version: 66.12
glider: 171
mission: 9
dive: 183
start: 12 21 115 0 0 45
data:
$ID,171
$MISSION,9
$DIVE,183
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,201215,235234,740.2356,8322.4180,31,1.2,31,-2.2,0.0,0.0,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-55.3
$GPS2,211215,000033,740.1955,8322.2910,12,1.2,33,-2.2,0.8,255.7,8,7.9
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,715.000,8400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,159.2,83528,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.54,-175.2,168,2312,543,472,0.0,0.0,0,154,0.00,0.00,-133.52,0.000,16386,0.000,0.000,167,2312,2722,2772,2673,0,0,0,0,0,0,26.25,28.83,26.32
$GC,157,-0.54,-175.2,168,2313,2773,2674,3.5,-6.3,11,191,6.07,2.35,-20.27,0.000,18948,0.197,1.192,1815,912,3616,3465,3768,0,0,0,0,0,0,25.56,24.27,25.91
$GC,304,-0.53,-175.2,1815,913,3465,3770,54.7,-33.0,36,311,0.00,2.20,0.00,0.000,1030,0.000,0.042,1805,2295,3617,3465,3770,0,0,0,0,0,0,26.13,26.08,26.17
$GC,682,-0.52,-175.2,1804,2295,3466,3775,132.4,-14.5,54,689,0.00,2.22,0.00,0.000,260,0.000,0.054,1794,3668,3620,3465,3775,0,0,0,0,0,0,26.61,26.23,26.66
$GC,736,-0.51,-175.2,1794,3668,3466,3777,140.3,-14.4,63,743,0.08,2.08,0.00,0.000,3078,0.115,0.029,1824,2301,3620,3465,3775,0,0,0,0,0,0,26.17,26.36,26.24
$GC,1114,-0.51,-175.2,1824,2302,3466,3776,185.4,-11.1,81,1122,0.00,2.22,0.00,0.000,260,0.000,0.055,1813,3671,3620,3465,3776,0,0,0,0,0,0,26.72,26.31,26.77
$GC,1175,-0.51,-175.2,1813,3671,3466,3777,192.2,-11.3,91,1182,0.00,2.08,0.00,0.000,1030,0.000,0.029,1814,2307,3620,3465,3776,0,0,0,0,0,0,26.50,26.47,26.52
$GC,1547,-0.51,-175.2,1813,2305,3466,3777,228.5,-9.3,108,1553,0.00,2.15,0.00,0.000,516,0.000,0.037,1814,912,3620,3465,3776,0,0,0,0,0,0,26.78,26.44,26.84
$GC,1577,-0.50,-175.2,1813,912,3466,3777,231.3,-9.5,113,1585,0.08,2.20,0.00,0.000,3078,0.119,0.041,1833,2309,3620,3465,3776,0,0,0,0,0,0,26.27,26.42,26.34
$GC,1955,-0.50,-175.2,1833,2310,3466,3772,264.1,-8.7,129,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2310,3618,3465,3772,0,0,0,0,0,0,26.82,26.89,26.88
$GC,2316,-0.50,-175.2,1833,2310,3464,3765,295.0,-8.5,139,2322,0.00,2.20,0.00,0.000,516,0.000,0.041,1833,908,3615,3465,3765,0,0,0,0,0,0,26.84,26.46,26.90
$GC,2423,-0.50,-175.2,1832,909,3466,3763,304.7,-8.9,157,2432,0.00,2.20,0.00,0.000,1030,0.000,0.042,1824,2300,3613,3465,3762,0,0,0,0,0,0,26.51,26.46,26.55
$GC,2821,-0.50,-175.2,1824,2301,3465,3756,341.0,-9.1,173,2828,0.00,2.17,0.00,0.000,260,0.000,0.058,1813,3670,3610,3465,3756,0,0,0,0,0,0,26.86,26.40,26.92
