version: 66.12
glider: 171
mission: 9
dive: 203
start: 12 26 115 9 45 15
data:
$ID,171
$MISSION,9
$DIVE,203
$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,54
$R_STBD_OVSHOOT,48
$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
$GPS1,261215,093505,730.7841,8331.7432,38,1.1,38,-2.2,0.0,0.0,8,8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-45.5
$GPS2,261215,094503,730.7921,8331.6045,13,1.4,40,-2.2,0.6,290.6,7,9.5
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH1
$TGT_LATLONG,600.000,8230.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,171.2,202850,-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,-0.54,-175.2,174,2316,538,471,0.0,0.0,0,153,0.00,0.00,-133.90,0.000,16386,0.000,0.000,173,2316,2787,2829,2745,0,0,0,0,0,0,26.26,28.83,26.32
$GC,156,-0.54,-175.2,173,2317,2832,2745,4.3,-7.9,11,190,6.18,2.40,-17.80,0.000,18948,0.203,1.201,1813,914,3618,3481,3756,0,0,0,0,0,0,25.51,24.31,25.86
$GC,278,-0.53,-175.2,1812,914,3481,3759,44.1,-27.3,32,287,0.00,2.20,0.00,0.000,1030,0.000,0.043,1802,2279,3619,3481,3758,0,0,0,0,0,0,26.05,26.01,26.08
$GC,645,-0.52,-175.2,1802,2280,3481,3762,118.6,-15.3,49,652,0.00,2.25,0.00,0.000,260,0.000,0.054,1792,3667,3621,3481,3762,0,0,0,0,0,0,26.58,26.15,26.63
$GC,801,-0.52,-175.2,1792,3667,3481,3763,142.2,-14.3,75,809,0.10,2.10,0.00,0.000,3078,0.107,0.031,1829,2296,3622,3481,3763,0,0,0,0,0,0,26.12,26.33,26.19
$GC,1173,-0.52,-175.2,1829,2296,3481,3764,178.7,-9.4,92,1180,0.00,2.17,0.00,0.000,516,0.000,0.039,1829,904,3622,3481,3764,0,0,0,0,0,0,26.72,26.34,26.78
$GC,1222,-0.52,-175.2,1829,904,3482,3764,182.9,-9.1,100,1228,0.00,2.20,0.00,0.000,1030,0.000,0.041,1820,2304,3622,3481,3764,0,0,0,0,0,0,26.38,26.33,26.42
$GC,1606,-0.51,-175.2,1820,2304,3481,3764,221.6,-10.3,119,1612,0.00,2.20,0.00,0.000,260,0.000,0.057,1811,3668,3622,3481,3763,0,0,0,0,0,0,26.77,26.30,26.84
$GC,1647,-0.51,-175.2,1810,3668,3481,3763,226.0,-10.7,126,1656,0.00,2.10,0.00,0.000,1030,0.000,0.034,1810,2303,3622,3481,3763,0,0,0,0,0,0,26.48,26.46,26.51
$GC,2038,-0.51,-175.2,1809,2302,3480,3757,266.4,-10.0,141,2045,0.00,2.22,0.00,0.000,260,0.000,0.057,1801,3663,3618,3481,3755,0,0,0,0,0,0,26.81,26.31,26.87
$GC,2104,-0.51,-175.2,1801,3663,3481,3756,273.4,-11.0,152,2113,0.08,2.10,0.00,0.000,3078,0.106,0.033,1831,2299,3618,3481,3755,0,0,0,0,0,0,26.29,26.48,26.36
$GC,2471,-0.51,-175.2,1831,2298,3481,3749,306.1,-8.5,163,2477,0.00,2.15,0.00,0.000,516,0.000,0.041,1831,889,3614,3480,3749,0,0,0,0,0,0,26.83,26.42,26.89
$GC,2512,-0.51,-175.2,1831,890,3481,3749,309.7,-8.5,170,2519,0.00,2.25,0.00,0.000,1030,0.000,0.044,1822,2302,3614,3480,3748,0,0,0,0,0,0,26.43,26.38,26.48
