version: 66.12
glider: 171
mission: 9
dive: 216
start: 12 29 115 22 50 55
data:
$ID,171
$MISSION,9
$DIVE,216
$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,51
$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
$GPS1,291215,224404,733.0249,8311.5205,34,1.1,34,-2.2,0.0,0.0,6,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-57.1
$GPS2,291215,225042,733.0086,8311.4434,13,1.1,13,-2.2,0.0,0.0,6,8.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH1
$TGT_LATLONG,720.000,8240.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,204.6,62580,-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,-175.2,171,2329,532,477,0.0,0.0,0,154,0.00,0.00,-134.55,0.000,16386,0.000,0.000,170,2329,2762,2808,2717,0,0,0,0,0,0,26.30,28.83,26.36
$GC,157,-0.54,-175.2,170,2329,2809,2717,4.0,-7.2,11,190,6.10,2.40,-18.77,0.000,18948,0.196,1.199,1814,912,3618,3481,3755,0,0,0,0,0,0,25.48,24.24,25.84
$GC,303,-0.53,-175.2,1814,913,3482,3756,53.4,-27.6,36,310,0.00,2.20,0.00,0.000,1030,0.000,0.042,1804,2291,3618,3481,3756,0,0,0,0,0,0,26.08,26.03,26.12
$GC,681,-0.52,-175.2,1804,2291,3482,3761,132.0,-17.6,54,687,0.00,2.22,0.00,0.000,260,0.000,0.054,1794,3662,3621,3481,3761,0,0,0,0,0,0,26.60,26.15,26.65
$GC,717,-0.51,-175.2,1793,3662,3482,3761,137.8,-17.2,60,724,0.10,2.08,0.00,0.000,3078,0.111,0.031,1830,2306,3621,3482,3761,0,0,0,0,0,0,26.07,26.31,26.14
$GC,1089,-0.51,-175.2,1830,2305,3482,3762,179.2,-9.6,77,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2305,3622,3482,3762,0,0,0,0,0,0,26.70,26.77,26.76
$GC,1451,-0.51,-175.2,1830,2305,3482,3762,214.8,-10.4,92,1456,0.00,2.17,0.00,0.000,260,0.000,0.056,1820,3667,3622,3482,3762,0,0,0,0,0,0,26.76,26.25,26.82
$GC,1527,-0.51,-175.2,1820,3668,3482,3762,223.6,-11.2,105,1535,0.00,2.08,0.00,0.000,1030,0.000,0.031,1820,2310,3622,3482,3762,0,0,0,0,0,0,26.48,26.46,26.51
$GC,1894,-0.51,-175.2,1820,2310,3482,3760,263.2,-10.4,121,1901,0.00,2.22,0.00,0.000,260,0.000,0.057,1812,3668,3620,3481,3759,0,0,0,0,0,0,26.80,26.27,26.86
$GC,1984,-0.50,-175.2,1811,3668,3482,3758,272.3,-9.7,136,1991,0.00,2.10,0.00,0.000,1030,0.000,0.033,1812,2304,3619,3481,3758,0,0,0,0,0,0,26.48,26.46,26.52
$GC,2364,-0.50,-175.2,1812,2304,3482,3752,310.1,-10.2,149,2370,0.00,2.15,0.00,0.000,516,0.000,0.039,1812,893,3616,3481,3751,0,0,0,0,0,0,26.82,26.41,26.89
$GC,2387,-0.50,-175.2,1813,894,3481,3752,312.7,-10.5,153,2395,0.08,2.22,0.00,0.000,3078,0.115,0.044,1832,2295,3616,3481,3751,0,0,0,0,0,0,26.19,26.35,26.26
$GC,2762,-0.50,-175.2,1832,2295,3481,3745,346.4,-9.0,165,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2295,3613,3481,3745,0,0,0,0,0,0,26.84,26.91,26.90
