version: 66.12
glider: 171
mission: 9
dive: 294
start: 1 19 116 17 4 23
data:
$ID,171
$MISSION,9
$DIVE,294
$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,58
$R_STBD_OVSHOOT,42
$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
$GPS1,190116,165659,613.1502,8213.3066,38,1.3,38,-2.5,0.0,0.0,5,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-54.6
$GPS2,190116,170411,613.1075,8213.3027,10,1.0,15,-2.5,0.5,255.6,9,7.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH3
$TGT_LATLONG,545.000,8030.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,245.3,197343,-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,-175.2,171,2313,498,414,0.0,0.0,0,153,0.00,0.00,-133.45,0.000,16386,0.000,0.000,171,2313,2655,2703,2607,0,0,0,0,0,0,26.25,28.83,26.32
$GC,156,-0.54,-175.2,172,2314,2705,2607,3.3,-5.6,11,191,6.20,2.45,-22.12,0.000,18692,0.197,1.191,1805,3660,3616,3578,3654,0,0,0,0,0,0,25.22,24.02,25.60
$GC,419,-0.53,-175.2,1805,3660,3579,3658,84.3,-23.2,55,425,0.00,2.03,0.00,0.000,1030,0.000,0.031,1807,2313,3617,3577,3658,0,0,0,0,0,0,26.22,26.17,26.25
$GC,802,-0.52,-175.2,1805,2310,3578,3663,143.9,-13.0,74,808,0.00,2.20,0.00,0.000,260,0.000,0.054,1795,3651,3620,3578,3663,0,0,0,0,0,0,26.65,26.06,26.70
$GC,935,-0.52,-175.2,1795,3652,3579,3664,159.9,-12.3,96,941,0.12,2.00,0.00,0.000,3078,0.132,0.029,1831,2304,3620,3578,3663,0,0,0,0,0,0,26.08,26.31,26.19
$GC,1306,-0.52,-175.2,1831,2304,3576,3664,190.6,-7.8,113,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2304,3621,3578,3664,0,0,0,0,0,0,26.73,26.80,26.79
$GC,1667,-0.52,-175.2,1830,2304,3578,3664,219.2,-8.5,128,1673,0.00,2.17,0.00,0.000,260,0.000,0.057,1821,3654,3620,3578,3663,0,0,0,0,0,0,26.77,26.11,26.83
$GC,1720,-0.52,-175.2,1821,3654,3578,3663,224.3,-9.4,137,1728,0.00,2.08,0.00,0.000,1030,0.000,0.031,1821,2307,3620,3578,3662,0,0,0,0,0,0,26.41,26.39,26.44
$GC,2087,-0.52,-175.2,1820,2307,3578,3657,263.5,-11.0,153,2094,0.00,2.22,0.00,0.000,260,0.000,0.057,1811,3654,3617,3578,3657,0,0,0,0,0,0,26.79,26.10,26.85
$GC,2142,-0.52,-175.2,1811,3654,3578,3656,269.6,-11.4,162,2148,0.00,2.08,0.00,0.000,1030,0.000,0.031,1812,2307,3616,3577,3656,0,0,0,0,0,0,26.42,26.39,26.45
$GC,2520,-0.51,-175.2,1811,2307,3576,3651,311.5,-10.8,175,2527,0.00,2.17,0.00,0.000,516,0.000,0.039,1811,897,3613,3577,3650,0,0,0,0,0,0,26.81,26.27,26.86
$GC,2544,-0.51,-175.2,1812,897,3577,3650,314.1,-10.9,179,2551,0.00,2.22,0.00,0.000,1030,0.000,0.044,1801,2296,3613,3576,3650,0,0,0,0,0,0,26.26,26.20,26.30
$GC,2917,-0.51,-175.2,1800,2296,3576,3645,352.5,-10.0,191,2919,0.12,0.00,0.00,0.000,2054,0.140,0.000,1838,2296,3610,3576,3645,0,0,0,0,0,0,26.42,26.51,26.48
