version: 66.12
glider: 171
mission: 9
dive: 356
start: 2 5 116 11 46 34
data:
$ID,171
$MISSION,9
$DIVE,356
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,050216,113903,541.1833,8032.8208,40,1.8,44,-2.8,0.5,182.8,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-53.0
$GPS2,050216,114622,541.0617,8032.8462,13,2.0,29,-2.8,0.6,211.0,6,10.0
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH5
$TGT_LATLONG,545.000,8035.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,33.1,8304,-12.3,-7.857,-16.95,3372
$D_GRID,2682
$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,18,-0.54,-175.2,172,2298,526,460,0.0,0.0,0,153,0.00,0.00,-132.95,0.000,16386,0.000,0.000,171,2298,2695,2737,2654,0,0,0,0,0,0,26.27,28.83,26.34
$GC,157,-0.54,-175.2,172,2298,2738,2655,3.6,-6.4,11,190,6.25,2.47,-20.27,0.000,18692,0.197,1.170,1804,3663,3616,3548,3684,0,0,0,0,0,0,25.03,23.69,25.43
$GC,274,-0.53,-175.2,1804,3663,3548,3686,48.3,-28.7,31,280,0.00,2.12,0.00,0.000,1030,0.000,0.031,1804,2307,3616,3548,3685,0,0,0,0,0,0,26.09,26.07,26.12
$GC,646,-0.52,-175.2,1803,2305,3548,3688,128.2,-16.5,48,652,0.00,2.25,0.00,0.000,260,0.000,0.054,1793,3666,3618,3548,3688,0,0,0,0,0,0,26.61,26.01,26.66
$GC,670,-0.52,-175.2,1793,3666,3548,3688,131.7,-14.9,52,677,0.12,2.08,0.00,0.000,3078,0.131,0.031,1829,2297,3618,3548,3688,0,0,0,0,0,0,26.01,26.22,26.11
$GC,1054,-0.51,-175.2,1829,2295,3549,3691,174.0,-10.6,71,1061,0.00,2.28,0.00,0.000,260,0.000,0.055,1819,3667,3619,3548,3690,0,0,0,0,0,0,26.70,26.08,26.76
$GC,1109,-0.51,-175.2,1819,3667,3549,3690,179.9,-10.9,80,1115,0.00,2.10,0.00,0.000,1030,0.000,0.031,1819,2311,3618,3548,3689,0,0,0,0,0,0,26.34,26.32,26.37
$GC,1486,-0.51,-175.2,1818,2308,3549,3690,216.8,-8.9,98,1492,0.00,2.22,0.00,0.000,260,0.000,0.055,1810,3657,3618,3547,3690,0,0,0,0,0,0,26.75,26.10,26.82
$GC,1541,-0.51,-175.2,1810,3657,3548,3690,221.5,-9.0,107,1546,0.00,2.10,0.00,0.000,1030,0.000,0.032,1812,2302,3619,3548,3690,0,0,0,0,0,0,26.36,26.34,26.40
$GC,1906,-0.51,-175.2,1810,2302,3548,3686,253.8,-9.5,124,1913,0.00,2.25,0.00,0.000,260,0.000,0.056,1801,3658,3616,3548,3685,0,0,0,0,0,0,26.78,26.10,26.84
$GC,2015,-0.51,-175.2,1801,3658,3548,3683,264.3,-9.4,142,2021,0.10,2.05,0.00,0.000,3078,0.132,0.032,1830,2294,3615,3547,3683,0,0,0,0,0,0,26.20,26.37,26.29
$GC,2411,-0.51,-175.2,1830,2292,3548,3677,297.4,-8.0,158,2417,0.00,2.17,0.00,0.000,516,0.000,0.040,1830,908,3612,3547,3677,0,0,0,0,0,0,26.79,26.25,26.85
$GC,2447,-0.51,-175.2,1830,909,3548,3677,300.2,-8.2,164,2453,0.00,2.22,0.00,0.000,1030,0.000,0.043,1821,2301,3612,3547,3677,0,0,0,0,0,0,26.25,26.20,26.29