$GC,2899,-0.50,-175.2,1813,3671,3466,3755,348.0,-9.0,186,2905,0.00,2.10,0.00,0.000,1030,0.000,0.033,1813,2291,3610,3465,3755,0,0,0,0,0,0,26.60,26.57,26.63
$GC,3290,-0.50,-175.2,1813,2290,3465,3749,382.6,-8.6,201,3296,0.00,2.12,0.00,0.000,516,0.000,0.043,1813,907,3606,3464,3749,0,0,0,0,0,0,26.86,26.46,26.92
$GC,3325,-0.50,-175.2,1813,907,3465,3748,385.8,-9.2,207,3332,0.08,2.22,0.00,0.000,3078,0.116,0.044,1833,2310,3606,3465,3747,0,0,0,0,0,0,26.29,26.46,26.38
$GC,3721,-0.50,-175.2,1833,2310,3464,3742,415.1,-7.3,223,3728,0.00,2.20,0.00,0.000,516,0.000,0.042,1833,916,3602,3464,3741,0,0,0,0,0,0,26.87,26.44,26.93
$GC,3769,-0.50,-175.2,1833,916,3465,3741,418.8,-7.8,231,3776,0.00,2.20,0.00,0.000,1030,0.000,0.045,1824,2303,3602,3464,3740,0,0,0,0,0,0,26.51,26.45,26.55
$GC,4154,-0.50,-175.2,1823,2304,3464,3736,449.9,-8.2,245,4161,0.00,2.17,0.00,0.000,260,0.000,0.059,1813,3672,3600,3464,3736,0,0,0,0,0,0,26.88,26.38,26.94
$GC,4213,-0.50,-175.2,1813,3672,3464,3736,455.1,-8.9,255,4220,0.00,2.12,0.00,0.000,1030,0.000,0.033,1814,2300,3599,3464,3735,0,0,0,0,0,0,26.65,26.60,26.67
$GC,4586,-0.50,-175.2,1813,2300,3464,3730,486.1,-8.2,267,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2300,3596,3463,3730,0,0,0,0,0,0,26.88,26.95,26.94
$GC,4946,-0.50,-175.2,1813,2300,3463,3726,515.0,-7.8,277,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2300,3594,3463,3726,0,0,0,0,0,0,26.88,26.95,26.94
$GC,5305,-0.50,-175.2,1813,2300,3464,3723,543.4,-8.0,287,5312,0.00,2.17,0.00,0.000,516,0.000,0.041,1813,911,3592,3463,3722,0,0,0,0,0,0,26.88,26.45,26.94
$GC,5342,-0.50,-175.2,1813,911,3463,3722,546.3,-8.2,293,5350,0.08,2.22,0.00,0.000,3078,0.117,0.044,1833,2304,3593,3464,3722,0,0,0,0,0,0,26.27,26.44,26.35
$GC,5738,-0.50,-175.2,1833,2305,3463,3718,576.0,-7.5,309,5746,0.00,2.20,0.00,0.000,516,0.000,0.043,1833,914,3590,3463,3718,0,0,0,0,0,0,26.88,26.41,26.94
$GC,5769,-0.50,-175.2,1833,914,3463,3718,578.5,-9.2,314,5777,0.00,2.22,0.00,0.000,1030,0.000,0.045,1825,2306,3590,3463,3718,0,0,0,0,0,0,26.47,26.41,26.51
$GC,6135,-0.50,-175.2,1825,2306,3463,3715,607.4,-7.9,325,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2306,3588,3463,3714,0,0,0,0,0,0,26.88,26.95,26.94
$GC,6495,-0.50,-175.2,1825,2306,3462,3712,635.7,-7.8,335,6502,0.00,2.20,0.00,0.000,516,0.000,0.044,1825,921,3587,3463,3711,0,0,0,0,0,0,26.88,26.41,26.94
$GC,6525,-0.50,-175.2,1824,922,3463,3711,637.9,-7.9,340,6533,0.00,2.22,0.00,0.000,1030,0.000,0.046,1815,2311,3587,3463,3711,0,0,0,0,0,0,26.46,26.41,26.51
