version: 66.13
glider: 171
mission: 11
dive: 643
start: 12 27 119 3 41 14
data:
$ID,171
$MISSION,11
$DIVE,643
$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,55
$R_STBD_OVSHOOT,40
$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
$GPS1,271219,033330,505.5293,8217.4932,30,0.7,30,-2.1,1.4,234.6,11,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.4
$GPS2,271219,034021,505.4528,8217.3457,2,0.5,3,-2.1,0.4,244.4,12,5.9
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,237.7,198305,-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,-97.3,111,2512,969,883,0.0,0.0,0,89,0.00,0.00,-76.82,0.005,16386,0.000,0.000,111,2513,2721,2719,2723,0,0,0,0,0,0,14.84,28.83,14.87
$GC,93,-0.67,-97.3,111,2513,2720,2723,5.0,-14.2,16,121,9.35,2.38,-12.18,0.010,18692,0.349,0.094,2097,3884,3367,3381,3354,0,0,0,0,0,0,13.85,12.59,14.31
$GC,349,-0.67,-97.3,2096,3885,3382,3354,73.7,-18.2,67,354,0.00,2.22,0.00,0.000,1030,0.000,0.033,2097,2495,3367,3381,3354,0,0,0,0,0,0,14.64,14.58,14.66
$GC,542,-0.67,-97.3,2096,2493,3382,3354,97.4,-10.7,87,547,0.00,2.40,0.00,0.000,260,0.000,0.077,2086,3881,3368,3382,3354,0,0,0,0,0,0,15.00,14.42,15.02
$GC,773,-0.67,-97.3,2086,3881,3383,3354,128.7,-12.6,133,778,0.00,2.20,0.00,0.000,1030,0.000,0.033,2086,2492,3368,3383,3354,0,0,0,0,0,0,14.70,14.64,14.72
$GC,966,-0.67,-97.3,2085,2491,3383,3354,154.6,-14.3,153,972,0.00,2.42,0.00,0.000,260,0.000,0.080,2075,3886,3368,3383,3354,0,0,0,0,0,0,15.04,14.44,15.06
$GC,1141,-0.67,-97.3,2075,3887,3382,3354,179.4,-14.2,188,1145,0.15,2.22,0.00,0.000,3078,0.207,0.033,2112,2494,3368,3383,3354,0,0,0,0,0,0,14.31,14.64,14.51
$GC,1326,-0.67,-97.3,2111,2492,3381,3354,200.3,-10.9,207,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2492,3367,3381,3354,0,0,0,0,0,0,15.05,15.09,15.08
$GC,1505,-0.67,-97.3,2111,2492,3379,3354,219.8,-10.6,225,1511,0.00,2.42,0.00,0.000,260,0.000,0.080,2103,3886,3366,3379,3354,0,0,0,0,0,0,15.07,14.43,15.09
$GC,1536,-0.67,-97.3,2102,3886,3379,3354,223.2,-11.9,231,1541,0.00,2.22,0.00,0.000,1030,0.000,0.032,2103,2489,3366,3379,3354,0,0,0,0,0,0,14.71,14.65,14.73
$GC,1728,-0.67,-97.3,2102,2488,3377,3354,245.7,-11.6,251,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2488,3365,3377,3354,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1908,-0.67,-97.3,2103,2488,3375,3353,265.9,-10.9,262,1912,0.00,2.28,0.00,0.000,516,0.000,0.050,2102,1116,3364,3375,3353,0,0,0,0,0,0,15.08,14.52,15.10
$GC,1941,-0.67,-97.3,2102,1115,3374,3354,269.3,-11.1,268,1945,0.00,2.35,0.00,0.000,1030,0.000,0.057,2092,2494,3363,3374,3353,0,0,0,0,0,0,14.62,14.51,14.66
$GC,2252,-0.67,-97.3,2091,2494,3374,3349,304.4,-11.6,285,2259,0.00,2.42,0.00,0.000,260,0.000,0.082,2081,3894,3361,3374,3349,0,0,0,0,0,0,15.08,14.41,15.11
$GC,2313,-0.67,-97.3,2081,3895,3373,3349,311.7,-12.3,297,2320,0.12,2.25,0.00,0.000,3078,0.209,0.034,2110,2493,3361,3373,3349,0,0,0,0,0,0,14.33,14.63,14.52
$GC,2638,-0.67,-97.3,2110,2492,3372,3347,347.2,-11.2,316,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2492,3359,3372,3347,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2937,-0.67,-97.3,2110,2492,3371,3345,381.0,-11.2,331,2942,0.00,2.45,0.00,0.000,260,0.000,0.082,2101,3890,3357,3370,3345,0,0,0,0,0,0,15.08,14.39,15.11
