version: 66.13
glider: 171
mission: 11
dive: 638
start: 12 25 119 21 24 34
data:
$ID,171
$MISSION,11
$DIVE,638
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,251219,211738,504.5411,8228.1992,21,1.3,21,-2.1,1.1,243.2,7,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.0
$GPS2,251219,212341,504.4687,8228.1260,3,0.6,4,-2.1,0.4,216.9,12,4.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,261.5,218094,-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,6,begin dive
$GC,10,-0.67,-97.3,112,2519,971,881,0.0,0.0,0,88,0.00,0.00,-76.03,0.005,16386,0.000,0.000,111,2519,2707,2707,2707,0,0,0,0,0,0,14.83,28.83,14.85
$GC,93,-0.67,-97.3,110,2519,2708,2707,5.4,-15.9,16,120,9.30,2.38,-12.10,0.010,19204,0.347,0.064,2106,1096,3368,3381,3355,0,0,0,0,0,0,13.83,12.64,14.30
$GC,348,-0.67,-97.3,2106,1096,3382,3355,67.0,-18.2,67,353,0.00,2.40,0.00,0.000,1030,0.000,0.063,2096,2489,3368,3382,3355,0,0,0,0,0,0,14.55,14.44,14.59
$GC,541,-0.67,-97.3,2096,2489,3383,3355,95.7,-14.8,87,546,0.00,2.35,0.00,0.000,516,0.000,0.055,2096,1094,3369,3383,3355,0,0,0,0,0,0,15.00,14.50,15.02
$GC,638,-0.67,-97.3,2096,1094,3383,3355,108.5,-14.1,106,646,0.00,2.40,0.00,0.000,1030,0.000,0.056,2086,2502,3369,3383,3355,0,0,0,0,0,0,14.60,14.49,14.64
$GC,835,-0.67,-97.3,2085,2502,3383,3355,137.2,-14.2,127,840,0.00,2.40,0.00,0.000,260,0.000,0.079,2075,3899,3368,3383,3354,0,0,0,0,0,0,15.02,14.42,15.04
$GC,936,-0.67,-97.3,2075,3899,3383,3354,152.0,-14.2,147,942,0.15,2.25,0.00,0.000,3078,0.216,0.033,2110,2482,3368,3383,3354,0,0,0,0,0,0,14.27,14.64,14.49
$GC,1131,-0.67,-97.3,2110,2481,3383,3354,175.0,-11.7,167,1136,0.00,2.45,0.00,0.000,260,0.000,0.080,2101,3893,3368,3383,3354,0,0,0,0,0,0,15.03,14.42,15.06
$GC,1204,-0.67,-97.3,2101,3893,3383,3354,184.2,-12.3,181,1209,0.00,2.22,0.00,0.000,1030,0.000,0.032,2101,2502,3368,3383,3354,0,0,0,0,0,0,14.70,14.64,14.72
$GC,1396,-0.67,-97.3,2100,2500,3381,3354,206.9,-11.4,201,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3367,3381,3354,0,0,0,0,0,0,15.04,15.08,15.08
$GC,1577,-0.67,-97.3,2100,2500,3380,3354,226.9,-10.8,219,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3367,3380,3354,0,0,0,0,0,0,15.04,15.08,15.07
$GC,1756,-0.67,-97.3,2100,2500,3378,3354,246.8,-11.4,237,1760,0.00,2.42,0.00,0.000,260,0.000,0.081,2090,3892,3366,3378,3354,0,0,0,0,0,0,15.07,14.42,15.09
$GC,1797,-0.67,-97.3,2089,3892,3377,3354,251.7,-12.0,245,1801,0.00,2.22,0.00,0.000,1030,0.000,0.033,2090,2502,3366,3378,3354,0,0,0,0,0,0,14.70,14.64,14.73
$GC,2120,-0.67,-97.3,2089,2500,3375,3353,291.2,-12.1,264,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3364,3375,3353,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2418,-0.67,-97.3,2089,2500,3375,3349,327.6,-11.9,279,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3361,3374,3349,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2719,-0.67,-97.3,2089,2500,3373,3348,363.3,-11.9,294,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3360,3373,3347,0,0,0,0,0,0,15.07,15.11,15.10
$GC,3018,-0.67,-97.3,2089,2500,3371,3346,398.7,-11.8,309,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2500,3358,3371,3346,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3318,-0.67,-97.3,2089,2500,3370,3344,434.6,-12.1,324,3325,0.00,2.45,0.00,0.000,260,0.000,0.083,2079,3892,3357,3370,3345,0,0,0,0,0,0,15.08,14.38,15.11
