version: 66.13
glider: 171
mission: 11
dive: 537
start: 11 30 119 14 24 20
data:
$ID,171
$MISSION,11
$DIVE,537
$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,65
$R_STBD_OVSHOOT,34
$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
$GPS1,301119,141700,643.3839,8339.0107,31,0.7,31,-1.8,0.7,205.6,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.1
$GPS2,301119,142327,643.3836,8338.9512,2,0.5,2,-1.8,0.6,9.2,12,10.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,194.7,107715,-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,-97.3,108,2509,970,880,0.0,0.0,0,83,0.00,0.00,-71.93,0.005,16386,0.000,0.000,107,2510,2650,2650,2651,0,0,0,0,0,0,14.85,28.83,14.88
$GC,87,-0.67,-97.3,107,2510,2651,2650,5.3,-14.3,15,114,9.15,0.00,-13.27,0.009,18950,0.347,0.000,2104,2510,3366,3380,3352,0,0,0,0,0,0,13.93,13.54,14.38
$GC,297,-0.67,-97.3,2104,2510,3380,3352,67.0,-22.8,50,302,0.00,2.35,0.00,0.000,260,0.000,0.077,2095,3889,3366,3380,3352,0,0,0,0,0,0,14.97,14.48,14.99
$GC,349,-0.67,-97.3,2095,3889,3380,3352,79.4,-22.4,60,353,0.00,2.20,0.00,0.000,1030,0.000,0.034,2095,2510,3366,3380,3352,0,0,0,0,0,0,14.70,14.64,14.72
$GC,541,-0.67,-97.3,2095,2509,3380,3352,110.6,-15.8,80,544,0.00,2.38,0.00,0.000,260,0.000,0.080,2084,3888,3366,3380,3352,0,0,0,0,0,0,15.02,14.52,15.04
$GC,566,-0.67,-97.3,2084,3888,3380,3352,115.0,-17.2,85,570,0.00,2.22,0.00,0.000,1030,0.000,0.035,2085,2502,3366,3380,3352,0,0,0,0,0,0,14.73,14.66,14.75
$GC,751,-0.67,-97.3,2084,2500,3380,3352,141.9,-13.8,104,755,0.00,2.30,0.00,0.000,516,0.000,0.050,2084,1094,3366,3380,3352,0,0,0,0,0,0,15.04,14.61,15.07
$GC,809,-0.67,-97.3,2084,1094,3380,3352,149.6,-13.9,115,816,0.15,2.38,0.00,0.000,3078,0.219,0.059,2110,2494,3366,3380,3352,0,0,0,0,0,0,14.37,14.59,14.59
$GC,1005,-0.67,-97.3,2110,2494,3380,3352,171.7,-10.7,136,1009,0.00,2.40,0.00,0.000,260,0.000,0.081,2101,3900,3366,3380,3352,0,0,0,0,0,0,15.05,14.54,15.08
$GC,1145,-0.67,-97.3,2100,3900,3380,3351,187.9,-11.7,163,1149,0.00,2.25,0.00,0.000,1030,0.000,0.034,2101,2494,3366,3380,3352,0,0,0,0,0,0,14.77,14.71,14.79
$GC,1326,-0.67,-97.3,2101,2492,3378,3352,211.1,-12.6,182,1331,0.00,2.28,0.00,0.000,516,0.000,0.048,2101,1097,3365,3378,3352,0,0,0,0,0,0,15.09,14.65,15.11
$GC,1353,-0.67,-97.3,2100,1097,3377,3352,214.4,-12.8,187,1358,0.00,2.38,0.00,0.000,1030,0.000,0.057,2090,2501,3364,3377,3351,0,0,0,0,0,0,14.71,14.61,14.75
$GC,1539,-0.67,-97.3,2089,2501,3377,3351,238.5,-13.2,206,1544,0.00,2.38,0.00,0.000,260,0.000,0.081,2079,3893,3363,3376,3351,0,0,0,0,0,0,15.08,14.55,15.11
$GC,1580,-0.67,-97.3,2079,3893,3376,3351,244.4,-13.9,214,1586,0.12,2.22,0.00,0.000,3078,0.214,0.035,2109,2498,3364,3376,3352,0,0,0,0,0,0,14.44,14.71,14.64
$GC,1775,-0.67,-97.3,2108,2497,3374,3351,267.1,-11.6,227,1779,0.00,2.28,0.00,0.000,516,0.000,0.048,2109,1104,3362,3374,3351,0,0,0,0,0,0,15.09,14.64,15.11
$GC,1816,-0.67,-97.3,2109,1104,3373,3351,272.1,-11.7,235,1820,0.00,2.38,0.00,0.000,1030,0.000,0.059,2100,2505,3361,3372,3351,0,0,0,0,0,0,14.72,14.61,14.76
$GC,2137,-0.67,-97.3,2099,2505,3372,3348,309.3,-11.4,254,2142,0.00,2.38,0.00,0.000,260,0.000,0.084,2088,3892,3360,3372,3348,0,0,0,0,0,0,15.11,14.54,15.14
$GC,2175,-0.67,-97.3,2088,3892,3371,3348,313.6,-12.1,261,2179,0.00,2.25,0.00,0.000,1030,0.000,0.035,2089,2490,3359,3371,3348,0,0,0,0,0,0,14.78,14.71,14.80