$GC,2844,-0.51,-175.2,1821,2301,3548,3669,331.8,-8.1,180,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2300,3608,3547,3669,0,0,0,0,0,0,26.80,26.87,26.86
$GC,3203,-0.51,-175.2,1821,2301,3547,3663,361.6,-8.2,190,3209,0.00,2.20,0.00,0.000,516,0.000,0.041,1821,910,3605,3547,3663,0,0,0,0,0,0,26.81,26.23,26.86
$GC,3232,-0.51,-175.2,1821,910,3546,3663,364.1,-8.5,195,3240,0.00,2.22,0.00,0.000,1030,0.000,0.043,1811,2305,3604,3546,3662,0,0,0,0,0,0,26.22,26.17,26.27
$GC,3599,-0.51,-175.2,1811,2305,3547,3657,395.4,-8.6,206,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2305,3601,3546,3657,0,0,0,0,0,0,26.80,26.88,26.86
$GC,3959,-0.51,-175.2,1811,2305,3546,3653,425.8,-8.4,216,3965,0.00,2.22,0.00,0.000,516,0.000,0.041,1811,908,3599,3546,3652,0,0,0,0,0,0,26.81,26.21,26.86
$GC,4000,-0.51,-175.2,1811,908,3546,3653,429.4,-8.9,223,4007,0.08,2.22,0.00,0.000,3078,0.112,0.043,1831,2306,3599,3546,3652,0,0,0,0,0,0,25.99,26.17,26.06
$GC,4393,-0.51,-175.2,1831,2306,3546,3648,459.6,-8.1,238,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2306,3597,3546,3648,0,0,0,0,0,0,26.81,26.88,26.87
$GC,4751,-0.51,-175.2,1831,2307,3546,3643,491.9,-9.2,248,4757,0.00,2.22,0.00,0.000,516,0.000,0.042,1831,912,3594,3546,3643,0,0,0,0,0,0,26.82,26.17,26.87
$GC,4829,-0.51,-175.2,1831,913,3546,3642,499.3,-9.6,261,4836,0.00,2.17,0.00,0.000,1030,0.000,0.044,1822,2307,3594,3546,3642,0,0,0,0,0,0,26.25,26.16,26.30
$GC,5221,-0.51,-175.2,1822,2307,3546,3639,536.1,-9.2,276,5226,0.00,2.20,0.00,0.000,516,0.000,0.042,1822,908,3591,3545,3638,0,0,0,0,0,0,26.81,26.17,26.87
$GC,5261,-0.51,-175.2,1822,908,3545,3638,540.1,-9.4,283,5268,0.00,2.22,0.00,0.000,1030,0.000,0.044,1812,2298,3591,3545,3638,0,0,0,0,0,0,26.19,26.14,26.24
$GC,5654,-0.51,-175.2,1812,2298,3545,3636,577.0,-9.4,298,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2298,3590,3545,3635,0,0,0,0,0,0,26.81,26.88,26.87
$GC,6011,-0.51,-175.2,1812,2298,3545,3632,609.4,-8.7,308,6018,0.00,2.20,0.00,0.000,516,0.000,0.039,1812,911,3588,3545,3631,0,0,0,0,0,0,26.81,26.18,26.87
$GC,6084,-0.51,-175.2,1812,911,3544,3632,615.8,-8.8,320,6090,0.00,2.20,0.00,0.000,1030,0.000,0.044,1802,2316,3587,3543,3631,0,0,0,0,0,0,26.22,26.13,26.27
$GC,6481,-0.51,-175.2,1802,2316,3543,3629,649.0,-8.1,336,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2316,3586,3543,3629,0,0,0,0,0,0,26.81,26.88,26.87
$GC,6840,-0.51,-175.2,1801,2316,3543,3627,677.1,-7.7,346,6846,0.00,2.17,0.00,0.000,516,0.000,0.037,1802,911,3585,3544,3627,0,0,0,0,0,0,26.82,26.17,26.87
