version: 66.12
glider: 171
mission: 9
dive: 31
start: 11 9 115 18 1 51
data:
$ID,171
$MISSION,9
$DIVE,31
$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,-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,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,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,35
$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
$GPS1,091115,175544,754.1950,8309.5283,85,1.0,85,-2.2,1.1,174.3,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.50
$_SM_ANGLEo,-49.8
$GPS2,091115,180140,754.1159,8309.5713,15,1.9,31,-2.2,0.4,170.7,7,9.9
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,93.5,257773,-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,-0.60,-175.2,175,2310,512,426,0.0,0.0,0,163,0.00,0.00,-143.77,0.000,16386,0.000,0.000,174,2310,2953,2982,2924,0,0,0,0,0,0,26.27,28.83,26.34
$GC,165,-0.60,-175.2,175,2310,2983,2924,3.9,-9.1,14,192,5.95,2.30,-14.45,0.000,19204,0.202,1.219,1798,921,3617,3465,3770,0,0,0,0,0,0,25.85,24.61,26.11
$GC,392,-0.59,-175.2,1798,921,3465,3774,74.1,-24.3,59,398,0.00,2.17,0.00,0.000,1030,0.000,0.044,1788,2293,3619,3465,3773,0,0,0,0,0,0,26.26,26.21,26.29
$GC,707,-0.58,-175.2,1788,2294,3465,3779,140.4,-14.2,77,708,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2294,3622,3465,3779,0,0,0,0,0,0,26.62,26.69,26.68
$GC,1007,-0.58,-175.2,1787,2294,3466,3781,180.2,-15.1,92,1013,0.00,2.22,0.00,0.000,260,0.000,0.059,1778,3695,3623,3465,3781,0,0,0,0,0,0,26.70,26.42,26.77
$GC,1037,-0.57,-175.2,1777,3695,3466,3781,184.6,-15.2,98,1044,0.10,2.10,0.00,0.000,3078,0.112,0.031,1816,2305,3623,3465,3781,0,0,0,0,0,0,26.37,26.51,26.45
$GC,1349,-0.57,-175.2,1815,2305,3465,3781,215.9,-10.0,115,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3624,3465,3783,0,0,0,0,0,0,26.77,26.84,26.83
$GC,1649,-0.56,-175.2,1815,2305,3465,3780,246.5,-9.6,130,1655,0.00,2.15,0.00,0.000,260,0.000,0.060,1805,3669,3622,3465,3779,0,0,0,0,0,0,26.82,26.53,26.87
$GC,1679,-0.56,-175.2,1805,3669,3465,3780,249.6,-10.6,136,1686,0.00,2.08,0.00,0.000,1030,0.000,0.034,1805,2305,3622,3465,3780,0,0,0,0,0,0,26.63,26.60,26.66
$GC,1991,-0.56,-175.2,1805,2306,3465,3774,278.6,-9.2,148,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2306,3619,3465,3773,0,0,0,0,0,0,26.85,26.92,26.91
$GC,2290,-0.55,-175.2,1805,2306,3464,3768,310.7,-11.0,158,2296,0.00,2.20,0.00,0.000,260,0.000,0.062,1797,3664,3616,3465,3768,0,0,0,0,0,0,26.88,26.59,26.94
$GC,2345,-0.55,-175.2,1797,3664,3465,3767,316.8,-10.8,169,2354,0.00,2.08,0.00,0.000,1030,0.000,0.034,1797,2306,3616,3465,3767,0,0,0,0,0,0,26.68,26.65,26.71
$GC,2651,-0.55,-175.2,1797,2306,3465,3762,350.5,-11.1,180,2657,0.00,2.17,0.00,0.000,260,0.000,0.063,1789,3673,3613,3465,3761,0,0,0,0,0,0,26.90,26.59,26.96
$GC,2686,-0.54,-175.2,1789,3673,3465,3761,354.6,-11.9,187,2693,0.08,2.08,0.00,0.000,3078,0.109,0.033,1820,2303,3612,3464,3761,0,0,0,0,0,0,26.57,26.67,26.64
$GC,3012,-0.54,-175.2,1820,2302,3464,3756,386.4,-9.7,202,3018,0.00,2.22,0.00,0.000,260,0.000,0.063,1814,3671,3609,3464,3755,0,0,0,0,0,0,26.91,26.61,26.97
$GC,3047,-0.54,-175.2,1814,3671,3464,3756,389.8,-9.7,209,3055,0.00,2.08,0.00,0.000,1030,0.000,0.034,1814,2304,3609,3464,3755,0,0,0,0,0,0,26.74,26.70,26.76
$GC,3374,-0.54,-175.2,1813,2304,3465,3750,419.5,-9.0,224,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2304,3607,3464,3750,0,0,0,0,0,0,26.92,27.00,26.98
$GC,3674,-0.54,-175.2,1814,2304,3464,3745,446.3,-8.8,234,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2304,3604,3464,3745,0,0,0,0,0,0,26.94,27.01,27.00
