version: 66.13
glider: 171
mission: 11
dive: 777
start: 1 29 120 7 38 2
data:
$ID,171
$MISSION,11
$DIVE,777
$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,58
$R_STBD_OVSHOOT,73
$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
$GPS1,290120,073030,545.1697,8016.0566,23,0.6,23,-2.1,0.6,284.3,12,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.3
$GPS2,290120,073707,545.1522,8015.9258,2,0.5,2,-2.1,0.9,263.8,12,8.3
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,PICKUP
$TGT_LATLONG,546.000,8015.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,310.7,2318,-20.9,-8.049,-30.00,1687
$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,10,-0.70,-89.6,126,2552,969,882,0.0,0.0,0,83,0.00,0.00,-71.15,0.005,16386,0.000,0.000,125,2552,2606,2607,2606,0,0,0,0,0,0,14.80,28.83,14.83
$GC,88,-0.70,-89.6,126,2552,2607,2607,4.6,-12.4,15,119,9.10,2.30,-13.98,0.009,18692,0.346,0.090,2084,3858,3337,3353,3321,0,0,0,0,0,0,13.88,12.58,14.32
$GC,323,-0.70,-89.6,2084,3858,3353,3321,83.9,-23.0,62,328,0.00,2.22,0.00,0.000,1030,0.000,0.034,2084,2504,3337,3353,3321,0,0,0,0,0,0,14.41,14.34,14.44
$GC,510,-0.70,-89.6,2084,2503,3352,3321,119.3,-17.0,81,517,0.00,2.42,0.00,0.000,260,0.000,0.087,2074,3848,3337,3353,3321,0,0,0,0,0,0,14.95,14.04,14.97
$GC,549,-0.70,-89.6,2073,3848,3353,3321,125.7,-16.1,89,553,0.00,2.20,0.00,0.000,1030,0.000,0.034,2074,2494,3337,3353,3321,0,0,0,0,0,0,14.44,14.36,14.46
$GC,740,-0.70,-89.6,2073,2493,3353,3321,152.6,-12.4,109,745,0.00,2.45,0.00,0.000,260,0.000,0.086,2063,3850,3337,3353,3321,0,0,0,0,0,0,14.98,14.01,15.01
$GC,886,-0.70,-89.6,2063,3850,3353,3321,174.6,-14.8,137,891,0.15,2.20,0.00,0.000,3078,0.225,0.031,2097,2486,3337,3353,3321,0,0,0,0,0,0,13.90,14.37,14.12
$GC,1081,-0.70,-89.6,2097,2484,3353,3321,199.0,-11.6,157,1089,0.00,2.42,0.00,0.000,260,0.000,0.079,2088,3846,3337,3353,3321,0,0,0,0,0,0,14.97,14.04,15.00
$GC,1167,-0.70,-89.6,2087,3846,3353,3321,210.4,-13.4,174,1172,0.00,2.17,0.00,0.000,1030,0.000,0.031,2087,2500,3336,3352,3321,0,0,0,0,0,0,14.43,14.37,14.45
$GC,1351,-0.70,-89.6,2087,2499,3351,3321,234.3,-13.0,193,1355,0.00,2.33,0.00,0.000,516,0.000,0.045,2087,1110,3336,3351,3321,0,0,0,0,0,0,14.99,14.21,15.02
$GC,1384,-0.70,-89.6,2087,1110,3350,3321,238.4,-12.9,199,1389,0.00,2.33,0.00,0.000,1030,0.000,0.052,2077,2458,3335,3350,3321,0,0,0,0,0,0,14.31,14.20,14.35
$GC,1576,-0.70,-89.6,2077,2459,3348,3321,264.4,-13.6,214,1581,0.00,2.55,0.00,0.000,260,0.000,0.080,2066,3893,3334,3348,3321,0,0,0,0,0,0,15.00,14.02,15.03
$GC,1628,-0.70,-89.6,2066,3894,3348,3321,271.8,-14.5,224,1635,0.15,2.28,0.00,0.000,3078,0.207,0.032,2101,2493,3334,3347,3321,0,0,0,0,0,0,13.93,14.35,14.13
$GC,1939,-0.70,-89.6,2101,2492,3345,3320,308.5,-11.5,241,1947,0.00,2.53,0.00,0.000,260,0.000,0.080,2091,3896,3332,3345,3319,0,0,0,0,0,0,15.00,13.97,15.03
$GC,2025,-0.70,-89.6,2091,3896,3343,3319,318.8,-12.1,258,2030,0.00,2.28,0.00,0.000,1030,0.000,0.032,2091,2501,3331,3343,3319,0,0,0,0,0,0,14.40,14.33,14.43
$GC,2344,-0.70,-89.6,2091,2500,3342,3315,357.9,-12.1,276,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3329,3343,3315,0,0,0,0,0,0,15.00,15.02,15.02
$GC,2643,-0.70,-89.6,2091,2500,3341,3313,391.3,-10.9,291,2649,0.00,2.53,0.00,0.000,260,0.000,0.082,2081,3894,3326,3340,3313,0,0,0,0,0,0,15.01,13.93,15.03
