version: 66.13
glider: 171
mission: 11
dive: 748
start: 1 22 120 5 11 5
data:
$ID,171
$MISSION,11
$DIVE,748
$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,64
$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
$GPS1,220120,050409,504.2892,8029.2837,24,1.2,24,-2.2,1.6,280.9,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.5
$GPS2,220120,051011,504.2579,8029.1514,2,0.6,2,-2.2,1.1,222.3,12,8.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,161.3,8040,-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,-97.3,101,2505,973,877,0.0,0.0,0,88,0.00,0.00,-76.38,0.005,16386,0.000,0.000,99,2506,2751,2750,2753,0,0,0,0,0,0,14.83,28.83,14.86
$GC,93,-0.67,-97.3,99,2506,2751,2753,5.6,-16.0,16,119,9.30,2.40,-10.98,0.011,18948,0.345,0.075,2104,1117,3367,3382,3353,0,0,0,0,0,0,13.87,12.64,14.33
$GC,227,-0.67,-97.3,2104,1117,3382,3353,51.6,-29.5,43,232,0.00,2.42,0.00,0.000,1030,0.000,0.066,2095,2497,3367,3382,3353,0,0,0,0,0,0,14.38,14.23,14.42
$GC,412,-0.67,-97.3,2095,2497,3382,3353,94.4,-19.2,62,419,0.00,2.45,0.00,0.000,260,0.000,0.081,2084,3900,3367,3382,3353,0,0,0,0,0,0,14.97,14.18,15.00
$GC,568,-0.67,-97.3,2084,3900,3382,3353,122.2,-15.5,93,573,0.00,2.25,0.00,0.000,1030,0.000,0.034,2084,2510,3367,3382,3353,0,0,0,0,0,0,14.50,14.43,14.53
$GC,755,-0.67,-97.3,2084,2509,3383,3352,147.2,-13.5,112,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2509,3368,3383,3353,0,0,0,0,0,0,15.00,15.04,15.03
$GC,935,-0.67,-97.3,2084,2509,3383,3353,169.6,-12.4,130,940,0.00,2.35,0.00,0.000,516,0.000,0.045,2084,1096,3368,3383,3353,0,0,0,0,0,0,15.01,14.34,15.03
$GC,989,-0.67,-97.3,2084,1096,3383,3353,176.9,-14.2,140,996,0.15,2.45,0.00,0.000,3078,0.213,0.058,2110,2511,3368,3383,3353,0,0,0,0,0,0,13.93,14.28,14.02
$GC,1180,-0.67,-97.3,2110,2511,3382,3353,199.2,-11.5,160,1184,0.00,2.35,0.00,0.000,516,0.000,0.044,2111,1103,3367,3382,3352,0,0,0,0,0,0,14.99,14.34,15.01
$GC,1198,-0.67,-97.3,2110,1103,3381,3353,201.4,-11.1,163,1203,0.00,2.42,0.00,0.000,1030,0.000,0.057,2101,2504,3367,3381,3353,0,0,0,0,0,0,14.40,14.28,14.45
$GC,1381,-0.67,-97.3,2101,2504,3380,3352,222.9,-11.4,182,1388,0.00,2.45,0.00,0.000,260,0.000,0.081,2090,3896,3366,3380,3352,0,0,0,0,0,0,15.02,14.14,15.04
$GC,1421,-0.67,-97.3,2090,3896,3379,3352,227.8,-12.4,190,1426,0.00,2.28,0.00,0.000,1030,0.000,0.032,2090,2487,3366,3379,3353,0,0,0,0,0,0,14.52,14.45,14.54
$GC,1624,-0.67,-97.3,2090,2486,3378,3352,252.8,-12.5,210,1628,0.00,2.30,0.00,0.000,516,0.000,0.046,2090,1110,3365,3377,3353,0,0,0,0,0,0,15.02,14.29,15.04
$GC,1646,-0.67,-97.3,2090,1110,3377,3352,255.8,-13.0,214,1654,0.12,2.40,0.00,0.000,3078,0.209,0.054,2108,2502,3364,3377,3352,0,0,0,0,0,0,14.04,14.27,14.24
$GC,1967,-0.67,-97.3,2107,2502,3374,3351,291.8,-10.9,233,1974,0.00,2.45,0.00,0.000,260,0.000,0.083,2099,3892,3362,3374,3350,0,0,0,0,0,0,15.02,14.10,15.05
$GC,2052,-0.67,-97.3,2098,3892,3373,3350,301.2,-10.8,250,2056,0.00,2.28,0.00,0.000,1030,0.000,0.033,2099,2491,3361,3373,3350,0,0,0,0,0,0,14.49,14.43,14.52
$GC,2371,-0.67,-97.3,2098,2489,3372,3347,336.4,-11.0,268,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2489,3359,3372,3347,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2669,-0.67,-97.3,2098,2489,3370,3345,369.9,-11.4,283,2674,0.00,2.53,0.00,0.000,260,0.000,0.083,2088,3897,3357,3370,3344,0,0,0,0,0,0,15.03,14.07,15.06
