version: 66.13
glider: 171
mission: 11
dive: 712
start: 1 13 120 9 38 36
data:
$ID,171
$MISSION,11
$DIVE,712
$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,59
$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
$GPS1,130120,093040,506.3074,8028.4609,25,1.3,26,-2.2,1.5,264.8,6,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.9
$GPS2,130120,093742,506.3211,8028.1338,2,0.6,3,-2.2,1.2,285.5,12,6.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R8
$TGT_LATLONG,510.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,61.2,7633,-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,-97.3,78,2505,973,877,0.0,0.0,0,93,0.00,0.00,-81.47,0.005,16386,0.000,0.000,77,2506,2830,2827,2833,0,0,0,0,0,0,14.82,28.83,14.85
$GC,98,-0.67,-97.3,77,2506,2828,2833,5.3,-15.8,17,124,9.40,2.38,-9.95,0.011,18948,0.342,0.069,2106,1113,3367,3380,3354,0,0,0,0,0,0,13.84,12.63,14.30
$GC,138,-0.67,-97.3,2105,1113,3380,3354,21.6,-38.8,25,145,0.00,2.38,0.00,0.000,1030,0.000,0.058,2097,2495,3367,3380,3354,0,0,0,0,0,0,14.48,14.37,14.52
$GC,330,-0.67,-97.3,2096,2495,3380,3354,71.2,-19.4,53,336,0.00,2.42,0.00,0.000,260,0.000,0.077,2086,3894,3367,3380,3354,0,0,0,0,0,0,14.92,14.27,14.95
$GC,405,-0.67,-97.3,2085,3894,3380,3354,84.5,-14.9,68,410,0.00,2.25,0.00,0.000,1030,0.000,0.031,2085,2493,3367,3380,3354,0,0,0,0,0,0,14.57,14.50,14.59
$GC,588,-0.67,-97.3,2085,2492,3381,3354,113.0,-15.4,87,595,0.00,2.45,0.00,0.000,260,0.000,0.079,2075,3894,3367,3381,3354,0,0,0,0,0,0,15.00,14.28,15.02
$GC,673,-0.67,-97.3,2075,3893,3382,3354,126.2,-15.0,104,679,0.15,2.25,0.00,0.000,3078,0.220,0.031,2109,2492,3368,3382,3354,0,0,0,0,0,0,14.10,14.52,14.33
$GC,860,-0.67,-97.3,2109,2491,3383,3354,151.9,-14.1,123,867,0.00,2.47,0.00,0.000,260,0.000,0.079,2100,3902,3369,3385,3354,0,0,0,0,0,0,15.01,14.28,15.03
$GC,939,-0.67,-97.3,2099,3902,3382,3354,162.8,-13.1,139,943,0.00,2.25,0.00,0.000,1030,0.000,0.031,2099,2498,3368,3383,3354,0,0,0,0,0,0,14.59,14.53,14.62
$GC,1131,-0.67,-97.3,2099,2497,3382,3354,185.8,-12.0,159,1135,0.00,2.30,0.00,0.000,516,0.000,0.046,2099,1105,3368,3383,3354,0,0,0,0,0,0,15.01,14.43,15.04
$GC,1163,-0.67,-97.3,2099,1105,3382,3354,189.6,-12.1,165,1167,0.00,2.40,0.00,0.000,1030,0.000,0.055,2089,2505,3368,3382,3354,0,0,0,0,0,0,14.48,14.37,14.53
$GC,1356,-0.67,-97.3,2088,2505,3381,3354,214.9,-13.4,185,1362,0.00,2.42,0.00,0.000,260,0.000,0.080,2078,3896,3367,3381,3354,0,0,0,0,0,0,15.02,14.27,15.04
$GC,1404,-0.67,-97.3,2078,3896,3381,3354,221.7,-13.8,195,1409,0.12,2.25,0.00,0.000,3078,0.212,0.031,2107,2494,3367,3381,3354,0,0,0,0,0,0,14.18,14.52,14.37
$GC,1596,-0.67,-97.3,2107,2493,3379,3354,243.8,-11.0,215,1603,0.00,2.47,0.00,0.000,260,0.000,0.080,2098,3897,3366,3379,3354,0,0,0,0,0,0,15.04,14.26,15.07
$GC,1702,-0.67,-97.3,2098,3896,3378,3354,255.5,-11.0,236,1707,0.00,2.25,0.00,0.000,1030,0.000,0.031,2098,2498,3366,3378,3354,0,0,0,0,0,0,14.58,14.52,14.61
$GC,2019,-0.67,-97.3,2098,2497,3375,3353,290.1,-11.2,254,2024,0.00,2.35,0.00,0.000,516,0.000,0.047,2098,1104,3364,3375,3353,0,0,0,0,0,0,15.04,14.39,15.07
$GC,2082,-0.67,-97.3,2098,1103,3374,3353,296.5,-10.3,266,2088,0.00,2.42,0.00,0.000,1030,0.000,0.057,2087,2507,3363,3374,3352,0,0,0,0,0,0,14.46,14.34,14.50
$GC,2401,-0.67,-97.3,2087,2507,3374,3348,332.5,-11.6,285,2408,0.00,2.45,0.00,0.000,260,0.000,0.082,2076,3900,3360,3373,3348,0,0,0,0,0,0,15.05,14.22,15.07
