version: 66.12
glider: 171
mission: 9
dive: 271
start: 1 13 116 14 15 47
data:
$ID,171
$MISSION,9
$DIVE,271
$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,55
$R_STBD_OVSHOOT,36
$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
$GPS1,130116,140853,640.0054,8245.6201,42,1.1,42,-2.4,0.0,0.0,8,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-51.6
$GPS2,130116,141534,639.9930,8245.5889,14,1.3,30,-2.4,0.3,41.4,8,8.5
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,630.000,8240.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,227.0,21172,-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,18,-0.54,-175.2,172,2301,532,457,0.0,0.0,0,165,0.00,0.00,-145.30,0.000,16386,0.000,0.000,172,2302,3003,3029,2977,0,0,0,0,0,0,26.24,28.83,26.30
$GC,168,-0.54,-175.2,172,2302,3031,2978,5.8,-10.7,12,195,6.15,2.42,-12.12,0.000,18692,0.196,1.196,1804,3654,3617,3529,3706,0,0,0,0,0,0,25.28,24.06,25.65
$GC,423,-0.53,-175.2,1804,3655,3529,3707,88.9,-22.7,55,430,0.00,2.08,0.00,0.000,1030,0.000,0.029,1804,2307,3618,3529,3707,0,0,0,0,0,0,26.17,26.15,26.20
$GC,788,-0.53,-175.2,1804,2305,3530,3711,146.7,-11.4,71,795,0.00,2.17,0.00,0.000,516,0.000,0.037,1804,902,3620,3530,3710,0,0,0,0,0,0,26.62,26.19,26.67
$GC,1022,-0.52,-175.2,1803,903,3530,3711,172.4,-12.3,110,1031,0.08,2.20,0.00,0.000,3078,0.119,0.041,1823,2296,3620,3530,3711,0,0,0,0,0,0,25.99,26.17,26.06
$GC,1388,-0.52,-175.2,1823,2297,3530,3711,214.3,-11.8,126,1395,0.00,2.17,0.00,0.000,516,0.000,0.037,1824,901,3620,3530,3710,0,0,0,0,0,0,26.73,26.26,26.79
$GC,1448,-0.52,-175.2,1823,901,3531,3711,221.3,-11.6,136,1455,0.00,2.20,0.00,0.000,1030,0.000,0.041,1814,2298,3620,3530,3710,0,0,0,0,0,0,26.27,26.23,26.32
$GC,1832,-0.52,-175.2,1813,2299,3531,3706,261.4,-10.0,152,1839,0.00,2.25,0.00,0.000,260,0.000,0.056,1804,3672,3618,3530,3706,0,0,0,0,0,0,26.77,26.13,26.83
$GC,1928,-0.51,-175.2,1803,3672,3531,3705,271.0,-10.5,168,1935,0.00,2.10,0.00,0.000,1030,0.000,0.030,1804,2289,3617,3530,3704,0,0,0,0,0,0,26.46,26.44,26.48
$GC,2302,-0.51,-175.2,1803,2288,3531,3699,310.5,-11.2,180,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2288,3614,3530,3698,0,0,0,0,0,0,26.80,26.87,26.86
$GC,2661,-0.51,-175.2,1803,2288,3531,3692,348.8,-10.1,190,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2288,3611,3530,3692,0,0,0,0,0,0,26.82,26.88,26.87
$GC,3021,-0.51,-175.2,1803,2288,3531,3686,379.7,-8.1,200,3027,0.00,2.28,0.00,0.000,260,0.000,0.057,1793,3667,3608,3530,3686,0,0,0,0,0,0,26.82,26.13,26.88
$GC,3093,-0.50,-175.2,1793,3668,3530,3685,385.5,-7.7,212,3100,0.10,2.10,0.00,0.000,3078,0.100,0.034,1832,2312,3607,3530,3684,0,0,0,0,0,0,26.16,26.42,26.22
$GC,3489,-0.50,-175.2,1832,2312,3530,3679,408.0,-5.8,228,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2311,3605,3530,3680,0,0,0,0,0,0,26.83,26.90,26.89
$GC,3849,-0.50,-175.2,1832,2312,3530,3675,432.8,-7.5,238,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2311,3602,3530,3675,0,0,0,0,0,0,26.84,26.90,26.89
$GC,4210,-0.50,-175.2,1831,2312,3530,3670,463.2,-8.7,248,4216,0.00,2.22,0.00,0.000,516,0.000,0.044,1833,907,3599,3530,3669,0,0,0,0,0,0,26.84,26.22,26.89
$GC,4245,-0.50,-175.2,1832,907,3530,3670,466.4,-9.1,254,4252,0.00,2.22,0.00,0.000,1030,0.000,0.045,1824,2301,3599,3530,3669,0,0,0,0,0,0,26.25,26.20,26.29
