version: 66.12
glider: 171
mission: 9
dive: 94
start: 11 26 115 20 22 40
data:
$ID,171
$MISSION,9
$DIVE,94
$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,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,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
$GPS1,261115,201635,758.5702,8434.1270,32,1.0,32,-2.0,0.0,0.0,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-54.6
$GPS2,261115,202228,758.5718,8434.0947,15,1.5,25,-2.0,0.2,201.3,7,9.1
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,273.7,312970,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-175.2,168,2314,546,468,0.0,0.0,0,165,0.00,0.00,-146.52,0.000,16386,0.000,0.000,168,2314,3107,3127,3088,0,0,0,0,0,0,26.38,28.83,26.44
$GC,168,-0.54,-175.2,168,2314,3129,3088,6.2,-11.8,12,191,6.00,2.33,-10.12,0.000,18692,0.199,1.218,1804,3664,3616,3478,3755,0,0,0,0,0,0,25.83,24.56,26.13
$GC,417,-0.53,-175.2,1804,3664,3479,3759,86.1,-19.5,54,424,0.00,2.08,0.00,0.000,1030,0.000,0.031,1804,2310,3618,3479,3758,0,0,0,0,0,0,26.36,26.32,26.37
$GC,789,-0.52,-175.2,1804,2307,3480,3763,148.2,-14.1,71,796,0.00,2.17,0.00,0.000,260,0.000,0.055,1794,3655,3621,3479,3763,0,0,0,0,0,0,26.68,26.39,26.74
$GC,849,-0.52,-175.2,1794,3655,3480,3764,157.4,-15.3,81,858,0.08,2.05,0.00,0.000,3078,0.117,0.030,1824,2290,3621,3479,3763,0,0,0,0,0,0,26.32,26.48,26.40
$GC,1223,-0.52,-175.2,1824,2290,3479,3764,197.2,-9.8,98,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2290,3621,3479,3764,0,0,0,0,0,0,26.77,26.84,26.83
$GC,1583,-0.51,-175.2,1824,2290,3479,3764,232.9,-9.7,113,1591,0.00,2.20,0.00,0.000,260,0.000,0.057,1814,3653,3621,3479,3764,0,0,0,0,0,0,26.82,26.51,26.88
$GC,1625,-0.51,-175.2,1813,3653,3480,3764,237.4,-10.6,120,1633,0.00,2.05,0.00,0.000,1030,0.000,0.031,1814,2311,3621,3479,3764,0,0,0,0,0,0,26.65,26.60,26.67
$GC,2004,-0.51,-175.2,1814,2310,3479,3759,278.0,-10.5,133,2011,0.00,2.17,0.00,0.000,260,0.000,0.058,1804,3655,3618,3479,3758,0,0,0,0,0,0,26.86,26.53,26.91
$GC,2075,-0.51,-175.2,1804,3655,3480,3757,285.5,-10.2,145,2084,0.00,2.08,0.00,0.000,1030,0.000,0.032,1804,2294,3618,3479,3757,0,0,0,0,0,0,26.70,26.64,26.72
$GC,2473,-0.51,-175.2,1804,2294,3479,3751,322.5,-9.1,161,2480,0.00,2.20,0.00,0.000,260,0.000,0.060,1793,3675,3614,3479,3750,0,0,0,0,0,0,26.88,26.55,26.94
$GC,2502,-0.50,-175.2,1794,3676,3479,3750,325.3,-10.1,166,2512,0.15,2.10,0.00,0.000,3078,0.123,0.032,1840,2304,3614,3479,3750,0,0,0,0,0,0,26.51,26.65,26.64
$GC,2869,-0.50,-175.2,1839,2305,3479,3744,353.0,-7.9,177,2876,0.00,2.15,0.00,0.000,516,0.000,0.041,1840,909,3611,3478,3744,0,0,0,0,0,0,26.89,26.61,26.96
