version: 66.13
glider: 171
mission: 11
dive: 750
start: 1 22 120 17 27 53
data:
$ID,171
$MISSION,11
$DIVE,750
$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,73
$R_STBD_OVSHOOT,26
$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
$GPS1,220120,172030,503.2344,8028.4048,22,0.8,22,-2.2,0.3,229.2,8,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.7
$GPS2,220120,172659,503.2096,8028.2412,2,0.6,3,-2.2,1.5,252.8,12,5.8
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,141.9,6772,-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,10,-0.67,-97.3,93,2501,968,882,0.0,0.0,0,83,0.00,0.00,-71.12,0.005,16386,0.000,0.000,93,2501,2601,2599,2603,0,0,0,0,0,0,14.81,28.83,14.84
$GC,88,-0.67,-97.3,93,2502,2600,2603,4.5,-11.1,15,119,9.27,2.38,-14.82,0.009,18948,0.340,0.072,2109,1127,3368,3384,3352,0,0,0,0,0,0,13.85,12.60,14.30
$GC,199,-0.67,-97.3,2109,1126,3384,3352,39.9,-27.7,37,203,0.00,2.38,0.00,0.000,1030,0.000,0.058,2100,2500,3368,3384,3352,0,0,0,0,0,0,14.39,14.27,14.43
$GC,386,-0.67,-97.3,2100,2499,3384,3352,94.1,-26.4,59,390,0.00,2.33,0.00,0.000,516,0.000,0.048,2100,1119,3368,3384,3352,0,0,0,0,0,0,14.95,14.27,14.97
$GC,453,-0.67,-97.3,2100,1118,3384,3352,107.2,-14.6,72,460,0.00,2.40,0.00,0.000,1030,0.000,0.055,2089,2509,3368,3384,3352,0,0,0,0,0,0,14.38,14.26,14.42
$GC,647,-0.67,-97.3,2089,2510,3385,3352,133.4,-12.0,93,651,0.00,2.33,0.00,0.000,516,0.000,0.046,2089,1118,3368,3384,3352,0,0,0,0,0,0,15.00,14.33,15.02
$GC,688,-0.67,-97.3,2089,1118,3385,3352,138.1,-11.5,101,696,0.15,2.38,0.00,0.000,3078,0.223,0.057,2112,2499,3368,3385,3352,0,0,0,0,0,0,13.97,14.27,14.20
$GC,880,-0.67,-97.3,2112,2499,3385,3352,160.5,-13.9,121,887,0.00,2.45,0.00,0.000,260,0.000,0.081,2103,3896,3368,3385,3352,0,0,0,0,0,0,15.00,14.12,15.02
$GC,934,-0.67,-97.3,2103,3896,3385,3352,167.2,-11.7,132,938,0.00,2.22,0.00,0.000,1030,0.000,0.030,2103,2506,3368,3385,3352,0,0,0,0,0,0,14.52,14.46,14.54
$GC,1121,-0.67,-97.3,2103,2504,3385,3352,189.0,-12.0,151,1125,0.00,2.33,0.00,0.000,516,0.000,0.044,2103,1109,3368,3385,3352,0,0,0,0,0,0,15.00,14.31,15.02
$GC,1174,-0.67,-97.3,2103,1109,3385,3352,195.8,-12.7,161,1178,0.00,2.40,0.00,0.000,1030,0.000,0.054,2091,2507,3368,3385,3352,0,0,0,0,0,0,14.39,14.28,14.43
$GC,1365,-0.67,-97.3,2091,2507,3384,3352,220.2,-12.7,181,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2507,3368,3384,3352,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1547,-0.67,-97.3,2091,2507,3382,3352,242.4,-11.9,199,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2507,3367,3382,3352,0,0,0,0,0,0,15.00,15.03,15.03
$GC,1735,-0.67,-97.3,2091,2507,3380,3352,263.6,-11.1,212,1742,0.00,2.45,0.00,0.000,260,0.000,0.081,2081,3893,3366,3380,3352,0,0,0,0,0,0,15.03,14.11,15.06
$GC,1780,-0.67,-97.3,2081,3893,3379,3352,268.9,-12.0,221,1785,0.12,2.25,0.00,0.000,3078,0.207,0.032,2110,2503,3365,3379,3352,0,0,0,0,0,0,14.08,14.42,14.26
$GC,2098,-0.67,-97.3,2109,2502,3375,3352,303.7,-11.2,239,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2502,3363,3375,3351,0,0,0,0,0,0,15.02,15.06,15.05
$GC,2397,-0.67,-97.3,2109,2502,3375,3348,339.1,-12.1,254,2402,0.00,2.50,0.00,0.000,260,0.000,0.082,2101,3891,3360,3374,3347,0,0,0,0,0,0,15.04,14.06,15.07
