version: 66.12
glider: 171
mission: 9
dive: 30
start: 11 9 115 11 38 44
data:
$ID,171
$MISSION,9
$DIVE,30
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,091115,113158,754.7709,8306.4766,64,1.0,64,-2.2,0.0,0.0,7,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.52
$_SM_ANGLEo,-49.5
$GPS2,091115,113833,754.7283,8306.5234,17,2.0,49,-2.2,0.6,206.2,8,7.3
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,107.3,263313,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.60,-175.2,168,2317,547,464,0.0,0.0,0,163,0.00,0.00,-143.75,0.000,16386,0.000,0.000,168,2318,2968,2994,2942,0,0,0,0,0,0,26.31,28.83,26.38
$GC,165,-0.60,-175.2,168,2317,2996,2942,4.1,-9.3,14,192,6.00,2.30,-14.07,0.000,18692,0.203,1.237,1789,3658,3618,3465,3772,0,0,0,0,0,0,25.84,24.81,26.12
$GC,371,-0.59,-175.2,1789,3658,3465,3775,77.3,-31.3,55,378,0.00,2.08,0.00,0.000,1030,0.000,0.033,1789,2310,3620,3465,3775,0,0,0,0,0,0,26.30,26.27,26.32
$GC,687,-0.58,-175.2,1789,2309,3465,3780,136.7,-16.8,73,695,0.00,2.20,0.00,0.000,260,0.000,0.059,1779,3659,3622,3465,3780,0,0,0,0,0,0,26.63,26.36,26.69
$GC,834,-0.57,-175.2,1779,3660,3465,3782,165.5,-18.8,102,841,0.08,2.08,0.00,0.000,3078,0.119,0.033,1808,2304,3623,3465,3782,0,0,0,0,0,0,26.35,26.46,26.42
$GC,1150,-0.57,-175.2,1808,2304,3466,3784,202.2,-10.9,120,1156,0.00,2.20,0.00,0.000,260,0.000,0.058,1798,3668,3624,3465,3783,0,0,0,0,0,0,26.74,26.48,26.80
$GC,1225,-0.56,-175.2,1797,3668,3466,3784,211.3,-11.9,135,1233,0.00,2.08,0.00,0.000,1030,0.000,0.032,1798,2289,3624,3465,3783,0,0,0,0,0,0,26.59,26.56,26.61
$GC,1531,-0.56,-175.2,1798,2289,3466,3784,245.1,-10.2,151,1537,0.00,2.12,0.00,0.000,516,0.000,0.043,1798,910,3624,3465,3783,0,0,0,0,0,0,26.81,26.57,26.86
$GC,1571,-0.56,-175.2,1797,910,3466,3783,249.0,-9.6,159,1578,0.08,2.17,0.00,0.000,3078,0.126,0.044,1818,2297,3624,3465,3783,0,0,0,0,0,0,26.48,26.58,26.56
$GC,1893,-0.56,-175.2,1818,2297,3465,3779,283.0,-11.7,173,1899,0.00,2.15,0.00,0.000,260,0.000,0.058,1808,3670,3622,3465,3779,0,0,0,0,0,0,26.84,26.59,26.91
$GC,1924,-0.55,-175.2,1807,3670,3465,3779,286.7,-12.4,179,1930,0.00,2.05,0.00,0.000,1030,0.000,0.032,1808,2306,3621,3464,3779,0,0,0,0,0,0,26.68,26.66,26.70
$GC,2255,-0.55,-175.2,1807,2306,3465,3772,321.6,-10.0,195,2260,0.00,2.17,0.00,0.000,260,0.000,0.061,1800,3674,3617,3464,3771,0,0,0,0,0,0,26.88,26.61,26.94
$GC,2285,-0.55,-175.2,1799,3674,3465,3772,324.7,-10.3,201,2292,0.00,2.05,0.00,0.000,1030,0.000,0.033,1799,2319,3618,3465,3771,0,0,0,0,0,0,26.71,26.67,26.73
$GC,2617,-0.55,-175.2,1799,2317,3465,3766,360.7,-10.8,217,2623,0.00,2.15,0.00,0.000,260,0.000,0.063,1790,3676,3614,3464,3765,0,0,0,0,0,0,26.90,26.63,26.96
$GC,2667,-0.54,-175.2,1789,3676,3465,3764,366.3,-11.0,227,2674,0.08,2.08,0.00,0.000,3078,0.110,0.033,1821,2305,3614,3464,3764,0,0,0,0,0,0,26.60,26.70,26.67
$GC,2979,-0.54,-175.2,1821,2305,3464,3760,392.0,-8.2,239,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3611,3464,3759,0,0,0,0,0,0,26.91,26.98,26.98
$GC,3279,-0.54,-175.2,1821,2305,3465,3755,418.7,-8.9,249,3285,0.00,2.20,0.00,0.000,260,0.000,0.063,1814,3661,3609,3464,3755,0,0,0,0,0,0,26.93,26.66,26.99
$GC,3329,-0.54,-175.2,1814,3661,3465,3754,423.3,-8.8,259,3336,0.00,2.08,0.00,0.000,1030,0.000,0.037,1814,2303,3609,3464,3754,0,0,0,0,0,0,26.75,26.72,26.78
$GC,3641,-0.54,-175.2,1814,2302,3464,3749,449.9,-8.4,271,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2302,3606,3464,3749,0,0,0,0,0,0,26.94,27.01,27.00
