version: 66.13
glider: 171
mission: 11
dive: 433
start: 11 4 119 6 54 11
data:
$ID,171
$MISSION,11
$DIVE,433
$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,79
$R_STBD_OVSHOOT,31
$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
$GPS1,041119,064706,858.4676,8618.8467,36,1.5,39,-1.3,0.6,50.5,6,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-62.3
$GPS2,041119,065320,858.5394,8618.9521,2,0.6,3,-1.3,0.6,82.0,12,7.9
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,205.2,140761,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.67,-97.3,103,2556,977,874,0.0,0.0,0,88,0.00,0.00,-76.40,0.005,16386,0.000,0.000,96,2557,2743,2740,2746,0,0,0,0,0,0,14.83,28.83,14.86
$GC,92,-0.67,-97.3,96,2557,2740,2746,4.7,-12.8,16,123,9.30,2.33,-13.40,0.009,18692,0.357,0.102,2095,3893,3367,3380,3354,0,0,0,0,0,0,14.01,13.51,14.44
$GC,225,-0.67,-97.3,2094,3893,3380,3354,43.3,-23.9,43,231,0.00,2.20,0.00,0.000,1030,0.000,0.034,2095,2517,3367,3380,3354,0,0,0,0,0,0,14.69,14.62,14.71
$GC,417,-0.67,-97.3,2094,2516,3380,3354,81.1,-16.5,65,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2516,3367,3380,3354,0,0,0,0,0,0,15.00,15.03,15.02
$GC,598,-0.67,-97.3,2094,2516,3380,3354,108.2,-15.9,83,603,0.00,2.38,0.00,0.000,260,0.000,0.084,2084,3893,3367,3380,3354,0,0,0,0,0,0,15.02,14.54,15.05
$GC,800,-0.67,-97.3,2083,3893,3381,3354,144.3,-17.9,123,805,0.00,2.20,0.00,0.000,1030,0.000,0.031,2084,2485,3367,3380,3354,0,0,0,0,0,0,14.81,14.75,14.82
$GC,992,-0.67,-97.3,2083,2484,3380,3354,175.0,-14.7,143,997,0.00,2.42,0.00,0.000,260,0.000,0.082,2073,3897,3367,3381,3354,0,0,0,0,0,0,15.07,14.59,15.10
$GC,1024,-0.67,-97.3,2073,3897,3380,3354,180.0,-15.3,149,1029,0.15,2.20,0.00,0.000,3078,0.217,0.032,2109,2491,3367,3380,3354,0,0,0,0,0,0,14.45,14.75,14.66
$GC,1218,-0.67,-97.3,2109,2490,3380,3354,202.8,-10.9,169,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2490,3367,3380,3354,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1406,-0.67,-97.3,2109,2490,3379,3354,222.7,-10.0,188,1410,0.00,2.22,0.00,0.000,516,0.000,0.044,2110,1108,3366,3378,3354,0,0,0,0,0,0,15.10,14.71,15.13
$GC,1436,-0.67,-97.3,2109,1108,3378,3354,225.9,-10.3,194,1441,0.00,2.33,0.00,0.000,1030,0.000,0.057,2100,2498,3366,3378,3354,0,0,0,0,0,0,14.76,14.64,14.80
$GC,1628,-0.67,-97.3,2100,2498,3376,3353,246.3,-10.8,214,1633,0.00,2.38,0.00,0.000,260,0.000,0.083,2089,3891,3364,3376,3353,0,0,0,0,0,0,15.09,14.59,15.12
$GC,1719,-0.67,-97.3,2088,3891,3375,3353,256.5,-10.8,232,1724,0.00,2.17,0.00,0.000,1030,0.000,0.032,2089,2508,3364,3375,3354,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2031,-0.67,-97.3,2089,2507,3372,3352,290.2,-10.9,249,2036,0.00,2.40,0.00,0.000,260,0.000,0.087,2079,3891,3362,3372,3352,0,0,0,0,0,0,15.11,14.59,15.14
$GC,2079,-0.67,-97.3,2078,3891,3371,3351,295.8,-12.2,258,2084,0.12,2.20,0.00,0.000,3078,0.214,0.034,2108,2495,3361,3372,3351,0,0,0,0,0,0,14.50,14.77,14.69
$GC,2397,-0.67,-97.3,2108,2494,3371,3348,329.8,-10.6,276,2401,0.00,2.25,0.00,0.000,516,0.000,0.047,2108,1111,3358,3370,3347,0,0,0,0,0,0,15.11,14.69,15.14
$GC,2447,-0.67,-97.3,2108,1111,3370,3347,335.1,-9.8,286,2452,0.00,2.35,0.00,0.000,1030,0.000,0.057,2099,2505,3358,3370,3347,0,0,0,0,0,0,14.77,14.66,14.80
$GC,2758,-0.67,-97.3,2099,2505,3368,3345,365.2,-10.0,303,2763,0.00,2.38,0.00,0.000,260,0.000,0.084,2088,3891,3356,3367,3345,0,0,0,0,0,0,15.13,14.59,15.16
