version: 66.12
glider: 171
mission: 9
dive: 360
start: 2 6 116 14 37 24
data:
$ID,171
$MISSION,9
$DIVE,360
$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,51
$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,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
$GPS1,060216,142951,538.9525,8031.0273,26,1.8,42,-2.8,0.2,227.1,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-53.7
$GPS2,060216,143712,538.8727,8030.9897,15,1.0,15,-2.8,0.0,0.0,8,7.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH5
$TGT_LATLONG,545.000,8035.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,48.0,13542,-12.3,-7.857,-16.95,3372
$D_GRID,2838
$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,-175.2,171,2320,493,414,0.0,0.0,0,153,0.00,0.00,-132.98,0.000,16386,0.000,0.000,170,2320,2679,2726,2633,0,0,0,0,0,0,26.32,28.83,26.38
$GC,156,-0.54,-175.2,171,2321,2727,2633,3.6,-5.9,11,189,6.28,0.00,-21.25,0.000,18694,0.197,0.000,1818,2321,3616,3561,3671,0,0,0,0,0,0,25.08,24.43,25.46
$GC,560,-0.53,-175.2,1817,2321,3561,3674,116.2,-16.4,35,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2321,3617,3560,3674,0,0,0,0,0,0,26.60,26.67,26.66
$GC,921,-0.53,-175.2,1818,2321,3561,3678,161.7,-11.4,50,926,0.00,2.17,0.00,0.000,516,0.000,0.037,1818,903,3619,3560,3678,0,0,0,0,0,0,26.70,26.21,26.76
$GC,1004,-0.53,-175.2,1816,903,3561,3678,171.8,-11.3,64,1010,0.00,2.17,0.00,0.000,1030,0.000,0.041,1807,2296,3619,3560,3678,0,0,0,0,0,0,26.28,26.20,26.32
$GC,1375,-0.52,-175.2,1806,2296,3561,3678,214.1,-10.5,81,1382,0.00,2.25,0.00,0.000,260,0.000,0.054,1797,3667,3618,3560,3677,0,0,0,0,0,0,26.76,26.12,26.82
$GC,1460,-0.52,-175.2,1796,3667,3561,3677,223.2,-11.1,95,1466,0.10,2.05,0.00,0.000,3078,0.135,0.031,1826,2294,3618,3560,3677,0,0,0,0,0,0,26.20,26.38,26.29
$GC,1856,-0.52,-175.2,1826,2294,3561,3675,256.9,-8.5,112,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2294,3617,3560,3675,0,0,0,0,0,0,26.79,26.86,26.84
$GC,2216,-0.52,-175.2,1825,2294,3562,3669,288.9,-9.1,122,2222,0.00,2.17,0.00,0.000,516,0.000,0.042,1826,919,3614,3560,3669,0,0,0,0,0,0,26.80,26.24,26.86
$GC,2240,-0.52,-175.2,1826,919,3560,3669,291.2,-9.5,126,2246,0.00,2.22,0.00,0.000,1030,0.000,0.044,1816,2301,3614,3560,3668,0,0,0,0,0,0,26.25,26.20,26.29
$GC,2613,-0.52,-175.2,1816,2302,3560,3662,322.9,-8.1,138,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2301,3610,3560,3661,0,0,0,0,0,0,26.80,26.87,26.86
$GC,2972,-0.52,-175.2,1816,2302,3560,3656,350.9,-7.8,148,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2301,3607,3560,3655,0,0,0,0,0,0,26.81,26.88,26.86
