version: 66.12
glider: 171
mission: 9
dive: 62
start: 11 18 115 2 43 21
data:
$ID,171
$MISSION,9
$DIVE,62
$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,52
$R_STBD_OVSHOOT,40
$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
$GPS1,181115,023728,759.0396,8447.6367,37,0.9,42,-2.0,0.6,311.9,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-50.2
$GPS2,181115,024310,759.0553,8447.5732,12,1.5,34,-2.0,0.4,273.4,8,8.1
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,96.8,77830,-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,-175.2,174,2298,497,423,0.0,0.0,0,165,0.00,0.00,-146.23,0.000,16386,0.000,0.000,174,2298,2965,2994,2936,0,0,0,0,0,0,26.32,28.83,26.39
$GC,168,-0.54,-175.2,175,2298,2996,2936,4.3,-8.1,12,195,6.03,2.35,-14.05,0.000,18692,0.204,1.232,1806,3661,3618,3463,3774,0,0,0,0,0,0,25.90,24.67,26.16
$GC,271,-0.53,-175.2,1805,3661,3464,3777,46.5,-31.0,30,278,0.00,2.10,0.00,0.000,1030,0.000,0.031,1806,2311,3620,3463,3777,0,0,0,0,0,0,26.25,26.20,26.27
$GC,643,-0.52,-175.2,1806,2309,3464,3780,128.4,-15.9,47,650,0.00,2.22,0.00,0.000,260,0.000,0.056,1796,3668,3621,3463,3780,0,0,0,0,0,0,26.62,26.34,26.67
$GC,865,-0.51,-175.2,1796,3668,3464,3784,161.2,-13.8,84,873,0.12,2.10,0.00,0.000,3078,0.138,0.031,1831,2288,3624,3464,3784,0,0,0,0,0,0,26.34,26.47,26.44
$GC,1244,-0.51,-175.2,1830,2288,3464,3784,201.6,-9.9,102,1251,0.00,2.20,0.00,0.000,260,0.000,0.056,1821,3653,3623,3464,3783,0,0,0,0,0,0,26.76,26.49,26.82
$GC,1279,-0.51,-175.2,1820,3653,3463,3784,205.1,-9.9,108,1287,0.00,2.05,0.00,0.000,1030,0.000,0.031,1821,2307,3623,3463,3784,0,0,0,0,0,0,26.62,26.56,26.64
$GC,1652,-0.50,-175.2,1821,2307,3464,3783,242.1,-10.1,125,1659,0.00,2.17,0.00,0.000,260,0.000,0.057,1812,3655,3623,3464,3782,0,0,0,0,0,0,26.82,26.55,26.88
$GC,1682,-0.50,-175.2,1812,3655,3464,3782,245.5,-11.8,130,1689,0.00,2.05,0.00,0.000,1030,0.000,0.031,1813,2308,3623,3464,3782,0,0,0,0,0,0,26.67,26.61,26.69
$GC,2072,-0.50,-175.2,1812,2307,3464,3775,287.5,-10.4,144,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3619,3464,3775,0,0,0,0,0,0,26.86,26.93,26.91
$GC,2432,-0.50,-175.2,1812,2306,3464,3769,319.0,-8.3,154,2439,0.00,2.17,0.00,0.000,260,0.000,0.059,1803,3652,3615,3463,3768,0,0,0,0,0,0,26.88,26.60,26.94
$GC,2468,-0.50,-175.2,1803,3652,3464,3768,322.3,-9.6,160,2476,0.10,2.05,0.00,0.000,3078,0.128,0.031,1841,2302,3615,3463,3768,0,0,0,0,0,0,26.56,26.68,26.69
$GC,2864,-0.50,-175.2,1841,2302,3463,3761,351.4,-7.2,176,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2301,3612,3463,3761,0,0,0,0,0,0,26.90,26.97,26.96
$GC,3224,-0.50,-175.2,1841,2302,3463,3756,375.6,-6.8,186,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2301,3609,3463,3755,0,0,0,0,0,0,26.91,26.98,26.98
$GC,3584,-0.50,-175.2,1840,2301,3463,3750,404.4,-8.3,196,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2303,3606,3463,3750,0,0,0,0,0,0,26.93,27.00,26.98
$GC,3944,-0.50,-175.2,1840,2302,3464,3745,432.0,-7.1,206,3951,0.00,2.17,0.00,0.000,516,0.000,0.041,1841,907,3603,3462,3744,0,0,0,0,0,0,26.94,26.67,26.99
$GC,3974,-0.50,-175.2,1840,907,3463,3744,434.1,-7.3,211,3982,0.00,2.20,0.00,0.000,1030,0.000,0.046,1833,2294,3603,3462,3744,0,0,0,0,0,0,26.75,26.67,26.78
$GC,4341,-0.50,-175.2,1832,2294,3464,3740,459.4,-6.9,222,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2294,3600,3462,3739,0,0,0,0,0,0,26.94,27.01,27.00