$GC,2903,-0.51,-175.2,1821,2302,3481,3742,344.5,-9.0,185,2910,0.00,2.20,0.00,0.000,516,0.000,0.041,1822,901,3610,3480,3741,0,0,0,0,0,0,26.84,26.41,26.90
$GC,2963,-0.51,-175.2,1821,902,3480,3740,350.1,-9.1,195,2969,0.00,2.22,0.00,0.000,1030,0.000,0.044,1812,2304,3610,3480,3740,0,0,0,0,0,0,26.43,26.38,26.48
$GC,3336,-0.51,-175.2,1811,2304,3480,3735,385.3,-9.6,207,3341,0.00,2.17,0.00,0.000,260,0.000,0.059,1801,3671,3606,3479,3734,0,0,0,0,0,0,26.85,26.32,26.91
$GC,3383,-0.50,-175.2,1801,3671,3480,3733,390.2,-10.3,215,3390,0.08,2.10,0.00,0.000,3078,0.105,0.034,1832,2303,3606,3479,3733,0,0,0,0,0,0,26.32,26.53,26.37
$GC,3767,-0.50,-175.2,1831,2303,3480,3728,424.1,-8.8,229,3774,0.00,2.17,0.00,0.000,516,0.000,0.041,1832,907,3603,3479,3727,0,0,0,0,0,0,26.86,26.41,26.91
$GC,3804,-0.50,-175.2,1831,907,3480,3727,427.3,-9.1,235,3810,0.00,2.22,0.00,0.000,1030,0.000,0.045,1823,2305,3602,3479,3726,0,0,0,0,0,0,26.41,26.37,26.46
$GC,4200,-0.50,-175.2,1823,2305,3480,3721,461.5,-8.5,251,4206,0.00,2.20,0.00,0.000,516,0.000,0.044,1825,908,3600,3479,3721,0,0,0,0,0,0,26.86,26.38,26.92
$GC,4235,-0.50,-175.2,1823,908,3480,3721,464.8,-9.4,257,4242,0.00,2.22,0.00,0.000,1030,0.000,0.044,1813,2309,3600,3479,3721,0,0,0,0,0,0,26.41,26.36,26.46
$GC,4633,-0.50,-175.2,1812,2309,3479,3716,498.4,-8.3,273,4639,0.00,2.17,0.00,0.000,516,0.000,0.042,1813,902,3597,3479,3716,0,0,0,0,0,0,26.86,26.37,26.92
$GC,4668,-0.50,-175.2,1813,903,3479,3716,501.4,-8.9,279,4675,0.08,2.22,0.00,0.000,3078,0.115,0.045,1832,2304,3596,3478,3715,0,0,0,0,0,0,26.19,26.35,26.27
$GC,5064,-0.50,-175.2,1831,2303,3479,3711,529.2,-7.0,295,5070,0.00,2.20,0.00,0.000,516,0.000,0.041,1833,911,3594,3479,3710,0,0,0,0,0,0,26.86,26.36,26.92
$GC,5111,-0.50,-175.2,1832,911,3479,3710,532.6,-7.7,303,5118,0.00,2.22,0.00,0.000,1030,0.000,0.045,1824,2309,3594,3478,3710,0,0,0,0,0,0,26.40,26.34,26.44
$GC,5497,-0.50,-175.2,1824,2309,3480,3707,561.3,-7.5,317,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2309,3593,3479,3707,0,0,0,0,0,0,26.86,26.94,26.93
$GC,5856,-0.50,-175.2,1824,2309,3479,3704,588.9,-7.8,327,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2309,3591,3478,3704,0,0,0,0,0,0,26.87,26.94,26.93
$GC,6216,-0.50,-175.2,1823,2310,3479,3701,616.5,-7.7,337,6224,0.00,2.22,0.00,0.000,516,0.000,0.043,1824,908,3589,3478,3700,0,0,0,0,0,0,26.87,26.34,26.93
$GC,6265,-0.50,-175.2,1824,908,3478,3700,620.4,-8.0,345,6273,0.00,2.22,0.00,0.000,1030,0.000,0.045,1814,2304,3589,3478,3700,0,0,0,0,0,0,26.37,26.32,26.42