$GC,3277,-0.51,-175.2,1838,2296,3573,3641,378.2,-7.0,201,3283,0.00,2.17,0.00,0.000,516,0.000,0.039,1838,885,3606,3572,3641,0,0,0,0,0,0,26.82,26.26,26.88
$GC,3306,-0.51,-175.2,1838,885,3571,3642,380.5,-7.5,206,3314,0.00,2.25,0.00,0.000,1030,0.000,0.044,1829,2303,3606,3571,3641,0,0,0,0,0,0,26.24,26.19,26.29
$GC,3672,-0.51,-175.2,1829,2303,3569,3638,405.9,-6.7,217,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2303,3603,3569,3637,0,0,0,0,0,0,26.82,26.89,26.88
$GC,4033,-0.51,-175.2,1829,2303,3569,3637,429.7,-6.7,227,4039,0.00,2.22,0.00,0.000,516,0.000,0.043,1829,907,3602,3568,3636,0,0,0,0,0,0,26.83,26.20,26.89
$GC,4092,-0.51,-175.2,1829,907,3568,3637,434.0,-7.4,237,4099,0.00,2.25,0.00,0.000,1030,0.000,0.044,1819,2309,3602,3568,3636,0,0,0,0,0,0,26.22,26.17,26.27
$GC,4465,-0.51,-175.2,1819,2309,3566,3632,463.6,-8.5,249,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2309,3598,3566,3631,0,0,0,0,0,0,26.83,26.90,26.89
$GC,4825,-0.51,-175.2,1819,2309,3565,3628,496.5,-9.3,259,4831,0.00,2.22,0.00,0.000,516,0.000,0.042,1819,907,3596,3565,3627,0,0,0,0,0,0,26.83,26.20,26.89
$GC,4860,-0.51,-175.2,1819,907,3564,3628,499.8,-9.5,265,4869,0.00,2.22,0.00,0.000,1030,0.000,0.046,1809,2298,3596,3564,3628,0,0,0,0,0,0,26.20,26.14,26.25
$GC,5260,-0.51,-175.2,1808,2298,3561,3626,534.8,-8.5,281,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2297,3593,3561,3626,0,0,0,0,0,0,26.83,26.90,26.89
$GC,5619,-0.51,-175.2,1809,2298,3560,3626,567.1,-9.3,291,5625,0.00,2.20,0.00,0.000,516,0.000,0.040,1809,902,3592,3559,3625,0,0,0,0,0,0,26.83,26.21,26.89
$GC,5654,-0.51,-175.2,1809,902,3559,3625,570.6,-10.0,297,5662,0.08,2.25,0.00,0.000,3078,0.114,0.044,1827,2308,3592,3559,3625,0,0,0,0,0,0,25.96,26.14,26.02
$GC,6051,-0.51,-175.2,1829,2308,3558,3622,604.7,-8.5,313,6058,0.00,2.22,0.00,0.000,516,0.000,0.041,1829,908,3590,3558,3622,0,0,0,0,0,0,26.83,26.16,26.89
$GC,6088,-0.51,-175.2,1829,909,3560,3623,608.3,-9.6,319,6094,0.00,2.22,0.00,0.000,1030,0.000,0.045,1820,2302,3589,3557,3622,0,0,0,0,0,0,26.17,26.12,26.22
$GC,6485,-0.51,-175.2,1820,2302,3554,3621,643.7,-8.8,335,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3587,3554,3621,0,0,0,0,0,0,26.83,26.90,26.89
$GC,6844,-0.51,-175.2,1820,2302,3554,3619,673.7,-8.2,345,6851,0.00,2.22,0.00,0.000,516,0.000,0.041,1820,905,3586,3553,3619,0,0,0,0,0,0,26.83,26.13,26.89
$GC,6892,-0.51,-175.2,1820,905,3553,3619,678.1,-8.6,353,6900,0.00,2.25,0.00,0.000,1030,0.000,0.045,1810,2305,3586,3553,3619,0,0,0,0,0,0,26.16,26.11,26.21
