version: 66.12
glider: 171
mission: 9
dive: 32
start: 11 10 115 0 18 9
data:
$ID,171
$MISSION,9
$DIVE,32
$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,38
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,101115,001205,754.9075,8312.9941,47,1.1,47,-2.1,0.0,0.0,7,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.54
$_SM_ANGLEo,-51.4
$GPS2,101115,001758,754.8391,8313.0293,15,1.6,31,-2.1,0.3,153.0,6,9.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,97.0,251383,-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,16,-0.59,-175.2,174,2286,537,470,0.0,0.0,0,163,0.00,0.00,-144.10,0.000,16386,0.000,0.000,173,2287,2961,2991,2931,0,0,0,0,0,0,26.34,28.83,26.41
$GC,165,-0.59,-175.2,173,2287,2992,2932,4.0,-8.8,14,192,5.95,2.35,-14.20,0.000,18692,0.201,1.239,1794,3655,3617,3465,3770,0,0,0,0,0,0,25.91,24.77,26.17
$GC,352,-0.57,-175.2,1794,3655,3465,3774,69.3,-31.4,51,358,0.00,2.05,0.00,0.000,1030,0.000,0.031,1794,2314,3619,3465,3774,0,0,0,0,0,0,26.30,26.27,26.32
$GC,667,-0.56,-175.2,1793,2311,3466,3779,132.3,-14.8,69,675,0.00,2.17,0.00,0.000,516,0.000,0.041,1794,907,3622,3466,3778,0,0,0,0,0,0,26.63,26.39,26.68
$GC,729,-0.56,-175.2,1794,907,3466,3780,139.6,-11.3,81,737,0.08,2.17,0.00,0.000,3078,0.129,0.042,1813,2297,3622,3466,3779,0,0,0,0,0,0,26.31,26.41,26.39
$GC,1051,-0.55,-175.2,1812,2297,3466,3780,182.0,-12.6,100,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2297,3624,3466,3782,0,0,0,0,0,0,26.73,26.79,26.79
$GC,1351,-0.55,-175.2,1812,2297,3466,3782,216.3,-11.9,115,1357,0.00,2.17,0.00,0.000,260,0.000,0.057,1803,3661,3623,3466,3781,0,0,0,0,0,0,26.78,26.53,26.84
$GC,1376,-0.55,-175.2,1802,3661,3466,3782,219.3,-12.5,120,1383,0.00,2.05,0.00,0.000,1030,0.000,0.032,1803,2302,3623,3465,3781,0,0,0,0,0,0,26.63,26.59,26.64
$GC,1702,-0.54,-175.2,1802,2302,3466,3782,253.4,-10.7,138,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2301,3623,3465,3781,0,0,0,0,0,0,26.82,26.90,26.89
$GC,2002,-0.54,-175.2,1802,2302,3465,3776,282.7,-9.1,148,2008,0.00,2.20,0.00,0.000,260,0.000,0.060,1793,3664,3620,3465,3775,0,0,0,0,0,0,26.86,26.60,26.92
$GC,2072,-0.54,-175.2,1793,3664,3465,3775,289.7,-9.5,162,2080,0.08,2.05,0.00,0.000,3078,0.108,0.034,1824,2314,3619,3465,3774,0,0,0,0,0,0,26.56,26.66,26.63
$GC,2394,-0.54,-175.2,1824,2314,3465,3770,319.2,-9.9,176,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2314,3617,3465,3769,0,0,0,0,0,0,26.89,26.96,26.95
$GC,2694,-0.54,-175.2,1823,2314,3466,3763,347.8,-8.9,186,2700,0.00,2.17,0.00,0.000,260,0.000,0.062,1814,3660,3614,3465,3763,0,0,0,0,0,0,26.91,26.64,26.96
$GC,2724,-0.54,-175.2,1814,3660,3465,3763,350.4,-8.9,192,2731,0.00,2.08,0.00,0.000,1030,0.000,0.036,1814,2304,3614,3465,3763,0,0,0,0,0,0,26.73,26.70,26.75
$GC,3055,-0.54,-175.2,1814,2304,3465,3758,377.6,-8.5,208,3061,0.00,2.15,0.00,0.000,260,0.000,0.061,1806,3666,3611,3465,3758,0,0,0,0,0,0,26.91,26.65,26.98
$GC,3100,-0.54,-175.2,1805,3667,3465,3758,381.7,-9.3,217,3108,0.00,2.08,0.00,0.000,1030,0.000,0.034,1806,2301,3611,3465,3757,0,0,0,0,0,0,26.75,26.72,26.77
$GC,3418,-0.54,-175.2,1805,2301,3465,3753,410.1,-8.9,230,3423,0.00,2.12,0.00,0.000,516,0.000,0.043,1806,890,3608,3464,3752,0,0,0,0,0,0,26.93,26.70,26.99