$GC,2478,-0.67,-97.3,2088,2489,3370,3346,350.0,-12.0,277,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2489,3358,3370,3346,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2778,-0.67,-97.3,2088,2489,3367,3343,384.1,-11.4,292,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2489,3355,3367,3343,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3080,-0.67,-97.3,2087,2489,3366,3340,417.7,-11.0,307,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2489,3353,3366,3340,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3378,-0.67,-97.3,2088,2489,3364,3339,450.1,-10.8,322,3383,0.00,2.47,0.00,0.000,260,0.000,0.093,2078,3891,3351,3363,3339,0,0,0,0,0,0,15.11,14.50,15.14
$GC,3427,-0.67,-97.3,2077,3891,3362,3338,455.4,-11.6,331,3432,0.12,2.28,0.00,0.000,3078,0.213,0.045,2108,2513,3351,3363,3339,0,0,0,0,0,0,14.40,14.64,14.59
$GC,3744,-0.67,-97.3,2107,2512,3362,3336,487.7,-10.4,349,3748,0.00,2.35,0.00,0.000,516,0.000,0.050,2108,1091,3349,3362,3336,0,0,0,0,0,0,15.11,14.61,15.14
$GC,3779,-0.67,-97.3,2107,1091,3361,3336,491.5,-10.5,356,3784,0.00,2.42,0.00,0.000,1030,0.000,0.060,2098,2504,3348,3361,3336,0,0,0,0,0,0,14.68,14.57,14.72
$GC,4101,-0.67,-97.3,2098,2503,3360,3334,526.0,-10.5,375,4105,0.00,2.40,0.00,0.000,260,0.000,0.086,2087,3892,3347,3360,3334,0,0,0,0,0,0,15.10,14.48,15.13
$GC,4164,-0.67,-97.3,2087,3892,3359,3334,532.8,-11.0,387,4168,0.00,2.30,0.00,0.000,1030,0.000,0.037,2087,2480,3346,3359,3334,0,0,0,0,0,0,14.73,14.67,14.76
$GC,4486,-0.67,-97.3,2087,2478,3357,3332,568.1,-10.9,406,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2478,3344,3357,3332,0,0,0,0,0,0,15.09,15.13,15.12
$GC,4785,-0.67,-97.3,2087,2478,3356,3331,600.8,-11.0,421,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2478,3344,3357,3331,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5085,-0.67,-97.3,2087,2478,3355,3330,634.7,-11.4,436,5091,0.00,2.50,0.00,0.000,260,0.000,0.089,2076,3896,3342,3355,3330,0,0,0,0,0,0,15.11,14.45,15.14
$GC,5126,-0.67,-97.3,2076,3896,3354,3330,639.4,-12.0,444,5131,0.15,2.28,0.00,0.000,3078,0.200,0.037,2114,2489,3342,3354,3330,0,0,0,0,0,0,14.35,14.65,14.55
$GC,5448,-0.67,-97.3,2113,2488,3353,3328,670.5,-9.4,463,5452,0.00,2.30,0.00,0.000,516,0.000,0.050,2114,1106,3340,3353,3327,0,0,0,0,0,0,15.10,14.56,15.13
$GC,5484,-0.67,-97.3,2114,1105,3353,3327,674.0,-9.5,470,5490,0.00,2.42,0.00,0.000,1030,0.000,0.068,2105,2493,3339,3352,3327,0,0,0,0,0,0,14.59,14.45,14.64
$GC,5790,-0.67,-97.3,2105,2493,3352,3326,704.5,-10.0,486,5795,0.00,2.47,0.00,0.000,260,0.000,0.088,2094,3906,3339,3352,3326,0,0,0,0,0,0,15.09,14.41,15.11
$GC,5818,-0.67,-97.3,2093,3906,3352,3326,707.4,-11.1,491,5822,0.00,2.28,0.00,0.000,1030,0.000,0.037,2093,2502,3339,3352,3326,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6135,-0.67,-97.3,2093,2501,3351,3325,742.0,-11.1,509,6142,0.00,2.50,0.00,0.000,260,0.000,0.096,2083,3897,3337,3350,3325,0,0,0,0,0,0,15.09,14.39,15.11
$GC,6174,-0.67,-97.3,2083,3898,3350,3325,746.7,-11.6,517,6179,0.12,2.28,0.00,0.000,3078,0.207,0.037,2113,2491,3337,3350,3325,0,0,0,0,0,0,14.34,14.63,14.53
$GC,6496,-0.67,-97.3,2112,2490,3350,3323,778.6,-9.8,536,6500,0.00,2.30,0.00,0.000,516,0.000,0.048,2113,1104,3336,3349,3323,0,0,0,0,0,0,15.10,14.53,15.12
$GC,6543,-0.67,-97.3,2113,1104,3348,3323,783.2,-9.9,545,6550,0.00,2.42,0.00,0.000,1030,0.000,0.057,2104,2514,3335,3348,3323,0,0,0,0,0,0,14.60,14.48,14.64