$GC,3332,-0.52,-175.2,1816,2302,3560,3650,379.9,-8.1,158,3338,0.00,2.20,0.00,0.000,516,0.000,0.041,1817,912,3605,3560,3650,0,0,0,0,0,0,26.82,26.22,26.86
$GC,3379,-0.52,-175.2,1816,911,3560,3650,383.9,-8.8,166,3386,0.00,2.22,0.00,0.000,1030,0.000,0.044,1807,2302,3604,3559,3649,0,0,0,0,0,0,26.23,26.18,26.28
$GC,3765,-0.52,-175.2,1806,2303,3559,3644,416.1,-8.3,180,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2303,3602,3561,3643,0,0,0,0,0,0,26.81,26.88,26.87
$GC,4125,-0.52,-175.2,1806,2303,3559,3639,447.6,-9.0,190,4130,0.00,2.15,0.00,0.000,516,0.000,0.041,1807,915,3598,3558,3638,0,0,0,0,0,0,26.82,26.20,26.87
$GC,4160,-0.52,-175.2,1806,915,3558,3639,451.1,-9.4,196,4167,0.08,2.22,0.00,0.000,3078,0.112,0.044,1827,2305,3597,3557,3638,0,0,0,0,0,0,25.99,26.16,26.06
$GC,4556,-0.52,-175.2,1826,2305,3557,3635,483.0,-7.8,212,4562,0.00,2.22,0.00,0.000,516,0.000,0.042,1827,910,3595,3556,3634,0,0,0,0,0,0,26.81,26.17,26.87
$GC,4604,-0.52,-175.2,1827,910,3555,3634,486.8,-7.8,220,4610,0.00,2.22,0.00,0.000,1030,0.000,0.045,1817,2298,3594,3555,3634,0,0,0,0,0,0,26.20,26.14,26.25
$GC,4990,-0.52,-175.2,1817,2298,3554,3630,517.8,-8.2,234,4996,0.00,2.17,0.00,0.000,516,0.000,0.040,1817,908,3592,3554,3630,0,0,0,0,0,0,26.81,26.19,26.86
$GC,5025,-0.52,-175.2,1817,909,3553,3630,520.8,-8.3,240,5031,0.00,2.22,0.00,0.000,1030,0.000,0.044,1807,2303,3591,3553,3630,0,0,0,0,0,0,26.20,26.15,26.25
$GC,5423,-0.52,-175.2,1807,2303,3552,3627,554.1,-8.3,256,5428,0.00,2.17,0.00,0.000,516,0.000,0.041,1807,910,3589,3552,3627,0,0,0,0,0,0,26.82,26.17,26.86
$GC,5452,-0.52,-175.2,1806,910,3552,3627,556.7,-8.7,261,5460,0.10,2.22,0.00,0.000,3078,0.144,0.045,1825,2322,3589,3551,3627,0,0,0,0,0,0,26.03,26.13,26.14
$GC,5819,-0.53,-175.2,1825,2321,3552,3626,585.9,-8.1,272,5824,0.00,2.20,0.00,0.000,516,0.000,0.041,1826,910,3588,3551,3625,0,0,0,0,0,0,26.81,26.15,26.86
$GC,5872,-0.53,-175.2,1825,910,3551,3625,590.6,-8.7,281,5879,0.00,2.20,0.00,0.000,1030,0.000,0.045,1816,2316,3587,3550,3625,0,0,0,0,0,0,26.22,26.13,26.27
$GC,6251,-0.53,-175.2,1816,2316,3549,3623,623.7,-8.7,294,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2316,3586,3549,3623,0,0,0,0,0,0,26.81,26.88,26.86
$GC,6610,-0.53,-175.2,1815,2316,3548,3621,654.0,-8.2,304,6616,0.00,2.17,0.00,0.000,516,0.000,0.039,1816,913,3584,3547,3621,0,0,0,0,0,0,26.81,26.16,26.87
$GC,6670,-0.53,-175.2,1815,913,3547,3621,658.8,-8.4,314,6676,0.00,2.22,0.00,0.000,1030,0.000,0.045,1806,2298,3583,3546,3621,0,0,0,0,0,0,26.17,26.12,26.22
$GC,7044,-0.53,-175.2,1806,2298,3546,3620,687.6,-7.6,326,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2298,3582,3546,3619,0,0,0,0,0,0,26.81,26.88,26.86
