version: 66.13
glider: 171
mission: 11
dive: 432
start: 11 4 119 0 48 27
data:
$ID,171
$MISSION,11
$DIVE,432
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,041119,003924,858.9681,8619.5762,16,1.2,31,-1.3,0.5,14.7,9,3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.1
$GPS2,041119,004738,859.0409,8619.6396,2,0.5,2,-1.3,0.2,0.0,12,8.7
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,207.6,142281,-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,-97.3,113,2491,969,882,0.0,0.0,0,83,0.00,0.00,-71.95,0.005,16386,0.000,0.000,113,2492,2661,2661,2661,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.67,-97.3,113,2492,2663,2661,5.4,-15.2,15,115,9.05,2.42,-12.85,0.010,18692,0.347,0.092,2096,3897,3367,3380,3355,0,0,0,0,0,0,14.02,13.50,14.45
$GC,211,-0.67,-97.3,2095,3897,3380,3355,46.4,-22.0,40,215,0.00,2.28,0.00,0.000,1030,0.000,0.044,2096,2514,3367,3380,3355,0,0,0,0,0,0,14.65,14.57,14.68
$GC,402,-0.67,-97.3,2095,2512,3380,3355,86.6,-17.9,61,406,0.00,2.33,0.00,0.000,516,0.000,0.050,2096,1090,3367,3379,3355,0,0,0,0,0,0,15.00,14.60,15.02
$GC,423,-0.67,-97.3,2096,1090,3380,3355,90.0,-16.3,65,428,0.00,2.38,0.00,0.000,1030,0.000,0.057,2086,2498,3367,3380,3355,0,0,0,0,0,0,14.69,14.58,14.72
$GC,614,-0.67,-97.3,2086,2498,3380,3355,123.7,-17.4,85,618,0.00,2.38,0.00,0.000,260,0.000,0.078,2076,3903,3367,3380,3355,0,0,0,0,0,0,15.03,14.57,15.06
$GC,730,-0.67,-97.3,2076,3903,3380,3355,143.2,-15.0,108,738,0.15,2.28,0.00,0.000,3078,0.224,0.034,2111,2477,3367,3380,3355,0,0,0,0,0,0,14.40,14.71,14.62
$GC,927,-0.67,-97.3,2110,2475,3381,3355,165.7,-10.6,129,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2475,3368,3381,3355,0,0,0,0,0,0,15.05,15.09,15.08
$GC,1115,-0.67,-97.3,2111,2475,3380,3355,186.9,-11.8,148,1119,0.00,2.47,0.00,0.000,260,0.000,0.092,2102,3893,3367,3380,3355,0,0,0,0,0,0,15.09,14.54,15.11
$GC,1166,-0.67,-97.3,2101,3893,3380,3355,193.3,-12.1,158,1171,0.00,2.25,0.00,0.000,1030,0.000,0.042,2102,2508,3367,3380,3355,0,0,0,0,0,0,14.78,14.70,14.81
$GC,1351,-0.67,-97.3,2101,2506,3379,3355,216.4,-14.3,177,1355,0.00,2.42,0.00,0.000,260,0.000,0.094,2090,3887,3367,3379,3355,0,0,0,0,0,0,15.09,14.54,15.12
$GC,1377,-0.67,-97.3,2090,3887,3379,3355,220.5,-15.7,182,1382,0.00,2.28,0.00,0.000,1030,0.000,0.043,2090,2490,3366,3378,3355,0,0,0,0,0,0,14.78,14.70,14.81
$GC,1562,-0.67,-97.3,2090,2488,3377,3355,249.3,-15.1,201,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2488,3366,3377,3355,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1752,-0.67,-97.3,2090,2488,3376,3355,275.0,-12.5,211,1758,0.00,2.45,0.00,0.000,260,0.000,0.093,2080,3892,3365,3375,3355,0,0,0,0,0,0,15.11,14.56,15.14
$GC,1782,-0.67,-97.3,2080,3892,3375,3355,278.5,-12.0,217,1787,0.12,2.28,0.00,0.000,3078,0.216,0.044,2110,2495,3365,3375,3355,0,0,0,0,0,0,14.48,14.71,14.67