$GC,3467,-0.54,-175.2,1805,891,3465,3751,414.8,-9.7,240,3474,0.00,2.20,0.00,0.000,1030,0.000,0.046,1796,2297,3607,3464,3751,0,0,0,0,0,0,26.74,26.70,26.77
$GC,3779,-0.53,-175.2,1796,2297,3465,3747,447.8,-11.3,252,3780,0.10,0.00,0.00,0.000,2054,0.155,0.000,1825,2297,3605,3465,3746,0,0,0,0,0,0,26.68,26.79,26.77
$GC,4078,-0.53,-175.2,1825,2297,3464,3743,473.9,-8.1,262,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2297,3603,3464,3743,0,0,0,0,0,0,26.95,27.02,27.01
$GC,4378,-0.53,-175.2,1824,2297,3465,3739,496.9,-7.6,272,4384,0.00,2.20,0.00,0.000,260,0.000,0.062,1815,3668,3601,3464,3738,0,0,0,0,0,0,26.96,26.69,27.01
$GC,4403,-0.53,-175.2,1815,3668,3464,3738,499.0,-9.1,277,4412,0.00,2.08,0.00,0.000,1030,0.000,0.036,1815,2304,3601,3464,3738,0,0,0,0,0,0,26.79,26.76,26.81
$GC,4708,-0.53,-175.2,1815,2304,3464,3735,525.1,-8.8,288,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3599,3464,3735,0,0,0,0,0,0,26.96,27.03,27.02
$GC,5009,-0.53,-175.2,1815,2304,3464,3731,552.3,-9.2,298,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3597,3464,3731,0,0,0,0,0,0,26.96,27.03,27.03
$GC,5308,-0.53,-175.2,1815,2304,3464,3728,578.3,-8.3,308,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3595,3463,3728,0,0,0,0,0,0,26.96,27.04,27.03
$GC,5609,-0.53,-175.2,1815,2304,3464,3725,600.6,-7.2,318,5615,0.00,2.15,0.00,0.000,516,0.000,0.042,1815,879,3593,3463,3724,0,0,0,0,0,0,26.97,26.73,27.03
$GC,5634,-0.53,-175.2,1815,880,3464,3724,602.4,-7.3,323,5641,0.00,2.25,0.00,0.000,1030,0.000,0.047,1806,2304,3593,3463,3724,0,0,0,0,0,0,26.77,26.72,26.80
$GC,5939,-0.53,-175.2,1806,2305,3464,3722,627.4,-8.7,334,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2304,3592,3463,3721,0,0,0,0,0,0,26.97,27.05,27.03
$GC,6239,-0.53,-175.2,1806,2305,3464,3719,654.8,-9.3,344,6245,0.00,2.17,0.00,0.000,516,0.000,0.046,1806,909,3590,3463,3718,0,0,0,0,0,0,26.98,26.73,27.04
$GC,6284,-0.53,-175.2,1806,909,3463,3718,659.4,-10.3,353,6292,0.00,2.20,0.00,0.000,1030,0.000,0.048,1797,2304,3590,3463,3718,0,0,0,0,0,0,26.77,26.72,26.80
$GC,6601,-0.53,-175.2,1796,2304,3464,3717,690.4,-9.5,366,6603,0.10,0.00,0.00,0.000,2054,0.151,0.000,1826,2304,3589,3463,3716,0,0,0,0,0,0,26.72,26.83,26.80
$GC,6901,-0.53,-175.2,1825,2304,3463,3714,712.4,-6.9,376,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2304,3588,3463,3714,0,0,0,0,0,0,26.98,27.05,27.04
$GC,7202,-0.53,-175.2,1826,2304,3463,3712,731.0,-6.0,386,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3587,3462,3712,0,0,0,0,0,0,26.98,27.05,27.04
$GC,7501,-0.53,-175.2,1826,2304,3463,3709,748.6,-5.8,396,7508,0.00,2.17,0.00,0.000,516,0.000,0.045,1826,909,3585,3463,3708,0,0,0,0,0,0,26.98,26.73,27.04
$GC,7542,-0.53,-175.2,1826,909,3463,3708,751.2,-7.3,404,7548,0.00,2.20,0.00,0.000,1030,0.000,0.050,1818,2303,3585,3463,3708,0,0,0,0,0,0,26.78,26.73,26.81
$GC,7863,-0.53,-175.2,1818,2304,3463,3707,771.5,-6.6,418,7869,0.00,2.15,0.00,0.000,516,0.000,0.046,1818,900,3585,3463,3707,0,0,0,0,0,0,26.98,26.73,27.04
$GC,7913,-0.53,-175.2,1818,901,3464,3707,775.1,-7.3,428,7919,0.00,2.22,0.00,0.000,1030,0.000,0.049,1809,2310,3584,3463,3706,0,0,0,0,0,0,26.77,26.73,26.81
$GC,8224,-0.53,-175.2,1808,2310,3463,3705,797.4,-7.3,440,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3583,3462,3705,0,0,0,0,0,0,26.98,27.05,27.04
