version: 66.12
glider: 171
mission: 9
dive: 237
start: 1 4 116 12 44 36
data:
$ID,171
$MISSION,9
$DIVE,237
$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,38
$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
$GPS1,040116,123753,653.8777,8243.3643,40,1.2,40,-2.4,0.0,0.0,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-51.9
$GPS2,040116,124423,653.8167,8243.3428,17,1.2,34,-2.4,0.4,259.7,8,8.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,600.000,8230.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,241.3,102654,-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,-175.2,173,2309,529,476,0.0,0.0,0,153,0.00,0.00,-133.82,0.000,16386,0.000,0.000,173,2309,2702,2754,2650,0,0,0,0,0,0,26.34,28.83,26.40
$GC,156,-0.54,-175.2,173,2309,2755,2651,3.3,-5.6,11,190,6.15,2.38,-20.42,0.000,18692,0.198,1.209,1804,3659,3617,3579,3656,0,0,0,0,0,0,25.41,24.31,25.78
$GC,419,-0.53,-175.2,1804,3659,3580,3660,84.8,-25.7,55,424,0.00,2.05,0.00,0.000,1030,0.000,0.032,1804,2313,3619,3579,3660,0,0,0,0,0,0,26.23,26.16,26.26
$GC,802,-0.52,-175.2,1804,2312,3579,3665,149.3,-14.0,74,808,0.00,2.22,0.00,0.000,260,0.000,0.056,1794,3659,3622,3579,3665,0,0,0,0,0,0,26.65,26.11,26.71
$GC,951,-0.52,-175.2,1793,3659,3580,3666,170.4,-14.0,99,958,0.08,2.10,0.00,0.000,3078,0.109,0.033,1824,2301,3622,3579,3666,0,0,0,0,0,0,26.11,26.32,26.17
$GC,1329,-0.52,-175.2,1824,2300,3579,3666,209.6,-9.8,117,1337,0.00,2.17,0.00,0.000,516,0.000,0.039,1824,904,3622,3579,3666,0,0,0,0,0,0,26.74,26.29,26.80
$GC,1366,-0.52,-175.2,1824,904,3579,3666,213.3,-10.2,123,1372,0.00,2.20,0.00,0.000,1030,0.000,0.043,1814,2295,3622,3578,3666,0,0,0,0,0,0,26.31,26.26,26.36
$GC,1738,-0.51,-175.2,1814,2295,3579,3666,252.1,-9.8,140,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2295,3622,3578,3666,0,0,0,0,0,0,26.79,26.86,26.84
$GC,2098,-0.51,-175.2,1814,2295,3579,3660,284.3,-9.4,150,2104,0.00,2.25,0.00,0.000,260,0.000,0.057,1804,3671,3618,3578,3659,0,0,0,0,0,0,26.81,26.21,26.86
$GC,2128,-0.51,-175.2,1804,3671,3579,3659,287.4,-11.0,155,2136,0.00,2.10,0.00,0.000,1030,0.000,0.032,1804,2301,3618,3578,3658,0,0,0,0,0,0,26.48,26.46,26.51
$GC,2495,-0.51,-175.2,1804,2302,3578,3654,325.4,-10.5,166,2500,0.00,2.15,0.00,0.000,516,0.000,0.040,1804,899,3615,3577,3653,0,0,0,0,0,0,26.82,26.33,26.88
$GC,2524,-0.51,-175.2,1804,899,3577,3654,328.7,-11.5,171,2533,0.10,2.22,0.00,0.000,3078,0.112,0.044,1832,2298,3615,3577,3654,0,0,0,0,0,0,26.10,26.29,26.17
$GC,2891,-0.51,-175.2,1832,2299,3575,3650,365.0,-9.7,182,2897,0.00,2.20,0.00,0.000,260,0.000,0.058,1822,3669,3612,3575,3649,0,0,0,0,0,0,26.84,26.20,26.89