$GC,2904,-0.50,-175.2,1840,910,3479,3744,356.1,-8.7,183,2912,0.00,2.20,0.00,0.000,1030,0.000,0.045,1831,2294,3610,3478,3743,0,0,0,0,0,0,26.68,26.59,26.71
$GC,3302,-0.50,-175.2,1831,2296,3479,3738,390.2,-8.5,199,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2295,3608,3478,3738,0,0,0,0,0,0,26.91,26.98,26.96
$GC,3661,-0.50,-175.2,1831,2295,3479,3732,418.3,-7.5,209,3669,0.00,2.15,0.00,0.000,516,0.000,0.040,1831,907,3604,3478,3731,0,0,0,0,0,0,26.91,26.63,26.98
$GC,3715,-0.50,-175.2,1831,907,3479,3731,422.6,-8.1,218,3722,0.00,2.20,0.00,0.000,1030,0.000,0.045,1821,2306,3604,3478,3731,0,0,0,0,0,0,26.67,26.62,26.70
$GC,4093,-0.50,-175.2,1821,2306,3478,3726,453.2,-8.2,231,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3602,3478,3726,0,0,0,0,0,0,26.92,26.99,26.98
$GC,4453,-0.50,-175.2,1821,2306,3478,3721,484.9,-9.0,241,4461,0.00,2.20,0.00,0.000,516,0.000,0.044,1821,912,3599,3477,3721,0,0,0,0,0,0,26.93,26.61,26.98
$GC,4483,-0.50,-175.2,1821,912,3477,3721,487.7,-10.1,246,4492,0.00,2.20,0.00,0.000,1030,0.000,0.046,1812,2303,3599,3477,3721,0,0,0,0,0,0,26.67,26.62,26.70
$GC,4849,-0.50,-175.2,1811,2303,3477,3717,522.9,-9.4,257,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3597,3477,3717,0,0,0,0,0,0,26.93,27.00,26.98
$GC,5209,-0.50,-175.2,1811,2303,3477,3713,555.5,-8.9,267,5216,0.00,2.17,0.00,0.000,516,0.000,0.043,1812,915,3594,3476,3713,0,0,0,0,0,0,26.93,26.62,26.99
$GC,5233,-0.50,-175.2,1812,915,3476,3713,557.6,-9.3,271,5241,0.12,2.22,0.00,0.000,3078,0.138,0.047,1845,2310,3594,3476,3713,0,0,0,0,0,0,26.53,26.61,26.60
$GC,5606,-0.50,-175.2,1844,2311,3477,3709,583.9,-7.0,283,5612,0.00,2.17,0.00,0.000,516,0.000,0.044,1845,921,3592,3476,3708,0,0,0,0,0,0,26.93,26.61,26.98
$GC,5660,-0.51,-175.2,1845,922,3477,3708,587.9,-7.3,292,5666,0.00,2.17,0.00,0.000,1030,0.000,0.046,1837,2300,3592,3476,3708,0,0,0,0,0,0,26.67,26.61,26.70
$GC,6038,-0.51,-175.2,1836,2300,3476,3705,616.1,-7.5,305,6045,0.00,2.15,0.00,0.000,516,0.000,0.041,1837,920,3590,3475,3705,0,0,0,0,0,0,26.93,26.63,26.99
$GC,6080,-0.51,-175.2,1836,920,3476,3705,619.3,-7.7,312,6087,0.00,2.20,0.00,0.000,1030,0.000,0.047,1828,2311,3590,3475,3705,0,0,0,0,0,0,26.65,26.60,26.70
$GC,6470,-0.51,-175.2,1828,2311,3475,3701,649.0,-7.6,327,6477,0.00,2.17,0.00,0.000,516,0.000,0.043,1828,923,3588,3476,3701,0,0,0,0,0,0,26.93,26.60,26.99
$GC,6500,-0.51,-175.2,1828,923,3475,3701,651.5,-8.6,332,6508,0.00,2.20,0.00,0.000,1030,0.000,0.047,1818,2308,3588,3475,3701,0,0,0,0,0,0,26.65,26.60,26.69
