version: 66.13
glider: 171
mission: 11
dive: 716
start: 1 14 120 9 53 54
data:
$ID,171
$MISSION,11
$DIVE,716
$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,53
$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
$GPS1,140120,094630,504.7036,8028.7002,25,0.9,25,-2.2,0.7,284.8,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.4
$GPS2,140120,095300,504.7406,8028.4487,3,0.7,4,-2.2,1.0,275.6,12,5.7
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,134.5,9234,-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,-97.3,123,2517,973,878,0.0,0.0,0,88,0.00,0.00,-76.12,0.005,16386,0.000,0.000,121,2518,2680,2679,2681,0,0,0,0,0,0,14.82,28.83,14.85
$GC,93,-0.67,-97.3,121,2518,2680,2681,4.4,-11.7,16,124,9.25,2.45,-13.48,0.009,18948,0.346,0.072,2112,1108,3367,3383,3352,0,0,0,0,0,0,13.86,12.62,14.31
$GC,182,-0.67,-97.3,2111,1108,3384,3352,32.9,-27.2,34,187,0.00,2.38,0.00,0.000,1030,0.000,0.059,2103,2487,3368,3384,3352,0,0,0,0,0,0,14.45,14.33,14.49
$GC,371,-0.67,-97.3,2103,2487,3383,3352,81.2,-19.0,58,376,0.00,2.45,0.00,0.000,260,0.000,0.078,2091,3894,3367,3383,3352,0,0,0,0,0,0,14.93,14.24,14.95
$GC,586,-0.67,-97.3,2091,3894,3384,3352,123.4,-14.3,100,591,0.00,2.25,0.00,0.000,1030,0.000,0.031,2091,2486,3368,3384,3352,0,0,0,0,0,0,14.57,14.51,14.59
$GC,778,-0.67,-97.3,2091,2484,3385,3352,149.3,-14.6,120,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2484,3368,3385,3352,0,0,0,0,0,0,15.00,15.04,15.03
$GC,959,-0.67,-97.3,2091,2484,3385,3352,176.1,-15.1,138,963,0.00,2.28,0.00,0.000,516,0.000,0.049,2092,1113,3369,3386,3352,0,0,0,0,0,0,15.01,14.38,15.03
$GC,985,-0.67,-97.3,2091,1112,3385,3352,179.9,-13.7,143,991,0.12,2.40,0.00,0.000,3078,0.221,0.055,2109,2511,3368,3385,3352,0,0,0,0,0,0,14.12,14.37,14.33
$GC,1172,-0.67,-97.3,2109,2512,3385,3352,203.6,-11.9,162,1176,0.00,2.33,0.00,0.000,516,0.000,0.046,2109,1113,3369,3386,3352,0,0,0,0,0,0,15.02,14.40,15.04
$GC,1238,-0.67,-97.3,2109,1113,3385,3352,211.7,-11.9,175,1243,0.00,2.38,0.00,0.000,1030,0.000,0.055,2101,2501,3368,3385,3352,0,0,0,0,0,0,14.47,14.35,14.52
$GC,1423,-0.67,-97.3,2100,2501,3384,3352,233.9,-12.1,194,1430,0.00,2.45,0.00,0.000,260,0.000,0.080,2089,3897,3368,3384,3352,0,0,0,0,0,0,15.03,14.23,15.05
$GC,1504,-0.67,-97.3,2089,3897,3383,3352,244.0,-12.5,210,1508,0.00,2.25,0.00,0.000,1030,0.000,0.032,2089,2495,3367,3383,3352,0,0,0,0,0,0,14.58,14.51,14.60
$GC,1695,-0.67,-97.3,2089,2494,3381,3352,267.5,-12.2,223,1700,0.00,2.30,0.00,0.000,516,0.000,0.047,2089,1113,3366,3381,3352,0,0,0,0,0,0,15.04,14.38,15.07
$GC,1753,-0.67,-97.3,2089,1113,3380,3352,274.7,-12.4,234,1761,0.12,2.40,0.00,0.000,3078,0.210,0.055,2107,2504,3366,3380,3352,0,0,0,0,0,0,14.12,14.34,14.31
$GC,2078,-0.67,-97.3,2107,2504,3377,3352,310.8,-10.7,254,2086,0.00,2.45,0.00,0.000,260,0.000,0.082,2098,3894,3364,3377,3352,0,0,0,0,0,0,15.04,14.21,15.07
$GC,2149,-0.67,-97.3,2098,3894,3376,3351,318.6,-11.2,268,2153,0.00,2.25,0.00,0.000,1030,0.000,0.033,2098,2502,3364,3376,3352,0,0,0,0,0,0,14.56,14.50,14.59
$GC,2461,-0.67,-97.3,2098,2500,3375,3348,353.8,-11.1,285,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2500,3361,3375,3348,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2760,-0.67,-97.3,2098,2500,3373,3346,386.7,-10.9,300,2765,0.00,2.50,0.00,0.000,260,0.000,0.083,2087,3891,3359,3372,3346,0,0,0,0,0,0,15.04,14.17,15.07
