version: 66.12
glider: 171
mission: 9
dive: 140
start: 12 9 115 8 5 36
data:
$ID,171
$MISSION,9
$DIVE,140
$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,51
$R_STBD_OVSHOOT,36
$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
$GPS1,091215,075905,752.2612,8227.2412,41,1.0,41,-2.2,0.0,0.0,7,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-58.1
$GPS2,091215,080524,752.2197,8227.1826,17,1.1,17,-2.2,0.0,0.0,6,8.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,715.000,8400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,93.3,183929,-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,-175.2,168,2307,543,464,0.0,0.0,0,143,0.00,0.00,-123.82,0.000,16386,0.000,0.000,168,2307,2574,2644,2504,0,0,0,0,0,0,26.27,28.83,26.34
$GC,146,-0.54,-175.2,168,2307,2645,2505,3.3,-6.2,10,178,6.10,0.00,-22.62,0.000,18950,0.200,0.000,1817,2308,3617,3474,3760,0,0,0,0,0,0,25.70,24.79,26.02
$GC,535,-0.53,-175.2,1817,2308,3475,3768,97.7,-18.8,35,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2308,3621,3475,3767,0,0,0,0,0,0,26.58,26.65,26.64
$GC,895,-0.53,-175.2,1817,2308,3475,3770,147.6,-12.6,50,896,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2308,3622,3475,3770,0,0,0,0,0,0,26.70,26.76,26.76
$GC,1256,-0.52,-175.2,1817,2308,3475,3770,189.5,-11.0,65,1262,0.00,2.15,0.00,0.000,516,0.000,0.042,1817,906,3622,3474,3770,0,0,0,0,0,0,26.76,26.46,26.82
$GC,1333,-0.52,-175.2,1817,906,3475,3770,198.0,-10.7,78,1340,0.00,2.20,0.00,0.000,1030,0.000,0.042,1807,2303,3621,3474,3769,0,0,0,0,0,0,26.52,26.48,26.55
$GC,1711,-0.52,-175.2,1806,2304,3475,3770,239.0,-10.5,96,1718,0.00,2.20,0.00,0.000,260,0.000,0.056,1797,3671,3622,3475,3770,0,0,0,0,0,0,26.82,26.46,26.87
$GC,1771,-0.52,-175.2,1796,3671,3475,3770,246.0,-11.2,106,1778,0.10,2.10,0.00,0.000,3078,0.142,0.031,1830,2290,3622,3474,3770,0,0,0,0,0,0,26.41,26.58,26.48
$GC,2156,-0.52,-175.2,1830,2290,3475,3765,280.6,-8.2,119,2162,0.00,2.22,0.00,0.000,260,0.000,0.057,1820,3665,3619,3474,3764,0,0,0,0,0,0,26.84,26.48,26.91
$GC,2197,-0.52,-175.2,1820,3665,3475,3764,284.2,-8.8,126,2204,0.00,2.08,0.00,0.000,1030,0.000,0.034,1820,2322,3618,3474,3763,0,0,0,0,0,0,26.65,26.59,26.67
$GC,2588,-0.52,-175.2,1820,2321,3474,3758,320.4,-9.6,141,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2320,3616,3474,3758,0,0,0,0,0,0,26.86,26.94,26.92
$GC,2947,-0.51,-175.2,1820,2320,3475,3753,352.1,-8.5,151,2954,0.00,2.20,0.00,0.000,260,0.000,0.060,1811,3667,3613,3474,3752,0,0,0,0,0,0,26.88,26.50,26.94
$GC,2977,-0.51,-175.2,1810,3667,3475,3752,354.8,-9.7,156,2986,0.00,2.10,0.00,0.000,1030,0.000,0.035,1811,2298,3612,3474,3751,0,0,0,0,0,0,26.64,26.60,26.67
