version: 66.13
glider: 171
mission: 11
dive: 598
start: 12 15 119 19 48 50
data:
$ID,171
$MISSION,11
$DIVE,598
$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,54
$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
$GPS1,151219,193400,554.6099,8307.6865,21,0.7,21,-1.9,0.4,11.9,10,3.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.8
$GPS2,151219,194756,554.6029,8307.6084,2,0.5,3,-1.9,0.9,235.9,12,4.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R6
$TGT_LATLONG,500.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,234.8,102094,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-0.67,-97.3,96,2509,971,880,0.0,0.0,0,84,0.00,0.00,-71.40,0.005,16386,0.000,0.000,96,2510,2643,2643,2644,0,0,0,0,0,0,14.86,28.83,14.89
$GC,88,-0.67,-97.3,96,2510,2644,2644,5.1,-13.5,15,117,9.23,2.38,-13.55,0.009,19204,0.344,0.091,2094,3897,3366,3380,3352,0,0,0,0,0,0,13.89,13.45,14.35
$GC,125,-0.67,-97.3,2093,3897,3381,3352,19.4,-38.7,22,130,0.00,2.25,0.00,0.000,1030,0.000,0.037,2093,2509,3366,3381,3352,0,0,0,0,0,0,14.63,14.56,14.66
$GC,317,-0.67,-97.3,2093,2507,3381,3352,68.0,-18.2,51,321,0.00,2.30,0.00,0.000,516,0.000,0.045,2093,1095,3366,3381,3352,0,0,0,0,0,0,14.99,14.57,15.01
$GC,514,-0.67,-97.3,2093,1095,3380,3352,100.1,-14.1,90,520,0.12,2.38,0.00,0.000,3078,0.237,0.058,2111,2500,3366,3380,3352,0,0,0,0,0,0,14.32,14.55,14.54
$GC,699,-0.67,-97.3,2110,2500,3380,3352,123.4,-10.3,109,703,0.00,2.30,0.00,0.000,516,0.000,0.045,2111,1093,3366,3380,3352,0,0,0,0,0,0,15.06,14.62,15.08
$GC,741,-0.67,-97.3,2111,1094,3380,3352,128.1,-12.1,117,745,0.00,2.38,0.00,0.000,1030,0.000,0.056,2101,2504,3366,3380,3352,0,0,0,0,0,0,14.69,14.57,14.72
$GC,932,-0.67,-97.3,2101,2504,3380,3352,151.8,-11.8,137,936,0.00,2.38,0.00,0.000,260,0.000,0.081,2090,3893,3366,3380,3352,0,0,0,0,0,0,15.07,14.52,15.09
$GC,1045,-0.67,-97.3,2090,3893,3379,3352,165.6,-12.1,159,1049,0.00,2.22,0.00,0.000,1030,0.000,0.031,2090,2481,3365,3379,3352,0,0,0,0,0,0,14.77,14.71,14.79
$GC,1236,-0.67,-97.3,2090,2479,3378,3352,188.9,-12.7,179,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2479,3365,3378,3352,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1416,-0.67,-97.3,2090,2479,3376,3352,211.3,-12.6,197,1420,0.00,2.47,0.00,0.000,260,0.000,0.082,2080,3900,3364,3376,3352,0,0,0,0,0,0,15.09,14.51,15.11
$GC,1443,-0.67,-97.3,2080,3900,3376,3352,214.8,-13.3,202,1449,0.12,2.22,0.00,0.000,3078,0.215,0.033,2109,2497,3364,3376,3352,0,0,0,0,0,0,14.42,14.71,14.61
$GC,1630,-0.67,-97.3,2109,2495,3374,3352,237.2,-12.1,221,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2495,3363,3374,3352,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1818,-0.67,-97.3,2109,2495,3372,3349,260.6,-12.3,236,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2495,3361,3373,3349,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2118,-0.67,-97.3,2109,2495,3371,3347,296.0,-11.3,251,2122,0.00,2.42,0.00,0.000,260,0.000,0.083,2100,3891,3359,3371,3347,0,0,0,0,0,0,15.09,14.51,15.12
$GC,2144,-0.67,-97.3,2099,3892,3371,3346,299.1,-11.9,256,2148,0.00,2.22,0.00,0.000,1030,0.000,0.033,2100,2494,3358,3371,3346,0,0,0,0,0,0,14.77,14.71,14.79
