version: 66.13
glider: 171
mission: 11
dive: 758
start: 1 24 120 16 14 10
data:
$ID,171
$MISSION,11
$DIVE,758
$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,0.0019952599
$HD_B,0.019109501
$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,55
$R_STBD_OVSHOOT,36
$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
$GPS1,240120,160700,505.6095,8028.2310,20,0.8,20,-2.2,1.2,240.2,9,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.7
$GPS2,240120,161318,505.5979,8028.0347,3,0.6,4,-2.2,1.1,336.6,12,5.1
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,153.1,10983,-19.6,-8.049,-28.96,1831
$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,-97.3,62,2512,975,876,0.0,0.0,0,84,0.00,0.00,-71.55,0.005,16386,0.000,0.000,50,2512,2637,2634,2641,0,0,0,0,0,0,14.81,28.83,14.83
$GC,89,-0.67,-97.3,50,2512,2636,2641,5.4,-14.8,15,119,9.50,2.40,-13.18,0.009,18948,0.343,0.067,2102,1100,3366,3382,3351,0,0,0,0,0,0,13.87,13.34,14.31
$GC,162,-0.67,-97.3,2102,1100,3383,3351,32.9,-30.5,30,167,0.00,2.42,0.00,0.000,1030,0.000,0.058,2093,2500,3367,3383,3351,0,0,0,0,0,0,14.42,14.30,14.45
$GC,357,-0.67,-97.3,2093,2500,3382,3351,84.7,-18.5,54,362,0.00,2.35,0.00,0.000,516,0.000,0.049,2093,1105,3366,3382,3351,0,0,0,0,0,0,14.92,14.30,14.94
$GC,435,-0.67,-97.3,2093,1105,3383,3351,98.6,-17.2,69,440,0.00,2.40,0.00,0.000,1030,0.000,0.059,2083,2520,3366,3382,3351,0,0,0,0,0,0,14.34,14.20,14.38
$GC,619,-0.67,-97.3,2082,2520,3383,3351,127.7,-16.3,88,625,0.00,2.40,0.00,0.000,516,0.000,0.049,2082,1098,3367,3383,3351,0,0,0,0,0,0,14.98,14.30,15.00
$GC,669,-0.67,-97.3,2082,1098,3383,3351,134.8,-13.7,98,675,0.15,2.42,0.00,0.000,3078,0.215,0.057,2105,2500,3367,3383,3351,0,0,0,0,0,0,13.98,14.26,14.20
$GC,863,-0.67,-97.3,2105,2500,3383,3351,160.8,-14.5,118,868,0.00,2.45,0.00,0.000,260,0.000,0.078,2096,3900,3367,3384,3351,0,0,0,0,0,0,14.99,14.14,15.01
$GC,931,-0.67,-97.3,2095,3900,3383,3351,171.0,-14.4,131,935,0.00,2.28,0.00,0.000,1030,0.000,0.032,2096,2499,3367,3383,3351,0,0,0,0,0,0,14.49,14.42,14.51
$GC,1118,-0.67,-97.3,2095,2497,3383,3351,195.7,-12.7,150,1123,0.00,2.33,0.00,0.000,516,0.000,0.046,2096,1103,3367,3383,3351,0,0,0,0,0,0,14.97,14.29,15.00
$GC,1166,-0.67,-97.3,2096,1103,3384,3351,202.4,-13.2,159,1173,0.00,2.42,0.00,0.000,1030,0.000,0.056,2085,2498,3367,3383,3351,0,0,0,0,0,0,14.36,14.23,14.40
$GC,1360,-0.67,-97.3,2085,2498,3382,3351,229.3,-14.2,180,1365,0.00,2.47,0.00,0.000,260,0.000,0.080,2074,3896,3366,3382,3350,0,0,0,0,0,0,15.00,14.12,15.03
$GC,1439,-0.67,-97.3,2074,3896,3381,3351,240.6,-14.3,195,1444,0.15,2.28,0.00,0.000,3078,0.204,0.032,2109,2497,3365,3381,3350,0,0,0,0,0,0,14.00,14.40,14.21
$GC,1622,-0.67,-97.3,2109,2496,3379,3351,262.9,-11.9,209,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3365,3380,3351,0,0,0,0,0,0,15.02,15.05,15.05
$GC,1922,-0.67,-97.3,2109,2496,3376,3350,297.7,-11.2,224,1929,0.00,2.50,0.00,0.000,260,0.000,0.081,2100,3893,3362,3375,3350,0,0,0,0,0,0,15.02,14.07,15.05
$GC,1952,-0.67,-97.3,2100,3893,3375,3350,301.1,-11.5,230,1957,0.00,2.28,0.00,0.000,1030,0.000,0.032,2100,2498,3362,3375,3350,0,0,0,0,0,0,14.46,14.39,14.48
$GC,2265,-0.67,-97.3,2100,2497,3374,3348,336.4,-11.1,247,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2497,3360,3373,3347,0,0,0,0,0,0,15.02,15.05,15.04