$GC,3344,-0.51,-175.2,1810,2298,3475,3746,387.2,-8.6,167,3350,0.00,2.22,0.00,0.000,260,0.000,0.060,1801,3662,3609,3474,3745,0,0,0,0,0,0,26.88,26.51,26.94
$GC,3385,-0.51,-175.2,1800,3662,3474,3745,390.7,-8.6,174,3393,0.08,2.08,0.00,0.000,3078,0.106,0.035,1831,2310,3609,3474,3745,0,0,0,0,0,0,26.46,26.61,26.53
$GC,3775,-0.51,-175.2,1831,2310,3474,3741,418.0,-7.2,189,3783,0.00,2.20,0.00,0.000,516,0.000,0.041,1831,901,3607,3474,3740,0,0,0,0,0,0,26.89,26.56,26.95
$GC,3818,-0.51,-175.2,1831,901,3474,3740,421.2,-7.7,196,3825,0.00,2.22,0.00,0.000,1030,0.000,0.045,1822,2307,3607,3474,3740,0,0,0,0,0,0,26.59,26.55,26.63
$GC,4209,-0.51,-175.2,1822,2307,3474,3736,452.2,-7.7,211,4215,0.00,2.20,0.00,0.000,516,0.000,0.043,1822,904,3604,3474,3735,0,0,0,0,0,0,26.89,26.55,26.96
$GC,4238,-0.51,-175.2,1822,904,3474,3736,454.5,-7.9,216,4246,0.00,2.25,0.00,0.000,1030,0.000,0.045,1812,2317,3604,3473,3735,0,0,0,0,0,0,26.64,26.54,26.67
$GC,4605,-0.51,-175.2,1812,2318,3473,3730,485.2,-8.5,227,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2317,3601,3473,3730,0,0,0,0,0,0,26.89,26.96,26.96
$GC,4964,-0.51,-175.2,1812,2318,3474,3726,516.4,-8.8,237,4972,0.00,2.20,0.00,0.000,516,0.000,0.039,1812,903,3599,3473,3726,0,0,0,0,0,0,26.90,26.57,26.96
$GC,5024,-0.51,-175.2,1812,903,3474,3726,522.0,-8.8,247,5032,0.08,2.22,0.00,0.000,3078,0.116,0.044,1832,2309,3599,3473,3726,0,0,0,0,0,0,26.41,26.55,26.50
$GC,5398,-0.51,-175.2,1831,2309,3474,3722,549.9,-7.3,259,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2309,3597,3473,3722,0,0,0,0,0,0,26.90,26.97,26.96
$GC,5757,-0.51,-175.2,1832,2309,3473,3720,573.9,-6.5,269,5764,0.00,2.20,0.00,0.000,516,0.000,0.042,1833,907,3595,3473,3718,0,0,0,0,0,0,26.90,26.55,26.96
$GC,5793,-0.51,-175.2,1832,907,3474,3717,576.3,-6.7,275,5800,0.00,2.20,0.00,0.000,1030,0.000,0.046,1824,2299,3595,3473,3718,0,0,0,0,0,0,26.59,26.54,26.63
$GC,6189,-0.51,-175.2,1824,2300,3473,3715,602.7,-6.8,291,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2299,3594,3473,3715,0,0,0,0,0,0,26.90,26.98,26.96
$GC,6549,-0.51,-175.2,1824,2300,3473,3712,626.6,-6.6,301,6557,0.00,2.17,0.00,0.000,516,0.000,0.039,1824,903,3592,3473,3712,0,0,0,0,0,0,26.91,26.56,26.96
$GC,6621,-0.51,-175.2,1824,903,3474,3711,631.7,-7.4,313,6629,0.00,2.22,0.00,0.000,1030,0.000,0.045,1813,2309,3592,3473,3711,0,0,0,0,0,0,26.58,26.53,26.63
$GC,7019,-0.51,-175.2,1813,2310,3474,3708,661.8,-7.8,329,7026,0.00,2.17,0.00,0.000,516,0.000,0.044,1813,892,3590,3473,3708,0,0,0,0,0,0,26.91,26.53,26.96