$GC,2094,-0.67,-97.3,2109,2493,3373,3353,306.2,-8.9,234,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3362,3372,3353,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2394,-0.67,-97.3,2110,2493,3371,3349,334.2,-9.3,249,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2493,3360,3371,3349,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2695,-0.67,-97.3,2109,2494,3369,3347,362.5,-9.7,264,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2494,3358,3369,3347,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2994,-0.67,-97.3,2109,2493,3367,3345,393.7,-10.8,279,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2493,3356,3367,3345,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3295,-0.67,-97.3,2109,2493,3366,3342,425.8,-10.6,294,3300,0.00,2.42,0.00,0.000,260,0.000,0.084,2100,3892,3353,3365,3341,0,0,0,0,0,0,15.13,14.57,15.15
$GC,3322,-0.67,-97.3,2100,3891,3365,3341,428.7,-11.2,299,3326,0.00,2.25,0.00,0.000,1030,0.000,0.035,2100,2486,3353,3365,3341,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3637,-0.67,-97.3,2100,2484,3362,3340,462.2,-10.5,317,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2484,3351,3363,3339,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3938,-0.67,-97.3,2100,2485,3361,3338,494.5,-10.8,332,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2485,3350,3362,3338,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4238,-0.67,-97.3,2100,2484,3360,3337,526.0,-10.2,347,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2484,3348,3360,3337,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4538,-0.67,-97.3,2100,2485,3358,3335,555.6,-9.7,362,4543,0.00,2.45,0.00,0.000,260,0.000,0.087,2090,3890,3345,3357,3334,0,0,0,0,0,0,15.14,14.53,15.16
$GC,4586,-0.67,-97.3,2089,3890,3357,3334,560.4,-10.2,371,4590,0.00,2.25,0.00,0.000,1030,0.000,0.037,2089,2495,3345,3357,3334,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4902,-0.67,-97.3,2089,2494,3356,3333,591.5,-9.4,389,4906,0.00,2.30,0.00,0.000,516,0.000,0.050,2089,1101,3344,3355,3333,0,0,0,0,0,0,15.12,14.62,15.15
$GC,4923,-0.67,-97.3,2089,1101,3356,3333,593.6,-9.8,393,4928,0.12,2.40,0.00,0.000,3078,0.213,0.060,2109,2505,3344,3356,3333,0,0,0,0,0,0,14.41,14.59,14.60
$GC,5243,-0.67,-97.3,2109,2505,3355,3331,619.3,-8.0,411,5247,0.00,2.40,0.00,0.000,260,0.000,0.086,2100,3891,3343,3355,3332,0,0,0,0,0,0,15.10,14.50,15.12
$GC,5304,-0.67,-97.3,2099,3892,3354,3332,624.8,-8.8,423,5308,0.00,2.25,0.00,0.000,1030,0.000,0.037,2100,2498,3342,3354,3331,0,0,0,0,0,0,14.76,14.69,14.79
$GC,5626,-0.67,-97.3,2100,2496,3353,3330,654.1,-9.3,442,5630,0.00,2.30,0.00,0.000,516,0.000,0.050,2100,1106,3341,3353,3330,0,0,0,0,0,0,15.11,14.60,15.14
$GC,5657,-0.67,-97.3,2099,1106,3352,3330,657.1,-9.6,448,5661,0.00,2.42,0.00,0.000,1030,0.000,0.063,2089,2506,3341,3352,3330,0,0,0,0,0,0,14.69,14.57,14.72
$GC,5968,-0.67,-97.3,2088,2506,3351,3328,687.8,-9.8,465,5972,0.00,2.42,0.00,0.000,260,0.000,0.088,2078,3900,3339,3351,3328,0,0,0,0,0,0,15.12,14.47,15.15
$GC,6000,-0.67,-97.3,2078,3900,3351,3328,691.0,-10.9,471,6005,0.12,2.28,0.00,0.000,3078,0.213,0.037,2108,2495,3339,3351,3328,0,0,0,0,0,0,14.40,14.67,14.59
$GC,6312,-0.67,-97.3,2108,2493,3350,3327,720.0,-9.2,488,6316,0.00,2.30,0.00,0.000,516,0.000,0.050,2109,1107,3338,3350,3326,0,0,0,0,0,0,15.12,14.58,15.14
$GC,6353,-0.67,-97.3,2108,1107,3350,3327,723.8,-9.4,496,6357,0.00,2.42,0.00,0.000,1030,0.000,0.067,2099,2507,3338,3349,3327,0,0,0,0,0,0,14.66,14.54,14.70
$GC,6669,-0.67,-97.3,2099,2508,3349,3325,755.5,-10.3,514,6675,0.00,2.45,0.00,0.000,260,0.000,0.088,2088,3899,3337,3348,3326,0,0,0,0,0,0,15.11,14.45,15.14
