version: 66.13
glider: 171
mission: 11
dive: 483
start: 11 16 119 23 2 32
data:
$ID,171
$MISSION,11
$DIVE,483
$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,0.00177828
$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,72
$R_STBD_OVSHOOT,28
$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
$GPS1,161119,225531,802.7364,8530.9697,30,0.7,33,-1.5,0.3,246.1,10,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.8
$GPS2,161119,230140,802.7480,8530.8379,3,0.5,4,-1.5,0.7,271.4,12,3.6
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R4
$TGT_LATLONG,700.000,8400.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,243.7,203436,-18.5,-8.049,-29.14,1821
$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,-0.64,-97.3,117,2504,969,883,0.0,0.0,0,83,0.00,0.00,-71.72,0.005,16386,0.000,0.000,118,2505,2640,2641,2640,0,0,0,0,0,0,14.84,28.83,14.87
$GC,87,-0.64,-97.3,117,2505,2643,2640,5.2,-14.8,15,116,9.18,2.30,-13.38,0.009,18948,0.350,0.064,2123,1118,3366,3380,3353,0,0,0,0,0,0,13.97,13.49,14.41
$GC,249,-0.64,-97.3,2123,1118,3380,3352,54.8,-26.9,47,253,0.00,2.35,0.00,0.000,1030,0.000,0.057,2115,2499,3366,3380,3352,0,0,0,0,0,0,14.62,14.52,14.66
$GC,433,-0.64,-97.3,2114,2500,3380,3352,97.8,-22.7,66,439,0.00,2.40,0.00,0.000,260,0.000,0.079,2104,3896,3366,3380,3353,0,0,0,0,0,0,15.00,14.51,15.03
$GC,516,-0.64,-97.3,2104,3896,3380,3352,112.3,-18.6,82,521,0.00,2.20,0.00,0.000,1030,0.000,0.033,2104,2512,3366,3380,3352,0,0,0,0,0,0,14.73,14.67,14.76
$GC,708,-0.64,-97.3,2104,2510,3381,3352,140.8,-14.2,102,713,0.00,2.28,0.00,0.000,516,0.000,0.045,2104,1104,3366,3381,3352,0,0,0,0,0,0,15.05,14.64,15.07
$GC,776,-0.64,-97.3,2104,1104,3380,3352,149.2,-12.0,115,780,0.00,2.38,0.00,0.000,1030,0.000,0.058,2093,2505,3366,3381,3352,0,0,0,0,0,0,14.70,14.57,14.73
$GC,960,-0.64,-97.3,2092,2505,3381,3352,172.7,-13.6,134,965,0.00,2.40,0.00,0.000,260,0.000,0.082,2082,3902,3367,3381,3353,0,0,0,0,0,0,15.07,14.56,15.10
$GC,1133,-0.64,-97.3,2082,3902,3380,3352,197.5,-14.0,168,1138,0.15,2.22,0.00,0.000,3078,0.214,0.035,2119,2503,3366,3381,3352,0,0,0,0,0,0,14.43,14.72,14.63
$GC,1327,-0.64,-97.3,2118,2502,3380,3352,219.5,-11.3,188,1331,0.00,2.30,0.00,0.000,516,0.000,0.050,2119,1101,3366,3380,3352,0,0,0,0,0,0,15.07,14.64,15.10
$GC,1353,-0.64,-97.3,2119,1101,3379,3352,222.7,-11.6,193,1357,0.00,2.38,0.00,0.000,1030,0.000,0.057,2110,2506,3365,3379,3352,0,0,0,0,0,0,14.73,14.63,14.77
$GC,1539,-0.64,-97.3,2110,2506,3378,3352,242.6,-10.2,212,1543,0.00,2.38,0.00,0.000,260,0.000,0.083,2099,3894,3365,3378,3352,0,0,0,0,0,0,15.09,14.57,15.11
$GC,1570,-0.64,-97.3,2098,3894,3378,3352,245.9,-10.4,218,1576,0.00,2.20,0.00,0.000,1030,0.000,0.034,2099,2499,3364,3377,3352,0,0,0,0,0,0,14.74,14.73,14.77
$GC,1775,-0.64,-97.3,2099,2498,3376,3352,267.6,-10.8,231,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2498,3364,3376,3352,0,0,0,0,0,0,15.09,15.12,15.12
$GC,2073,-0.64,-97.3,2099,2498,3372,3351,301.1,-10.9,246,2078,0.00,2.30,0.00,0.000,516,0.000,0.049,2099,1097,3361,3372,3351,0,0,0,0,0,0,15.11,14.67,15.14
$GC,2100,-0.64,-97.3,2099,1097,3372,3351,304.1,-11.3,251,2107,0.12,2.38,0.00,0.000,3078,0.213,0.057,2118,2499,3361,3372,3350,0,0,0,0,0,0,14.46,14.63,14.65
$GC,2416,-0.64,-97.3,2118,2499,3371,3347,335.9,-10.3,269,2420,0.00,2.40,0.00,0.000,260,0.000,0.085,2110,3894,3359,3371,3347,0,0,0,0,0,0,15.11,14.56,15.14
