version: 66.13
glider: 171
mission: 11
dive: 760
start: 1 25 120 4 10 11
data:
$ID,171
$MISSION,11
$DIVE,760
$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,50
$R_STBD_OVSHOOT,27
$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
$GPS1,250120,040240,508.6644,8027.3696,16,1.2,17,-2.2,1.2,268.6,5,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.3
$GPS2,250120,040919,508.6485,8027.1543,5,1.9,9,-2.2,1.5,260.0,4,10.0
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,338.7,72710,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.67,-97.3,102,2505,974,876,0.0,0.0,0,83,0.00,0.00,-71.50,0.005,16386,0.000,0.000,102,2505,2634,2635,2634,0,0,0,0,0,0,14.83,28.83,14.85
$GC,88,-0.67,-97.3,102,2505,2636,2634,5.0,-13.0,15,119,9.30,2.45,-13.82,0.009,18692,0.344,0.093,2096,3896,3367,3382,3352,0,0,0,0,0,0,13.88,12.62,14.33
$GC,195,-0.67,-97.3,2096,3896,3382,3352,39.3,-28.1,36,200,0.00,2.30,0.00,0.000,1030,0.000,0.040,2096,2510,3367,3382,3352,0,0,0,0,0,0,14.45,14.35,14.48
$GC,387,-0.67,-97.3,2096,2508,3382,3352,88.8,-19.6,58,392,0.00,2.45,0.00,0.000,260,0.000,0.079,2085,3894,3367,3382,3352,0,0,0,0,0,0,14.95,14.16,14.98
$GC,586,-0.67,-97.3,2085,3894,3382,3352,120.3,-14.4,97,590,0.00,2.30,0.00,0.000,1030,0.000,0.032,2085,2483,3367,3382,3352,0,0,0,0,0,0,14.47,14.40,14.50
$GC,771,-0.67,-97.3,2084,2482,3382,3352,147.3,-13.3,116,777,0.00,2.53,0.00,0.000,260,0.000,0.088,2074,3890,3366,3382,3351,0,0,0,0,0,0,15.00,14.09,15.02
$GC,822,-0.67,-97.3,2073,3890,3382,3352,154.2,-14.0,126,828,0.15,2.28,0.00,0.000,3078,0.222,0.039,2107,2506,3367,3382,3352,0,0,0,0,0,0,13.97,14.37,14.19
$GC,1015,-0.67,-97.3,2107,2504,3383,3351,177.4,-11.7,146,1020,0.00,2.47,0.00,0.000,260,0.000,0.082,2098,3895,3367,3383,3352,0,0,0,0,0,0,15.00,14.14,15.02
$GC,1169,-0.67,-97.3,2098,3894,3382,3352,195.1,-10.8,176,1173,0.00,2.30,0.00,0.000,1030,0.000,0.034,2098,2485,3367,3382,3352,0,0,0,0,0,0,14.47,14.39,14.50
$GC,1360,-0.67,-97.3,2098,2484,3380,3352,218.2,-12.5,196,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2484,3365,3380,3351,0,0,0,0,0,0,15.01,15.04,15.04
$GC,1542,-0.67,-97.3,2098,2484,3378,3351,240.5,-12.0,214,1547,0.00,2.58,0.00,0.000,260,0.000,0.090,2086,3896,3365,3380,3351,0,0,0,0,0,0,15.00,14.04,15.02
$GC,1590,-0.67,-97.3,2087,3896,3378,3351,246.6,-12.5,223,1594,0.00,2.33,0.00,0.000,1030,0.000,0.044,2087,2514,3364,3378,3351,0,0,0,0,0,0,14.40,14.31,14.44
$GC,1784,-0.67,-97.3,2086,2514,3376,3352,271.1,-12.6,235,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2514,3363,3375,3351,0,0,0,0,0,0,15.02,15.05,15.05
$GC,2085,-0.67,-97.3,2086,2513,3373,3348,307.8,-11.9,250,2090,0.00,2.53,0.00,0.000,260,0.000,0.091,2076,3893,3360,3373,3348,0,0,0,0,0,0,15.02,14.00,15.04
$GC,2135,-0.67,-97.3,2076,3893,3372,3348,313.8,-12.2,259,2142,0.15,2.35,0.00,0.000,3078,0.203,0.045,2111,2487,3360,3373,3348,0,0,0,0,0,0,13.96,14.28,14.16
$GC,2450,-0.67,-97.3,2111,2486,3371,3345,347.2,-10.8,277,2458,0.00,2.55,0.00,0.000,260,0.000,0.083,2102,3905,3358,3371,3345,0,0,0,0,0,0,15.02,14.01,15.04
$GC,2481,-0.67,-97.3,2102,3905,3371,3345,350.8,-11.7,283,2485,0.00,2.33,0.00,0.000,1030,0.000,0.035,2102,2497,3357,3370,3345,0,0,0,0,0,0,14.43,14.35,14.46
$GC,2792,-0.67,-97.3,2102,2496,3369,3342,388.6,-12.0,300,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2495,3355,3368,3342,0,0,0,0,0,0,15.03,15.06,15.05