$GC,2496,-0.67,-97.3,2076,3900,3373,3348,344.2,-12.3,304,2502,0.15,2.28,0.00,0.000,3078,0.197,0.034,2112,2504,3360,3372,3348,0,0,0,0,0,0,14.13,14.48,14.32
$GC,2801,-0.67,-97.3,2112,2503,3372,3345,375.9,-10.4,320,2806,0.00,2.35,0.00,0.000,516,0.000,0.048,2112,1107,3358,3371,3345,0,0,0,0,0,0,15.05,14.36,15.07
$GC,2833,-0.67,-97.3,2112,1108,3371,3345,379.3,-10.4,326,2839,0.00,2.42,0.00,0.000,1030,0.000,0.057,2103,2507,3358,3371,3345,0,0,0,0,0,0,14.43,14.31,14.47
$GC,3144,-0.67,-97.3,2103,2507,3369,3342,412.8,-10.9,343,3149,0.00,2.47,0.00,0.000,260,0.000,0.083,2092,3894,3355,3369,3342,0,0,0,0,0,0,15.04,14.18,15.07
$GC,3211,-0.67,-97.3,2091,3894,3368,3343,420.4,-11.2,356,3216,0.00,2.28,0.00,0.000,1030,0.000,0.035,2091,2500,3355,3368,3342,0,0,0,0,0,0,14.54,14.47,14.57
$GC,3528,-0.67,-97.3,2091,2499,3367,3340,456.9,-11.8,374,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2498,3353,3367,3340,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3829,-0.67,-97.3,2091,2498,3366,3338,493.1,-12.1,389,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3352,3366,3338,0,0,0,0,0,0,15.03,15.06,15.05
$GC,4128,-0.67,-97.3,2091,2498,3363,3337,529.8,-12.2,404,4133,0.00,2.53,0.00,0.000,260,0.000,0.084,2081,3899,3350,3363,3337,0,0,0,0,0,0,15.04,14.14,15.07
$GC,4157,-0.67,-97.3,2081,3899,3363,3337,533.4,-13.0,409,4164,0.12,2.30,0.00,0.000,3078,0.200,0.035,2110,2499,3350,3363,3337,0,0,0,0,0,0,14.12,14.42,14.29
$GC,4472,-0.67,-97.3,2110,2498,3362,3335,567.4,-10.5,427,4476,0.00,2.35,0.00,0.000,516,0.000,0.048,2110,1112,3348,3362,3335,0,0,0,0,0,0,15.03,14.30,15.06
$GC,4508,-0.67,-97.3,2110,1109,3362,3335,571.3,-10.3,434,4515,0.00,2.45,0.00,0.000,1030,0.000,0.057,2101,2504,3348,3362,3335,0,0,0,0,0,0,14.36,14.23,14.41
$GC,4835,-0.67,-97.3,2101,2504,3361,3333,605.2,-10.3,454,4839,0.00,2.50,0.00,0.000,260,0.000,0.085,2090,3899,3347,3361,3333,0,0,0,0,0,0,15.03,14.09,15.06
$GC,4906,-0.67,-97.3,2089,3899,3361,3333,613.1,-10.6,468,4911,0.00,2.30,0.00,0.000,1030,0.000,0.035,2090,2502,3346,3360,3333,0,0,0,0,0,0,14.47,14.40,14.50
$GC,5219,-0.67,-97.3,2089,2500,3359,3332,646.2,-10.5,485,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3345,3359,3332,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5520,-0.67,-97.3,2089,2500,3357,3331,677.9,-10.4,500,5524,0.00,2.53,0.00,0.000,260,0.000,0.086,2079,3893,3343,3357,3330,0,0,0,0,0,0,15.03,14.07,15.06
$GC,5547,-0.67,-97.3,2079,3893,3357,3331,680.9,-11.3,505,5554,0.12,2.30,0.00,0.000,3078,0.200,0.035,2108,2499,3344,3357,3331,0,0,0,0,0,0,14.06,14.38,14.24
$GC,5863,-0.67,-97.3,2107,2497,3356,3330,710.2,-9.1,523,5867,0.00,2.38,0.00,0.000,516,0.000,0.050,2108,1108,3343,3356,3330,0,0,0,0,0,0,15.03,14.23,15.05
$GC,5909,-0.67,-97.3,2107,1108,3356,3330,714.6,-9.1,532,5915,0.00,2.47,0.00,0.000,1030,0.000,0.058,2098,2505,3343,3356,3330,0,0,0,0,0,0,14.31,14.17,14.35
$GC,6227,-0.67,-97.3,2097,2505,3356,3328,745.3,-9.8,550,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2505,3342,3356,3328,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6529,-0.67,-97.3,2098,2505,3355,3327,775.0,-9.9,565,6535,0.00,2.50,0.00,0.000,260,0.000,0.086,2087,3903,3341,3355,3327,0,0,0,0,0,0,15.02,14.00,15.04
