version: 66.12
glider: 171
mission: 9
dive: 42
start: 11 12 115 17 14 22
data:
$ID,171
$MISSION,9
$DIVE,42
$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,-5
$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,42
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0011
$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,47
$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
$GPS1,121115,170759,754.6816,8348.0732,40,1.2,40,-2.1,0.0,0.0,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.49
$_SM_ANGLEo,-52.6
$GPS2,121115,171411,754.6679,8348.0918,10,1.3,15,-2.1,0.0,106.6,8,8.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,104.9,187158,-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,-0.56,-175.2,173,2304,544,472,0.0,0.0,0,151,0.00,0.00,-132.35,0.000,16386,0.000,0.000,172,2304,2715,2764,2666,0,0,0,0,0,0,26.22,28.83,26.28
$GC,154,-0.56,-175.2,173,2304,2765,2666,3.3,-7.6,13,187,6.03,2.30,-20.48,0.000,18948,0.201,1.220,1809,901,3617,3467,3767,0,0,0,0,0,0,25.85,24.73,26.00
$GC,242,-0.54,-175.2,1809,901,3468,3770,33.8,-31.4,30,249,0.00,2.25,0.00,0.000,1030,0.000,0.047,1799,2300,3618,3467,3770,0,0,0,0,0,0,26.12,26.08,26.15
$GC,557,-0.53,-175.2,1799,2301,3466,3774,103.3,-14.1,49,564,0.00,2.22,0.00,0.000,260,0.000,0.057,1788,3671,3620,3467,3774,0,0,0,0,0,0,26.54,26.27,26.60
$GC,758,-0.52,-175.2,1788,3672,3468,3777,136.6,-17.6,89,766,0.10,2.08,0.00,0.000,3078,0.116,0.031,1825,2304,3622,3467,3777,0,0,0,0,0,0,26.29,26.42,26.37
$GC,1080,-0.52,-175.2,1824,2304,3468,3779,170.2,-9.2,108,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2303,3622,3467,3778,0,0,0,0,0,0,26.71,26.78,26.77
$GC,1380,-0.51,-175.2,1825,2304,3468,3778,201.3,-8.7,123,1386,0.00,2.17,0.00,0.000,260,0.000,0.058,1815,3678,3622,3467,3778,0,0,0,0,0,0,26.77,26.50,26.83
$GC,1441,-0.51,-175.2,1815,3679,3467,3779,206.6,-9.4,135,1447,0.00,2.10,0.00,0.000,1030,0.000,0.033,1815,2288,3622,3467,3778,0,0,0,0,0,0,26.60,26.58,26.63
$GC,1761,-0.51,-175.2,1814,2286,3468,3777,236.8,-9.8,154,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2286,3621,3467,3776,0,0,0,0,0,0,26.82,26.89,26.87
$GC,2082,-0.51,-175.2,1814,2286,3467,3771,268.6,-10.0,167,2087,0.00,2.20,0.00,0.000,260,0.000,0.061,1806,3672,3618,3467,3770,0,0,0,0,0,0,26.85,26.58,26.91
$GC,2207,-0.50,-175.2,1806,3672,3467,3770,281.3,-9.7,192,2213,0.00,2.05,0.00,0.000,1030,0.000,0.032,1806,2314,3618,3467,3769,0,0,0,0,0,0,26.69,26.67,26.71
$GC,2533,-0.50,-175.2,1805,2312,3467,3764,311.3,-9.0,207,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2312,3615,3467,3764,0,0,0,0,0,0,26.88,26.96,26.94
$GC,2833,-0.50,-175.2,1805,2312,3467,3760,339.5,-9.4,217,2834,0.08,0.00,0.00,0.000,2054,0.151,0.000,1834,2311,3613,3467,3760,0,0,0,0,0,0,26.64,26.75,26.72
$GC,3132,-0.50,-175.2,1834,2311,3467,3756,362.3,-7.6,227,3138,0.00,2.20,0.00,0.000,260,0.000,0.062,1826,3668,3610,3466,3755,0,0,0,0,0,0,26.91,26.65,26.98
$GC,3188,-0.50,-175.2,1826,3668,3466,3755,366.7,-7.8,238,3195,0.00,2.08,0.00,0.000,1030,0.000,0.036,1826,2305,3610,3466,3754,0,0,0,0,0,0,26.74,26.72,26.77
$GC,3493,-0.50,-175.2,1826,2306,3466,3750,393.4,-8.8,249,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2306,3608,3466,3750,0,0,0,0,0,0,26.92,27.00,26.98
$GC,3793,-0.50,-175.2,1826,2306,3466,3745,417.6,-7.8,259,3799,0.00,2.22,0.00,0.000,260,0.000,0.064,1817,3672,3605,3466,3745,0,0,0,0,0,0,26.94,26.65,26.99
$GC,3824,-0.50,-175.2,1817,3673,3466,3745,420.0,-8.1,265,3831,0.00,2.08,0.00,0.000,1030,0.000,0.035,1817,2304,3605,3466,3745,0,0,0,0,0,0,26.77,26.74,26.79
