version: 66.12
glider: 171
mission: 9
dive: 8
start: 11 4 115 14 45 14
data:
$ID,171
$MISSION,9
$DIVE,8
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$D_ABORT,600
$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,160
$T_MISSION,220
$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,2100
$C_ROLL_CLIMB,1928
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,30
$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
$GPS1,041115,144003,752.0631,8236.3174,37,1.8,41,-2.2,0.9,236.5,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.36
$_SM_ANGLEo,-53.1
$GPS2,041115,144503,752.0435,8236.2480,14,1.5,47,-2.2,0.3,280.8,8,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,PIES
$TGT_LATLONG,800.000,8325.052
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,73.4,90709,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-146.0,175,2087,556,462,0.0,0.0,0,171,0.00,0.00,-152.38,0.000,16386,0.000,0.000,174,2088,3174,3188,3160,0,0,0,0,0,0,26.57,28.83,26.63
$GC,173,-0.72,-146.0,177,2089,3190,3160,5.9,-13.5,15,196,6.38,2.25,-6.72,0.000,18948,0.211,1.229,1892,709,3498,3444,3553,0,0,1,0,0,0,26.14,25.02,26.39
$GC,210,-0.50,-146.0,1892,710,3445,3555,23.4,-34.9,22,219,0.25,2.17,0.00,0.000,3078,0.125,0.041,1966,2100,3499,3445,3554,0,0,0,0,0,0,26.15,26.27,26.22
$GC,515,-0.55,-146.0,1966,2101,3445,3558,65.8,-12.2,47,522,0.00,2.22,0.00,0.000,260,0.000,0.054,1956,3508,3501,3445,3557,0,0,0,0,0,0,26.74,26.48,26.80
$GC,701,-0.66,-146.0,1956,3509,3445,3559,84.4,-8.4,84,708,0.08,2.10,0.00,0.000,5126,0.050,0.031,1868,2108,3501,3445,3558,0,0,0,0,0,0,26.58,26.60,26.62
$GC,1017,-0.70,-146.0,1868,2106,3445,3563,125.6,-11.6,102,1024,0.12,2.22,0.00,0.000,2308,0.133,0.052,1895,3514,3503,3445,3562,0,0,0,0,0,0,26.60,26.63,26.70
$GC,1089,-0.79,-146.0,1895,3514,3445,3564,131.7,-8.4,116,1095,0.00,2.10,0.00,0.000,1030,0.000,0.031,1895,2106,3505,3445,3565,0,0,0,0,0,0,26.72,26.70,26.74
$GC,1399,-0.90,-146.0,1896,2105,3445,3567,152.0,-5.6,133,1407,0.15,2.22,0.00,0.000,4356,0.074,0.053,1783,3513,3505,3444,3567,0,0,0,0,0,0,26.78,26.67,26.82
$GC,1541,-0.90,-146.0,1784,3513,3445,3567,168.2,-11.9,161,1549,0.15,2.10,0.00,0.000,3078,0.116,0.031,1838,2103,3506,3445,3567,0,0,0,0,0,0,26.60,26.74,26.68
$GC,1863,-0.95,-146.0,1837,2103,3445,3568,196.6,-7.7,180,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2103,3506,3445,3567,0,0,0,0,0,0,26.98,27.05,27.04
$GC,2164,-1.02,-146.0,1836,2103,3446,3568,223.5,-10.0,195,2170,0.08,2.17,0.00,0.000,4356,0.099,0.054,1758,3513,3505,3444,3567,0,0,0,0,0,0,26.85,26.73,26.88
$GC,2350,-1.00,-146.0,1758,3514,3445,3568,250.5,-14.5,232,2357,0.12,2.12,0.00,0.000,3078,0.116,0.033,1803,2100,3505,3444,3567,0,0,0,0,0,0,26.65,26.79,26.73
$GC,2667,-1.04,-146.0,1803,2101,3445,3564,282.0,-8.8,245,2673,0.00,2.22,0.00,0.000,260,0.000,0.056,1793,3507,3503,3444,3562,0,0,0,0,0,0,27.01,26.74,27.08
