version: 66.13
glider: 171
mission: 11
dive: 770
start: 1 27 120 14 51 46
data:
$ID,171
$MISSION,11
$DIVE,770
$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,49
$R_STBD_OVSHOOT,38
$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
$GPS1,270120,144400,536.6812,8018.0679,23,0.9,23,-2.1,0.8,250.7,8,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.8
$GPS2,270120,145054,536.6379,8017.8638,2,0.6,2,-2.1,1.2,237.9,12,8.7
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,356.5,18124,-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,-97.3,120,2512,968,886,0.0,0.0,0,83,0.00,0.00,-71.57,0.005,16386,0.000,0.000,120,2512,2632,2633,2632,0,0,0,0,0,0,14.81,28.83,14.85
$GC,88,-0.67,-97.3,120,2512,2634,2632,4.9,-12.8,15,119,9.25,2.45,-13.80,0.009,18692,0.349,0.093,2093,3892,3367,3383,3352,0,0,0,0,0,0,13.89,12.62,14.33
$GC,213,-0.67,-97.3,2093,3892,3383,3352,47.9,-29.7,40,217,0.00,2.28,0.00,0.000,1030,0.000,0.035,2093,2499,3368,3384,3352,0,0,0,0,0,0,14.45,14.38,14.48
$GC,404,-0.67,-97.3,2092,2497,3383,3352,102.5,-18.8,60,411,0.00,2.45,0.00,0.000,260,0.000,0.080,2083,3884,3368,3384,3352,0,0,0,0,0,0,14.96,14.14,14.99
$GC,466,-0.67,-97.3,2082,3884,3383,3352,111.7,-14.8,72,471,0.12,2.25,0.00,0.000,3078,0.234,0.033,2108,2493,3367,3383,3352,0,0,0,0,0,0,13.98,14.38,14.19
$GC,658,-0.67,-97.3,2108,2492,3383,3352,138.9,-12.4,92,665,0.00,2.45,0.00,0.000,260,0.000,0.079,2099,3882,3367,3383,3352,0,0,0,0,0,0,14.99,14.12,15.02
$GC,818,-0.67,-97.3,2098,3881,3384,3352,158.9,-13.7,123,822,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2500,3367,3383,3352,0,0,0,0,0,0,14.45,14.38,14.47
$GC,999,-0.67,-97.3,2098,2498,3383,3352,183.0,-12.1,142,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2498,3367,3383,3352,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1181,-0.67,-97.3,2098,2498,3383,3351,204.7,-12.9,160,1185,0.00,2.50,0.00,0.000,260,0.000,0.089,2088,3881,3367,3383,3351,0,0,0,0,0,0,15.00,14.02,15.02
$GC,1298,-0.67,-97.3,2088,3881,3381,3351,220.4,-13.0,183,1302,0.00,2.30,0.00,0.000,1030,0.000,0.043,2088,2506,3366,3381,3351,0,0,0,0,0,0,14.38,14.28,14.42
$GC,1484,-0.67,-97.3,2087,2504,3380,3352,243.6,-12.6,202,1489,0.00,2.50,0.00,0.000,260,0.000,0.090,2077,3884,3365,3380,3351,0,0,0,0,0,0,15.00,14.00,15.02
$GC,1541,-0.67,-97.3,2077,3884,3379,3352,251.3,-13.5,213,1549,0.12,2.33,0.00,0.000,3078,0.212,0.045,2106,2487,3365,3379,3352,0,0,0,0,0,0,13.99,14.30,14.18
$GC,1869,-0.67,-97.3,2106,2486,3375,3351,289.4,-11.4,233,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2486,3363,3375,3351,0,0,0,0,0,0,15.00,15.03,15.02
$GC,2168,-0.67,-97.3,2106,2486,3374,3347,322.3,-11.0,248,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2486,3360,3374,3347,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2467,-0.67,-97.3,2106,2485,3372,3345,357.0,-11.7,263,2471,0.00,2.53,0.00,0.000,260,0.000,0.082,2097,3880,3358,3372,3345,0,0,0,0,0,0,15.02,14.00,15.05
$GC,2523,-0.67,-97.3,2097,3880,3371,3345,363.8,-12.0,274,2528,0.00,2.28,0.00,0.000,1030,0.000,0.034,2097,2499,3358,3371,3345,0,0,0,0,0,0,14.40,14.32,14.42
$GC,2830,-0.67,-97.3,2096,2497,3368,3341,400.0,-11.4,290,2835,0.00,2.38,0.00,0.000,516,0.000,0.050,2097,1094,3354,3368,3341,0,0,0,0,0,0,15.01,14.18,15.04