$GC,6858,-0.67,-97.3,2103,2514,3348,3321,815.1,-10.2,563,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2514,3334,3348,3321,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7157,-0.67,-97.3,2103,2514,3347,3321,844.6,-9.5,578,7162,0.00,2.42,0.00,0.000,260,0.000,0.089,2093,3892,3334,3347,3321,0,0,0,0,0,0,15.09,14.36,15.12
$GC,7200,-0.67,-97.3,2092,3891,3347,3321,848.7,-9.9,586,7205,0.00,2.25,0.00,0.000,1030,0.000,0.036,2092,2500,3334,3347,3321,0,0,0,0,0,0,14.68,14.62,14.71
$GC,7522,-0.67,-97.3,2092,2499,3346,3320,879.4,-9.3,605,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3333,3346,3320,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7823,-0.67,-97.3,2092,2499,3345,3320,906.8,-9.1,620,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3332,3345,3320,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8122,-0.67,-97.3,2092,2499,3343,3319,933.3,-8.9,635,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3331,3344,3319,0,0,0,0,0,0,15.09,15.13,15.12
$GC,8422,-0.67,-97.3,2092,2499,3343,3319,960.2,-9.1,650,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2499,3331,3343,3319,0,0,0,0,0,0,15.10,15.13,15.13
$GC,8723,-0.67,-97.3,2092,2499,3343,3317,989.0,-9.8,665,8730,0.00,2.50,0.00,0.000,260,0.000,0.091,2082,3894,3330,3343,3317,0,0,0,0,0,0,15.09,14.31,15.11
$STATE,8734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8734,begin apogee
$GC,8743,-0.15,0.0,2082,2443,3342,3317,990.4,-9.7,668,8839,0.68,0.00,91.85,1.994,10246,0.168,0.000,2275,2443,2968,3000,2936,0,0,0,0,0,0,14.14,14.01,12.64
$STATE,8840,end apogee,CONTROL_FINISHED_OK
$STATE,8840,begin climb
$GC,8843,0.67,97.3,2275,2443,2998,2936,994.0,0.0,673,8959,0.85,2.50,102.95,1.982,10756,0.093,0.050,2566,1038,2570,2601,2539,0,0,0,0,0,0,14.17,13.96,12.60
$GC,8981,0.74,163.6,2566,1038,2596,2538,992.8,4.3,701,9054,0.00,2.47,67.20,1.971,9254,0.000,0.057,2566,2444,2301,2344,2259,0,0,0,0,0,0,14.29,14.20,12.64
$GC,9361,0.74,163.6,2566,2444,2334,2252,952.4,11.6,732,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2444,2293,2334,2252,0,0,0,0,0,0,14.87,14.90,14.90
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$STATE,19025,end climb,SURFACE_DEPTH_REACHED
$STATE,19025,begin surface coast
$STATE,19065,end surface coast,CONTROL_FINISHED_OK
$STATE,19065,begin surface
$SM_CCo,19086,89.75,0.582,1,0,929,500.17
$SM_GC,1.32,7.30,0.10,89.75,0.057,0.151,0.582,115,2510,929,-6.78,-0.76,500.17,0,0,0,0,1,0,14.62,14.58,13.69
$IRIDIUM_FIX,642.49,8343.66,301119,082108
$TT8_MAMPS,0.019474,0.155043
$HUMID,47.75
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.60,185.489
$10V_AH,11.01,0.000
$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,19.850,209.550,497.150,89.750,0.000,0.000,0.000,251.300,0.250,0.000,13.833,1516.409,14212.266,718.563,2638.764,480.734,0.000,2339.903,0.000,2370.523,0.000,0.541,0.000
$DEVICE_MAMPS,346.545,150.705,1994.355,582.165,0.000,0.000,0.000,172.125,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,863.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250564
$DATA_FILE_SIZE,73221,1667
$CAP_FILE_SIZE,191781,0
$CFSIZE,260034560,138117120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.060,343.17,1
$GPS,301119,194500,642.180,8338.192,18,0.8,18,-1.8,0.4,305.5,8,3.8