$GC,6892,-0.50,-175.2,1814,2311,3463,3708,666.8,-7.7,351,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3585,3462,3708,0,0,0,0,0,0,26.88,26.95,26.94
$GC,7252,-0.50,-175.2,1814,2311,3462,3706,695.0,-7.9,361,7259,0.00,2.20,0.00,0.000,516,0.000,0.042,1815,918,3584,3462,3706,0,0,0,0,0,0,26.88,26.39,26.94
$GC,7305,-0.50,-175.2,1814,918,3463,3706,699.4,-7.9,370,7312,0.00,2.22,0.00,0.000,1030,0.000,0.045,1805,2307,3583,3462,3705,0,0,0,0,0,0,26.45,26.40,26.49
$GC,7685,-0.50,-175.2,1805,2307,3462,3704,731.3,-8.5,383,7691,0.10,2.15,0.00,0.000,2564,0.150,0.043,1834,914,3583,3462,3704,0,0,0,0,0,0,26.57,26.38,26.62
$GC,7720,-0.50,-175.2,1833,914,3463,3703,734.1,-7.5,389,7728,0.00,2.22,0.00,0.000,1030,0.000,0.047,1825,2305,3582,3462,3703,0,0,0,0,0,0,26.44,26.38,26.48
$GC,8118,-0.50,-175.2,1825,2306,3462,3701,764.2,-7.5,405,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2305,3581,3462,3700,0,0,0,0,0,0,26.88,26.95,26.94
$GC,8477,-0.50,-175.2,1823,2305,3463,3700,790.8,-7.4,415,8484,0.00,2.20,0.00,0.000,516,0.000,0.044,1826,920,3580,3462,3698,0,0,0,0,0,0,26.88,26.36,26.94
$GC,8537,-0.50,-175.2,1825,920,3463,3699,795.4,-7.6,425,8544,0.00,2.22,0.00,0.000,1030,0.000,0.046,1816,2314,3580,3462,3698,0,0,0,0,0,0,26.43,26.38,26.47
$GC,8910,-0.50,-175.2,1815,2315,3462,3697,824.8,-7.9,437,8916,0.00,2.22,0.00,0.000,516,0.000,0.041,1816,909,3579,3462,3697,0,0,0,0,0,0,26.89,26.37,26.94
$GC,8951,-0.50,-175.2,1815,910,3462,3697,828.4,-8.7,444,8958,0.00,2.25,0.00,0.000,1030,0.000,0.045,1806,2309,3579,3462,3696,0,0,0,0,0,0,26.46,26.36,26.51
$GC,9343,-0.50,-175.2,1806,2308,3462,3694,862.8,-8.8,459,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2308,3577,3461,3694,0,0,0,0,0,0,26.88,26.95,26.94
$GC,9701,-0.50,-175.2,1806,2309,3462,3693,893.3,-8.3,469,9709,0.00,2.22,0.00,0.000,516,0.000,0.043,1806,909,3577,3462,3693,0,0,0,0,0,0,26.88,26.34,26.94
$GC,9743,-0.50,-175.2,1806,909,3462,3693,896.9,-8.1,476,9751,0.10,2.25,0.00,0.000,3078,0.106,0.046,1834,2305,3576,3461,3692,0,0,0,0,0,0,26.21,26.34,26.28
$GC,10134,-0.50,-175.2,1834,2305,3462,3691,921.8,-6.1,491,10141,0.00,2.20,0.00,0.000,516,0.000,0.044,1835,923,3576,3462,3691,0,0,0,0,0,0,26.88,26.33,26.94
$GC,10170,-0.50,-175.2,1835,923,3462,3691,924.0,-6.3,497,10178,0.00,2.22,0.00,0.000,1030,0.000,0.047,1826,2311,3576,3462,3690,0,0,0,0,0,0,26.39,26.34,26.44
$GC,10568,-0.50,-175.2,1826,2311,3461,3690,945.4,-5.1,513,10574,0.00,2.17,0.00,0.000,516,0.000,0.043,1826,914,3575,3461,3689,0,0,0,0,0,0,26.87,26.33,26.94