$GC,2758,-1.07,-146.0,1792,3508,3445,3565,289.5,-7.3,263,2764,0.00,2.12,0.00,0.000,1030,0.000,0.034,1793,2099,3502,3444,3561,0,0,0,0,0,0,26.84,26.81,26.86
$GC,3089,-1.10,-146.0,1792,2098,3445,3556,316.1,-7.8,279,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2097,3500,3444,3556,0,0,0,0,0,0,27.02,27.10,27.09
$GC,3389,-1.13,-146.0,1792,2098,3445,3552,342.2,-9.6,289,3395,0.00,2.25,0.00,0.000,260,0.000,0.057,1783,3512,3497,3444,3551,0,0,0,0,0,0,27.03,26.74,27.09
$GC,3535,-1.15,-146.0,1783,3512,3444,3550,359.0,-11.7,318,3542,0.00,2.12,0.00,0.000,1030,0.000,0.034,1783,2103,3497,3444,3550,0,0,0,0,0,0,26.85,26.82,26.87
$GC,3840,-1.17,-146.0,1783,2103,3444,3545,392.9,-10.5,329,3847,0.00,2.25,0.00,0.000,260,0.000,0.059,1778,3510,3495,3446,3544,0,0,0,0,0,0,27.03,26.75,27.09
$GC,3891,-1.20,-146.0,1778,3511,3444,3544,398.1,-9.4,339,3898,0.08,2.12,0.00,0.000,5126,0.051,0.034,1707,2102,3494,3445,3544,0,0,0,0,0,0,26.78,26.82,26.82
$GC,4203,-1.14,-146.0,1707,2103,3444,3540,440.1,-13.8,351,4209,0.20,2.20,0.00,0.000,2308,0.138,0.059,1756,3507,3491,3444,3539,0,0,0,0,0,0,26.66,26.74,26.79
$GC,4294,-1.14,-146.0,1756,3507,3445,3539,451.0,-11.4,369,4300,0.00,2.12,0.00,0.000,1030,0.000,0.036,1756,2108,3491,3444,3538,0,0,0,0,0,0,26.84,26.81,26.86
$STATE,4593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4594,begin apogee
$GC,4597,-0.14,0.0,1756,1921,3445,3534,482.7,-10.1,384,4726,0.95,0.00,120.25,0.825,10246,0.109,0.000,2079,1918,2899,2944,2854,0,0,0,0,1,0,26.67,25.18,24.53
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4728,begin climb
$GC,4729,0.72,146.0,2080,1919,2944,2855,484.9,0.0,388,4857,0.75,2.30,119.60,0.679,10756,0.034,0.045,2400,533,2300,2382,2218,0,0,0,0,0,0,25.46,25.18,24.63
$GC,4926,0.56,146.0,2399,534,2377,2213,462.9,17.7,428,4933,0.28,2.20,0.00,0.000,5126,0.145,0.038,2315,1939,2294,2376,2212,0,0,1,0,0,0,25.69,25.84,25.78
$GC,5238,0.48,146.0,2315,1940,2374,2207,420.7,13.0,440,5240,0.12,0.00,0.00,0.000,4102,0.177,0.000,2284,1940,2290,2374,2206,0,0,0,0,0,0,26.22,26.39,26.36
$GC,5538,0.43,146.0,2284,1941,2373,2205,384.3,12.2,450,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1940,2288,2372,2205,0,0,0,0,0,0,26.70,26.79,26.78
$GC,5837,0.38,146.0,2284,1940,2371,2204,350.3,10.5,460,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1940,2287,2370,2204,0,0,0,0,0,0,26.79,26.88,26.86
$GC,6138,0.35,149.7,2283,1940,2370,2203,321.5,9.8,470,6144,0.15,2.15,0.00,0.000,4356,0.163,0.051,2241,3344,2285,2369,2202,0,0,0,0,0,0,26.51,26.60,26.64
$GC,6163,0.33,149.7,2242,3344,2369,2202,318.7,10.2,475,6171,0.00,2.12,0.00,0.000,1030,0.000,0.031,2248,1940,2285,2368,2202,0,0,0,0,0,0,26.68,26.65,26.71
$GC,6469,0.33,149.7,2248,1940,2368,2202,289.3,10.5,486,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1939,2284,2368,2201,0,0,0,0,0,0,26.89,26.97,26.96