$GC,7403,-0.53,-175.2,1805,2298,3545,3617,715.9,-8.0,336,7408,0.00,2.15,0.00,0.000,516,0.000,0.039,1806,918,3581,3545,3617,0,0,0,0,0,0,26.81,26.14,26.87
$GC,7450,-0.53,-175.2,1805,918,3545,3618,719.8,-8.3,344,7456,0.00,2.22,0.00,0.000,1030,0.000,0.044,1796,2305,3580,3544,3617,0,0,0,0,0,0,26.15,26.10,26.20
$GC,7836,-0.53,-175.2,1796,2305,3544,3617,751.5,-8.2,358,7838,0.10,0.00,0.00,0.000,2054,0.145,0.000,1825,2305,3579,3543,3616,0,0,0,0,0,0,26.50,26.55,26.53
$GC,8196,-0.53,-175.2,1825,2305,3543,3615,777.9,-7.5,368,8201,0.00,2.17,0.00,0.000,516,0.000,0.043,1825,923,3578,3543,3614,0,0,0,0,0,0,26.81,26.07,26.86
$GC,8297,-0.53,-175.2,1825,923,3542,3614,786.0,-8.2,385,8304,0.00,2.17,0.00,0.000,1030,0.000,0.045,1816,2306,3578,3542,3614,0,0,0,0,0,0,26.18,26.08,26.22
$GC,8664,-0.53,-175.2,1816,2306,3541,3613,815.7,-8.0,396,8669,0.00,2.20,0.00,0.000,516,0.000,0.043,1816,912,3576,3541,3612,0,0,0,0,0,0,26.81,26.05,26.86
$GC,8693,-0.53,-175.2,1815,913,3541,3613,818.2,-9.0,401,8701,0.00,2.20,0.00,0.000,1030,0.000,0.047,1806,2303,3576,3540,3612,0,0,0,0,0,0,26.14,26.03,26.19
$GC,9058,-0.53,-175.2,1806,2303,3540,3612,848.8,-8.3,412,9065,0.00,2.22,0.00,0.000,516,0.000,0.043,1806,913,3575,3540,3611,0,0,0,0,0,0,26.81,26.06,26.86
$GC,9100,-0.53,-175.2,1806,913,3540,3611,852.4,-8.9,419,9106,0.00,2.25,0.00,0.000,1030,0.000,0.045,1796,2309,3575,3540,3611,0,0,0,0,0,0,26.08,26.03,26.13
$GC,9493,-0.53,-175.2,1796,2309,3540,3610,885.8,-8.5,434,9498,0.00,2.20,0.00,0.000,516,0.000,0.042,1796,912,3574,3539,3609,0,0,0,0,0,0,26.80,26.06,26.86
$GC,9551,-0.53,-175.2,1795,912,3539,3609,891.0,-8.7,444,9558,0.10,2.25,0.00,0.000,3078,0.102,0.046,1825,2304,3573,3538,3609,0,0,0,0,0,0,25.83,26.01,25.90
$GC,9926,-0.54,-175.2,1824,2304,3538,3609,916.2,-6.6,456,9931,0.00,2.17,0.00,0.000,516,0.000,0.042,1825,920,3573,3538,3609,0,0,0,0,0,0,26.80,26.04,26.86
$GC,9966,-0.54,-175.2,1825,921,3537,3609,919.2,-7.3,463,9972,0.00,2.22,0.00,0.000,1030,0.000,0.045,1816,2302,3573,3537,3609,0,0,0,0,0,0,26.06,26.01,26.10
$GC,10359,-0.54,-175.2,1814,2302,3535,3609,947.0,-7.2,478,10364,0.00,2.20,0.00,0.000,516,0.000,0.043,1815,910,3571,3535,3608,0,0,0,0,0,0,26.80,26.05,26.86
$GC,10394,-0.54,-175.2,1815,910,3534,3609,949.9,-7.6,484,10400,0.00,2.25,0.00,0.000,1030,0.000,0.045,1805,2304,3572,3535,3609,0,0,0,0,0,0,26.04,25.99,26.09
$GC,10792,-0.54,-175.2,1805,2304,3535,3608,981.0,-7.8,500,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3571,3535,3607,0,0,0,0,0,0,26.80,26.87,26.86
$STATE,10931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10931,begin apogee