$GC,7042,-0.51,-175.2,1813,892,3474,3708,663.8,-8.6,333,7050,0.00,2.28,0.00,0.000,1030,0.000,0.047,1803,2313,3590,3473,3708,0,0,0,0,0,0,26.62,26.52,26.65
$GC,7416,-0.51,-175.2,1802,2313,3474,3706,695.1,-8.2,345,7422,0.00,2.17,0.00,0.000,516,0.000,0.043,1803,902,3589,3473,3705,0,0,0,0,0,0,26.90,26.53,26.96
$GC,7445,-0.51,-175.2,1803,902,3474,3706,697.7,-9.3,350,7454,0.10,2.22,0.00,0.000,3078,0.108,0.046,1832,2304,3589,3473,3705,0,0,0,0,0,0,26.39,26.52,26.46
$GC,7812,-0.51,-175.2,1832,2304,3473,3703,721.7,-6.4,361,7819,0.00,2.15,0.00,0.000,516,0.000,0.043,1832,907,3588,3473,3703,0,0,0,0,0,0,26.90,26.52,26.96
$GC,7865,-0.51,-175.2,1832,908,3473,3703,725.3,-6.6,370,7872,0.00,2.22,0.00,0.000,1030,0.000,0.046,1824,2311,3587,3473,3702,0,0,0,0,0,0,26.56,26.51,26.60
$GC,8244,-0.51,-175.2,1824,2312,3473,3700,751.6,-6.9,383,8250,0.00,2.20,0.00,0.000,516,0.000,0.043,1823,910,3586,3473,3700,0,0,0,0,0,0,26.90,26.51,26.96
$GC,8298,-0.51,-175.2,1823,910,3473,3701,755.7,-7.5,392,8304,0.00,2.22,0.00,0.000,1030,0.000,0.047,1815,2307,3586,3472,3700,0,0,0,0,0,0,26.55,26.50,26.60
$GC,8676,-0.51,-175.2,1814,2307,3473,3698,784.6,-7.6,405,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2307,3585,3472,3698,0,0,0,0,0,0,26.90,26.97,26.96
$GC,9036,-0.51,-175.2,1813,2307,3473,3697,811.2,-7.3,415,9042,0.00,2.20,0.00,0.000,516,0.000,0.044,1813,909,3584,3472,3696,0,0,0,0,0,0,26.90,26.51,26.96
$GC,9083,-0.51,-175.2,1813,909,3472,3696,814.8,-7.8,423,9090,0.00,2.22,0.00,0.000,1030,0.000,0.046,1804,2304,3584,3472,3696,0,0,0,0,0,0,26.55,26.50,26.60
$GC,9468,-0.51,-175.2,1803,2305,3473,3694,845.8,-8.5,437,9475,0.00,2.22,0.00,0.000,260,0.000,0.061,1793,3672,3582,3472,3693,0,0,0,0,0,0,26.90,26.44,26.96
$GC,9540,-0.51,-175.2,1793,3673,3474,3693,852.5,-9.4,449,9548,0.10,2.10,0.00,0.000,3078,0.099,0.035,1833,2301,3582,3472,3693,0,0,0,0,0,0,26.42,26.64,26.49
$GC,9937,-0.51,-175.2,1833,2302,3471,3692,879.3,-6.5,465,9944,0.00,2.17,0.00,0.000,516,0.000,0.040,1833,907,3581,3472,3691,0,0,0,0,0,0,26.90,26.51,26.96
$GC,9973,-0.51,-175.2,1833,908,3472,3691,881.6,-6.7,471,9980,0.00,2.22,0.00,0.000,1030,0.000,0.045,1825,2310,3581,3472,3691,0,0,0,0,0,0,26.55,26.49,26.59
$GC,10371,-0.52,-175.2,1824,2310,3472,3690,907.3,-6.4,487,10376,0.00,2.15,0.00,0.000,516,0.000,0.043,1824,911,3581,3472,3690,0,0,0,0,0,0,26.90,26.48,26.96
$GC,10411,-0.52,-175.2,1824,911,3472,3690,910.3,-7.2,494,10418,0.00,2.22,0.00,0.000,1030,0.000,0.045,1814,2306,3580,3471,3690,0,0,0,0,0,0,26.54,26.48,26.58