$GC,3974,-0.54,-175.2,1814,2304,3464,3741,473.9,-9.3,244,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2304,3602,3464,3741,0,0,0,0,0,0,26.94,27.02,27.01
$GC,4274,-0.54,-175.2,1813,2304,3464,3738,500.1,-8.2,254,4281,0.00,2.22,0.00,0.000,260,0.000,0.064,1809,3671,3600,3463,3737,0,0,0,0,0,0,26.96,26.67,27.01
$GC,4310,-0.54,-175.2,1808,3671,3464,3737,503.0,-7.8,261,4317,0.00,2.08,0.00,0.000,1030,0.000,0.034,1809,2303,3599,3463,3735,0,0,0,0,0,0,26.78,26.75,26.81
$GC,4637,-0.54,-175.2,1808,2303,3464,3732,528.5,-7.7,276,4642,0.00,2.10,0.00,0.000,516,0.000,0.041,1811,905,3597,3463,3731,0,0,0,0,0,0,26.96,26.71,27.02
$GC,4691,-0.54,-175.2,1809,905,3464,3731,533.0,-8.2,287,4699,0.00,2.20,0.00,0.000,1030,0.000,0.047,1800,2304,3597,3463,3731,0,0,0,0,0,0,26.74,26.70,26.77
$GC,4997,-0.54,-175.2,1799,2304,3464,3728,561.3,-9.9,298,5003,0.00,2.17,0.00,0.000,260,0.000,0.065,1790,3674,3595,3463,3728,0,0,0,0,0,0,26.96,26.66,27.02
$GC,5047,-0.54,-175.2,1789,3675,3463,3728,566.6,-10.3,308,5054,0.08,2.08,0.00,0.000,3078,0.107,0.036,1822,2306,3595,3463,3727,0,0,0,0,0,0,26.64,26.75,26.70
$GC,5359,-0.54,-175.2,1822,2306,3463,3724,595.6,-9.3,320,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3593,3463,3724,0,0,0,0,0,0,26.96,27.03,27.03
$GC,5658,-0.54,-175.2,1822,2306,3463,3721,620.7,-8.1,330,5665,0.00,2.15,0.00,0.000,516,0.000,0.043,1822,908,3591,3463,3720,0,0,0,0,0,0,26.96,26.72,27.03
$GC,5714,-0.54,-175.2,1821,908,3463,3720,625.3,-8.1,341,5723,0.00,2.20,0.00,0.000,1030,0.000,0.049,1814,2300,3591,3462,3720,0,0,0,0,0,0,26.75,26.70,26.78
$GC,6020,-0.54,-175.2,1814,2300,3463,3718,648.8,-7.7,352,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2300,3590,3462,3718,0,0,0,0,0,0,26.97,27.04,27.03
$GC,6319,-0.54,-175.2,1813,2300,3463,3715,672.1,-7.9,362,6325,0.00,2.15,0.00,0.000,516,0.000,0.043,1814,910,3589,3465,3714,0,0,0,0,0,0,26.97,26.72,27.03
$GC,6340,-0.54,-175.2,1814,910,3462,3714,673.7,-8.4,366,6346,0.00,2.20,0.00,0.000,1030,0.000,0.050,1806,2298,3588,3462,3714,0,0,0,0,0,0,26.75,26.71,26.79
$GC,6650,-0.54,-175.2,1806,2299,3462,3712,699.6,-8.3,378,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2298,3587,3463,3712,0,0,0,0,0,0,26.97,27.05,27.03
$GC,6951,-0.54,-175.2,1805,2299,3463,3709,724.2,-8.2,388,6957,0.00,2.15,0.00,0.000,516,0.000,0.041,1806,908,3585,3462,3708,0,0,0,0,0,0,26.98,26.73,27.04
$GC,6976,-0.54,-175.2,1806,908,3462,3709,726.3,-8.4,393,6984,0.00,2.22,0.00,0.000,1030,0.000,0.051,1796,2304,3585,3462,3708,0,0,0,0,0,0,26.75,26.70,26.79
$GC,7281,-0.54,-175.2,1796,2304,3463,3707,752.3,-8.5,404,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2304,3585,3463,3707,0,0,0,0,0,0,26.98,27.05,27.03
$GC,7581,-0.54,-175.2,1796,2304,3463,3705,777.6,-8.5,414,7588,0.10,2.17,0.00,0.000,2564,0.153,0.046,1826,911,3583,3462,3705,0,0,0,0,0,0,26.72,26.72,26.79
$GC,7607,-0.54,-175.2,1826,911,3463,3705,779.7,-8.2,419,7615,0.00,2.22,0.00,0.000,1030,0.000,0.050,1817,2312,3583,3462,3705,0,0,0,0,0,0,26.76,26.70,26.79
$GC,7912,-0.54,-175.2,1817,2313,3462,3703,803.8,-7.9,430,7919,0.00,2.17,0.00,0.000,516,0.000,0.045,1817,917,3582,3462,3703,0,0,0,0,0,0,26.98,26.71,27.04
$GC,7943,-0.54,-175.2,1817,917,3462,3703,806.2,-8.0,436,7949,0.00,2.20,0.00,0.000,1030,0.000,0.050,1807,2304,3582,3462,3702,0,0,0,0,0,0,26.75,26.70,26.79
$GC,8274,-0.54,-175.2,1807,2304,3462,3701,834.4,-8.5,452,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3581,3462,3700,0,0,0,0,0,0,26.98,27.05,27.04