$GC,6866,-0.51,-175.2,1817,2308,3476,3698,679.2,-7.4,343,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2308,3586,3475,3698,0,0,0,0,0,0,26.93,27.00,26.98
$GC,7226,-0.51,-175.2,1817,2308,3475,3697,706.1,-7.5,353,7234,0.00,2.20,0.00,0.000,516,0.000,0.044,1818,908,3585,3475,3696,0,0,0,0,0,0,26.93,26.61,26.99
$GC,7298,-0.51,-175.2,1817,909,3475,3696,711.8,-8.6,365,7306,0.00,2.25,0.00,0.000,1030,0.000,0.047,1808,2317,3585,3475,3695,0,0,0,0,0,0,26.70,26.60,26.73
$GC,7695,-0.51,-175.2,1807,2317,3474,3693,745.0,-8.5,381,7702,0.00,2.20,0.00,0.000,516,0.000,0.041,1808,909,3583,3474,3693,0,0,0,0,0,0,26.94,26.61,26.99
$GC,7737,-0.51,-175.2,1807,910,3475,3693,748.9,-9.0,388,7745,0.08,2.20,0.00,0.000,3078,0.116,0.046,1829,2298,3583,3474,3692,0,0,0,0,0,0,26.48,26.60,26.57
$GC,8128,-0.51,-175.2,1829,2299,3475,3691,776.8,-7.0,403,8134,0.00,2.15,0.00,0.000,516,0.000,0.041,1830,921,3582,3474,3690,0,0,0,0,0,0,26.93,26.60,26.99
$GC,8170,-0.51,-175.2,1829,921,3475,3690,779.8,-7.3,410,8177,0.00,2.20,0.00,0.000,1030,0.000,0.047,1821,2311,3582,3474,3690,0,0,0,0,0,0,26.64,26.59,26.69
$GC,8560,-0.51,-175.2,1821,2311,3474,3688,807.7,-7.3,425,8567,0.00,2.20,0.00,0.000,516,0.000,0.044,1821,911,3581,3474,3688,0,0,0,0,0,0,26.93,26.59,26.99
$GC,8632,-0.51,-175.2,1821,912,3474,3687,813.3,-8.3,437,8640,0.00,2.20,0.00,0.000,1030,0.000,0.047,1811,2299,3580,3474,3687,0,0,0,0,0,0,26.65,26.59,26.69
$GC,9028,-0.51,-175.2,1811,2299,3474,3686,845.1,-8.1,453,9036,0.00,2.17,0.00,0.000,516,0.000,0.041,1811,908,3580,3474,3686,0,0,0,0,0,0,26.93,26.60,26.99
$GC,9059,-0.51,-175.2,1811,908,3475,3686,847.6,-9.0,458,9067,0.00,2.22,0.00,0.000,1030,0.000,0.048,1801,2308,3580,3474,3686,0,0,0,0,0,0,26.63,26.58,26.67
$GC,9425,-0.51,-175.2,1801,2308,3475,3684,877.4,-7.9,469,9434,0.10,2.20,0.00,0.000,2564,0.151,0.044,1830,911,3578,3474,3683,0,0,0,0,0,0,26.64,26.58,26.70
$GC,9486,-0.51,-175.2,1831,909,3474,3684,881.7,-7.0,479,9493,0.00,2.22,0.00,0.000,1030,0.000,0.047,1821,2310,3579,3474,3684,0,0,0,0,0,0,26.63,26.58,26.67
$GC,9859,-0.51,-175.2,1821,2311,3474,3682,906.4,-6.5,491,9865,0.00,2.20,0.00,0.000,516,0.000,0.045,1821,920,3578,3474,3682,0,0,0,0,0,0,26.93,26.57,26.98
$GC,9900,-0.51,-175.2,1821,920,3474,3682,909.2,-7.3,498,9907,0.00,2.22,0.00,0.000,1030,0.000,0.048,1811,2305,3578,3474,3682,0,0,0,0,0,0,26.67,26.57,26.71
$GC,10291,-0.51,-175.2,1812,2305,3474,3681,935.0,-6.5,513,10298,0.00,2.17,0.00,0.000,516,0.000,0.045,1811,923,3577,3474,3681,0,0,0,0,0,0,26.93,26.57,26.99
$GC,10350,-0.51,-175.2,1811,924,3475,3681,939.2,-7.5,523,10357,0.00,2.22,0.00,0.000,1030,0.000,0.047,1801,2315,3577,3474,3680,0,0,0,0,0,0,26.67,26.57,26.70