$GC,7279,-0.51,-175.2,1809,2306,3553,3617,714.5,-10.1,367,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3584,3552,3617,0,0,0,0,0,0,26.83,26.89,26.89
$GC,7637,-0.51,-175.2,1809,2306,3552,3616,751.8,-10.2,377,7644,0.00,2.22,0.00,0.000,516,0.000,0.042,1810,908,3583,3551,3615,0,0,0,0,0,0,26.83,26.10,26.89
$GC,7727,-0.51,-175.2,1809,909,3552,3615,761.1,-10.3,392,7734,0.08,2.25,0.00,0.000,3078,0.111,0.044,1830,2309,3582,3550,3615,0,0,0,0,0,0,25.91,26.08,25.97
$GC,8108,-0.51,-175.2,1829,2309,3550,3614,791.4,-7.3,405,8114,0.00,2.20,0.00,0.000,516,0.000,0.042,1831,903,3581,3550,3613,0,0,0,0,0,0,26.82,26.08,26.89
$GC,8149,-0.51,-175.2,1830,903,3549,3613,794.6,-7.7,412,8156,0.00,2.25,0.00,0.000,1030,0.000,0.044,1821,2306,3581,3549,3613,0,0,0,0,0,0,26.13,26.07,26.17
$GC,8541,-0.51,-175.2,1821,2306,3548,3612,820.1,-6.1,427,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3579,3547,3612,0,0,0,0,0,0,26.82,26.89,26.89
$GC,8900,-0.51,-175.2,1821,2306,3547,3612,841.8,-5.9,437,8906,0.00,2.25,0.00,0.000,516,0.000,0.043,1821,903,3578,3546,3611,0,0,0,0,0,0,26.82,26.06,26.89
$GC,8960,-0.51,-175.2,1820,903,3546,3612,845.7,-6.6,447,8967,0.00,2.25,0.00,0.000,1030,0.000,0.045,1811,2303,3578,3546,3611,0,0,0,0,0,0,26.10,26.06,26.15
$GC,9333,-0.51,-175.2,1810,2303,3546,3610,867.5,-5.5,459,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2303,3578,3546,3610,0,0,0,0,0,0,26.82,26.89,26.88
$GC,9693,-0.51,-175.2,1810,2305,3546,3609,888.2,-5.9,469,9699,0.00,2.22,0.00,0.000,516,0.000,0.042,1811,908,3577,3546,3608,0,0,0,0,0,0,26.82,26.05,26.89
$GC,9770,-0.51,-175.2,1811,909,3545,3608,893.1,-6.4,482,9778,0.08,2.25,0.00,0.000,3078,0.111,0.044,1830,2309,3576,3545,3608,0,0,0,0,0,0,25.85,26.03,25.91
$GC,10163,-0.51,-175.2,1830,2309,3545,3608,911.8,-4.7,497,10169,0.00,2.20,0.00,0.000,516,0.000,0.042,1830,907,3576,3544,3608,0,0,0,0,0,0,26.82,26.03,26.88
$GC,10192,-0.51,-175.2,1830,908,3545,3608,913.3,-5.2,502,10200,0.00,2.25,0.00,0.000,1030,0.000,0.046,1822,2301,3575,3544,3607,0,0,0,0,0,0,26.05,26.00,26.10
$GC,10560,-0.51,-175.2,1821,2302,3542,3607,935.0,-6.6,513,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3574,3542,3607,0,0,0,0,0,0,26.82,26.89,26.88
$GC,10918,-0.52,-175.2,1821,2302,3543,3607,962.6,-7.9,523,10925,0.00,2.22,0.00,0.000,516,0.000,0.041,1821,903,3574,3542,3606,0,0,0,0,0,0,26.82,26.04,26.88
$GC,10979,-0.52,-175.2,1821,903,3542,3606,967.6,-8.3,533,10985,0.00,2.20,0.00,0.000,1030,0.000,0.044,1811,2305,3573,3541,3606,0,0,0,0,0,0,26.10,25.99,26.15
$STATE,11277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11277,begin apogee
