version: 66.12
glider: 171
mission: 9
dive: 115
start: 12 2 115 12 48 58
data:
$ID,171
$MISSION,9
$DIVE,115
$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,49
$R_STBD_OVSHOOT,32
$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
$GPS1,021215,124221,755.3853,8312.9961,36,1.5,58,-2.1,0.4,350.4,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-56.3
$GPS2,021215,124846,755.4980,8313.0059,12,1.4,22,-2.1,0.4,350.7,7,9.9
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,263.8,164455,-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,14,begin dive
$GC,16,-0.54,-175.2,169,2302,550,472,0.0,0.0,0,152,0.00,0.00,-133.95,0.000,16386,0.000,0.000,168,2302,2861,2899,2823,0,0,0,0,0,0,26.25,28.83,26.31
$GC,155,-0.54,-175.2,168,2303,2900,2824,6.0,-11.5,11,182,6.03,2.30,-14.88,0.000,18948,0.198,1.211,1814,902,3615,3475,3756,0,0,0,0,0,0,25.77,24.65,26.05
$GC,295,-0.53,-175.2,1814,902,3475,3760,54.2,-21.6,35,302,0.00,2.22,0.00,0.000,1030,0.000,0.044,1803,2299,3617,3475,3759,0,0,0,0,0,0,26.18,26.14,26.22
$GC,679,-0.53,-175.2,1803,2300,3476,3765,120.0,-15.5,54,685,0.00,2.22,0.00,0.000,260,0.000,0.057,1793,3672,3620,3475,3765,0,0,0,0,0,0,26.61,26.30,26.66
$GC,715,-0.52,-175.2,1793,3672,3476,3765,125.5,-15.4,60,722,0.08,2.08,0.00,0.000,3078,0.116,0.031,1822,2306,3620,3475,3765,0,0,0,0,0,0,26.25,26.40,26.32
$GC,1087,-0.51,-175.2,1822,2306,3475,3767,170.7,-11.6,77,1095,0.00,2.20,0.00,0.000,260,0.000,0.057,1813,3665,3621,3475,3767,0,0,0,0,0,0,26.72,26.41,26.77
$GC,1153,-0.51,-175.2,1812,3665,3475,3767,178.7,-12.0,88,1161,0.00,2.08,0.00,0.000,1030,0.000,0.033,1813,2304,3621,3475,3767,0,0,0,0,0,0,26.53,26.50,26.55
$GC,1519,-0.51,-175.2,1812,2304,3475,3767,219.1,-10.5,104,1526,0.00,2.15,0.00,0.000,516,0.000,0.038,1812,908,3621,3475,3767,0,0,0,0,0,0,26.78,26.51,26.84
$GC,1544,-0.51,-175.2,1812,908,3475,3767,221.7,-10.8,108,1551,0.08,2.20,0.00,0.000,3078,0.120,0.044,1831,2303,3621,3475,3767,0,0,0,0,0,0,26.39,26.51,26.47
$GC,1928,-0.50,-175.2,1831,2303,3475,3762,259.0,-9.5,126,1934,0.00,2.20,0.00,0.000,260,0.000,0.058,1822,3671,3618,3475,3762,0,0,0,0,0,0,26.82,26.50,26.88
$GC,2035,-0.50,-175.2,1821,3671,3476,3762,269.4,-9.1,144,2043,0.00,2.08,0.00,0.000,1030,0.000,0.031,1822,2293,3617,3474,3761,0,0,0,0,0,0,26.65,26.62,26.67
$GC,2432,-0.50,-175.2,1822,2293,3475,3756,305.8,-9.1,160,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2292,3615,3475,3756,0,0,0,0,0,0,26.86,26.93,26.91
$GC,2792,-0.50,-175.2,1821,2293,3475,3750,338.9,-9.2,170,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2293,3612,3474,3750,0,0,0,0,0,0,26.87,26.94,26.93
