version: 66.12
glider: 171
mission: 9
dive: 362
start: 2 7 116 3 37 35
data:
$ID,171
$MISSION,9
$DIVE,362
$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,54
$R_STBD_OVSHOOT,40
$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
$GPS1,070216,032957,543.8860,8033.4492,26,1.7,49,-2.8,0.3,269.4,7,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-55.0
$GPS2,070216,033721,543.8711,8033.3623,12,1.9,39,-2.8,0.5,293.7,7,8.5
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH5
$TGT_LATLONG,545.000,8035.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,64.6,3672,-20.7,-7.857,-24.35,1396
$D_GRID,2431
$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,-0.58,-71.9,171,2313,526,461,0.0,0.0,0,166,0.00,0.00,-145.00,0.000,16386,0.000,0.000,171,2313,3042,3066,3018,0,0,0,0,0,0,26.29,28.83,26.36
$GC,169,-0.58,-71.9,171,2313,3067,3018,6.6,-12.3,12,187,6.25,2.45,-3.15,0.000,18692,0.198,1.167,1794,3655,3194,3219,3170,0,0,0,0,0,0,24.99,23.70,25.39
$GC,217,-0.56,-71.9,1794,3655,3222,3170,31.3,-38.5,20,223,0.00,2.08,0.00,0.000,1030,0.000,0.028,1794,2311,3196,3222,3170,0,0,0,0,0,0,26.06,26.03,26.08
$GC,589,-0.56,-71.9,1793,2309,3225,3170,117.2,-12.0,39,595,0.00,2.20,0.00,0.000,516,0.000,0.037,1794,904,3197,3224,3170,0,0,0,0,0,0,26.58,26.10,26.63
$GC,775,-0.56,-71.9,1793,903,3226,3170,137.4,-13.3,70,783,0.08,2.20,0.00,0.000,3078,0.123,0.037,1811,2295,3198,3226,3170,0,0,0,0,0,0,25.93,26.15,25.99
$GC,1141,-0.57,-71.9,1811,2296,3228,3170,175.4,-10.1,86,1147,0.00,2.22,0.00,0.000,260,0.000,0.054,1801,3655,3198,3228,3169,0,0,0,0,0,0,26.71,26.08,26.77
$GC,1243,-0.57,-71.9,1800,3656,3228,3170,185.5,-10.3,103,1249,0.00,2.08,0.00,0.000,1030,0.000,0.030,1801,2298,3199,3228,3170,0,0,0,0,0,0,26.38,26.35,26.40
$GC,1621,-0.57,-71.9,1801,2296,3228,3170,217.8,-8.0,121,1628,0.00,2.25,0.00,0.000,260,0.000,0.054,1790,3657,3199,3228,3170,0,0,0,0,0,0,26.76,26.10,26.82
$GC,1718,-0.57,-71.9,1790,3657,3228,3169,226.8,-9.9,137,1724,0.00,2.03,0.00,0.000,1030,0.000,0.031,1790,2307,3198,3228,3169,0,0,0,0,0,0,26.42,26.36,26.45
$GC,2090,-0.58,-71.9,1790,2306,3228,3164,259.8,-7.9,154,2096,0.00,2.15,0.00,0.000,516,0.000,0.037,1790,901,3195,3228,3163,0,0,0,0,0,0,26.79,26.27,26.84
$GC,2191,-0.59,-78.0,1790,901,3228,3162,267.7,-7.4,171,2199,0.00,2.25,0.00,0.000,1030,0.000,0.041,1780,2304,3195,3228,3162,0,0,0,0,0,0,26.27,26.22,26.31
$GC,2560,-0.59,-78.0,1779,2304,3228,3157,297.3,-8.3,182,2565,0.00,2.17,0.00,0.000,516,0.000,0.041,1780,902,3191,3227,3156,0,0,0,0,0,0,26.79,26.23,26.86