$GC,8574,-0.54,-175.2,1807,2304,3462,3699,860.6,-8.7,462,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3580,3462,3699,0,0,0,0,0,0,26.98,27.05,27.04
$GC,8873,-0.54,-175.2,1807,2304,3462,3697,887.2,-8.6,472,8880,0.00,2.17,0.00,0.000,516,0.000,0.046,1807,913,3579,3461,3697,0,0,0,0,0,0,26.98,26.72,27.04
$GC,8909,-0.54,-175.2,1807,914,3462,3697,890.3,-8.9,479,8916,0.00,2.20,0.00,0.000,1030,0.000,0.050,1799,2300,3580,3462,3698,0,0,0,0,0,0,26.76,26.71,26.79
$GC,9235,-0.54,-175.2,1798,2300,3462,3696,918.6,-8.5,494,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2300,3578,3461,3695,0,0,0,0,0,0,26.98,27.05,27.04
$GC,9535,-0.54,-175.2,1798,2300,3461,3694,943.4,-8.1,504,9541,0.00,2.15,0.00,0.000,516,0.000,0.043,1798,915,3577,3461,3693,0,0,0,0,0,0,26.98,26.72,27.04
$GC,9566,-0.54,-175.2,1798,915,3462,3694,945.9,-8.9,510,9572,0.10,2.20,0.00,0.000,3078,0.109,0.050,1845,2300,3577,3461,3693,0,0,0,0,0,0,26.65,26.70,26.77
$GC,9897,-0.54,-175.2,1844,2300,3462,3692,965.2,-5.7,526,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2300,3576,3461,3691,0,0,0,0,0,0,26.98,27.05,27.04
$GC,10197,-0.54,-175.2,1844,2300,3462,3691,981.9,-5.6,536,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2300,3575,3461,3689,0,0,0,0,0,0,26.98,27.05,27.04
$STATE,10375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10375,begin apogee
$GC,10379,-0.14,0.0,1845,1924,3461,3690,991.5,-5.4,542,10545,0.32,0.00,157.50,1.132,10246,0.093,0.000,1960,1920,2899,2924,2874,0,0,0,0,1,0,26.68,24.48,23.37
$STATE,10546,end apogee,CONTROL_FINISHED_OK
$STATE,10546,begin climb
$GC,10547,0.60,175.2,1960,1920,2923,2873,996.1,0.0,547,10717,0.68,2.42,158.85,1.017,11012,0.068,0.050,2199,3352,2180,2251,2109,0,0,0,0,0,0,24.84,24.28,23.65
$GC,10766,0.60,175.2,2199,3352,2245,2107,982.6,9.5,584,10773,0.00,2.25,0.00,0.000,1030,0.000,0.030,2203,1949,2175,2244,2106,0,0,0,0,0,0,25.34,25.32,25.37
$GC,11071,0.60,175.2,2202,1948,2241,2103,953.9,9.2,595,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1947,2171,2241,2102,0,0,0,0,0,0,26.20,26.27,26.26
$GC,11371,0.59,175.2,2202,1947,2240,2102,927.1,8.7,605,11378,0.00,2.28,0.00,0.000,260,0.000,0.051,2203,3351,2170,2239,2101,0,0,0,0,0,0,26.43,26.18,26.49
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$STATE,22065,end climb,SURFACE_DEPTH_REACHED
$STATE,22065,begin surface coast
$FINISH,-0.3,1.021589
$STATE,22095,end surface coast,CONTROL_FINISHED_OK
$STATE,22095,begin surface
$SM_CCo,22108,36.03,0.056,0,0,504,587.25
$SM_GC,-0.78,5.53,1.58,36.03,0.036,0.029,0.056,173,2289,504,-5.67,1.47,587.25,0,0,0,0,0,0,26.48,26.48,26.34
$IRIDIUM_FIX,749.46,8309.78,091115,113408
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.00
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,4008160
$24V_AH,23.37,5.707
$10V_AH,10.16,4.885
$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,13.725,162.400,588.725,36.025,0.000,0.000,0.000,219.225,0.000,0.000,32.493,0.000,18569.369,1142.870,2504.005,263.572,0.000,2221.568,0.000,1820.647,0.000,0.539,0.000
$DEVICE_MAMPS,201.960,1218.645,1132.200,55.845,0.000,0.000,0.000,126.225,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22112.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.425,0.000,0.000,0.000
$MEM,260796
$DATA_FILE_SIZE,43286,1236
$CAP_FILE_SIZE,215292,0
$CFSIZE,260034560,247906304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,10572.54,0x234072,1,24
$CURRENT,0.036,329.77,1
$GPS,101115,001205,754.907,8312.994,47,1.1,47,-2.1,0.0,0.0,7,8.3