$GC,10803,-0.52,-175.2,1814,2306,3472,3689,936.2,-6.6,509,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2306,3579,3471,3688,0,0,0,0,0,0,26.90,26.97,26.96
$GC,11161,-0.52,-175.2,1814,2306,3472,3688,961.2,-6.9,519,11168,0.00,2.20,0.00,0.000,516,0.000,0.043,1814,912,3579,3471,3687,0,0,0,0,0,0,26.90,26.48,26.96
$GC,11227,-0.52,-175.2,1814,913,3472,3688,966.3,-7.7,530,11235,0.00,2.22,0.00,0.000,1030,0.000,0.046,1805,2307,3579,3471,3687,0,0,0,0,0,0,26.53,26.48,26.58
$STATE,11556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11556,begin apogee
$GC,11561,-0.11,0.0,1805,1955,3471,3686,992.5,-8.1,540,11717,0.45,0.00,148.57,1.070,10246,0.096,0.000,1959,1951,2899,2922,2876,0,0,0,0,1,0,26.34,24.70,23.65
$STATE,11719,end apogee,CONTROL_FINISHED_OK
$STATE,11719,begin climb
$GC,11720,0.54,175.2,1959,1951,2922,2875,997.4,0.0,544,11878,0.60,0.00,153.18,1.022,10758,0.070,0.000,2173,1950,2183,2254,2113,0,0,0,0,0,0,24.96,24.53,23.68
$GC,12236,0.57,192.4,2173,1950,2242,2104,965.4,7.3,583,12256,0.00,2.30,14.98,0.959,8708,0.000,0.049,2181,570,2112,2175,2050,0,0,0,0,0,0,26.23,25.52,24.44
$GC,12322,0.57,192.4,2181,570,2172,2050,958.6,8.4,597,12329,0.00,2.25,0.00,0.000,1030,0.000,0.039,2181,1963,2110,2171,2049,0,0,0,0,0,0,25.90,25.86,25.93
$GC,12707,0.57,192.4,2181,1963,2168,2051,926.2,8.5,611,12713,0.00,2.25,0.00,0.000,260,0.000,0.054,2181,3375,2108,2167,2049,0,0,0,0,0,0,26.44,26.13,26.51
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$STATE,23707,end climb,SURFACE_DEPTH_REACHED
$STATE,23707,begin surface coast
$FINISH,-0.1,1.020158
$STATE,23755,end surface coast,CONTROL_FINISHED_OK
$STATE,23755,begin surface
$SM_CCo,23829,0.00,0.000,0,0,458,599.02
$SM_GC,-0.51,5.93,0.52,0.00,0.041,0.047,0.000,170,2313,458,-5.65,-1.02,599.02,0,0,0,0,0,0,26.21,26.16,26.25
$IRIDIUM_FIX,751.63,8225.76,091215,011841
$TT8_MAMPS,0.050183,0.050183
$HUMID,48.14
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3966304
$24V_AH,23.65,22.062
$10V_AH,9.98,14.392
$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,14.275,142.200,666.300,0.000,0.000,0.000,0.000,237.150,0.000,0.000,18.167,0.000,20442.072,1111.504,2304.941,328.896,0.000,2143.153,0.000,1658.070,0.000,0.539,0.000
$DEVICE_MAMPS,199.665,61.200,1070.235,0.000,0.000,0.000,0.000,120.105,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23778.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.421,0.000,0.000,0.000
$MEM,260752
$DATA_FILE_SIZE,39950,1119
$CAP_FILE_SIZE,201436,0
$CFSIZE,260034560,237608960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.102,276.11,1
$GPS,091215,144335,752.450,8229.086,29,1.1,29,-2.2,0.0,0.0,8,8.2