version: 66.12
glider: 171
mission: 9
dive: 251
start: 1 8 116 5 9 59
data:
$ID,171
$MISSION,9
$DIVE,251
$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,50
$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,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
$GPS1,080116,050228,648.5928,8250.2354,40,1.0,40,-2.4,0.0,0.0,8,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.46
$_SM_ANGLEo,-46.9
$GPS2,080116,050946,648.5275,8250.2129,11,1.8,39,-2.4,0.5,165.5,7,9.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,630.000,8240.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,256.1,39122,-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,18,-0.54,-175.2,169,2319,540,472,0.0,0.0,0,165,0.00,0.00,-145.45,0.000,16386,0.000,0.000,169,2319,3030,3055,3006,0,0,0,0,0,0,26.29,28.83,26.35
$GC,168,-0.54,-175.2,169,2319,3057,3007,6.0,-11.3,12,191,6.18,2.45,-11.73,0.000,18948,0.198,1.187,1814,907,3616,3484,3749,0,0,0,0,0,0,25.33,24.11,25.70
$GC,364,-0.53,-175.2,1813,907,3485,3755,72.7,-23.5,45,372,0.00,2.22,0.00,0.000,1030,0.000,0.041,1803,2294,3620,3485,3755,0,0,0,0,0,0,26.08,26.04,26.13
$GC,743,-0.52,-175.2,1803,2294,3485,3760,138.7,-13.7,63,750,0.00,2.22,0.00,0.000,260,0.000,0.054,1793,3663,3622,3485,3759,0,0,0,0,0,0,26.63,26.10,26.68
$GC,977,-0.52,-175.2,1793,3663,3484,3761,169.7,-11.4,102,985,0.08,2.08,0.00,0.000,3078,0.109,0.029,1823,2305,3623,3485,3761,0,0,0,0,0,0,26.11,26.34,26.17
$GC,1343,-0.52,-175.2,1823,2305,3485,3761,203.7,-9.5,118,1350,0.00,2.22,0.00,0.000,260,0.000,0.054,1813,3664,3622,3485,3760,0,0,0,0,0,0,26.74,26.15,26.79
$GC,1452,-0.52,-175.2,1812,3664,3485,3761,215.0,-10.6,136,1458,0.00,2.08,0.00,0.000,1030,0.000,0.031,1813,2285,3623,3485,3761,0,0,0,0,0,0,26.44,26.38,26.47
$GC,1835,-0.51,-175.2,1812,2284,3485,3759,253.2,-9.1,153,1842,0.00,2.28,0.00,0.000,260,0.000,0.055,1803,3669,3620,3484,3757,0,0,0,0,0,0,26.79,26.16,26.84
$GC,1871,-0.51,-175.2,1803,3670,3484,3758,256.5,-8.9,159,1878,0.00,2.10,0.00,0.000,1030,0.000,0.030,1803,2301,3621,3484,3759,0,0,0,0,0,0,26.44,26.41,26.47
$GC,2270,-0.51,-175.2,1802,2300,3485,3751,293.1,-9.5,175,2275,0.10,2.20,0.00,0.000,2308,0.148,0.054,1821,3668,3617,3484,3750,0,0,0,0,0,0,26.50,26.17,26.53
$GC,2298,-0.51,-175.2,1820,3668,3485,3751,296.0,-9.0,180,2306,0.00,2.10,0.00,0.000,1030,0.000,0.031,1821,2299,3617,3484,3750,0,0,0,0,0,0,26.44,26.41,26.48
$GC,2666,-0.51,-175.2,1820,2299,3485,3744,330.3,-9.4,191,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2298,3614,3484,3744,0,0,0,0,0,0,26.82,26.89,26.88