$GC,2566,-0.67,-97.3,2100,2497,3372,3345,369.3,-11.0,262,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2497,3359,3373,3345,0,0,0,0,0,0,15.01,15.04,15.04
$GC,2864,-0.67,-97.3,2100,2497,3370,3343,403.4,-11.8,277,2869,0.00,2.55,0.00,0.000,260,0.000,0.084,2089,3895,3356,3370,3342,0,0,0,0,0,0,15.02,14.00,15.05
$GC,2951,-0.67,-97.3,2089,3894,3368,3342,414.1,-12.2,294,2956,0.00,2.30,0.00,0.000,1030,0.000,0.034,2089,2499,3355,3368,3342,0,0,0,0,0,0,14.40,14.34,14.43
$GC,3270,-0.67,-97.3,2089,2497,3367,3339,454.6,-12.9,312,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3353,3367,3339,0,0,0,0,0,0,15.01,15.04,15.03
$GC,3569,-0.67,-97.3,2089,2497,3366,3338,492.5,-12.2,327,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2497,3352,3367,3338,0,0,0,0,0,0,15.02,15.04,15.04
$GC,3870,-0.67,-97.3,2089,2497,3363,3336,527.5,-11.5,342,3875,0.00,2.55,0.00,0.000,260,0.000,0.086,2078,3894,3349,3363,3336,0,0,0,0,0,0,15.01,13.95,15.03
$GC,3912,-0.67,-97.3,2078,3894,3363,3336,532.7,-12.1,350,3917,0.12,2.33,0.00,0.000,3078,0.206,0.035,2107,2491,3349,3363,3336,0,0,0,0,0,0,13.95,14.30,14.14
$GC,4235,-0.67,-97.3,2107,2490,3362,3334,565.9,-10.2,369,4242,0.00,2.55,0.00,0.000,260,0.000,0.083,2098,3892,3347,3362,3333,0,0,0,0,0,0,15.02,13.94,15.04
$GC,4268,-0.67,-97.3,2097,3892,3362,3334,569.0,-10.7,375,4274,0.00,2.30,0.00,0.000,1030,0.000,0.034,2098,2501,3348,3362,3334,0,0,0,0,0,0,14.25,14.22,14.27
$GC,4581,-0.67,-97.3,2097,2500,3361,3333,602.4,-10.7,392,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2500,3347,3361,3333,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4883,-0.67,-97.3,2097,2500,3359,3331,634.4,-10.8,407,4889,0.00,2.55,0.00,0.000,260,0.000,0.086,2087,3899,3345,3358,3332,0,0,0,0,0,0,15.00,13.87,15.02
$GC,4927,-0.67,-97.3,2086,3899,3358,3331,639.6,-11.5,416,4931,0.00,2.33,0.00,0.000,1030,0.000,0.035,2087,2501,3344,3357,3331,0,0,0,0,0,0,14.33,14.26,14.35
$GC,5243,-0.67,-97.3,2086,2499,3357,3330,676.6,-11.7,434,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2499,3343,3356,3330,0,0,0,0,0,0,15.01,15.04,15.03
$GC,5544,-0.67,-97.3,2086,2498,3356,3329,711.6,-11.5,449,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2499,3342,3356,3329,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5843,-0.67,-97.3,2086,2499,3355,3327,745.4,-11.3,464,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2499,3341,3355,3327,0,0,0,0,0,0,15.01,15.04,15.03
$GC,6143,-0.67,-97.3,2086,2499,3354,3326,778.9,-11.0,479,6148,0.00,2.60,0.00,0.000,260,0.000,0.087,2076,3899,3340,3354,3326,0,0,0,0,0,0,15.00,13.86,15.03
$GC,6176,-0.67,-97.3,2075,3899,3354,3326,782.5,-11.4,485,6185,0.15,2.35,0.00,0.000,3078,0.196,0.036,2112,2496,3340,3354,3326,0,0,0,0,0,0,13.83,14.21,14.02
$GC,6485,-0.67,-97.3,2111,2496,3353,3325,811.3,-9.2,502,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3339,3353,3325,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6785,-0.67,-97.3,2111,2496,3352,3324,838.2,-8.8,517,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3338,3352,3324,0,0,0,0,0,0,15.01,15.04,15.03
$GC,7087,-0.67,-97.3,2111,2496,3351,3323,863.9,-8.4,532,7093,0.00,2.58,0.00,0.000,260,0.000,0.086,2103,3892,3337,3351,3323,0,0,0,0,0,0,15.00,13.80,15.02
$GC,7111,-0.67,-97.3,2102,3891,3351,3323,866.1,-9.0,537,7115,0.00,2.35,0.00,0.000,1030,0.000,0.036,2102,2494,3336,3351,3322,0,0,0,0,0,0,14.26,14.18,14.28