$GC,2726,-0.67,-97.3,2087,3897,3369,3344,376.7,-12.0,294,2730,0.00,2.30,0.00,0.000,1030,0.000,0.034,2088,2496,3356,3369,3344,0,0,0,0,0,0,14.46,14.39,14.49
$GC,3032,-0.67,-97.3,2087,2494,3367,3341,413.2,-12.1,310,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2494,3354,3367,3341,0,0,0,0,0,0,15.02,15.05,15.04
$GC,3331,-0.67,-97.3,2087,2494,3366,3339,449.0,-11.9,325,3337,0.00,2.53,0.00,0.000,260,0.000,0.083,2077,3894,3352,3366,3339,0,0,0,0,0,0,15.03,14.04,15.05
$GC,3386,-0.67,-97.3,2076,3894,3365,3339,455.8,-12.5,336,3393,0.15,2.30,0.00,0.000,3078,0.199,0.034,2113,2497,3352,3365,3339,0,0,0,0,0,0,13.98,14.36,14.18
$GC,3713,-0.67,-97.3,2112,2495,3363,3337,490.7,-10.9,356,3719,0.00,2.55,0.00,0.000,260,0.000,0.084,2104,3899,3350,3363,3337,0,0,0,0,0,0,15.01,14.01,15.04
$GC,3741,-0.67,-97.3,2104,3899,3363,3337,494.1,-11.2,362,3746,0.00,2.30,0.00,0.000,1030,0.000,0.034,2104,2500,3349,3362,3337,0,0,0,0,0,0,14.43,14.36,14.45
$GC,4054,-0.67,-97.3,2104,2499,3362,3335,529.5,-11.5,379,4059,0.00,2.53,0.00,0.000,260,0.000,0.085,2093,3892,3348,3362,3335,0,0,0,0,0,0,15.02,14.00,15.04
$GC,4082,-0.67,-97.3,2092,3891,3361,3335,532.9,-11.9,384,4086,0.00,2.30,0.00,0.000,1030,0.000,0.034,2092,2497,3348,3362,3335,0,0,0,0,0,0,14.42,14.34,14.45
$GC,4399,-0.67,-97.3,2092,2496,3360,3333,570.7,-11.8,402,4404,0.00,2.55,0.00,0.000,260,0.000,0.085,2082,3893,3346,3360,3333,0,0,0,0,0,0,15.03,13.97,15.05
$GC,4454,-0.67,-97.3,2082,3893,3360,3333,576.9,-12.1,412,4461,0.12,2.30,0.00,0.000,3078,0.203,0.034,2110,2497,3346,3360,3333,0,0,0,0,0,0,13.99,14.33,14.17
$GC,4761,-0.67,-97.3,2109,2496,3358,3332,608.6,-10.0,429,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2496,3345,3358,3332,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5062,-0.67,-97.3,2110,2496,3356,3331,637.9,-9.6,444,5068,0.00,2.55,0.00,0.000,260,0.000,0.086,2101,3894,3343,3356,3330,0,0,0,0,0,0,15.02,13.94,15.05
$GC,5083,-0.67,-97.3,2100,3895,3356,3331,639.8,-9.6,448,5087,0.00,2.30,0.00,0.000,1030,0.000,0.035,2101,2503,3343,3356,3330,0,0,0,0,0,0,14.38,14.31,14.40
$GC,5404,-0.67,-97.3,2100,2502,3356,3329,671.5,-9.7,467,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3342,3356,3329,0,0,0,0,0,0,15.02,15.06,15.05
$GC,5706,-0.67,-97.3,2100,2501,3354,3328,701.8,-10.3,482,5714,0.00,2.55,0.00,0.000,260,0.000,0.086,2090,3900,3341,3354,3328,0,0,0,0,0,0,15.01,13.88,15.04
$GC,5758,-0.67,-97.3,2089,3900,3354,3328,707.6,-11.3,492,5762,0.00,2.33,0.00,0.000,1030,0.000,0.036,2090,2503,3340,3354,3327,0,0,0,0,0,0,14.35,14.27,14.38
$GC,6069,-0.67,-97.3,2089,2501,3353,3327,742.4,-10.8,509,6076,0.00,2.55,0.00,0.000,260,0.000,0.086,2079,3893,3340,3353,3327,0,0,0,0,0,0,15.02,13.90,15.04
$GC,6106,-0.67,-97.3,2078,3893,3352,3327,746.4,-11.6,516,6114,0.12,2.35,0.00,0.000,3078,0.201,0.036,2108,2489,3340,3353,3327,0,0,0,0,0,0,13.92,14.26,14.09
$GC,6434,-0.67,-97.3,2107,2488,3352,3325,778.6,-9.6,536,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2488,3338,3352,3325,0,0,0,0,0,0,14.99,15.02,15.01
$GC,6732,-0.67,-97.3,2107,2488,3352,3324,806.6,-9.1,551,6737,0.00,2.58,0.00,0.000,260,0.000,0.087,2098,3890,3337,3351,3324,0,0,0,0,0,0,15.00,13.87,15.02