$GC,3121,-0.50,-175.2,1832,2295,3481,3740,377.1,-8.1,175,3127,0.00,2.17,0.00,0.000,516,0.000,0.038,1832,902,3610,3481,3740,0,0,0,0,0,0,26.84,26.40,26.91
$GC,3144,-0.50,-175.2,1831,902,3481,3740,379.1,-8.2,179,3151,0.00,2.22,0.00,0.000,1030,0.000,0.044,1823,2307,3610,3481,3739,0,0,0,0,0,0,26.39,26.35,26.44
$GC,3517,-0.50,-175.2,1822,2307,3481,3734,410.6,-8.7,191,3523,0.00,2.22,0.00,0.000,260,0.000,0.060,1812,3668,3607,3480,3734,0,0,0,0,0,0,26.85,26.26,26.91
$GC,3546,-0.50,-175.2,1812,3668,3480,3733,413.2,-9.1,196,3554,0.00,2.12,0.00,0.000,1030,0.000,0.037,1812,2304,3606,3480,3733,0,0,0,0,0,0,26.51,26.47,26.53
$GC,3914,-0.50,-175.2,1812,2304,3480,3728,447.0,-9.2,207,3919,0.00,2.15,0.00,0.000,516,0.000,0.040,1812,901,3603,3479,3727,0,0,0,0,0,0,26.85,26.38,26.91
$GC,3949,-0.50,-175.2,1812,901,3480,3727,450.4,-9.6,213,3957,0.08,2.25,0.00,0.000,3078,0.112,0.046,1832,2306,3603,3479,3727,0,0,0,0,0,0,26.16,26.32,26.23
$GC,4345,-0.50,-175.2,1832,2306,3480,3722,480.1,-7.1,229,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2306,3600,3479,3722,0,0,0,0,0,0,26.86,26.92,26.91
$GC,4706,-0.50,-175.2,1832,2306,3479,3717,505.3,-7.2,239,4712,0.00,2.22,0.00,0.000,516,0.000,0.043,1832,908,3598,3479,3718,0,0,0,0,0,0,26.86,26.32,26.92
$GC,4747,-0.50,-175.2,1832,909,3479,3718,508.6,-7.7,246,4754,0.00,2.25,0.00,0.000,1030,0.000,0.044,1824,2313,3598,3479,3717,0,0,0,0,0,0,26.36,26.31,26.41
$GC,5139,-0.50,-175.2,1823,2314,3479,3713,540.4,-8.2,261,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2313,3596,3479,3713,0,0,0,0,0,0,26.86,26.93,26.92
$GC,5497,-0.50,-175.2,1823,2313,3479,3709,569.3,-7.9,271,5504,0.00,2.22,0.00,0.000,516,0.000,0.041,1824,908,3593,3479,3708,0,0,0,0,0,0,26.86,26.32,26.92
$GC,5540,-0.50,-175.2,1823,909,3479,3709,572.8,-8.1,278,5546,0.00,2.22,0.00,0.000,1030,0.000,0.045,1813,2301,3593,3479,3708,0,0,0,0,0,0,26.34,26.29,26.39
$GC,5930,-0.50,-175.2,1813,2301,3479,3706,605.1,-8.1,293,5937,0.00,2.20,0.00,0.000,516,0.000,0.041,1813,908,3592,3479,3705,0,0,0,0,0,0,26.86,26.30,26.92
$GC,5960,-0.50,-175.2,1813,909,3479,3705,607.7,-8.3,298,5968,0.08,2.22,0.00,0.000,3078,0.112,0.046,1833,2299,3592,3479,3705,0,0,0,0,0,0,26.12,26.28,26.19
$GC,6327,-0.50,-175.2,1833,2299,3479,3703,633.3,-6.9,309,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2299,3590,3478,3703,0,0,0,0,0,0,26.86,26.93,26.91
$GC,6687,-0.50,-175.2,1833,2299,3479,3700,658.3,-7.0,319,6693,0.00,2.20,0.00,0.000,516,0.000,0.040,1834,905,3589,3478,3700,0,0,0,0,0,0,26.86,26.29,26.92