$GC,3151,-0.50,-175.2,1822,2293,3474,3744,371.4,-9.1,180,3158,0.00,2.25,0.00,0.000,260,0.000,0.060,1813,3673,3609,3474,3744,0,0,0,0,0,0,26.89,26.55,26.95
$GC,3176,-0.50,-175.2,1813,3673,3474,3744,373.6,-9.7,184,3182,0.00,2.08,0.00,0.000,1030,0.000,0.036,1813,2323,3609,3474,3744,0,0,0,0,0,0,26.67,26.65,26.71
$GC,3548,-0.50,-175.2,1813,2325,3474,3739,408.4,-9.4,196,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2323,3606,3474,3739,0,0,0,0,0,0,26.89,26.96,26.95
$GC,3908,-0.50,-175.2,1813,2324,3474,3735,440.0,-8.7,206,3914,0.00,2.20,0.00,0.000,516,0.000,0.042,1813,909,3604,3474,3735,0,0,0,0,0,0,26.90,26.60,26.96
$GC,3937,-0.49,-175.2,1813,910,3475,3735,442.5,-9.4,211,3946,0.08,2.20,0.00,0.000,3078,0.117,0.046,1833,2303,3604,3474,3734,0,0,0,0,0,0,26.47,26.59,26.56
$GC,4304,-0.49,-175.2,1833,2303,3475,3730,469.5,-7.1,222,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2303,3601,3474,3729,0,0,0,0,0,0,26.90,26.97,26.96
$GC,4664,-0.49,-175.2,1833,2303,3474,3726,495.1,-7.2,232,4670,0.00,2.20,0.00,0.000,516,0.000,0.044,1833,904,3599,3474,3725,0,0,0,0,0,0,26.91,26.60,26.97
$GC,4699,-0.49,-175.2,1833,905,3474,3725,497.9,-7.4,238,4706,0.00,2.22,0.00,0.000,1030,0.000,0.047,1825,2308,3599,3474,3724,0,0,0,0,0,0,26.64,26.59,26.68
$GC,5096,-0.49,-175.2,1825,2308,3473,3721,528.2,-7.6,254,5103,0.00,2.20,0.00,0.000,516,0.000,0.044,1825,911,3597,3474,3720,0,0,0,0,0,0,26.91,26.58,26.97
$GC,5131,-0.49,-175.2,1824,912,3474,3720,531.2,-8.3,260,5138,0.00,2.22,0.00,0.000,1030,0.000,0.047,1815,2306,3596,3473,3720,0,0,0,0,0,0,26.67,26.58,26.71
$GC,5529,-0.49,-175.2,1814,2306,3474,3717,563.4,-8.3,276,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2306,3595,3473,3717,0,0,0,0,0,0,26.91,26.98,26.97
$GC,5887,-0.49,-175.2,1814,2306,3473,3713,592.4,-8.0,286,5894,0.00,2.20,0.00,0.000,516,0.000,0.044,1815,908,3592,3471,3713,0,0,0,0,0,0,26.91,26.58,26.97
$GC,5923,-0.49,-175.2,1814,907,3473,3713,595.5,-8.3,292,5931,0.08,2.25,0.00,0.000,3078,0.115,0.047,1835,2311,3592,3473,3712,0,0,0,0,0,0,26.48,26.58,26.55
$GC,6320,-0.50,-175.2,1835,2311,3474,3709,621.6,-6.5,308,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2311,3591,3474,3709,0,0,0,0,0,0,26.91,26.98,26.97
$GC,6680,-0.50,-175.2,1835,2311,3474,3707,644.6,-6.4,318,6686,0.00,2.20,0.00,0.000,516,0.000,0.044,1836,912,3590,3473,3707,0,0,0,0,0,0,26.91,26.58,26.97
$GC,6734,-0.50,-175.2,1835,912,3474,3706,648.3,-7.1,327,6740,0.00,2.22,0.00,0.000,1030,0.000,0.047,1828,2312,3590,3474,3706,0,0,0,0,0,0,26.63,26.58,26.67