$GC,2814,-0.67,-97.3,2087,3891,3371,3345,392.7,-11.6,310,2818,0.00,2.28,0.00,0.000,1030,0.000,0.034,2087,2496,3358,3371,3346,0,0,0,0,0,0,14.53,14.47,14.56
$GC,3125,-0.67,-97.3,2087,2494,3370,3344,429.6,-11.7,327,3130,0.00,2.50,0.00,0.000,260,0.000,0.082,2077,3893,3356,3370,3343,0,0,0,0,0,0,15.05,14.16,15.07
$GC,3152,-0.67,-97.3,2076,3893,3369,3343,432.9,-12.2,332,3160,0.15,2.28,0.00,0.000,3078,0.197,0.034,2112,2498,3356,3370,3343,0,0,0,0,0,0,14.09,14.45,14.28
$GC,3468,-0.67,-97.3,2112,2497,3367,3340,465.0,-10.0,350,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2497,3354,3368,3340,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3767,-0.67,-97.3,2112,2497,3366,3339,494.8,-9.9,365,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2497,3352,3366,3339,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4068,-0.67,-97.3,2112,2497,3365,3337,523.6,-9.4,380,4072,0.00,2.55,0.00,0.000,260,0.000,0.084,2103,3897,3351,3365,3337,0,0,0,0,0,0,15.04,14.10,15.07
$GC,4105,-0.67,-97.3,2103,3897,3364,3337,527.2,-9.9,387,4111,0.00,2.30,0.00,0.000,1030,0.000,0.035,2103,2502,3350,3364,3337,0,0,0,0,0,0,14.49,14.42,14.51
$GC,4409,-0.67,-97.3,2103,2500,3362,3335,557.3,-9.9,403,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3349,3363,3335,0,0,0,0,0,0,15.04,15.08,15.07
$GC,4711,-0.67,-97.3,2103,2500,3362,3334,586.6,-9.8,418,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2500,3348,3362,3334,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5009,-0.67,-97.3,2103,2500,3361,3333,615.5,-9.4,433,5016,0.00,2.53,0.00,0.000,260,0.000,0.085,2092,3897,3346,3360,3333,0,0,0,0,0,0,15.04,14.07,15.07
$GC,5049,-0.67,-97.3,2092,3897,3360,3333,619.5,-10.0,441,5053,0.00,2.30,0.00,0.000,1030,0.000,0.035,2092,2502,3347,3361,3333,0,0,0,0,0,0,14.46,14.39,14.49
$GC,5374,-0.67,-97.3,2091,2500,3359,3332,651.4,-9.8,460,5380,0.00,2.53,0.00,0.000,260,0.000,0.085,2081,3893,3345,3359,3331,0,0,0,0,0,0,15.01,14.05,15.04
$GC,5427,-0.67,-97.3,2081,3893,3359,3331,657.2,-10.1,471,5433,0.12,2.35,0.00,0.000,3078,0.202,0.035,2109,2490,3345,3359,3331,0,0,0,0,0,0,14.04,14.37,14.21
$GC,5733,-0.67,-97.3,2109,2489,3357,3331,682.4,-8.2,487,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2489,3344,3357,3331,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6034,-0.67,-97.3,2109,2489,3356,3330,707.6,-8.5,502,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2489,3343,3356,3330,0,0,0,0,0,0,15.02,15.05,15.05
$GC,6333,-0.67,-97.3,2109,2488,3356,3328,734.1,-9.0,517,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2489,3342,3356,3328,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6634,-0.67,-97.3,2109,2488,3355,3327,762.2,-9.5,532,6639,0.00,2.55,0.00,0.000,260,0.000,0.084,2101,3890,3341,3355,3327,0,0,0,0,0,0,15.02,14.00,15.04
$GC,6661,-0.67,-97.3,2100,3890,3355,3327,765.0,-10.2,537,6665,0.00,2.30,0.00,0.000,1030,0.000,0.035,2101,2500,3341,3355,3327,0,0,0,0,0,0,14.41,14.34,14.44
$GC,6977,-0.67,-97.3,2101,2499,3354,3326,797.2,-10.2,555,6982,0.00,2.38,0.00,0.000,516,0.000,0.050,2100,1109,3340,3354,3326,0,0,0,0,0,0,15.04,14.17,15.07
$GC,7000,-0.67,-97.3,2100,1109,3354,3326,799.5,-10.7,559,7006,0.00,2.45,0.00,0.000,1030,0.000,0.059,2089,2498,3339,3353,3326,0,0,0,0,0,0,14.26,14.13,14.31
