version: 66.12
glider: 171
mission: 9
dive: 365
start: 2 7 116 23 30 45
data:
$ID,171
$MISSION,9
$DIVE,365
$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,65
$R_STBD_OVSHOOT,41
$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,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,070216,232251,538.8909,8030.8955,29,1.1,46,-2.8,0.4,302.7,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-53.7
$GPS2,070216,233033,538.8648,8030.7217,12,1.3,39,-2.8,0.7,269.9,10,6.4
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH5
$TGT_LATLONG,545.000,8035.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,55.8,13829,-12.3,-7.857,-16.95,3372
$D_GRID,2845
$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,-175.2,170,2317,527,462,0.0,0.0,0,166,0.00,0.00,-145.57,0.000,16386,0.000,0.000,169,2317,3031,3058,3005,0,0,0,0,0,0,26.27,28.83,26.34
$GC,169,-0.54,-175.2,169,2317,3057,3005,6.1,-11.4,12,193,6.30,2.47,-11.65,0.000,18692,0.197,1.170,1806,3654,3616,3539,3694,0,0,0,0,0,0,24.98,23.68,25.38
$GC,283,-0.53,-175.2,1806,3654,3539,3696,52.3,-34.0,31,290,0.00,2.05,0.00,0.000,1030,0.000,0.028,1806,2324,3617,3539,3696,0,0,0,0,0,0,26.14,26.10,26.16
$GC,648,-0.52,-175.2,1806,2323,3539,3698,124.6,-15.0,47,654,0.00,2.20,0.00,0.000,516,0.000,0.034,1806,911,3618,3539,3698,0,0,0,0,0,0,26.62,26.13,26.67
$GC,751,-0.51,-175.2,1806,911,3540,3699,138.5,-14.0,64,757,0.12,2.15,0.00,0.000,3078,0.138,0.039,1831,2303,3619,3540,3699,0,0,0,0,0,0,25.94,26.13,26.07
$GC,1129,-0.51,-175.2,1831,2303,3540,3699,181.1,-10.9,82,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2303,3619,3540,3699,0,0,0,0,0,0,26.72,26.79,26.77
$GC,1491,-0.51,-175.2,1830,2303,3541,3699,213.6,-9.1,97,1497,0.00,2.22,0.00,0.000,260,0.000,0.056,1821,3666,3619,3540,3699,0,0,0,0,0,0,26.76,26.08,26.82
$GC,1568,-0.51,-175.2,1821,3666,3540,3699,221.6,-10.0,110,1575,0.00,2.10,0.00,0.000,1030,0.000,0.032,1821,2305,3619,3540,3699,0,0,0,0,0,0,26.43,26.40,26.45
$GC,1958,-0.51,-175.2,1820,2306,3540,3694,255.1,-8.3,128,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3616,3540,3693,0,0,0,0,0,0,26.78,26.85,26.84
$GC,2318,-0.51,-175.2,1821,2306,3540,3688,287.3,-9.1,138,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3614,3540,3688,0,0,0,0,0,0,26.79,26.86,26.85
$GC,2679,-0.51,-175.2,1820,2305,3540,3682,319.3,-8.5,148,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3611,3540,3682,0,0,0,0,0,0,26.80,26.87,26.86
$GC,3038,-0.51,-175.2,1821,2305,3540,3677,349.0,-8.2,158,3045,0.00,2.20,0.00,0.000,516,0.000,0.038,1821,908,3607,3539,3676,0,0,0,0,0,0,26.81,26.23,26.86