$GC,4155,-0.50,-175.2,1817,2304,3466,3741,447.2,-8.3,281,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2304,3603,3466,3741,0,0,0,0,0,0,26.94,27.01,27.00
$GC,4455,-0.50,-175.2,1817,2304,3466,3738,473.7,-9.2,291,4461,0.00,2.22,0.00,0.000,260,0.000,0.064,1808,3670,3602,3466,3738,0,0,0,0,0,0,26.94,26.67,27.01
$GC,4510,-0.50,-175.2,1807,3670,3466,3738,479.3,-10.4,302,4518,0.00,2.08,0.00,0.000,1030,0.000,0.036,1808,2307,3601,3466,3737,0,0,0,0,0,0,26.78,26.75,26.80
$GC,4816,-0.50,-175.2,1807,2307,3469,3735,510.0,-9.9,313,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3599,3465,3734,0,0,0,0,0,0,26.95,27.02,27.01
$GC,5116,-0.49,-175.2,1807,2307,3466,3731,539.3,-9.8,323,5122,0.00,2.20,0.00,0.000,260,0.000,0.063,1799,3664,3597,3465,3730,0,0,0,0,0,0,26.96,26.68,27.01
$GC,5156,-0.49,-175.2,1798,3664,3466,3730,543.2,-10.2,331,5163,0.10,2.08,0.00,0.000,3078,0.100,0.038,1839,2314,3597,3465,3730,0,0,0,0,0,0,26.65,26.75,26.72
$GC,5479,-0.49,-175.2,1839,2314,3465,3727,567.1,-7.1,345,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2314,3596,3465,3727,0,0,0,0,0,0,26.96,27.03,27.02
$GC,5778,-0.50,-175.2,1838,2314,3466,3724,585.9,-6.2,355,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2314,3594,3465,3724,0,0,0,0,0,0,26.96,27.03,27.02
$GC,6078,-0.50,-175.2,1838,2314,3465,3722,605.7,-7.1,365,6085,0.00,2.20,0.00,0.000,516,0.000,0.047,1839,907,3592,3464,3721,0,0,0,0,0,0,26.96,26.72,27.02
$GC,6124,-0.50,-175.2,1838,907,3465,3721,609.2,-7.9,374,6130,0.00,2.22,0.00,0.000,1030,0.000,0.050,1832,2310,3593,3465,3721,0,0,0,0,0,0,26.75,26.70,26.79
$GC,6440,-0.50,-175.2,1832,2310,3465,3718,634.6,-8.1,387,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2309,3591,3464,3718,0,0,0,0,0,0,26.96,27.03,27.03
$GC,6740,-0.50,-175.2,1832,2310,3465,3716,658.0,-7.6,397,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2310,3590,3464,3716,0,0,0,0,0,0,26.96,27.04,27.03
$GC,7040,-0.50,-175.2,1832,2310,3464,3714,679.9,-7.1,407,7046,0.00,2.20,0.00,0.000,516,0.000,0.047,1832,869,3588,3464,3713,0,0,0,0,0,0,26.97,26.72,27.03
$GC,7080,-0.51,-175.2,1832,870,3465,3713,682.7,-7.2,415,7086,0.00,2.28,0.00,0.000,1030,0.000,0.050,1823,2304,3587,3464,3711,0,0,0,0,0,0,26.76,26.71,26.79
$GC,7401,-0.51,-175.2,1823,2304,3465,3711,705.4,-7.1,429,7407,0.00,2.15,0.00,0.000,516,0.000,0.047,1824,900,3587,3464,3711,0,0,0,0,0,0,26.97,26.71,27.03
$GC,7436,-0.51,-175.2,1823,899,3465,3711,708.2,-8.2,436,7443,0.00,2.22,0.00,0.000,1030,0.000,0.050,1814,2302,3587,3464,3710,0,0,0,0,0,0,26.75,26.70,26.79
$GC,7763,-0.51,-175.2,1814,2303,3464,3708,735.6,-8.9,451,7769,0.00,2.17,0.00,0.000,260,0.000,0.065,1804,3671,3586,3464,3708,0,0,0,0,0,0,26.96,26.69,27.03
$GC,7828,-0.51,-175.2,1804,3671,3464,3708,741.6,-9.3,464,7835,0.00,2.10,0.00,0.000,1030,0.000,0.038,1804,2304,3586,3464,3708,0,0,0,0,0,0,26.80,26.78,26.82
$GC,8155,-0.51,-175.2,1804,2305,3464,3707,771.5,-8.9,479,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3585,3464,3707,0,0,0,0,0,0,26.96,27.04,27.03
$GC,8454,-0.51,-175.2,1804,2305,3464,3705,795.9,-7.8,489,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3584,3463,3705,0,0,0,0,0,0,26.96,27.04,27.03
$GC,8754,-0.51,-175.2,1804,2305,3464,3703,819.4,-7.9,499,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3583,3464,3703,0,0,0,0,0,0,26.97,27.04,27.03
$GC,9054,-0.51,-175.2,1804,2305,3465,3702,844.4,-8.4,509,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3582,3464,3701,0,0,0,0,0,0,26.97,27.04,27.03