$GC,4700,-0.50,-175.2,1833,2295,3462,3736,485.2,-7.3,232,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2294,3599,3462,3736,0,0,0,0,0,0,26.94,27.01,27.01
$GC,5060,-0.50,-175.2,1832,2294,3462,3731,513.3,-7.9,242,5067,0.00,2.15,0.00,0.000,516,0.000,0.041,1833,909,3596,3462,3731,0,0,0,0,0,0,26.95,26.70,27.01
$GC,5102,-0.50,-175.2,1832,910,3462,3731,516.9,-9.0,249,5110,0.00,2.22,0.00,0.000,1030,0.000,0.046,1824,2312,3596,3462,3731,0,0,0,0,0,0,26.77,26.68,26.79
$GC,5493,-0.50,-175.2,1823,2313,3462,3727,549.8,-8.2,264,5499,0.00,2.20,0.00,0.000,260,0.000,0.063,1813,3668,3594,3462,3726,0,0,0,0,0,0,26.95,26.66,27.01
$GC,5522,-0.50,-175.2,1813,3668,3461,3726,552.3,-9.4,269,5532,0.00,2.10,0.00,0.000,1030,0.000,0.037,1813,2307,3593,3461,3726,0,0,0,0,0,0,26.79,26.74,26.81
$GC,5888,-0.50,-175.2,1813,2307,3461,3723,583.1,-8.5,280,5895,0.00,2.15,0.00,0.000,516,0.000,0.042,1813,911,3592,3461,3723,0,0,0,0,0,0,26.95,26.70,27.01
$GC,5918,-0.49,-175.2,1813,911,3461,3722,585.9,-9.8,285,5928,0.08,2.22,0.00,0.000,3078,0.117,0.047,1834,2317,3591,3461,3722,0,0,0,0,0,0,26.60,26.68,26.67
$GC,6284,-0.49,-175.2,1834,2317,3461,3720,614.6,-8.1,296,6291,0.00,2.17,0.00,0.000,516,0.000,0.040,1834,914,3590,3461,3719,0,0,0,0,0,0,26.95,26.70,27.01
$GC,6332,-0.50,-175.2,1834,914,3461,3719,618.8,-8.9,304,6339,0.00,2.22,0.00,0.000,1030,0.000,0.047,1825,2314,3589,3461,3718,0,0,0,0,0,0,26.76,26.68,26.78
$GC,6716,-0.50,-175.2,1826,2314,3461,3717,651.5,-8.3,318,6723,0.00,2.20,0.00,0.000,516,0.000,0.043,1826,905,3588,3461,3716,0,0,0,0,0,0,26.95,26.70,27.01
$GC,6764,-0.50,-175.2,1825,905,3462,3716,655.5,-8.2,326,6771,0.00,2.22,0.00,0.000,1030,0.000,0.047,1816,2304,3588,3461,3716,0,0,0,0,0,0,26.77,26.68,26.79
$GC,7148,-0.50,-175.2,1816,2304,3461,3713,685.3,-7.3,340,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3587,3461,3713,0,0,0,0,0,0,26.95,27.02,27.01
$GC,7508,-0.50,-175.2,1816,2304,3461,3711,710.4,-6.9,350,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3585,3461,3710,0,0,0,0,0,0,26.96,27.03,27.01
$GC,7868,-0.50,-175.2,1816,2304,3461,3708,736.2,-7.4,360,7876,0.00,2.17,0.00,0.000,516,0.000,0.044,1816,911,3584,3461,3708,0,0,0,0,0,0,26.96,26.69,27.02
$GC,7922,-0.50,-175.2,1816,911,3461,3708,740.5,-8.3,369,7931,0.10,2.22,0.00,0.000,3078,0.147,0.047,1835,2306,3584,3461,3707,0,0,0,0,0,0,26.61,26.68,26.74
$GC,8302,-0.50,-175.2,1835,2306,3461,3706,768.0,-7.5,382,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2306,3583,3461,3706,0,0,0,0,0,0,26.96,27.03,27.02
$GC,8661,-0.50,-175.2,1834,2306,3461,3705,796.3,-8.0,392,8668,0.00,2.17,0.00,0.000,516,0.000,0.045,1835,918,3582,3461,3704,0,0,0,0,0,0,26.96,26.68,27.02
$GC,8691,-0.50,-175.2,1835,918,3461,3703,798.8,-9.0,397,8700,0.00,2.20,0.00,0.000,1030,0.000,0.049,1829,2304,3582,3461,3704,0,0,0,0,0,0,26.73,26.68,26.77
$GC,9057,-0.50,-175.2,1827,2304,3461,3702,828.7,-8.1,408,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2304,3581,3461,3702,0,0,0,0,0,0,26.96,27.03,27.01
$GC,9417,-0.50,-175.2,1827,2304,3461,3701,856.1,-7.4,418,9424,0.00,2.17,0.00,0.000,516,0.000,0.045,1827,920,3580,3461,3699,0,0,0,0,0,0,26.96,26.68,27.01
$GC,9465,-0.50,-175.2,1827,920,3461,3700,859.7,-7.7,426,9472,0.00,2.22,0.00,0.000,1030,0.000,0.049,1817,2312,3580,3461,3700,0,0,0,0,0,0,26.77,26.67,26.79
$GC,9850,-0.50,-175.2,1817,2313,3461,3699,886.7,-6.8,440,9856,0.00,2.20,0.00,0.000,516,0.000,0.044,1817,908,3579,3461,3698,0,0,0,0,0,0,26.96,26.69,27.02
