version: 66.12
glider: 171
mission: 9
dive: 96
start: 11 27 115 9 54 3
data:
$ID,171
$MISSION,9
$DIVE,96
$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,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
$GPS1,271115,094644,758.1928,8425.3809,37,1.5,46,-2.0,0.5,26.6,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-50.2
$GPS2,271115,095351,758.1898,8425.3389,13,1.7,41,-2.0,0.2,237.8,7,8.8
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,270.0,296920,-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,16,-0.54,-175.2,171,2319,551,465,0.0,0.0,0,165,0.00,0.00,-146.65,0.000,16386,0.000,0.000,171,2319,3084,3106,3063,0,0,0,0,0,0,26.26,28.83,26.32
$GC,168,-0.54,-175.2,171,2320,3107,3063,6.0,-11.1,12,191,6.00,2.35,-10.55,0.000,18692,0.199,1.214,1802,3658,3617,3479,3755,0,0,0,0,0,0,25.78,24.45,26.07
$GC,417,-0.53,-175.2,1801,3658,3479,3759,83.5,-18.5,54,425,0.00,2.08,0.00,0.000,1030,0.000,0.031,1802,2307,3618,3479,3758,0,0,0,0,0,0,26.32,26.28,26.34
$GC,789,-0.53,-175.2,1802,2305,3479,3763,141.9,-12.6,71,796,0.00,2.17,0.00,0.000,260,0.000,0.054,1792,3656,3621,3479,3763,0,0,0,0,0,0,26.66,26.36,26.72
$GC,934,-0.52,-175.2,1791,3656,3480,3764,162.1,-14.2,95,941,0.08,2.08,0.00,0.000,3078,0.113,0.031,1822,2285,3621,3479,3763,0,0,0,0,0,0,26.34,26.48,26.41
$GC,1318,-0.52,-175.2,1822,2283,3479,3764,200.7,-9.7,114,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2283,3621,3479,3764,0,0,0,0,0,0,26.77,26.84,26.84
$GC,1679,-0.52,-175.2,1822,2283,3479,3763,231.0,-8.4,129,1686,0.00,2.22,0.00,0.000,260,0.000,0.056,1812,3658,3621,3479,3763,0,0,0,0,0,0,26.82,26.52,26.88
$GC,1738,-0.52,-175.2,1812,3658,3480,3763,236.8,-9.7,139,1745,0.00,2.05,0.00,0.000,1030,0.000,0.032,1812,2306,3620,3479,3762,0,0,0,0,0,0,26.64,26.60,26.66
$GC,2111,-0.52,-175.2,1812,2306,3480,3756,272.3,-9.1,153,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2306,3617,3479,3756,0,0,0,0,0,0,26.86,26.93,26.91
$GC,2470,-0.52,-175.2,1812,2306,3479,3750,306.1,-9.7,163,2477,0.00,2.20,0.00,0.000,260,0.000,0.059,1802,3657,3614,3479,3749,0,0,0,0,0,0,26.88,26.56,26.94
$GC,2506,-0.51,-175.2,1802,3658,3479,3749,309.7,-10.6,169,2514,0.00,2.05,0.00,0.000,1030,0.000,0.034,1802,2308,3614,3479,3749,0,0,0,0,0,0,26.69,26.65,26.71
$GC,2903,-0.51,-175.2,1802,2308,3480,3743,348.1,-9.6,185,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2308,3611,3479,3743,0,0,0,0,0,0,26.89,26.96,26.96
$GC,3262,-0.51,-175.2,1802,2308,3479,3738,382.7,-9.8,195,3270,0.10,2.15,0.00,0.000,2564,0.148,0.043,1831,913,3608,3479,3737,0,0,0,0,0,0,26.63,26.63,26.70
