version: 66.13
glider: 171
mission: 11
dive: 722
start: 1 15 120 21 36 21
data:
$ID,171
$MISSION,11
$DIVE,722
$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,51
$R_STBD_OVSHOOT,31
$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
$GPS1,150120,212900,506.4806,8029.4326,20,1.3,20,-2.2,0.6,359.4,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.6
$GPS2,150120,213527,506.5115,8029.2910,3,0.8,5,-2.2,1.0,295.1,12,4.0
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,162.1,12130,-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,-97.3,118,2496,972,878,0.0,0.0,0,88,0.00,0.00,-76.32,0.005,16386,0.000,0.000,117,2496,2716,2715,2717,0,0,0,0,0,0,14.82,28.83,14.85
$GC,93,-0.67,-97.3,117,2496,2716,2717,5.1,-14.1,16,120,9.30,2.35,-12.10,0.010,18948,0.347,0.067,2106,1097,3366,3381,3352,0,0,0,0,0,0,13.85,13.35,14.31
$GC,186,-0.67,-97.3,2106,1097,3382,3352,36.0,-26.4,34,194,0.00,2.42,0.00,0.000,1030,0.000,0.057,2097,2504,3367,3382,3352,0,0,0,0,0,0,14.45,14.33,14.49
$GC,383,-0.67,-97.3,2097,2505,3382,3352,90.7,-24.3,58,387,0.00,2.40,0.00,0.000,260,0.000,0.073,2086,3896,3367,3382,3352,0,0,0,0,0,0,14.93,14.26,14.96
$GC,486,-0.67,-97.3,2086,3896,3382,3353,112.2,-15.6,78,490,0.00,2.25,0.00,0.000,1030,0.000,0.031,2086,2487,3367,3382,3352,0,0,0,0,0,0,14.57,14.50,14.59
$GC,677,-0.67,-97.3,2085,2485,3383,3352,140.3,-14.8,98,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2486,3367,3383,3352,0,0,0,0,0,0,15.00,15.03,15.02
$GC,859,-0.67,-97.3,2085,2486,3384,3352,165.4,-14.3,116,863,0.00,2.30,0.00,0.000,516,0.000,0.046,2085,1109,3368,3384,3353,0,0,0,0,0,0,15.00,14.38,15.02
$GC,955,-0.67,-97.3,2085,1109,3384,3352,179.1,-14.0,135,961,0.15,2.40,0.00,0.000,3078,0.210,0.055,2110,2508,3368,3384,3352,0,0,0,0,0,0,14.08,14.35,14.30
$GC,1141,-0.67,-97.3,2109,2508,3383,3352,202.9,-12.6,154,1146,0.00,2.42,0.00,0.000,260,0.000,0.080,2101,3896,3367,3383,3352,0,0,0,0,0,0,15.02,14.24,15.04
$GC,1208,-0.67,-97.3,2100,3896,3383,3352,211.3,-12.5,167,1213,0.00,2.25,0.00,0.000,1030,0.000,0.031,2101,2492,3368,3384,3352,0,0,0,0,0,0,14.58,14.52,14.60
$GC,1393,-0.67,-97.3,2100,2491,3383,3352,233.9,-12.4,186,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2491,3367,3383,3352,0,0,0,0,0,0,15.03,15.06,15.06
$GC,1584,-0.67,-97.3,2100,2491,3381,3352,257.5,-12.3,202,1588,0.00,2.28,0.00,0.000,516,0.000,0.046,2100,1118,3366,3380,3352,0,0,0,0,0,0,15.03,14.38,15.06
$GC,1621,-0.67,-97.3,2100,1118,3380,3352,262.3,-12.6,209,1625,0.00,2.38,0.00,0.000,1030,0.000,0.055,2090,2501,3365,3379,3352,0,0,0,0,0,0,14.45,14.34,14.50
$GC,1926,-0.67,-97.3,2089,2501,3377,3352,300.4,-12.7,225,1932,0.00,2.45,0.00,0.000,260,0.000,0.081,2079,3896,3364,3377,3352,0,0,0,0,0,0,15.04,14.21,15.07
$GC,1997,-0.67,-97.3,2079,3896,3376,3352,309.4,-12.8,239,2003,0.12,2.25,0.00,0.000,3078,0.209,0.032,2108,2502,3364,3376,3352,0,0,0,0,0,0,14.14,14.49,14.33
$GC,2310,-0.67,-97.3,2108,2500,3374,3348,345.0,-11.1,256,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2500,3361,3374,3348,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2611,-0.67,-97.3,2108,2500,3372,3346,377.0,-10.4,271,2616,0.00,2.47,0.00,0.000,260,0.000,0.082,2099,3891,3359,3372,3346,0,0,0,0,0,0,15.03,14.16,15.06
