version: 66.13
glider: 171
mission: 11
dive: 536
start: 11 30 119 8 25 41
data:
$ID,171
$MISSION,11
$DIVE,536
$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,50
$R_STBD_OVSHOOT,53
$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
$GPS1,301119,081830,644.2289,8340.1465,21,0.7,21,-1.8,0.5,352.5,11,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.6
$GPS2,301119,082448,644.2247,8340.1094,2,0.6,2,-1.8,0.1,0.0,12,10.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,201.7,110299,-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,-97.3,116,2532,974,878,0.0,0.0,0,83,0.00,0.00,-71.57,0.005,16386,0.000,0.000,117,2533,2617,2618,2616,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,116,2533,2619,2616,5.2,-14.5,15,114,9.02,0.00,-14.12,0.009,18694,0.343,0.000,2104,2533,3370,3384,3356,0,0,0,0,0,0,13.91,12.68,14.35
$GC,295,-0.67,-97.3,2103,2533,3384,3356,69.5,-24.0,49,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2533,3370,3384,3356,0,0,0,0,0,0,14.96,14.99,14.98
$GC,475,-0.67,-97.3,2103,2533,3384,3356,103.6,-15.4,67,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2533,3370,3384,3356,0,0,0,0,0,0,15.01,15.04,15.03
$GC,657,-0.67,-97.3,2103,2533,3385,3356,128.9,-14.6,85,662,0.00,2.33,0.00,0.000,260,0.000,0.079,2095,3877,3370,3385,3356,0,0,0,0,0,0,15.03,14.50,15.05
$GC,784,-0.67,-97.3,2094,3877,3385,3356,147.1,-13.5,110,788,0.00,2.20,0.00,0.000,1030,0.000,0.032,2095,2488,3370,3385,3356,0,0,0,0,0,0,14.75,14.69,14.77
$GC,970,-0.67,-97.3,2094,2487,3385,3356,171.0,-12.8,129,975,0.00,2.40,0.00,0.000,260,0.000,0.089,2084,3867,3370,3385,3356,0,0,0,0,0,0,15.06,14.51,15.08
$GC,1041,-0.67,-97.3,2084,3867,3385,3356,180.6,-13.5,143,1045,0.00,2.17,0.00,0.000,1030,0.000,0.033,2084,2492,3370,3385,3356,0,0,0,0,0,0,14.76,14.71,14.78
$GC,1232,-0.67,-97.3,2084,2491,3385,3355,206.7,-13.5,163,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2491,3370,3385,3355,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1413,-0.67,-97.3,2084,2491,3384,3355,231.2,-13.5,181,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2491,3369,3384,3355,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1603,-0.67,-97.3,2084,2491,3383,3356,256.1,-12.8,198,1607,0.00,2.40,0.00,0.000,260,0.000,0.083,2073,3872,3368,3382,3355,0,0,0,0,0,0,15.09,14.52,15.11
$GC,1640,-0.67,-97.3,2073,3872,3382,3355,261.0,-13.8,205,1646,0.15,2.17,0.00,0.000,3078,0.210,0.034,2111,2499,3368,3382,3355,0,0,0,0,0,0,14.40,14.71,14.60
$GC,1944,-0.67,-97.3,2110,2498,3379,3355,294.1,-10.8,221,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3367,3379,3355,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2244,-0.67,-97.3,2110,2498,3377,3353,327.2,-11.0,236,2248,0.00,2.28,0.00,0.000,516,0.000,0.047,2111,1106,3365,3377,3353,0,0,0,0,0,0,15.11,14.64,15.14
$GC,2276,-0.67,-97.3,2110,1105,3377,3353,330.6,-10.8,242,2281,0.00,2.33,0.00,0.000,1030,0.000,0.057,2102,2477,3364,3376,3353,0,0,0,0,0,0,14.71,14.59,14.74
$GC,2587,-0.67,-97.3,2101,2477,3375,3349,365.2,-11.2,259,2594,0.00,2.45,0.00,0.000,260,0.000,0.083,2090,3900,3362,3375,3349,0,0,0,0,0,0,15.10,14.50,15.13
$GC,2659,-0.67,-97.3,2090,3900,3374,3349,372.9,-11.0,273,2664,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2493,3361,3374,3349,0,0,0,0,0,0,14.77,14.71,14.79