$GC,3305,-0.51,-175.2,1831,913,3479,3737,386.5,-8.7,202,3312,0.00,2.17,0.00,0.000,1030,0.000,0.045,1822,2292,3608,3479,3737,0,0,0,0,0,0,26.66,26.61,26.70
$GC,3695,-0.51,-175.2,1821,2292,3478,3731,421.3,-9.1,217,3703,0.00,2.15,0.00,0.000,516,0.000,0.041,1822,906,3604,3478,3730,0,0,0,0,0,0,26.91,26.63,26.97
$GC,3725,-0.51,-175.2,1821,906,3479,3731,424.3,-10.2,222,3733,0.00,2.22,0.00,0.000,1030,0.000,0.045,1812,2306,3604,3478,3730,0,0,0,0,0,0,26.70,26.62,26.73
$GC,4091,-0.51,-175.2,1812,2306,3478,3726,458.8,-9.4,233,4099,0.00,2.17,0.00,0.000,516,0.000,0.044,1812,912,3601,3478,3725,0,0,0,0,0,0,26.91,26.62,26.98
$GC,4115,-0.51,-175.2,1812,912,3478,3725,461.0,-9.0,237,4124,0.10,2.22,0.00,0.000,3078,0.150,0.046,1831,2313,3601,3477,3725,0,0,0,0,0,0,26.53,26.61,26.66
$GC,4490,-0.51,-175.2,1830,2314,3478,3721,490.7,-7.7,249,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2313,3598,3477,3720,0,0,0,0,0,0,26.92,26.98,26.98
$GC,4849,-0.51,-175.2,1830,2314,3478,3717,518.2,-7.5,259,4856,0.00,2.17,0.00,0.000,516,0.000,0.041,1831,918,3596,3477,3716,0,0,0,0,0,0,26.92,26.63,26.98
$GC,4933,-0.51,-175.2,1831,918,3476,3715,524.8,-7.6,273,4941,0.00,2.20,0.00,0.000,1030,0.000,0.045,1822,2306,3595,3476,3715,0,0,0,0,0,0,26.71,26.63,26.74
$GC,5318,-0.51,-175.2,1821,2306,3477,3711,555.2,-8.0,287,5325,0.00,2.17,0.00,0.000,516,0.000,0.044,1822,917,3593,3476,3710,0,0,0,0,0,0,26.93,26.62,26.98
$GC,5365,-0.51,-175.2,1821,917,3477,3710,559.3,-8.7,295,5373,0.00,2.22,0.00,0.000,1030,0.000,0.047,1812,2314,3593,3476,3710,0,0,0,0,0,0,26.70,26.61,26.74
$GC,5750,-0.51,-175.2,1811,2314,3477,3707,591.8,-8.4,309,5757,0.00,2.17,0.00,0.000,516,0.000,0.042,1812,916,3591,3476,3707,0,0,0,0,0,0,26.93,26.62,26.98
$GC,5779,-0.51,-175.2,1812,917,3476,3707,594.4,-9.5,314,5789,0.10,2.22,0.00,0.000,3078,0.148,0.047,1830,2314,3591,3476,3706,0,0,0,0,0,0,26.53,26.62,26.65
$GC,6147,-0.51,-175.2,1830,2314,3477,3704,621.4,-7.3,325,6154,0.00,2.20,0.00,0.000,516,0.000,0.042,1831,908,3589,3475,3703,0,0,0,0,0,0,26.93,26.62,26.98
$GC,6188,-0.51,-175.2,1830,908,3476,3703,624.5,-7.6,332,6195,0.00,2.22,0.00,0.000,1030,0.000,0.047,1822,2302,3589,3476,3703,0,0,0,0,0,0,26.70,26.60,26.73
$GC,6579,-0.51,-175.2,1821,2302,3476,3700,652.1,-6.9,347,6585,0.00,2.17,0.00,0.000,516,0.000,0.044,1822,915,3587,3475,3700,0,0,0,0,0,0,26.93,26.60,26.98
$GC,6626,-0.51,-175.2,1820,916,3476,3700,655.8,-7.3,355,6633,0.00,2.22,0.00,0.000,1030,0.000,0.047,1812,2309,3587,3475,3700,0,0,0,0,0,0,26.70,26.60,26.73