$GC,6652,-0.50,-175.2,1814,2304,3478,3697,652.6,-8.4,359,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3587,3478,3697,0,0,0,0,0,0,26.87,26.94,26.93
$GC,7009,-0.50,-175.2,1814,2304,3478,3695,682.0,-7.9,369,7017,0.00,2.20,0.00,0.000,516,0.000,0.042,1814,911,3586,3478,3694,0,0,0,0,0,0,26.87,26.32,26.93
$GC,7057,-0.50,-175.2,1814,911,3478,3694,685.9,-8.3,377,7066,0.08,2.22,0.00,0.000,3078,0.112,0.045,1834,2304,3586,3478,3694,0,0,0,0,0,0,26.15,26.31,26.22
$GC,7444,-0.50,-175.2,1833,2304,3478,3692,711.0,-6.4,391,7450,0.00,2.17,0.00,0.000,516,0.000,0.044,1834,902,3584,3478,3691,0,0,0,0,0,0,26.87,26.29,26.93
$GC,7497,-0.50,-175.2,1833,902,3478,3691,714.7,-6.5,400,7503,0.00,2.25,0.00,0.000,1030,0.000,0.046,1825,2309,3584,3477,3691,0,0,0,0,0,0,26.35,26.29,26.40
$GC,7876,-0.50,-175.2,1824,2310,3477,3690,740.4,-6.9,413,7882,0.00,2.17,0.00,0.000,516,0.000,0.043,1825,910,3583,3477,3690,0,0,0,0,0,0,26.86,26.29,26.93
$GC,7941,-0.50,-175.2,1825,910,3478,3689,745.1,-7.3,424,7949,0.00,2.22,0.00,0.000,1030,0.000,0.046,1815,2302,3583,3477,3689,0,0,0,0,0,0,26.34,26.28,26.39
$GC,8308,-0.50,-175.2,1815,2302,3477,3687,771.7,-7.3,435,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2302,3582,3477,3687,0,0,0,0,0,0,26.86,26.94,26.93
$GC,8667,-0.50,-175.2,1814,2302,3477,3686,797.6,-7.3,445,8674,0.00,2.20,0.00,0.000,516,0.000,0.041,1815,912,3581,3477,3686,0,0,0,0,0,0,26.87,26.28,26.93
$GC,8727,-0.50,-175.2,1815,912,3477,3686,802.4,-8.0,455,8734,0.00,2.22,0.00,0.000,1030,0.000,0.045,1805,2304,3581,3477,3685,0,0,0,0,0,0,26.32,26.27,26.37
$GC,9100,-0.50,-175.2,1805,2305,3477,3684,832.7,-8.4,467,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3580,3476,3684,0,0,0,0,0,0,26.86,26.94,26.93
$GC,9459,-0.50,-175.2,1805,2304,3477,3683,863.9,-8.8,477,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3579,3476,3682,0,0,0,0,0,0,26.86,26.94,26.93
$GC,9820,-0.50,-175.2,1805,2305,3477,3681,895.5,-8.7,487,9826,0.00,2.20,0.00,0.000,516,0.000,0.043,1805,913,3578,3476,3681,0,0,0,0,0,0,26.87,26.25,26.93
$GC,9867,-0.50,-175.2,1805,914,3476,3681,899.9,-9.1,495,9875,0.10,2.22,0.00,0.000,3078,0.108,0.046,1833,2304,3578,3476,3681,0,0,0,0,0,0,26.07,26.25,26.14
$GC,10253,-0.51,-175.2,1833,2305,3477,3679,926.5,-6.6,509,10260,0.00,2.17,0.00,0.000,516,0.000,0.043,1834,909,3577,3476,3678,0,0,0,0,0,0,26.86,26.23,26.92
$GC,10300,-0.51,-175.2,1834,909,3476,3679,929.8,-6.7,517,10308,0.00,2.22,0.00,0.000,1030,0.000,0.045,1825,2302,3577,3476,3678,0,0,0,0,0,0,26.29,26.25,26.34
$GC,10687,-0.51,-175.2,1825,2302,3476,3677,953.3,-5.9,531,10692,0.00,2.17,0.00,0.000,516,0.000,0.043,1825,907,3576,3476,3677,0,0,0,0,0,0,26.86,26.22,26.92