$GC,10723,-0.51,-175.2,1801,2315,3474,3679,965.4,-7.1,535,10730,0.10,2.20,0.00,0.000,2564,0.151,0.043,1831,912,3576,3475,3678,0,0,0,0,0,0,26.64,26.57,26.70
$GC,10782,-0.51,-175.2,1831,913,3474,3678,969.2,-6.1,545,10791,0.00,2.20,0.00,0.000,1030,0.000,0.048,1822,2298,3576,3474,3678,0,0,0,0,0,0,26.63,26.58,26.67
$STATE,11118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11118,begin apogee
$GC,11122,-0.11,0.0,1822,1959,3474,3678,990.2,-6.3,556,11283,0.40,0.00,152.98,1.158,10246,0.095,0.000,1959,1958,2899,2921,2878,0,0,0,0,1,0,26.47,24.62,23.55
$STATE,11285,end apogee,CONTROL_FINISHED_OK
$STATE,11285,begin climb
$GC,11286,0.54,175.2,1958,1958,2922,2878,994.4,0.0,560,11448,0.60,2.45,153.57,1.019,11012,0.071,0.052,2174,3371,2181,2250,2112,0,0,0,0,0,0,24.92,24.63,23.74
$GC,11482,0.54,175.2,2173,3372,2245,2110,984.0,8.7,591,11490,0.00,2.30,0.00,0.000,1030,0.000,0.033,2179,1963,2176,2244,2109,0,0,0,0,0,0,25.26,25.23,25.28
$GC,11879,0.54,178.4,2179,1963,2239,2105,952.8,7.8,607,11885,0.00,2.33,0.00,0.000,260,0.000,0.052,2179,3376,2172,2240,2105,0,0,0,0,0,0,26.30,26.02,26.36
$GC,11914,0.54,178.4,2178,3376,2241,2105,949.6,8.5,613,11922,0.00,2.22,0.00,0.000,1030,0.000,0.032,2181,1961,2172,2239,2105,0,0,0,0,0,0,26.15,26.11,26.17
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$STATE,23605,end climb,SURFACE_DEPTH_REACHED
$STATE,23605,begin surface coast
$FINISH,0.3,1.021495
$STATE,23629,end surface coast,CONTROL_FINISHED_OK
$STATE,23629,begin surface
$SM_CCo,23642,72.00,0.053,0,0,504,587.25
$SM_GC,-0.68,5.32,1.62,72.00,0.028,0.034,0.053,168,2316,504,-5.66,1.78,587.25,0,0,0,0,0,0,26.58,26.53,26.39
$IRIDIUM_FIX,755.99,8439.46,261115,133711
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.55
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3983968
$24V_AH,23.55,15.203
$10V_AH,10.02,10.350
$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,13.425,203.725,521.275,72.000,0.000,0.000,0.000,212.900,0.000,0.000,26.182,0.000,20040.125,1249.556,2442.643,316.858,0.000,2297.358,0.000,1786.817,0.000,0.539,0.000
$DEVICE_MAMPS,198.900,1217.880,1158.210,52.785,0.000,0.000,0.000,124.695,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23649.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.808,0.000,0.000,0.000
$MEM,260808
$DATA_FILE_SIZE,43330,1214
$CAP_FILE_SIZE,216315,0
$CFSIZE,260034560,241942528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.114,313.27,1
$GPS,271115,025921,759.230,8429.519,41,1.3,63,-2.0,0.7,182.3,9,7.9