version: 66.12
glider: 171
mission: 9
dive: 329
start: 1 29 116 2 47 34
data:
$ID,171
$MISSION,9
$DIVE,329
$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,46
$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,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
$GPS1,290116,023952,535.3908,8044.6396,39,1.0,39,-2.8,0.0,0.0,7,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-53.5
$GPS2,290116,024722,535.3953,8044.6108,17,1.8,33,-2.8,0.6,237.8,7,8.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH4
$TGT_LATLONG,537.000,8030.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,269.6,27093,-12.3,-7.857,-16.95,3372
$D_GRID,2871
$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,-175.2,171,2310,532,456,0.0,0.0,0,153,0.00,0.00,-133.18,0.000,16386,0.000,0.000,171,2310,2767,2804,2730,0,0,0,0,0,0,26.25,28.83,26.32
$GC,156,-0.54,-175.2,171,2311,2806,2730,4.2,-7.4,11,190,6.22,2.42,-18.35,0.000,18692,0.195,1.179,1807,3661,3617,3544,3691,0,0,0,0,0,0,25.14,23.86,25.52
$GC,406,-0.53,-175.2,1806,3661,3544,3692,84.9,-31.0,53,413,0.00,2.12,0.00,0.000,1030,0.000,0.033,1807,2307,3618,3544,3692,0,0,0,0,0,0,26.13,26.09,26.16
$GC,778,-0.52,-175.2,1806,2305,3545,3695,144.7,-12.3,70,784,0.00,2.20,0.00,0.000,260,0.000,0.055,1796,3664,3619,3544,3695,0,0,0,0,0,0,26.64,26.05,26.70
$GC,819,-0.52,-175.2,1796,3665,3544,3695,150.6,-13.7,77,829,0.08,2.12,0.00,0.000,3078,0.109,0.031,1826,2284,3619,3544,3695,0,0,0,0,0,0,26.06,26.27,26.12
$GC,1186,-0.51,-175.2,1826,2284,3545,3697,191.2,-10.4,93,1193,0.00,2.10,0.00,0.000,516,0.000,0.038,1826,907,3620,3544,3696,0,0,0,0,0,0,26.72,26.23,26.78
$GC,1228,-0.51,-175.2,1826,906,3545,3697,195.1,-9.3,100,1236,0.00,2.20,0.00,0.000,1030,0.000,0.041,1817,2297,3620,3544,3696,0,0,0,0,0,0,26.25,26.20,26.29
$GC,1595,-0.51,-175.2,1816,2297,3544,3696,231.5,-10.2,116,1601,0.00,2.25,0.00,0.000,260,0.000,0.057,1806,3669,3620,3544,3696,0,0,0,0,0,0,26.77,26.12,26.82
$GC,1630,-0.51,-175.2,1806,3669,3545,3696,235.2,-10.6,122,1636,0.00,2.10,0.00,0.000,1030,0.000,0.031,1807,2308,3619,3543,3696,0,0,0,0,0,0,26.41,26.37,26.44
$GC,2003,-0.51,-175.2,1806,2308,3544,3690,272.3,-9.9,136,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2308,3616,3544,3689,0,0,0,0,0,0,26.79,26.86,26.84
$GC,2363,-0.51,-175.2,1807,2306,3544,3683,306.5,-9.0,146,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3613,3544,3683,0,0,0,0,0,0,26.80,26.87,26.86
$GC,2722,-0.50,-175.2,1806,2306,3544,3677,336.2,-8.5,156,2729,0.00,2.28,0.00,0.000,260,0.000,0.058,1796,3670,3610,3544,3677,0,0,0,0,0,0,26.81,26.10,26.87
