-29.5,33,181,0.00,2.22,0.00,0.000,1030,0.000,0.034,2093,2519,3366,3381,3352,0,0,0,0,0,0,14.54,14.47,14.57
$GC,370,-0.67,-97.3,2093,2518,3381,3352,73.4,-17.5,59,375,0.00,2.42,0.00,0.000,260,0.000,0.085,2083,3887,3366,3381,3352,0,0,0,0,0,0,14.95,14.25,14.97
$GC,474,-0.67,-97.3,2083,3887,3381,3352,90.9,-17.1,79,479,0.00,2.25,0.00,0.000,1030,0.000,0.033,2083,2491,3367,3382,3352,0,0,0,0,0,0,14.58,14.52,14.61
$GC,666,-0.67,-97.3,2083,2490,3382,3352,121.9,-15.0,99,672,0.12,2.30,0.00,0.000,2564,0.241,0.043,2111,1099,3367,3382,3352,0,0,0,0,0,0,14.33,14.44,14.43
$GC,720,-0.67,-97.3,2110,1099,3382,3352,129.2,-12.7,109,726,0.00,2.38,0.00,0.000,1030,0.000,0.054,2101,2497,3367,3382,3352,0,0,0,0,0,0,14.52,14.40,14.55
$GC,909,-0.67,-97.3,2100,2497,3382,3352,152.9,-12.3,129,913,0.00,2.42,0.00,0.000,260,0.000,0.080,2090,3891,3367,3382,3352,0,0,0,0,0,0,15.03,14.31,15.06
$GC,1006,-0.67,-97.3,2090,3892,3383,3352,165.2,-13.0,148,1010,0.00,2.25,0.00,0.000,1030,0.000,0.031,2090,2490,3367,3383,3351,0,0,0,0,0,0,14.62,14.55,14.64
$GC,1192,-0.67,-97.3,2090,2489,3382,3351,190.0,-14.0,167,1196,0.00,2.50,0.00,0.000,260,0.000,0.088,2079,3897,3366,3382,3351,0,0,0,0,0,0,15.02,14.26,15.05
$GC,1215,-0.67,-97.3,2079,3897,3382,3351,193.3,-14.1,171,1221,0.12,2.25,0.00,0.000,3078,0.214,0.032,2107,2490,3366,3382,3351,0,0,0,0,0,0,14.21,14.56,14.40
$GC,1412,-0.67,-97.3,2107,2490,3380,3351,217.7,-11.7,191,1416,0.00,2.50,0.00,0.000,260,0.000,0.090,2098,3891,3365,3380,3351,0,0,0,0,0,0,15.00,14.23,15.03
$GC,1443,-0.67,-97.3,2098,3892,3380,3351,222.0,-12.1,197,1448,0.00,2.22,0.00,0.000,1030,0.000,0.032,2098,2502,3365,3380,3351,0,0,0,0,0,0,14.61,14.55,14.64
$GC,1635,-0.67,-97.3,2098,2502,3378,3351,244.7,-11.9,217,1639,0.00,2.47,0.00,0.000,260,0.000,0.085,2087,3892,3364,3378,3351,0,0,0,0,0,0,15.04,14.27,15.07
$GC,1727,-0.67,-97.3,2087,3891,3377,3351,256.1,-12.5,235,1732,0.00,2.28,0.00,0.000,1030,0.000,0.033,2087,2493,3364,3377,3351,0,0,0,0,0,0,14.59,14.53,14.62
$GC,2040,-0.67,-97.3,2087,2492,3373,3351,294.3,-11.9,252,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3362,3373,3351,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2341,-0.67,-97.3,2087,2492,3372,3347,331.1,-12.1,267,2345,0.00,2.50,0.00,0.000,260,0.000,0.083,2076,3898,3359,3372,3347,0,0,0,0,0,0,15.04,14.24,15.07
$GC,2388,-0.67,-97.3,2076,3899,3371,3347,337.1,-12.5,276,2395,0.15,2.28,0.00,0.000,3078,0.200,0.034,2112,2496,3359,3371,3347,0,0,0,0,0,0,14.16,14.52,14.35
$GC,2703,-0.67,-97.3,2111,2494,3370,3345,371.1,-10.6,294,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3357,3370,3345,0,0,0,0,0,0,15.05,15.09,15.08
$GC,3004,-0.67,-97.3,2111,2494,3367,3341,404.3,-11.1,309,3008,0.00,2.50,0.00,0.000,260,0.000,0.084,2103,3890,3354,3367,3341,0,0,0,0,0,0,15.04,14.21,15.07
$GC,3041,-0.67,-97.3,2103,3890,3367,3341,408.5,-11.3,316,3045,0.00,2.28,0.00,0.000,1030,0.000,0.034,2103,2501,3354,3367,3341,0,0,0,0,0,0,14.56,14.49,14.59
$GC,3346,-0.67,-97.3,2102,2500,3365,3339,443.6,-11.6,332,3350,0.00,2.50,0.00,0.000,260,0.000,0.085,2091,3895,3352,3366,3339,0,0,0,0,0,0,15.05,14.19,15.07