$GC,6769,0.33,149.7,2249,1939,2366,2201,257.6,10.1,496,6775,0.00,2.20,0.00,0.000,260,0.000,0.050,2249,3332,2283,2366,2200,0,0,0,0,0,0,26.93,26.67,26.98
$GC,6824,0.30,149.7,2248,3333,2366,2201,251.9,10.2,507,6832,0.00,2.12,0.00,0.000,1030,0.000,0.030,2251,1922,2283,2366,2200,0,0,0,0,0,0,26.75,26.71,26.77
$GC,7139,0.32,158.7,2250,1923,2365,2200,222.1,9.6,523,7152,0.00,2.28,8.30,0.554,8452,0.000,0.050,2250,3337,2251,2337,2166,0,0,0,0,0,0,26.95,26.51,25.96
$GC,7176,0.30,158.7,2250,3338,2335,2167,218.3,10.0,530,7184,0.00,2.12,0.00,0.000,1030,0.000,0.031,2251,1932,2250,2334,2166,0,0,0,0,0,0,26.67,26.64,26.70
$GC,7481,0.33,175.7,2250,1932,2333,2165,190.5,9.2,546,7505,0.00,2.25,15.02,0.542,8452,0.000,0.051,2251,3330,2180,2265,2095,0,0,0,0,0,0,26.91,26.39,25.87
$GC,7579,0.33,175.7,2251,3330,2262,2095,180.0,11.0,565,7588,0.00,2.12,0.00,0.000,1030,0.000,0.030,2251,1924,2178,2262,2095,0,0,0,0,0,0,26.60,26.57,26.62
$GC,7884,0.45,237.4,2251,1925,2259,2094,153.6,7.2,581,7941,0.00,2.20,49.47,0.506,8708,0.000,0.045,2251,538,1928,2009,1848,0,0,0,0,0,0,26.85,26.01,25.53
$GC,8036,0.69,353.4,2250,539,2003,1847,145.4,4.6,611,8139,0.25,2.12,94.65,0.482,11270,0.031,0.035,2393,1928,1455,1562,1348,0,0,1,0,0,0,26.32,26.28,25.08
$GC,8448,0.69,353.4,2392,1928,1555,1339,83.7,13.1,648,8455,0.15,2.22,0.00,0.000,4356,0.146,0.050,2352,3325,1446,1554,1339,0,0,0,0,0,0,26.15,26.23,26.29
$GC,8564,0.73,353.4,2352,3325,1555,1339,70.5,10.9,671,8572,0.00,2.12,0.00,0.000,1030,0.000,0.031,2355,1933,1446,1554,1338,0,0,0,0,0,0,26.39,26.36,26.41
$GC,8869,0.82,372.3,2356,1934,1554,1337,41.6,9.1,691,8887,0.12,0.00,14.82,0.422,10246,0.078,0.000,2433,1931,1380,1490,1270,0,0,0,0,0,0,26.56,26.22,25.83
$STATE,9180,end climb,SURFACE_DEPTH_REACHED
$STATE,9181,begin surface coast
$FINISH,0.4,1.021569
$STATE,9200,end surface coast,CONTROL_FINISHED_OK
$STATE,9200,begin surface
$SM_CCo,9213,90.18,0.051,0,0,503,587.25
$SM_GC,-0.95,6.25,0.25,90.18,0.073,0.057,0.051,173,2111,503,-6.09,-1.24,587.25,0,0,0,0,0,0,26.53,26.55,26.41
$IRIDIUM_FIX,747.28,8236.84,041115,124411
$TT8_MAMPS,0.048685,0.048685
$HUMID,51.65
$INTERNAL_PRESSURE,9.49601
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,4016992
$24V_AH,24.53,2.482
$10V_AH,9.90,3.151
$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,16.625,70.425,422.125,90.175,0.000,0.000,0.000,170.725,0.000,0.000,48.167,0.000,7141.432,792.576,1531.650,134.672,0.000,1482.142,0.000,1067.229,0.000,0.540,0.000
$DEVICE_MAMPS,211.140,1229.355,824.670,51.255,0.000,0.000,0.000,118.575,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9216.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.010,0.000,0.000,0.000
$MEM,260808
$DATA_FILE_SIZE,26707,724
$CAP_FILE_SIZE,112954,0
$CFSIZE,260034560,250167296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,1,0,0
$INTR,0,4710.96,0x234072,2,24
$CURRENT,0.011,206.00,1
$GPS,041115,172203,752.164,8237.391,86,0.9,86,-2.2,0.2,246.7,10,7.0