$GC,2697,-0.70,-89.6,2081,3894,3340,3313,397.8,-12.0,302,2702,0.00,2.30,0.00,0.000,1030,0.000,0.033,2081,2500,3326,3339,3313,0,0,0,0,0,0,14.35,14.28,14.38
$GC,3004,-0.70,-89.6,2080,2499,3338,3310,433.8,-11.7,318,3009,0.00,2.40,0.00,0.000,516,0.000,0.047,2081,1106,3324,3338,3310,0,0,0,0,0,0,15.00,14.11,15.02
$GC,3072,-0.70,-89.6,2081,1106,3337,3310,441.6,-11.0,331,3079,0.12,2.45,0.00,0.000,3078,0.208,0.056,2098,2501,3323,3337,3310,0,0,0,0,0,0,13.85,14.08,14.04
$GC,3388,-0.70,-89.6,2098,2501,3335,3308,475.1,-10.6,349,3395,0.00,2.53,0.00,0.000,260,0.000,0.083,2089,3900,3321,3335,3308,0,0,0,0,0,0,15.00,13.87,15.02
$GC,3492,-0.70,-89.6,2088,3900,3334,3308,487.5,-11.9,370,3498,0.00,2.35,0.00,0.000,1030,0.000,0.034,2088,2494,3321,3334,3308,0,0,0,0,0,0,14.31,14.24,14.34
$GC,3811,-0.70,-89.6,2088,2493,3333,3305,525.2,-12.1,388,3815,0.00,2.38,0.00,0.000,516,0.000,0.048,2088,1108,3319,3333,3305,0,0,0,0,0,0,14.99,14.07,15.01
$GC,3853,-0.70,-89.6,2088,1108,3332,3305,530.5,-12.2,396,3859,0.00,2.45,0.00,0.000,1030,0.000,0.056,2078,2499,3318,3332,3305,0,0,0,0,0,0,14.18,14.05,14.22
$GC,4173,-0.70,-89.6,2077,2500,3330,3302,569.8,-12.1,415,4178,0.00,2.55,0.00,0.000,260,0.000,0.083,2067,3900,3316,3330,3303,0,0,0,0,0,0,15.00,13.87,15.02
$GC,4297,-0.70,-89.6,2067,3900,3329,3303,585.4,-12.8,439,4304,0.12,2.33,0.00,0.000,3078,0.207,0.034,2096,2501,3315,3329,3302,0,0,0,0,0,0,13.83,14.21,14.02
$GC,4618,-0.70,-89.6,2096,2500,3328,3300,621.9,-10.9,458,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2500,3314,3328,3300,0,0,0,0,0,0,15.00,15.03,15.02
$GC,4919,-0.70,-89.6,2095,2500,3327,3298,652.3,-9.8,473,4923,0.00,2.58,0.00,0.000,260,0.000,0.084,2086,3896,3312,3327,3298,0,0,0,0,0,0,14.99,13.84,15.02
$GC,4976,-0.70,-89.6,2086,3896,3326,3298,658.4,-10.7,484,4980,0.00,2.35,0.00,0.000,1030,0.000,0.035,2087,2495,3312,3326,3298,0,0,0,0,0,0,14.26,14.19,14.29
$GC,5281,-0.70,-89.6,2086,2493,3325,3297,689.7,-9.9,500,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2493,3311,3325,3297,0,0,0,0,0,0,15.00,15.03,15.02
$GC,5583,-0.70,-89.6,2086,2493,3324,3296,719.7,-9.9,515,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2493,3310,3324,3296,0,0,0,0,0,0,14.98,15.01,15.00
$GC,5881,-0.70,-89.6,2086,2493,3323,3294,748.0,-9.3,530,5886,0.00,2.58,0.00,0.000,260,0.000,0.084,2076,3891,3308,3323,3294,0,0,0,0,0,0,15.00,13.81,15.02
$GC,5933,-0.70,-89.6,2075,3891,3323,3294,753.3,-10.1,540,5937,0.00,2.35,0.00,0.000,1030,0.000,0.034,2076,2491,3308,3323,3294,0,0,0,0,0,0,14.23,14.16,14.26
$GC,6246,-0.70,-89.6,2075,2490,3322,3293,786.2,-10.7,557,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2490,3307,3322,3293,0,0,0,0,0,0,14.99,15.01,15.01
$GC,6544,-0.70,-89.6,2075,2490,3321,3292,817.8,-10.5,572,6549,0.00,2.60,0.00,0.000,260,0.000,0.084,2065,3893,3306,3321,3292,0,0,0,0,0,0,15.00,13.82,15.02
$GC,6594,-0.70,-89.6,2065,3893,3320,3291,822.9,-10.8,581,6602,0.15,2.35,0.00,0.000,3078,0.200,0.035,2100,2495,3306,3321,3292,0,0,0,0,0,0,13.71,14.12,13.92
$GC,6910,-0.70,-89.6,2099,2495,3319,3290,849.9,-8.4,599,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2495,3304,3319,3290,0,0,0,0,0,0,14.99,15.02,15.02
$GC,7209,-0.70,-89.6,2100,2494,3319,3289,876.3,-9.0,614,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3304,3319,3289,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7511,-0.70,-89.6,2100,2494,3318,3289,902.6,-8.9,629,7515,0.00,2.62,0.00,0.000,260,0.000,0.085,2090,3896,3303,3318,3288,0,0,0,0,0,0,14.98,13.83,15.00
