version: 66.12
glider: 171
mission: 9
dive: 227
start: 1 1 116 21 55 18
data:
$ID,171
$MISSION,9
$DIVE,227
$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,59
$R_STBD_OVSHOOT,36
$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
$GPS1,010116,214822,720.5105,8243.9873,40,1.1,58,-2.3,0.4,136.0,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-52.0
$GPS2,010116,215504,720.4748,8243.9551,11,1.5,16,-2.3,0.7,1.6,8,8.7
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH1
$TGT_LATLONG,720.000,8240.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,271.2,7318,-12.4,-7.857,-17.07,3314
$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,-172.1,173,2307,538,476,0.0,0.0,0,153,0.00,0.00,-133.43,0.000,16386,0.000,0.000,172,2308,2712,2762,2662,0,0,0,0,0,0,26.30,28.83,26.36
$GC,156,-0.55,-175.2,174,2308,2763,2663,3.2,-5.6,11,190,6.12,2.35,-20.92,0.000,18948,0.198,1.194,1813,918,3615,3482,3749,0,0,0,0,0,0,25.46,24.41,25.82
$GC,339,-0.53,-175.2,1813,917,3484,3751,62.4,-26.6,42,347,0.00,2.22,0.00,0.000,1030,0.000,0.043,1802,2303,3617,3483,3751,0,0,0,0,0,0,26.11,26.07,26.15
$GC,705,-0.52,-175.2,1802,2303,3484,3756,133.2,-15.9,58,712,0.00,2.22,0.00,0.000,260,0.000,0.054,1792,3669,3619,3484,3755,0,0,0,0,0,0,26.63,26.14,26.68
$GC,885,-0.52,-175.2,1792,3669,3485,3757,160.7,-14.9,88,893,0.10,2.08,0.00,0.000,3078,0.109,0.030,1829,2304,3620,3484,3757,0,0,0,0,0,0,26.10,26.36,26.17
$GC,1257,-0.52,-175.2,1829,2305,3484,3757,199.4,-8.5,105,1265,0.00,2.22,0.00,0.000,260,0.000,0.055,1819,3666,3620,3484,3757,0,0,0,0,0,0,26.74,26.22,26.79
$GC,1391,-0.51,-175.2,1819,3666,3484,3757,212.3,-9.7,127,1397,0.00,2.05,0.00,0.000,1030,0.000,0.033,1819,2302,3620,3483,3757,0,0,0,0,0,0,26.48,26.41,26.51
$GC,1762,-0.51,-175.2,1819,2301,3484,3757,248.8,-10.3,144,1769,0.00,2.25,0.00,0.000,260,0.000,0.057,1809,3669,3620,3484,3756,0,0,0,0,0,0,26.79,26.25,26.85
$GC,1798,-0.51,-175.2,1809,3668,3484,3756,252.6,-10.9,150,1805,0.00,2.10,0.00,0.000,1030,0.000,0.031,1809,2296,3620,3484,3756,0,0,0,0,0,0,26.49,26.46,26.52
$GC,2196,-0.51,-175.2,1809,2296,3484,3750,291.1,-9.3,166,2201,0.00,2.22,0.00,0.000,260,0.000,0.058,1799,3674,3616,3483,3750,0,0,0,0,0,0,26.82,26.23,26.88
$GC,2218,-0.51,-175.2,1799,3674,3484,3749,293.5,-10.1,170,2225,0.08,2.10,0.00,0.000,3078,0.105,0.032,1830,2305,3616,3483,3749,0,0,0,0,0,0,26.26,26.46,26.32
$GC,2592,-0.51,-175.2,1829,2305,3483,3743,322.9,-7.7,182,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2305,3613,3483,3743,0,0,0,0,0,0,26.83,26.90,26.89