$GC,2594,-0.59,-78.0,1779,902,3228,3156,300.3,-9.2,188,2601,0.08,2.22,0.00,0.000,3078,0.121,0.041,1799,2308,3191,3227,3156,0,0,0,0,0,0,26.01,26.22,26.08
$GC,2991,-0.61,-84.2,1799,2308,3227,3151,330.8,-7.4,204,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2308,3188,3227,3150,0,0,0,0,0,0,26.80,26.87,26.86
$GC,3351,-0.62,-92.5,1799,2308,3228,3146,356.0,-7.2,214,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2308,3186,3227,3145,0,0,0,0,0,0,26.81,26.87,26.86
$GC,3711,-0.63,-92.5,1799,2309,3225,3143,386.0,-8.6,224,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2308,3183,3224,3142,0,0,0,0,0,0,26.81,26.88,26.86
$GC,4071,-0.63,-93.8,1800,2308,3222,3141,414.5,-7.8,234,4077,0.00,2.20,0.00,0.000,516,0.000,0.040,1799,913,3180,3221,3140,0,0,0,0,0,0,26.81,26.20,26.86
$GC,4180,-0.64,-95.7,1799,913,3220,3142,423.0,-7.7,252,4185,0.00,2.17,0.00,0.000,1030,0.000,0.043,1789,2305,3180,3220,3140,0,0,0,0,0,0,26.28,26.19,26.32
$GC,4576,-0.65,-96.8,1789,2306,3220,3136,453.7,-7.8,268,4582,0.00,2.17,0.00,0.000,516,0.000,0.041,1789,905,3177,3219,3136,0,0,0,0,0,0,26.81,26.17,26.86
$GC,4617,-0.65,-96.8,1789,904,3219,3136,457.1,-8.3,275,4623,0.00,2.22,0.00,0.000,1030,0.000,0.043,1779,2303,3177,3218,3136,0,0,0,0,0,0,26.22,26.17,26.27
$GC,5009,-0.66,-103.1,1779,2303,3218,3133,486.0,-7.4,290,5015,0.00,2.17,0.00,0.000,516,0.000,0.041,1779,908,3175,3218,3132,0,0,0,0,0,0,26.81,26.17,26.86
$GC,5074,-0.67,-103.1,1779,909,3218,3133,491.4,-7.9,301,5082,0.00,2.22,0.00,0.000,1030,0.000,0.043,1769,2304,3175,3218,3132,0,0,0,0,0,0,26.22,26.17,26.26
$GC,5443,-0.67,-103.1,1769,2304,3218,3131,520.9,-7.9,312,5448,0.00,2.17,0.00,0.000,516,0.000,0.041,1769,905,3174,3218,3130,0,0,0,0,0,0,26.81,26.15,26.86
$GC,5489,-0.67,-103.1,1769,905,3218,3130,525.1,-8.7,320,5496,0.00,2.22,0.00,0.000,1030,0.000,0.044,1759,2298,3173,3217,3130,0,0,0,0,0,0,26.20,26.15,26.25
$GC,5876,-0.67,-103.1,1759,2298,3217,3127,556.2,-8.2,334,5881,0.00,2.15,0.00,0.000,516,0.000,0.039,1759,907,3172,3217,3127,0,0,0,0,0,0,26.81,26.17,26.86
$GC,5922,-0.67,-103.1,1759,907,3216,3127,560.2,-8.2,342,5929,0.00,2.25,0.00,0.000,1030,0.000,0.045,1749,2310,3171,3216,3127,0,0,0,0,0,0,26.17,26.11,26.21
$GC,6310,-0.67,-103.1,1748,2310,3215,3125,594.2,-9.1,356,6316,0.12,2.20,0.00,0.000,2564,0.147,0.040,1789,905,3169,3214,3125,0,0,0,0,0,0,26.33,26.13,26.35
$GC,6381,-0.68,-103.1,1789,906,3214,3125,600.5,-8.1,368,6388,0.00,2.25,0.00,0.000,1030,0.000,0.044,1779,2307,3169,3214,3124,0,0,0,0,0,0,26.17,26.11,26.22
$GC,6780,-0.68,-103.1,1779,2307,3214,3123,633.0,-8.0,384,6785,0.00,2.20,0.00,0.000,516,0.000,0.041,1779,907,3167,3212,3122,0,0,0,0,0,0,26.81,26.13,26.86
