version: 66.12
glider: 171
mission: 9
dive: 7
start: 11 4 115 12 47 56
data:
$ID,171
$MISSION,9
$DIVE,7
$N_DIVES,8
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$D_ABORT,400
$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,110
$T_MISSION,150
$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,150
$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,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,1928
$C_ROLL_CLIMB,1928
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$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,9.5
$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
$GPS1,041115,124233,752.2826,8235.7285,14,1.5,23,-2.2,0.3,263.9,6,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-52.3
$GPS2,041115,124746,752.2741,8235.6592,11,1.3,33,-2.2,0.4,216.6,6,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,PIES
$TGT_LATLONG,800.000,8325.052
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,75.8,91707,-17.5,-10.000,-21.06,2227
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.72,-146.0,176,1933,546,462,0.0,0.0,0,172,0.00,0.00,-151.95,0.000,16386,0.000,0.000,175,1933,3100,3119,3081,0,0,0,0,0,0,26.63,28.83,26.69
$GC,174,-0.72,-146.0,175,1934,3121,3082,5.2,-11.6,15,197,6.32,2.28,-8.60,0.000,18692,0.210,1.234,1880,3327,3498,3451,3546,0,0,0,0,0,0,26.18,25.25,26.44
$GC,261,-0.67,-146.0,1879,3328,3451,3551,32.9,-19.2,32,270,0.08,2.10,0.00,0.000,3078,0.129,0.033,1907,1940,3500,3450,3550,0,0,0,0,0,0,26.31,26.45,26.39
$GC,576,-0.67,-146.0,1907,1941,3451,3552,88.0,-15.1,53,584,0.00,2.15,0.00,0.000,260,0.000,0.049,1897,3320,3500,3450,3551,0,0,0,0,0,0,26.84,26.58,26.90
$GC,808,-0.75,-146.0,1897,3321,3451,3555,113.8,-10.4,99,814,0.00,2.08,0.00,0.000,1030,0.000,0.032,1897,1927,3502,3450,3554,0,0,0,0,0,0,26.73,26.70,26.75
$GC,1118,-0.85,-146.0,1897,1925,3451,3559,143.4,-9.3,116,1126,0.12,2.20,0.00,0.000,4356,0.084,0.050,1796,3328,3504,3450,3558,0,0,0,0,0,0,26.79,26.69,26.83
$GC,1270,-0.85,-146.0,1796,3329,3451,3560,164.5,-13.5,146,1277,0.15,2.08,0.00,0.000,3078,0.115,0.032,1851,1935,3504,3450,3559,0,0,0,0,0,0,26.61,26.77,26.70
$GC,1581,-0.92,-146.0,1851,1935,3451,3560,187.6,-5.8,163,1588,0.00,2.17,0.00,0.000,260,0.000,0.051,1846,3320,3505,3451,3560,0,0,0,0,0,0,27.00,26.73,27.07
$GC,1698,-0.99,-146.0,1846,3322,3451,3560,195.2,-7.0,186,1705,0.05,2.08,0.00,0.000,5126,0.064,0.034,1766,1939,3505,3450,3560,0,0,0,0,0,0,26.76,26.79,26.84
$GC,2002,-0.99,-146.0,1766,1939,3451,3560,231.3,-11.4,202,2009,0.15,2.15,0.00,0.000,2308,0.134,0.050,1799,3316,3504,3450,3558,0,0,0,0,0,0,26.69,26.75,26.80
$GC,2233,-1.03,-146.0,1799,3317,3451,3560,253.7,-8.9,248,2239,0.00,2.10,0.00,0.000,1030,0.000,0.034,1799,1923,3504,3450,3559,0,0,0,0,0,0,26.85,26.82,26.86
$GC,2544,-1.07,-146.0,1799,1923,3451,3558,278.4,-7.4,260,2550,0.00,2.17,0.00,0.000,260,0.000,0.052,1790,3334,3503,3450,3556,0,0,0,0,0,0,27.03,26.76,27.10
$GC,2684,-1.10,-146.0,1790,3334,3450,3554,291.4,-10.7,288,2690,0.00,2.12,0.00,0.000,1030,0.000,0.034,1790,1922,3502,3450,3554,0,0,0,0,0,0,26.85,26.83,26.88
$GC,2995,-1.13,-146.0,1790,1923,3451,3551,322.4,-9.2,300,3001,0.00,2.20,0.00,0.000,260,0.000,0.055,1780,3319,3500,3450,3550,0,0,0,0,0,0,27.05,26.76,27.10
$STATE,3079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3079,begin apogee
$GC,3084,-0.14,0.0,1780,1925,3450,3550,330.3,-9.3,317,3204,0.88,0.00,114.95,0.591,10246,0.104,0.000,2081,1920,2898,2943,2854,0,0,0,0,0,0,26.67,25.60,25.11
$STATE,3205,end apogee,CONTROL_FINISHED_OK
$STATE,3205,begin climb