$GC,6769,-0.67,-97.3,2098,3890,3351,3324,810.3,-9.9,558,6773,0.00,2.33,0.00,0.000,1030,0.000,0.036,2098,2501,3337,3351,3324,0,0,0,0,0,0,14.31,14.23,14.33
$GC,7074,-0.67,-97.3,2098,2499,3350,3323,839.0,-9.4,574,7082,0.00,2.58,0.00,0.000,260,0.000,0.087,2087,3894,3336,3349,3323,0,0,0,0,0,0,15.02,13.85,15.04
$GC,7121,-0.67,-97.3,2087,3894,3349,3323,843.4,-9.8,583,7126,0.00,2.35,0.00,0.000,1030,0.000,0.037,2087,2494,3336,3350,3323,0,0,0,0,0,0,14.30,14.23,14.33
$GC,7438,-0.67,-97.3,2087,2493,3348,3322,873.8,-9.4,601,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2492,3334,3348,3321,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7738,-0.67,-97.3,2087,2493,3348,3321,902.4,-9.6,616,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2493,3334,3348,3321,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8039,-0.67,-97.3,2087,2493,3347,3320,932.1,-10.1,631,8044,0.00,2.60,0.00,0.000,260,0.000,0.086,2076,3897,3333,3347,3320,0,0,0,0,0,0,15.00,13.83,15.03
$GC,8082,-0.67,-97.3,2077,3897,3347,3320,936.9,-11.0,639,8087,0.15,2.35,0.00,0.000,3078,0.194,0.037,2112,2500,3333,3347,3320,0,0,0,0,0,0,13.81,14.19,14.00
$GC,8405,-0.67,-97.3,2112,2498,3346,3320,965.8,-8.9,658,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2498,3333,3346,3320,0,0,0,0,0,0,15.01,15.04,15.03
$STATE,8682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8682,begin apogee
$GC,8691,-0.15,0.0,2112,2498,3344,3320,991.2,-9.1,672,8787,0.60,0.00,92.12,1.984,10246,0.159,0.000,2278,2498,2968,3000,2936,0,0,0,0,0,0,13.71,14.00,12.78
$STATE,8788,end apogee,CONTROL_FINISHED_OK
$STATE,8788,begin climb
$GC,8792,0.67,97.3,2278,2498,2999,2936,994.8,0.0,677,8902,0.85,0.00,104.75,1.955,10246,0.090,0.000,2554,2498,2570,2601,2539,0,0,0,0,0,0,14.05,13.91,12.74
$GC,9210,0.68,97.3,2553,2498,2591,2535,976.7,7.4,698,9213,0.00,0.00,0.00,0.000,70,0.000,0.000,2553,2498,2563,2591,2535,0,0,0,0,0,0,14.83,14.85,14.85
$GC,9505,0.70,97.3,2553,2498,2590,2534,954.7,7.5,713,9511,0.00,2.50,0.00,0.000,580,0.000,0.050,2564,1047,2561,2589,2534,0,0,0,0,0,0,14.93,14.33,14.96
$GC,9581,0.70,97.3,2564,1047,2588,2534,948.7,8.1,728,9588,0.00,2.45,0.00,0.000,1030,0.000,0.054,2564,2446,2560,2588,2533,0,0,0,0,0,0,14.42,14.31,14.47
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$STATE,21243,end climb,SURFACE_DEPTH_REACHED
$STATE,21243,begin surface coast
$STATE,21265,end surface coast,CONTROL_FINISHED_OK
$STATE,21266,begin surface
$SM_CCo,21287,142.27,0.649,1,0,928,500.17
$SM_GC,1.38,7.78,0.08,142.27,0.041,0.158,0.649,126,2526,928,-6.77,-1.02,500.17,0,0,0,0,1,0,14.44,14.57,13.54
$IRIDIUM_FIX,504.40,8032.26,210120,233734
$TT8_MAMPS,0.017976,0.158788
$HUMID,49.60
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.64,248.897
$10V_AH,13.18,0.000
$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,19.525,208.850,437.800,142.275,0.000,0.000,0.000,218.325,0.250,0.000,13.970,1620.631,16074.626,762.510,2756.673,586.543,0.000,2407.540,0.000,2521.336,0.000,0.541,0.000
$DEVICE_MAMPS,345.015,158.355,1983.645,649.485,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,890.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249944
$DATA_FILE_SIZE,76635,1774
$CAP_FILE_SIZE,198988,0
$CFSIZE,260034560,118480896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.085,351.08,1
$GPS,220120,110930,503.673,8029.479,23,0.7,23,-2.2,0.5,326.5,12,5.2