$GC,2783,-0.50,-175.2,1796,3670,3544,3676,341.6,-9.3,166,2789,0.12,2.08,0.00,0.000,3078,0.122,0.032,1834,2293,3610,3544,3676,0,0,0,0,0,0,26.19,26.39,26.29
$GC,3156,-0.50,-175.2,1834,2292,3543,3670,368.7,-7.5,178,3161,0.00,2.15,0.00,0.000,516,0.000,0.042,1834,907,3606,3543,3669,0,0,0,0,0,0,26.82,26.22,26.87
$GC,3197,-0.50,-175.2,1833,907,3543,3669,372.2,-8.7,185,3204,0.00,2.25,0.00,0.000,1030,0.000,0.045,1825,2304,3606,3543,3669,0,0,0,0,0,0,26.25,26.19,26.29
$GC,3588,-0.50,-175.2,1825,2304,3543,3663,406.4,-9.0,200,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2304,3603,3543,3663,0,0,0,0,0,0,26.82,26.89,26.87
$GC,3948,-0.50,-175.2,1825,2304,3542,3658,439.1,-9.2,210,3953,0.00,2.15,0.00,0.000,516,0.000,0.041,1825,916,3599,3542,3657,0,0,0,0,0,0,26.82,26.22,26.88
$GC,3977,-0.50,-175.2,1825,916,3543,3658,441.8,-10.0,215,3985,0.00,2.22,0.00,0.000,1030,0.000,0.044,1815,2306,3599,3542,3657,0,0,0,0,0,0,26.23,26.17,26.28
$GC,4343,-0.50,-175.2,1815,2307,3542,3654,474.2,-8.4,226,4349,0.00,2.22,0.00,0.000,516,0.000,0.042,1816,910,3598,3542,3654,0,0,0,0,0,0,26.82,26.20,26.88
$GC,4403,-0.50,-175.2,1815,910,3542,3653,479.2,-8.7,236,4410,0.00,2.25,0.00,0.000,1030,0.000,0.045,1805,2314,3597,3542,3653,0,0,0,0,0,0,26.22,26.17,26.27
$GC,4777,-0.50,-175.2,1805,2315,3541,3649,510.1,-8.2,248,4782,0.00,2.17,0.00,0.000,516,0.000,0.041,1805,914,3595,3541,3649,0,0,0,0,0,0,26.82,26.20,26.88
$GC,4800,-0.50,-175.2,1805,914,3541,3649,512.1,-8.4,252,4806,0.08,2.25,0.00,0.000,3078,0.109,0.046,1834,2311,3594,3541,3648,0,0,0,0,0,0,25.98,26.16,26.11
$GC,5173,-0.50,-175.2,1833,2311,3541,3645,537.3,-6.7,264,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2311,3593,3541,3645,0,0,0,0,0,0,26.82,26.89,26.88
$GC,5532,-0.50,-175.2,1833,2311,3541,3641,561.5,-6.6,274,5538,0.00,2.20,0.00,0.000,516,0.000,0.042,1834,907,3590,3540,3640,0,0,0,0,0,0,26.82,26.17,26.88
$GC,5561,-0.50,-175.2,1834,908,3540,3641,563.6,-7.2,279,5569,0.00,2.25,0.00,0.000,1030,0.000,0.046,1825,2308,3590,3540,3640,0,0,0,0,0,0,26.19,26.13,26.24
$GC,5928,-0.50,-175.2,1825,2308,3540,3639,589.1,-7.0,290,5934,0.00,2.22,0.00,0.000,516,0.000,0.042,1826,913,3588,3540,3637,0,0,0,0,0,0,26.82,26.14,26.88
$GC,5988,-0.50,-175.2,1825,913,3539,3638,593.6,-7.7,300,5994,0.00,2.25,0.00,0.000,1030,0.000,0.046,1816,2311,3588,3539,3637,0,0,0,0,0,0,26.18,26.13,26.22
$GC,6359,-0.50,-175.2,1815,2312,3539,3636,622.2,-7.9,312,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2311,3587,3539,3635,0,0,0,0,0,0,26.82,26.89,26.88
$GC,6720,-0.50,-175.2,1815,2311,3539,3633,653.4,-8.8,322,6726,0.00,2.20,0.00,0.000,516,0.000,0.042,1816,908,3585,3539,3632,0,0,0,0,0,0,26.82,26.13,26.88