$GC,10639,-0.51,-175.2,1826,914,3462,3689,949.2,-5.3,525,10647,0.00,2.22,0.00,0.000,1030,0.000,0.047,1816,2303,3575,3462,3689,0,0,0,0,0,0,26.39,26.33,26.43
$GC,11036,-0.51,-175.2,1815,2303,3461,3688,971.7,-5.9,541,11043,0.00,2.20,0.00,0.000,516,0.000,0.044,1816,924,3574,3461,3688,0,0,0,0,0,0,26.87,26.32,26.94
$GC,11090,-0.51,-175.2,1815,924,3461,3688,975.3,-7.0,550,11097,0.00,2.22,0.00,0.000,1030,0.000,0.047,1806,2312,3574,3461,3687,0,0,0,0,0,0,26.37,26.32,26.42
$STATE,11322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11322,begin apogee
$GC,11327,-0.11,0.0,1806,1959,3461,3687,992.1,-7.2,559,11484,0.45,0.00,149.10,1.177,10246,0.096,0.000,1959,1959,2899,2923,2876,0,0,0,0,1,0,26.15,24.58,23.42
$STATE,11486,end apogee,CONTROL_FINISHED_OK
$STATE,11486,begin climb
$GC,11487,0.54,175.2,1959,1959,2924,2876,996.9,0.0,563,11651,0.60,0.00,155.32,1.008,10758,0.070,0.000,2172,1958,2180,2251,2110,0,0,0,0,0,0,24.91,24.16,23.50
$GC,12009,0.63,229.7,2173,1957,2241,2104,968.2,6.2,603,12064,0.00,2.30,48.30,0.984,8964,0.000,0.044,2179,562,1960,2020,1900,0,0,0,0,0,0,26.25,24.93,23.96
$GC,12135,0.65,246.2,2178,562,2017,1898,959.8,7.4,624,12157,0.00,2.28,16.12,0.954,9222,0.000,0.036,2179,1968,1894,1956,1832,0,0,0,0,0,0,25.69,25.65,24.27
$GC,12514,0.67,256.8,2179,1969,1951,1827,932.6,7.5,637,12533,0.10,2.30,10.75,0.918,10756,0.099,0.046,2253,565,1851,1914,1788,0,0,0,0,0,0,26.17,25.73,24.74
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$STATE,22035,end climb,SURFACE_DEPTH_REACHED
$STATE,22035,begin surface coast
$FINISH,0.1,1.021073
$STATE,22059,end surface coast,CONTROL_FINISHED_OK
$STATE,22059,begin surface
$SM_CCo,22073,26.12,0.053,0,0,504,587.25
$SM_GC,-0.70,5.50,1.65,26.12,0.030,0.028,0.053,173,2287,504,-5.66,1.50,587.25,0,0,0,0,0,0,26.34,26.35,26.18
$IRIDIUM_FIX,736.40,8325.17,201215,172601
$TT8_MAMPS,0.049434,0.049434
$HUMID,50.43
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3949792
$24V_AH,23.42,28.408
$10V_AH,9.95,17.801
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.025,167.275,607.925,26.125,0.000,0.000,0.000,310.700,0.000,0.000,34.395,0.000,18682.721,1144.636,2380.081,350.993,0.000,2252.744,0.000,1659.608,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22084.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.432,0.000,0.000,0.000
$MEM,260760
$DATA_FILE_SIZE,39968,1119
$CAP_FILE_SIZE,196795,0
$CFSIZE,260034560,233541632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.182,346.47,1
$GPS,211215,061035,739.593,8323.151,66,1.0,66,-2.2,0.0,0.0,7,7.3