version: 66.12
glider: 171
mission: 9
dive: 93
start: 11 26 115 13 41 23
data:
$ID,171
$MISSION,9
$DIVE,93
$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,52
$R_STBD_OVSHOOT,34
$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,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,261115,133504,759.0359,8438.2656,29,1.2,29,-2.0,0.0,0.0,7,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.62
$_SM_ANGLEo,-45.6
$GPS2,261115,134111,759.0427,8438.2520,14,1.2,31,-2.0,1.0,219.7,6,9.3
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,260.0,320588,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.54,-175.2,169,2306,547,459,0.0,0.0,0,164,0.00,0.00,-145.90,0.000,16386,0.000,0.000,169,2306,3126,3146,3107,0,0,0,0,0,0,26.39,28.83,26.45
$GC,167,-0.54,-175.2,170,2306,3147,3108,6.5,-12.4,12,190,6.00,2.30,-9.60,0.000,18948,0.200,1.200,1817,906,3617,3479,3755,0,0,0,0,0,0,25.84,24.55,26.15
$GC,332,-0.53,-175.2,1817,907,3479,3758,60.1,-23.5,40,339,0.00,2.22,0.00,0.000,1030,0.000,0.044,1806,2300,3618,3479,3758,0,0,0,0,0,0,26.26,26.22,26.29
$GC,716,-0.52,-175.2,1806,2300,3480,3762,129.4,-15.0,59,723,0.00,2.20,0.00,0.000,260,0.000,0.054,1796,3671,3620,3479,3762,0,0,0,0,0,0,26.67,26.36,26.72
$GC,896,-0.51,-175.2,1795,3671,3480,3764,156.7,-15.8,89,905,0.12,2.10,0.00,0.000,3078,0.138,0.029,1831,2287,3621,3479,3763,0,0,0,0,0,0,26.32,26.48,26.47
$GC,1270,-0.51,-175.2,1831,2287,3479,3764,195.6,-9.5,106,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2286,3621,3479,3764,0,0,0,0,0,0,26.79,26.86,26.84
$GC,1630,-0.51,-175.2,1831,2287,3479,3764,232.7,-10.4,121,1637,0.00,2.22,0.00,0.000,260,0.000,0.057,1821,3668,3621,3479,3764,0,0,0,0,0,0,26.83,26.52,26.89
$GC,1672,-0.51,-175.2,1821,3668,3479,3764,237.1,-10.7,128,1681,0.00,2.05,0.00,0.000,1030,0.000,0.032,1821,2312,3621,3479,3764,0,0,0,0,0,0,26.63,26.60,26.66
$GC,2039,-0.51,-175.2,1821,2312,3479,3759,272.9,-9.6,141,2046,0.00,2.20,0.00,0.000,260,0.000,0.058,1814,3669,3618,3478,3758,0,0,0,0,0,0,26.86,26.53,26.92
$GC,2086,-0.51,-175.2,1814,3669,3479,3758,277.5,-9.6,149,2094,0.00,2.08,0.00,0.000,1030,0.000,0.032,1814,2306,3618,3479,3758,0,0,0,0,0,0,26.67,26.63,26.69
$GC,2471,-0.51,-175.2,1813,2306,3480,3752,313.9,-9.5,163,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2305,3615,3479,3751,0,0,0,0,0,0,26.89,26.96,26.95
$GC,2831,-0.50,-175.2,1813,2305,3479,3745,347.1,-9.2,173,2838,0.00,2.22,0.00,0.000,260,0.000,0.060,1804,3673,3611,3478,3745,0,0,0,0,0,0,26.90,26.56,26.96
$GC,2861,-0.50,-175.2,1804,3673,3479,3745,349.9,-9.6,178,2869,0.00,2.08,0.00,0.000,1030,0.000,0.031,1804,2303,3611,3479,3744,0,0,0,0,0,0,26.70,26.67,26.72