$GC,6881,-0.51,-175.2,1801,910,3541,3627,680.5,-8.5,353,6889,0.10,2.22,0.00,0.000,3078,0.102,0.044,1831,2298,3583,3541,3626,0,0,0,0,0,0,25.92,26.11,25.98
$GC,7275,-0.51,-175.2,1831,2298,3540,3626,706.0,-6.6,368,7280,0.00,2.17,0.00,0.000,516,0.000,0.038,1831,908,3582,3539,3625,0,0,0,0,0,0,26.81,26.15,26.86
$GC,7315,-0.52,-175.2,1830,908,3540,3626,708.9,-7.1,375,7322,0.00,2.22,0.00,0.000,1030,0.000,0.044,1821,2296,3582,3540,3625,0,0,0,0,0,0,26.14,26.08,26.18
$GC,7708,-0.52,-175.2,1822,2296,3539,3625,737.9,-7.6,390,7714,0.00,2.15,0.00,0.000,516,0.000,0.038,1822,912,3581,3538,3624,0,0,0,0,0,0,26.81,26.14,26.86
$GC,7737,-0.52,-175.2,1822,913,3539,3624,740.4,-8.8,395,7744,0.00,2.25,0.00,0.000,1030,0.000,0.045,1812,2311,3581,3538,3624,0,0,0,0,0,0,26.12,26.07,26.17
$GC,8103,-0.52,-175.2,1811,2311,3539,3623,771.6,-8.7,406,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2311,3580,3538,3623,0,0,0,0,0,0,26.81,26.88,26.86
$GC,8464,-0.52,-175.2,1811,2311,3539,3621,803.5,-8.9,416,8469,0.00,2.22,0.00,0.000,516,0.000,0.042,1812,915,3579,3538,3620,0,0,0,0,0,0,26.81,26.08,26.86
$GC,8493,-0.52,-175.2,1811,916,3538,3620,806.2,-9.6,421,8501,0.00,2.25,0.00,0.000,1030,0.000,0.045,1802,2309,3578,3537,3620,0,0,0,0,0,0,26.10,26.06,26.15
$GC,8859,-0.52,-175.2,1801,2309,3538,3619,838.3,-8.6,432,8865,0.00,2.20,0.00,0.000,516,0.000,0.041,1800,908,3578,3537,3619,0,0,0,0,0,0,26.81,26.06,26.86
$GC,8931,-0.52,-175.2,1801,908,3536,3619,844.6,-8.8,444,8939,0.10,2.25,0.00,0.000,3078,0.100,0.044,1830,2306,3577,3536,3619,0,0,0,0,0,0,25.86,26.05,25.93
$GC,9329,-0.52,-175.2,1830,2306,3537,3617,870.0,-6.0,460,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2305,3576,3536,3617,0,0,0,0,0,0,26.81,26.87,26.86
$GC,9688,-0.52,-175.2,1830,2306,3536,3616,888.4,-4.8,470,9694,0.00,2.22,0.00,0.000,516,0.000,0.043,1831,923,3575,3536,3615,0,0,0,0,0,0,26.81,26.04,26.86
$GC,9743,-0.53,-175.2,1830,923,3536,3616,891.0,-4.8,479,9748,0.00,2.20,0.00,0.000,1030,0.000,0.045,1822,2313,3575,3535,3615,0,0,0,0,0,0,26.12,26.01,26.17
$GC,10122,-0.53,-175.2,1822,2313,3534,3614,909.7,-5.0,492,10127,0.00,2.20,0.00,0.000,516,0.000,0.041,1822,909,3574,3534,3614,0,0,0,0,0,0,26.80,26.07,26.86
$GC,10225,-0.53,-175.2,1821,909,3534,3614,915.2,-5.5,509,10232,0.00,2.20,0.00,0.000,1030,0.000,0.044,1812,2305,3574,3534,3614,0,0,0,0,0,0,26.10,26.00,26.15
$GC,10590,-0.53,-175.2,1811,2305,3534,3613,936.7,-6.1,520,10595,0.00,2.20,0.00,0.000,516,0.000,0.043,1812,908,3573,3534,3613,0,0,0,0,0,0,26.80,26.03,26.86
$GC,10649,-0.53,-175.2,1812,908,3534,3613,940.8,-7.3,530,10655,0.00,2.20,0.00,0.000,1030,0.000,0.044,1802,2306,3572,3533,3612,0,0,0,0,0,0,26.09,25.98,26.15
