version: 66.12
glider: 171
mission: 9
dive: 33
start: 11 10 115 6 46 15
data:
$ID,171
$MISSION,9
$DIVE,33
$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,46
$R_STBD_OVSHOOT,39
$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
$GPS1,101115,063952,754.7659,8316.5059,46,1.3,69,-2.1,0.3,169.3,7,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-53.3
$GPS2,101115,064604,754.6985,8316.5850,17,0.8,39,-2.1,0.6,127.6,10,6.9
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,92.1,244877,-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,-0.59,-175.2,171,2309,513,429,0.0,0.0,0,163,0.00,0.00,-143.65,0.000,16386,0.000,0.000,171,2310,2912,2944,2880,0,0,0,0,0,0,26.27,28.83,26.34
$GC,165,-0.59,-175.2,171,2310,2946,2879,3.4,-7.5,14,193,6.00,2.38,-16.00,0.000,18692,0.203,1.242,1791,3663,3616,3465,3768,0,0,0,0,0,0,25.94,24.90,26.17
$GC,347,-0.57,-175.2,1791,3663,3466,3774,69.0,-33.0,50,353,0.00,2.10,0.00,0.000,1030,0.000,0.032,1791,2294,3619,3465,3773,0,0,0,0,0,0,26.29,26.26,26.32
$GC,667,-0.56,-175.2,1791,2292,3466,3779,130.4,-17.4,69,675,0.00,2.15,0.00,0.000,516,0.000,0.043,1791,909,3622,3466,3779,0,0,0,0,0,0,26.62,26.38,26.67
$GC,715,-0.56,-175.2,1791,909,3466,3780,138.8,-18.3,78,722,0.10,2.17,0.00,0.000,3078,0.121,0.042,1818,2295,3622,3466,3779,0,0,0,0,0,0,26.31,26.40,26.39
$GC,1031,-0.55,-175.2,1817,2295,3467,3781,177.5,-9.5,96,1037,0.00,2.20,0.00,0.000,260,0.000,0.057,1807,3661,3624,3467,3781,0,0,0,0,0,0,26.72,26.46,26.79
$GC,1072,-0.55,-175.2,1807,3661,3466,3781,181.8,-11.4,104,1078,0.00,2.05,0.00,0.000,1030,0.000,0.032,1807,2302,3623,3466,3781,0,0,0,0,0,0,26.56,26.53,26.58
$GC,1392,-0.54,-175.2,1807,2301,3466,3781,216.7,-10.6,123,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3623,3466,3781,0,0,0,0,0,0,26.79,26.86,26.84
$GC,1692,-0.54,-175.2,1807,2302,3466,3779,250.0,-10.4,138,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3622,3465,3779,0,0,0,0,0,0,26.82,26.90,26.89
$GC,2012,-0.54,-175.2,1807,2302,3466,3773,280.6,-10.2,149,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3619,3465,3773,0,0,0,0,0,0,26.86,26.94,26.92
$GC,2312,-0.54,-175.2,1807,2302,3466,3768,310.3,-9.7,159,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2301,3615,3465,3766,0,0,0,0,0,0,26.88,26.96,26.94
$GC,2612,-0.53,-175.2,1807,2302,3465,3762,343.6,-11.2,169,2619,0.00,2.20,0.00,0.000,260,0.000,0.060,1799,3664,3613,3465,3762,0,0,0,0,0,0,26.90,26.65,26.96
$GC,2663,-0.53,-175.2,1799,3664,3465,3761,348.9,-10.2,179,2670,0.00,2.05,0.00,0.000,1030,0.000,0.035,1799,2314,3613,3465,3761,0,0,0,0,0,0,26.74,26.70,26.76
$GC,2974,-0.53,-175.2,1798,2314,3466,3756,378.2,-9.3,191,2976,0.10,0.00,0.00,0.000,2054,0.151,0.000,1827,2313,3610,3465,3756,0,0,0,0,0,0,26.67,26.77,26.74
$GC,3274,-0.53,-175.2,1828,2313,3465,3751,401.9,-8.3,201,3281,0.00,2.17,0.00,0.000,516,0.000,0.047,1828,911,3608,3465,3751,0,0,0,0,0,0,26.93,26.69,26.99
$GC,3330,-0.53,-175.2,1828,911,3465,3750,407.2,-9.6,212,3338,0.00,2.20,0.00,0.000,1030,0.000,0.047,1818,2308,3607,3465,3750,0,0,0,0,0,0,26.74,26.69,26.77
$GC,3636,-0.53,-175.2,1817,2308,3465,3746,436.2,-9.2,223,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2308,3604,3464,3745,0,0,0,0,0,0,26.94,27.01,27.00
$GC,3935,-0.53,-175.2,1818,2309,3464,3742,460.3,-7.7,233,3942,0.00,2.20,0.00,0.000,260,0.000,0.065,1809,3671,3602,3464,3741,0,0,0,0,0,0,26.95,26.69,27.01