$GC,2816,-0.67,-97.3,2088,3891,3366,3345,371.2,-10.6,314,2820,0.00,2.20,0.00,0.000,1030,0.000,0.034,2088,2508,3356,3367,3345,0,0,0,0,0,0,14.82,14.76,14.84
$GC,3120,-0.67,-97.3,2088,2506,3365,3341,407.2,-12.7,330,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2506,3353,3366,3341,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3420,-0.67,-97.3,2088,2506,3363,3339,445.7,-12.6,345,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2506,3351,3363,3339,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3721,-0.67,-97.3,2088,2506,3362,3338,479.1,-10.2,360,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2506,3350,3362,3338,0,0,0,0,0,0,15.12,15.15,15.15
$GC,4020,-0.67,-97.3,2088,2506,3360,3335,510.4,-11.0,375,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2506,3347,3359,3336,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4321,-0.67,-97.3,2088,2506,3357,3334,545.9,-11.9,390,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2506,3346,3358,3334,0,0,0,0,0,0,15.12,15.16,15.15
$GC,4620,-0.67,-97.3,2088,2506,3356,3332,582.1,-11.9,405,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2506,3344,3356,3332,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4920,-0.67,-97.3,2088,2506,3355,3331,618.1,-12.1,420,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2506,3343,3355,3331,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5221,-0.67,-97.3,2088,2506,3353,3329,654.2,-12.1,435,5226,0.00,2.35,0.00,0.000,516,0.000,0.050,2088,1101,3341,3353,3329,0,0,0,0,0,0,15.12,14.62,15.15
$GC,5252,-0.67,-97.3,2088,1101,3352,3329,658.2,-12.4,441,5260,0.12,2.40,0.00,0.000,3078,0.214,0.061,2108,2501,3341,3353,3329,0,0,0,0,0,0,14.40,14.59,14.59
$GC,5562,-0.67,-97.3,2108,2501,3352,3327,691.0,-10.3,458,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2501,3339,3352,3327,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5863,-0.67,-97.3,2108,2501,3351,3326,719.7,-9.1,473,5868,0.00,2.45,0.00,0.000,260,0.000,0.086,2098,3899,3338,3351,3326,0,0,0,0,0,0,15.12,14.47,15.14
$GC,5894,-0.67,-97.3,2098,3899,3350,3326,722.7,-9.8,479,5900,0.00,2.25,0.00,0.000,1030,0.000,0.037,2099,2503,3338,3351,3326,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6207,-0.67,-97.3,2098,2502,3349,3324,751.7,-9.3,496,6211,0.00,2.33,0.00,0.000,516,0.000,0.052,2098,1107,3336,3349,3324,0,0,0,0,0,0,15.11,14.58,15.14
$GC,6244,-0.67,-97.3,2098,1107,3348,3324,755.3,-9.6,503,6249,0.00,2.40,0.00,0.000,1030,0.000,0.063,2088,2498,3336,3348,3324,0,0,0,0,0,0,14.66,14.54,14.70
$GC,6548,-0.67,-97.3,2087,2498,3347,3323,786.2,-10.4,519,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2498,3335,3348,3323,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6849,-0.67,-97.3,2087,2498,3347,3322,817.4,-10.2,534,6853,0.00,2.45,0.00,0.000,260,0.000,0.086,2077,3895,3334,3347,3321,0,0,0,0,0,0,15.11,14.45,15.14
$GC,6885,-0.67,-97.3,2077,3895,3347,3322,821.2,-10.6,541,6889,0.12,2.28,0.00,0.000,3078,0.210,0.037,2107,2494,3334,3347,3322,0,0,0,0,0,0,14.37,14.64,14.56
$GC,7190,-0.67,-97.3,2107,2493,3345,3321,847.9,-8.5,557,7194,0.00,2.30,0.00,0.000,516,0.000,0.052,2108,1108,3333,3345,3321,0,0,0,0,0,0,15.12,14.55,15.14
$GC,7232,-0.67,-97.3,2107,1108,3344,3321,851.5,-8.5,565,7236,0.00,2.42,0.00,0.000,1030,0.000,0.061,2098,2505,3332,3344,3321,0,0,0,0,0,0,14.63,14.51,14.67