$GC,6722,-0.50,-175.2,1833,906,3479,3700,661.0,-7.6,325,6729,0.00,2.22,0.00,0.000,1030,0.000,0.045,1825,2298,3588,3478,3699,0,0,0,0,0,0,26.32,26.27,26.37
$GC,7120,-0.50,-175.2,1825,2300,3479,3697,690.1,-7.5,341,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2298,3587,3478,3697,0,0,0,0,0,0,26.86,26.94,26.92
$GC,7478,-0.50,-175.2,1825,2298,3479,3695,717.2,-7.5,351,7485,0.00,2.20,0.00,0.000,516,0.000,0.039,1825,905,3586,3478,3694,0,0,0,0,0,0,26.86,26.29,26.92
$GC,7538,-0.50,-175.2,1825,906,3479,3694,721.8,-7.9,361,7546,0.00,2.22,0.00,0.000,1030,0.000,0.045,1815,2298,3586,3479,3694,0,0,0,0,0,0,26.31,26.26,26.36
$GC,7912,-0.50,-175.2,1815,2299,3479,3692,750.3,-7.5,373,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2298,3584,3478,3691,0,0,0,0,0,0,26.86,26.94,26.92
$GC,8270,-0.50,-175.2,1815,2298,3479,3690,776.3,-7.0,383,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2298,3584,3478,3690,0,0,0,0,0,0,26.86,26.94,26.92
$GC,8631,-0.50,-175.2,1815,2298,3479,3688,802.5,-7.4,393,8638,0.00,2.20,0.00,0.000,516,0.000,0.039,1814,905,3583,3478,3688,0,0,0,0,0,0,26.86,26.27,26.92
$GC,8660,-0.50,-175.2,1815,904,3478,3688,804.8,-8.5,398,8669,0.08,2.25,0.00,0.000,3078,0.112,0.045,1835,2306,3583,3478,3688,0,0,0,0,0,0,26.06,26.22,26.13
$GC,9029,-0.50,-175.2,1834,2306,3479,3686,829.7,-6.8,409,9035,0.00,2.20,0.00,0.000,516,0.000,0.044,1835,902,3582,3478,3686,0,0,0,0,0,0,26.86,26.21,26.92
$GC,9064,-0.50,-175.2,1835,902,3478,3686,832.3,-7.2,415,9070,0.00,2.25,0.00,0.000,1030,0.000,0.045,1826,2307,3582,3478,3686,0,0,0,0,0,0,26.27,26.22,26.32
$GC,9461,-0.50,-175.2,1827,2307,3477,3684,860.5,-7.1,431,9466,0.00,2.20,0.00,0.000,516,0.000,0.043,1827,902,3580,3477,3684,0,0,0,0,0,0,26.86,26.20,26.91
$GC,9502,-0.51,-175.2,1827,902,3478,3684,863.7,-7.7,438,9508,0.00,2.25,0.00,0.000,1030,0.000,0.044,1817,2310,3580,3477,3684,0,0,0,0,0,0,26.26,26.20,26.31
$GC,9893,-0.51,-175.2,1816,2310,3477,3682,893.0,-7.6,453,9899,0.00,2.20,0.00,0.000,516,0.000,0.041,1816,904,3579,3477,3682,0,0,0,0,0,0,26.86,26.20,26.91
$GC,9946,-0.51,-175.2,1816,904,3477,3682,897.4,-7.7,462,9953,0.00,2.25,0.00,0.000,1030,0.000,0.046,1807,2309,3579,3477,3682,0,0,0,0,0,0,26.24,26.19,26.29
$GC,10325,-0.51,-175.2,1806,2309,3477,3681,927.6,-7.9,475,10331,0.00,2.22,0.00,0.000,516,0.000,0.042,1806,884,3578,3477,3680,0,0,0,0,0,0,26.85,26.17,26.91
$GC,10372,-0.51,-175.2,1806,884,3477,3681,931.4,-7.5,483,10379,0.10,2.28,0.00,0.000,3078,0.105,0.046,1834,2303,3578,3477,3680,0,0,0,0,0,0,25.98,26.17,26.06