$GC,7011,-0.51,-175.2,1811,2309,3476,3698,684.8,-7.5,369,7018,0.00,2.20,0.00,0.000,516,0.000,0.044,1812,908,3586,3475,3697,0,0,0,0,0,0,26.93,26.60,26.99
$GC,7082,-0.51,-175.2,1811,908,3476,3697,690.5,-8.1,381,7091,0.10,2.22,0.00,0.000,3078,0.149,0.047,1830,2305,3586,3475,3697,0,0,0,0,0,0,26.51,26.60,26.65
$GC,7480,-0.51,-175.2,1830,2305,3474,3694,718.6,-7.2,397,7488,0.00,2.17,0.00,0.000,516,0.000,0.044,1830,919,3584,3475,3693,0,0,0,0,0,0,26.93,26.59,26.98
$GC,7552,-0.51,-175.2,1830,919,3475,3693,724.1,-7.8,409,7560,0.00,2.20,0.00,0.000,1030,0.000,0.047,1821,2306,3584,3475,3693,0,0,0,0,0,0,26.64,26.59,26.68
$GC,7950,-0.51,-175.2,1821,2307,3475,3691,754.6,-7.7,425,7956,0.00,2.15,0.00,0.000,516,0.000,0.045,1821,908,3582,3475,3690,0,0,0,0,0,0,26.93,26.59,26.99
$GC,7997,-0.51,-175.2,1821,908,3474,3690,758.5,-7.8,433,8005,0.00,2.22,0.00,0.000,1030,0.000,0.047,1811,2310,3582,3475,3690,0,0,0,0,0,0,26.64,26.59,26.68
$GC,8381,-0.51,-175.2,1810,2311,3474,3689,789.3,-8.0,447,8388,0.00,2.20,0.00,0.000,516,0.000,0.044,1811,911,3581,3474,3688,0,0,0,0,0,0,26.93,26.59,26.98
$GC,8423,-0.51,-175.2,1810,911,3475,3688,792.7,-8.4,454,8430,0.00,2.22,0.00,0.000,1030,0.000,0.048,1801,2307,3581,3474,3688,0,0,0,0,0,0,26.65,26.60,26.69
$GC,8813,-0.51,-175.2,1801,2307,3474,3686,824.2,-7.8,469,8821,0.00,2.20,0.00,0.000,516,0.000,0.044,1801,911,3580,3474,3686,0,0,0,0,0,0,26.93,26.59,26.99
$GC,8849,-0.51,-175.2,1801,911,3474,3686,827.2,-8.5,475,8857,0.10,2.22,0.00,0.000,3078,0.109,0.048,1830,2312,3580,3474,3686,0,0,0,0,0,0,26.48,26.59,26.56
$GC,9245,-0.51,-175.2,1830,2312,3476,3684,851.6,-6.1,491,9252,0.00,2.20,0.00,0.000,516,0.000,0.044,1831,912,3579,3474,3684,0,0,0,0,0,0,26.93,26.58,26.98
$GC,9300,-0.51,-175.2,1830,912,3473,3684,855.2,-7.0,500,9306,0.00,2.20,0.00,0.000,1030,0.000,0.049,1822,2299,3579,3474,3684,0,0,0,0,0,0,26.65,26.59,26.68
$GC,9678,-0.51,-175.2,1822,2299,3477,3683,880.8,-6.9,513,9685,0.00,2.17,0.00,0.000,516,0.000,0.041,1822,910,3578,3474,3682,0,0,0,0,0,0,26.93,26.60,26.98
$GC,9732,-0.51,-175.2,1822,910,3474,3683,884.8,-7.6,522,9739,0.00,2.25,0.00,0.000,1030,0.000,0.048,1812,2312,3578,3474,3682,0,0,0,0,0,0,26.67,26.58,26.71
$GC,10111,-0.51,-175.2,1811,2313,3474,3681,913.6,-7.6,535,10117,0.00,2.20,0.00,0.000,516,0.000,0.043,1812,911,3577,3474,3681,0,0,0,0,0,0,26.92,26.58,26.98
$GC,10169,-0.51,-175.2,1812,911,3474,3681,918.4,-8.0,545,10178,0.00,2.25,0.00,0.000,1030,0.000,0.048,1801,2314,3577,3474,3680,0,0,0,0,0,0,26.69,26.58,26.71