$GC,4642,-0.50,-175.2,1823,2302,3530,3665,501.3,-8.6,270,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2301,3597,3529,3665,0,0,0,0,0,0,26.84,26.90,26.89
$GC,5001,-0.50,-175.2,1823,2301,3530,3661,530.5,-8.0,280,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3595,3529,3661,0,0,0,0,0,0,26.84,26.91,26.89
$GC,5361,-0.50,-175.2,1823,2301,3529,3657,559.6,-8.2,290,5368,0.00,2.20,0.00,0.000,516,0.000,0.041,1823,915,3593,3529,3657,0,0,0,0,0,0,26.84,26.20,26.89
$GC,5397,-0.50,-175.2,1822,915,3530,3658,562.7,-8.9,296,5404,0.00,2.22,0.00,0.000,1030,0.000,0.046,1812,2303,3593,3529,3657,0,0,0,0,0,0,26.21,26.16,26.26
$GC,5794,-0.50,-175.2,1812,2303,3530,3654,595.8,-8.1,312,5800,0.00,2.20,0.00,0.000,516,0.000,0.042,1813,914,3591,3529,3654,0,0,0,0,0,0,26.84,26.17,26.89
$GC,5830,-0.50,-175.2,1812,914,3529,3654,598.8,-8.9,318,5836,0.08,2.22,0.00,0.000,3078,0.112,0.046,1833,2303,3591,3529,3654,0,0,0,0,0,0,25.96,26.15,26.03
$GC,6226,-0.51,-175.2,1832,2304,3529,3650,626.6,-7.1,334,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2303,3590,3530,3650,0,0,0,0,0,0,26.84,26.91,26.89
$GC,6586,-0.51,-175.2,1833,2304,3529,3648,653.2,-7.4,344,6592,0.00,2.17,0.00,0.000,516,0.000,0.043,1833,908,3588,3528,3648,0,0,0,0,0,0,26.84,26.13,26.89
$GC,6633,-0.51,-175.2,1833,908,3529,3648,656.8,-7.5,352,6640,0.00,2.25,0.00,0.000,1030,0.000,0.045,1825,2306,3588,3528,3648,0,0,0,0,0,0,26.17,26.13,26.22
$GC,7019,-0.51,-175.2,1825,2306,3529,3645,683.9,-6.6,366,7025,0.00,2.20,0.00,0.000,516,0.000,0.043,1825,910,3587,3529,3645,0,0,0,0,0,0,26.83,26.10,26.89
$GC,7054,-0.51,-175.2,1825,910,3528,3645,686.3,-7.0,372,7060,0.00,2.25,0.00,0.000,1030,0.000,0.047,1815,2305,3586,3528,3645,0,0,0,0,0,0,26.15,26.09,26.20
$GC,7452,-0.51,-175.2,1815,2306,3529,3642,712.2,-6.7,388,7457,0.00,2.20,0.00,0.000,516,0.000,0.044,1815,907,3585,3528,3642,0,0,0,0,0,0,26.84,26.09,26.89
$GC,7498,-0.51,-175.2,1815,907,3529,3642,715.6,-7.3,396,7504,0.00,2.25,0.00,0.000,1030,0.000,0.046,1805,2305,3585,3529,3642,0,0,0,0,0,0,26.15,26.09,26.19
$GC,7883,-0.51,-175.2,1805,2305,3528,3640,744.7,-8.0,410,7889,0.00,2.20,0.00,0.000,516,0.000,0.044,1805,906,3584,3528,3640,0,0,0,0,0,0,26.83,26.08,26.89
$GC,7912,-0.51,-175.2,1805,906,3528,3640,747.3,-8.5,415,7921,0.10,2.25,0.00,0.000,3078,0.106,0.047,1833,2302,3584,3528,3640,0,0,0,0,0,0,25.87,26.07,25.94
$GC,8280,-0.51,-175.2,1833,2302,3528,3638,774.8,-7.5,426,8285,0.00,2.17,0.00,0.000,516,0.000,0.043,1834,911,3583,3528,3638,0,0,0,0,0,0,26.84,26.07,26.89
$GC,8309,-0.51,-175.2,1834,912,3527,3638,777.3,-8.7,431,8316,0.00,2.25,0.00,0.000,1030,0.000,0.047,1825,2303,3582,3527,3638,0,0,0,0,0,0,26.10,26.06,26.16
$GC,8675,-0.51,-175.2,1825,2303,3527,3637,806.9,-8.0,442,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2302,3581,3527,3636,0,0,0,0,0,0,26.83,26.90,26.89
$GC,9035,-0.51,-175.2,1825,2302,3527,3635,834.8,-7.6,452,9040,0.00,2.17,0.00,0.000,516,0.000,0.044,1825,914,3581,3527,3635,0,0,0,0,0,0,26.83,26.04,26.89
$GC,9082,-0.52,-175.2,1824,914,3527,3635,838.6,-8.0,460,9088,0.00,2.25,0.00,0.000,1030,0.000,0.046,1815,2311,3580,3526,3635,0,0,0,0,0,0,26.10,26.04,26.15
$GC,9467,-0.52,-175.2,1815,2311,3526,3634,868.8,-7.9,474,9473,0.00,2.20,0.00,0.000,516,0.000,0.043,1815,905,3579,3525,3634,0,0,0,0,0,0,26.83,26.04,26.89