$GC,3094,-0.67,-97.3,2102,2495,3367,3340,422.5,-11.4,315,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2495,3353,3367,3339,0,0,0,0,0,0,15.01,15.04,15.04
$GC,3392,-0.67,-97.3,2102,2496,3365,3338,456.2,-11.5,330,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2496,3351,3365,3337,0,0,0,0,0,0,15.03,15.06,15.06
$GC,3692,-0.67,-97.3,2102,2496,3362,3336,489.5,-11.0,345,3696,0.00,2.58,0.00,0.000,260,0.000,0.089,2091,3890,3349,3362,3336,0,0,0,0,0,0,15.03,13.97,15.05
$GC,3760,-0.67,-97.3,2090,3890,3362,3335,496.9,-11.2,358,3765,0.00,2.33,0.00,0.000,1030,0.000,0.036,2091,2493,3349,3362,3336,0,0,0,0,0,0,14.38,14.30,14.40
$GC,4079,-0.67,-97.3,2091,2491,3361,3334,530.9,-10.3,376,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2491,3347,3361,3334,0,0,0,0,0,0,15.01,15.04,15.04
$GC,4378,-0.67,-97.3,2090,2491,3360,3332,561.9,-10.4,391,4382,0.00,2.58,0.00,0.000,260,0.000,0.087,2080,3890,3345,3359,3332,0,0,0,0,0,0,15.02,13.93,15.04
$GC,4427,-0.67,-97.3,2080,3890,3358,3332,567.1,-11.5,400,4434,0.12,2.33,0.00,0.000,3078,0.205,0.037,2109,2495,3345,3359,3332,0,0,0,0,0,0,13.94,14.27,14.12
$GC,4741,-0.67,-97.3,2109,2494,3357,3331,599.8,-10.4,418,4746,0.00,2.38,0.00,0.000,516,0.000,0.049,2109,1108,3343,3357,3330,0,0,0,0,0,0,15.02,14.12,15.04
$GC,4786,-0.67,-97.3,2109,1108,3357,3330,604.5,-10.6,426,4791,0.00,2.50,0.00,0.000,1030,0.000,0.067,2100,2494,3343,3356,3330,0,0,0,0,0,0,14.15,14.00,14.21
$GC,5109,-0.67,-97.3,2100,2494,3356,3329,640.6,-11.1,445,5116,0.00,2.58,0.00,0.000,260,0.000,0.087,2089,3903,3342,3356,3329,0,0,0,0,0,0,15.01,13.89,15.04
$GC,5164,-0.67,-97.3,2088,3903,3355,3329,646.8,-11.5,456,5168,0.00,2.35,0.00,0.000,1030,0.000,0.036,2089,2501,3341,3354,3329,0,0,0,0,0,0,14.31,14.24,14.35
$GC,5470,-0.67,-97.3,2088,2500,3354,3327,680.3,-10.6,472,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2500,3340,3354,3327,0,0,0,0,0,0,15.00,15.03,15.02
$GC,5769,-0.67,-97.3,2088,2500,3353,3326,711.6,-10.3,487,5773,0.00,2.42,0.00,0.000,516,0.000,0.049,2089,1103,3339,3353,3326,0,0,0,0,0,0,15.01,14.07,15.04
$GC,5805,-0.67,-97.3,2088,1103,3353,3326,715.6,-10.6,494,5812,0.12,2.53,0.00,0.000,3078,0.208,0.060,2106,2511,3339,3353,3326,0,0,0,0,0,0,13.81,14.02,14.02
$GC,6112,-0.67,-97.3,2105,2510,3352,3325,745.2,-9.9,510,6117,0.00,2.55,0.00,0.000,260,0.000,0.087,2097,3895,3338,3351,3325,0,0,0,0,0,0,15.00,13.85,15.02
$GC,6174,-0.67,-97.3,2097,3896,3351,3325,751.9,-10.7,522,6179,0.00,2.35,0.00,0.000,1030,0.000,0.035,2097,2491,3338,3352,3325,0,0,0,0,0,0,14.29,14.21,14.32
$GC,6498,-0.67,-97.3,2097,2490,3350,3323,784.9,-9.9,541,6502,0.00,2.40,0.00,0.000,516,0.000,0.048,2097,1103,3336,3350,3323,0,0,0,0,0,0,15.00,14.04,15.02
$GC,6544,-0.67,-97.3,2097,1103,3350,3323,789.7,-9.6,550,6550,0.00,2.53,0.00,0.000,1030,0.000,0.058,2086,2506,3336,3349,3323,0,0,0,0,0,0,14.13,14.00,14.18
$GC,6862,-0.67,-97.3,2086,2507,3349,3322,820.7,-9.7,568,6869,0.00,2.55,0.00,0.000,260,0.000,0.087,2075,3895,3335,3349,3322,0,0,0,0,0,0,15.00,13.83,15.03
$GC,6948,-0.67,-97.3,2075,3895,3349,3321,829.4,-10.3,585,6956,0.15,2.35,0.00,0.000,3078,0.199,0.037,2110,2495,3334,3348,3321,0,0,0,0,0,0,13.78,14.17,13.97
$GC,7264,-0.67,-97.3,2110,2495,3348,3321,856.0,-8.3,603,7268,0.00,2.40,0.00,0.000,516,0.000,0.048,2111,1110,3334,3348,3321,0,0,0,0,0,0,15.00,14.02,15.02
