version: 66.13
glider: 171
mission: 11
dive: 690
start: 1 7 120 20 51 51
data:
$ID,171
$MISSION,11
$DIVE,690
$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,62
$R_STBD_OVSHOOT,21
$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
$GPS1,070120,204400,505.8083,8102.9824,25,0.7,25,-2.2,1.0,250.7,10,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.0
$GPS2,070120,205100,505.7239,8102.7759,2,0.6,3,-2.2,1.4,238.0,12,4.4
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,259.3,61392,-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,-97.3,76,2490,973,877,0.0,0.0,0,83,0.00,0.00,-71.47,0.005,16386,0.000,0.000,73,2491,2580,2578,2583,0,0,0,0,0,0,14.83,28.83,14.85
$GC,88,-0.67,-97.3,73,2491,2580,2583,4.5,-11.4,15,119,9.48,2.47,-15.48,0.008,18692,0.346,0.094,2094,3900,3368,3384,3353,0,0,0,0,0,0,13.83,12.60,14.30
$GC,348,-0.67,-97.3,2093,3900,3384,3353,74.8,-17.8,67,352,0.00,2.25,0.00,0.000,1030,0.000,0.031,2093,2493,3368,3384,3353,0,0,0,0,0,0,14.59,14.53,14.62
$GC,541,-0.67,-97.3,2093,2491,3385,3353,104.4,-14.1,87,547,0.00,2.47,0.00,0.000,260,0.000,0.079,2083,3908,3368,3384,3353,0,0,0,0,0,0,14.99,14.33,15.01
$GC,774,-0.67,-97.3,2083,3907,3385,3353,139.1,-14.4,134,780,0.12,2.25,0.00,0.000,3078,0.224,0.031,2111,2495,3369,3385,3353,0,0,0,0,0,0,14.21,14.57,14.41
$GC,961,-0.67,-97.3,2110,2494,3385,3353,162.8,-11.9,153,965,0.00,2.47,0.00,0.000,260,0.000,0.080,2101,3905,3369,3385,3353,0,0,0,0,0,0,15.02,14.33,15.04
$GC,1022,-0.67,-97.3,2101,3905,3385,3353,170.5,-12.5,165,1026,0.00,2.25,0.00,0.000,1030,0.000,0.033,2101,2500,3369,3385,3353,0,0,0,0,0,0,14.64,14.57,14.66
$GC,1215,-0.67,-97.3,2101,2498,3385,3353,193.9,-12.0,185,1222,0.00,2.45,0.00,0.000,260,0.000,0.079,2090,3900,3369,3385,3353,0,0,0,0,0,0,15.03,14.34,15.05
$GC,1254,-0.67,-97.3,2090,3900,3384,3353,199.1,-12.9,193,1258,0.00,2.25,0.00,0.000,1030,0.000,0.033,2090,2496,3369,3385,3353,0,0,0,0,0,0,14.64,14.58,14.66
$GC,1445,-0.67,-97.3,2090,2494,3383,3353,223.5,-12.8,213,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2494,3368,3383,3353,0,0,0,0,0,0,15.05,15.07,15.07
$GC,1627,-0.67,-97.3,2090,2494,3382,3353,246.5,-12.5,231,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2494,3367,3382,3353,0,0,0,0,0,0,15.03,15.07,15.06
$GC,1815,-0.67,-97.3,2090,2494,3379,3353,269.4,-11.5,242,1820,0.00,2.47,0.00,0.000,260,0.000,0.080,2080,3901,3366,3379,3353,0,0,0,0,0,0,15.06,14.32,15.09
$GC,1864,-0.67,-97.3,2079,3902,3378,3353,274.9,-11.9,251,1869,0.12,2.28,0.00,0.000,3078,0.209,0.034,2108,2491,3365,3378,3353,0,0,0,0,0,0,14.25,14.57,14.43
$GC,2181,-0.67,-97.3,2108,2490,3374,3352,307.4,-10.2,269,2186,0.00,2.30,0.00,0.000,516,0.000,0.047,2109,1109,3363,3376,3351,0,0,0,0,0,0,15.06,14.44,15.09
$GC,2213,-0.67,-97.3,2108,1109,3375,3351,310.7,-10.6,275,2220,0.00,2.40,0.00,0.000,1030,0.000,0.057,2099,2508,3363,3375,3351,0,0,0,0,0,0,14.52,14.40,14.57
$GC,2524,-0.67,-97.3,2099,2508,3374,3348,345.4,-11.4,292,2528,0.00,2.45,0.00,0.000,260,0.000,0.083,2088,3894,3360,3374,3347,0,0,0,0,0,0,15.04,14.28,15.07
$GC,2555,-0.67,-97.3,2088,3894,3373,3348,349.1,-11.5,298,2560,0.00,2.28,0.00,0.000,1030,0.000,0.034,2089,2491,3361,3374,3348,0,0,0,0,0,0,14.61,14.54,14.64
