version: 66.12
glider: 171
mission: 9
dive: 214
start: 12 29 115 9 47 40
data:
$ID,171
$MISSION,9
$DIVE,214
$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,66
$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
$GPS1,291215,094051,731.9772,8316.6289,31,1.9,48,-2.2,1.0,246.4,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-54.2
$GPS2,291215,094728,731.9414,8316.5410,15,1.4,31,-2.2,0.7,226.9,8,8.1
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH1
$TGT_LATLONG,720.000,8240.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,209.0,70670,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,171,2287,535,476,0.0,0.0,0,154,0.00,0.00,-134.23,0.000,16386,0.000,0.000,171,2287,2734,2783,2685,0,0,0,0,0,0,26.32,28.83,26.39
$GC,157,-0.54,-175.2,171,2287,2785,2686,3.5,-6.5,11,191,6.12,2.28,-20.00,0.000,18948,0.198,1.197,1815,929,3617,3479,3755,0,0,0,0,0,0,25.51,24.46,25.86
$GC,322,-0.53,-175.2,1815,929,3480,3756,57.6,-28.7,39,329,0.00,2.17,0.00,0.000,1030,0.000,0.041,1805,2296,3617,3479,3756,0,0,0,0,0,0,26.12,26.07,26.15
$GC,706,-0.52,-175.2,1804,2297,3480,3761,133.4,-16.5,58,713,0.00,2.22,0.00,0.000,260,0.000,0.054,1794,3670,3619,3479,3760,0,0,0,0,0,0,26.62,26.17,26.67
$GC,940,-0.52,-175.2,1794,3671,3480,3762,167.2,-15.8,97,949,0.08,2.05,0.00,0.000,3078,0.109,0.028,1825,2319,3621,3480,3762,0,0,0,0,0,0,26.17,26.39,26.23
$GC,1306,-0.51,-175.2,1825,2318,3479,3762,206.6,-10.2,113,1313,0.00,2.17,0.00,0.000,516,0.000,0.038,1825,912,3621,3480,3762,0,0,0,0,0,0,26.74,26.35,26.81
$GC,1372,-0.51,-175.2,1825,913,3480,3762,213.4,-10.4,124,1380,0.00,2.20,0.00,0.000,1030,0.000,0.041,1815,2306,3620,3479,3762,0,0,0,0,0,0,26.37,26.32,26.41
$GC,1738,-0.51,-175.2,1814,2306,3480,3762,252.1,-10.1,140,1745,0.00,2.20,0.00,0.000,260,0.000,0.057,1805,3662,3620,3479,3761,0,0,0,0,0,0,26.79,26.28,26.85
$GC,1853,-0.51,-175.2,1805,3662,3479,3760,263.4,-9.1,159,1859,0.00,2.08,0.00,0.000,1030,0.000,0.033,1805,2313,3619,3479,3759,0,0,0,0,0,0,26.50,26.46,26.53
$GC,2244,-0.50,-175.2,1805,2312,3479,3753,300.7,-9.8,174,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2312,3616,3479,3754,0,0,0,0,0,0,26.82,26.89,26.88
$GC,2602,-0.50,-175.2,1805,2311,3479,3747,337.8,-10.2,184,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2310,3613,3479,3747,0,0,0,0,0,0,26.84,26.91,26.90
$GC,2963,-0.50,-175.2,1805,2311,3479,3742,374.4,-10.3,194,2965,0.10,0.00,0.00,0.000,2054,0.151,0.000,1833,2310,3610,3479,3741,0,0,0,0,0,0,26.53,26.60,26.58
$GC,3322,-0.50,-175.2,1832,2311,3479,3736,406.2,-8.9,204,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2310,3607,3479,3736,0,0,0,0,0,0,26.85,26.92,26.91
$GC,3683,-0.50,-175.2,1832,2310,3480,3730,438.2,-8.6,214,3689,0.00,2.20,0.00,0.000,516,0.000,0.041,1833,907,3604,3479,3729,0,0,0,0,0,0,26.86,26.37,26.92
$GC,3736,-0.50,-175.2,1833,907,3479,3729,442.8,-8.7,223,3743,0.00,2.22,0.00,0.000,1030,0.000,0.042,1824,2310,3604,3479,3729,0,0,0,0,0,0,26.41,26.36,26.45
$GC,4115,-0.50,-175.2,1823,2310,3479,3724,474.8,-8.2,236,4121,0.00,2.20,0.00,0.000,516,0.000,0.041,1824,908,3601,3479,3724,0,0,0,0,0,0,26.86,26.37,26.92
$GC,4150,-0.50,-175.2,1824,908,3479,3723,477.9,-9.1,242,4157,0.00,2.22,0.00,0.000,1030,0.000,0.043,1813,2309,3600,3478,3723,0,0,0,0,0,0,26.39,26.34,26.44
$GC,4547,-0.50,-175.2,1813,2309,3479,3718,512.9,-8.9,258,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2309,3598,3478,3718,0,0,0,0,0,0,26.86,26.93,26.92
