version: 66.12
glider: 171
mission: 9
dive: 312
start: 1 24 116 12 53 47
data:
$ID,171
$MISSION,9
$DIVE,312
$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,-4
$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,43
$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,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,240116,124618,550.0694,8134.7163,86,1.1,86,-2.7,0.8,248.2,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-50.6
$GPS2,240116,125335,550.0126,8134.6162,13,1.3,18,-2.7,0.8,281.3,6,9.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH3
$TGT_LATLONG,537.000,8110.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,236.6,51374,-12.3,-7.857,-16.95,3372
$D_GRID,3719
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.54,-175.2,167,2317,533,459,0.0,0.0,0,154,0.00,0.00,-133.15,0.000,16386,0.000,0.000,167,2317,2690,2736,2645,0,0,0,0,0,0,26.27,28.83,26.34
$GC,158,-0.54,-175.2,168,2317,2738,2646,3.3,-5.6,11,191,6.22,2.42,-21.58,0.000,19204,0.195,1.183,1805,3653,3616,3543,3690,0,0,0,0,0,0,25.18,23.95,25.55
$GC,421,-0.53,-175.2,1805,3653,3544,3692,81.2,-21.3,55,426,0.00,2.03,0.00,0.000,1030,0.000,0.028,1805,2298,3617,3543,3691,0,0,0,0,0,0,26.25,26.19,26.27
$GC,804,-0.53,-175.2,1804,2296,3544,3695,145.9,-14.6,74,809,0.00,2.22,0.00,0.000,260,0.000,0.052,1794,3660,3619,3544,3695,0,0,0,0,0,0,26.66,26.09,26.71
$GC,1037,-0.52,-175.2,1794,3661,3544,3696,175.6,-11.9,113,1046,0.08,2.08,0.00,0.000,3078,0.108,0.030,1825,2300,3620,3544,3696,0,0,0,0,0,0,26.12,26.34,26.17
$GC,1403,-0.52,-175.2,1825,2300,3544,3696,212.8,-10.4,129,1410,0.00,2.22,0.00,0.000,260,0.000,0.053,1815,3659,3619,3543,3696,0,0,0,0,0,0,26.75,26.15,26.81
$GC,1464,-0.52,-175.2,1814,3659,3543,3696,219.2,-10.3,139,1470,0.00,2.08,0.00,0.000,1030,0.000,0.031,1815,2306,3619,3543,3696,0,0,0,0,0,0,26.42,26.39,26.45
$GC,1847,-0.52,-175.2,1815,2305,3543,3693,254.3,-8.5,156,1854,0.00,2.17,0.00,0.000,516,0.000,0.036,1815,902,3617,3543,3692,0,0,0,0,0,0,26.79,26.30,26.84
$GC,1950,-0.52,-175.2,1814,902,3544,3691,263.1,-8.3,173,1958,0.00,2.15,0.00,0.000,1030,0.000,0.037,1805,2292,3616,3543,3690,0,0,0,0,0,0,26.34,26.29,26.37
$GC,2317,-0.51,-175.2,1805,2292,3543,3684,296.6,-9.4,184,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2292,3613,3543,3684,0,0,0,0,0,0,26.80,26.87,26.86
$GC,2676,-0.51,-175.2,1805,2292,3543,3678,331.7,-9.8,194,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2292,3610,3544,3677,0,0,0,0,0,0,26.82,26.89,26.87
$GC,3035,-0.51,-175.2,1805,2292,3543,3673,369.3,-10.4,204,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2292,3607,3542,3672,0,0,0,0,0,0,26.82,26.89,26.88