$GC,2461,-0.67,-97.3,2100,2492,3368,3344,335.6,-11.1,274,2466,0.00,2.42,0.00,0.000,260,0.000,0.082,2089,3892,3355,3368,3343,0,0,0,0,0,0,15.09,14.50,15.12
$GC,2494,-0.67,-97.3,2089,3892,3367,3343,339.4,-11.7,280,2498,0.00,2.22,0.00,0.000,1030,0.000,0.034,2089,2498,3355,3367,3343,0,0,0,0,0,0,14.76,14.71,14.79
$GC,2807,-0.67,-97.3,2089,2496,3366,3340,375.2,-11.4,297,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2496,3353,3366,3340,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3107,-0.67,-97.3,2088,2496,3363,3339,409.5,-11.7,312,3113,0.00,2.45,0.00,0.000,260,0.000,0.083,2078,3900,3350,3363,3338,0,0,0,0,0,0,15.09,14.48,15.11
$GC,3135,-0.67,-97.3,2078,3900,3363,3338,413.1,-12.4,318,3141,0.12,2.25,0.00,0.000,3078,0.211,0.034,2108,2496,3350,3363,3338,0,0,0,0,0,0,14.40,14.69,14.59
$GC,3448,-0.67,-97.3,2108,2494,3362,3336,446.5,-10.7,335,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2495,3349,3362,3336,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3749,-0.67,-97.3,2107,2495,3360,3334,478.4,-10.7,350,3754,0.00,2.45,0.00,0.000,260,0.000,0.083,2099,3891,3347,3360,3334,0,0,0,0,0,0,15.09,14.46,15.11
$GC,3796,-0.67,-97.3,2099,3891,3360,3333,483.6,-11.0,359,3801,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2493,3346,3360,3333,0,0,0,0,0,0,14.73,14.67,14.76
$GC,4114,-0.67,-97.3,2099,2492,3357,3332,517.6,-10.4,377,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3344,3357,3332,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4413,-0.67,-97.3,2099,2492,3356,3331,548.2,-10.2,392,4419,0.00,2.47,0.00,0.000,260,0.000,0.085,2088,3899,3343,3356,3330,0,0,0,0,0,0,15.09,14.43,15.12
$GC,4488,-0.67,-97.3,2088,3899,3356,3330,556.1,-10.6,407,4492,0.00,2.28,0.00,0.000,1030,0.000,0.035,2088,2494,3343,3356,3330,0,0,0,0,0,0,14.71,14.65,14.73
$GC,4794,-0.67,-97.3,2088,2493,3355,3329,589.3,-11.0,423,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3342,3355,3329,0,0,0,0,0,0,15.08,15.11,15.11
$GC,5093,-0.67,-97.3,2088,2493,3353,3327,622.1,-10.9,438,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2493,3340,3353,3327,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5393,-0.67,-97.3,2088,2493,3352,3326,653.3,-10.1,453,5400,0.00,2.47,0.00,0.000,260,0.000,0.086,2077,3894,3339,3352,3326,0,0,0,0,0,0,15.09,14.40,15.12
$GC,5439,-0.67,-97.3,2077,3895,3351,3325,658.1,-10.9,462,5444,0.12,2.25,0.00,0.000,3078,0.210,0.035,2108,2499,3338,3351,3325,0,0,0,0,0,0,14.33,14.63,14.52
$GC,5756,-0.67,-97.3,2108,2498,3350,3324,685.9,-8.4,480,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3337,3350,3324,0,0,0,0,0,0,15.09,15.12,15.12
$GC,6058,-0.67,-97.3,2107,2498,3349,3323,709.5,-7.8,495,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3336,3349,3323,0,0,0,0,0,0,15.07,15.11,15.10
$GC,6356,-0.67,-97.3,2108,2498,3348,3321,732.1,-7.6,510,6361,0.00,2.47,0.00,0.000,260,0.000,0.086,2099,3890,3334,3348,3321,0,0,0,0,0,0,15.09,14.36,15.11
$GC,6418,-0.67,-97.3,2099,3890,3348,3320,737.3,-8.4,522,6423,0.00,2.25,0.00,0.000,1030,0.000,0.036,2099,2502,3334,3348,3321,0,0,0,0,0,0,14.67,14.60,14.69
$GC,6741,-0.67,-97.3,2099,2501,3347,3320,765.4,-9.0,541,6745,0.00,2.35,0.00,0.000,516,0.000,0.050,2099,1101,3333,3347,3320,0,0,0,0,0,0,15.08,14.50,15.11