$GC,7300,-0.67,-97.3,2110,1108,3347,3321,859.1,-8.4,610,7305,0.00,2.50,0.00,0.000,1030,0.000,0.057,2101,2502,3334,3347,3321,0,0,0,0,0,0,14.12,13.98,14.16
$GC,7605,-0.67,-97.3,2101,2502,3347,3320,887.3,-9.5,626,7610,0.00,2.58,0.00,0.000,260,0.000,0.087,2090,3893,3333,3347,3320,0,0,0,0,0,0,15.01,13.82,15.03
$GC,7648,-0.67,-97.3,2090,3893,3346,3320,891.6,-10.2,634,7653,0.00,2.35,0.00,0.000,1030,0.000,0.037,2090,2500,3333,3347,3320,0,0,0,0,0,0,14.23,14.16,14.26
$GC,7971,-0.67,-97.3,2090,2499,3346,3319,924.0,-9.9,653,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2499,3332,3346,3319,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8270,-0.67,-97.3,2090,2499,3344,3319,953.7,-9.8,668,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2499,3331,3344,3319,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8572,-0.67,-97.3,2090,2498,3343,3318,982.5,-9.4,683,8578,0.00,2.42,0.00,0.000,516,0.000,0.048,2090,1107,3330,3343,3318,0,0,0,0,0,0,14.99,13.96,15.01
$GC,8601,-0.67,-97.3,2090,1106,3343,3318,985.4,-10.5,689,8609,0.12,2.50,0.00,0.000,3078,0.200,0.058,2107,2500,3330,3343,3318,0,0,0,0,0,0,13.75,13.93,13.95
$STATE,8667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8667,begin apogee
$GC,8675,-0.15,0.0,2108,2499,3343,3318,991.4,-8.6,694,8770,0.62,0.00,91.47,1.983,10246,0.159,0.000,2279,2499,2968,3000,2936,0,0,0,0,0,0,13.72,14.01,12.80
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8771,begin climb
$GC,8776,0.67,97.3,2279,2499,2999,2935,994.0,0.0,699,8894,0.85,2.60,103.65,1.951,10756,0.087,0.050,2566,1047,2569,2599,2539,0,0,0,0,0,0,14.04,13.97,12.76
$GC,8937,0.71,133.8,2566,1047,2595,2537,992.3,6.0,731,8981,0.00,2.50,37.95,1.899,9254,0.000,0.059,2566,2452,2422,2458,2387,0,0,0,0,0,0,14.26,14.16,12.75
$GC,9293,0.71,133.8,2566,2452,2448,2380,956.8,10.2,757,9297,0.00,2.42,0.00,0.000,516,0.000,0.050,2578,1050,2414,2448,2381,0,0,0,0,0,0,14.87,14.35,14.90
$GC,9329,0.71,133.8,2578,1047,2447,2380,953.0,10.4,764,9336,0.00,2.42,0.00,0.000,1030,0.000,0.054,2578,2438,2413,2447,2380,0,0,0,0,0,0,14.46,14.35,14.51
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$STATE,20589,end climb,SURFACE_DEPTH_REACHED
$STATE,20589,begin surface coast
$STATE,20618,end surface coast,CONTROL_FINISHED_OK
$STATE,20619,begin surface
$SM_CCo,20639,144.70,0.638,1,0,928,500.17
$SM_GC,1.26,7.38,0.10,144.70,0.034,0.151,0.638,128,2493,928,-6.77,-1.07,500.17,0,0,0,0,1,0,14.45,14.51,13.59
$IRIDIUM_FIX,504.37,8030.12,240120,220437
$TT8_MAMPS,0.018725,0.15729
$HUMID,48.85
$INTERNAL_PRESSURE,9.56589
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,12.62,252.509
$10V_AH,12.75,0.000
$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
$DEVICE_SECS,20.050,229.700,438.300,144.700,0.000,0.000,0.000,240.325,0.500,0.000,20.787,1665.175,15249.233,759.004,2901.531,612.247,0.000,2509.554,0.000,2633.119,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,916.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249636
$DATA_FILE_SIZE,79974,1853
$CAP_FILE_SIZE,207554,0
$CFSIZE,260034560,117387264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,19226.85,0x214798,1,24
$CURRENT,0.164,325.94,1
$GPS,250120,095759,511.825,8025.594,31,1.1,31,-2.2,1.6,258.1,10,7.5