$GC,2868,-0.67,-97.3,2088,2489,3372,3346,386.8,-12.1,315,2872,0.00,2.50,0.00,0.000,260,0.000,0.082,2078,3890,3359,3372,3346,0,0,0,0,0,0,15.05,14.28,15.08
$GC,2911,-0.67,-97.3,2077,3890,3371,3346,392.1,-12.4,323,2917,0.12,2.28,0.00,0.000,3078,0.205,0.034,2108,2502,3358,3371,3346,0,0,0,0,0,0,14.21,14.52,14.39
$GC,3234,-0.67,-97.3,2108,2500,3371,3343,426.1,-10.2,342,3239,0.00,2.35,0.00,0.000,516,0.000,0.050,2108,1103,3356,3370,3343,0,0,0,0,0,0,15.06,14.40,15.09
$GC,3287,-0.67,-97.3,2107,1103,3369,3342,431.4,-10.0,352,3293,0.00,2.42,0.00,0.000,1030,0.000,0.059,2097,2502,3354,3367,3342,0,0,0,0,0,0,14.48,14.36,14.52
$GC,3596,-0.67,-97.3,2098,2501,3367,3340,463.2,-10.1,369,3600,0.00,2.47,0.00,0.000,260,0.000,0.083,2088,3893,3353,3367,3340,0,0,0,0,0,0,15.05,14.24,15.09
$GC,3688,-0.67,-97.3,2087,3893,3367,3340,473.0,-10.7,387,3692,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2504,3353,3367,3340,0,0,0,0,0,0,14.57,14.50,14.59
$GC,4001,-0.67,-97.3,2087,2503,3366,3339,507.7,-11.2,404,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2503,3352,3366,3339,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4300,-0.67,-97.3,2087,2503,3364,3337,542.4,-11.8,419,4306,0.00,2.47,0.00,0.000,260,0.000,0.083,2077,3890,3351,3364,3338,0,0,0,0,0,0,15.04,14.22,15.08
$GC,4324,-0.67,-97.3,2077,3890,3363,3337,545.4,-12.4,424,4329,0.15,2.28,0.00,0.000,3078,0.198,0.035,2112,2500,3350,3363,3338,0,0,0,0,0,0,14.13,14.48,14.33
$GC,4644,-0.67,-97.3,2112,2498,3362,3336,576.5,-9.4,442,4649,0.00,2.35,0.00,0.000,516,0.000,0.050,2113,1106,3348,3362,3335,0,0,0,0,0,0,15.04,14.36,15.07
$GC,4671,-0.67,-97.3,2112,1106,3362,3335,579.3,-10.3,447,4678,0.00,2.42,0.00,0.000,1030,0.000,0.060,2104,2498,3348,3362,3335,0,0,0,0,0,0,14.44,14.31,14.47
$GC,4987,-0.67,-97.3,2103,2498,3361,3334,610.5,-10.1,465,4991,0.00,2.47,0.00,0.000,260,0.000,0.085,2092,3892,3347,3361,3334,0,0,0,0,0,0,15.04,14.19,15.07
$GC,5028,-0.67,-97.3,2092,3891,3361,3334,615.1,-10.7,473,5033,0.00,2.33,0.00,0.000,1030,0.000,0.037,2092,2493,3347,3361,3334,0,0,0,0,0,0,14.52,14.45,14.55
$GC,5350,-0.67,-97.3,2092,2492,3360,3333,650.4,-11.1,492,5354,0.00,2.35,0.00,0.000,516,0.000,0.050,2092,1104,3346,3360,3333,0,0,0,0,0,0,15.05,14.33,15.08
$GC,5378,-0.67,-97.3,2091,1103,3359,3333,653.4,-11.3,497,5386,0.12,2.45,0.00,0.000,3078,0.205,0.060,2110,2501,3346,3359,3333,0,0,0,0,0,0,14.08,14.28,14.21
$GC,5693,-0.67,-97.3,2110,2501,3359,3332,684.2,-9.4,515,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2501,3345,3359,3332,0,0,0,0,0,0,15.05,15.08,15.08
$GC,5995,-0.67,-97.3,2110,2501,3357,3331,711.9,-9.3,530,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2501,3344,3357,3331,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6293,-0.67,-97.3,2110,2501,3357,3330,739.6,-9.3,545,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2501,3343,3356,3330,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6593,-0.67,-97.3,2110,2501,3356,3329,768.0,-9.5,560,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2501,3342,3356,3329,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6895,-0.67,-97.3,2110