$GC,7553,-0.67,-97.3,2098,2505,3343,3320,879.3,-8.7,584,7557,0.00,2.42,0.00,0.000,260,0.000,0.088,2087,3891,3332,3344,3320,0,0,0,0,0,0,15.11,14.42,15.14
$GC,7634,-0.67,-97.3,2087,3891,3343,3320,886.9,-9.5,600,7638,0.00,2.25,0.00,0.000,1030,0.000,0.037,2087,2504,3331,3343,3320,0,0,0,0,0,0,14.71,14.64,14.73
$GC,7956,-0.67,-97.3,2086,2503,3343,3319,917.2,-9.5,619,7961,0.00,2.35,0.00,0.000,516,0.000,0.052,2087,1097,3330,3343,3318,0,0,0,0,0,0,15.10,14.53,15.13
$GC,8003,-0.67,-97.3,2086,1097,3342,3318,921.8,-9.6,628,8010,0.12,2.42,0.00,0.000,3078,0.212,0.063,2107,2499,3330,3342,3318,0,0,0,0,0,0,14.30,14.48,14.50
$GC,8318,-0.67,-97.3,2107,2499,3342,3317,948.7,-8.5,646,8323,0.00,2.47,0.00,0.000,260,0.000,0.089,2098,3891,3330,3343,3317,0,0,0,0,0,0,15.11,14.38,15.14
$GC,8359,-0.67,-97.3,2097,3891,3342,3317,952.6,-9.4,654,8364,0.00,2.28,0.00,0.000,1030,0.000,0.038,2098,2496,3329,3342,3317,0,0,0,0,0,0,14.69,14.61,14.71
$GC,8680,-0.67,-97.3,2098,2495,3342,3316,983.0,-9.6,673,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2495,3329,3342,3316,0,0,0,0,0,0,15.10,15.14,15.14
$STATE,8759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8759,begin apogee
$GC,8766,-0.15,0.0,2097,2495,3341,3316,990.6,-9.5,677,8860,0.62,0.00,90.57,2.005,10246,0.165,0.000,2279,2495,2968,3002,2935,0,0,0,0,0,0,14.23,14.07,12.75
$STATE,8861,end apogee,CONTROL_FINISHED_OK
$STATE,8861,begin climb
$GC,8864,0.67,97.3,2279,2495,3000,2935,994.0,0.0,682,8972,0.82,0.00,102.85,1.990,10502,0.090,0.000,2554,2494,2571,2605,2538,0,0,0,0,0,0,14.19,13.87,12.60
$GC,9262,0.69,97.3,2554,2494,2593,2534,974.4,7.5,711,9267,0.00,2.45,0.00,0.000,580,0.000,0.052,2565,1049,2563,2593,2534,0,0,0,0,0,0,14.83,14.47,14.86
$GC,9354,0.69,97.3,2565,1048,2591,2533,967.2,7.8,729,9358,0.00,2.42,0.00,0.000,1030,0.000,0.060,2565,2439,2562,2591,2533,0,0,0,0,0,0,14.59,14.47,14.63
$GC,9666,0.69,97.3,2565,2439,2591,2530,941.1,8.8,746,9673,0.00,2.47,0.00,0.000,260,0.000,0.085,2566,3853,2560,2591,2530,0,0,0,0,0,0,14.97,14.47,15.00
$GC,9740,0.69,97.3,2565,3853,2589,2531,933.5,10.3,761,9744,0.00,2.33,0.00,0.000,1030,0.000,0.037,2577,2429,2559,2589,2530,0,0,0,0,0,0,14.70,14.63,14.72
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$STATE,20987,end climb,SURFACE_DEPTH_REACHED
$STATE,20987,begin surface coast
$STATE,21012,end surface coast,CONTROL_FINISHED_OK
$STATE,21015,begin surface
$SM_CCo,21034,123.82,0.627,1,0,928,500.17
$SM_GC,1.31,7.55,0.12,123.82,0.058,0.143,0.627,119,2526,928,-6.78,-0.57,500.17,0,0,0,0,1,0,14.59,14.52,13.66
$IRIDIUM_FIX,900.74,8621.47,041119,004418
$TT8_MAMPS,0.019474,0.15729
$HUMID,45.66
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,12.60,154.359
$10V_AH,12.21,0.000
$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
$DEVICE_SECS,19.825,197.675,446.725,123.825,0.000,0.000,0.000,236.400,0.250,0.000,14.891,1698.251,15773.627,714.411,2888.396,460.894,0.000,2413.879,0.000,2629.217,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,913.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251184
$DATA_FILE_SIZE,79897,1850
$CAP_FILE_SIZE,202559,0
$CFSIZE,260034560,147750912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,11283.23,0x2147a0,1,24
$CURRENT,0.081,10.70,1
$GPS,041119,124800,858.101,8618.479,23,0.7,23,-1.3,0.2,0.0,12,5.0