$GC,2951,-0.51,-175.2,1829,2305,3483,3737,351.9,-8.2,192,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2305,3609,3482,3737,0,0,0,0,0,0,26.84,26.91,26.90
$GC,3311,-0.51,-175.2,1830,2305,3483,3730,381.5,-8.1,202,3317,0.00,2.17,0.00,0.000,516,0.000,0.040,1830,911,3607,3484,3730,0,0,0,0,0,0,26.84,26.34,26.91
$GC,3358,-0.51,-175.2,1830,911,3483,3729,385.7,-8.6,210,3365,0.00,2.20,0.00,0.000,1030,0.000,0.044,1820,2298,3605,3482,3729,0,0,0,0,0,0,26.36,26.31,26.41
$GC,3743,-0.51,-175.2,1820,2298,3482,3723,421.0,-9.6,224,3749,0.00,2.17,0.00,0.000,516,0.000,0.039,1821,907,3602,3482,3723,0,0,0,0,0,0,26.85,26.36,26.91
$GC,3785,-0.51,-175.2,1820,907,3483,3723,425.2,-9.9,231,3791,0.00,2.22,0.00,0.000,1030,0.000,0.045,1810,2304,3602,3482,3722,0,0,0,0,0,0,26.35,26.30,26.40
$GC,4175,-0.51,-175.2,1810,2305,3482,3717,464.3,-9.7,246,4181,0.00,2.20,0.00,0.000,516,0.000,0.043,1810,916,3599,3481,3717,0,0,0,0,0,0,26.85,26.31,26.91
$GC,4235,-0.50,-175.2,1810,917,3482,3717,470.1,-9.7,256,4242,0.08,2.22,0.00,0.000,3078,0.112,0.046,1846,2305,3599,3481,3717,0,0,0,0,0,0,26.10,26.29,26.25
$GC,4608,-0.51,-175.2,1845,2305,3481,3712,497.0,-7.1,268,4614,0.00,2.17,0.00,0.000,516,0.000,0.044,1845,908,3596,3481,3711,0,0,0,0,0,0,26.85,26.28,26.91
$GC,4661,-0.51,-175.2,1846,909,3481,3712,501.1,-7.7,277,4668,0.00,2.22,0.00,0.000,1030,0.000,0.045,1838,2304,3595,3480,3711,0,0,0,0,0,0,26.33,26.28,26.38
$GC,5040,-0.51,-175.2,1838,2304,3481,3707,531.2,-8.1,290,5046,0.00,2.15,0.00,0.000,516,0.000,0.043,1838,917,3593,3480,3707,0,0,0,0,0,0,26.86,26.26,26.91
$GC,5069,-0.51,-175.2,1837,917,3481,3707,533.7,-9.1,295,5077,0.00,2.20,0.00,0.000,1030,0.000,0.046,1828,2298,3593,3480,3707,0,0,0,0,0,0,26.32,26.27,26.36
$GC,5436,-0.51,-175.2,1828,2298,3480,3703,565.0,-8.5,306,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2298,3591,3480,3703,0,0,0,0,0,0,26.85,26.92,26.91
$GC,5795,-0.51,-175.2,1827,2298,3481,3700,594.9,-8.3,316,5802,0.00,2.17,0.00,0.000,516,0.000,0.039,1828,911,3590,3480,3700,0,0,0,0,0,0,26.86,26.28,26.91
$GC,5861,-0.51,-175.2,1827,911,3480,3700,600.6,-8.6,327,5869,0.00,2.22,0.00,0.000,1030,0.000,0.045,1817,2303,3589,3479,3699,0,0,0,0,0,0,26.31,26.26,26.36
$GC,6227,-0.51,-175.2,1817,2303,3479,3697,632.5,-8.7,338,6234,0.00,2.20,0.00,0.000,516,0.000,0.042,1817,921,3587,3479,3696,0,0,0,0,0,0,26.85,26.25,26.91
$GC,6264,-0.51,-175.2,1817,922,3480,3696,635.8,-9.5,344,6270,0.00,2.22,0.00,0.000,1030,0.000,0.047,1807,2310,3587,3479,3696,0,0,0,0,0,0,26.29,26.24,26.34
$GC,6660,-0.51,-175.2,1807,2310,3480,3693,673.9,-9.5,360,6666,0.00,2.17,0.00,0.000,516,0.000,0.042,1807,911,3585,3479,3692,0,0,0,0,0,0,26.86,26.22,26.91
