version: 66.13
glider: 171
mission: 11
dive: 711
start: 1 13 120 3 19 53
data:
$ID,171
$MISSION,11
$DIVE,711
$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,49
$R_STBD_OVSHOOT,26
$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
$GPS1,130120,030840,504.9764,8029.5171,16,1.7,17,-2.2,0.8,268.8,5,7.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.7
$GPS2,130120,031903,504.9210,8029.0923,3,1.7,6,-2.2,1.0,263.5,5,8.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,19.5,9554,-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,-97.3,68,2496,969,881,0.0,0.0,0,89,0.00,0.00,-76.72,0.005,16386,0.000,0.000,66,2497,2710,2710,2711,0,0,0,0,0,0,14.83,28.83,14.86
$GC,94,-0.67,-97.3,66,2496,2711,2711,4.4,-11.0,16,124,9.50,2.42,-12.85,0.010,18692,0.346,0.090,2097,3896,3367,3382,3353,0,0,0,0,0,0,13.86,13.38,14.32
$GC,152,-0.67,-97.3,2097,3896,3382,3353,24.9,-31.3,28,156,0.00,2.28,0.00,0.000,1030,0.000,0.035,2097,2497,3367,3382,3353,0,0,0,0,0,0,14.55,14.48,14.58
$GC,342,-0.67,-97.3,2097,2496,3382,3353,70.2,-17.7,55,347,0.00,2.45,0.00,0.000,260,0.000,0.074,2086,3902,3367,3382,3353,0,0,0,0,0,0,14.93,14.29,14.95
$GC,506,-0.67,-97.3,2086,3902,3382,3353,98.0,-15.5,87,512,0.00,2.28,0.00,0.000,1030,0.000,0.031,2086,2489,3367,3382,3353,0,0,0,0,0,0,14.59,14.52,14.61
$GC,700,-0.67,-97.3,2086,2488,3383,3353,126.7,-14.8,107,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2488,3368,3383,3353,0,0,0,0,0,0,15.01,15.04,15.04
$GC,879,-0.67,-97.3,2086,2488,3383,3353,152.5,-14.9,125,886,0.00,2.45,0.00,0.000,260,0.000,0.077,2075,3893,3367,3382,3353,0,0,0,0,0,0,15.03,14.29,15.06
$GC,969,-0.67,-97.3,2075,3893,3383,3353,166.1,-14.7,143,975,0.15,2.22,0.00,0.000,3078,0.216,0.031,2110,2493,3368,3383,3353,0,0,0,0,0,0,14.15,14.56,14.37
$GC,1163,-0.67,-97.3,2110,2492,3383,3353,188.8,-11.9,163,1168,0.00,2.47,0.00,0.000,260,0.000,0.079,2101,3898,3368,3383,3353,0,0,0,0,0,0,15.03,14.29,15.06
$GC,1220,-0.67,-97.3,2101,3897,3382,3353,196.2,-12.3,174,1225,0.00,2.22,0.00,0.000,1030,0.000,0.031,2101,2504,3367,3382,3353,0,0,0,0,0,0,14.62,14.55,14.64
$GC,1407,-0.67,-97.3,2101,2503,3381,3353,218.0,-11.6,193,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2503,3367,3381,3353,0,0,0,0,0,0,15.02,15.06,15.05
$GC,1586,-0.67,-97.3,2101,2503,3379,3353,238.8,-11.5,211,1591,0.00,2.45,0.00,0.000,260,0.000,0.080,2090,3896,3365,3378,3352,0,0,0,0,0,0,15.04,14.28,15.07
$GC,1639,-0.67,-97.3,2089,3896,3378,3353,245.1,-12.3,221,1644,0.00,2.25,0.00,0.000,1030,0.000,0.032,2090,2502,3365,3378,3353,0,0,0,0,0,0,14.60,14.54,14.63
$GC,1842,-0.67,-97.3,2089,2501,3376,3352,270.5,-12.6,234,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3364,3376,3353,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2141,-0.67,-97.3,2090,2500,3374,3350,306.3,-11.7,249,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3362,3374,3350,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2443,-0.67,-97.3,2090,2500,3372,3347,339.2,-11.1,264,2449,0.00,2.47,0.00,0.000,260,0.000,0.080,2080,3897,3359,3372,3347,0,0,0,0,0,0,15.04,14.24,15.06
$GC,2511,-0.67,-97.3,2079,3897,3371,3347,347.6,-12.0,278,2519,0.12,2.28,0.00,0.000,3078,0.207,0.033,2108,2492,3359,3371,3347,0,0,0,0,0,0,14.19,14.52,14.37
$GC,2822,-0.67,-97.3,2108,2491,3370,3344,378.9,-9.7,295,2826,0.00,2.30,0.00,0.000,516,0.000,0.047,2108,1115,3357,3370,3344,0,0,0,0,0,0,15.05,14.38,15.08