$GC,9354,-0.51,-175.2,1804,2305,3464,3700,868.5,-7.9,519,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2305,3582,3464,3700,0,0,0,0,0,0,26.97,27.05,27.03
$GC,9654,-0.51,-175.2,1803,2304,3464,3699,893.2,-8.4,529,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3581,3464,3699,0,0,0,0,0,0,26.97,27.05,27.03
$GC,9954,-0.51,-175.2,1804,2305,3464,3698,918.3,-8.4,539,9960,0.00,2.22,0.00,0.000,260,0.000,0.065,1795,3666,3580,3463,3697,0,0,0,0,0,0,26.97,26.70,27.03
$GC,9979,-0.51,-175.2,1794,3667,3463,3697,920.6,-9.9,544,9988,0.10,2.10,0.00,0.000,3078,0.103,0.038,1835,2304,3580,3463,3697,0,0,0,0,0,0,26.67,26.78,26.73
$GC,10286,-0.51,-175.2,1835,2304,3463,3697,941.8,-6.8,555,10291,0.00,2.12,0.00,0.000,516,0.000,0.044,1835,907,3579,3463,3696,0,0,0,0,0,0,26.97,26.72,27.03
$GC,10325,-0.51,-175.2,1834,907,3464,3696,944.7,-7.2,563,10332,0.00,2.22,0.00,0.000,1030,0.000,0.049,1828,2307,3579,3463,3696,0,0,0,0,0,0,26.76,26.71,26.79
$GC,10647,-0.51,-175.2,1827,2308,3463,3694,967.2,-6.9,577,10653,0.00,2.15,0.00,0.000,516,0.000,0.046,1828,908,3578,3463,3694,0,0,0,0,0,0,26.97,26.72,27.03
$GC,10677,-0.51,-175.2,1828,908,3464,3694,969.5,-7.7,583,10683,0.00,2.22,0.00,0.000,1030,0.000,0.050,1818,2309,3578,3463,3694,0,0,0,0,0,0,26.75,26.70,26.79
$STATE,11007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11007,begin apogee
$GC,11011,-0.12,0.0,1818,1956,3464,3693,991.9,-6.6,599,11171,0.40,0.00,151.93,1.161,10246,0.095,0.000,1958,1955,2899,2923,2875,0,0,0,0,1,0,26.66,24.63,23.63
$STATE,11173,end apogee,CONTROL_FINISHED_OK
$STATE,11173,begin climb
$GC,11174,0.56,175.2,1958,1956,2924,2875,996.0,0.0,604,11334,0.60,0.00,154.32,1.022,10758,0.072,0.000,2173,1954,2183,2256,2110,0,0,0,0,0,0,24.88,24.54,23.73
$GC,11649,0.56,175.2,2173,1955,2243,2103,961.9,8.1,650,11655,0.00,2.30,0.00,0.000,260,0.000,0.054,2173,3378,2173,2243,2103,0,0,0,0,0,0,26.15,25.91,26.21
$GC,11819,0.56,175.2,2172,3378,2242,2103,946.0,9.4,684,11826,0.00,2.22,0.00,0.000,1030,0.000,0.032,2175,1955,2172,2241,2103,0,0,0,0,0,0,26.16,26.13,26.18
$GC,12130,0.55,175.2,2173,1955,2241,2102,920.0,8.2,696,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1955,2171,2240,2102,0,0,0,0,0,0,26.49,26.57,26.56
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$STATE,22516,end climb,SURFACE_DEPTH_REACHED
$STATE,22516,begin surface coast
$FINISH,0.4,1.021137
$STATE,22537,end surface coast,CONTROL_FINISHED_OK
$STATE,22537,begin surface
$SM_CCo,22550,28.65,0.055,0,0,503,587.25
$SM_GC,-0.66,5.50,1.62,28.65,0.028,0.033,0.055,169,2304,503,-5.67,1.61,587.25,0,0,0,0,0,0,26.45,26.42,26.32
$IRIDIUM_FIX,751.63,8344.64,121115,104514
$TT8_MAMPS,0.050932,0.050932
$HUMID,48.46
$INTERNAL_PRESSURE,9.39835
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,4003936
$24V_AH,23.63,7.393
$10V_AH,10.14,5.795
$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,13.475,161.975,600.050,28.650,0.000,0.000,0.000,246.925,0.000,0.000,16.248,0.000,18893.146,1108.630,2655.052,274.183,0.000,2279.925,0.000,1937.662,0.000,0.539,0.000
$DEVICE_MAMPS,201.195,1220.175,1161.270,55.080,0.000,0.000,0.000,120.870,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22557.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.419,0.000,0.000,0.000
$MEM,260800
$DATA_FILE_SIZE,46741,1316
$CAP_FILE_SIZE,223549,0
$CFSIZE,260034560,246800384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.013,323.97,1
$GPS,121115,233134,754.142,8351.212,30,1.0,30,-2.1,0.0,0.0,8,7.8