$GC,11282,-0.11,0.0,1811,1956,3541,3605,993.0,-8.4,543,11570,0.45,0.00,219.50,0.754,10246,0.093,0.000,1964,1953,2893,2929,2858,0,0,0,0,12,0,25.86,24.19,23.47
$STATE,11571,end apogee,CONTROL_FINISHED_OK
$STATE,11571,begin climb
$GC,11574,0.54,175.2,1964,1953,2929,2857,1008.1,0.0,551,11738,0.57,2.42,155.02,0.994,11012,0.060,0.050,2177,3372,2180,2256,2105,0,0,0,0,0,0,25.04,24.05,23.34
$GC,11802,0.54,175.2,2177,3372,2245,2103,996.5,8.5,585,11809,0.00,2.30,0.00,0.000,1030,0.000,0.033,2184,1966,2172,2244,2101,0,0,0,0,0,0,25.38,25.35,25.41
$GC,12183,0.55,183.3,2184,1965,2241,2096,967.2,7.6,598,12195,0.00,2.35,7.03,0.754,8452,0.000,0.051,2185,3373,2147,2219,2076,0,0,0,0,0,0,26.34,25.51,24.21
$GC,12249,0.54,183.3,2184,3373,2213,2077,961.7,8.5,609,12254,0.00,2.20,0.00,0.000,1030,0.000,0.033,2193,1958,2143,2211,2076,0,0,0,0,0,0,26.06,25.99,26.08
$GC,12646,0.58,209.7,2193,1959,2207,2076,933.3,7.1,625,12699,0.00,2.33,35.97,0.710,8452,0.000,0.051,2193,3382,2042,2107,1977,0,0,0,0,2,0,26.51,25.51,24.56
$GC,12736,0.58,209.7,2193,3382,2102,1976,926.5,8.1,640,12741,0.00,2.22,0.00,0.000,1030,0.000,0.033,2195,1954,2038,2101,1976,0,0,0,0,0,0,25.90,25.83,25.92
$GC,13114,0.61,230.2,2194,1953,2098,1972,898.4,7.2,653,13156,0.00,2.30,25.98,0.715,8452,0.000,0.050,2195,3373,1960,2025,1895,0,0,0,0,2,0,26.46,25.79,24.58
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$STATE,23565,end climb,SURFACE_DEPTH_REACHED
$STATE,23565,begin surface coast
$FINISH,-0.8,1.021146
$STATE,23589,end surface coast,CONTROL_FINISHED_OK
$STATE,23589,begin surface
$SM_CCo,23605,28.05,0.197,2,0,504,587.25
$SM_GC,-0.46,5.62,0.55,28.05,0.029,0.047,0.197,170,2316,504,-5.66,-0.88,587.25,0,0,0,0,2,0,26.34,26.18,25.25
$IRIDIUM_FIX,611.67,8218.59,190116,102733
$TT8_MAMPS,0.049434,0.049434
$HUMID,49.72
$INTERNAL_PRESSURE,9.45695
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3907168
$24V_AH,23.34,44.807
$10V_AH,9.86,27.340
$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,14.175,152.925,746.750,28.050,0.000,0.000,0.000,263.300,0.000,0.000,16.530,0.000,19943.154,1290.130,2362.242,456.575,0.000,2388.313,0.000,1709.491,0.000,0.539,0.000
$DEVICE_MAMPS,196.605,1191.105,993.735,197.370,0.000,0.000,0.000,122.400,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23615.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.851,0.000,0.000,0.000
$MEM,261300
$DATA_FILE_SIZE,43321,1154
$CAP_FILE_SIZE,201751,0
$CFSIZE,260034560,222973952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$CURRENT,0.099,1.16,1
$GPS,190116,233933,612.780,8210.529,37,1.7,41,-2.5,0.6,275.2,9,7.8