$GC,3024,-0.51,-175.2,1821,2298,3484,3739,364.0,-9.3,201,3032,0.00,2.25,0.00,0.000,260,0.000,0.057,1812,3662,3611,3484,3738,0,0,0,0,0,0,26.83,26.15,26.89
$GC,3061,-0.51,-175.2,1811,3662,3485,3738,367.5,-10.4,207,3067,0.00,2.10,0.00,0.000,1030,0.000,0.033,1812,2306,3611,3484,3738,0,0,0,0,0,0,26.44,26.41,26.47
$GC,3458,-0.50,-175.2,1812,2305,3484,3732,406.7,-10.2,223,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2305,3607,3483,3732,0,0,0,0,0,0,26.83,26.90,26.89
$GC,3818,-0.50,-175.2,1812,2305,3483,3727,443.5,-10.1,233,3824,0.00,2.15,0.00,0.000,516,0.000,0.039,1812,901,3604,3482,3727,0,0,0,0,0,0,26.84,26.28,26.89
$GC,3859,-0.50,-175.2,1811,901,3483,3727,447.8,-10.2,240,3866,0.08,2.22,0.00,0.000,3078,0.113,0.042,1832,2302,3604,3482,3726,0,0,0,0,0,0,26.07,26.25,26.14
$GC,4250,-0.50,-175.2,1831,2302,3483,3722,479.2,-7.8,255,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2302,3602,3482,3722,0,0,0,0,0,0,26.84,26.91,26.90
$GC,4609,-0.50,-175.2,1831,2302,3483,3718,507.0,-7.8,265,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2302,3599,3482,3717,0,0,0,0,0,0,26.84,26.91,26.90
$GC,4969,-0.50,-175.2,1831,2302,3482,3714,534.3,-7.5,275,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2302,3597,3482,3713,0,0,0,0,0,0,26.84,26.91,26.90
$GC,5330,-0.50,-175.2,1831,2302,3482,3710,561.7,-7.8,285,5337,0.00,2.17,0.00,0.000,516,0.000,0.041,1832,900,3595,3482,3709,0,0,0,0,0,0,26.84,26.22,26.90
$GC,5378,-0.50,-175.2,1832,901,3482,3709,565.4,-8.2,293,5385,0.00,2.22,0.00,0.000,1030,0.000,0.042,1823,2302,3595,3481,3709,0,0,0,0,0,0,26.27,26.22,26.32
$GC,5763,-0.50,-175.2,1823,2302,3482,3706,596.9,-8.3,307,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3593,3481,3706,0,0,0,0,0,0,26.84,26.91,26.90
$GC,6122,-0.50,-175.2,1823,2303,3481,3703,626.5,-8.3,317,6130,0.00,2.22,0.00,0.000,516,0.000,0.041,1823,905,3592,3481,3703,0,0,0,0,0,0,26.84,26.20,26.90
$GC,6219,-0.50,-175.2,1823,905,3481,3702,634.7,-9.0,333,6226,0.00,2.22,0.00,0.000,1030,0.000,0.042,1813,2299,3591,3480,3702,0,0,0,0,0,0,26.25,26.20,26.29
$GC,6591,-0.50,-175.2,1813,2300,3481,3699,666.8,-8.6,345,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2299,3590,3481,3699,0,0,0,0,0,0,26.84,26.91,26.90
$GC,6952,-0.50,-175.2,1813,2299,3481,3697,695.7,-7.6,355,6957,0.00,2.17,0.00,0.000,516,0.000,0.038,1813,901,3588,3480,3697,0,0,0,0,0,0,26.84,26.20,26.90
$GC,7023,-0.50,-175.2,1812,901,3481,3697,701.3,-7.8,367,7030,0.08,2.22,0.00,0.000,3078,0.111,0.042,1833,2301,3588,3480,3696,0,0,0,0,0,0,25.99,26.17,26.06
$GC,7420,-0.50,-175.2,1833,2301,3480,3694,725.0,-5.7,383,7426,0.00,2.20,0.00,0.000,516,0.000,0.039,1833,908,3586,3480,3693,0,0,0,0,0,0,26.85,26.19,26.90