$GC,3940,-0.54,-175.2,1814,2302,3464,3745,473.3,-7.6,281,3947,0.00,2.20,0.00,0.000,260,0.000,0.063,1806,3658,3604,3464,3744,0,0,0,0,0,0,26.95,26.68,27.01
$GC,3972,-0.54,-175.2,1806,3658,3463,3744,475.8,-8.0,287,3978,0.00,2.08,0.00,0.000,1030,0.000,0.037,1806,2290,3603,3463,3744,0,0,0,0,0,0,26.79,26.76,26.80
$GC,4302,-0.54,-175.2,1806,2290,3464,3740,502.5,-8.3,303,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2290,3601,3463,3740,0,0,0,0,0,0,26.95,27.03,27.01
$GC,4603,-0.54,-175.2,1806,2290,3464,3736,530.3,-9.5,313,4609,0.00,2.22,0.00,0.000,260,0.000,0.063,1798,3664,3599,3463,3735,0,0,0,0,0,0,26.96,26.69,27.02
$GC,4633,-0.54,-175.2,1798,3662,3464,3736,533.2,-9.9,319,4640,0.00,2.08,0.00,0.000,1030,0.000,0.038,1798,2310,3598,3462,3734,0,0,0,0,0,0,26.79,26.76,26.81
$GC,4965,-0.54,-175.2,1798,2310,3464,3731,562.3,-8.3,335,4971,0.00,2.15,0.00,0.000,260,0.000,0.064,1789,3666,3596,3463,3730,0,0,0,0,0,0,26.96,26.70,27.03
$GC,5005,-0.53,-175.2,1788,3667,3464,3731,565.8,-8.9,343,5012,0.10,2.10,0.00,0.000,3078,0.103,0.038,1829,2303,3596,3463,3730,0,0,0,0,0,0,26.66,26.75,26.73
$GC,5328,-0.53,-175.2,1828,2303,3464,3727,587.8,-6.9,357,5334,0.00,2.12,0.00,0.000,516,0.000,0.043,1829,897,3595,3463,3727,0,0,0,0,0,0,26.96,26.73,27.03
$GC,5378,-0.53,-175.2,1829,897,3463,3726,591.6,-7.5,367,5384,0.00,2.20,0.00,0.000,1030,0.000,0.047,1820,2299,3594,3463,3726,0,0,0,0,0,0,26.77,26.72,26.80
$GC,5689,-0.53,-175.2,1820,2299,3464,3723,616.2,-8.1,379,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2299,3593,3463,3723,0,0,0,0,0,0,26.97,27.04,27.03
$GC,5989,-0.53,-175.2,1820,2299,3463,3720,641.2,-8.4,389,5996,0.00,2.17,0.00,0.000,516,0.000,0.042,1821,890,3591,3462,3720,0,0,0,0,0,0,26.97,26.74,27.03
$GC,6030,-0.53,-175.2,1820,890,3464,3720,644.6,-8.1,397,6037,0.00,2.22,0.00,0.000,1030,0.000,0.049,1812,2300,3591,3463,3719,0,0,0,0,0,0,26.77,26.72,26.80
$GC,6352,-0.53,-175.2,1812,2300,3463,3717,669.6,-7.5,411,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2300,3590,3463,3717,0,0,0,0,0,0,26.97,27.04,27.03
$GC,6652,-0.53,-175.2,1812,2300,3462,3714,690.9,-7.1,421,6658,0.00,2.17,0.00,0.000,516,0.000,0.042,1812,891,3588,3462,3714,0,0,0,0,0,0,26.98,26.74,27.03
$GC,6683,-0.53,-175.2,1812,892,3463,3714,693.1,-7.1,427,6689,0.00,2.22,0.00,0.000,1030,0.000,0.049,1803,2302,3588,3462,3714,0,0,0,0,0,0,26.77,26.72,26.81
$GC,7013,-0.53,-175.2,1802,2302,3461,3711,719.6,-8.4,443,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2302,3586,3462,3711,0,0,0,0,0,0,26.98,27.05,27.04
$GC,7313,-0.53,-175.2,1803,2302,3462,3709,746.3,-9.1,453,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2302,3585,3462,3708,0,0,0,0,0,0,26.98,27.05,27.05
$GC,7613,-0.53,-175.2,1803,2303,3463,3707,772.5,-8.6,463,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2302,3584,3462,3707,0,0,0,0,0,0,26.98,27.05,27.04
$GC,7913,-0.53,-175.2,1803,2302,3462,3706,795.8,-7.4,473,7920,0.00,2.17,0.00,0.000,516,0.000,0.045,1803,903,3583,3462,3705,0,0,0,0,0,0,26.98,26.74,27.05
$GC,7974,-0.53,-175.2,1803,904,3462,3705,800.3,-7.6,485,7982,0.08,2.20,0.00,0.000,3078,0.117,0.048,1826,2298,3583,3462,3705,0,0,0,0,0,0,26.66,26.74,26.74
$GC,8306,-0.53,-175.2,1825,2298,3462,3703,819.3,-5.5,501,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2298,3582,3462,3703,0,0,0,0,0,0,26.98,27.05,27.05