$GC,3227,-0.50,-175.2,1804,2303,3479,3740,385.0,-9.8,189,3235,0.10,2.15,0.00,0.000,2564,0.151,0.041,1833,906,3609,3479,3739,0,0,0,0,0,0,26.63,26.63,26.71
$GC,3264,-0.50,-175.2,1833,906,3479,3739,388.3,-8.8,195,3271,0.00,2.20,0.00,0.000,1030,0.000,0.046,1823,2303,3608,3478,3738,0,0,0,0,0,0,26.66,26.62,26.70
$GC,3660,-0.50,-175.2,1824,2303,3479,3734,422.5,-8.6,211,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2303,3605,3478,3733,0,0,0,0,0,0,26.92,26.99,26.98
$GC,4020,-0.50,-175.2,1824,2303,3478,3728,454.1,-8.9,221,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2302,3603,3478,3728,0,0,0,0,0,0,26.92,26.99,26.98
$GC,4380,-0.50,-175.2,1823,2303,3478,3723,486.3,-9.0,231,4387,0.00,2.22,0.00,0.000,260,0.000,0.062,1814,3669,3600,3477,3723,0,0,0,0,0,0,26.93,26.59,26.99
$GC,4404,-0.50,-175.2,1812,3670,3478,3723,488.5,-9.5,235,4411,0.00,2.10,0.00,0.000,1030,0.000,0.034,1813,2306,3600,3478,3723,0,0,0,0,0,0,26.75,26.70,26.77
$GC,4776,-0.50,-175.2,1813,2307,3477,3719,523.0,-9.1,247,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3597,3477,3718,0,0,0,0,0,0,26.93,27.00,26.99
$GC,5136,-0.50,-175.2,1813,2307,3477,3714,554.7,-8.8,257,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3596,3479,3714,0,0,0,0,0,0,26.93,27.00,26.99
$GC,5496,-0.50,-175.2,1813,2307,3476,3711,585.7,-8.4,267,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3593,3476,3710,0,0,0,0,0,0,26.94,27.01,26.99
$GC,5856,-0.50,-175.2,1813,2306,3476,3707,616.2,-8.5,277,5864,0.00,2.17,0.00,0.000,516,0.000,0.040,1813,909,3591,3476,3707,0,0,0,0,0,0,26.94,26.65,27.00
$GC,5886,-0.50,-175.2,1813,909,3476,3707,618.8,-9.2,282,5895,0.12,2.22,0.00,0.000,3078,0.137,0.046,1841,2304,3591,3476,3707,0,0,0,0,0,0,26.53,26.61,26.67
$GC,6254,-0.50,-175.2,1840,2304,3476,3704,644.8,-6.9,293,6260,0.00,2.15,0.00,0.000,516,0.000,0.044,1841,907,3589,3475,3704,0,0,0,0,0,0,26.94,26.62,26.99
$GC,6283,-0.50,-175.2,1841,907,3475,3704,646.9,-7.3,298,6291,0.00,2.20,0.00,0.000,1030,0.000,0.047,1833,2298,3589,3475,3703,0,0,0,0,0,0,26.67,26.61,26.70
$GC,6650,-0.51,-175.2,1832,2299,3476,3700,672.9,-7.1,309,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2298,3587,3475,3700,0,0,0,0,0,0,26.94,27.01,26.99
$GC,7009,-0.51,-175.2,1832,2298,3476,3698,697.4,-6.8,319,7015,0.00,2.15,0.00,0.000,516,0.000,0.040,1833,912,3586,3475,3697,0,0,0,0,0,0,26.94,26.63,27.00
$GC,7051,-0.51,-175.2,1832,912,3476,3698,700.4,-7.3,326,7058,0.00,2.20,0.00,0.000,1030,0.000,0.046,1824,2304,3586,3475,3697,0,0,0,0,0,0,26.67,26.61,26.70