$GC,2864,-0.67,-97.3,2108,1115,3368,3344,383.0,-9.4,303,2869,0.00,2.40,0.00,0.000,1030,0.000,0.057,2099,2506,3356,3368,3344,0,0,0,0,0,0,14.45,14.33,14.50
$GC,3186,-0.67,-97.3,2099,2506,3367,3341,416.0,-10.7,322,3193,0.00,2.45,0.00,0.000,260,0.000,0.082,2088,3894,3353,3366,3341,0,0,0,0,0,0,15.06,14.21,15.08
$GC,3258,-0.67,-97.3,2088,3894,3366,3340,423.8,-11.0,336,3262,0.00,2.28,0.00,0.000,1030,0.000,0.033,2088,2498,3354,3366,3342,0,0,0,0,0,0,14.56,14.49,14.58
$GC,3569,-0.67,-97.3,2088,2497,3365,3339,459.6,-11.4,353,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2497,3351,3365,3338,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3869,-0.67,-97.3,2088,2497,3363,3337,493.5,-11.1,368,3874,0.00,2.53,0.00,0.000,260,0.000,0.082,2077,3897,3350,3363,3337,0,0,0,0,0,0,15.05,14.16,15.08
$GC,3897,-0.67,-97.3,2077,3897,3362,3337,496.6,-11.7,373,3904,0.10,2.28,0.00,0.000,3078,0.171,0.034,2107,2499,3349,3362,3337,0,0,0,0,0,0,14.03,14.40,14.14
$GC,4216,-0.67,-97.3,2107,2497,3362,3335,526.8,-9.1,391,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3348,3362,3335,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4516,-0.67,-97.3,2107,2497,3360,3333,553.3,-8.8,406,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2497,3346,3360,3333,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4817,-0.67,-97.3,2107,2497,3359,3332,579.8,-8.7,421,4823,0.00,2.50,0.00,0.000,260,0.000,0.083,2098,3891,3345,3358,3332,0,0,0,0,0,0,15.03,14.09,15.06
$GC,4841,-0.67,-97.3,2098,3891,3358,3332,582.0,-9.3,426,4845,0.00,2.28,0.00,0.000,1030,0.000,0.034,2098,2502,3345,3358,3332,0,0,0,0,0,0,14.50,14.43,14.53
$GC,5158,-0.67,-97.3,2098,2500,3356,3331,612.2,-9.6,444,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2500,3344,3357,3331,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5459,-0.67,-97.3,2098,2500,3356,3330,641.9,-10.1,459,5463,0.00,2.50,0.00,0.000,260,0.000,0.084,2087,3890,3342,3356,3329,0,0,0,0,0,0,15.04,14.09,15.06
$GC,5500,-0.67,-97.3,2087,3890,3355,3329,646.5,-10.8,467,5506,0.00,2.30,0.00,0.000,1030,0.000,0.035,2087,2494,3342,3356,3329,0,0,0,0,0,0,14.48,14.40,14.51
$GC,5824,-0.67,-97.3,2087,2493,3354,3328,681.5,-10.8,486,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3341,3355,3328,0,0,0,0,0,0,15.03,15.07,15.05
$GC,6123,-0.67,-97.3,2087,2493,3353,3327,713.9,-10.8,501,6129,0.00,2.38,0.00,0.000,516,0.000,0.050,2087,1103,3340,3353,3327,0,0,0,0,0,0,15.04,14.25,15.07
$GC,6153,-0.67,-97.3,2086,1103,3353,3327,717.2,-11.4,507,6159,0.15,2.45,0.00,0.000,3078,0.196,0.058,2112,2499,3340,3353,3327,0,0,0,0,0,0,13.97,14.21,14.17
$GC,6468,-0.67,-97.3,2111,2499,3352,3326,747.1,-9.5,524,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2499,3339,3352,3326,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6766,-0.67,-97.3,2111,2499,3352,3324,774.3,-8.9,539,6770,0.00,2.50,0.00,0.000,260,0.000,0.085,2103,3890,3338,3352,3324,0,0,0,0,0,0,15.04,14.04,15.07
$GC,6808,-0.67,-97.3,2102,3890,3351,3324,778.2,-9.3,547,6813,0.00,2.30,0.00,0.000,1030,0.000,0.035,2103,2499,3338,3352,3324,0,0,0,0,0,0,14.44,14.37,14.47
$GC,7131,-0.67,-97.3,2102,2498,3351,3324,807.3,-8.8,566,7138,0.00,2.38,0.00,0.000,516,0.000,0.050,2103,1109,3336,3350,3323,0,0,0,0,0,0,15.02,14.21,15.05