$GC,3399,-0.67,-97.3,2079,3892,3369,3345,444.7,-12.4,340,3404,0.12,2.25,0.00,0.000,3078,0.207,0.034,2108,2496,3356,3369,3344,0,0,0,0,0,0,14.31,14.61,14.49
$GC,3722,-0.67,-97.3,2108,2494,3368,3342,479.5,-10.5,359,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2495,3354,3368,3341,0,0,0,0,0,0,15.07,15.11,15.10
$GC,4023,-0.67,-97.3,2108,2494,3367,3340,509.6,-9.6,374,4031,0.00,2.47,0.00,0.000,260,0.000,0.084,2099,3890,3353,3366,3340,0,0,0,0,0,0,15.07,14.35,15.09
$GC,4053,-0.67,-97.3,2099,3890,3366,3340,512.7,-10.3,380,4057,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2501,3353,3366,3340,0,0,0,0,0,0,14.66,14.59,14.69
$GC,4364,-0.67,-97.3,2099,2499,3365,3339,544.2,-10.3,397,4369,0.00,2.33,0.00,0.000,516,0.000,0.049,2099,1111,3352,3366,3338,0,0,0,0,0,0,15.07,14.47,15.10
$GC,4387,-0.67,-97.3,2099,1111,3365,3339,546.5,-11.0,401,4391,0.00,2.40,0.00,0.000,1030,0.000,0.057,2088,2504,3351,3365,3338,0,0,0,0,0,0,14.56,14.44,14.60
$GC,4709,-0.67,-97.3,2088,2504,3363,3338,581.1,-10.7,420,4715,0.00,2.45,0.00,0.000,260,0.000,0.085,2078,3897,3350,3363,3338,0,0,0,0,0,0,15.07,14.33,15.10
$GC,4799,-0.67,-97.3,2077,3897,3362,3338,591.5,-11.5,438,4804,0.15,2.28,0.00,0.000,3078,0.201,0.035,2114,2497,3350,3362,3338,0,0,0,0,0,0,14.23,14.57,14.43
$GC,5114,-0.67,-97.3,2114,2496,3362,3335,621.2,-9.3,455,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2496,3349,3362,3336,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5412,-0.67,-97.3,2114,2496,3362,3335,649.3,-9.5,470,5417,0.00,2.33,0.00,0.000,516,0.000,0.050,2114,1111,3348,3361,3335,0,0,0,0,0,0,15.07,14.45,15.10
$GC,5450,-0.67,-97.3,2114,1111,3361,3335,652.8,-9.7,477,5456,0.00,2.42,0.00,0.000,1030,0.000,0.057,2105,2508,3348,3361,3335,0,0,0,0,0,0,14.52,14.40,14.57
$GC,5774,-0.67,-97.3,2105,2508,3360,3333,686.2,-10.5,497,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2508,3347,3360,3334,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6074,-0.67,-97.3,2105,2508,3360,3333,717.5,-10.2,512,6080,0.00,2.45,0.00,0.000,260,0.000,0.086,2094,3893,3346,3359,3333,0,0,0,0,0,0,15.07,14.28,15.09
$GC,6125,-0.67,-97.3,2093,3893,3359,3333,722.8,-10.5,522,6129,0.00,2.28,0.00,0.000,1030,0.000,0.035,2094,2497,3346,3359,3333,0,0,0,0,0,0,14.61,14.54,14.64
$GC,6436,-0.67,-97.3,2093,2497,3358,3332,754.6,-9.9,539,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2497,3345,3358,3332,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6737,-0.67,-97.3,2093,2497,3357,3331,783.8,-9.7,554,6741,0.00,2.50,0.00,0.000,260,0.000,0.086,2083,3890,3343,3356,3331,0,0,0,0,0,0,15.06,14.26,15.08
$GC,6769,-0.67,-97.3,2083,3890,3356,3331,787.1,-10.1,560,6773,0.00,2.28,0.00,0.000,1030,0.000,0.036,2083,2500,3344,3357,3331,0,0,0,0,0,0,14.59,14.52,14.62
$GC,7080,-0.67,-97.3,2083,2499,3356,3330,819.0,-10.3,577,7085,0.12,2.53,0.00,0.000,2308,0.232,0.083,2103,3890,3343,3356,3330,0,0,0,0,0,0,14.39,14.23,14.47
$GC,7113,-0.67,-97.3,2103,3890,3356,3330,822.2,-9.6,583,7119,0.00,2.28,0.00,0.000,1030,0.000,0.036,2103,2501,3343,3356,3330,0,0,0,0,0,0,14.59,14.52,14.61
$GC,7426,-0.67,-97.3,2103,2500,3356,3329,852.2,-9.6,600,7430,0.00,2.35,0.00,0.000,516,0.000,0.050,2103,1109,3342,3356,3329,0,0,0,0,0,0,15.06,14.38,15.09