$GC,6845,-0.68,-103.1,1779,907,3213,3122,638.5,-8.1,395,6852,0.00,2.25,0.00,0.000,1030,0.000,0.045,1769,2311,3167,3212,3122,0,0,0,0,0,0,26.15,26.10,26.19
$GC,7213,-0.69,-103.1,1770,2311,3212,3121,668.7,-8.2,406,7219,0.00,2.22,0.00,0.000,260,0.000,0.060,1759,3675,3166,3212,3121,0,0,0,0,0,0,26.81,25.95,26.86
$GC,7260,-0.69,-103.1,1759,3675,3212,3121,672.9,-9.0,414,7267,0.00,2.15,0.00,0.000,1030,0.000,0.034,1759,2300,3165,3211,3120,0,0,0,0,0,0,26.36,26.34,26.39
$GC,7646,-0.69,-103.1,1759,2300,3210,3119,706.3,-8.8,428,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,2300,3165,3211,3119,0,0,0,0,0,0,26.81,26.87,26.86
$GC,8004,-0.69,-103.1,1759,2300,3210,3118,738.7,-9.0,438,8010,0.00,2.20,0.00,0.000,516,0.000,0.039,1759,907,3164,3210,3118,0,0,0,0,0,0,26.81,26.13,26.86
$GC,8034,-0.70,-103.1,1759,908,3210,3118,741.6,-10.2,443,8041,0.00,2.25,0.00,0.000,1030,0.000,0.045,1749,2303,3163,3209,3118,0,0,0,0,0,0,26.11,26.06,26.16
$GC,8402,-0.70,-103.1,1749,2303,3209,3117,776.0,-9.2,454,8408,0.00,2.20,0.00,0.000,516,0.000,0.041,1749,907,3163,3209,3117,0,0,0,0,0,0,26.81,26.10,26.86
$GC,8509,-0.70,-103.1,1748,907,3209,3117,786.2,-9.0,472,8516,0.08,2.25,0.00,0.000,3078,0.127,0.044,1765,2307,3162,3208,3117,0,0,0,0,0,0,25.84,26.06,25.91
$GC,8908,-0.70,-104.0,1765,2307,3208,3115,817.8,-7.8,488,8913,0.00,2.20,0.00,0.000,516,0.000,0.041,1765,907,3161,3208,3114,0,0,0,0,0,0,26.80,26.08,26.86
$GC,8955,-0.71,-104.0,1765,907,3208,3114,821.8,-8.4,496,8961,0.00,2.25,0.00,0.000,1030,0.000,0.046,1756,2303,3161,3208,3114,0,0,0,0,0,0,26.08,26.03,26.13
$GC,9341,-0.72,-115.7,1756,2304,3207,3113,849.7,-7.0,510,9347,0.00,2.20,0.00,0.000,516,0.000,0.041,1756,901,3160,3207,3113,0,0,0,0,0,0,26.80,26.07,26.86
$GC,9436,-0.74,-125.5,1756,901,3207,3113,856.7,-7.1,526,9442,0.00,2.25,0.00,0.000,1030,0.000,0.044,1746,2305,3160,3207,3113,0,0,0,0,0,0,26.08,26.03,26.22
$GC,9811,-0.76,-137.1,1745,2305,3207,3112,883.0,-7.0,538,9816,0.00,2.20,0.00,0.000,516,0.000,0.041,1746,902,3159,3207,3111,0,0,0,0,0,0,26.80,26.06,26.86
$GC,9869,-0.77,-144.2,1746,903,3207,3112,887.5,-7.3,548,9875,0.00,2.25,0.00,0.000,1030,0.000,0.045,1735,2301,3159,3207,3112,0,0,0,0,0,0,26.06,26.01,26.11
$GC,10244,-0.78,-147.7,1735,2302,3207,3111,915.7,-7.6,560,10249,0.00,2.22,0.00,0.000,260,0.000,0.060,1725,3669,3158,3207,3110,0,0,0,0,0,0,26.80,25.84,26.86
$GC,10344,-0.78,-147.7,1725,3669,3206,3111,924.5,-8.7,577,10353,0.00,2.15,0.00,0.000,1030,0.000,0.036,1725,2303,3158,3206,3110,0,0,0,0,0,0,26.31,26.28,26.34
