version: 66.13
glider: 171
mission: 11
dive: 434
start: 11 4 119 12 54 49
data:
$ID,171
$MISSION,11
$DIVE,434
$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,67
$R_STBD_OVSHOOT,42
$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
$GPS1,041119,124800,858.1011,8618.4785,23,0.7,23,-1.3,0.2,0.0,12,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.4
$GPS2,041119,125358,858.1651,8618.5459,2,0.5,3,-1.3,1.0,47.2,12,6.7
$SPEED_LIMITS,0.139,0.145
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,205.3,139752,-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,6,begin dive
$GC,9,-0.67,-97.3,112,2528,971,880,0.0,0.0,0,83,0.00,0.00,-71.65,0.005,16386,0.000,0.000,112,2528,2643,2643,2644,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.67,-97.3,112,2528,2644,2645,5.3,-15.0,15,116,9.10,2.35,-13.35,0.010,18692,0.349,0.102,2095,3881,3367,3379,3355,0,0,0,0,0,0,14.00,13.50,14.43
$GC,208,-0.67,-97.3,2095,3881,3380,3354,46.4,-21.3,39,212,0.00,2.20,0.00,0.000,1030,0.000,0.034,2095,2508,3367,3380,3355,0,0,0,0,0,0,14.68,14.62,14.70
$GC,394,-0.67,-97.3,2095,2507,3379,3355,86.0,-17.9,59,398,0.00,2.28,0.00,0.000,516,0.000,0.045,2095,1103,3366,3379,3354,0,0,0,0,0,0,14.99,14.61,15.02
$GC,431,-0.67,-97.3,2095,1102,3380,3355,92.4,-16.5,66,435,0.00,2.35,0.00,0.000,1030,0.000,0.057,2085,2498,3367,3379,3355,0,0,0,0,0,0,14.69,14.59,14.72
$GC,614,-0.67,-97.3,2085,2498,3380,3354,121.7,-16.0,85,619,0.00,2.35,0.00,0.000,260,0.000,0.079,2074,3890,3367,3380,3355,0,0,0,0,0,0,15.04,14.55,15.06
$GC,822,-0.67,-97.3,2074,3890,3380,3355,154.6,-13.7,126,827,0.15,2.20,0.00,0.000,3078,0.229,0.031,2109,2478,3367,3380,3355,0,0,0,0,0,0,14.40,14.74,14.62
$GC,1006,-0.67,-97.3,2109,2477,3380,3355,175.5,-10.6,145,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2477,3367,3380,3355,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1187,-0.67,-97.3,2109,2477,3380,3355,194.5,-10.9,163,1192,0.00,2.42,0.00,0.000,260,0.000,0.080,2100,3890,3367,3380,3354,0,0,0,0,0,0,15.09,14.59,15.11
$GC,1238,-0.67,-97.3,2100,3890,3380,3355,200.7,-12.2,173,1244,0.00,2.17,0.00,0.000,1030,0.000,0.031,2100,2500,3366,3379,3354,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1430,-0.67,-97.3,2100,2498,3378,3354,222.7,-11.6,193,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2498,3366,3378,3354,0,0,0,0,0,0,15.09,15.13,15.11
$GC,1611,-0.67,-97.3,2100,2498,3377,3354,243.9,-12.0,211,1615,0.00,2.40,0.00,0.000,260,0.000,0.080,2089,3899,3365,3376,3354,0,0,0,0,0,0,15.09,14.59,15.12
$GC,1647,-0.67,-97.3,2089,3899,3376,3354,248.5,-13.0,218,1653,0.00,2.20,0.00,0.000,1030,0.000,0.033,2089,2495,3365,3376,3354,0,0,0,0,0,0,14.77,14.75,14.78
$GC,1843,-0.67,-97.3,2088,2494,3374,3354,274.4,-13.4,229,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2494,3364,3374,3354,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2142,-0.67,-97.3,2089,2494,3372,3352,312.3,-12.0,244,2146,0.00,2.40,0.00,0.000,260,0.000,0.081,2078,3891,3361,3372,3351,0,0,0,0,0,0,15.12,14.59,15.15
$GC,2182,-0.67,-97.3,2078,3891,3371,3351,317.1,-12.0,252,2187,0.12,2.20,0.00,0.000,3078,0.215,0.033,2108,2495,3361,3371,3351,0,0,0,0,0,0,14.49,14.77,14.68
$GC,2504,-0.67,-97.3,2108,2494,3370,3348,351.1,-10.8,271,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2494,3359,3370,3348,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2804,-0.67,-97.3,2108,2494,3368,3346,382.5,-10.3,286,2808,0.00,2.42,0.00,0.000,260,0.000,0.085,2099,3892,3356,3367,3345,0,0,0,0,0,0,15.13,14.57,15.16