$GC,11022,-0.53,-175.2,1801,2306,3532,3613,968.2,-7.6,542,11027,0.00,2.20,0.00,0.000,516,0.000,0.043,1802,907,3571,3531,3612,0,0,0,0,0,0,26.80,26.01,26.86
$GC,11056,-0.53,-175.2,1801,907,3531,3613,970.9,-8.3,548,11063,0.08,2.25,0.00,0.000,3078,0.107,0.044,1822,2301,3571,3531,3612,0,0,0,0,0,0,25.81,25.98,25.87
$STATE,11381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11381,begin apogee
$GC,11387,-0.11,0.0,1822,1947,3532,3612,992.2,-6.4,562,11539,0.40,0.00,149.15,0.997,10246,0.089,0.000,1961,1944,2898,2930,2866,0,0,0,0,0,0,25.97,24.50,23.33
$STATE,11540,end apogee,CONTROL_FINISHED_OK
$STATE,11540,begin climb
$GC,11543,0.54,175.2,1961,1944,2927,2862,997.2,0.0,566,11709,0.60,2.45,156.02,0.988,11012,0.064,0.050,2178,3378,2179,2251,2107,0,0,0,0,0,0,24.98,23.95,23.20
$GC,11744,0.57,196.5,2178,3379,2244,2106,987.9,7.2,602,11771,0.00,2.33,19.85,0.901,9222,0.000,0.034,2186,1968,2095,2159,2032,0,0,0,0,0,0,25.28,25.25,23.43
$GC,12142,0.57,196.5,2186,1968,2147,2024,954.6,8.7,618,12148,0.00,2.33,0.00,0.000,260,0.000,0.050,2187,3374,2085,2147,2024,0,0,0,0,0,0,26.35,25.86,26.41
$GC,12166,0.57,196.5,2185,3374,2147,2024,952.3,9.7,622,12173,0.00,2.25,0.00,0.000,1030,0.000,0.034,2194,1959,2085,2147,2024,0,0,0,0,0,0,26.05,26.01,26.08
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$STATE,23773,end climb,SURFACE_DEPTH_REACHED
$STATE,23773,begin surface coast
$FINISH,0.2,1.021276
$STATE,23812,end surface coast,CONTROL_FINISHED_OK
$STATE,23812,begin surface
$SM_CCo,23890,0.00,0.000,0,0,454,599.76
$SM_GC,-0.24,5.70,2.75,0.00,0.024,0.034,0.000,168,2307,454,-5.66,-0.99,599.76,0,0,0,0,0,0,26.34,26.09,26.36
$IRIDIUM_FIX,536.98,8034.04,050216,045652
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.19
$INTERNAL_PRESSURE,9.47648
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3883360
$24V_AH,23.20,53.806
$10V_AH,9.74,32.694
$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,14.600,187.700,716.925,0.000,0.000,0.000,0.000,242.000,0.000,0.000,31.986,0.000,20118.129,1199.071,2456.656,528.149,0.000,2312.209,0.000,1794.039,0.000,0.541,0.000
$DEVICE_MAMPS,196.605,1170.450,996.795,0.000,0.000,0.000,0.000,123.930,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23843.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.400,0.000,0.000,0.000
$MEM,260844
$DATA_FILE_SIZE,43366,1205
$CAP_FILE_SIZE,212392,0
$CFSIZE,260034560,216993792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,261.22,1
$GPS,050216,182535,543.766,8033.720,27,1.2,27,-2.8,0.0,0.0,6,8.9