$GC,2663,-0.67,-97.3,2098,3891,3371,3346,382.8,-10.7,281,2667,0.00,2.25,0.00,0.000,1030,0.000,0.034,2099,2503,3359,3372,3346,0,0,0,0,0,0,14.54,14.47,14.57
$GC,2974,-0.67,-97.3,2098,2501,3370,3344,415.9,-10.7,298,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2502,3357,3371,3344,0,0,0,0,0,0,15.05,15.07,15.07
$GC,3276,-0.67,-97.3,2098,2501,3367,3341,449.0,-11.0,313,3280,0.00,2.50,0.00,0.000,260,0.000,0.083,2088,3891,3354,3367,3341,0,0,0,0,0,0,15.03,14.14,15.06
$GC,3307,-0.67,-97.3,2088,3891,3367,3341,452.7,-11.3,319,3312,0.00,2.28,0.00,0.000,1030,0.000,0.034,2088,2500,3354,3367,3341,0,0,0,0,0,0,14.52,14.45,14.54
$GC,3620,-0.67,-97.3,2087,2499,3366,3339,489.1,-11.5,336,3624,0.00,2.50,0.00,0.000,260,0.000,0.083,2077,3891,3352,3366,3339,0,0,0,0,0,0,15.04,14.12,15.07
$GC,3653,-0.67,-97.3,2077,3891,3366,3339,492.9,-12.3,342,3661,0.15,2.28,0.00,0.000,3078,0.199,0.034,2113,2498,3352,3366,3339,0,0,0,0,0,0,14.06,14.43,14.26
$GC,3962,-0.67,-97.3,2113,2498,3364,3337,523.1,-9.7,359,3966,0.00,2.35,0.00,0.000,516,0.000,0.049,2114,1112,3350,3364,3337,0,0,0,0,0,0,15.04,14.28,15.07
$GC,3990,-0.67,-97.3,2113,1111,3363,3337,525.8,-10.3,364,3995,0.00,2.45,0.00,0.000,1030,0.000,0.056,2104,2504,3350,3363,3337,0,0,0,0,0,0,14.35,14.23,14.41
$GC,4307,-0.67,-97.3,2104,2504,3362,3335,557.4,-9.8,382,4314,0.00,2.47,0.00,0.000,260,0.000,0.083,2093,3893,3348,3362,3335,0,0,0,0,0,0,15.04,14.09,15.07
$GC,4368,-0.67,-97.3,2093,3893,3362,3335,563.7,-10.5,394,4372,0.00,2.30,0.00,0.000,1030,0.000,0.035,2093,2504,3348,3362,3335,0,0,0,0,0,0,14.46,14.39,14.49
$GC,4691,-0.67,-97.3,2093,2503,3361,3334,599.3,-11.4,413,4697,0.00,2.50,0.00,0.000,260,0.000,0.083,2083,3891,3347,3361,3334,0,0,0,0,0,0,15.02,14.07,15.05
$GC,4725,-0.67,-97.3,2082,3891,3361,3334,603.5,-12.0,420,4730,0.12,2.30,0.00,0.000,3078,0.200,0.035,2111,2497,3347,3361,3333,0,0,0,0,0,0,14.07,14.39,14.23
$GC,5031,-0.67,-97.3,2111,2496,3360,3333,635.1,-10.1,436,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3346,3360,3332,0,0,0,0,0,0,15.02,15.05,15.04
$GC,5329,-0.67,-97.3,2111,2496,3358,3332,664.7,-9.5,451,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3344,3358,3331,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5629,-0.67,-97.3,2111,2496,3357,3331,691.6,-8.6,466,5634,0.00,2.55,0.00,0.000,260,0.000,0.084,2102,3894,3343,3356,3330,0,0,0,0,0,0,15.04,14.02,15.06
$GC,5667,-0.67,-97.3,2102,3894,3357,3330,694.9,-9.3,473,5672,0.00,2.33,0.00,0.000,1030,0.000,0.035,2102,2496,3343,3356,3330,0,0,0,0,0,0,14.42,14.35,14.45
$GC,5971,-0.67,-97.3,2102,2494,3356,3329,722.1,-9.0,489,5978,0.00,2.53,0.00,0.000,260,0.000,0.084,2091,3890,3342,3356,3329,0,0,0,0,0,0,15.04,14.02,15.07
$GC,6003,-0.67,-97.3,2090,3890,3355,3329,725.0,-9.7,495,6008,0.00,2.30,0.00,0.000,1030,0.000,0.035,2091,2500,3342,3356,3329,0,0,0,0,0,0,14.42,14.35,14.45
$GC,6317,-0.67,-97.3,2090,2499,3355,3328,755.8,-9.8,512,6323,0.00,2.53,0.00,0.000,260,0.000,0.084,2080,3890,3341,3355,3327,0,0,0,0,0,0,15.01,14.00,15.04