$GC,3068,-0.51,-175.2,1821,909,3540,3676,351.6,-8.7,163,3076,0.00,2.20,0.00,0.000,1030,0.000,0.041,1811,2299,3608,3540,3676,0,0,0,0,0,0,26.25,26.20,26.29
$GC,3435,-0.51,-175.2,1811,2299,3540,3670,384.5,-9.0,174,3441,0.00,2.17,0.00,0.000,516,0.000,0.037,1811,899,3604,3539,3670,0,0,0,0,0,0,26.80,26.22,26.86
$GC,3464,-0.51,-175.2,1811,899,3540,3670,387.3,-9.5,179,3472,0.00,2.22,0.00,0.000,1030,0.000,0.041,1801,2304,3604,3539,3669,0,0,0,0,0,0,26.23,26.19,26.28
$GC,3833,-0.51,-175.2,1801,2305,3539,3664,421.5,-9.3,190,3835,0.10,0.00,0.00,0.000,2054,0.151,0.000,1830,2304,3601,3539,3664,0,0,0,0,0,0,26.49,26.55,26.53
$GC,4192,-0.51,-175.2,1829,2304,3540,3659,447.9,-7.2,200,4198,0.00,2.17,0.00,0.000,516,0.000,0.039,1830,907,3599,3539,3659,0,0,0,0,0,0,26.81,26.18,26.86
$GC,4240,-0.51,-175.2,1830,907,3539,3659,451.5,-7.5,208,4245,0.00,2.20,0.00,0.000,1030,0.000,0.042,1821,2316,3598,3539,3658,0,0,0,0,0,0,26.27,26.17,26.31
$GC,4624,-0.51,-175.2,1821,2316,3539,3655,482.5,-8.3,222,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2316,3596,3539,3654,0,0,0,0,0,0,26.81,26.88,26.86
$GC,4984,-0.51,-175.2,1821,2316,3539,3650,511.3,-7.9,232,4989,0.00,2.22,0.00,0.000,516,0.000,0.037,1821,906,3594,3538,3650,0,0,0,0,0,0,26.81,26.21,26.86
$GC,5049,-0.51,-175.2,1820,906,3539,3650,516.4,-8.4,243,5056,0.00,2.22,0.00,0.000,1030,0.000,0.042,1811,2305,3594,3538,3650,0,0,0,0,0,0,26.20,26.16,26.25
$GC,5415,-0.51,-175.2,1811,2305,3538,3647,545.6,-8.0,254,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2305,3592,3538,3646,0,0,0,0,0,0,26.81,26.88,26.86
$GC,5776,-0.51,-175.2,1810,2305,3539,3643,574.8,-8.1,264,5781,0.00,2.17,0.00,0.000,516,0.000,0.040,1810,907,3590,3538,3642,0,0,0,0,0,0,26.81,26.15,26.86
$GC,5799,-0.51,-175.2,1810,908,3539,3643,576.9,-8.7,268,5805,0.00,2.22,0.00,0.000,1030,0.000,0.043,1801,2299,3590,3538,3642,0,0,0,0,0,0,26.17,26.13,26.22
$GC,6172,-0.51,-175.2,1801,2299,3538,3640,609.2,-8.7,280,6177,0.00,2.15,0.00,0.000,516,0.000,0.037,1801,909,3589,3538,3640,0,0,0,0,0,0,26.81,26.17,26.86
$GC,6213,-0.51,-175.2,1800,909,3538,3640,613.0,-9.1,287,6220,0.10,2.22,0.00,0.000,3078,0.103,0.042,1830,2299,3589,3538,3640,0,0,0,0,0,0,25.93,26.12,26.00
$GC,6606,-0.52,-175.2,1830,2299,3538,3637,640.8,-7.0,302,6612,0.00,2.15,0.00,0.000,516,0.000,0.037,1830,910,3587,3537,3637,0,0,0,0,0,0,26.80,26.15,26.86
$GC,6659,-0.52,-175.2,1829,910,3538,3637,644.8,-7.1,311,6665,0.00,2.22,0.00,0.000,1030,0.000,0.043,1821,2304,3587,3537,3637,0,0,0,0,0,0,26.15,26.11,26.20
$GC,7039,-0.52,-175.2,1820,2304,3538,3634,670.8,-6.7,324,7044,0.00,2.17,0.00,0.000,516,0.000,0.040,1821,908,3585,3537,3634,0,0,0,0,0,0,26.80,26.12,26.86