$GC,6773,-0.50,-175.2,1815,909,3539,3632,658.3,-9.4,331,6780,0.00,2.25,0.00,0.000,1030,0.000,0.045,1805,2305,3585,3538,3632,0,0,0,0,0,0,26.16,26.11,26.21
$GC,7153,-0.50,-175.2,1805,2305,3538,3630,692.7,-8.8,344,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3583,3538,3629,0,0,0,0,0,0,26.82,26.89,26.87
$GC,7511,-0.50,-175.2,1805,2305,3538,3627,722.1,-8.0,354,7518,0.00,2.22,0.00,0.000,516,0.000,0.043,1805,920,3582,3537,3627,0,0,0,0,0,0,26.82,26.10,26.88
$GC,7601,-0.50,-175.2,1805,920,3536,3627,729.5,-8.2,369,7609,0.10,2.22,0.00,0.000,3078,0.104,0.046,1834,2303,3581,3536,3627,0,0,0,0,0,0,25.91,26.09,25.97
$GC,7983,-0.51,-175.2,1833,2303,3536,3626,753.5,-6.3,382,7988,0.00,2.17,0.00,0.000,516,0.000,0.043,1834,920,3581,3536,3626,0,0,0,0,0,0,26.82,26.08,26.88
$GC,8035,-0.51,-175.2,1834,921,3535,3626,757.3,-6.9,391,8041,0.00,2.22,0.00,0.000,1030,0.000,0.045,1825,2304,3580,3535,3625,0,0,0,0,0,0,26.13,26.08,26.18
$GC,8416,-0.51,-175.2,1826,2304,3534,3625,782.7,-6.6,404,8421,0.00,2.17,0.00,0.000,516,0.000,0.043,1826,921,3579,3534,3624,0,0,0,0,0,0,26.82,26.07,26.88
$GC,8468,-0.51,-175.2,1826,922,3534,3624,786.6,-7.4,413,8475,0.00,2.22,0.00,0.000,1030,0.000,0.046,1815,2304,3579,3534,3624,0,0,0,0,0,0,26.13,26.08,26.17
$GC,8848,-0.51,-175.2,1816,2304,3534,3623,814.8,-7.6,426,8854,0.00,2.17,0.00,0.000,516,0.000,0.043,1816,922,3577,3533,3622,0,0,0,0,0,0,26.82,26.06,26.87
$GC,8883,-0.51,-175.2,1816,922,3533,3623,817.7,-8.4,432,8889,0.00,2.22,0.00,0.000,1030,0.000,0.046,1806,2298,3578,3533,3623,0,0,0,0,0,0,26.11,26.06,26.16
$GC,9281,-0.51,-175.2,1806,2298,3533,3621,848.5,-7.7,448,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2297,3577,3533,3621,0,0,0,0,0,0,26.82,26.89,26.87
$GC,9639,-0.51,-175.2,1805,2298,3533,3620,877.2,-8.0,458,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2298,3576,3532,3620,0,0,0,0,0,0,26.82,26.89,26.87
$GC,10000,-0.51,-175.2,1806,2298,3531,3619,904.8,-7.5,468,10005,0.00,2.15,0.00,0.000,516,0.000,0.040,1806,917,3574,3531,3618,0,0,0,0,0,0,26.82,26.09,26.88
$GC,10047,-0.51,-175.2,1805,917,3531,3618,908.5,-8.0,476,10054,0.08,2.25,0.00,0.000,3078,0.108,0.046,1827,2306,3574,3531,3618,0,0,0,0,0,0,25.86,26.03,25.93
$GC,10433,-0.51,-175.2,1826,2306,3531,3617,933.0,-6.2,490,10439,0.00,2.20,0.00,0.000,516,0.000,0.044,1827,911,3573,3530,3617,0,0,0,0,0,0,26.82,26.02,26.87
$GC,10486,-0.52,-175.2,1827,911,3531,3617,936.6,-6.7,499,10492,0.00,2.25,0.00,0.000,1030,0.000,0.046,1818,2304,3573,3530,3617,0,0,0,0,0,0,26.06,26.00,26.11