$GC,6365,-0.67,-97.3,2080,3890,3355,3327,761.1,-10.4,522,6374,0.12,2.30,0.00,0.000,3078,0.203,0.036,2109,2498,3341,3355,3328,0,0,0,0,0,0,14.00,14.33,14.18
$GC,6676,-0.67,-97.3,2108,2498,3354,3327,788.1,-8.6,539,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2498,3340,3354,3327,0,0,0,0,0,0,15.03,15.07,15.06
$GC,6977,-0.67,-97.3,2108,2497,3353,3326,813.4,-8.5,554,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2497,3339,3353,3325,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7275,-0.67,-97.3,2108,2497,3352,3325,839.1,-8.7,569,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2498,3338,3352,3325,0,0,0,0,0,0,15.03,15.06,15.06
$GC,7577,-0.67,-97.3,2108,2497,3352,3324,865.1,-8.7,584,7582,0.00,2.58,0.00,0.000,260,0.000,0.086,2100,3894,3337,3351,3324,0,0,0,0,0,0,15.02,13.93,15.04
$GC,7614,-0.67,-97.3,2099,3894,3351,3323,868.6,-9.3,591,7619,0.00,2.35,0.00,0.000,1030,0.000,0.036,2099,2495,3337,3351,3324,0,0,0,0,0,0,14.35,14.28,14.38
$GC,7919,-0.67,-97.3,2099,2494,3350,3323,896.9,-9.3,607,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2494,3336,3350,3323,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8220,-0.67,-97.3,2099,2494,3350,3322,924.7,-9.2,622,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2494,3336,3350,3322,0,0,0,0,0,0,15.02,15.05,15.04
$GC,8519,-0.67,-97.3,2099,2494,3349,3321,952.0,-9.0,637,8526,0.00,2.58,0.00,0.000,260,0.000,0.086,2088,3890,3335,3349,3321,0,0,0,0,0,0,15.03,13.90,15.06
$GC,8559,-0.67,-97.3,2088,3890,3348,3321,955.7,-9.7,645,8563,0.00,2.33,0.00,0.000,1030,0.000,0.037,2089,2499,3335,3349,3321,0,0,0,0,0,0,14.34,14.26,14.37
$GC,8882,-0.67,-97.3,2088,2497,3348,3321,986.8,-9.8,664,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2497,3334,3348,3321,0,0,0,0,0,0,15.01,15.04,15.03
$STATE,8917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8917,begin apogee
$GC,8924,-0.15,0.0,2088,2497,3348,3321,990.7,-9.9,666,9021,0.70,0.00,92.80,1.984,10246,0.168,0.000,2279,2497,2968,3001,2935,0,0,0,0,0,0,13.74,13.98,12.74
$STATE,9022,end apogee,CONTROL_FINISHED_OK
$STATE,9022,begin climb
$GC,9025,0.67,97.3,2279,2497,2999,2935,993.7,0.0,671,9139,0.82,2.53,104.88,1.962,10500,0.090,0.083,2547,3847,2569,2601,2538,0,0,0,0,0,0,14.07,13.95,12.67
$GC,9165,0.73,155.5,2547,3847,2596,2539,992.9,4.8,687,9234,0.00,2.38,60.42,1.948,9254,0.000,0.034,2558,2429,2333,2374,2292,0,0,0,0,0,0,14.31,14.25,12.67
$GC,9542,0.73,155.5,2557,2429,2365,2286,955.0,10.7,718,9547,0.00,2.38,0.00,0.000,516,0.000,0.054,2569,1056,2325,2365,2286,0,0,0,0,0,0,14.86,14.35,14.89
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$FREEZE,69.43,0.000,0.000,0,1,0
$STATE,18950,end climb,NO_VERTICAL_VELOCITY
$STATE,18950,begin surface
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$TT8_MAMPS,0.018725,0.158788
$HUMID,49.52
$INTERNAL_PRESSURE,9.49753
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,12.67,241.059
$10V_AH,13.17,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249928
$DATA_FILE_SIZE,69913,1581
$CAP_FILE_SIZE,184983,0
$CFSIZE,260034560,120819712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,314.73,1
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