$GC,3389,-0.67,-97.3,2091,3896,3365,3339,448.6,-11.9,340,3393,0.00,2.30,0.00,0.000,1030,0.000,0.035,2091,2498,3352,3365,3339,0,0,0,0,0,0,14.54,14.47,14.57
$GC,3710,-0.67,-97.3,2091,2497,3363,3338,486.9,-11.8,359,3715,0.00,2.50,0.00,0.000,260,0.000,0.085,2081,3890,3350,3363,3337,0,0,0,0,0,0,15.05,14.18,15.07
$GC,3732,-0.67,-97.3,2081,3890,3362,3337,489.6,-11.9,363,3738,0.12,2.28,0.00,0.000,3078,0.203,0.035,2109,2497,3350,3362,3338,0,0,0,0,0,0,14.16,14.47,14.34
$GC,4056,-0.67,-97.3,2109,2496,3362,3335,523.7,-10.3,382,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3349,3362,3336,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4355,-0.67,-97.3,2109,2496,3360,3334,553.8,-9.7,397,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3347,3361,3334,0,0,0,0,0,0,15.05,15.09,15.08
$GC,4657,-0.67,-97.3,2109,2496,3358,3333,582.8,-9.7,412,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2496,3346,3359,3333,0,0,0,0,0,0,15.04,15.07,15.06
$GC,4955,-0.67,-97.3,2109,2496,3357,3332,613.4,-10.6,427,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2496,3344,3357,3331,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5255,-0.67,-97.3,2109,2496,3356,3330,645.8,-10.8,442,5260,0.00,2.53,0.00,0.000,260,0.000,0.086,2100,3891,3343,3356,3330,0,0,0,0,0,0,15.05,14.10,15.08
$GC,5298,-0.67,-97.3,2100,3891,3356,3330,650.5,-11.4,450,5303,0.00,2.30,0.00,0.000,1030,0.000,0.036,2100,2502,3343,3356,3330,0,0,0,0,0,0,14.48,14.41,14.51
$GC,5620,-0.67,-97.3,2100,2501,3355,3329,686.4,-10.9,469,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2502,3342,3355,3329,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5922,-0.67,-97.3,2100,2502,3354,3328,718.1,-10.5,484,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2502,3341,3354,3328,0,0,0,0,0,0,15.04,15.06,15.06
$GC,6220,-0.67,-97.3,2100,2501,3353,3327,748.3,-9.8,499,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2502,3340,3353,3327,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6520,-0.67,-97.3,2100,2502,3352,3326,776.0,-9.0,514,6527,0.00,2.55,0.00,0.000,260,0.000,0.092,2089,3893,3339,3352,3326,0,0,0,0,0,0,15.04,14.04,15.07
$GC,6572,-0.67,-97.3,2089,3893,3351,3325,780.7,-9.4,524,6576,0.00,2.30,0.00,0.000,1030,0.000,0.036,2089,2502,3338,3351,3325,0,0,0,0,0,0,14.45,14.38,14.47
$GC,6883,-0.67,-97.3,2089,2500,3350,3325,809.8,-9.1,541,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3337,3350,3325,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7183,-0.67,-97.3,2089,2500,3350,3324,837.2,-9.3,556,7190,0.00,2.53,0.00,0.000,260,0.000,0.086,2079,3889,3336,3350,3323,0,0,0,0,0,0,15.04,14.02,15.07
$GC,7220,-0.67,-97.3,2078,3889,3349,3323,840.6,-10.1,563,7225,0.12,2.33,0.00,0.000,3078,0.202,0.036,2108,2494,3336,3349,3323,0,0,0,0,0,0,14.02,14.34,14.19