$GC,7323,-0.67,-97.3,2089,2498,3352,3325,834.1,-10.7,578,7330,0.00,2.53,0.00,0.000,260,0.000,0.086,2079,3894,3339,3353,3325,0,0,0,0,0,0,15.04,13.97,15.06
$GC,7363,-0.67,-97.3,2079,3894,3352,3326,838.6,-11.4,586,7371,0.12,2.33,0.00,0.000,3078,0.202,0.036,2107,2492,3339,3352,3326,0,0,0,0,0,0,13.97,14.31,14.15
$GC,7684,-0.67,-97.3,2107,2492,3352,3324,869.4,-9.4,605,7688,0.00,2.38,0.00,0.000,516,0.000,0.050,2108,1111,3338,3352,3324,0,0,0,0,0,0,15.02,14.15,15.04
$GC,7710,-0.67,-97.3,2107,1109,3352,3324,872.0,-10.2,610,7716,0.00,2.45,0.00,0.000,1030,0.000,0.058,2098,2500,3338,3352,3324,0,0,0,0,0,0,14.07,14.01,14.14
$GC,8029,-0.67,-97.3,2098,2500,3351,3323,903.1,-9.7,628,8033,0.00,2.55,0.00,0.000,260,0.000,0.086,2087,3898,3337,3351,3323,0,0,0,0,0,0,15.02,13.94,15.05
$GC,8092,-0.67,-97.3,2087,3899,3351,3323,909.5,-10.4,640,8096,0.00,2.33,0.00,0.000,1030,0.000,0.037,2087,2504,3337,3351,3323,0,0,0,0,0,0,14.36,14.28,14.39
$GC,8414,-0.67,-97.3,2087,2503,3351,3322,942.2,-10.2,659,8419,0.00,2.42,0.00,0.000,516,0.000,0.050,2087,1108,3336,3350,3322,0,0,0,0,0,0,15.03,14.12,15.05
$GC,8452,-0.67,-97.3,2087,1107,3350,3322,946.2,-10.5,666,8461,0.10,2.50,0.00,0.000,3078,0.217,0.060,2104,2506,3336,3350,3322,0,0,0,0,0,0,13.83,14.07,13.92
$GC,8778,-0.67,-97.3,2104,2506,3350,3321,976.5,-9.2,686,8785,0.00,2.53,0.00,0.000,260,0.000,0.087,2095,3894,3335,3350,3321,0,0,0,0,0,0,15.02,13.91,15.04
$GC,8813,-0.67,-97.3,2094,3894,3349,3321,979.9,-10.2,693,8817,0.00,2.35,0.00,0.000,1030,0.000,0.037,2095,2495,3335,3349,3321,0,0,0,0,0,0,14.33,14.26,14.36
$STATE,8914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8914,begin apogee
$GC,8923,-0.15,0.0,2095,2494,3349,3321,990.2,-9.7,699,9019,0.65,0.00,92.47,1.964,10246,0.163,0.000,2274,2494,2968,3001,2935,0,0,0,0,0,0,13.77,13.97,12.74
$STATE,9020,end apogee,CONTROL_FINISHED_OK
$STATE,9021,begin climb
$GC,9024,0.67,97.3,2275,2494,3000,2935,993.6,0.0,704,9136,0.85,0.00,104.82,1.950,10246,0.093,0.000,2549,2493,2569,2601,2538,0,0,0,0,0,0,14.06,13.89,12.67
$GC,9444,0.69,97.3,2549,2493,2592,2534,974.5,7.1,725,9449,0.00,2.50,0.00,0.000,580,0.000,0.052,2560,1040,2562,2591,2534,0,0,0,0,0,0,14.83,14.35,14.86
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$STATE,21448,end climb,SURFACE_DEPTH_REACHED
$STATE,21448,begin surface coast
$STATE,21463,end surface coast,CONTROL_FINISHED_OK
$STATE,21463,begin surface
$SM_CCo,21484,116.45,0.630,1,0,929,500.17
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$IRIDIUM_FIX,504.33,8027.99,140120,032922
$TT8_MAMPS,0.019474,0.158788
$HUMID,50.47
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,12.62,239.225
$10V_AH,12.89,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.875,203.375,463.525,116.450,0.000,0.000,0.000,236.875,0.000,0.000,15.650,1633.698,16189.374,754.732,2834.483,580.081,0.000,2449.625,0.000,2579.706,0.000,0.539,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,884.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249888
$DATA_FILE_SIZE,80069,1815
$CAP_FILE_SIZE,200611,0
$CFSIZE,260034560,121360384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.024,292.01,1
$GPS,140120,155508,503.654,8029.250,25,1.0,25,-2.2,1.1,254.8,7,7.7