$GC,2446,-0.67,-97.3,2100,3892,3373,3348,344.7,-11.9,263,2450,0.00,2.28,0.00,0.000,1030,0.000,0.032,2101,2495,3360,3373,3347,0,0,0,0,0,0,14.46,14.40,14.49
$GC,2762,-0.67,-97.3,2100,2494,3371,3345,381.6,-11.3,281,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2494,3358,3371,3345,0,0,0,0,0,0,15.03,15.06,15.05
$GC,3062,-0.67,-97.3,2100,2493,3369,3342,414.3,-10.9,296,3067,0.00,2.53,0.00,0.000,260,0.000,0.082,2090,3888,3355,3369,3342,0,0,0,0,0,0,15.03,14.02,15.05
$GC,3111,-0.67,-97.3,2089,3889,3368,3342,419.6,-11.6,305,3115,0.00,2.28,0.00,0.000,1030,0.000,0.034,2089,2504,3355,3368,3342,0,0,0,0,0,0,14.43,14.37,14.46
$GC,3427,-0.67,-97.3,2089,2503,3367,3340,455.5,-11.3,323,3434,0.00,2.50,0.00,0.000,260,0.000,0.083,2079,3890,3353,3367,3339,0,0,0,0,0,0,15.01,14.01,15.04
$GC,3469,-0.67,-97.3,2079,3890,3366,3339,460.2,-12.0,331,3476,0.12,2.30,0.00,0.000,3078,0.207,0.034,2108,2491,3352,3366,3339,0,0,0,0,0,0,14.00,14.35,14.18
$GC,3788,-0.67,-97.3,2107,2490,3365,3338,492.5,-10.0,350,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2490,3351,3365,3338,0,0,0,0,0,0,15.03,15.06,15.06
$GC,4088,-0.67,-97.3,2107,2490,3363,3336,523.0,-10.2,365,4095,0.00,2.55,0.00,0.000,260,0.000,0.083,2098,3891,3349,3363,3336,0,0,0,0,0,0,15.03,13.97,15.06
$GC,4140,-0.67,-97.3,2098,3891,3362,3336,528.4,-10.8,375,4144,0.00,2.30,0.00,0.000,1030,0.000,0.034,2098,2499,3349,3362,3336,0,0,0,0,0,0,14.40,14.33,14.42
$GC,4453,-0.67,-97.3,2098,2497,3362,3334,563.1,-11.1,392,4457,0.00,2.55,0.00,0.000,260,0.000,0.083,2087,3894,3348,3362,3334,0,0,0,0,0,0,15.03,13.95,15.05
$GC,4484,-0.67,-97.3,2087,3894,3362,3334,566.8,-11.7,398,4490,0.00,2.33,0.00,0.000,1030,0.000,0.034,2087,2492,3347,3361,3334,0,0,0,0,0,0,14.39,14.32,14.42
$GC,4799,-0.67,-97.3,2087,2490,3360,3333,603.9,-11.9,415,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2490,3346,3360,3333,0,0,0,0,0,0,15.00,15.03,15.03
$GC,5097,-0.67,-97.3,2087,2490,3359,3332,638.7,-11.5,430,5102,0.00,2.58,0.00,0.000,260,0.000,0.083,2076,3893,3345,3358,3332,0,0,0,0,0,0,15.02,13.92,15.04
$GC,5126,-0.67,-97.3,2076,3893,3357,3332,642.0,-12.9,435,5133,0.15,2.33,0.00,0.000,3078,0.196,0.034,2112,2493,3344,3357,3332,0,0,0,0,0,0,13.90,14.29,14.09
$GC,5440,-0.67,-97.3,2112,2492,3356,3331,672.8,-9.4,453,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2492,3344,3357,3331,0,0,0,0,0,0,15.02,15.05,15.04
$GC,5740,-0.67,-97.3,2112,2491,3356,3330,700.9,-9.4,468,5747,0.00,2.58,0.00,0.000,260,0.000,0.085,2103,3896,3342,3356,3329,0,0,0,0,0,0,15.02,13.89,15.04
$GC,5782,-0.67,-97.3,2102,3896,3356,3329,704.8,-9.7,476,5786,0.00,2.33,0.00,0.000,1030,0.000,0.035,2103,2499,3342,3356,3329,0,0,0,0,0,0,14.33,14.26,14.36
$GC,6103,-0.67,-97.3,2103,2498,3354,3328,735.7,-9.7,495,6108,0.00,2.58,0.00,0.000,260,0.000,0.085,2092,3889,3341,3355,3327,0,0,0,0,0,0,15.01,13.88,15.04
$GC,6130,-0.67,-97.3,2091,3889,3354,3327,738.4,-10.5,500,6134,0.00,2.33,0.00,0.000,1030,0.000,0.035,2092,2497,3340,3354,3327,0,0,0,0,0,0,14.33,14.26,14.35
$GC,6448,-0.67,-97.3,2091,2495,3353,3327,771.7,-10.5,518,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2495,3340,3354,3326,0,0,0,0,0,0,15.00,15.04,15.03