$GC,7523,-0.67,-97.3,2108,2493,3349,3322,866.6,-8.5,579,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2493,3335,3348,3322,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7823,-0.67,-97.3,2108,2493,3348,3321,892.1,-8.6,594,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2493,3334,3348,3321,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8123,-0.67,-97.3,2108,2493,3347,3321,918.4,-8.8,609,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2493,3334,3347,3321,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8423,-0.67,-97.3,2108,2493,3347,3320,945.7,-9.0,624,8430,0.00,2.55,0.00,0.000,260,0.000,0.087,2099,3887,3333,3346,3320,0,0,0,0,0,0,15.04,13.97,15.05
$GC,8448,-0.67,-97.3,2098,3887,3346,3320,947.9,-9.8,629,8454,0.00,2.33,0.00,0.000,1030,0.000,0.036,2099,2495,3333,3346,3320,0,0,0,0,0,0,14.40,14.32,14.42
$GC,8764,-0.67,-97.3,2098,2494,3345,3320,977.0,-9.1,647,8769,0.00,2.42,0.00,0.000,516,0.000,0.051,2099,1103,3332,3345,3320,0,0,0,0,0,0,15.02,14.15,15.05
$GC,8792,-0.67,-97.3,2098,1103,3345,3319,979.7,-9.5,652,8799,0.00,2.47,0.00,0.000,1030,0.000,0.060,2088,2496,3332,3344,3320,0,0,0,0,0,0,14.24,14.11,14.29
$STATE,8904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8904,begin apogee
$GC,8913,-0.15,0.0,2088,2496,3344,3319,990.5,-9.5,660,9009,0.68,0.00,92.25,1.997,10246,0.165,0.000,2274,2496,2968,3000,2937,0,0,0,0,0,0,13.79,13.98,12.73
$STATE,9010,end apogee,CONTROL_FINISHED_OK
$STATE,9010,begin climb
$GC,9014,0.67,97.3,2275,2496,2999,2936,993.3,0.0,665,9128,0.85,2.58,103.68,1.975,10756,0.094,0.051,2560,1046,2570,2600,2540,0,0,0,0,0,0,14.08,13.95,12.67
$GC,9162,0.71,135.1,2559,1046,2595,2538,991.0,5.9,695,9209,0.00,2.47,39.33,1.919,9254,0.000,0.055,2560,2446,2416,2452,2381,0,0,0,0,0,0,14.31,14.21,12.68
$GC,9526,0.71,135.1,2559,2446,2443,2376,953.9,10.6,723,9530,0.00,2.42,0.00,0.000,516,0.000,0.052,2572,1047,2409,2443,2376,0,0,0,0,0,0,14.88,14.37,14.90
$GC,9574,0.71,135.1,2571,1047,2442,2375,948.8,11.0,732,9581,0.00,2.45,0.00,0.000,1030,0.000,0.060,2572,2442,2408,2442,2375,0,0,0,0,0,0,14.46,14.36,14.48
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$STATE,20386,end climb,SURFACE_DEPTH_REACHED
$STATE,20386,begin surface coast
$STATE,20406,end surface coast,CONTROL_FINISHED_OK
$STATE,20406,begin surface
$SM_CCo,20428,113.30,0.619,1,0,928,500.17
$SM_GC,1.23,7.45,0.12,113.30,0.044,0.161,0.619,115,2511,928,-6.77,-0.57,500.17,0,0,0,0,1,0,14.50,14.40,13.57
$IRIDIUM_FIX,502.24,8032.26,120120,090014
$TT8_MAMPS,0.018725,0.158039
$HUMID,50.35
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.67,237.138
$10V_AH,12.59,0.000
$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,20.175,198.300,469.525,113.300,0.000,0.000,0.000,252.750,0.000,0.000,14.834,1489.680,15459.873,728.912,2718.010,550.033,0.000,2411.723,0.000,2449.682,0.000,0.540,0.000
$DEVICE_MAMPS,343.485,160.650,1996.650,618.885,0.000,0.000,0.000,179.775,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,890.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249952
$DATA_FILE_SIZE,76518,1723
$CAP_FILE_SIZE,192495,0
$CFSIZE,260034560,122032128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.140,258.71,1
$GPS,120120,205809,504.662,8028.624,22,1.0,22,-2.2,1.3,277.9,6,6.9