$GC,2937,-0.51,-175.2,1822,3669,3575,3650,369.6,-9.8,190,2945,0.00,2.10,0.00,0.000,1030,0.000,0.034,1822,2304,3611,3574,3649,0,0,0,0,0,0,26.51,26.47,26.53
$GC,3324,-0.51,-175.2,1822,2304,3569,3647,405.2,-9.3,204,3329,0.00,2.15,0.00,0.000,516,0.000,0.041,1822,903,3607,3569,3646,0,0,0,0,0,0,26.84,26.31,26.89
$GC,3358,-0.51,-175.2,1822,903,3570,3646,408.6,-9.7,210,3364,0.00,2.22,0.00,0.000,1030,0.000,0.045,1812,2300,3607,3569,3646,0,0,0,0,0,0,26.32,26.27,26.38
$GC,3756,-0.50,-175.2,1811,2300,3569,3642,443.3,-8.1,226,3761,0.00,2.15,0.00,0.000,516,0.000,0.040,1812,906,3605,3568,3642,0,0,0,0,0,0,26.84,26.30,26.90
$GC,3784,-0.50,-175.2,1812,906,3568,3642,445.8,-8.2,231,3792,0.08,2.22,0.00,0.000,3078,0.112,0.045,1832,2303,3605,3568,3642,0,0,0,0,0,0,26.10,26.27,26.17
$GC,4152,-0.50,-175.2,1831,2303,3567,3639,471.6,-7.2,242,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2302,3603,3567,3639,0,0,0,0,0,0,26.84,26.91,26.91
$GC,4510,-0.50,-175.2,1831,2303,3563,3637,501.5,-8.6,252,4516,0.00,2.20,0.00,0.000,516,0.000,0.042,1832,917,3599,3562,3637,0,0,0,0,0,0,26.85,26.25,26.91
$GC,4570,-0.50,-175.2,1831,917,3562,3637,507.0,-9.3,262,4577,0.00,2.22,0.00,0.000,1030,0.000,0.045,1823,2304,3599,3561,3637,0,0,0,0,0,0,26.29,26.25,26.35
$GC,4943,-0.50,-175.2,1822,2305,3561,3635,538.7,-7.9,274,4948,0.00,2.20,0.00,0.000,516,0.000,0.043,1823,925,3597,3560,3635,0,0,0,0,0,0,26.85,26.24,26.91
$GC,4984,-0.50,-175.2,1822,925,3560,3635,542.0,-7.8,281,4991,0.00,2.20,0.00,0.000,1030,0.000,0.046,1812,2305,3597,3560,3635,0,0,0,0,0,0,26.29,26.24,26.34
$GC,5376,-0.50,-175.2,1812,2305,3560,3631,572.3,-7.7,296,5381,0.00,2.20,0.00,0.000,260,0.000,0.060,1802,3671,3595,3560,3630,0,0,0,0,0,0,26.85,26.13,26.91
$GC,5416,-0.50,-175.2,1801,3671,3560,3631,575.8,-8.0,303,5424,0.08,2.10,0.00,0.000,3078,0.102,0.034,1833,2314,3594,3559,3630,0,0,0,0,0,0,26.23,26.46,26.29
$GC,5807,-0.50,-175.2,1833,2314,3556,3629,605.5,-7.9,318,5813,0.00,2.22,0.00,0.000,516,0.000,0.043,1833,914,3591,3555,3628,0,0,0,0,0,0,26.85,26.21,26.91
$GC,5873,-0.50,-175.2,1832,914,3555,3629,611.4,-9.2,329,5881,0.00,2.22,0.00,0.000,1030,0.000,0.046,1824,2302,3591,3554,3629,0,0,0,0,0,0,26.27,26.22,26.32
$GC,6239,-0.50,-175.2,1824,2302,3554,3627,643.6,-8.6,340,6245,0.00,2.20,0.00,0.000,516,0.000,0.042,1825,913,3589,3553,3626,0,0,0,0,0,0,26.84,26.20,26.91
$GC,6293,-0.50,-175.2,1824,913,3554,3627,648.2,-8.8,349,6301,0.00,2.22,0.00,0.000,1030,0.000,0.044,1814,2304,3589,3553,3626,0,0,0,0,0,0,26.27,26.22,26.32