$GC,7112,-0.50,-175.2,1827,2313,3473,3704,674.9,-7.2,340,7118,0.00,2.20,0.00,0.000,516,0.000,0.044,1828,919,3588,3473,3703,0,0,0,0,0,0,26.91,26.57,26.97
$GC,7166,-0.50,-175.2,1828,919,3473,3703,679.1,-8.0,349,7173,0.00,2.20,0.00,0.000,1030,0.000,0.047,1818,2304,3588,3473,3703,0,0,0,0,0,0,26.63,26.57,26.66
$GC,7544,-0.50,-175.2,1817,2305,3474,3701,710.2,-8.5,362,7551,0.00,2.20,0.00,0.000,516,0.000,0.044,1817,910,3586,3473,3700,0,0,0,0,0,0,26.91,26.56,26.98
$GC,7580,-0.50,-175.2,1817,909,3474,3700,713.3,-8.9,368,7587,0.00,2.25,0.00,0.000,1030,0.000,0.048,1808,2309,3586,3473,3700,0,0,0,0,0,0,26.65,26.55,26.70
$GC,7977,-0.50,-175.2,1808,2309,3473,3698,749.3,-9.2,384,7983,0.00,2.20,0.00,0.000,516,0.000,0.045,1808,912,3585,3473,3697,0,0,0,0,0,0,26.91,26.56,26.97
$GC,8017,-0.50,-175.2,1808,912,3473,3698,753.4,-9.9,391,8026,0.12,2.25,0.00,0.000,3078,0.137,0.048,1835,2309,3585,3473,3697,0,0,0,0,0,0,26.47,26.55,26.60
$GC,8408,-0.50,-175.2,1834,2309,3474,3695,784.0,-7.6,406,8415,0.00,2.20,0.00,0.000,516,0.000,0.045,1835,913,3583,3473,3694,0,0,0,0,0,0,26.91,26.55,26.97
$GC,8438,-0.50,-175.2,1835,913,3474,3695,786.4,-8.3,411,8446,0.00,2.25,0.00,0.000,1030,0.000,0.049,1827,2308,3583,3473,3694,0,0,0,0,0,0,26.64,26.55,26.67
$GC,8805,-0.50,-175.2,1826,2308,3473,3693,815.6,-7.8,422,8811,0.00,2.20,0.00,0.000,516,0.000,0.045,1827,913,3583,3473,3693,0,0,0,0,0,0,26.91,26.54,26.97
$GC,8852,-0.50,-175.2,1827,914,3473,3693,819.5,-8.3,430,8859,0.00,2.25,0.00,0.000,1030,0.000,0.048,1817,2322,3582,3473,3692,0,0,0,0,0,0,26.60,26.55,26.64
$GC,9237,-0.50,-175.2,1817,2321,3473,3689,849.4,-7.6,444,9243,0.00,2.20,0.00,0.000,516,0.000,0.042,1817,912,3581,3473,3690,0,0,0,0,0,0,26.91,26.55,26.97
$GC,9279,-0.50,-175.2,1817,912,3473,3691,852.7,-7.7,451,9285,0.00,2.22,0.00,0.000,1030,0.000,0.048,1807,2306,3581,3473,3690,0,0,0,0,0,0,26.60,26.54,26.64
$GC,9669,-0.50,-175.2,1807,2307,3473,3689,882.6,-7.6,466,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3581,3473,3689,0,0,0,0,0,0,26.91,26.98,26.97
$GC,10028,-0.50,-175.2,1807,2306,3472,3688,910.4,-7.9,476,10035,0.00,2.20,0.00,0.000,516,0.000,0.046,1807,916,3580,3472,3688,0,0,0,0,0,0,26.91,26.53,26.98
$GC,10106,-0.50,-175.2,1807,916,3472,3688,916.8,-8.4,489,10115,0.12,2.25,0.00,0.000,3078,0.137,0.048,1834,2316,3579,3472,3687,0,0,0,0,0,0,26.44,26.54,26.59
$GC,10498,-0.51,-175.2,1834,2316,3472,3687,943.6,-6.8,504,10505,0.00,2.22,0.00,0.000,516,0.000,0.043,1834,908,3579,3472,3686,0,0,0,0,0,0,26.91,26.54,26.97
$GC,10545,-0.51,-175.2,1834,908,3472,3686,947.1,-7.2,512,10553,0.00,2.22,0.00,0.000,1030,0.000,0.048,1826,2301,3579,3472,3686,0,0,0,0,0,0,26.59,26.54,26.63