$GC,3982,-0.53,-175.2,1809,3671,3465,3741,464.1,-8.4,242,3988,0.00,2.08,0.00,0.000,1030,0.000,0.035,1809,2306,3602,3464,3741,0,0,0,0,0,0,26.78,26.75,26.80
$GC,4298,-0.53,-175.2,1809,2306,3464,3737,491.8,-9.3,255,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3600,3464,3737,0,0,0,0,0,0,26.96,27.03,27.01
$GC,4597,-0.53,-175.2,1809,2306,3465,3733,518.8,-9.1,265,4605,0.00,2.15,0.00,0.000,516,0.000,0.044,1809,913,3598,3464,3732,0,0,0,0,0,0,26.96,26.72,27.02
$GC,4624,-0.53,-175.2,1808,914,3464,3732,521.0,-8.9,270,4632,0.00,2.20,0.00,0.000,1030,0.000,0.049,1799,2306,3598,3464,3732,0,0,0,0,0,0,26.76,26.71,26.79
$GC,4930,-0.52,-175.2,1799,2307,3464,3729,547.7,-8.6,281,4937,0.10,2.15,0.00,0.000,2308,0.154,0.064,1818,3671,3596,3464,3728,0,0,0,0,0,0,26.71,26.70,26.79
$GC,4961,-0.52,-175.2,1818,3671,3464,3728,550.3,-8.1,287,4967,0.00,2.08,0.00,0.000,1030,0.000,0.037,1819,2310,3595,3463,3728,0,0,0,0,0,0,26.80,26.77,26.82
$GC,5292,-0.52,-175.2,1818,2310,3464,3725,576.2,-8.1,303,5298,0.00,2.17,0.00,0.000,516,0.000,0.045,1819,908,3593,3463,3724,0,0,0,0,0,0,26.96,26.72,27.03
$GC,5312,-0.52,-175.2,1818,908,3464,3724,578.0,-8.8,307,5318,0.00,2.20,0.00,0.000,1030,0.000,0.050,1809,2301,3594,3464,3724,0,0,0,0,0,0,26.77,26.72,26.79
$GC,5623,-0.52,-175.2,1809,2301,3463,3721,604.4,-8.2,319,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2301,3592,3463,3721,0,0,0,0,0,0,26.96,27.03,27.03
$GC,5923,-0.52,-175.2,1809,2301,3464,3718,628.2,-8.0,329,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2300,3590,3463,3718,0,0,0,0,0,0,26.97,27.04,27.03
$GC,6223,-0.52,-175.2,1808,2301,3464,3716,651.0,-7.6,339,6229,0.00,2.17,0.00,0.000,516,0.000,0.044,1809,903,3589,3463,3716,0,0,0,0,0,0,26.97,26.74,27.03
$GC,6253,-0.52,-175.2,1809,903,3463,3716,653.5,-8.7,345,6261,0.08,2.20,0.00,0.000,3078,0.118,0.048,1830,2302,3589,3463,3715,0,0,0,0,0,0,26.66,26.73,26.74
$GC,6585,-0.52,-175.2,1830,2302,3463,3713,677.3,-7.4,361,6593,0.00,2.17,0.00,0.000,516,0.000,0.046,1830,907,3587,3463,3712,0,0,0,0,0,0,26.97,26.74,27.03
$GC,6647,-0.52,-175.2,1829,907,3464,3712,682.2,-8.0,373,6654,0.00,2.20,0.00,0.000,1030,0.000,0.049,1822,2302,3587,3463,3712,0,0,0,0,0,0,26.77,26.73,26.81
$GC,6979,-0.52,-175.2,1821,2303,3464,3709,708.8,-7.9,389,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3586,3463,3709,0,0,0,0,0,0,26.97,27.05,27.03
$GC,7278,-0.52,-175.2,1821,2303,3463,3707,731.9,-7.6,399,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3585,3463,3707,0,0,0,0,0,0,26.97,27.05,27.03
$GC,7579,-0.52,-175.2,1821,2304,3464,3706,753.4,-6.9,409,7586,0.00,2.17,0.00,0.000,516,0.000,0.045,1822,909,3583,3462,3705,0,0,0,0,0,0,26.98,26.74,27.04
$GC,7620,-0.52,-175.2,1821,909,3463,3705,756.3,-7.2,417,7627,0.00,2.20,0.00,0.000,1030,0.000,0.050,1812,2300,3583,3462,3705,0,0,0,0,0,0,26.77,26.73,26.81
$GC,7941,-0.52,-175.2,1812,2300,3463,3703,780.5,-7.7,431,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2300,3582,3461,3703,0,0,0,0,0,0,26.98,27.05,27.04
$GC,8241,-0.52,-175.2,1812,2300,3463,3701,804.4,-8.1,441,8248,0.00,2.17,0.00,0.000,516,0.000,0.043,1813,901,3581,3462,3700,0,0,0,0,0,0,26.98,26.74,27.04
$GC,8282,-0.52,-175.2,1812,901,3463,3701,808.0,-8.7,449,8290,0.00,2.22,0.00,0.000,1030,0.000,0.049,1803,2309,3581,3462,3700,0,0,0,0,0,0,26.78,26.73,26.82
$GC,8604,-0.52,-175.2,1801,2309,3463,3699,835.3,-8.5,463,8610,0.00,2.15,0.00,0.000,516,0.000,0.046,1803,905,3580,3462,3699,0,0,0,0,0,0,26.98,26.74,27.04