$GC,9879,-0.50,-175.2,1817,908,3461,3697,888.9,-8.2,445,9888,0.00,2.25,0.00,0.000,1030,0.000,0.048,1807,2315,3579,3461,3698,0,0,0,0,0,0,26.76,26.67,26.79
$GC,10246,-0.50,-175.2,1807,2316,3461,3697,914.2,-6.9,456,10252,0.00,2.20,0.00,0.000,516,0.000,0.042,1807,905,3579,3461,3697,0,0,0,0,0,0,26.95,26.68,27.01
$GC,10269,-0.50,-175.2,1807,905,3461,3697,915.9,-7.1,460,10277,0.10,2.22,0.00,0.000,3078,0.109,0.048,1838,2310,3579,3461,3697,0,0,0,0,0,0,26.60,26.67,26.67
$GC,10642,-0.50,-175.2,1837,2310,3461,3696,936.5,-5.4,472,10648,0.00,2.20,0.00,0.000,516,0.000,0.044,1836,906,3577,3460,3694,0,0,0,0,0,0,26.95,26.68,27.01
$GC,10695,-0.51,-175.2,1837,907,3461,3695,939.7,-6.2,481,10703,0.00,2.22,0.00,0.000,1030,0.000,0.048,1830,2306,3577,3460,3694,0,0,0,0,0,0,26.72,26.67,26.75
$GC,11074,-0.51,-175.2,1830,2307,3461,3693,962.7,-6.3,494,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2306,3577,3461,3693,0,0,0,0,0,0,26.95,27.03,27.01
$GC,11434,-0.51,-175.2,1830,2307,3460,3693,987.0,-7.0,504,11441,0.00,2.20,0.00,0.000,516,0.000,0.046,1830,908,3576,3461,3692,0,0,0,0,0,0,26.96,26.67,27.01
$STATE,11480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11480,begin apogee
$GC,11485,-0.11,0.0,1824,1975,3460,3692,990.4,-7.7,512,11648,0.40,0.00,155.07,1.118,10246,0.096,0.000,1962,1975,2899,2923,2875,0,0,0,0,1,0,26.61,24.60,23.49
$STATE,11650,end apogee,CONTROL_FINISHED_OK
$STATE,11650,begin climb
$GC,11651,0.54,175.2,1962,1974,2923,2875,996.7,0.0,516,11826,0.60,2.42,159.25,1.190,11012,0.067,0.054,2176,3362,2184,2256,2112,0,0,0,0,1,0,24.92,24.42,23.30
$GC,11872,0.55,179.8,2176,3363,2251,2112,987.4,7.7,552,11881,0.00,2.30,5.10,0.823,9222,0.000,0.034,2183,1963,2166,2237,2096,0,0,0,0,0,0,25.31,25.25,24.03
$GC,12238,0.54,179.8,2182,1963,2233,2094,959.0,8.0,563,12245,0.00,2.30,0.00,0.000,260,0.000,0.054,2183,3362,2163,2232,2094,0,0,0,0,0,0,26.25,25.99,26.31
$GC,12267,0.54,179.8,2183,3362,2232,2094,956.2,8.6,568,12276,0.00,2.22,0.00,0.000,1030,0.000,0.034,2190,1957,2163,2232,2094,0,0,0,0,0,0,26.13,26.08,26.15
$GC,12635,0.54,179.8,2190,1956,2231,2093,923.4,9.1,579,12641,0.00,2.30,0.00,0.000,260,0.000,0.053,2190,3373,2162,2231,2093,0,0,0,0,0,0,26.50,26.25,26.56
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$STATE,23397,end climb,SURFACE_DEPTH_REACHED
$STATE,23397,begin surface coast
$FINISH,0.5,1.021339
$STATE,23410,end surface coast,CONTROL_FINISHED_OK
$STATE,23410,begin surface
$SM_CCo,23483,0.00,0.000,0,0,457,599.02
$SM_GC,-0.28,5.57,0.52,0.00,0.025,0.051,0.000,169,2305,457,-5.66,-1.10,599.02,0,0,0,0,0,0,26.19,26.11,26.22
$IRIDIUM_FIX,755.99,8448.14,171115,202036
$TT8_MAMPS,0.048685,0.048685
$HUMID,46.69
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3996256
$24V_AH,23.30,10.430
$10V_AH,10.14,7.516
$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
$DEVICE_SECS,13.925,155.125,672.200,0.000,0.000,0.000,0.000,202.225,0.000,0.000,35.943,0.000,20122.787,1199.494,2216.762,267.378,0.000,2175.260,0.000,1602.613,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23426.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.802,0.000,0.000,0.000
$MEM,260812
$DATA_FILE_SIZE,39993,1083
$CAP_FILE_SIZE,197226,0
$CFSIZE,260034560,244989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.098,319.78,1
$GPS,181115,091603,759.805,8450.010,30,1.4,58,-2.0,0.3,8.0,8,9.1