,2501,3355,3328,796.5,-9.4,575,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2501,3341,3355,3328,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7193,-0.67,-97.3,2110,2501,3354,3327,823.1,-8.7,590,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2501,3340,3354,3327,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7493,-0.67,-97.3,2110,2501,3353,3326,849.0,-8.7,605,7497,0.00,2.42,0.00,0.000,516,0.000,0.057,2111,1105,3339,3353,3326,0,0,0,0,0,0,15.05,14.26,15.08
$GC,7519,-0.67,-97.3,2110,1105,3353,3326,851.4,-9.0,610,7524,0.00,2.47,0.00,0.000,1030,0.000,0.060,2101,2505,3339,3353,3326,0,0,0,0,0,0,14.33,14.21,14.38
$GC,7836,-0.67,-97.3,2101,2506,3352,3325,880.2,-9.1,628,7843,0.00,2.50,0.00,0.000,260,0.000,0.086,2090,3895,3338,3352,3325,0,0,0,0,0,0,15.04,14.07,15.07
$GC,7886,-0.67,-97.3,2090,3896,3352,3325,885.1,-9.7,638,7891,0.00,2.33,0.00,0.000,1030,0.000,0.037,2090,2498,3338,3352,3325,0,0,0,0,0,0,14.45,14.37,14.47
$GC,8200,-0.67,-97.3,2090,2497,3351,3324,915.6,-9.9,655,8204,0.00,2.40,0.00,0.000,516,0.000,0.052,2090,1098,3337,3351,3324,0,0,0,0,0,0,15.02,14.23,15.05
$GC,8226,-0.67,-97.3,2090,1098,3351,3324,918.5,-10.8,660,8234,0.12,2.50,0.00,0.000,3078,0.203,0.063,2109,2504,3337,3351,3324,0,0,0,0,0,0,13.99,14.18,14.18
$GC,8543,-0.67,-97.3,2108,2504,3351,3323,946.5,-8.8,678,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2504,3337,3351,3323,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8842,-0.67,-97.3,2108,2504,3350,3323,972.7,-8.8,693,8846,0.00,2.53,0.00,0.000,260,0.000,0.088,2100,3893,3336,3350,3322,0,0,0,0,0,0,15.04,14.02,15.07
$GC,8878,-0.67,-97.3,2099,3893,3350,3322,976.1,-9.5,700,8882,0.00,2.33,0.00,0.000,1030,0.000,0.037,2100,2499,3336,3349,3323,0,0,0,0,0,0,14.42,14.34,14.45
$STATE,9040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9040,begin apogee
$GC,9049,-0.15,0.0,2100,2497,3350,3322,991.4,-9.3,709,9146,0.65,0.00,93.10,1.994,10246,0.161,0.000,2280,2497,2968,3000,2936,0,0,0,0,0,0,13.88,13.97,12.69
$STATE,9147,end apogee,CONTROL_FINISHED_OK
$STATE,9147,begin climb
$GC,9150,0.67,97.3,2281,2497,2999,2936,994.6,0.0,714,9261,0.82,0.00,103.95,1.974,10502,0.087,0.000,2552,2496,2570,2602,2539,0,0,0,0,0,0,14.11,13.88,12.63
$GC,9565,0.68,97.3,2552,2496,2592,2535,975.1,7.3,744,9570,0.00,2.50,0.00,0.000,580,0.000,0.052,2563,1045,2563,2592,2535,0,0,0,0,0,0,14.85,14.37,14.88
$GC,9642,0.69,97.3,2562,1045,2590,2534,969.3,7.5,759,9647,0.00,2.47,0.00,0.000,1094,0.000,0.067,2563,2438,2562,2590,2534,0,0,0,0,0,0,14.45,14.31,14.50
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$FREEZE,46.11,0.000,0.000,0,1,0
$STATE,21023,end climb,NO_VERTICAL_VELOCITY
$STATE,21023,begin surface
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$TT8_MAMPS,0.018725,0.158039
$HUMID,52.04
$INTERNAL_PRESSURE,9.4487
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,12.60,231.469
$10V_AH,13.13,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,249968
$DATA_FILE_SIZE,76569,1743
$CAP_FILE_SIZE,202318,0
$CFSIZE,260034560,123793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,277.11,1
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