$GC,10542,-0.51,-175.2,1801,2315,3474,3681,948.7,-8.1,557,10550,0.00,2.20,0.00,0.000,516,0.000,0.043,1802,909,3576,3474,3679,0,0,0,0,0,0,26.93,26.59,26.98
$GC,10602,-0.51,-175.2,1801,909,3473,3679,953.8,-8.5,567,10610,0.12,2.25,0.00,0.000,3078,0.136,0.047,1829,2314,3575,3473,3678,0,0,0,0,0,0,26.49,26.58,26.62
$GC,10976,-0.52,-175.2,1828,2314,3474,3678,978.6,-6.4,579,10981,0.00,2.20,0.00,0.000,516,0.000,0.044,1829,911,3575,3474,3677,0,0,0,0,0,0,26.93,26.58,26.98
$GC,11052,-0.52,-175.2,1829,911,3474,3677,983.7,-6.7,592,11060,0.00,2.22,0.00,0.000,1030,0.000,0.048,1820,2312,3575,3474,3677,0,0,0,0,0,0,26.63,26.58,26.67
$STATE,11153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11153,begin apogee
$GC,11158,-0.11,0.0,1820,1960,3474,3677,990.3,-6.6,599,11314,0.40,0.00,148.07,1.185,10246,0.095,0.000,1957,1960,2899,2921,2877,0,0,0,0,1,0,26.48,24.64,23.63
$STATE,11315,end apogee,CONTROL_FINISHED_OK
$STATE,11315,begin climb
$GC,11316,0.54,175.2,1958,1960,2920,2875,994.1,0.0,603,11482,0.60,2.42,153.43,1.015,11012,0.070,0.051,2171,3371,2180,2249,2112,0,0,0,0,0,0,24.94,24.64,23.75
$GC,11504,0.54,175.2,2170,3371,2246,2110,983.7,7.9,637,11512,0.00,2.33,0.00,0.000,1030,0.000,0.032,2172,1957,2176,2245,2108,0,0,0,0,0,0,25.23,25.18,25.25
$GC,11878,0.54,175.2,2171,1957,2241,2105,952.6,8.5,649,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1957,2172,2240,2105,0,0,0,0,0,0,26.28,26.35,26.34
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$STATE,23094,end climb,SURFACE_DEPTH_REACHED
$STATE,23094,begin surface coast
$FINISH,0.8,1.021421
$STATE,23107,end surface coast,CONTROL_FINISHED_OK
$STATE,23107,begin surface
$SM_CCo,23120,35.15,0.054,0,0,504,587.25
$SM_GC,-0.70,5.53,0.52,35.15,0.027,0.049,0.054,168,2303,504,-5.66,-1.41,587.25,0,0,0,0,0,0,26.39,26.29,26.22
$IRIDIUM_FIX,753.81,8428.42,271115,030134
$TT8_MAMPS,0.049434,0.049434
$HUMID,48.07
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3983200
$24V_AH,23.63,15.506
$10V_AH,10.05,10.536
$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
$DEVICE_SECS,14.050,196.400,578.125,35.150,0.000,0.000,0.000,269.075,0.000,0.000,41.962,0.000,19511.844,1221.372,2515.792,313.857,0.000,2352.581,0.000,1790.595,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23127.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.899,0.000,0.000,0.000
$MEM,260800
$DATA_FILE_SIZE,43309,1219
$CAP_FILE_SIZE,211802,0
$CFSIZE,260034560,241750016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,13579.62,0x234070,1,24
$CURRENT,0.100,305.63,1
$GPS,271115,162104,758.574,8421.160,38,1.1,43,-2.0,0.6,267.4,8,9.1