$GC,2970,-0.67,-97.3,2101,3890,3370,3345,384.7,-11.9,337,2975,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2501,3357,3370,3345,0,0,0,0,0,0,14.69,14.63,14.71
$GC,3282,-0.67,-97.3,2101,2500,3368,3342,419.5,-10.7,354,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3355,3368,3342,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3582,-0.67,-97.3,2101,2500,3366,3340,451.4,-10.5,369,3588,0.00,2.45,0.00,0.000,260,0.000,0.085,2090,3890,3353,3366,3340,0,0,0,0,0,0,15.08,14.37,15.10
$GC,3608,-0.67,-97.3,2090,3890,3366,3340,454.2,-11.1,374,3612,0.00,2.25,0.00,0.000,1030,0.000,0.034,2090,2499,3353,3367,3340,0,0,0,0,0,0,14.67,14.61,14.70
$GC,3925,-0.67,-97.3,2090,2498,3365,3339,489.5,-11.0,392,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3351,3365,3338,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4225,-0.67,-97.3,2090,2498,3363,3338,523.4,-11.3,407,4230,0.00,2.45,0.00,0.000,260,0.000,0.083,2080,3890,3350,3363,3338,0,0,0,0,0,0,15.07,14.35,15.09
$GC,4257,-0.67,-97.3,2079,3890,3363,3338,527.3,-12.5,413,4262,0.12,2.25,0.00,0.000,3078,0.207,0.035,2109,2500,3350,3363,3337,0,0,0,0,0,0,14.29,14.59,14.47
$GC,4569,-0.67,-97.3,2109,2499,3362,3336,559.5,-10.3,430,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2499,3349,3362,3336,0,0,0,0,0,0,15.07,15.11,15.10
$GC,4871,-0.67,-97.3,2109,2499,3361,3335,591.0,-10.4,445,4877,0.00,2.47,0.00,0.000,260,0.000,0.085,2100,3894,3348,3361,3335,0,0,0,0,0,0,15.07,14.33,15.09
$GC,4920,-0.67,-97.3,2100,3894,3361,3334,596.5,-10.8,455,4925,0.00,2.28,0.00,0.000,1030,0.000,0.036,2100,2494,3348,3361,3335,0,0,0,0,0,0,14.64,14.57,14.67
$GC,5233,-0.67,-97.3,2100,2493,3360,3334,629.3,-10.2,472,5237,0.00,2.33,0.00,0.000,516,0.000,0.051,2100,1107,3346,3360,3333,0,0,0,0,0,0,15.07,14.45,15.09
$GC,5271,-0.67,-97.3,2100,1106,3359,3333,633.1,-10.2,479,5276,0.00,2.42,0.00,0.000,1030,0.000,0.059,2089,2502,3346,3359,3333,0,0,0,0,0,0,14.53,14.41,14.57
$GC,5574,-0.67,-97.3,2089,2502,3357,3332,664.4,-9.8,495,5580,0.00,2.47,0.00,0.000,260,0.000,0.085,2078,3896,3344,3357,3332,0,0,0,0,0,0,15.07,14.31,15.10
$GC,5642,-0.67,-97.3,2078,3896,3357,3332,671.4,-10.4,508,5647,0.12,2.28,0.00,0.000,3078,0.207,0.036,2108,2502,3344,3357,3332,0,0,0,0,0,0,14.24,14.54,14.43
$GC,5960,-0.67,-97.3,2107,2500,3356,3331,698.1,-8.1,526,5965,0.00,2.35,0.00,0.000,516,0.000,0.050,2108,1102,3343,3356,3331,0,0,0,0,0,0,15.06,14.44,15.09
$GC,5992,-0.67,-97.3,2108,1102,3356,3331,700.8,-8.3,532,5998,0.00,2.42,0.00,0.000,1030,0.000,0.059,2098,2501,3343,3356,3331,0,0,0,0,0,0,14.51,14.38,14.55
$GC,6303,-0.67,-97.3,2098,2501,3356,3330,728.0,-8.8,549,6307,0.00,2.47,0.00,0.000,260,0.000,0.085,2087,3894,3343,3356,3330,0,0,0,0,0,0,15.05,14.28,15.08
$GC,6344,-0.67,-97.3,2087,3894,3355,3330,732.2,-9.9,557,6349,0.00,2.30,0.00,0.000,1030,0.000,0.037,2087,2499,3343,3356,3330,0,0,0,0,0,0,14.59,14.52,14.62
$GC,6666,-0.67,-97.3,2087,2498,3355,3329,766.4,-11.1,576,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2498,3342,3355,3329,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6967,-0.67,-97.3,2087,2498,3354,3328,800.3,-11.2,591,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2498,3341,3354,3328,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7266,-0.67,-97.3,2087,2498,3353,3327,832.4,-10.5,606,7273,0.00,2.50,0.00,0.000,260,0.000,0.087,2077,3894,3339,3353,3326,0,0,0,0,0,0,15.07,14.24,15.09