$GC,2882,-0.67,-97.3,2096,1093,3367,3341,405.9,-10.6,300,2889,0.00,2.45,0.00,0.000,1030,0.000,0.058,2086,2488,3354,3367,3341,0,0,0,0,0,0,14.25,14.12,14.30
$GC,3193,-0.67,-97.3,2085,2488,3366,3339,441.2,-11.3,317,3201,0.00,2.50,0.00,0.000,260,0.000,0.084,2075,3890,3352,3366,3339,0,0,0,0,0,0,15.00,13.94,15.03
$GC,3298,-0.67,-97.3,2075,3890,3365,3339,453.7,-11.8,338,3304,0.15,2.30,0.00,0.000,3078,0.198,0.035,2110,2498,3352,3365,3339,0,0,0,0,0,0,13.90,14.28,14.10
$GC,3617,-0.67,-97.3,2109,2497,3363,3336,484.6,-9.8,356,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3349,3363,3336,0,0,0,0,0,0,15.00,15.03,15.02
$GC,3916,-0.67,-97.3,2109,2497,3362,3334,514.1,-9.9,371,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3348,3362,3334,0,0,0,0,0,0,15.01,15.04,15.04
$GC,4216,-0.67,-97.3,2109,2497,3360,3333,543.5,-9.8,386,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3347,3361,3333,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4517,-0.67,-97.3,2110,2497,3359,3331,572.7,-9.7,401,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3345,3359,3331,0,0,0,0,0,0,15.00,15.03,15.02
$GC,4816,-0.67,-97.3,2109,2497,3357,3330,601.0,-9.5,416,4820,0.00,2.58,0.00,0.000,260,0.000,0.085,2101,3893,3343,3357,3329,0,0,0,0,0,0,15.01,13.88,15.04
$GC,4857,-0.67,-97.3,2101,3893,3356,3329,605.1,-9.9,424,4862,0.00,2.33,0.00,0.000,1030,0.000,0.036,2101,2500,3342,3356,3329,0,0,0,0,0,0,14.30,14.22,14.33
$GC,5182,-0.67,-97.3,2100,2498,3355,3327,637.6,-10.2,443,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3341,3355,3327,0,0,0,0,0,0,15.00,15.03,15.02
$GC,5480,-0.67,-97.3,2101,2499,3354,3326,668.3,-10.1,458,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2499,3340,3354,3326,0,0,0,0,0,0,15.02,15.04,15.04
$GC,5780,-0.67,-97.3,2101,2499,3353,3325,700.2,-10.9,473,5788,0.00,2.58,0.00,0.000,260,0.000,0.086,2090,3894,3338,3352,3325,0,0,0,0,0,0,15.02,13.84,15.04
$GC,5812,-0.67,-97.3,2089,3894,3352,3325,703.6,-11.8,479,5816,0.00,2.35,0.00,0.000,1030,0.000,0.036,2090,2492,3338,3352,3325,0,0,0,0,0,0,14.26,14.19,14.29
$GC,6123,-0.67,-97.3,2089,2491,3351,3324,738.5,-11.1,496,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2491,3338,3352,3324,0,0,0,0,0,0,15.00,15.04,15.04
$GC,6425,-0.67,-97.3,2089,2491,3350,3323,769.3,-9.7,511,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2491,3336,3350,3322,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6723,-0.67,-97.3,2089,2491,3349,3321,799.1,-10.3,526,6729,0.00,2.62,0.00,0.000,260,0.000,0.085,2079,3898,3335,3349,3321,0,0,0,0,0,0,15.01,13.82,15.03
$GC,6761,-0.67,-97.3,2078,3898,3348,3321,803.1,-10.8,533,6769,0.12,2.35,0.00,0.000,3078,0.202,0.037,2107,2497,3335,3349,3321,0,0,0,0,0,0,13.82,14.15,14.00
$GC,7090,-0.67,-97.3,2107,2497,3348,3320,832.8,-9.5,553,7098,0.00,2.58,0.00,0.000,260,0.000,0.086,2098,3890,3334,3348,3320,0,0,0,0,0,0,14.96,13.76,14.99
$GC,7130,-0.67,-97.3,2098,3890,3348,3320,837.1,-10.1,561,7135,0.00,2.35,0.00,0.000,1030,0.000,0.037,2098,2502,3334,3348,3320,0,0,0,0,0,0,14.22,14.14,14.25
$GC,7452,-0.67,-97.3,2098,2501,3347,3320,867.7,-9.0,580,7458,0.00,2.42,0.00,0.000,516,0.000,0.050,2098,1106,3333,3346,3320,0,0,0,0,0,0,15.00,13.95,15.02
$GC,7478,-0.67,-97.3,2098,1106,3346,3319,870.1,-9.4,585,7485,0.00,2.50,0.00,0.000,1030,0.000,0.063,2087,2498,3332,3346,3319,0,0,0,0,0,0,13.99,13.93,14.04