$GC,7462,-0.67,-97.3,2103,1110,3356,3329,855.8,-9.6,607,7468,0.00,2.42,0.00,0.000,1030,0.000,0.058,2091,2498,3342,3355,3329,0,0,0,0,0,0,14.47,14.34,14.51
$GC,7769,-0.67,-97.3,2091,2498,3355,3328,886.3,-9.8,623,7774,0.00,2.50,0.00,0.000,260,0.000,0.086,2082,3895,3341,3355,3328,0,0,0,0,0,0,15.05,14.22,15.08
$GC,7801,-0.67,-97.3,2081,3896,3354,3328,889.8,-10.5,629,7808,0.12,2.30,0.00,0.000,3078,0.203,0.037,2111,2492,3341,3355,3328,0,0,0,0,0,0,14.19,14.50,14.37
$GC,8111,-0.67,-97.3,2110,2491,3354,3327,917.7,-9.1,646,8118,0.00,2.53,0.00,0.000,260,0.000,0.087,2102,3894,3340,3353,3327,0,0,0,0,0,0,15.07,14.21,15.09
$GC,8147,-0.67,-97.3,2101,3894,3353,3327,921.0,-9.6,653,8151,0.00,2.30,0.00,0.000,1030,0.000,0.037,2102,2500,3340,3353,3327,0,0,0,0,0,0,14.55,14.48,14.57
$GC,8451,-0.67,-97.3,2101,2499,3353,3327,949.9,-9.7,669,8455,0.00,2.35,0.00,0.000,516,0.000,0.051,2102,1109,3339,3353,3326,0,0,0,0,0,0,15.07,14.35,15.09
$GC,8513,-0.67,-97.3,2101,1109,3353,3326,956.1,-9.8,681,8520,0.00,2.42,0.00,0.000,1030,0.000,0.060,2090,2500,3339,3352,3326,0,0,0,0,0,0,14.44,14.31,14.48
$GC,8833,-0.67,-97.3,2090,2500,3352,3326,988.3,-10.0,700,8839,0.00,2.47,0.00,0.000,260,0.000,0.086,2080,3893,3339,3352,3326,0,0,0,0,0,0,15.06,14.19,15.08
$STATE,8850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8850,begin apogee
$GC,8859,-0.15,0.0,2080,2439,3352,3325,990.3,-10.5,704,8957,0.70,0.00,93.70,1.994,10246,0.167,0.000,2277,2439,2968,3002,2935,0,0,0,0,0,0,14.00,13.95,12.59
$STATE,8958,end apogee,CONTROL_FINISHED_OK
$STATE,8958,begin climb
$GC,8963,0.67,97.3,2277,2439,3000,2935,994.0,0.0,709,9078,0.82,2.53,104.38,1.975,10756,0.091,0.053,2558,1026,2570,2603,2537,0,0,0,0,0,0,14.16,13.95,12.55
$GC,9132,0.71,138.3,2557,1026,2596,2534,991.9,5.8,744,9183,0.00,2.50,42.35,1.935,9254,0.000,0.055,2558,2449,2403,2443,2364,0,0,0,0,0,0,14.37,14.27,12.66
$GC,9495,0.71,138.3,2557,2449,2434,2360,957.6,10.0,772,9500,0.00,2.42,0.00,0.000,516,0.000,0.054,2569,1032,2396,2434,2359,0,0,0,0,0,0,14.88,14.43,14.91
$GC,9517,0.71,138.3,2568,1032,2433,2359,955.4,10.2,776,9523,0.00,2.45,0.00,0.000,1030,0.000,0.057,2569,2443,2396,2433,2359,0,0,0,0,0,0,14.53,14.42,14.57
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$STATE,20483,end climb,SURFACE_DEPTH_REACHED
$STATE,20483,begin surface coast
$STATE,20488,end surface coast,CONTROL_FINISHED_OK
$STATE,20488,begin surface
$SM_CCo,20511,72.32,0.558,1,0,929,500.17
$SM_GC,1.07,7.60,2.28,72.32,0.047,0.037,0.558,123,2507,929,-6.77,1.44,500.17,0,0,0,0,1,0,14.48,14.40,13.54
$IRIDIUM_FIX,502.24,8230.47,251219,150836
$TT8_MAMPS,0.019474,0.164031
$HUMID,50.82
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,12.55,215.840
$10V_AH,10.77,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.075,224.975,511.300,72.325,0.000,0.000,0.000,213.875,0.000,0.000,15.582,1654.334,15162.537,729.477,2855.812,544.621,0.000,2444.117,0.000,2618.534,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,923.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250356
$DATA_FILE_SIZE,79940,1843
$CAP_FILE_SIZE,203808,0
$CFSIZE,260034560,128651264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,331.98,1
$GPS,261219,030855,505.268,8225.855,14,0.6,30,-2.1,0.6,235.4,12,3.2