$GC,6706,-0.67,-97.3,2088,3898,3348,3325,759.6,-11.0,521,6710,0.00,2.30,0.00,0.000,1030,0.000,0.044,2088,2498,3336,3348,3325,0,0,0,0,0,0,14.72,14.64,14.74
$GC,7012,-0.67,-97.3,2088,2496,3348,3324,793.3,-11.2,537,7016,0.00,2.35,0.00,0.000,516,0.000,0.052,2088,1097,3335,3347,3324,0,0,0,0,0,0,15.10,14.56,15.13
$GC,7053,-0.67,-97.3,2088,1097,3347,3324,798.0,-11.1,545,7062,0.12,2.42,0.00,0.000,3078,0.211,0.064,2108,2499,3335,3347,3324,0,0,0,0,0,0,14.34,14.52,14.54
$GC,7374,-0.67,-97.3,2107,2499,3346,3323,828.4,-9.2,564,7378,0.00,2.45,0.00,0.000,260,0.000,0.088,2098,3899,3335,3347,3323,0,0,0,0,0,0,15.11,14.42,15.14
$GC,7420,-0.67,-97.3,2098,3899,3347,3323,832.8,-9.8,573,7425,0.00,2.28,0.00,0.000,1030,0.000,0.037,2098,2496,3335,3347,3323,0,0,0,0,0,0,14.71,14.64,14.73
$GC,7731,-0.67,-97.3,2098,2495,3345,3322,863.1,-9.9,590,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2495,3333,3345,3322,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8032,-0.67,-97.3,2098,2495,3344,3321,892.7,-9.7,605,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2495,3332,3344,3321,0,0,0,0,0,0,15.10,15.14,15.13
$GC,8331,-0.67,-97.3,2098,2494,3343,3321,920.6,-9.0,620,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3332,3343,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8632,-0.67,-97.3,2098,2495,3343,3319,946.8,-8.5,635,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2495,3331,3343,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8932,-0.67,-97.3,2098,2494,3342,3319,972.1,-8.5,650,8938,0.00,2.50,0.00,0.000,260,0.000,0.090,2088,3893,3330,3342,3319,0,0,0,0,0,0,15.10,14.38,15.13
$GC,8960,-0.67,-97.3,2087,3893,3342,3319,974.5,-9.3,655,8964,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2498,3330,3342,3319,0,0,0,0,0,0,14.68,14.61,14.71
$STATE,9133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9133,begin apogee
$GC,9139,-0.15,0.0,2087,2497,3342,3319,990.1,-8.9,666,9235,0.65,0.00,92.00,1.997,10246,0.169,0.000,2274,2497,2968,2999,2938,0,0,0,0,0,0,14.21,14.05,12.71
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9236,begin climb
$GC,9240,0.67,97.3,2274,2497,2998,2938,992.3,0.0,671,9347,0.85,0.00,102.47,1.990,10502,0.093,0.000,2556,2497,2571,2601,2541,0,0,0,0,0,0,14.18,13.89,12.69
$GC,9637,0.67,97.3,2555,2497,2590,2536,968.8,8.3,706,9642,0.00,2.47,0.00,0.000,516,0.000,0.054,2567,1042,2563,2590,2536,0,0,0,0,0,0,14.83,14.48,14.86
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$STATE,21297,end climb,SURFACE_DEPTH_REACHED
$STATE,21297,begin surface coast
$STATE,21335,end surface coast,CONTROL_FINISHED_OK
$STATE,21335,begin surface
$SM_CCo,21355,78.45,0.549,1,0,929,500.17
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$IRIDIUM_FIX,858.59,8621.47,041119,004141
$TT8_MAMPS,0.018725,0.158039
$HUMID,45.55
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,12.69,154.069
$10V_AH,12.53,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,948.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251212
$DATA_FILE_SIZE,83263,1853
$CAP_FILE_SIZE,207917,0
$CFSIZE,260034560,147841024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,0.23,1
$GPS,041119,064706,858.468,8618.847,36,1.5,39,-1.3,0.6,50.5,6,9.6