$GC,8523,-0.53,-175.2,1808,2310,3462,3704,819.6,-7.5,450,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3582,3462,3703,0,0,0,0,0,0,26.98,27.05,27.04
$GC,8824,-0.53,-175.2,1808,2310,3463,3702,841.8,-7.2,460,8829,0.00,2.17,0.00,0.000,516,0.000,0.045,1808,913,3581,3462,3701,0,0,0,0,0,0,26.98,26.73,27.04
$GC,8888,-0.53,-175.2,1809,913,3462,3701,847.0,-7.9,473,8896,0.00,2.20,0.00,0.000,1030,0.000,0.049,1799,2305,3581,3462,3701,0,0,0,0,0,0,26.78,26.73,26.81
$GC,9216,-0.53,-175.2,1799,2305,3462,3700,872.4,-7.9,488,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2305,3580,3462,3699,0,0,0,0,0,0,26.98,27.05,27.04
$GC,9515,-0.53,-175.2,1799,2305,3463,3698,897.3,-8.4,498,9521,0.00,2.20,0.00,0.000,516,0.000,0.047,1799,902,3580,3462,3698,0,0,0,0,0,0,26.98,26.73,27.04
$GC,9541,-0.53,-175.2,1799,902,3462,3698,899.5,-9.6,503,9549,0.10,2.22,0.00,0.000,3078,0.112,0.049,1829,2303,3580,3462,3698,0,0,0,0,0,0,26.67,26.72,26.74
$GC,9846,-0.54,-175.2,1829,2304,3462,3697,921.8,-7.1,514,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2304,3579,3462,3697,0,0,0,0,0,0,26.98,27.05,27.04
$GC,10146,-0.54,-175.2,1829,2304,3462,3695,942.1,-6.6,524,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2303,3578,3462,3695,0,0,0,0,0,0,26.98,27.05,27.04
$GC,10446,-0.54,-175.2,1828,2304,3462,3694,960.5,-6.0,534,10452,0.00,2.17,0.00,0.000,516,0.000,0.046,1829,911,3577,3462,3693,0,0,0,0,0,0,26.98,26.73,27.05
$GC,10511,-0.54,-175.2,1829,911,3462,3693,964.7,-6.2,547,10518,0.00,2.22,0.00,0.000,1030,0.000,0.050,1821,2313,3577,3462,3693,0,0,0,0,0,0,26.77,26.72,26.81
$GC,10838,-0.54,-175.2,1821,2314,3462,3692,985.6,-6.4,562,10843,0.00,2.15,0.00,0.000,516,0.000,0.045,1821,909,3577,3462,3692,0,0,0,0,0,0,26.98,26.72,27.04
$GC,10877,-0.54,-175.2,1820,909,3462,3692,988.5,-6.4,570,10884,0.00,2.22,0.00,0.000,1030,0.000,0.050,1812,2314,3576,3462,3691,0,0,0,0,0,0,26.77,26.72,26.80
$STATE,10927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10927,begin apogee
$GC,10931,-0.13,0.0,1812,1935,3462,3692,991.9,-7.0,575,11081,0.43,0.00,143.98,1.047,10246,0.096,0.000,1960,1935,2896,2922,2871,0,0,0,0,0,0,26.67,24.76,23.92
$STATE,11083,end apogee,CONTROL_FINISHED_OK
$STATE,11083,begin climb
$GC,11084,0.59,175.2,1959,1935,2921,2870,996.4,0.0,580,11250,0.65,2.38,155.25,1.024,10756,0.070,0.047,2192,542,2179,2251,2108,0,0,0,0,0,0,25.01,24.58,23.66
$GC,11255,0.63,210.1,2192,543,2249,2108,987.7,6.8,615,11293,0.00,2.33,32.58,0.991,9222,0.000,0.035,2192,1949,2041,2102,1981,0,0,0,0,0,0,24.98,24.96,23.70
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$STATE,22711,end climb,SURFACE_DEPTH_REACHED
$STATE,22711,begin surface coast
$FINISH,-0.0,1.021531
$STATE,22742,end surface coast,CONTROL_FINISHED_OK
$STATE,22742,begin surface
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$TT8_MAMPS,0.049434,0.049434
$HUMID,44.68
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$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,4007776
$24V_AH,23.66,5.857
$10V_AH,10.20,4.967
$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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$MEM,260792
$DATA_FILE_SIZE,46640,1262
$CAP_FILE_SIZE,220276,0
$CFSIZE,260034560,247799808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,59.14,1
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