$GC,7296,-0.67,-97.3,2076,3894,3353,3327,835.7,-11.2,612,7303,0.15,2.30,0.00,0.000,3078,0.198,0.037,2113,2492,3340,3353,3327,0,0,0,0,0,0,14.17,14.50,14.37
$GC,7607,-0.67,-97.3,2113,2492,3353,3326,862.9,-8.6,629,7611,0.00,2.35,0.00,0.000,516,0.000,0.050,2113,1102,3339,3352,3326,0,0,0,0,0,0,15.05,14.39,15.08
$GC,7644,-0.67,-97.3,2113,1102,3352,3326,866.2,-8.6,636,7650,0.00,2.45,0.00,0.000,1030,0.000,0.061,2104,2501,3339,3352,3326,0,0,0,0,0,0,14.46,14.33,14.50
$GC,7970,-0.67,-97.3,2104,2501,3352,3325,895.2,-9.1,656,7976,0.00,2.47,0.00,0.000,260,0.000,0.087,2092,3893,3338,3352,3325,0,0,0,0,0,0,15.05,14.22,15.07
$GC,8009,-0.67,-97.3,2092,3893,3351,3325,899.0,-9.5,664,8013,0.00,2.30,0.00,0.000,1030,0.000,0.037,2093,2496,3338,3351,3325,0,0,0,0,0,0,14.55,14.48,14.58
$GC,8330,-0.67,-97.3,2092,2495,3351,3323,928.4,-9.1,683,8335,0.00,2.53,0.00,0.000,260,0.000,0.086,2082,3900,3337,3351,3324,0,0,0,0,0,0,15.07,14.20,15.09
$GC,8372,-0.67,-97.3,2082,3900,3350,3324,932.4,-9.8,691,8378,0.12,2.30,0.00,0.000,3078,0.203,0.037,2111,2499,3337,3350,3324,0,0,0,0,0,0,14.17,14.47,14.35
$GC,8695,-0.67,-97.3,2111,2498,3350,3323,957.7,-7.5,710,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2497,3336,3350,3323,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8996,-0.67,-97.3,2111,2497,3349,3322,979.5,-7.2,725,9000,0.00,2.38,0.00,0.000,516,0.000,0.051,2111,1099,3335,3349,3322,0,0,0,0,0,0,15.04,14.35,15.07
$GC,9027,-0.67,-97.3,2111,1099,3349,3321,981.9,-7.7,731,9032,0.00,2.53,0.00,0.000,1030,0.000,0.070,2102,2507,3335,3349,3322,0,0,0,0,0,0,14.40,14.27,14.45
$STATE,9136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9136,begin apogee
$GC,9144,-0.15,0.0,2102,2431,3348,3322,990.5,-7.7,738,9241,0.62,0.00,93.18,1.981,10246,0.164,0.000,2278,2430,2968,3001,2936,0,0,0,0,0,0,14.03,13.95,12.58
$STATE,9242,end apogee,CONTROL_FINISHED_OK
$STATE,9242,begin climb
$GC,9247,0.67,97.3,2278,2430,3000,2936,992.3,0.0,743,9362,0.82,2.40,104.20,1.967,10756,0.091,0.051,2558,1054,2569,2601,2538,0,0,0,0,0,0,14.16,13.56,12.55
$GC,9400,0.71,97.3,2558,1055,2596,2536,989.3,6.3,774,9406,0.00,2.45,0.00,0.000,1094,0.000,0.060,2558,2442,2565,2596,2535,0,0,0,0,0,0,14.34,14.23,14.37
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$FREEZE,70.28,0.000,0.000,0,1,0
$STATE,20877,end climb,NO_VERTICAL_VELOCITY
$STATE,20877,begin surface
$SM_CCo,20882,331.83,0.900,0,0,599,580.87
$SM_GC,0.76,7.53,0.08,0.00,0.047,0.173,0.000,131,2502,598,-6.76,-1.02,581.36,0,0,0,0,0,0,14.45,14.50,14.50
$IRIDIUM_FIX,502.26,8325.00,261219,214049
$TT8_MAMPS,0.018725,0.158788
$HUMID,53.38
$INTERNAL_PRESSURE,9.40963
$TCM_TEMP,21.00
$XPDR_PINGS,2
$24V_AH,12.55,217.362
$10V_AH,13.14,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,840.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250364
$DATA_FILE_SIZE,79993,1804
$CAP_FILE_SIZE,205798,0
$CFSIZE,260034560,128167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,352.70,1
$GPS,271219,093925,505.484,8215.877,16,0.6,32,-2.1,0.8,263.6,12,5.1