$GC,7537,-0.70,-89.6,2090,3897,3317,3288,905.2,-9.7,634,7542,0.00,2.35,0.00,0.000,1030,0.000,0.036,2090,2504,3303,3317,3289,0,0,0,0,0,0,14.16,14.09,14.20
$GC,7855,-0.70,-89.6,2090,2503,3317,3288,935.8,-9.6,652,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3302,3317,3288,0,0,0,0,0,0,14.98,15.02,15.01
$GC,8157,-0.70,-89.6,2090,2503,3315,3288,964.2,-9.4,667,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2503,3301,3315,3288,0,0,0,0,0,0,14.97,15.00,14.99
$STATE,8453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8453,begin apogee
$GC,8462,-0.15,0.0,2090,2433,3314,3287,991.3,-8.8,682,8553,0.68,0.00,84.90,1.979,10246,0.168,0.000,2275,2432,2967,3000,2935,0,0,0,0,0,0,13.67,14.01,12.79
$STATE,8554,end apogee,CONTROL_FINISHED_OK
$STATE,8554,begin climb
$GC,8559,0.70,89.6,2274,2432,2999,2935,993.6,0.0,687,8661,0.90,0.00,98.05,1.952,10246,0.093,0.000,2563,2432,2602,2634,2570,0,0,0,0,0,0,14.00,13.91,12.76
$GC,8958,0.70,89.6,2563,2432,2622,2565,970.9,8.1,707,8962,0.00,2.38,0.00,0.000,516,0.000,0.051,2574,1055,2593,2622,2565,0,0,0,0,0,0,14.81,14.33,14.84
$GC,9006,0.70,89.6,2574,1054,2621,2565,966.9,8.0,716,9011,0.00,2.45,0.00,0.000,1030,0.000,0.054,2574,2452,2592,2621,2564,0,0,0,0,0,0,14.42,14.31,14.47
$GC,9323,0.70,89.6,2574,2452,2620,2563,940.1,8.6,734,9328,0.00,2.50,0.00,0.000,260,0.000,0.081,2574,3846,2591,2620,2563,0,0,0,0,0,0,14.92,14.19,14.95
$GC,9355,0.70,89.6,2574,3847,2619,2563,937.1,9.6,740,9359,0.00,2.33,0.00,0.000,1030,0.000,0.035,2585,2441,2591,2619,2563,0,0,0,0,0,0,14.45,14.39,14.49
$GC,9666,0.70,89.6,2585,2440,2618,2562,910.9,8.2,757,9670,0.00,2.40,0.00,0.000,516,0.000,0.050,2596,1054,2590,2618,2562,0,0,0,0,0,0,14.95,14.19,14.98
$GC,9728,0.70,89.6,2595,1053,2617,2561,906.0,8.0,769,9733,0.15,2.45,0.00,0.000,5126,0.233,0.053,2563,2442,2589,2617,2562,0,0,0,0,0,0,13.88,14.22,14.19
$GC,10055,0.74,89.6,2563,2442,2617,2561,884.3,6.1,788,10061,0.00,2.55,0.00,0.000,324,0.000,0.081,2563,3848,2589,2617,2561,0,0,0,0,0,0,14.92,14.02,14.95
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$STATE,19933,end climb,SURFACE_DEPTH_REACHED
$STATE,19933,begin surface coast
$STATE,19956,end surface coast,CONTROL_FINISHED_OK
$STATE,19956,begin surface
$SM_CCo,19977,116.28,0.614,1,0,929,500.17
$SM_GC,1.30,7.78,0.10,116.28,0.052,0.143,0.614,125,2520,929,-6.78,-0.88,500.17,0,0,0,0,1,0,14.40,14.47,13.61
$IRIDIUM_FIX,545.80,8014.09,290120,014634
$TT8_MAMPS,0.018725,0.161035
$HUMID,50.39
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.58,257.614
$10V_AH,12.80,0.000
$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,20.150,188.700,462.000,116.275,0.000,0.000,0.000,244.100,0.250,0.000,14.225,1561.078,14922.752,737.166,2699.681,574.770,0.000,2359.582,0.000,2442.857,0.000,0.542,0.000
$DEVICE_MAMPS,345.780,309.060,1979.055,613.530,0.000,0.000,0.000,177.480,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,848.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249708
$DATA_FILE_SIZE,76583,1718
$CAP_FILE_SIZE,189711,0
$CFSIZE,260034560,115838976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.052,321.33,1
$GPS,290120,131408,546.573,8014.527,21,1.0,21,-2.1,0.5,306.1,7,8.6