$GC,6672,-0.50,-175.2,1814,2304,3553,3626,680.6,-8.7,362,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2304,3589,3553,3625,0,0,0,0,0,0,26.84,26.92,26.91
$GC,7032,-0.50,-175.2,1814,2304,3551,3624,711.7,-8.5,372,7038,0.00,2.22,0.00,0.000,516,0.000,0.043,1814,909,3587,3551,3624,0,0,0,0,0,0,26.85,26.18,26.91
$GC,7073,-0.50,-175.2,1813,910,3551,3624,715.3,-8.7,379,7080,0.00,2.22,0.00,0.000,1030,0.000,0.044,1804,2299,3587,3550,3624,0,0,0,0,0,0,26.25,26.20,26.30
$GC,7465,-0.50,-175.2,1804,2299,3551,3623,751.2,-9.4,394,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2299,3586,3550,3623,0,0,0,0,0,0,26.84,26.91,26.91
$GC,7823,-0.50,-175.2,1804,2299,3549,3622,787.3,-10.3,404,7830,0.00,2.20,0.00,0.000,516,0.000,0.039,1804,910,3584,3548,3621,0,0,0,0,0,0,26.84,26.20,26.91
$GC,7877,-0.50,-175.2,1804,910,3548,3621,793.0,-10.6,413,7886,0.10,2.22,0.00,0.000,3078,0.105,0.045,1832,2297,3584,3547,3621,0,0,0,0,0,0,25.98,26.17,26.05
$GC,8258,-0.51,-175.2,1832,2297,3547,3620,825.2,-8.1,426,8264,0.00,2.15,0.00,0.000,516,0.000,0.039,1833,907,3582,3546,3619,0,0,0,0,0,0,26.84,26.20,26.91
$GC,8281,-0.51,-175.2,1832,907,3547,3620,827.1,-8.1,430,8287,0.00,2.25,0.00,0.000,1030,0.000,0.047,1824,2308,3582,3546,3619,0,0,0,0,0,0,26.20,26.15,26.25
$GC,8655,-0.51,-175.2,1824,2308,3546,3618,854.9,-7.1,442,8660,0.00,2.20,0.00,0.000,516,0.000,0.044,1824,904,3582,3546,3618,0,0,0,0,0,0,26.84,26.14,26.90
$GC,8719,-0.51,-175.2,1823,904,3546,3618,859.6,-6.9,453,8728,0.00,2.25,0.00,0.000,1030,0.000,0.045,1814,2306,3581,3545,3618,0,0,0,0,0,0,26.20,26.15,26.25
$GC,9087,-0.51,-175.2,1813,2306,3546,3617,883.3,-6.1,464,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2306,3581,3545,3617,0,0,0,0,0,0,26.84,26.91,26.91
$GC,9445,-0.51,-175.2,1813,2306,3546,3616,904.6,-6.1,474,9452,0.00,2.22,0.00,0.000,516,0.000,0.043,1813,910,3580,3545,3615,0,0,0,0,0,0,26.84,26.11,26.91
$GC,9499,-0.51,-175.2,1813,910,3545,3616,908.3,-6.8,483,9506,0.00,2.25,0.00,0.000,1030,0.000,0.046,1804,2306,3580,3544,3616,0,0,0,0,0,0,26.17,26.12,26.22
$GC,9878,-0.51,-175.2,1804,2306,3544,3615,936.4,-7.6,496,9884,0.00,2.22,0.00,0.000,516,0.000,0.044,1804,917,3578,3542,3614,0,0,0,0,0,0,26.84,26.10,26.90
$GC,9937,-0.51,-175.2,1803,918,3543,3615,941.2,-8.4,506,9944,0.10,2.25,0.00,0.000,3078,0.104,0.047,1832,2310,3578,3542,3615,0,0,0,0,0,0,25.91,26.10,25.98
$GC,10311,-0.51,-175.2,1832,2310,3543,3614,965.3,-6.5,518,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2310,3578,3543,3614,0,0,0,0,0,0,26.84,26.91,26.90
