version: 66.12
glider: 171
mission: 9
dive: 81
start: 11 23 115 7 12 53
data:
$ID,171
$MISSION,9
$DIVE,81
$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,-6
$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,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,38
$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
$GPS1,231115,070659,759.9431,8525.0957,38,1.2,38,-1.9,0.0,0.0,6,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-51.1
$GPS2,231115,071242,759.9301,8525.0889,13,0.9,13,-1.9,0.0,0.0,8,7.1
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,276.5,406480,-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,16,begin dive
$GC,17,-0.54,-175.2,169,2290,542,463,0.0,0.0,0,154,0.00,0.00,-134.25,0.000,16386,0.000,0.000,169,2291,2729,2779,2680,0,0,0,0,0,0,26.32,28.83,26.39
$GC,156,-0.54,-175.2,168,2291,2779,2681,3.1,-5.8,11,190,6.05,2.35,-20.80,0.000,18692,0.202,1.229,1805,3655,3617,3481,3753,0,0,0,0,0,0,25.87,24.59,26.14
$GC,405,-0.53,-175.2,1805,3655,3482,3757,77.2,-21.3,53,413,0.00,2.08,0.00,0.000,1030,0.000,0.031,1805,2309,3619,3481,3757,0,0,0,0,0,0,26.34,26.29,26.36
$GC,777,-0.53,-175.2,1805,2307,3482,3762,139.8,-14.0,70,784,0.00,2.20,0.00,0.000,260,0.000,0.054,1795,3666,3621,3481,3762,0,0,0,0,0,0,26.66,26.37,26.73
$GC,837,-0.52,-175.2,1795,3667,3482,3762,147.6,-12.1,80,845,0.10,2.10,0.00,0.000,3078,0.144,0.031,1828,2288,3621,3481,3762,0,0,0,0,0,0,26.32,26.46,26.39
$GC,1210,-0.52,-175.2,1827,2288,3482,3763,184.6,-10.3,97,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2288,3622,3482,3763,0,0,0,0,0,0,26.76,26.83,26.82
$GC,1570,-0.52,-175.2,1828,2288,3481,3763,224.0,-11.6,112,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2288,3622,3481,3763,0,0,0,0,0,0,26.82,26.88,26.87
$GC,1942,-0.52,-175.2,1827,2288,3482,3760,262.4,-9.4,126,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2288,3620,3481,3760,0,0,0,0,0,0,26.85,26.92,26.91
$GC,2301,-0.52,-175.2,1828,2288,3481,3754,294.2,-9.1,136,2309,0.00,2.25,0.00,0.000,260,0.000,0.058,1818,3669,3617,3481,3754,0,0,0,0,0,0,26.87,26.58,26.94
$GC,2397,-0.52,-175.2,1818,3670,3481,3752,303.6,-9.5,152,2405,0.00,2.08,0.00,0.000,1030,0.000,0.032,1818,2312,3616,3481,3752,0,0,0,0,0,0,26.72,26.66,26.74
$GC,2770,-0.52,-175.2,1818,2312,3481,3746,337.3,-8.5,164,2777,0.00,2.17,0.00,0.000,516,0.000,0.044,1818,915,3613,3481,3746,0,0,0,0,0,0,26.89,26.61,26.96
$GC,2830,-0.52,-175.2,1817,915,3482,3745,342.5,-8.6,174,2837,0.00,2.20,0.00,0.000,1030,0.000,0.044,1808,2300,3613,3481,3745,0,0,0,0,0,0,26.71,26.63,26.73
$GC,3203,-0.52,-175.2,1808,2300,3482,3740,374.9,-8.9,186,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2300,3610,3480,3740,0,0,0,0,0,0,26.91,26.98,26.96
$GC,3562,-0.52,-175.2,1807,2300,3481,3736,408.3,-9.5,196,3569,0.00,2.15,0.00,0.000,516,0.000,0.041,1808,915,3607,3480,3735,0,0,0,0,0,0,26.91,26.65,26.98
$GC,3598,-0.52,-175.2,1808,916,3479,3735,411.5,-9.3,202,3605,0.08,2.17,0.00,0.000,3078,0.121,0.045,1828,2297,3606,3479,3734,0,0,0,0,0,0,26.53,26.64,26.62
$GC,3994,-0.52,-175.2,1828,2297,3480,3729,442.7,-7.6,218,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2297,3604,3480,3728,0,0,0,0,0,0,26.92,26.99,26.98
$GC,4354,-0.52,-175.2,1828,2297,3480,3724,467.9,-6.8,228,4361,0.00,2.15,0.00,0.000,516,0.000,0.039,1829,907,3601,3479,3723,0,0,0,0,0,0,26.93,26.66,26.99