$GC,10937,-0.11,0.0,1805,1958,3535,3607,992.1,-7.8,504,11105,0.45,0.00,164.75,0.926,10246,0.091,0.000,1959,1957,2899,2932,2866,0,0,0,0,0,0,25.90,24.62,23.63
$STATE,11107,end apogee,CONTROL_FINISHED_OK
$STATE,11107,begin climb
$GC,11110,0.54,175.2,1959,1957,2928,2862,997.6,0.0,508,11279,0.57,2.47,156.55,0.981,11012,0.066,0.050,2171,3371,2178,2251,2106,0,0,0,0,0,0,25.06,24.45,23.27
$GC,11320,0.58,204.1,2170,3371,2245,2105,989.4,7.0,548,11353,0.00,2.30,27.25,0.915,9222,0.000,0.033,2171,1968,2065,2130,2001,0,0,0,0,0,0,25.38,25.34,23.43
$GC,11724,0.64,240.8,2171,1968,2114,1992,962.4,6.7,565,11767,0.00,2.40,34.10,0.922,8452,0.000,0.050,2171,3375,1914,1982,1846,0,0,0,0,0,0,26.36,25.13,23.89
$GC,11785,0.69,276.1,2171,3375,1977,1846,957.8,6.8,575,11829,0.15,2.25,36.03,0.927,11270,0.068,0.034,2261,1958,1769,1843,1695,0,0,0,0,0,0,25.65,25.63,23.64
$GC,12194,0.69,276.1,2260,1958,1833,1688,905.5,13.2,593,12196,0.15,0.00,0.00,0.000,4102,0.132,0.000,2218,1957,1760,1832,1688,0,0,0,0,0,0,25.93,26.08,26.04
$GC,12556,0.68,276.1,2218,1957,1831,1685,868.2,10.3,603,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1957,1758,1831,1685,0,0,0,0,0,0,26.54,26.61,26.60
$GC,12914,0.68,276.1,2218,1957,1830,1685,830.6,10.4,613,12921,0.00,2.30,0.00,0.000,260,0.000,0.048,2218,3374,1757,1830,1685,0,0,0,0,0,0,26.62,26.07,26.69
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$STATE,22104,end climb,SURFACE_DEPTH_REACHED
$STATE,22104,begin surface coast
$FINISH,0.2,1.021395
$STATE,22126,end surface coast,CONTROL_FINISHED_OK
$STATE,22126,begin surface
$SM_CCo,22142,128.05,0.288,1,0,503,587.25
$SM_GC,-0.40,5.45,0.55,128.05,0.028,0.044,0.288,174,2312,503,-5.65,-1.05,587.25,0,0,0,0,1,0,26.35,26.26,24.93
$IRIDIUM_FIX,536.98,8034.04,060216,074842
$TT8_MAMPS,0.050932,0.050932
$HUMID,50.03
$INTERNAL_PRESSURE,9.45695
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3881824
$24V_AH,23.27,54.375
$10V_AH,9.91,33.029
$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,13.950,138.675,575.350,128.050,0.000,0.000,0.000,257.275,0.000,0.000,16.812,0.000,18893.906,1115.781,2210.747,473.127,0.000,2131.808,0.000,1578.424,0.000,0.541,0.000
$DEVICE_MAMPS,197.370,54.315,981.495,288.405,0.000,0.000,0.000,120.870,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22155.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.441,0.000,0.000,0.000
$MEM,260768
$DATA_FILE_SIZE,39923,1065
$CAP_FILE_SIZE,188042,0
$CFSIZE,260034560,216629248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,21144.66,0x234072,1,24
$CURRENT,0.082,209.97,1
$GPS,060216,204935,541.207,8032.354,28,1.2,28,-2.8,0.0,0.0,6,9.2