$GC,8607,-0.53,-175.2,1825,2298,3462,3701,837.4,-6.2,511,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2298,3581,3462,3701,0,0,0,0,0,0,26.98,27.05,27.05
$GC,8906,-0.53,-175.2,1825,2298,3462,3700,856.3,-6.4,521,8914,0.00,2.17,0.00,0.000,516,0.000,0.042,1825,897,3580,3462,3699,0,0,0,0,0,0,26.98,26.74,27.05
$GC,8938,-0.53,-175.2,1825,898,3462,3699,858.6,-6.8,527,8944,0.00,2.22,0.00,0.000,1030,0.000,0.049,1817,2304,3580,3462,3699,0,0,0,0,0,0,26.78,26.73,26.82
$GC,9269,-0.53,-175.2,1816,2304,3462,3697,881.8,-7.1,543,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2304,3579,3461,3697,0,0,0,0,0,0,26.98,27.05,27.05
$GC,9569,-0.53,-175.2,1816,2304,3462,3697,903.2,-7.1,553,9575,0.00,2.20,0.00,0.000,516,0.000,0.046,1817,900,3578,3461,3696,0,0,0,0,0,0,26.98,26.74,27.05
$GC,9624,-0.53,-175.2,1816,901,3461,3696,907.5,-7.7,564,9632,0.00,2.22,0.00,0.000,1030,0.000,0.049,1807,2305,3578,3461,3695,0,0,0,0,0,0,26.77,26.73,26.81
$GC,9930,-0.53,-175.2,1808,2305,3462,3694,929.9,-7.3,575,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3577,3461,3694,0,0,0,0,0,0,26.98,27.05,27.04
$GC,10230,-0.53,-175.2,1807,2304,3462,3693,950.0,-6.6,585,10237,0.00,2.20,0.00,0.000,516,0.000,0.046,1808,902,3576,3461,3692,0,0,0,0,0,0,26.98,26.74,27.05
$GC,10261,-0.53,-175.2,1807,902,3462,3692,952.2,-7.6,591,10268,0.00,2.22,0.00,0.000,1030,0.000,0.050,1799,2304,3576,3461,3692,0,0,0,0,0,0,26.77,26.72,26.81
$GC,10593,-0.53,-175.2,1798,2304,3462,3691,976.1,-7.4,607,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2304,3575,3461,3690,0,0,0,0,0,0,26.98,27.05,27.04
$STATE,10801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10801,begin apogee
$GC,10805,-0.14,0.0,1799,1933,3461,3690,992.3,-7.8,614,10967,0.45,0.00,154.25,1.123,10246,0.099,0.000,1953,1933,2899,2923,2875,0,0,0,0,1,0,26.67,24.56,23.51
$STATE,10968,end apogee,CONTROL_FINISHED_OK
$STATE,10968,begin climb
$GC,10970,0.60,175.2,1953,1933,2923,2873,997.2,0.0,619,11137,0.70,2.38,156.60,1.022,10756,0.070,0.047,2198,549,2180,2252,2109,0,0,0,0,0,0,24.85,24.54,23.61
$GC,11151,0.66,215.9,2198,549,2249,2108,988.0,6.6,657,11198,0.00,2.30,38.22,0.996,9222,0.000,0.036,2198,1948,2015,2076,1955,0,0,0,0,0,0,25.08,25.04,23.61
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$STATE,22412,end climb,SURFACE_DEPTH_REACHED
$STATE,22412,begin surface coast
$FINISH,-0.5,1.021577
$STATE,22442,end surface coast,CONTROL_FINISHED_OK
$STATE,22442,begin surface
$SM_CCo,22515,0.00,0.000,0,0,468,596.32
$SM_GC,-0.50,5.68,0.60,0.00,0.022,0.048,0.000,174,2307,468,-5.67,-1.05,596.32,0,0,0,0,0,0,26.25,26.20,26.28
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$TT8_MAMPS,0.049434,0.049434
$HUMID,46.02
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,4008544
$24V_AH,23.51,5.560
$10V_AH,10.10,4.805
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,14.225,158.225,670.725,0.000,0.000,0.000,0.000,236.275,0.000,0.000,51.011,0.000,18833.775,1138.538,2652.690,260.523,0.000,2304.427,0.000,1920.147,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22462.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.422,0.000,0.000,0.000
$MEM,260824
$DATA_FILE_SIZE,46641,1303
$CAP_FILE_SIZE,219095,0
$CFSIZE,260034560,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.021,319.86,1
$GPS,091115,175544,754.195,8309.528,85,1.0,85,-2.2,1.1,174.3,8,8.0