$GC,4390,-0.52,-175.2,1829,907,3479,3724,470.5,-7.6,234,4397,0.00,2.20,0.00,0.000,1030,0.000,0.044,1819,2304,3601,3479,3723,0,0,0,0,0,0,26.70,26.65,26.72
$GC,4787,-0.52,-175.2,1819,2304,3480,3719,500.4,-7.6,250,4793,0.00,2.17,0.00,0.000,516,0.000,0.043,1820,909,3598,3479,3718,0,0,0,0,0,0,26.94,26.65,26.99
$GC,4827,-0.52,-175.2,1819,910,3480,3718,503.8,-8.5,257,4835,0.00,2.22,0.00,0.000,1030,0.000,0.046,1809,2307,3598,3479,3718,0,0,0,0,0,0,26.72,26.64,26.75
$GC,5218,-0.52,-175.2,1809,2307,3479,3714,535.8,-8.2,272,5225,0.00,2.17,0.00,0.000,516,0.000,0.044,1809,919,3596,3479,3714,0,0,0,0,0,0,26.94,26.64,26.99
$GC,5248,-0.52,-175.2,1809,919,3480,3714,538.4,-9.2,277,5257,0.00,2.17,0.00,0.000,1030,0.000,0.047,1800,2299,3596,3479,3713,0,0,0,0,0,0,26.70,26.64,26.73
$GC,5614,-0.51,-175.2,1799,2299,3480,3711,572.1,-9.3,288,5616,0.10,0.00,0.00,0.000,2054,0.153,0.000,1828,2299,3594,3479,3710,0,0,0,0,0,0,26.66,26.77,26.73
$GC,5974,-0.51,-175.2,1828,2299,3479,3708,601.6,-8.2,298,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2298,3593,3479,3707,0,0,0,0,0,0,26.94,27.01,27.00
$GC,6334,-0.51,-175.2,1828,2298,3480,3705,630.1,-7.7,308,6341,0.00,2.15,0.00,0.000,516,0.000,0.040,1828,914,3592,3479,3705,0,0,0,0,0,0,26.94,26.66,27.00
$GC,6382,-0.52,-175.2,1827,914,3480,3705,634.0,-8.1,316,6389,0.00,2.22,0.00,0.000,1030,0.000,0.046,1819,2311,3592,3479,3705,0,0,0,0,0,0,26.73,26.65,26.77
$GC,6767,-0.52,-175.2,1819,2312,3479,3701,664.8,-7.9,330,6773,0.00,2.17,0.00,0.000,516,0.000,0.043,1819,914,3590,3479,3701,0,0,0,0,0,0,26.94,26.65,27.00
$GC,6813,-0.52,-175.2,1819,915,3479,3701,668.8,-8.3,338,6821,0.00,2.22,0.00,0.000,1030,0.000,0.046,1809,2313,3590,3479,3701,0,0,0,0,0,0,26.73,26.64,26.76
$GC,7199,-0.52,-175.2,1807,2314,3479,3699,701.7,-8.6,352,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3589,3479,3699,0,0,0,0,0,0,26.94,27.01,27.00
$GC,7558,-0.52,-175.2,1808,2313,3479,3697,732.7,-8.5,362,7565,0.00,2.20,0.00,0.000,516,0.000,0.042,1809,905,3588,3479,3697,0,0,0,0,0,0,26.94,26.65,27.00
$GC,7600,-0.52,-175.2,1809,905,3479,3697,736.4,-8.5,369,7608,0.08,2.22,0.00,0.000,3078,0.117,0.046,1829,2316,3587,3478,3696,0,0,0,0,0,0,26.53,26.65,26.62
$GC,7991,-0.52,-175.2,1829,2316,3479,3694,766.1,-7.5,384,7998,0.00,2.17,0.00,0.000,516,0.000,0.041,1829,917,3585,3478,3693,0,0,0,0,0,0,26.94,26.65,27.00
$GC,8027,-0.52,-175.2,1829,917,3479,3694,768.9,-8.0,390,8034,0.00,2.20,0.00,0.000,1030,0.000,0.047,1821,2303,3585,3478,3693,0,0,0,0,0,0,26.69,26.64,26.72
$GC,8424,-0.52,-175.2,1821,2303,3479,3691,799.8,-7.7,406,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3584,3478,3691,0,0,0,0,0,0,26.94,27.01,27.00
$GC,8783,-0.52,-175.2,1821,2303,3479,3690,828.0,-7.8,416,8790,0.00,2.17,0.00,0.000,516,0.000,0.043,1821,912,3584,3478,3690,0,0,0,0,0,0,26.94,26.65,27.00
$GC,8848,-0.52,-175.2,1820,913,3478,3690,833.1,-8.3,427,8857,0.00,2.22,0.00,0.000,1030,0.000,0.047,1811,2304,3583,3477,3690,0,0,0,0,0,0,26.74,26.63,26.76
$GC,9215,-0.52,-175.2,1811,2305,3477,3688,860.8,-7.4,438,9222,0.00,2.17,0.00,0.000,516,0.000,0.044,1811,922,3582,3477,3688,0,0,0,0,0,0,26.94,26.64,27.00
$GC,9245,-0.52,-175.2,1811,923,3477,3688,863.3,-8.3,443,9253,0.00,2.20,0.00,0.000,1030,0.000,0.047,1801,2309,3582,3477,3687,0,0,0,0,0,0,26.68,26.63,26.72