$GC,3206,0.72,146.0,2081,1921,2942,2848,332.3,0.0,321,3329,0.73,2.30,115.32,0.574,10756,0.039,0.045,2389,525,2300,2383,2218,0,0,0,0,0,0,25.80,25.41,24.91
$GC,3454,0.58,146.0,2389,525,2377,2211,306.0,14.5,371,3460,0.20,2.17,0.00,0.000,5126,0.143,0.039,2325,1930,2293,2376,2210,0,0,1,0,0,0,25.98,26.13,26.06
$GC,3775,0.51,146.0,2325,1931,2374,2207,266.5,12.2,385,3777,0.12,0.00,0.00,0.000,4102,0.170,0.000,2293,1931,2290,2374,2206,0,0,0,0,0,0,26.34,26.53,26.49
$GC,4075,0.47,149.1,2293,1931,2373,2205,236.4,9.9,397,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1931,2288,2372,2204,0,0,0,0,0,0,26.81,26.89,26.87
$GC,4375,0.43,153.7,2293,1931,2371,2203,205.6,9.8,412,4387,0.00,2.20,4.40,0.474,8452,0.000,0.049,2293,3328,2272,2358,2187,0,0,0,0,0,0,26.88,26.48,25.81
$GC,4426,0.38,153.7,2292,3328,2359,2188,199.9,11.3,422,4434,0.10,2.10,0.00,0.000,5126,0.139,0.029,2258,1924,2272,2358,2187,0,0,0,0,0,0,26.47,26.65,26.56
$GC,4738,0.40,166.9,2257,1924,2356,2188,172.4,9.4,439,4756,0.00,2.20,12.68,0.524,8452,0.000,0.047,2257,3331,2214,2301,2128,0,0,0,0,0,0,26.91,26.25,25.94
$GC,4805,0.40,166.9,2258,3331,2298,2128,165.4,10.7,452,4812,0.00,2.10,0.00,0.000,1030,0.000,0.029,2261,1938,2212,2297,2128,0,0,0,0,0,0,26.62,26.59,26.65
$GC,5121,0.53,237.9,2261,1939,2294,2126,140.2,6.7,470,5185,0.12,2.17,56.33,0.493,10756,0.081,0.043,2344,532,1926,2006,1846,0,0,0,0,0,0,26.74,25.84,25.56
$GC,5199,0.51,240.8,2344,532,2004,1846,132.6,9.9,485,5207,0.15,2.15,0.00,0.000,5126,0.115,0.040,2292,1921,1924,2002,1846,0,0,1,0,0,0,26.06,26.17,26.13
$GC,5504,0.64,300.2,2292,1922,1998,1842,106.7,7.3,501,5562,0.12,2.22,50.60,0.457,10500,0.080,0.049,2372,3334,1672,1755,1589,0,0,0,0,0,0,26.56,25.89,25.50
$GC,5757,0.64,300.2,2372,3334,1748,1587,76.7,12.1,551,5763,0.10,2.15,0.00,0.000,5126,0.131,0.030,2338,1918,1666,1746,1587,0,0,0,0,0,0,26.23,26.39,26.31
$GC,6068,0.81,372.4,2338,1919,1743,1584,52.5,6.7,568,6133,0.15,2.20,57.53,0.407,10756,0.069,0.043,2430,539,1376,1483,1270,0,0,0,0,0,0,26.61,25.98,25.58
$GC,6143,0.84,391.5,2428,540,1481,1269,46.0,9.1,582,6166,0.08,2.12,15.68,0.408,13318,0.119,0.035,2403,1933,1301,1404,1198,0,0,1,0,0,0,26.01,26.12,25.53
$GC,6462,0.86,391.5,2403,1934,1402,1193,13.3,11.6,616,6469,0.00,2.17,0.00,0.000,260,0.000,0.046,2403,3326,1296,1401,1192,0,0,0,0,0,0,26.65,26.39,26.70
$GC,6523,0.86,391.5,2403,3327,1402,1193,5.8,12.4,628,6529,0.00,2.10,0.00,0.000,1030,0.000,0.028,2404,1928,1296,1401,1192,0,0,0,0,0,0,26.51,26.48,26.53
$STATE,6552,end climb,SURFACE_DEPTH_REACHED
$STATE,6552,begin surface coast
$FINISH,-0.3,1.021529
$STATE,6573,end surface coast,CONTROL_FINISHED_OK
$STATE,6573,begin surface
$SM_CCo,6585,81.28,0.050,0,0,504,587.25
$SM_GC,-0.68,6.07,0.00,81.28,0.067,0.000,0.050,174,1928,504,-6.08,0.00,587.25,0,0,0,0,0,0,26.52,26.77,26.41
$IRIDIUM_FIX,749.46,8236.84,041115,105026
$TT8_MAMPS,0.047936,0.047936
$HUMID,52.40
$INTERNAL_PRESSURE,9.56438
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4017376
$24V_AH,24.91,2.398
$10V_AH,9.83,3.099
$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,15.700,60.375,427.475,81.275,0.000,0.000,0.000,198.875,0.000,0.000,34.479,0.000,4745.590,738.191,1376.295,114.788,0.000,1400.556,0.000,933.409,0.000,0.541,0.000
$DEVICE_MAMPS,209.610,1233.945,590.580,49.725,0.000,0.000,0.000,113.985,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6587.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.747,0.000,0.000,0.000
$MEM,260832
$DATA_FILE_SIZE,23363,634
$CAP_FILE_SIZE,93756,0
$CFSIZE,260034560,250253312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.046,192.00,1
$GPS,041115,144003,752.063,8236.317,37,1.8,41,-2.2,0.9,236.5,8,9.7