$GC,7441,-0.51,-175.2,1824,2305,3475,3694,729.0,-7.5,341,7448,0.00,2.17,0.00,0.000,516,0.000,0.043,1824,912,3584,3475,3694,0,0,0,0,0,0,26.94,26.62,26.99
$GC,7476,-0.51,-175.2,1824,913,3475,3694,732.0,-8.1,347,7484,0.00,2.22,0.00,0.000,1030,0.000,0.047,1814,2307,3584,3474,3694,0,0,0,0,0,0,26.70,26.60,26.73
$GC,7873,-0.51,-175.2,1813,2307,3475,3692,764.8,-8.3,363,7880,0.00,2.17,0.00,0.000,516,0.000,0.044,1814,921,3582,3474,3691,0,0,0,0,0,0,26.94,26.61,26.99
$GC,7914,-0.51,-175.2,1813,922,3475,3691,768.4,-8.6,370,7922,0.00,2.22,0.00,0.000,1030,0.000,0.047,1805,2317,3582,3474,3691,0,0,0,0,0,0,26.70,26.61,26.74
$GC,8305,-0.51,-175.2,1804,2317,3475,3690,800.7,-8.0,385,8313,0.00,2.17,0.00,0.000,516,0.000,0.040,1805,912,3581,3474,3689,0,0,0,0,0,0,26.94,26.63,26.99
$GC,8353,-0.51,-175.2,1804,912,3475,3689,804.7,-8.4,393,8362,0.12,2.22,0.00,0.000,3078,0.138,0.046,1831,2308,3581,3474,3689,0,0,0,0,0,0,26.51,26.60,26.65
$GC,8739,-0.51,-175.2,1831,2308,3475,3688,828.7,-6.1,407,8745,0.00,2.17,0.00,0.000,516,0.000,0.043,1832,915,3580,3474,3687,0,0,0,0,0,0,26.94,26.61,26.99
$GC,8780,-0.51,-175.2,1832,916,3474,3687,831.3,-6.1,414,8787,0.00,2.20,0.00,0.000,1030,0.000,0.047,1824,2301,3581,3475,3687,0,0,0,0,0,0,26.65,26.60,26.69
$GC,9171,-0.51,-175.2,1823,2301,3475,3686,856.6,-6.5,429,9178,0.00,2.17,0.00,0.000,516,0.000,0.042,1824,908,3579,3474,3685,0,0,0,0,0,0,26.93,26.61,26.99
$GC,9200,-0.51,-175.2,1823,908,3474,3685,858.9,-8.4,434,9208,0.00,2.25,0.00,0.000,1030,0.000,0.047,1813,2313,3579,3474,3685,0,0,0,0,0,0,26.68,26.58,26.72
$GC,9567,-0.51,-175.2,1813,2312,3475,3684,887.0,-7.8,445,9574,0.00,2.20,0.00,0.000,516,0.000,0.042,1813,908,3578,3474,3683,0,0,0,0,0,0,26.93,26.60,26.99
$GC,9596,-0.51,-175.2,1812,908,3475,3684,889.6,-8.8,450,9606,0.00,2.25,0.00,0.000,1030,0.000,0.047,1803,2315,3578,3474,3683,0,0,0,0,0,0,26.68,26.59,26.72
$GC,9962,-0.51,-175.2,1803,2315,3475,3682,920.1,-8.3,461,9970,0.00,2.22,0.00,0.000,516,0.000,0.041,1803,902,3578,3474,3682,0,0,0,0,0,0,26.93,26.60,26.99
$GC,9999,-0.51,-175.2,1803,903,3474,3682,923.2,-8.8,467,10006,0.10,2.22,0.00,0.000,3078,0.109,0.047,1832,2304,3578,3474,3682,0,0,0,0,0,0,26.48,26.59,26.55
$GC,10395,-0.51,-175.2,1832,2304,3474,3681,949.0,-6.2,483,10402,0.00,2.17,0.00,0.000,516,0.000,0.044,1833,920,3577,3474,3680,0,0,0,0,0,0,26.93,26.60,26.99
$GC,10443,-0.52,-175.2,1833,920,3474,3681,952.1,-6.6,491,10450,0.00,2.20,0.00,0.000,1030,0.000,0.048,1824,2302,3577,3474,3680,0,0,0,0,0,0,26.63,26.58,26.67
$GC,10828,-0.52,-175.2,1824,2302,3474,3678,976.0,-6.0,505,10835,0.00,2.17,0.00,0.000,516,0.000,0.044,1824,918,3576,3474,3678,0,0,0,0,0,0,26.93,26.60,26.99