$GC,3396,-0.51,-175.2,1804,2292,3543,3668,405.5,-9.8,214,3402,0.00,2.17,0.00,0.000,516,0.000,0.035,1805,903,3604,3542,3667,0,0,0,0,0,0,26.82,26.30,26.88
$GC,3420,-0.51,-175.2,1804,904,3542,3667,407.8,-9.9,218,3427,0.08,2.20,0.00,0.000,3078,0.112,0.041,1834,2298,3604,3542,3667,0,0,0,0,0,0,26.04,26.25,26.17
$GC,3793,-0.51,-175.2,1834,2298,3542,3662,436.9,-7.7,230,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2298,3602,3542,3662,0,0,0,0,0,0,26.82,26.89,26.88
$GC,4153,-0.51,-175.2,1834,2298,3542,3657,464.6,-7.6,240,4158,0.00,2.12,0.00,0.000,516,0.000,0.034,1834,904,3598,3541,3656,0,0,0,0,0,0,26.82,26.29,26.89
$GC,4200,-0.51,-175.2,1834,904,3542,3656,468.4,-7.8,248,4206,0.00,2.22,0.00,0.000,1030,0.000,0.040,1826,2310,3599,3542,3656,0,0,0,0,0,0,26.28,26.23,26.32
$GC,4586,-0.51,-175.2,1825,2310,3542,3652,497.7,-7.2,262,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2310,3596,3541,3652,0,0,0,0,0,0,26.82,26.89,26.88
$GC,4944,-0.51,-175.2,1824,2310,3542,3648,522.7,-7.2,272,4950,0.00,2.20,0.00,0.000,516,0.000,0.037,1825,917,3594,3541,3648,0,0,0,0,0,0,26.83,26.25,26.89
$GC,4973,-0.51,-175.2,1825,917,3541,3648,525.0,-8.6,277,4983,0.00,2.20,0.00,0.000,1030,0.000,0.041,1815,2302,3594,3540,3648,0,0,0,0,0,0,26.25,26.20,26.29
$GC,5340,-0.51,-175.2,1815,2302,3539,3644,554.4,-8.0,288,5346,0.00,2.20,0.00,0.000,516,0.000,0.038,1815,908,3592,3540,3644,0,0,0,0,0,0,26.82,26.22,26.89
$GC,5381,-0.51,-175.2,1815,908,3540,3644,557.9,-8.7,295,5388,0.00,2.20,0.00,0.000,1030,0.000,0.041,1805,2298,3592,3540,3644,0,0,0,0,0,0,26.25,26.20,26.29
$GC,5774,-0.51,-175.2,1805,2298,3540,3640,592.0,-9.1,310,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2298,3590,3540,3640,0,0,0,0,0,0,26.82,26.89,26.88
$GC,6132,-0.51,-175.2,1805,2298,3540,3638,624.8,-8.8,320,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2298,3589,3540,3638,0,0,0,0,0,0,26.82,26.90,26.89
$GC,6493,-0.51,-175.2,1804,2298,3540,3636,652.8,-7.4,330,6498,0.00,2.17,0.00,0.000,516,0.000,0.036,1805,909,3588,3540,3636,0,0,0,0,0,0,26.82,26.23,26.89
$GC,6534,-0.51,-175.2,1805,909,3539,3636,655.9,-7.2,337,6541,0.10,2.20,0.00,0.000,3078,0.105,0.041,1834,2302,3587,3539,3636,0,0,0,0,0,0,25.97,26.17,26.03
$GC,6927,-0.51,-175.2,1834,2302,3539,3632,677.8,-5.8,352,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2302,3586,3539,3633,0,0,0,0,0,0,26.82,26.89,26.89
$GC,7285,-0.51,-175.2,1834,2302,3539,3630,699.9,-6.1,362,7291,0.00,2.20,0.00,0.000,516,0.000,0.038,1834,911,3584,3539,3629,0,0,0,0,0,0,26.82,26.17,26.89
$GC,7321,-0.51,-175.2,1834,911,3538,3629,702.3,-6.5,368,7327,0.00,2.22,0.00,0.000,1030,0.000,0.042,1826,2309,3583,3538,3629,0,0,0,0,0,0,26.19,26.14,26.24