$GC,10711,-0.78,-147.7,1724,2304,3207,3109,955.9,-8.8,588,10717,0.00,2.20,0.00,0.000,516,0.000,0.037,1725,883,3157,3206,3109,0,0,0,0,0,0,26.80,26.08,26.86
$GC,10776,-0.78,-147.7,1725,883,3205,3109,961.9,-8.8,599,10784,0.08,2.30,0.00,0.000,3078,0.140,0.046,1740,2302,3157,3205,3109,0,0,0,0,0,0,25.71,25.97,25.78
$STATE,11143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11143,begin apogee
$GC,11149,-0.11,0.0,1741,1956,3205,3109,991.6,-8.0,610,11217,0.68,0.00,60.08,0.982,10246,0.107,0.000,1959,1956,2895,2967,2823,0,0,0,0,0,0,25.52,24.39,23.63
$STATE,11218,end apogee,CONTROL_FINISHED_OK
$STATE,11218,begin climb
$GC,11220,0.69,147.7,1960,1956,2967,2823,993.3,0.0,612,11368,0.70,2.50,138.50,0.979,10500,0.065,0.050,2217,3383,2292,2385,2199,0,0,0,0,0,0,25.46,24.49,23.26
$GC,11403,0.69,147.7,2217,3383,2376,2197,984.0,9.0,643,11410,0.00,2.33,0.00,0.000,1030,0.000,0.031,2221,1960,2285,2375,2196,0,0,0,0,0,0,25.37,25.34,25.39
$GC,11796,0.70,147.7,2221,1959,2371,2189,951.8,8.1,658,11801,0.00,2.22,0.00,0.000,516,0.000,0.040,2224,553,2278,2368,2188,0,0,0,0,0,0,26.39,25.94,26.46
$GC,11830,0.70,147.7,2224,553,2370,2188,949.0,7.9,664,11836,0.00,2.22,0.00,0.000,1030,0.000,0.034,2224,1960,2278,2370,2187,0,0,0,0,0,0,26.06,26.02,26.09
$GC,12228,0.70,147.7,2224,1960,2369,2187,917.1,8.1,680,12233,0.00,2.25,0.00,0.000,260,0.000,0.049,2224,3373,2278,2369,2187,0,0,0,0,0,0,26.57,26.00,26.63
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$STATE,23405,end climb,SURFACE_DEPTH_REACHED
$STATE,23405,begin surface coast
$FINISH,0.2,1.021095
$STATE,23441,end surface coast,CONTROL_FINISHED_OK
$STATE,23441,begin surface
$SM_CCo,23457,173.32,0.292,1,0,502,587.25
$SM_GC,0.03,5.82,0.52,173.32,0.044,0.043,0.292,169,2318,502,-5.65,-0.96,587.25,0,0,0,0,1,0,26.20,26.15,24.79
$IRIDIUM_FIX,539.15,8034.04,060216,205229
$TT8_MAMPS,0.050932,0.050932
$HUMID,46.14
$INTERNAL_PRESSURE,9.48625
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3881056
$24V_AH,23.26,54.636
$10V_AH,9.68,33.201
$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
$DEVICE_SECS,14.375,195.575,506.950,173.325,0.000,0.000,0.000,237.100,0.000,0.000,41.481,0.000,19641.918,1178.787,2685.231,551.899,0.000,2353.885,0.000,1980.648,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23471.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.498,0.000,0.000,0.000
$MEM,260828
$DATA_FILE_SIZE,49942,1337
$CAP_FILE_SIZE,223203,0
$CFSIZE,260034560,216387584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.011,158.50,1
$GPS,070216,101235,544.970,8035.434,37,0.9,37,-2.8,0.0,0.0,9,7.2