$GC,4907,-0.50,-175.2,1813,2309,3479,3714,544.3,-8.7,268,4913,0.00,2.22,0.00,0.000,516,0.000,0.041,1813,902,3596,3478,3714,0,0,0,0,0,0,26.86,26.34,26.92
$GC,4942,-0.50,-175.2,1813,902,3478,3713,547.4,-9.4,274,4950,0.08,2.22,0.00,0.000,3078,0.115,0.043,1833,2308,3595,3478,3713,0,0,0,0,0,0,26.15,26.33,26.22
$GC,5339,-0.50,-175.2,1833,2308,3479,3709,578.0,-7.8,290,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2308,3593,3478,3709,0,0,0,0,0,0,26.86,26.94,26.92
$GC,5698,-0.50,-175.2,1833,2308,3478,3706,607.8,-8.4,300,5705,0.00,2.22,0.00,0.000,516,0.000,0.041,1833,904,3592,3478,3706,0,0,0,0,0,0,26.86,26.33,26.92
$GC,5771,-0.50,-175.2,1832,904,3478,3706,614.1,-8.7,312,5777,0.00,2.22,0.00,0.000,1030,0.000,0.044,1825,2303,3591,3477,3705,0,0,0,0,0,0,26.35,26.30,26.40
$GC,6168,-0.50,-175.2,1825,2304,3477,3702,649.3,-8.8,328,6173,0.00,2.17,0.00,0.000,516,0.000,0.041,1825,904,3589,3477,3702,0,0,0,0,0,0,26.86,26.31,26.92
$GC,6221,-0.50,-175.2,1824,904,3478,3701,654.3,-9.2,337,6228,0.00,2.22,0.00,0.000,1030,0.000,0.043,1815,2304,3589,3477,3701,0,0,0,0,0,0,26.34,26.29,26.39
$GC,6599,-0.50,-175.2,1815,2304,3477,3699,687.3,-8.4,350,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3588,3477,3699,0,0,0,0,0,0,26.86,26.94,26.92
$GC,6959,-0.50,-175.2,1814,2304,3477,3697,716.3,-8.0,360,6965,0.00,2.20,0.00,0.000,516,0.000,0.041,1815,911,3586,3476,3696,0,0,0,0,0,0,26.86,26.29,26.92
$GC,7018,-0.50,-175.2,1815,911,3476,3696,721.4,-8.6,370,7026,0.08,2.22,0.00,0.000,3078,0.112,0.044,1835,2312,3586,3476,3696,0,0,0,0,0,0,26.10,26.27,26.17
$GC,7393,-0.50,-175.2,1834,2312,3477,3694,747.6,-7.0,382,7398,0.00,2.17,0.00,0.000,516,0.000,0.041,1835,908,3584,3476,3693,0,0,0,0,0,0,26.86,26.27,26.92
$GC,7428,-0.50,-175.2,1835,909,3475,3693,750.3,-7.8,388,7434,0.00,2.22,0.00,0.000,1030,0.000,0.044,1827,2302,3584,3476,3693,0,0,0,0,0,0,26.31,26.25,26.36
$GC,7825,-0.50,-175.2,1827,2302,3476,3690,779.5,-7.2,404,7830,0.00,2.17,0.00,0.000,516,0.000,0.041,1827,902,3583,3476,3690,0,0,0,0,0,0,26.86,26.25,26.92
$GC,7854,-0.50,-175.2,1826,903,3477,3690,781.6,-7.9,409,7862,0.00,2.22,0.00,0.000,1030,0.000,0.044,1816,2302,3583,3476,3690,0,0,0,0,0,0,26.29,26.25,26.34
$GC,8220,-0.50,-175.2,1816,2302,3476,3688,808.0,-7.0,420,8226,0.00,2.22,0.00,0.000,516,0.000,0.041,1816,902,3582,3476,3688,0,0,0,0,0,0,26.86,26.25,26.91
$GC,8256,-0.50,-175.2,1816,902,3476,3689,810.6,-7.4,426,8262,0.00,2.22,0.00,0.000,1030,0.000,0.044,1806,2299,3581,3475,3688,0,0,0,0,0,0,26.29,26.23,26.34
$GC,8653,-0.50,-175.2,1806,2299,3476,3687,839.3,-7.2,442,8658,0.00,2.15,0.00,0.000,516,0.000,0.039,1807,907,3580,3475,3686,0,0,0,0,0,0,26.86,26.26,26.92
$GC,8687,-0.50,-175.2,1806,907,3476,3686,842.1,-8.2,448,8695,0.10,2.25,0.00,0.000,3078,0.106,0.045,1834,2309,3580,3475,3686,0,0,0,0,0,0,26.03,26.22,26.10
$GC,9084,-0.50,-175.2,1834,2310,3476,3684,865.6,-6.0,464,9090,0.00,2.22,0.00,0.000,516,0.000,0.041,1835,910,3579,3475,3684,0,0,0,0,0,0,26.86,26.22,26.91
$GC,9132,-0.50,-175.2,1834,910,3475,3684,868.7,-6.2,472,9139,0.00,2.25,0.00,0.000,1030,0.000,0.045,1826,2311,3579,3475,3683,0,0,0,0,0,0,26.25,26.20,26.30
$GC,9518,-0.51,-175.2,1826,2311,3476,3682,892.9,-6.2,486,9523,0.00,2.20,0.00,0.000,516,0.000,0.041,1826,908,3578,3475,3682,0,0,0,0,0,0,26.86,26.20,26.91