$GC,7155,-0.67,-97.3,2102,1109,3350,3323,809.7,-9.9,571,7160,0.00,2.47,0.00,0.000,1030,0.000,0.057,2091,2504,3336,3350,3323,0,0,0,0,0,0,14.29,14.16,14.34
$GC,7473,-0.67,-97.3,2091,2504,3350,3322,839.5,-9.4,589,7479,0.00,2.50,0.00,0.000,260,0.000,0.084,2081,3891,3335,3349,3322,0,0,0,0,0,0,15.04,14.02,15.06
$GC,7551,-0.67,-97.3,2081,3891,3349,3322,846.8,-9.9,604,7558,0.12,2.33,0.00,0.000,3078,0.201,0.036,2110,2496,3335,3349,3322,0,0,0,0,0,0,14.01,14.33,14.18
$GC,7878,-0.67,-97.3,2110,2494,3348,3321,873.6,-8.1,624,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2495,3334,3348,3321,0,0,0,0,0,0,15.01,15.04,15.04
$GC,8176,-0.67,-97.3,2110,2494,3348,3320,897.5,-7.9,639,8182,0.00,2.58,0.00,0.000,260,0.000,0.086,2101,3894,3334,3348,3321,0,0,0,0,0,0,15.02,13.99,15.05
$GC,8209,-0.67,-97.3,2101,3894,3347,3320,900.3,-8.4,645,8215,0.00,2.33,0.00,0.000,1030,0.000,0.036,2101,2500,3333,3347,3320,0,0,0,0,0,0,14.40,14.33,14.42
$GC,8519,-0.67,-97.3,2100,2499,3347,3320,926.8,-8.7,662,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3333,3347,3320,0,0,0,0,0,0,15.03,15.06,15.06
$GC,8820,-0.67,-97.3,2100,2499,3345,3320,952.7,-8.7,677,8826,0.00,2.40,0.00,0.000,516,0.000,0.050,2100,1109,3332,3345,3320,0,0,0,0,0,0,15.02,14.16,15.04
$GC,8849,-0.67,-97.3,2100,1109,3345,3320,955.5,-9.5,683,8854,0.00,2.47,0.00,0.000,1030,0.000,0.058,2090,2498,3332,3344,3320,0,0,0,0,0,0,14.23,14.10,14.28
$GC,9163,-0.67,-97.3,2089,2498,3343,3320,985.8,-9.8,700,9169,0.00,2.50,0.00,0.000,260,0.000,0.086,2079,3888,3331,3344,3319,0,0,0,0,0,0,15.02,13.91,15.04
$STATE,9203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9203,begin apogee
$GC,9214,-0.15,0.0,2079,2443,3343,3320,990.5,-10.6,709,9309,0.73,0.00,91.50,1.980,10246,0.165,0.000,2279,2443,2968,3000,2936,0,0,0,0,0,0,13.77,13.99,12.74
$STATE,9310,end apogee,CONTROL_FINISHED_OK
$STATE,9310,begin climb
$GC,9314,0.67,97.3,2280,2443,2999,2936,994.1,0.0,714,9425,0.82,0.00,104.82,1.962,10246,0.088,0.000,2550,2443,2570,2601,2540,0,0,0,0,0,0,14.11,13.89,12.68
$GC,9732,0.67,97.3,2549,2443,2592,2535,974.6,7.6,735,9737,0.00,2.40,0.00,0.000,516,0.000,0.051,2560,1044,2563,2591,2535,0,0,0,0,0,0,14.84,14.35,14.86
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$STATE,22047,end climb,SURFACE_DEPTH_REACHED
$STATE,22047,begin surface coast
$STATE,22058,end surface coast,CONTROL_FINISHED_OK
$STATE,22058,begin surface
$SM_CCo,22081,89.85,0.594,1,0,928,500.17
$SM_GC,1.06,7.95,2.25,89.85,0.051,0.036,0.594,112,2508,928,-6.78,2.01,500.17,0,0,0,0,1,0,14.43,14.41,13.53
$IRIDIUM_FIX,506.53,8030.12,130120,031316
$TT8_MAMPS,0.019474,0.156541
$HUMID,51.92
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,12.68,237.735
$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,20.350,212.175,488.250,89.850,0.000,0.000,0.000,345.850,0.250,0.000,18.382,1624.119,16776.502,755.622,3037.531,596.643,0.000,2619.399,0.000,2676.611,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,89.505,1979.820,593.640,0.000,0.000,0.000,190.485,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,912.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249884
$DATA_FILE_SIZE,83156,1884
$CAP_FILE_SIZE,206260,0
$CFSIZE,260034560,121823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,265.46,1
$GPS,130120,093040,506.307,8028.461,25,1.3,26,-2.2,1.5,264.8,6,9.6