$GC,10670,-0.51,-175.2,1832,2310,3543,3614,988.6,-6.3,528,10676,0.00,2.22,0.00,0.000,516,0.000,0.044,1832,914,3577,3542,3612,0,0,0,0,0,0,26.84,26.10,26.90
$STATE,10697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10697,begin apogee
$GC,10703,-0.11,0.0,1826,1966,3541,3613,990.5,-6.8,533,10854,0.40,0.00,147.38,1.015,10246,0.091,0.000,1964,1965,2898,2930,2866,0,0,0,0,0,0,26.03,24.63,23.55
$STATE,10855,end apogee,CONTROL_FINISHED_OK
$STATE,10855,begin climb
$GC,10857,0.54,175.2,1964,1966,2929,2863,994.5,0.0,537,11020,0.57,2.38,154.00,1.002,11012,0.067,0.051,2173,3368,2182,2256,2108,0,0,0,0,0,0,24.98,24.08,23.36
$GC,11049,0.54,176.5,2173,3368,2249,2108,984.5,7.8,571,11055,0.00,2.30,0.00,0.000,1030,0.000,0.035,2180,1979,2177,2248,2107,0,0,0,0,0,0,25.15,25.12,25.18
$GC,11422,0.54,176.5,2180,1978,2243,2102,952.9,8.7,583,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1978,2172,2243,2102,0,0,0,0,0,0,26.29,26.35,26.34
$GC,11781,0.54,176.5,2179,1978,2243,2101,918.9,9.5,593,11787,0.00,2.28,0.00,0.000,260,0.000,0.051,2179,3366,2171,2243,2100,0,0,0,0,0,0,26.48,26.00,26.55
$GC,11811,0.54,176.5,2179,3366,2243,2101,915.9,9.6,598,11820,0.00,2.25,0.00,0.000,1030,0.000,0.035,2183,1946,2171,2242,2100,0,0,0,0,0,0,26.17,26.13,26.20
$GC,12178,0.53,176.5,2183,1947,2242,2099,883.1,8.7,609,12179,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1947,2170,2242,2099,0,0,0,0,0,0,26.59,26.66,26.65
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$STATE,22550,end climb,SURFACE_DEPTH_REACHED
$STATE,22550,begin surface coast
$FINISH,-0.1,1.021243
$STATE,22574,end surface coast,CONTROL_FINISHED_OK
$STATE,22575,begin surface
$SM_CCo,22589,42.62,0.052,0,0,504,587.25
$SM_GC,-0.59,5.43,1.65,42.62,0.025,0.030,0.052,171,2286,504,-5.66,1.41,587.25,0,0,0,0,0,0,26.44,26.40,26.14
$IRIDIUM_FIX,652.92,8244.42,040116,064101
$TT8_MAMPS,0.050183,0.050183
$HUMID,49.92
$INTERNAL_PRESSURE,9.44718
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3929056
$24V_AH,23.36,36.174
$10V_AH,10.01,22.236
$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
$DEVICE_SECS,13.775,163.150,570.925,42.625,0.000,0.000,0.000,217.225,0.000,0.000,35.308,0.000,19254.662,1107.851,2239.137,402.563,0.000,2092.593,0.000,1614.291,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22597.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.901,0.000,0.000,0.000
$MEM,261404
$DATA_FILE_SIZE,39974,1089
$CAP_FILE_SIZE,196771,0
$CFSIZE,260034560,228376576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.326,78.01,1
$GPS,040116,190252,652.778,8244.405,38,1.3,38,-2.4,0.0,0.0,7,9.7