$GC,2468,-0.64,-97.3,2109,3894,3370,3347,341.4,-10.5,279,2472,0.00,2.22,0.00,0.000,1030,0.000,0.035,2109,2498,3358,3370,3347,0,0,0,0,0,0,14.80,14.73,14.83
$GC,2779,-0.64,-97.3,2109,2497,3368,3344,374.9,-10.5,296,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3355,3367,3344,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3080,-0.64,-97.3,2109,2497,3366,3340,406.8,-10.6,311,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3353,3366,3341,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3379,-0.64,-97.3,2109,2497,3364,3339,437.1,-9.8,326,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3351,3364,3339,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3680,-0.64,-97.3,2109,2497,3362,3337,465.4,-9.3,341,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3349,3362,3337,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3979,-0.64,-97.3,2109,2497,3361,3335,493.6,-9.4,356,3983,0.00,2.45,0.00,0.000,260,0.000,0.087,2099,3896,3347,3360,3335,0,0,0,0,0,0,15.12,14.52,15.15
$GC,4010,-0.64,-97.3,2098,3896,3360,3335,496.7,-9.9,362,4015,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2501,3347,3360,3335,0,0,0,0,0,0,14.77,14.70,14.79
$GC,4315,-0.64,-97.3,2098,2500,3358,3333,527.5,-10.2,378,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3345,3358,3333,0,0,0,0,0,0,15.12,15.16,15.15
$GC,4615,-0.64,-97.3,2098,2500,3357,3332,558.5,-10.3,393,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3344,3356,3332,0,0,0,0,0,0,15.12,15.15,15.15
$GC,4915,-0.64,-97.3,2098,2500,3356,3331,589.1,-10.2,408,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3343,3356,3331,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5216,-0.64,-97.3,2098,2500,3354,3329,620.1,-10.4,423,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3341,3354,3329,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5515,-0.64,-97.3,2098,2500,3353,3328,650.0,-9.9,438,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3340,3353,3327,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5815,-0.64,-97.3,2098,2500,3352,3327,678.5,-9.5,453,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2500,3339,3352,3327,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6116,-0.64,-97.3,2098,2500,3351,3325,707.5,-9.7,468,6120,0.00,2.47,0.00,0.000,260,0.000,0.090,2088,3891,3337,3350,3325,0,0,0,0,0,0,15.11,14.45,15.14
$GC,6157,-0.64,-97.3,2088,3891,3350,3325,711.9,-10.4,476,6162,0.12,2.28,0.00,0.000,3078,0.206,0.038,2119,2490,3337,3350,3325,0,0,0,0,0,0,14.38,14.65,14.57
$GC,6480,-0.64,-97.3,2118,2488,3349,3324,739.4,-8.3,495,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2488,3336,3349,3324,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6779,-0.64,-97.3,2118,2488,3348,3322,762.8,-7.5,510,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2488,3335,3348,3322,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7079,-0.64,-97.3,2118,2488,3348,3321,784.3,-7.0,525,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2488,3334,3347,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7380,-0.64,-97.3,2118,2488,3347,3321,805.6,-7.1,540,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2488,3333,3347,3320,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7679,-0.64,-97.3,2118,2488,3345,3320,827.4,-7.4,555,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2488,3333,3346,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7979,-0.64,-97.3,2118,2488,3345,3320,850.7,-7.9,570,7984,0.00,2.33,0.00,0.000,516,0.000,0.051,2119,1100,3332,3344,3320,0,0,0,0,0,0,15.11,14.52,15.14