$GC,10864,-0.52,-175.2,1824,918,3474,3678,978.1,-6.1,511,10871,0.00,2.20,0.00,0.000,1030,0.000,0.049,1814,2301,3576,3474,3678,0,0,0,0,0,0,26.63,26.58,26.67
$STATE,11078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11078,begin apogee
$GC,11082,-0.11,0.0,1814,1962,3474,3677,991.6,-6.2,522,11239,0.43,0.00,148.45,1.004,10246,0.096,0.000,1960,1961,2899,2921,2877,0,0,0,0,1,0,26.48,24.83,23.77
$STATE,11240,end apogee,CONTROL_FINISHED_OK
$STATE,11240,begin climb
$GC,11242,0.54,175.2,1959,1961,2921,2877,994.5,0.0,526,11406,0.60,0.00,155.05,1.014,10758,0.071,0.000,2175,1960,2180,2249,2111,0,0,0,0,0,0,25.13,24.51,23.62
$GC,11764,0.55,177.3,2175,1961,2239,2104,957.5,7.8,566,11770,0.00,2.22,0.00,0.000,516,0.000,0.045,2179,574,2171,2239,2104,0,0,0,0,0,0,26.24,25.96,26.29
$GC,11860,0.55,182.3,2178,574,2238,2104,950.1,7.7,582,11874,0.00,2.22,4.90,0.786,9222,0.000,0.038,2179,1974,2154,2221,2087,0,0,0,0,0,0,26.11,26.08,24.53
$GC,12233,0.56,185.5,2179,1975,2218,2088,921.1,7.8,594,12245,0.00,2.30,4.05,0.707,8452,0.000,0.053,2179,3375,2142,2207,2078,0,0,0,0,0,0,26.50,25.96,24.68
$GC,12279,0.55,185.5,2178,3375,2209,2078,916.8,9.4,602,12287,0.00,2.22,0.00,0.000,1030,0.000,0.033,2179,1963,2142,2207,2078,0,0,0,0,0,0,26.30,26.25,26.32
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$STATE,23537,end climb,SURFACE_DEPTH_REACHED
$STATE,23537,begin surface coast
$FINISH,0.6,1.021634
$STATE,23562,end surface coast,CONTROL_FINISHED_OK
$STATE,23563,begin surface
$SM_CCo,23575,81.75,0.052,0,0,504,587.25
$SM_GC,-0.66,5.35,0.52,81.75,0.026,0.046,0.052,168,2311,504,-5.66,-1.19,587.25,0,0,0,0,0,0,26.60,26.51,26.38
$IRIDIUM_FIX,753.81,8445.97,261115,070932
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.87
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3984352
$24V_AH,23.62,15.061
$10V_AH,10.09,10.258
$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,13.375,168.400,501.475,81.750,0.000,0.000,0.000,224.700,0.000,0.000,32.799,0.000,20150.486,1175.773,2379.629,301.920,0.000,2197.820,0.000,1717.648,0.000,0.539,0.000
$DEVICE_MAMPS,199.665,1199.520,1014.390,52.020,0.000,0.000,0.000,120.105,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23582.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.831,0.000,0.000,0.000
$MEM,260780
$DATA_FILE_SIZE,43341,1165
$CAP_FILE_SIZE,208985,0
$CFSIZE,260034560,242049024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.009,129.85,1
$GPS,261115,201635,758.570,8434.127,32,1.0,32,-2.0,0.0,0.0,9,7.7