$GC,6746,-0.67,-97.3,2091,2495,3352,3326,803.8,-10.9,533,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2495,3339,3352,3326,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7048,-0.67,-97.3,2091,2495,3352,3325,837.0,-11.0,548,7054,0.00,2.58,0.00,0.000,260,0.000,0.086,2082,3893,3338,3352,3324,0,0,0,0,0,0,15.00,13.81,15.02
$GC,7086,-0.67,-97.3,2081,3893,3352,3324,841.6,-11.8,556,7094,0.12,2.33,0.00,0.000,3078,0.201,0.035,2110,2498,3337,3351,3324,0,0,0,0,0,0,13.87,14.21,14.04
$GC,7407,-0.67,-97.3,2109,2497,3351,3323,872.0,-9.2,575,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2497,3337,3351,3323,0,0,0,0,0,0,15.00,15.03,15.02
$GC,7708,-0.67,-97.3,2109,2497,3350,3322,898.8,-8.8,590,7713,0.00,2.58,0.00,0.000,260,0.000,0.086,2101,3889,3336,3350,3322,0,0,0,0,0,0,15.00,13.82,15.02
$GC,7736,-0.67,-97.3,2100,3889,3349,3322,901.4,-9.9,595,7740,0.00,2.33,0.00,0.000,1030,0.000,0.036,2100,2502,3335,3349,3322,0,0,0,0,0,0,14.26,14.19,14.30
$GC,8052,-0.67,-97.3,2100,2501,3349,3321,930.4,-9.1,613,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3335,3349,3321,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8354,-0.67,-97.3,2100,2501,3348,3321,959.5,-10.0,628,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3334,3348,3320,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8653,-0.67,-97.3,2100,2501,3347,3320,989.8,-10.3,643,8657,0.00,2.42,0.00,0.000,259,0.000,0.086,2090,3813,3334,3347,3321,0,0,0,0,0,0,15.01,15.04,15.03
$STATE,8658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8658,begin apogee
$GC,8668,-0.15,0.0,2090,2438,3347,3320,990.4,-10.3,644,8765,0.68,0.00,92.57,2.000,10246,0.164,0.000,2274,2438,2967,3000,2935,0,0,0,0,0,0,13.74,13.99,12.75
$STATE,8766,end apogee,CONTROL_FINISHED_OK
$STATE,8766,begin climb
$GC,8771,0.67,97.3,2274,2438,2999,2935,995.2,0.0,649,8880,0.85,0.00,105.00,1.972,10246,0.093,0.000,2548,2438,2571,2602,2540,0,0,0,0,0,0,14.04,13.89,12.70
$GC,9180,0.71,97.3,2547,2438,2591,2536,981.6,6.2,670,9185,0.00,2.40,0.00,0.000,580,0.000,0.052,2558,1045,2563,2591,2535,0,0,0,0,0,0,14.83,14.34,14.86
$GC,9248,0.73,97.3,2558,1046,2590,2534,977.0,6.9,683,9254,0.00,2.45,0.00,0.000,1094,0.000,0.056,2558,2447,2562,2590,2534,0,0,0,0,0,0,14.44,14.33,14.48
$GC,9563,0.75,97.3,2558,2447,2589,2534,954.7,7.3,701,9565,0.00,0.00,0.00,0.000,70,0.000,0.000,2558,2448,2561,2589,2534,0,0,0,0,0,0,14.94,14.97,14.97
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$STATE,21711,end climb,SURFACE_DEPTH_REACHED
$STATE,21712,begin surface coast
$STATE,21727,end surface coast,CONTROL_FINISHED_OK
$STATE,21727,begin surface
$SM_CCo,21749,134.25,0.646,1,0,929,500.17
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$IRIDIUM_FIX,502.24,8032.26,220120,111208
$TT8_MAMPS,0.018725,0.15729
$HUMID,50.31
$INTERNAL_PRESSURE,9.53659
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,12.60,249.489
$10V_AH,11.34,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.775,199.275,445.075,134.250,0.000,0.000,0.000,233.875,0.250,0.000,15.004,1690.932,16327.062,750.250,2921.399,586.628,0.000,2465.647,0.000,2664.400,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,908.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249940
$DATA_FILE_SIZE,83157,1875
$CAP_FILE_SIZE,202166,0
$CFSIZE,260034560,118284288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.103,354.14,1
$GPS,220120,233400,503.214,8029.018,30,0.7,30,-2.2,1.0,240.8,9,3.2