$GC,2972,-0.67,-97.3,2090,2492,3373,3347,408.6,-11.3,290,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2492,3360,3373,3347,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3270,-0.67,-97.3,2089,2492,3371,3345,441.5,-10.6,305,3275,0.00,2.45,0.00,0.000,260,0.000,0.083,2080,3897,3358,3371,3345,0,0,0,0,0,0,15.11,14.48,15.13
$GC,3299,-0.67,-97.3,2080,3897,3371,3345,444.4,-10.7,310,3303,0.12,2.25,0.00,0.000,3078,0.213,0.034,2110,2492,3357,3370,3345,0,0,0,0,0,0,14.40,14.69,14.59
$GC,3615,-0.67,-97.3,2109,2491,3369,3343,474.1,-9.2,328,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2491,3356,3369,3343,0,0,0,0,0,0,15.10,15.14,15.13
$GC,3915,-0.67,-97.3,2109,2490,3367,3341,502.0,-9.2,343,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2491,3354,3367,3341,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4217,-0.67,-97.3,2109,2491,3366,3339,529.0,-9.0,358,4221,0.00,2.47,0.00,0.000,260,0.000,0.085,2100,3894,3352,3366,3339,0,0,0,0,0,0,15.09,14.45,15.12
$GC,4264,-0.67,-97.3,2100,3894,3365,3339,533.5,-9.4,367,4269,0.00,2.25,0.00,0.000,1030,0.000,0.034,2100,2494,3352,3366,3339,0,0,0,0,0,0,14.74,14.68,14.76
$GC,4580,-0.67,-97.3,2100,2493,3363,3338,563.5,-9.7,385,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2492,3351,3364,3338,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4882,-0.67,-97.3,2100,2492,3363,3337,592.6,-9.9,400,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2492,3350,3363,3337,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5181,-0.67,-97.3,2100,2492,3362,3335,623.6,-10.7,415,5187,0.00,2.47,0.00,0.000,260,0.000,0.088,2089,3895,3348,3362,3335,0,0,0,0,0,0,15.11,14.42,15.14
$GC,5222,-0.67,-97.3,2089,3894,3362,3335,628.1,-11.3,423,5226,0.00,2.25,0.00,0.000,1030,0.000,0.035,2089,2498,3348,3362,3335,0,0,0,0,0,0,14.72,14.65,14.74
$GC,5543,-0.67,-97.3,2089,2497,3361,3334,664.2,-11.2,442,5547,0.00,2.30,0.00,0.000,516,0.000,0.049,2089,1109,3347,3360,3334,0,0,0,0,0,0,15.09,14.55,15.12
$GC,5574,-0.67,-97.3,2089,1109,3360,3334,667.7,-11.0,448,5579,0.12,2.42,0.00,0.000,3078,0.210,0.058,2109,2509,3347,3360,3334,0,0,0,0,0,0,14.31,14.50,14.51
$GC,5887,-0.67,-97.3,2109,2509,3359,3333,697.5,-9.2,465,5892,0.00,2.42,0.00,0.000,260,0.000,0.087,2100,3896,3346,3359,3333,0,0,0,0,0,0,15.09,14.40,15.11
$GC,5923,-0.67,-97.3,2099,3896,3359,3333,701.1,-9.8,472,5927,0.00,2.28,0.00,0.000,1030,0.000,0.036,2100,2492,3345,3359,3332,0,0,0,0,0,0,14.70,14.63,14.72
$GC,6228,-0.67,-97.3,2099,2491,3357,3332,729.6,-9.4,488,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2491,3344,3357,3332,0,0,0,0,0,0,15.09,15.13,15.12
$GC,6530,-0.67,-97.3,2099,2491,3356,3331,757.7,-9.4,503,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2491,3343,3356,3331,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6829,-0.67,-97.3,2099,2491,3356,3330,786.6,-9.7,518,6835,0.00,2.47,0.00,0.000,260,0.000,0.086,2089,3891,3343,3356,3330,0,0,0,0,0,0,15.09,14.37,15.11
$GC,6858,-0.67,-97.3,2088,3891,3355,3330,789.6,-10.9,524,6863,0.00,2.25,0.00,0.000,1030,0.000,0.035,2088,2502,3342,3355,3330,0,0,0,0,0,0,14.68,14.62,14.70
$GC,7171,-0.67,-97.3,2088,2500,3354,3329,821.3,-10.0,541,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3341,3354,3329,0,0,0,0,0,0,15.08,15.11,15.11
$GC,7469,-0.67,-97.3,2088,2501,3354,3327,850.5,-9.8,556,7474,0.00,2.47,0.00,0.000,260,0.000,0.087,2078,3892,3340,3354,3327,0,0,0,0,0,0,15.09,14.35,15.12