$GC,7086,-0.52,-175.2,1821,909,3537,3634,674.0,-7.1,332,7092,0.00,2.20,0.00,0.000,1030,0.000,0.043,1811,2314,3585,3537,3634,0,0,0,0,0,0,26.20,26.10,26.25
$GC,7471,-0.52,-175.2,1811,2315,3537,3631,701.3,-7.3,346,7476,0.00,2.17,0.00,0.000,516,0.000,0.037,1811,910,3583,3536,3631,0,0,0,0,0,0,26.80,26.13,26.86
$GC,7500,-0.52,-175.2,1810,910,3537,3631,703.5,-8.3,351,7507,0.00,2.20,0.00,0.000,1030,0.000,0.044,1801,2315,3583,3536,3630,0,0,0,0,0,0,26.18,26.08,26.22
$GC,7865,-0.52,-175.2,1800,2314,3537,3628,732.8,-8.0,362,7872,0.00,2.22,0.00,0.000,516,0.000,0.038,1801,912,3581,3536,3627,0,0,0,0,0,0,26.80,26.11,26.86
$GC,7919,-0.52,-175.2,1800,913,3535,3628,737.3,-8.4,371,7926,0.10,2.22,0.00,0.000,3078,0.102,0.043,1830,2303,3581,3535,3628,0,0,0,0,0,0,25.89,26.08,25.95
$GC,8300,-0.52,-175.2,1829,2304,3535,3627,761.2,-6.1,384,8305,0.00,2.17,0.00,0.000,516,0.000,0.041,1830,912,3580,3535,3626,0,0,0,0,0,0,26.80,26.07,26.86
$GC,8341,-0.53,-175.2,1829,912,3534,3626,763.9,-6.3,391,8347,0.00,2.22,0.00,0.000,1030,0.000,0.043,1821,2300,3580,3534,3626,0,0,0,0,0,0,26.11,26.06,26.16
$GC,8733,-0.53,-175.2,1820,2300,3534,3625,788.4,-6.3,406,8739,0.00,2.17,0.00,0.000,516,0.000,0.040,1821,906,3580,3535,3625,0,0,0,0,0,0,26.80,26.08,26.86
$GC,8768,-0.53,-175.2,1820,905,3534,3625,791.0,-6.7,412,8774,0.00,2.25,0.00,0.000,1030,0.000,0.043,1811,2309,3579,3533,3625,0,0,0,0,0,0,26.10,26.06,26.15
$GC,9166,-0.53,-175.2,1811,2310,3532,3625,819.4,-7.2,428,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2309,3578,3532,3625,0,0,0,0,0,0,26.80,26.88,26.86
$GC,9524,-0.53,-175.2,1811,2309,3532,3625,843.7,-6.6,438,9530,0.00,2.22,0.00,0.000,516,0.000,0.041,1811,917,3577,3531,3623,0,0,0,0,0,0,26.80,26.04,26.86
$GC,9602,-0.53,-175.2,1810,917,3532,3623,849.1,-6.7,451,9608,0.00,2.22,0.00,0.000,1030,0.000,0.044,1801,2305,3577,3531,3623,0,0,0,0,0,0,26.08,26.03,26.13
$GC,9993,-0.53,-175.2,1801,2305,3534,3621,878.3,-7.7,466,9999,0.00,2.20,0.00,0.000,516,0.000,0.041,1801,905,3576,3531,3621,0,0,0,0,0,0,26.80,26.01,26.86
$GC,10047,-0.53,-175.2,1801,905,3531,3621,882.8,-8.3,475,10054,0.08,2.25,0.00,0.000,3078,0.106,0.044,1822,2308,3576,3531,3621,0,0,0,0,0,0,25.84,26.02,25.91
$GC,10427,-0.53,-175.2,1821,2308,3531,3620,909.1,-6.8,488,10432,0.00,2.20,0.00,0.000,516,0.000,0.041,1822,908,3575,3531,3619,0,0,0,0,0,0,26.80,26.01,26.86
$GC,10468,-0.54,-175.2,1822,909,3531,3620,912.2,-7.5,495,10474,0.00,2.22,0.00,0.000,1030,0.000,0.044,1813,2312,3575,3530,3620,0,0,0,0,0,0,26.10,26.00,26.15
$GC,10860,-0.54,-175.2,1813,2312,3530,3619,939.1,-6.8,510,10865,0.00,2.20,0.00,0.000,516,0.000,0.040,1813,909,3574,3530,3619,0,0,0,0,0,0,26.79,26.01,26.86