$GC,9611,-0.52,-175.2,1801,2310,3477,3687,890.5,-7.3,454,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2309,3581,3477,3686,0,0,0,0,0,0,26.94,27.01,27.00
$GC,9971,-0.52,-175.2,1801,2309,3478,3686,916.4,-7.3,464,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2309,3581,3477,3685,0,0,0,0,0,0,26.94,27.01,27.00
$GC,10331,-0.52,-175.2,1801,2310,3478,3684,942.4,-7.2,474,10338,0.00,2.20,0.00,0.000,516,0.000,0.043,1801,908,3580,3477,3683,0,0,0,0,0,0,26.94,26.65,27.00
$GC,10439,-0.52,-175.2,1801,909,3477,3683,950.8,-7.1,492,10446,0.10,2.20,0.00,0.000,3078,0.108,0.047,1831,2297,3580,3477,3683,0,0,0,0,0,0,26.54,26.64,26.62
$GC,10835,-0.52,-175.2,1831,2298,3477,3683,974.8,-6.0,508,10842,0.00,2.15,0.00,0.000,516,0.000,0.041,1831,914,3579,3477,3682,0,0,0,0,0,0,26.94,26.65,27.00
$GC,10866,-0.52,-175.2,1831,914,3477,3682,976.7,-7.4,513,10874,0.00,2.20,0.00,0.000,1030,0.000,0.048,1824,2299,3579,3477,3682,0,0,0,0,0,0,26.67,26.63,26.71
$STATE,11086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11086,begin apogee
$GC,11090,-0.11,0.0,1824,1959,3477,3682,991.1,-6.4,520,11236,0.40,0.00,143.30,1.043,10246,0.094,0.000,1960,1957,2898,2921,2876,0,0,0,0,0,0,26.55,24.67,23.68
$STATE,11238,end apogee,CONTROL_FINISHED_OK
$STATE,11238,begin climb
$GC,11239,0.54,175.2,1962,1957,2919,2873,995.4,0.0,524,11396,0.57,0.00,152.62,1.027,10758,0.072,0.000,2169,1956,2183,2253,2113,0,0,0,0,0,0,25.02,24.46,23.54
$GC,11736,0.59,208.5,2168,1957,2241,2104,965.5,6.8,558,11774,0.00,2.28,29.05,0.986,8708,0.000,0.047,2171,575,2047,2106,1988,0,0,0,0,0,0,26.20,25.28,24.29
$GC,11821,0.65,246.5,2171,576,2103,1988,959.6,6.7,572,11865,0.08,2.25,35.55,0.991,11270,0.050,0.037,2240,1973,1892,1955,1830,0,0,0,0,0,0,25.68,25.69,24.12
$GC,12242,0.65,246.5,2240,1972,1949,1825,913.1,11.3,592,12244,0.12,0.00,0.00,0.000,4102,0.138,0.000,2205,1972,1887,1949,1825,0,0,0,0,0,0,26.01,26.15,26.11
$GC,12602,0.65,246.5,2205,1972,1948,1824,878.3,9.6,602,12609,0.00,2.22,0.00,0.000,260,0.000,0.050,2205,3356,1886,1948,1824,0,0,0,0,0,0,26.51,26.24,26.58
$GC,12638,0.65,246.5,2205,3356,1948,1824,874.5,10.6,608,12645,0.00,2.17,0.00,0.000,1030,0.000,0.032,2208,1958,1885,1947,1824,0,0,0,0,0,0,26.34,26.31,26.37
$GC,13034,0.64,246.5,2207,1956,1947,1823,836.3,9.7,624,13042,0.00,2.28,0.00,0.000,260,0.000,0.051,2207,3357,1885,1947,1823,0,0,0,0,0,0,26.64,26.35,26.70
$GC,13071,0.64,246.5,2207,3358,1948,1823,832.4,10.6,630,13077,0.00,2.17,0.00,0.000,1030,0.000,0.032,2208,1956,1885,1947,1823,0,0,0,0,0,0,26.46,26.43,26.48
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$STATE,22559,end climb,SURFACE_DEPTH_REACHED
$STATE,22559,begin surface coast
$FINISH,0.4,1.021390
$STATE,22583,end surface coast,CONTROL_FINISHED_OK
$STATE,22583,begin surface
$SM_CCo,22597,12.07,0.054,0,0,504,587.25
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$TT8_MAMPS,0.049434,0.049434
$HUMID,49.29
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$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3988960
$24V_AH,23.54,13.292
$10V_AH,10.13,9.198
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$DATA_FILE_SIZE,39921,1110
$CAP_FILE_SIZE,194828,0
$CFSIZE,260034560,243200000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11086.76,0x2137a8,2,24
$CURRENT,0.077,344.90,1
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