$GC,10866,-0.52,-175.2,1818,2304,3530,3616,960.5,-6.2,512,10871,0.00,2.20,0.00,0.000,516,0.000,0.044,1818,908,3573,3530,3616,0,0,0,0,0,0,26.81,26.01,26.87
$GC,10913,-0.52,-175.2,1818,908,3532,3616,963.8,-6.6,520,10919,0.00,2.25,0.00,0.000,1030,0.000,0.045,1808,2297,3572,3529,3616,0,0,0,0,0,0,26.05,25.99,26.10
$GC,11299,-0.52,-175.2,1807,2297,3530,3615,989.7,-6.9,534,11304,0.00,2.17,0.00,0.000,516,0.000,0.040,1808,908,3572,3529,3615,0,0,0,0,0,0,26.81,26.06,26.87
$STATE,11307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11307,begin apogee
$GC,11314,-0.11,0.0,1800,1965,3530,3615,990.5,-6.7,536,11465,0.47,0.00,148.30,1.001,10246,0.093,0.000,1962,1965,2899,2930,2868,0,0,0,0,0,0,25.84,24.56,23.44
$STATE,11467,end apogee,CONTROL_FINISHED_OK
$STATE,11467,begin climb
$GC,11469,0.54,175.2,1962,1965,2927,2865,994.8,0.0,540,11631,0.57,0.00,156.15,0.988,10758,0.065,0.000,2171,1965,2183,2256,2110,0,0,0,0,0,0,24.98,24.36,23.32
$GC,11960,0.59,205.4,2170,1965,2239,2099,964.4,6.9,574,11993,0.00,2.33,27.25,0.918,8708,0.000,0.045,2179,569,2058,2121,1995,0,0,0,0,0,0,26.27,25.22,24.03
$GC,12053,0.63,234.6,2179,569,2115,1992,957.8,7.0,589,12089,0.00,2.25,28.20,0.919,9222,0.000,0.037,2179,1958,1938,2002,1874,0,0,0,0,0,0,25.76,25.72,23.84
$GC,12460,0.67,256.2,2178,1958,1995,1867,928.2,7.2,607,12487,0.00,2.38,21.52,0.890,8452,0.000,0.051,2179,3371,1851,1919,1783,0,0,0,0,0,0,26.38,25.37,24.16
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$STATE,21850,end climb,SURFACE_DEPTH_REACHED
$STATE,21850,begin surface coast
$FINISH,0.1,1.021126
$STATE,21876,end surface coast,CONTROL_FINISHED_OK
$STATE,21876,begin surface
$SM_CCo,21892,47.38,0.224,1,0,503,587.25
$SM_GC,-0.55,5.60,0.55,47.38,0.024,0.047,0.224,170,2317,503,-5.65,-0.90,587.25,0,0,0,0,1,0,26.34,26.17,25.17
$IRIDIUM_FIX,532.65,8049.36,280116,200507
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.51
$INTERNAL_PRESSURE,9.45695
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3893728
$24V_AH,23.32,50.171
$10V_AH,9.81,30.426
$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
$DEVICE_SECS,14.425,159.625,640.400,47.375,0.000,0.000,0.000,256.600,0.000,0.000,34.152,0.000,18518.494,1125.572,2269.293,459.039,0.000,2161.106,0.000,1612.600,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21903.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.385,0.000,0.000,0.000
$MEM,260808
$DATA_FILE_SIZE,40066,1090
$CAP_FILE_SIZE,195150,0
$CFSIZE,260034560,219672576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,21522.08,0x2137a8,1,24
$CURRENT,0.028,274.08,1
$GPS,290116,085428,535.166,8041.330,38,1.1,43,-2.8,0.7,241.1,8,8.8