$GC,7719,-0.51,-175.2,1825,2309,3539,3627,728.2,-6.6,384,7724,0.00,2.17,0.00,0.000,516,0.000,0.039,1826,908,3581,3538,3625,0,0,0,0,0,0,26.82,26.16,26.88
$GC,7754,-0.52,-175.2,1826,909,3538,3627,730.7,-7.0,390,7760,0.00,2.22,0.00,0.000,1030,0.000,0.042,1816,2299,3582,3538,3627,0,0,0,0,0,0,26.17,26.13,26.22
$GC,8151,-0.52,-175.2,1817,2300,3537,3626,761.0,-7.9,406,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2299,3581,3537,3626,0,0,0,0,0,0,26.82,26.89,26.88
$GC,8509,-0.52,-175.2,1815,2299,3537,3625,790.4,-8.3,416,8516,0.00,2.20,0.00,0.000,516,0.000,0.037,1816,907,3581,3537,3625,0,0,0,0,0,0,26.82,26.16,26.88
$GC,8540,-0.52,-175.2,1816,908,3537,3625,793.1,-9.3,421,8548,0.00,2.17,0.00,0.000,1030,0.000,0.042,1806,2305,3580,3536,3624,0,0,0,0,0,0,26.20,26.10,26.25
$GC,8905,-0.52,-175.2,1805,2305,3535,3624,826.2,-9.3,432,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3579,3535,3623,0,0,0,0,0,0,26.82,26.89,26.88
$GC,9266,-0.52,-175.2,1805,2305,3535,3622,859.3,-8.9,442,9272,0.00,2.17,0.00,0.000,516,0.000,0.040,1806,910,3578,3535,3622,0,0,0,0,0,0,26.82,26.10,26.88
$GC,9319,-0.52,-175.2,1806,910,3534,3622,864.1,-8.3,451,9326,0.08,2.22,0.00,0.000,3078,0.110,0.042,1827,2304,3578,3534,3622,0,0,0,0,0,0,25.89,26.08,25.96
$GC,9700,-0.52,-175.2,1827,2304,3534,3620,889.4,-6.3,464,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2303,3577,3534,3620,0,0,0,0,0,0,26.82,26.89,26.88
$GC,10058,-0.52,-175.2,1827,2304,3534,3619,910.5,-5.7,474,10064,0.00,2.22,0.00,0.000,516,0.000,0.040,1827,910,3576,3533,3619,0,0,0,0,0,0,26.82,26.08,26.88
$GC,10100,-0.52,-175.2,1827,910,3533,3619,913.0,-6.1,481,10107,0.00,2.22,0.00,0.000,1030,0.000,0.043,1818,2298,3576,3533,3619,0,0,0,0,0,0,26.10,26.06,26.15
$GC,10492,-0.52,-175.2,1818,2298,3532,3618,937.6,-6.5,496,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2298,3574,3531,3618,0,0,0,0,0,0,26.82,26.89,26.88
$GC,10851,-0.52,-175.2,1818,2298,3531,3617,961.4,-6.7,506,10856,0.00,2.20,0.00,0.000,516,0.000,0.037,1818,877,3574,3531,3617,0,0,0,0,0,0,26.82,26.10,26.88
$GC,10917,-0.52,-175.2,1818,878,3530,3617,966.1,-7.4,517,10925,0.00,2.25,0.00,0.000,1030,0.000,0.043,1808,2310,3573,3530,3617,0,0,0,0,0,0,26.13,26.02,26.17
$STATE,11280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11280,begin apogee
$GC,11288,-0.11,0.0,1808,1958,3531,3616,992.7,-7.3,528,11437,0.45,0.00,146.75,1.017,10246,0.091,0.000,1962,1958,2898,2930,2867,0,0,0,0,0,0,25.90,24.60,23.50
$STATE,11439,end apogee,CONTROL_FINISHED_OK
$STATE,11439,begin climb