$GC,7429,-0.67,-97.3,2102,2493,3350,3321,893.5,-8.5,555,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2493,3335,3350,3321,0,0,0,0,0,0,14.99,15.02,15.02
$GC,7727,-0.67,-97.3,2102,2493,3350,3321,918.8,-8.3,570,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2493,3335,3349,3321,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8027,-0.67,-97.3,2102,2493,3348,3320,944.4,-8.7,585,8031,0.00,2.60,0.00,0.000,260,0.000,0.086,2091,3892,3334,3348,3320,0,0,0,0,0,0,15.00,13.82,15.03
$GC,8081,-0.67,-97.3,2091,3891,3348,3320,949.2,-9.6,595,8085,0.00,2.35,0.00,0.000,1030,0.000,0.036,2091,2500,3334,3348,3320,0,0,0,0,0,0,14.21,14.14,14.24
$GC,8392,-0.67,-97.3,2091,2499,3347,3320,980.3,-10.0,612,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2499,3333,3347,3320,0,0,0,0,0,0,15.00,15.03,15.02
$STATE,8489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8489,begin apogee
$GC,8497,-0.15,0.0,2090,2498,3347,3319,990.5,-10.3,617,8593,0.68,0.00,92.07,1.981,10246,0.167,0.000,2275,2499,2968,3001,2935,0,0,0,0,0,0,13.71,14.00,12.79
$STATE,8594,end apogee,CONTROL_FINISHED_OK
$STATE,8594,begin climb
$GC,8599,0.67,97.3,2275,2499,3000,2935,994.3,0.0,622,8710,0.85,0.00,104.60,1.958,10246,0.094,0.000,2546,2498,2569,2601,2538,0,0,0,0,0,0,14.02,13.91,12.74
$GC,9015,0.71,97.3,2546,2498,2592,2534,978.4,6.2,643,9021,0.00,2.53,0.00,0.000,580,0.000,0.051,2557,1040,2563,2592,2534,0,0,0,0,0,0,14.83,14.35,14.86
$GC,9071,0.74,97.3,2557,1040,2590,2534,974.9,6.3,653,9078,0.00,2.45,0.00,0.000,1094,0.000,0.054,2558,2443,2562,2590,2534,0,0,0,0,0,0,14.44,14.33,14.49
$GC,9378,0.77,97.3,2557,2443,2590,2533,954.7,6.6,670,9380,0.00,0.00,0.00,0.000,70,0.000,0.000,2558,2443,2561,2590,2532,0,0,0,0,0,0,14.93,14.96,14.96
$GC,9678,0.79,97.3,2557,2443,2589,2531,934.1,7.0,685,9680,0.00,0.00,0.00,0.000,70,0.000,0.000,2558,2443,2560,2589,2531,0,0,0,0,0,0,14.96,14.99,14.98
$GC,9980,0.79,97.3,2557,2443,2588,2529,912.1,7.6,700,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2443,2558,2588,2529,0,0,0,0,0,0,14.95,14.99,14.98
$GC,10278,0.81,97.3,2557,2443,2587,2529,889.4,7.4,715,10284,0.00,2.47,0.00,0.000,580,0.000,0.050,2569,1040,2558,2587,2529,0,0,0,0,0,0,14.97,14.19,15.00
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$STATE,20635,end climb,SURFACE_DEPTH_REACHED
$STATE,20635,begin surface coast
$STATE,20658,end surface coast,CONTROL_FINISHED_OK
$STATE,20658,begin surface
$SM_CCo,20680,115.78,0.625,1,0,928,500.17
$SM_GC,1.32,8.00,0.10,115.78,0.064,0.143,0.625,120,2524,928,-6.79,-0.93,500.17,0,0,0,0,1,0,14.42,14.47,13.57
$IRIDIUM_FIX,506.50,8027.99,240120,100732
$TT8_MAMPS,0.018725,0.161035
$HUMID,51.14
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.30
$XPDR_PINGS,4
$24V_AH,12.74,251.899
$10V_AH,12.74,0.000
$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,20.200,189.950,463.725,115.775,0.000,0.000,0.000,226.050,1.000,0.000,15.525,1576.463,15610.446,760.326,2672.724,552.942,0.000,2354.580,0.000,2432.576,0.000,0.539,0.000
$DEVICE_MAMPS,343.485,143.055,1981.350,625.005,0.000,0.000,0.000,185.130,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,865.091,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249688
$DATA_FILE_SIZE,73316,1711
$CAP_FILE_SIZE,190603,0
$CFSIZE,260034560,117592064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.096,324.06,1
$GPS,240120,220200,505.081,8028.008,24,0.7,24,-2.2,0.6,257.0,11,3.5