$GC,9594,-0.51,-175.2,1826,909,3475,3682,898.3,-6.7,499,9601,0.00,2.22,0.00,0.000,1030,0.000,0.044,1816,2301,3578,3475,3682,0,0,0,0,0,0,26.25,26.20,26.30
$GC,9986,-0.51,-175.2,1816,2302,3475,3680,924.0,-6.6,514,9991,0.00,2.17,0.00,0.000,516,0.000,0.042,1816,903,3577,3475,3680,0,0,0,0,0,0,26.86,26.20,26.91
$GC,10044,-0.51,-175.2,1814,903,3475,3680,928.3,-7.6,524,10051,0.00,2.25,0.00,0.000,1030,0.000,0.044,1806,2304,3577,3475,3680,0,0,0,0,0,0,26.24,26.19,26.29
$GC,10418,-0.51,-175.2,1806,2304,3475,3678,956.2,-7.6,536,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2304,3576,3475,3678,0,0,0,0,0,0,26.86,26.92,26.91
$GC,10776,-0.51,-175.2,1805,2305,3474,3678,984.0,-7.8,546,10783,0.00,2.22,0.00,0.000,516,0.000,0.043,1806,908,3575,3474,3677,0,0,0,0,0,0,26.86,26.17,26.91
$STATE,10852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10852,begin apogee
$GC,10859,-0.11,0.0,1798,1969,3474,3677,990.3,-8.3,559,11017,0.47,0.00,150.20,1.169,10246,0.096,0.000,1959,1969,2899,2920,2879,0,0,0,0,1,0,25.98,24.50,23.36
$STATE,11019,end apogee,CONTROL_FINISHED_OK
$STATE,11019,begin climb
$GC,11020,0.54,175.2,1959,1969,2920,2879,996.0,0.0,563,11189,0.60,2.45,154.45,1.009,11012,0.067,0.051,2172,3379,2180,2247,2113,0,0,0,0,0,0,24.87,24.53,23.58
$GC,11206,0.61,224.2,2172,3379,2245,2112,988.5,6.4,597,11257,0.00,2.33,44.25,0.988,9222,0.000,0.032,2179,1963,1983,2041,1926,0,0,0,0,0,0,25.10,25.08,23.70
$GC,11614,0.61,224.2,2179,1963,2033,1920,957.4,7.9,615,11621,0.00,2.28,0.00,0.000,516,0.000,0.044,2184,562,1975,2032,1919,0,0,0,0,0,0,26.25,25.89,26.31
$GC,11638,0.63,236.0,2184,563,2032,1919,955.5,7.5,619,11659,0.00,2.22,11.12,0.921,9222,0.000,0.036,2184,1955,1934,1992,1877,0,0,0,0,0,0,25.99,25.95,24.56
$GC,12047,0.63,236.0,2183,1955,1989,1874,921.1,8.5,637,12055,0.00,2.30,0.00,0.000,260,0.000,0.050,2184,3371,1931,1989,1874,0,0,0,0,0,0,26.44,26.04,26.49
$GC,12114,0.63,236.0,2183,3372,1989,1874,914.6,10.1,648,12122,0.00,2.20,0.00,0.000,1030,0.000,0.031,2191,1963,1931,1989,1874,0,0,0,0,0,0,26.22,26.18,26.25
$GC,12481,0.63,236.0,2191,1961,1987,1874,880.9,9.4,659,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1961,1930,1987,1873,0,0,0,0,0,0,26.58,26.65,26.64
$GC,12840,0.63,236.0,2191,1960,1986,1873,847.6,9.2,669,12847,0.00,2.28,0.00,0.000,260,0.000,0.049,2191,3370,1929,1986,1873,0,0,0,0,0,0,26.65,26.18,26.70
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$STATE,22456,end climb,SURFACE_DEPTH_REACHED
$STATE,22456,begin surface coast
$FINISH,-0.1,1.021162
$STATE,22481,end surface coast,CONTROL_FINISHED_OK
$STATE,22481,begin surface
$SM_CCo,22495,4.38,0.053,0,0,504,587.25
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$TT8_MAMPS,0.050183,0.050183
$HUMID,51.02
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3937888
$24V_AH,23.36,32.838
$10V_AH,9.93,20.307
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,14.125,168.725,656.675,4.375,0.000,0.000,0.000,225.525,0.000,0.000,33.420,0.000,18977.648,1163.428,2354.388,379.365,0.000,2211.759,0.000,1706.450,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22506.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.373,0.000,0.000,0.000
$MEM,261364
$DATA_FILE_SIZE,43331,1158
$CAP_FILE_SIZE,200129,0
$CFSIZE,260034560,230572032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.356,340.64,1
$GPS,291215,160429,732.854,8313.965,85,0.8,85,-2.2,0.0,0.0,10,6.5