$GC,2840,-0.67,-97.3,2098,3891,3367,3345,386.4,-11.0,293,2845,0.00,2.20,0.00,0.000,1030,0.000,0.034,2099,2505,3356,3367,3345,0,0,0,0,0,0,14.82,14.76,14.84
$GC,3146,-0.67,-97.3,2098,2505,3366,3343,420.3,-11.3,309,3151,0.00,2.42,0.00,0.000,260,0.000,0.087,2088,3891,3354,3366,3343,0,0,0,0,0,0,15.12,14.56,15.15
$GC,3173,-0.67,-97.3,2088,3891,3366,3343,423.6,-12.0,314,3177,0.00,2.22,0.00,0.000,1030,0.000,0.034,2088,2494,3354,3365,3343,0,0,0,0,0,0,14.81,14.75,14.83
$GC,3489,-0.67,-97.3,2087,2493,3363,3340,462.0,-12.0,332,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3351,3363,3340,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3790,-0.67,-97.3,2088,2493,3362,3339,496.6,-11.4,347,3796,0.00,2.45,0.00,0.000,260,0.000,0.091,2077,3889,3350,3362,3338,0,0,0,0,0,0,15.12,14.54,15.15
$GC,3825,-0.67,-97.3,2076,3889,3362,3338,500.7,-12.0,354,3829,0.12,2.22,0.00,0.000,3078,0.216,0.035,2107,2498,3349,3361,3338,0,0,0,0,0,0,14.45,14.73,14.64
$GC,4130,-0.67,-97.3,2107,2497,3360,3337,532.7,-10.4,370,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3348,3360,3337,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4429,-0.67,-97.3,2107,2497,3358,3335,562.9,-9.8,385,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3346,3358,3335,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4729,-0.67,-97.3,2107,2497,3356,3333,590.8,-9.2,400,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3344,3356,3333,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5030,-0.67,-97.3,2107,2497,3356,3332,616.9,-8.4,415,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3344,3356,3332,0,0,0,0,0,0,15.13,15.16,15.14
$GC,5329,-0.67,-97.3,2107,2497,3354,3331,642.3,-8.4,430,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3342,3354,3331,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5629,-0.67,-97.3,2107,2497,3353,3330,667.4,-8.4,445,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2497,3341,3353,3329,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5930,-0.67,-97.3,2107,2496,3351,3328,692.4,-8.4,460,5937,0.00,2.47,0.00,0.000,260,0.000,0.092,2097,3897,3339,3351,3328,0,0,0,0,0,0,15.11,14.47,15.14
$GC,5960,-0.67,-97.3,2097,3897,3351,3328,695.1,-9.1,466,5964,0.00,2.25,0.00,0.000,1030,0.000,0.036,2098,2500,3339,3351,3328,0,0,0,0,0,0,14.76,14.69,14.78
$GC,6272,-0.67,-97.3,2097,2498,3350,3326,721.8,-8.6,483,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3338,3350,3327,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6572,-0.67,-97.3,2097,2498,3349,3326,748.4,-9.1,498,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3337,3348,3326,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6870,-0.67,-97.3,2097,2498,3348,3325,776.7,-9.5,513,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2498,3336,3348,3325,0,0,0,0,0,0,15.13,15.16,15.15
$GC,7171,-0.67,-97.3,2097,2499,3347,3323,805.0,-9.3,528,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2498,3335,3347,3323,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7470,-0.67,-97.3,2097,2498,3346,3322,832.2,-8.8,543,7475,0.00,2.47,0.00,0.000,260,0.000,0.090,2086,3893,3334,3346,3322,0,0,0,0,0,0,15.12,14.41,15.15