$GC,7456,-0.51,-175.2,1833,908,3480,3691,727.1,-6.3,389,7463,0.00,2.22,0.00,0.000,1030,0.000,0.044,1825,2303,3586,3480,3693,0,0,0,0,0,0,26.20,26.15,26.25
$GC,7854,-0.51,-175.2,1824,2304,3480,3691,749.2,-5.4,405,7860,0.00,2.17,0.00,0.000,516,0.000,0.042,1824,908,3585,3480,3690,0,0,0,0,0,0,26.84,26.13,26.90
$GC,7907,-0.51,-175.2,1824,909,3480,3690,752.3,-5.5,414,7913,0.00,2.25,0.00,0.000,1030,0.000,0.044,1814,2310,3585,3480,3690,0,0,0,0,0,0,26.18,26.13,26.22
$GC,8286,-0.51,-175.2,1813,2310,3480,3688,774.0,-5.7,427,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2310,3583,3479,3688,0,0,0,0,0,0,26.84,26.91,26.90
$GC,8645,-0.51,-175.2,1814,2310,3480,3687,795.3,-6.0,437,8652,0.00,2.22,0.00,0.000,516,0.000,0.041,1813,911,3582,3479,3686,0,0,0,0,0,0,26.84,26.12,26.90
$GC,8699,-0.51,-175.2,1813,912,3480,3687,799.0,-7.0,446,8706,0.00,2.22,0.00,0.000,1030,0.000,0.044,1804,2301,3582,3479,3686,0,0,0,0,0,0,26.17,26.12,26.22
$GC,9079,-0.51,-175.2,1804,2301,3480,3684,827.1,-7.8,459,9084,0.00,2.17,0.00,0.000,516,0.000,0.041,1804,903,3581,3479,3684,0,0,0,0,0,0,26.84,26.13,26.90
$GC,9119,-0.51,-175.2,1805,903,3479,3684,830.6,-8.6,466,9126,0.10,2.22,0.00,0.000,3078,0.106,0.044,1833,2300,3581,3479,3684,0,0,0,0,0,0,25.91,26.11,25.97
$GC,9511,-0.51,-175.2,1832,2300,3480,3683,857.9,-7.2,481,9518,0.00,2.17,0.00,0.000,516,0.000,0.041,1832,907,3580,3479,3682,0,0,0,0,0,0,26.84,26.11,26.89
$GC,9547,-0.51,-175.2,1832,907,3479,3682,860.7,-7.9,487,9553,0.00,2.22,0.00,0.000,1030,0.000,0.045,1824,2298,3580,3479,3682,0,0,0,0,0,0,26.14,26.08,26.19
$GC,9945,-0.51,-175.2,1824,2299,3480,3681,892.0,-7.9,503,9950,0.00,2.17,0.00,0.000,516,0.000,0.040,1824,902,3579,3479,3680,0,0,0,0,0,0,26.84,26.11,26.89
$GC,9991,-0.51,-175.2,1824,902,3480,3681,896.0,-8.3,511,9997,0.00,2.25,0.00,0.000,1030,0.000,0.045,1814,2308,3579,3479,3680,0,0,0,0,0,0,26.13,26.08,26.17
$GC,10376,-0.51,-175.2,1813,2308,3480,3679,929.3,-8.7,525,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2308,3578,3479,3678,0,0,0,0,0,0,26.84,26.91,26.89
$GC,10735,-0.51,-175.2,1814,2308,3479,3677,960.3,-8.4,535,10742,0.00,2.25,0.00,0.000,516,0.000,0.042,1814,902,3578,3479,3677,0,0,0,0,0,0,26.84,26.06,26.89
$GC,10801,-0.51,-175.2,1814,903,3479,3677,965.8,-8.4,546,10808,0.00,2.25,0.00,0.000,1030,0.000,0.044,1804,2308,3578,3479,3677,0,0,0,0,0,0,26.10,26.06,26.15
$STATE,11129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11129,begin apogee
$GC,11135,-0.11,0.0,1804,1947,3479,3677,992.3,-7.7,556,11298,0.45,0.00,154.82,1.141,10246,0.094,0.000,1957,1944,2899,2920,2878,0,0,0,0,1,0,25.90,24.48,23.33