$GC,7793,-0.67,-97.3,2087,2498,3345,3319,900.0,-9.7,603,7800,0.00,2.58,0.00,0.000,260,0.000,0.086,2076,3895,3332,3345,3319,0,0,0,0,0,0,15.00,13.82,15.02
$GC,7843,-0.67,-97.3,2076,3895,3344,3319,905.5,-11.5,613,7851,0.15,2.35,0.00,0.000,3078,0.191,0.036,2112,2497,3331,3344,3319,0,0,0,0,0,0,13.76,14.12,13.95
$GC,8154,-0.67,-97.3,2111,2497,3343,3318,935.5,-9.7,630,8159,0.00,2.60,0.00,0.000,260,0.000,0.087,2102,3893,3330,3343,3318,0,0,0,0,0,0,14.98,13.83,15.02
$GC,8186,-0.67,-97.3,2102,3893,3343,3318,938.9,-10.0,636,8190,0.00,2.35,0.00,0.000,1030,0.000,0.037,2102,2500,3330,3343,3318,0,0,0,0,0,0,14.19,14.12,14.22
$GC,8499,-0.67,-97.3,2102,2498,3343,3316,968.9,-9.3,653,8503,0.00,2.42,0.00,0.000,516,0.000,0.050,2103,1110,3329,3343,3316,0,0,0,0,0,0,14.98,13.91,15.00
$GC,8535,-0.67,-97.3,2102,1108,3343,3316,972.4,-9.2,660,8542,0.00,2.53,0.00,0.000,1030,0.000,0.062,2091,2502,3329,3343,3316,0,0,0,0,0,0,14.12,13.98,14.16
$STATE,8737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8737,begin apogee
$GC,8745,-0.15,0.0,2091,2432,3342,3316,991.9,-9.7,674,8841,0.68,0.00,91.68,1.988,10246,0.167,0.000,2276,2431,2968,3000,2936,0,0,0,0,0,0,13.72,14.01,12.82
$STATE,8842,end apogee,CONTROL_FINISHED_OK
$STATE,8842,begin climb
$GC,8847,0.67,97.3,2276,2431,2999,2936,995.1,0.0,679,8958,0.85,2.42,103.62,1.960,10756,0.093,0.054,2559,1040,2570,2600,2540,0,0,0,0,0,0,13.98,13.97,12.74
$GC,9001,0.72,147.0,2559,1040,2595,2538,993.8,5.3,707,9061,0.00,2.50,51.60,1.930,9254,0.000,0.058,2559,2444,2367,2405,2329,0,0,0,0,0,0,14.23,14.12,12.76
$GC,9364,0.72,147.0,2558,2444,2397,2324,958.5,10.2,735,9368,0.00,2.42,0.00,0.000,516,0.000,0.053,2570,1050,2360,2397,2324,0,0,0,0,0,0,14.85,14.35,14.88
$GC,9417,0.72,147.0,2569,1050,2395,2324,953.3,9.9,745,9424,0.00,2.45,0.00,0.000,1030,0.000,0.057,2570,2448,2359,2396,2323,0,0,0,0,0,0,14.45,14.33,14.50
$GC,9726,0.72,147.0,2570,2447,2395,2323,920.8,10.6,762,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2447,2358,2394,2323,0,0,0,0,0,0,14.93,14.97,14.96
$GC,10026,0.72,147.0,2570,2447,2394,2322,888.5,10.6,777,10033,0.00,2.42,0.00,0.000,516,0.000,0.053,2581,1050,2357,2393,2322,0,0,0,0,0,0,14.95,14.28,14.98
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$STATE,19765,end climb,SURFACE_DEPTH_REACHED
$STATE,19765,begin surface coast
$STATE,19786,end surface coast,CONTROL_FINISHED_OK
$STATE,19786,begin surface
$SM_CCo,19808,60.05,0.487,1,0,928,500.17
$SM_GC,1.32,7.60,0.12,60.05,0.049,0.148,0.487,122,2516,928,-6.77,-0.62,500.17,0,0,0,0,1,0,14.40,14.38,13.68
$IRIDIUM_FIX,532.66,8016.59,270120,085751
$TT8_MAMPS,0.018725,0.161035
$HUMID,51.61
$INTERNAL_PRESSURE,9.55612
$TCM_TEMP,24.80
$XPDR_PINGS,4
$24V_AH,12.62,255.541
$10V_AH,12.68,0.000
$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,20.000,205.575,528.550,60.050,0.000,0.000,0.000,261.975,1.000,0.000,14.181,1505.379,14750.211,724.348,2730.208,572.615,0.000,2418.051,0.000,2450.872,0.000,0.542,0.000
$DEVICE_MAMPS,348.840,150.705,1988.235,487.305,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,854.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249668
$DATA_FILE_SIZE,76647,1724
$CAP_FILE_SIZE,191156,0
$CFSIZE,260034560,116486144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.161,307.50,1
$GPS,270120,202408,539.391,8016.516,24,1.3,24,-2.1,0.8,295.8,6,7.6