$GC,9515,-0.52,-175.2,1815,906,3525,3634,872.5,-7.6,482,9520,0.00,2.25,0.00,0.000,1030,0.000,0.047,1805,2301,3579,3525,3634,0,0,0,0,0,0,26.07,26.02,26.13
$GC,9899,-0.52,-175.2,1805,2301,3524,3632,901.8,-7.3,496,9905,0.00,2.17,0.00,0.000,516,0.000,0.043,1805,908,3577,3524,3631,0,0,0,0,0,0,26.82,26.05,26.89
$GC,9952,-0.52,-175.2,1805,909,3524,3632,905.8,-8.0,505,9960,0.08,2.25,0.00,0.000,3078,0.112,0.047,1826,2303,3578,3524,3632,0,0,0,0,0,0,25.82,26.00,25.89
$GC,10333,-0.52,-175.2,1826,2303,3523,3631,929.4,-6.2,518,10338,0.00,2.17,0.00,0.000,516,0.000,0.043,1827,910,3576,3523,3630,0,0,0,0,0,0,26.83,26.04,26.89
$GC,10380,-0.52,-175.2,1826,910,3524,3630,932.6,-6.4,526,10386,0.00,2.25,0.00,0.000,1030,0.000,0.047,1817,2304,3576,3523,3630,0,0,0,0,0,0,26.03,25.98,26.20
$GC,10764,-0.52,-175.2,1816,2304,3522,3630,959.1,-6.9,540,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2304,3576,3522,3630,0,0,0,0,0,0,26.83,26.89,26.89
$GC,11124,-0.52,-175.2,1817,2304,3522,3629,983.6,-6.7,550,11130,0.00,2.20,0.00,0.000,516,0.000,0.043,1817,902,3575,3522,3628,0,0,0,0,0,0,26.82,26.02,26.89
$GC,11183,-0.52,-175.2,1816,902,3522,3629,987.7,-6.9,560,11190,0.00,2.28,0.00,0.000,1030,0.000,0.045,1807,2314,3574,3521,3628,0,0,0,0,0,0,26.03,25.97,26.08
$STATE,11230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11230,begin apogee
$GC,11235,-0.11,0.0,1807,1959,3522,3628,991.0,-7.1,563,11385,0.45,0.00,146.55,1.008,10246,0.093,0.000,1959,1958,2898,2927,2870,0,0,0,0,0,0,25.86,24.60,23.52
$STATE,11386,end apogee,CONTROL_FINISHED_OK
$STATE,11386,begin climb
$GC,11388,0.54,175.2,1960,1959,2924,2867,994.9,0.0,567,11551,0.60,0.00,155.45,0.986,10758,0.067,0.000,2177,1957,2179,2249,2110,0,0,0,0,0,0,24.96,23.96,23.25
$GC,11917,0.57,195.6,2176,1958,2237,2100,960.9,7.2,607,11942,0.00,2.22,18.25,0.897,8964,0.000,0.041,2183,566,2096,2159,2034,0,0,0,0,0,0,26.26,24.93,24.18
$GC,12049,0.57,195.6,2183,566,2153,2033,950.9,7.9,629,12056,0.00,2.22,0.00,0.000,1030,0.000,0.036,2183,1958,2092,2152,2032,0,0,0,0,0,0,25.89,25.84,25.91
$GC,12423,0.58,202.2,2183,1958,2150,2031,922.2,7.7,641,12436,0.00,2.25,7.10,0.745,8452,0.000,0.050,2183,3370,2071,2131,2011,0,0,0,0,0,0,26.45,25.15,24.39
$GC,12477,0.58,202.2,2183,3370,2128,2011,917.3,9.0,650,12484,0.00,2.22,0.00,0.000,1030,0.000,0.034,2192,1968,2068,2127,2010,0,0,0,0,0,0,26.10,26.06,26.13
$GC,12856,0.59,209.2,2192,1968,2125,2008,887.9,7.6,663,12869,0.00,2.33,8.20,0.760,8452,0.000,0.052,2192,3370,2042,2101,1983,0,0,0,0,0,0,26.54,25.73,24.51
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$STATE,22917,end climb,SURFACE_DEPTH_REACHED
$STATE,22917,begin surface coast
$FINISH,-0.6,1.021483
$STATE,22942,end surface coast,CONTROL_FINISHED_OK
$STATE,22942,begin surface
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$TT8_MAMPS,0.049434,0.049434
$HUMID,49.25
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3916000
$24V_AH,23.25,41.296
$10V_AH,9.95,25.262
$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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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.874,0.000,0.000,0.000
$MEM,261192
$DATA_FILE_SIZE,43283,1148
$CAP_FILE_SIZE,202850,0
$CFSIZE,260034560,225165312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.169,58.79,1
$GPS,130116,204058,639.045,8245.479,35,1.1,41,-2.4,0.4,296.6,8,8.7