$STATE,11299,end apogee,CONTROL_FINISHED_OK
$STATE,11299,begin climb
$GC,11301,0.54,175.2,1957,1945,2920,2877,996.9,0.0,560,11469,0.60,2.50,156.32,0.999,11012,0.067,0.050,2172,3381,2180,2248,2113,0,0,0,0,0,0,24.84,24.45,23.46
$GC,11498,0.54,175.2,2173,3381,2245,2112,986.4,8.6,592,11505,0.00,2.33,0.00,0.000,1030,0.000,0.034,2181,1982,2177,2244,2110,0,0,0,0,0,0,25.13,25.10,25.16
$GC,11890,0.54,175.2,2180,1982,2241,2106,951.8,9.0,607,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1981,2173,2240,2106,0,0,0,0,0,0,26.29,26.36,26.36
$GC,12248,0.54,175.2,2180,1982,2240,2105,919.0,9.1,617,12255,0.00,2.28,0.00,0.000,260,0.000,0.050,2181,3371,2172,2239,2105,0,0,0,0,0,0,26.48,25.98,26.55
$GC,12279,0.53,175.2,2180,3370,2239,2105,916.0,9.7,622,12286,0.00,2.22,0.00,0.000,1030,0.000,0.032,2188,1956,2172,2239,2105,0,0,0,0,0,0,26.18,26.15,26.22
$GC,12645,0.53,175.2,2188,1956,2236,2104,881.0,9.5,633,12652,0.00,2.28,0.00,0.000,260,0.000,0.051,2188,3374,2170,2237,2104,0,0,0,0,0,0,26.59,26.04,26.65
$GC,12686,0.53,175.2,2187,3374,2238,2104,876.6,10.3,640,12693,0.00,2.22,0.00,0.000,1030,0.000,0.032,2194,1959,2170,2237,2104,0,0,0,0,0,0,26.25,26.22,26.28
$GC,13078,0.52,175.2,2195,1959,2236,2104,841.2,8.6,655,13084,0.00,2.28,0.00,0.000,260,0.000,0.050,2193,3383,2169,2236,2103,0,0,0,0,0,0,26.66,26.08,26.72
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$STATE,23214,end climb,SURFACE_DEPTH_REACHED
$STATE,23214,begin surface coast
$FINISH,-0.0,1.021378
$STATE,23239,end surface coast,CONTROL_FINISHED_OK
$STATE,23239,begin surface
$SM_CCo,23255,103.85,0.296,5,0,503,587.25
$SM_GC,-0.41,5.60,1.67,103.85,0.034,0.031,0.296,171,2295,503,-5.67,1.39,587.25,0,0,0,0,5,0,26.31,26.26,25.16
$IRIDIUM_FIX,646.40,8250.88,070116,223410
$TT8_MAMPS,0.050932,0.050932
$HUMID,48.66
$INTERNAL_PRESSURE,9.45695
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3923680
$24V_AH,23.33,38.289
$10V_AH,10.03,23.467
$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,13.725,155.675,580.575,103.850,0.000,0.000,0.000,257.350,0.000,0.000,40.098,0.000,19814.963,1201.499,2374.410,413.036,0.000,2252.096,0.000,1691.523,0.000,0.539,0.000
$DEVICE_MAMPS,198.135,1186.515,1141.380,296.055,0.000,0.000,0.000,117.045,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.877,0.000,0.000,0.000
$MEM,261160
$DATA_FILE_SIZE,39976,1142
$CAP_FILE_SIZE,200125,0
$CFSIZE,260034560,227065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.264,60.08,1
$GPS,080116,114135,648.862,8250.059,87,1.0,87,-2.4,0.0,0.0,8,8.0