$GC,6689,-0.51,-175.2,1807,911,3479,3693,676.7,-10.1,365,6699,0.08,2.22,0.00,0.000,3078,0.113,0.047,1828,2303,3585,3479,3692,0,0,0,0,0,0,26.06,26.22,26.13
$GC,7057,-0.51,-175.2,1828,2303,3479,3690,706.2,-7.9,376,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2303,3584,3479,3690,0,0,0,0,0,0,26.85,26.92,26.91
$GC,7416,-0.51,-175.2,1828,2303,3479,3688,733.5,-7.5,386,7422,0.00,2.20,0.00,0.000,516,0.000,0.043,1828,924,3583,3480,3687,0,0,0,0,0,0,26.86,26.21,26.91
$GC,7470,-0.51,-175.2,1828,925,3479,3687,737.5,-8.0,395,7476,0.00,2.22,0.00,0.000,1030,0.000,0.046,1819,2311,3583,3479,3687,0,0,0,0,0,0,26.27,26.22,26.32
$GC,7848,-0.51,-175.2,1819,2311,3479,3685,766.3,-7.7,408,7854,0.00,2.22,0.00,0.000,516,0.000,0.043,1819,917,3582,3479,3685,0,0,0,0,0,0,26.86,26.20,26.91
$GC,7926,-0.51,-175.2,1818,917,3479,3684,772.7,-8.4,421,7933,0.00,2.22,0.00,0.000,1030,0.000,0.047,1808,2303,3581,3478,3684,0,0,0,0,0,0,26.25,26.20,26.31
$GC,8317,-0.51,-175.2,1808,2303,3479,3683,807.4,-9.2,436,8322,0.00,2.17,0.00,0.000,516,0.000,0.044,1808,912,3580,3479,3682,0,0,0,0,0,0,26.85,26.18,26.91
$GC,8382,-0.51,-175.2,1808,913,3480,3682,813.7,-9.2,447,8390,0.08,2.25,0.00,0.000,3078,0.113,0.046,1828,2311,3580,3478,3682,0,0,0,0,0,0,26.01,26.18,26.08
$GC,8749,-0.52,-175.2,1828,2311,3479,3680,844.1,-8.0,458,8754,0.00,2.17,0.00,0.000,516,0.000,0.044,1828,918,3578,3478,3679,0,0,0,0,0,0,26.85,26.17,26.91
$GC,8802,-0.52,-175.2,1828,919,3480,3680,848.3,-7.8,467,8808,0.00,2.22,0.00,0.000,1030,0.000,0.047,1819,2299,3579,3479,3680,0,0,0,0,0,0,26.22,26.17,26.28
$GC,9181,-0.52,-175.2,1819,2299,3479,3678,876.7,-7.2,480,9186,0.00,2.15,0.00,0.000,516,0.000,0.041,1819,911,3578,3479,3677,0,0,0,0,0,0,26.85,26.19,26.91
$GC,9270,-0.52,-175.2,1818,911,3480,3678,883.4,-7.6,495,9277,0.00,2.25,0.00,0.000,1030,0.000,0.047,1809,2308,3577,3479,3676,0,0,0,0,0,0,26.21,26.16,26.27
$GC,9649,-0.52,-175.2,1808,2308,3479,3677,909.8,-6.7,508,9654,0.00,2.17,0.00,0.000,516,0.000,0.044,1809,916,3578,3479,3677,0,0,0,0,0,0,26.85,26.15,26.91
$GC,9714,-0.52,-175.2,1809,916,3479,3677,914.5,-7.2,519,9722,0.00,2.22,0.00,0.000,1030,0.000,0.047,1799,2300,3577,3478,3676,0,0,0,0,0,0,26.20,26.15,26.25
$GC,10081,-0.52,-175.2,1799,2301,3478,3675,940.5,-7.1,530,10087,0.10,2.17,0.00,0.000,2564,0.149,0.043,1828,908,3576,3478,3675,0,0,0,0,0,0,26.53,26.14,26.55
$GC,10122,-0.52,-175.2,1827,909,3478,3675,943.3,-6.3,537,10130,0.00,2.25,0.00,0.000,1030,0.000,0.047,1818,2303,3576,3478,3675,0,0,0,0,0,0,26.17,26.13,26.23