$GC,7501,-0.67,-97.3,2086,3893,3346,3322,835.0,-9.3,549,7506,0.00,2.28,0.00,0.000,1030,0.000,0.037,2087,2494,3334,3346,3322,0,0,0,0,0,0,14.71,14.64,14.73
$GC,7807,-0.67,-97.3,2086,2493,3344,3321,863.3,-9.1,565,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2493,3332,3344,3321,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8106,-0.67,-97.3,2086,2493,3344,3321,890.2,-8.9,580,8111,0.00,2.47,0.00,0.000,260,0.000,0.088,2076,3893,3332,3343,3321,0,0,0,0,0,0,15.11,14.40,15.14
$GC,8142,-0.67,-97.3,2075,3893,3343,3321,893.6,-9.4,587,8147,0.12,2.28,0.00,0.000,3078,0.212,0.037,2107,2492,3332,3343,3321,0,0,0,0,0,0,14.32,14.63,14.52
$GC,8465,-0.67,-97.3,2106,2491,3343,3321,917.6,-7.3,606,8469,0.00,2.33,0.00,0.000,516,0.000,0.052,2107,1098,3331,3342,3320,0,0,0,0,0,0,15.10,14.52,15.13
$GC,8507,-0.67,-97.3,2106,1099,3342,3321,920.8,-7.4,614,8513,0.00,2.42,0.00,0.000,1030,0.000,0.063,2097,2496,3331,3342,3320,0,0,0,0,0,0,14.59,14.47,14.64
$GC,8827,-0.67,-97.3,2097,2496,3342,3320,945.5,-7.8,633,8832,0.00,2.45,0.00,0.000,260,0.000,0.088,2086,3893,3330,3342,3319,0,0,0,0,0,0,15.10,14.37,15.12
$GC,8874,-0.67,-97.3,2086,3893,3342,3320,949.5,-8.6,642,8878,0.00,2.28,0.00,0.000,1030,0.000,0.037,2086,2495,3330,3342,3319,0,0,0,0,0,0,14.68,14.60,14.71
$GC,9190,-0.67,-97.3,2086,2493,3342,3318,977.3,-9.1,660,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2494,3330,3342,3318,0,0,0,0,0,0,15.10,15.14,15.13
$STATE,9327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9327,begin apogee
$GC,9335,-0.15,0.0,2087,2494,3341,3318,990.1,-9.2,667,9430,0.68,0.00,91.38,2.002,10246,0.172,0.000,2279,2493,2968,2999,2938,0,0,0,0,0,0,14.18,14.04,12.67
$STATE,9431,end apogee,CONTROL_FINISHED_OK
$STATE,9431,begin climb
$GC,9434,0.67,97.3,2279,2493,2998,2937,992.8,0.0,672,9541,0.82,0.00,103.35,1.990,10246,0.091,0.000,2553,2493,2571,2602,2541,0,0,0,0,0,0,14.18,13.85,12.55
$GC,9835,0.70,97.3,2552,2493,2591,2535,973.7,6.8,692,9839,0.00,2.42,0.00,0.000,324,0.000,0.091,2553,3848,2563,2591,2535,0,0,0,0,0,0,14.81,14.41,14.85
$GC,9891,0.70,97.3,2552,3847,2589,2535,969.1,8.0,703,9895,0.00,2.33,0.00,0.000,1030,0.000,0.037,2563,2432,2562,2589,2535,0,0,0,0,0,0,14.62,14.56,14.65
$GC,10196,0.72,97.3,2563,2430,2587,2534,947.6,6.9,719,10200,0.00,2.33,0.00,0.000,580,0.000,0.054,2574,1047,2561,2588,2534,0,0,0,0,0,0,14.97,14.54,15.00
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$STATE,21922,end climb,SURFACE_DEPTH_REACHED
$STATE,21922,begin surface coast
$STATE,21954,end surface coast,CONTROL_FINISHED_OK
$STATE,21954,begin surface
$SM_CCo,21974,145.90,0.648,1,0,929,500.17
$SM_GC,1.29,7.60,0.05,145.90,0.057,0.227,0.648,130,2500,929,-6.77,-1.19,500.17,0,0,0,0,1,0,14.60,14.64,13.65
$IRIDIUM_FIX,858.59,8621.47,041119,064930
$TT8_MAMPS,0.018725,0.156541
$HUMID,45.27
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,12.55,154.646
$10V_AH,11.03,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.625,202.875,423.575,145.900,0.000,0.000,0.000,222.100,0.250,0.000,14.697,1722.944,16682.064,735.087,2862.865,480.216,0.000,2417.237,0.000,2622.268,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,930.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251252
$DATA_FILE_SIZE,79891,1845
$CAP_FILE_SIZE,206543,0
$CFSIZE,260034560,147652608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072,22.05,1
$GPS,041119,190438,857.595,8618.109,21,1.4,21,-1.3,0.5,60.0,5,8.6