$GC,10715,-0.51,-175.2,1825,907,3476,3677,955.1,-5.7,536,10723,0.00,2.22,0.00,0.000,1030,0.000,0.046,1815,2298,3576,3475,3677,0,0,0,0,0,0,26.28,26.22,26.33
$GC,11083,-0.51,-175.2,1814,2298,3476,3677,976.9,-5.9,547,11088,0.00,2.15,0.00,0.000,516,0.000,0.040,1815,906,3576,3475,3677,0,0,0,0,0,0,26.86,26.25,26.92
$GC,11129,-0.51,-175.2,1815,907,3475,3677,980.0,-6.8,555,11136,0.00,2.25,0.00,0.000,1030,0.000,0.045,1805,2309,3576,3476,3676,0,0,0,0,0,0,26.27,26.22,26.32
$STATE,11295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11295,begin apogee
$GC,11300,-0.11,0.0,1805,1958,3475,3676,991.0,-6.5,563,11461,0.45,0.00,153.10,1.089,10246,0.096,0.000,1958,1958,2899,2920,2879,0,0,0,0,1,0,26.04,24.66,23.61
$STATE,11463,end apogee,CONTROL_FINISHED_OK
$STATE,11463,begin climb
$GC,11465,0.54,175.2,1957,1958,2920,2879,994.8,0.0,567,11631,0.60,2.45,153.95,1.004,11012,0.069,0.051,2171,3368,2180,2248,2113,0,0,0,0,0,0,24.94,24.59,23.67
$GC,11655,0.58,197.5,2171,3368,2245,2112,985.5,7.2,602,11682,0.00,2.30,20.33,0.962,9222,0.000,0.033,2171,1961,2092,2151,2033,0,0,0,0,0,0,25.18,25.15,23.89
$GC,12058,0.61,218.0,2171,1961,2142,2028,955.7,7.2,619,12079,0.00,0.00,19.10,0.958,8198,0.000,0.000,2172,1961,2010,2067,1953,0,0,0,0,0,0,26.29,25.48,24.58
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$STATE,22845,end climb,SURFACE_DEPTH_REACHED
$STATE,22845,begin surface coast
$FINISH,0.2,1.021039
$STATE,22869,end surface coast,CONTROL_FINISHED_OK
$STATE,22869,begin surface
$SM_CCo,22883,72.05,0.052,0,0,503,587.25
$SM_GC,-0.54,5.38,1.65,72.05,0.032,0.031,0.052,170,2296,503,-5.65,1.47,587.25,0,0,0,0,0,0,26.37,26.37,26.16
$IRIDIUM_FIX,725.52,8334.31,261215,093739
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.27
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3942112
$24V_AH,23.61,31.259
$10V_AH,10.02,19.411
$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,13.450,177.350,516.825,72.050,0.000,0.000,0.000,360.900,0.000,0.000,41.357,0.000,19473.486,1143.866,2522.421,393.639,0.000,2315.532,0.000,1717.052,0.000,0.540,0.000
$DEVICE_MAMPS,202.725,1201.050,1089.360,52.020,0.000,0.000,0.000,122.400,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22893.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.465,0.000,0.000,0.000
$MEM,261624
$DATA_FILE_SIZE,43336,1167
$CAP_FILE_SIZE,206502,0
$CFSIZE,260034560,231620608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.326,351.45,1
$GPS,261215,160858,731.175,8331.698,38,1.1,43,-2.2,0.3,345.9,8,8.5