$GC,10756,-0.51,-175.2,1834,2303,3477,3679,954.9,-5.9,497,10764,0.00,2.22,0.00,0.000,516,0.000,0.043,1834,908,3577,3477,3678,0,0,0,0,0,0,26.86,26.17,26.91
$GC,10800,-0.51,-175.2,1834,909,3477,3678,957.5,-6.8,504,10806,0.00,2.25,0.00,0.000,1030,0.000,0.047,1826,2306,3577,3477,3678,0,0,0,0,0,0,26.21,26.15,26.26
$GC,11190,-0.51,-175.2,1825,2305,3477,3677,980.5,-5.9,519,11196,0.00,2.22,0.00,0.000,516,0.000,0.044,1826,884,3577,3477,3677,0,0,0,0,0,0,26.85,26.14,26.91
$GC,11256,-0.51,-175.2,1826,885,3476,3677,984.6,-6.1,530,11263,0.00,2.28,0.00,0.000,1030,0.000,0.046,1815,2332,3576,3476,3677,0,0,0,0,0,0,26.25,26.14,26.31
$STATE,11367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11367,begin apogee
$GC,11372,-0.11,0.0,1816,1955,3476,3677,992.1,-6.5,534,11533,0.43,0.00,152.48,1.150,10246,0.095,0.000,1959,1953,2899,2920,2879,0,0,0,0,1,0,26.01,24.58,23.49
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11537,0.54,175.2,1959,1953,2919,2877,996.3,0.0,538,11696,0.60,0.00,153.73,1.008,10758,0.069,0.000,2173,1953,2182,2251,2114,0,0,0,0,0,0,24.90,24.47,23.59
$GC,12055,0.58,198.4,2174,1953,2240,2106,963.7,7.1,578,12080,0.00,2.33,20.12,0.965,8708,0.000,0.047,2182,559,2088,2149,2028,0,0,0,0,0,0,26.24,25.46,24.44
$GC,12159,0.58,199.2,2181,559,2145,2028,955.9,7.8,595,12165,0.00,2.22,0.00,0.000,1030,0.000,0.037,2182,1977,2086,2144,2028,0,0,0,0,0,0,25.87,25.80,25.90
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$STATE,22970,end climb,SURFACE_DEPTH_REACHED
$STATE,22970,begin surface coast
$FINISH,0.7,1.021153
$STATE,22993,end surface coast,CONTROL_FINISHED_OK
$STATE,22993,begin surface
$SM_CCo,23006,66.43,0.052,0,0,503,587.25
$SM_GC,-0.50,5.40,0.55,66.43,0.027,0.043,0.052,167,2318,503,-5.67,-0.93,587.25,0,0,0,0,0,0,26.46,26.34,26.15
$IRIDIUM_FIX,727.70,8905.61,291215,160842
$TT8_MAMPS,0.050183,0.050183
$HUMID,49.68
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3937120
$24V_AH,23.49,33.127
$10V_AH,10.02,20.471
$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,13.500,187.075,525.875,66.425,0.000,0.000,0.000,246.375,0.000,0.000,14.050,0.000,19521.320,1150.290,2378.707,400.870,0.000,2215.045,0.000,1723.456,0.000,0.539,0.000
$DEVICE_MAMPS,195.840,1198.755,1149.795,52.020,0.000,0.000,0.000,120.105,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23017.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.370,0.000,0.000,0.000
$MEM,261424
$DATA_FILE_SIZE,43364,1166
$CAP_FILE_SIZE,209592,0
$CFSIZE,260034560,230363136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.349,338.94,1
$GPS,301215,051634,733.385,8309.287,40,0.8,40,-2.2,0.0,0.0,10,5.9