$GC,6572,-0.67,-97.3,2087,3903,3355,3327,779.6,-10.4,574,6576,0.00,2.33,0.00,0.000,1030,0.000,0.036,2087,2501,3341,3355,3327,0,0,0,0,0,0,14.42,14.35,14.45
$GC,6888,-0.67,-97.3,2086,2500,3354,3326,812.0,-10.2,592,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2500,3340,3354,3326,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7188,-0.67,-97.3,2086,2500,3353,3325,842.4,-10.1,607,7193,0.00,2.58,0.00,0.000,260,0.000,0.089,2076,3897,3339,3353,3325,0,0,0,0,0,0,15.04,13.99,15.06
$GC,7220,-0.67,-97.3,2076,3898,3353,3325,845.7,-10.7,613,7227,0.15,2.33,0.00,0.000,3078,0.191,0.037,2112,2500,3338,3352,3325,0,0,0,0,0,0,13.96,14.32,14.16
$GC,7531,-0.67,-97.3,2112,2499,3352,3324,872.8,-8.7,630,7535,0.00,2.38,0.00,0.000,516,0.000,0.050,2112,1109,3338,3352,3324,0,0,0,0,0,0,15.02,14.17,15.04
$GC,7557,-0.67,-97.3,2111,1108,3351,3324,875.3,-9.6,635,7561,0.00,2.50,0.00,0.000,1030,0.000,0.058,2103,2508,3338,3352,3324,0,0,0,0,0,0,14.24,14.12,14.29
$GC,7874,-0.67,-97.3,2102,2508,3351,3323,904.4,-9.3,653,7881,0.00,2.53,0.00,0.000,260,0.000,0.088,2091,3897,3337,3351,3323,0,0,0,0,0,0,15.02,13.97,15.05
$GC,7915,-0.67,-97.3,2091,3897,3351,3323,908.3,-10.0,661,7920,0.00,2.33,0.00,0.000,1030,0.000,0.037,2091,2505,3337,3351,3323,0,0,0,0,0,0,14.38,14.30,14.40
$GC,8237,-0.67,-97.3,2091,2502,3350,3323,940.5,-10.0,680,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3336,3350,3323,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8537,-0.67,-97.3,2091,2502,3349,3322,969.2,-9.6,695,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3336,3350,3322,0,0,0,0,0,0,15.03,15.06,15.05
$STATE,8773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8773,begin apogee
$GC,8783,-0.15,0.0,2091,2426,3349,3321,991.8,-9.3,707,8879,0.68,0.00,92.62,1.975,10246,0.168,0.000,2276,2424,2968,3002,2934,0,0,0,0,0,0,13.76,13.99,12.75
$STATE,8880,end apogee,CONTROL_FINISHED_OK
$STATE,8880,begin climb
$GC,8884,0.67,97.3,2276,2424,3001,2934,994.6,0.0,712,8996,0.85,2.40,104.82,1.961,10756,0.090,0.050,2563,1058,2570,2605,2536,0,0,0,0,0,0,14.08,13.83,12.65
$GC,9032,0.71,141.6,2562,1058,2599,2534,993.1,5.6,727,9086,0.00,2.45,46.10,1.929,9254,0.000,0.055,2563,2444,2389,2430,2349,0,0,0,0,0,0,14.29,14.19,12.68
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$STATE,20107,end climb,SURFACE_DEPTH_REACHED
$STATE,20108,begin surface coast
$STATE,20136,end surface coast,CONTROL_FINISHED_OK
$STATE,20137,begin surface
$SM_CCo,20161,131.75,0.636,1,0,928,500.17
$SM_GC,1.26,7.40,2.60,131.75,0.046,0.060,0.636,115,2502,928,-6.79,-0.76,500.17,0,0,0,0,1,0,14.54,14.33,13.56
$IRIDIUM_FIX,504.33,8027.99,130120,031525
$TT8_MAMPS,0.018725,0.161784
$HUMID,48.77
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.63,238.042
$10V_AH,13.15,0.000
$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,20.350,231.075,454.700,131.750,0.000,0.000,0.000,270.500,0.250,0.000,15.200,1609.325,14899.472,756.662,2880.058,575.011,0.000,2506.093,0.000,2586.949,0.000,0.540,0.000
$DEVICE_MAMPS,341.955,200.430,1975.230,635.715,0.000,0.000,0.000,175.185,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,895.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249932
$DATA_FILE_SIZE,79918,1820
$CAP_FILE_SIZE,201280,0
$CFSIZE,260034560,121737216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.070,258.88,1
$GPS,130120,151800,506.920,8028.993,19,0.9,19,-2.2,1.5,257.8,8,3.4