$GC,6777,-0.67,-97.3,2098,1101,3346,3320,768.9,-9.2,548,6781,0.00,2.42,0.00,0.000,1030,0.000,0.058,2088,2502,3333,3346,3320,0,0,0,0,0,0,14.57,14.45,14.61
$GC,7100,-0.67,-97.3,2088,2502,3345,3320,800.7,-10.1,567,7107,0.00,2.45,0.00,0.000,260,0.000,0.086,2077,3893,3332,3345,3319,0,0,0,0,0,0,15.07,14.34,15.09
$GC,7174,-0.67,-97.3,2077,3893,3344,3320,809.0,-11.2,582,7179,0.12,2.28,0.00,0.000,3078,0.209,0.036,2108,2499,3332,3344,3320,0,0,0,0,0,0,14.27,14.58,14.46
$GC,7479,-0.67,-97.3,2108,2497,3343,3319,836.7,-8.9,598,7484,0.00,2.33,0.00,0.000,516,0.000,0.050,2108,1108,3331,3343,3319,0,0,0,0,0,0,15.09,14.47,15.11
$GC,7502,-0.67,-97.3,2108,1108,3343,3319,838.7,-9.3,602,7507,0.00,2.40,0.00,0.000,1030,0.000,0.057,2099,2501,3331,3343,3319,0,0,0,0,0,0,14.55,14.42,14.59
$GC,7824,-0.67,-97.3,2099,2501,3343,3317,868.3,-9.0,621,7828,0.00,2.47,0.00,0.000,260,0.000,0.087,2088,3894,3330,3343,3317,0,0,0,0,0,0,15.09,14.31,15.11
$GC,7905,-0.67,-97.3,2088,3894,3342,3317,875.9,-9.5,637,7909,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2499,3330,3343,3317,0,0,0,0,0,0,14.63,14.56,14.66
$GC,8227,-0.67,-97.3,2088,2498,3342,3316,905.6,-9.1,656,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2497,3329,3342,3316,0,0,0,0,0,0,15.07,15.10,15.10
$GC,8526,-0.67,-97.3,2088,2498,3342,3316,933.0,-9.0,671,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2497,3329,3342,3316,0,0,0,0,0,0,15.08,15.11,15.10
$GC,8827,-0.67,-97.3,2088,2497,3341,3315,960.5,-9.2,686,8832,0.00,2.50,0.00,0.000,260,0.000,0.088,2077,3894,3327,3340,3314,0,0,0,0,0,0,15.07,14.28,15.10
$GC,8859,-0.67,-97.3,2077,3894,3340,3315,963.7,-9.9,692,8866,0.12,2.30,0.00,0.000,3078,0.209,0.037,2108,2491,3327,3340,3315,0,0,0,0,0,0,14.23,14.54,14.42
$GC,9169,-0.67,-97.3,2108,2489,3340,3314,988.8,-8.0,709,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2489,3327,3340,3314,0,0,0,0,0,0,15.08,15.11,15.11
$STATE,9186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9186,begin apogee
$GC,9194,-0.15,0.0,2108,2489,3340,3314,990.4,-8.0,710,9290,0.60,0.00,91.72,1.987,10246,0.164,0.000,2281,2489,2967,2999,2936,0,0,0,0,0,0,14.13,13.98,12.59
$STATE,9291,end apogee,CONTROL_FINISHED_OK
$STATE,9291,begin climb
$GC,9294,0.67,97.3,2281,2489,2998,2936,992.8,0.0,715,9403,0.82,0.00,104.72,1.973,10758,0.086,0.000,2557,2489,2571,2602,2540,0,0,0,0,0,0,14.19,13.90,12.59
$GC,9691,0.67,97.3,2557,2489,2591,2535,972.7,7.7,738,9696,0.00,2.42,0.00,0.000,260,0.000,0.084,2557,3850,2563,2591,2535,0,0,0,0,0,0,14.87,14.37,14.89
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$STATE,21746,end climb,SURFACE_DEPTH_REACHED
$STATE,21747,begin surface coast
$STATE,21756,end surface coast,CONTROL_FINISHED_OK
$STATE,21756,begin surface
$SM_CCo,21840,0.00,0.000,0,0,895,508.51
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$TT8_MAMPS,0.018725,0.160286
$HUMID,51.29
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,12.59,203.867
$10V_AH,13.15,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,250360
$DATA_FILE_SIZE,83206,1869
$CAP_FILE_SIZE,211230,0
$CFSIZE,260034560,132395008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,102.57,1
$GPS,161219,015359,553.301,8307.914,31,1.3,31,-1.9,0.4,77.9,6,6.3