$GC,8007,-0.64,-97.3,2118,1100,3343,3320,852.9,-8.9,575,8014,0.00,2.45,0.00,0.000,1030,0.000,0.067,2110,2501,3331,3343,3319,0,0,0,0,0,0,14.60,14.47,14.63
$GC,8320,-0.64,-97.3,2109,2501,3343,3319,879.5,-8.5,593,8325,0.00,2.47,0.00,0.000,260,0.000,0.089,2099,3893,3331,3343,3319,0,0,0,0,0,0,15.10,14.36,15.13
$GC,8352,-0.64,-97.3,2098,3893,3343,3319,882.2,-9.4,599,8356,0.00,2.28,0.00,0.000,1030,0.000,0.037,2099,2495,3331,3343,3319,0,0,0,0,0,0,14.68,14.61,14.71
$GC,8664,-0.64,-97.3,2099,2493,3343,3318,910.1,-8.9,616,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3330,3343,3318,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8963,-0.64,-97.3,2099,2493,3342,3317,936.4,-8.8,631,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3330,3343,3317,0,0,0,0,0,0,15.11,15.13,15.13
$GC,9264,-0.64,-97.3,2099,2493,3342,3317,962.6,-8.8,646,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3329,3341,3317,0,0,0,0,0,0,15.09,15.12,15.12
$STATE,9560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9560,begin apogee
$GC,9567,-0.15,0.0,2099,2493,3341,3316,990.2,-9.4,661,9662,0.62,0.00,91.22,2.006,10246,0.168,0.000,2278,2493,2968,2999,2937,0,0,0,0,0,0,14.19,14.04,12.69
$STATE,9663,end apogee,CONTROL_FINISHED_OK
$STATE,9663,begin climb
$GC,9666,0.64,97.3,2278,2493,2998,2937,993.5,0.0,666,9774,0.80,0.00,103.93,1.996,10246,0.091,0.000,2544,2492,2571,2601,2541,0,0,0,0,0,0,14.18,13.88,12.59
$GC,10068,0.67,97.3,2543,2493,2591,2536,976.6,6.7,686,10072,0.00,2.45,0.00,0.000,580,0.000,0.052,2555,1051,2563,2591,2535,0,0,0,0,0,0,14.83,14.47,14.86
$GC,10124,0.70,97.3,2554,1048,2589,2535,972.6,6.7,697,10131,0.00,2.45,0.00,0.000,1094,0.000,0.063,2555,2449,2562,2589,2535,0,0,0,0,0,0,14.57,14.47,14.61
$GC,10452,0.71,97.3,2554,2448,2588,2534,949.5,7.3,717,10456,0.00,2.38,0.00,0.000,580,0.000,0.051,2566,1046,2561,2588,2534,0,0,0,0,0,0,14.95,14.54,14.98
$GC,10485,0.73,97.3,2565,1045,2586,2534,946.9,7.3,723,10490,0.00,2.40,0.00,0.000,1094,0.000,0.056,2566,2439,2560,2586,2534,0,0,0,0,0,0,14.62,14.51,14.66
$GC,10798,0.73,97.3,2566,2439,2587,2534,923.1,7.7,740,10803,0.00,2.38,0.00,0.000,516,0.000,0.051,2577,1041,2560,2586,2534,0,0,0,0,0,0,15.01,14.56,15.04
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$STATE,21973,end climb,SURFACE_DEPTH_REACHED
$STATE,21973,begin surface coast
$STATE,22004,end surface coast,CONTROL_FINISHED_OK
$STATE,22004,begin surface
$SM_CCo,22025,130.15,0.627,1,0,929,500.17
$SM_GC,1.28,7.62,0.08,130.15,0.069,0.164,0.627,124,2511,929,-6.76,-0.93,500.17,0,0,0,0,1,0,14.64,14.69,13.71
$IRIDIUM_FIX,808.09,8536.08,161119,164038
$TT8_MAMPS,0.018725,0.158788
$HUMID,46.18
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,12.59,169.344
$10V_AH,11.02,0.000
$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,929.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250792
$DATA_FILE_SIZE,79884,1808
$CAP_FILE_SIZE,203771,0
$CFSIZE,260034560,143089664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.093,280.94,1
$GPS,171119,051300,802.249,8528.364,25,0.7,25,-1.5,0.9,303.6,9,6.8