$GC,10943,-0.54,-175.2,1812,909,3530,3619,945.4,-7.3,524,10949,0.00,2.20,0.00,0.000,1030,0.000,0.044,1803,2309,3574,3530,3619,0,0,0,0,0,0,26.10,26.00,26.15
$GC,11328,-0.54,-175.2,1803,2310,3530,3618,972.8,-7.0,538,11333,0.00,2.20,0.00,0.000,516,0.000,0.041,1803,908,3573,3530,3617,0,0,0,0,0,0,26.79,25.99,26.86
$GC,11394,-0.54,-175.2,1803,909,3529,3617,977.6,-7.2,549,11401,0.00,2.20,0.00,0.000,1030,0.000,0.044,1793,2304,3573,3529,3617,0,0,0,0,0,0,26.08,25.98,26.13
$STATE,11576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11576,begin apogee
$GC,11582,-0.11,0.0,1794,1953,3529,3617,991.6,-7.6,555,11735,0.50,0.00,149.90,0.990,10246,0.091,0.000,1963,1950,2898,2930,2867,0,0,0,0,0,0,25.82,24.48,23.30
$STATE,11737,end apogee,CONTROL_FINISHED_OK
$STATE,11737,begin climb
$GC,11740,0.54,175.2,1963,1950,2926,2863,996.8,0.0,559,11908,0.57,2.40,157.18,0.979,11012,0.064,0.049,2175,3365,2179,2250,2108,0,0,0,0,0,0,24.99,23.94,23.20
$GC,11944,0.60,212.4,2175,3366,2244,2107,988.4,6.7,595,11986,0.00,2.25,34.65,0.933,9222,0.000,0.034,2183,1967,2029,2090,1969,0,0,0,0,0,0,25.33,25.27,23.32
$GC,12376,0.61,221.2,2182,1967,2080,1962,956.2,7.6,617,12390,0.00,2.33,8.60,0.778,8708,0.000,0.045,2190,559,1994,2056,1933,0,0,0,0,0,0,26.36,25.34,23.99
$GC,12408,0.64,246.5,2190,559,2054,1932,953.8,7.1,622,12440,0.00,2.20,25.50,0.906,9222,0.000,0.037,2190,1965,1891,1959,1824,0,0,0,0,0,0,25.98,25.90,23.90
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$STATE,22636,end climb,SURFACE_DEPTH_REACHED
$STATE,22636,begin surface coast
$FINISH,-0.2,1.021411
$STATE,22649,end surface coast,CONTROL_FINISHED_OK
$STATE,22649,begin surface
$SM_CCo,22727,0.00,0.000,0,0,455,599.51
$SM_GC,-0.30,5.80,0.52,0.00,0.024,0.047,0.000,170,2316,455,-5.66,-1.16,599.51,0,0,0,0,0,0,26.29,26.17,26.32
$IRIDIUM_FIX,536.98,8034.04,070216,165434
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.19
$INTERNAL_PRESSURE,9.46672
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3879904
$24V_AH,23.20,55.087
$10V_AH,9.76,33.447
$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
$DEVICE_SECS,14.600,165.200,704.700,0.000,0.000,0.000,0.000,255.950,0.000,0.000,40.600,0.000,19222.402,1123.777,2323.713,494.532,0.000,2196.333,0.000,1657.454,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22678.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.412,0.000,0.000,0.000
$MEM,260788
$DATA_FILE_SIZE,39964,1118
$CAP_FILE_SIZE,197059,0
$CFSIZE,260034560,216133632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,245.51,1
$GPS,080216,055035,540.648,8032.534,39,0.9,39,-2.8,0.0,0.0,9,7.0