$GC,8629,-0.52,-175.2,1802,905,3463,3699,837.6,-9.6,468,8637,0.10,2.22,0.00,0.000,3078,0.108,0.050,1832,2307,3580,3462,3699,0,0,0,0,0,0,26.67,26.73,26.74
$GC,8935,-0.53,-175.2,1832,2307,3462,3698,858.8,-6.8,479,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2307,3579,3462,3697,0,0,0,0,0,0,26.97,27.05,27.04
$GC,9235,-0.53,-175.2,1832,2307,3462,3696,878.3,-6.5,489,9241,0.00,2.17,0.00,0.000,516,0.000,0.047,1832,885,3579,3462,3696,0,0,0,0,0,0,26.98,26.73,27.04
$GC,9275,-0.53,-175.2,1832,886,3463,3696,881.1,-6.9,497,9283,0.00,2.25,0.00,0.000,1030,0.000,0.050,1824,2302,3578,3462,3695,0,0,0,0,0,0,26.77,26.72,26.81
$GC,9598,-0.53,-175.2,1824,2303,3462,3694,903.0,-6.8,511,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2302,3578,3462,3694,0,0,0,0,0,0,26.98,27.05,27.04
$GC,9897,-0.53,-175.2,1824,2302,3462,3693,924.0,-7.0,521,9904,0.00,2.20,0.00,0.000,516,0.000,0.047,1824,902,3577,3462,3692,0,0,0,0,0,0,26.98,26.73,27.04
$GC,9943,-0.53,-175.2,1824,902,3462,3692,927.4,-8.1,530,9949,0.00,2.22,0.00,0.000,1030,0.000,0.049,1814,2305,3577,3462,3692,0,0,0,0,0,0,26.77,26.72,26.81
$GC,10259,-0.53,-175.2,1814,2305,3462,3691,950.9,-7.5,543,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2305,3576,3462,3691,0,0,0,0,0,0,26.98,27.05,27.04
$GC,10559,-0.53,-175.2,1814,2305,3462,3690,972.5,-7.1,553,10566,0.00,2.20,0.00,0.000,516,0.000,0.048,1814,902,3575,3462,3689,0,0,0,0,0,0,26.98,26.73,27.04
$GC,10625,-0.53,-175.2,1814,902,3462,3689,977.4,-7.7,566,10632,0.00,2.22,0.00,0.000,1030,0.000,0.048,1805,2311,3575,3462,3689,0,0,0,0,0,0,26.77,26.73,26.81
$STATE,10800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10800,begin apogee
$GC,10804,-0.13,0.0,1805,1929,3462,3687,990.3,-7.3,576,10968,0.45,0.00,155.98,1.129,10246,0.096,0.000,1960,1926,2899,2924,2875,0,0,0,0,1,0,26.68,24.63,23.65
$STATE,10969,end apogee,CONTROL_FINISHED_OK
$STATE,10969,begin climb
$GC,10970,0.59,175.2,1961,1926,2923,2874,995.1,0.0,581,11139,0.65,2.47,158.48,1.014,11012,0.068,0.053,2191,3348,2180,2251,2109,0,0,0,0,0,0,24.87,24.58,23.71
$GC,11169,0.58,175.2,2190,3348,2247,2108,984.7,8.4,619,11175,0.00,2.30,0.00,0.000,1030,0.000,0.032,2195,1936,2176,2246,2107,0,0,0,0,0,0,25.22,25.19,25.24
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$STATE,22465,end climb,SURFACE_DEPTH_REACHED
$STATE,22465,begin surface coast
$FINISH,-0.2,1.021504
$STATE,22485,end surface coast,CONTROL_FINISHED_OK
$STATE,22485,begin surface
$SM_CCo,22497,24.73,0.057,0,0,504,587.25
$SM_GC,-0.32,5.55,0.55,24.73,0.033,0.050,0.057,170,2309,504,-5.69,-1.02,587.25,0,0,0,0,0,0,26.38,26.32,26.25
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$TT8_MAMPS,0.050183,0.050183
$HUMID,47.44
$INTERNAL_PRESSURE,9.40812
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,4007392
$24V_AH,23.65,6.008
$10V_AH,10.18,5.050
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,13.775,177.100,616.025,24.725,0.000,0.000,0.000,224.400,0.000,0.000,40.466,0.000,18804.910,1177.423,2606.974,283.566,0.000,2312.547,0.000,1900.142,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22505.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.398,0.000,0.000,0.000
$MEM,260796
$DATA_FILE_SIZE,46655,1289
$CAP_FILE_SIZE,223771,0
$CFSIZE,260034560,247697408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.073,36.94,1
$GPS,101115,130257,755.597,8320.318,36,1.5,58,-2.1,0.4,147.2,9,8.4