$GC,10931,-0.51,-175.2,1825,2301,3473,3685,973.7,-6.8,526,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2301,3578,3472,3685,0,0,0,0,0,0,26.91,26.98,26.97
$STATE,11180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11180,begin apogee
$GC,11185,-0.11,0.0,1826,1945,3472,3684,990.4,-6.7,533,11346,0.40,0.00,152.95,1.158,10246,0.093,0.000,1964,1942,2899,2922,2876,0,0,0,0,1,0,26.45,24.62,23.45
$STATE,11347,end apogee,CONTROL_FINISHED_OK
$STATE,11347,begin climb
$GC,11348,0.54,175.2,1964,1942,2923,2876,994.9,0.0,537,11514,0.60,2.50,155.20,1.017,11012,0.069,0.052,2172,3374,2180,2250,2110,0,0,0,0,0,0,24.91,24.44,23.52
$GC,11579,0.54,175.2,2172,3374,2244,2108,982.7,7.9,569,11586,0.00,2.28,0.00,0.000,1030,0.000,0.031,2172,1963,2175,2243,2108,0,0,0,0,0,0,25.42,25.39,25.44
$GC,11976,0.55,185.4,2172,1963,2241,2104,952.6,7.5,585,11986,0.00,0.00,8.45,0.897,8198,0.000,0.000,2172,1963,2143,2208,2078,0,0,0,0,0,0,26.32,25.69,24.77
$GC,12335,0.56,192.5,2171,1963,2201,2078,925.0,7.6,595,12349,0.00,2.25,7.97,0.892,8452,0.000,0.047,2172,3374,2112,2174,2051,0,0,0,0,0,0,26.46,25.39,24.72
$GC,12395,0.56,192.5,2172,3374,2173,2051,919.8,8.5,605,12402,0.00,2.22,0.00,0.000,1030,0.000,0.030,2172,1957,2111,2172,2051,0,0,0,0,0,0,26.20,26.15,26.22
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$STATE,23340,end climb,SURFACE_DEPTH_REACHED
$STATE,23340,begin surface coast
$FINISH,0.3,1.020920
$STATE,23375,end surface coast,CONTROL_FINISHED_OK
$STATE,23375,begin surface
$SM_CCo,23388,72.12,0.052,0,0,503,587.25
$SM_GC,-0.70,5.35,1.60,72.12,0.027,0.030,0.052,168,2303,503,-5.66,1.87,587.25,0,0,0,0,0,0,26.42,26.39,26.24
$IRIDIUM_FIX,751.63,8318.43,021215,061619
$TT8_MAMPS,0.049434,0.049434
$HUMID,48.34
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3975904
$24V_AH,23.45,18.306
$10V_AH,9.95,12.217
$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,13.300,158.850,521.725,72.125,0.000,0.000,0.000,245.225,0.000,0.000,23.107,0.000,20042.504,1130.868,2340.844,312.887,0.000,2151.223,0.000,1674.759,0.000,0.540,0.000
$DEVICE_MAMPS,198.135,1210.995,1158.210,52.020,0.000,0.000,0.000,121.635,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23384.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.903,0.000,0.000,0.000
$MEM,260780
$DATA_FILE_SIZE,39979,1134
$CAP_FILE_SIZE,201796,0
$CFSIZE,260034560,239976448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.119,336.56,1
$GPS,021215,192105,756.231,8308.743,43,1.1,43,-2.2,0.7,117.3,8,8.2