$GC,7505,-0.67,-97.3,2077,3891,3353,3327,854.2,-10.2,563,7510,0.12,2.28,0.00,0.000,3078,0.213,0.036,2108,2494,3340,3354,3327,0,0,0,0,0,0,14.28,14.59,14.47
$GC,7812,-0.67,-97.3,2107,2492,3353,3326,879.9,-8.2,579,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3339,3353,3326,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8111,-0.67,-97.3,2107,2492,3352,3326,904.0,-8.0,594,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2492,3338,3352,3325,0,0,0,0,0,0,15.09,15.13,15.12
$GC,8412,-0.67,-97.3,2107,2492,3351,3325,927.6,-8.0,609,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2493,3338,3352,3325,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8710,-0.67,-97.3,2107,2492,3351,3324,952.0,-8.4,624,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2492,3337,3351,3324,0,0,0,0,0,0,15.09,15.13,15.12
$GC,9011,-0.67,-97.3,2107,2492,3350,3323,977.9,-8.9,639,9015,0.00,2.53,0.00,0.000,260,0.000,0.088,2098,3897,3336,3350,3323,0,0,0,0,0,0,15.09,14.28,15.12
$GC,9053,-0.67,-97.3,2098,3897,3349,3324,981.8,-9.6,647,9057,0.00,2.30,0.00,0.000,1030,0.000,0.037,2098,2497,3336,3350,3323,0,0,0,0,0,0,14.62,14.55,14.65
$STATE,9151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9151,begin apogee
$GC,9158,-0.15,0.0,2098,2495,3350,3323,991.5,-9.5,655,9256,0.62,0.00,93.88,1.990,10246,0.167,0.000,2277,2495,2967,3000,2935,0,0,0,0,0,0,14.14,13.98,12.59
$STATE,9257,end apogee,CONTROL_FINISHED_OK
$STATE,9257,begin climb
$GC,9260,0.67,97.3,2277,2495,2999,2935,994.6,0.0,660,9369,0.82,0.00,104.53,1.983,10246,0.090,0.000,2551,2495,2571,2604,2538,0,0,0,0,0,0,14.16,13.88,12.60
$GC,9661,0.67,97.3,2550,2495,2592,2534,975.6,7.7,680,9665,0.00,2.45,0.00,0.000,516,0.000,0.051,2562,1057,2563,2592,2534,0,0,0,0,0,0,14.83,14.45,14.86
$GC,9699,0.67,97.3,2562,1054,2591,2534,972.4,7.9,687,9704,0.00,2.40,0.00,0.000,1030,0.000,0.054,2562,2443,2562,2591,2534,0,0,0,0,0,0,14.55,14.45,14.59
$GC,10003,0.67,97.3,2562,2443,2591,2532,947.2,8.3,703,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2443,2561,2591,2532,0,0,0,0,0,0,14.95,14.99,14.98
$GC,10302,0.67,97.3,2562,2443,2590,2531,922.9,8.0,718,10306,0.00,2.38,0.00,0.000,516,0.000,0.050,2573,1045,2560,2590,2531,0,0,0,0,0,0,15.00,14.52,15.03
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$STATE,20853,end climb,SURFACE_DEPTH_REACHED
$STATE,20853,begin surface coast
$STATE,20889,end surface coast,CONTROL_FINISHED_OK
$STATE,20890,begin surface
$SM_CCo,20909,92.15,0.587,1,0,928,500.17
$SM_GC,1.23,7.18,0.10,92.15,0.047,0.163,0.587,114,2508,928,-6.77,-0.85,500.17,0,0,0,0,1,0,14.59,14.56,13.69
$IRIDIUM_FIX,644.85,8339.11,301119,021356
$TT8_MAMPS,0.018725,0.158039
$HUMID,47.59
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,12.59,185.183
$10V_AH,12.46,0.000
$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,19.100,198.975,489.775,92.150,0.000,0.000,0.000,242.300,0.250,0.000,14.233,1605.277,15842.003,728.995,2708.342,499.816,0.000,2357.477,0.000,2450.989,0.000,0.540,0.000
$DEVICE_MAMPS,342.720,162.945,1989.765,586.755,0.000,0.000,0.000,173.655,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,921.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250592
$DATA_FILE_SIZE,76568,1724
$CAP_FILE_SIZE,197095,0
$CFSIZE,260034560,138194944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,11432.14,0x214798,1,24
$CURRENT,0.085,337.14,1
$GPS,301119,141700,643.384,8339.011,31,0.7,31,-1.8,0.7,205.6,11,4.7