$GC,11441,0.54,175.2,1962,1958,2927,2863,997.7,0.0,532,11601,0.57,0.00,154.45,0.999,10758,0.066,0.000,2171,1957,2183,2256,2110,0,0,0,0,0,0,24.98,24.36,23.34
$GC,11931,0.64,236.1,2170,1957,2241,2099,971.9,6.0,566,11991,0.00,2.28,54.58,0.959,8708,0.000,0.041,2171,568,1933,1999,1868,0,0,0,0,0,0,26.26,24.53,23.81
$GC,12034,0.70,276.8,2171,568,1996,1864,965.3,6.6,583,12083,0.15,2.22,40.60,0.943,11270,0.067,0.035,2263,1976,1765,1840,1691,0,0,0,0,0,0,25.54,25.51,23.69
$GC,12473,0.69,276.8,2263,1976,1829,1683,911.4,13.0,606,12475,0.15,0.00,0.00,0.000,4102,0.135,0.000,2221,1976,1756,1829,1683,0,0,0,0,0,0,25.91,26.07,26.03
$GC,12835,0.69,276.8,2220,1976,1829,1682,873.3,10.5,616,12840,0.00,2.25,0.00,0.000,516,0.000,0.042,2227,563,1754,1828,1681,0,0,0,0,0,0,26.52,26.05,26.58
$GC,12887,0.69,276.8,2226,564,1829,1682,867.6,10.4,625,12894,0.00,2.20,0.00,0.000,1030,0.000,0.034,2226,1964,1754,1828,1681,0,0,0,0,0,0,26.18,26.14,26.22
$GC,13268,0.69,276.8,2226,1964,1828,1681,826.8,10.6,638,13273,0.00,2.22,0.00,0.000,516,0.000,0.044,2227,565,1754,1828,1681,0,0,0,0,0,0,26.63,26.10,26.69
$GC,13308,0.69,276.8,2226,565,1829,1681,822.4,10.4,645,13315,0.00,2.20,0.00,0.000,1030,0.000,0.034,2226,1966,1754,1828,1681,0,0,0,0,0,0,26.23,26.20,26.27
$GC,13701,0.68,276.8,2226,1966,1828,1681,779.1,11.1,660,13702,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1965,1754,1827,1681,0,0,0,0,0,0,26.68,26.75,26.74
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$STATE,21806,end climb,SURFACE_DEPTH_REACHED
$STATE,21808,begin surface coast
$FINISH,0.0,1.021265
$STATE,21830,end surface coast,CONTROL_FINISHED_OK
$STATE,21830,begin surface
$SM_CCo,21845,121.03,0.293,1,0,502,587.25
$SM_GC,-0.51,5.47,0.55,121.03,0.031,0.047,0.293,172,2312,502,-5.67,-1.05,587.25,0,0,0,0,1,0,26.25,26.19,24.98
$IRIDIUM_FIX,547.82,8139.62,240116,061616
$TT8_MAMPS,0.048685,0.048685
$HUMID,49.72
$INTERNAL_PRESSURE,9.44718
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3900256
$24V_AH,23.34,47.589
$10V_AH,9.91,28.958
$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,13.650,141.875,607.950,121.025,0.000,0.000,0.000,261.250,0.000,0.000,20.991,0.000,18551.471,1154.571,2238.115,441.117,0.000,2181.363,0.000,1587.225,0.000,0.540,0.000
$DEVICE_MAMPS,195.075,1182.690,1016.685,292.995,0.000,0.000,0.000,122.400,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21857.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.933,0.000,0.000,0.000
$MEM,293472
$DATA_FILE_SIZE,40009,1075
$CAP_FILE_SIZE,189228,0
$CFSIZE,260034560,221290496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.084,0.74,1
$GPS,240116,190151,548.634,8132.390,86,1.0,86,-2.7,0.7,243.7,9,8.0