$GC,10515,-0.52,-175.2,1818,2303,3478,3674,970.4,-7.2,552,10520,0.00,2.17,0.00,0.000,516,0.000,0.044,1818,917,3575,3477,3673,0,0,0,0,0,0,26.85,26.12,26.91
$GC,10597,-0.52,-175.2,1818,917,3478,3673,977.0,-8.0,566,10604,0.00,2.25,0.00,0.000,1030,0.000,0.047,1808,2311,3575,3477,3673,0,0,0,0,0,0,26.17,26.12,26.22
$STATE,10763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10763,begin apogee
$GC,10769,-0.11,0.0,1808,1960,3477,3672,990.2,-7.9,574,10931,0.45,0.00,153.77,1.141,10246,0.094,0.000,1962,1959,2900,2921,2879,0,0,0,0,1,0,25.98,24.41,23.29
$STATE,10932,end apogee,CONTROL_FINISHED_OK
$STATE,10932,begin climb
$GC,10934,0.55,175.2,1961,1960,2921,2879,995.5,0.0,578,11095,0.60,0.00,154.57,1.001,10758,0.067,0.000,2176,1959,2182,2250,2114,0,0,0,0,0,0,24.89,24.46,23.54
$GC,11450,0.57,190.3,2175,1959,2241,2106,962.6,7.4,618,11469,0.00,2.30,13.27,0.931,8452,0.000,0.048,2176,3380,2121,2183,2059,0,0,0,0,0,0,26.25,25.18,24.50
$GC,11474,0.57,193.3,2175,3380,2180,2060,960.7,7.8,622,11483,0.00,2.25,3.67,0.645,9222,0.000,0.032,2182,1967,2110,2171,2050,0,0,0,0,0,0,25.84,25.81,24.27
$GC,11841,0.57,193.3,2182,1967,2168,2050,931.1,8.2,633,11847,0.00,2.22,0.00,0.000,516,0.000,0.046,2191,558,2109,2168,2050,0,0,0,0,0,0,26.41,26.01,26.46
$GC,12038,0.57,193.3,2191,558,2167,2050,915.0,8.0,666,12045,0.00,2.22,0.00,0.000,1030,0.000,0.036,2191,1964,2107,2166,2049,0,0,0,0,0,0,26.17,26.14,26.21
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$STATE,22926,end climb,SURFACE_DEPTH_REACHED
$STATE,22926,begin surface coast
$FINISH,0.6,1.021152
$STATE,22950,end surface coast,CONTROL_FINISHED_OK
$STATE,22950,begin surface
$SM_CCo,22965,57.95,0.052,0,0,503,587.25
$SM_GC,-0.31,5.32,0.55,57.95,0.021,0.045,0.052,167,2312,503,-5.67,-1.07,587.25,0,0,0,0,0,0,26.46,26.33,26.15
$IRIDIUM_FIX,721.17,8250.34,010116,153239
$TT8_MAMPS,0.050183,0.050183
$HUMID,48.38
$INTERNAL_PRESSURE,9.45695
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3932896
$24V_AH,23.29,34.720
$10V_AH,10.05,21.359
$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,13.575,173.375,548.425,57.950,0.000,0.000,0.000,247.550,0.000,0.000,16.994,0.000,19446.109,1142.946,2403.563,414.505,0.000,2205.685,0.000,1740.767,0.000,0.540,0.000
$DEVICE_MAMPS,198.135,1194.165,1140.615,52.020,0.000,0.000,0.000,120.870,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.026,0.000,0.000,0.000
$MEM,261416
$DATA_FILE_SIZE,43254,1178
$CAP_FILE_SIZE,204126,0
$CFSIZE,260034560,229322752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.082,177.14,1
$GPS,020116,042021,718.982,8240.666,40,1.4,56,-2.3,0.5,236.4,8,7.7