version: 66.12
glider: 171
mission: 9
dive: 6
start: 11 4 115 10 53 50
data:
$ID,171
$MISSION,9
$DIVE,6
$N_DIVES,8
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$D_ABORT,400
$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,110
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$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,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,1928
$C_ROLL_CLIMB,1928
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,400
$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,9.5
$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
$GPS1,041115,104953,752.6461,8235.1729,11,1.1,11,-2.2,0.0,0.0,7,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-50.3
$GPS2,041115,105340,752.6432,8235.1367,14,1.3,30,-2.2,0.5,227.2,7,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,PIES
$TGT_LATLONG,800.000,8325.052
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,84.1,92551,-17.5,-10.000,-21.06,2227
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.72,-146.0,171,1919,543,464,0.0,0.0,0,164,0.00,0.00,-143.82,0.000,16386,0.000,0.000,171,1919,2985,3011,2960,0,0,0,0,0,0,26.82,28.83,26.89
$GC,166,-0.72,-146.0,172,1920,3013,2960,3.6,-6.1,14,192,6.40,0.00,-12.25,0.000,18438,0.211,0.000,1893,1919,3498,3451,3546,0,0,0,0,0,0,26.33,25.53,26.59
$GC,489,-0.69,-146.0,1893,1920,3451,3550,71.9,-16.8,41,496,0.00,2.15,0.00,0.000,260,0.000,0.047,1883,3314,3499,3450,3549,0,0,0,0,0,0,26.94,26.68,26.99
$GC,721,-0.75,-146.0,1883,3314,3452,3550,102.0,-8.8,87,727,0.00,2.05,0.00,0.000,1030,0.000,0.031,1884,1929,3500,3451,3549,0,0,0,0,0,0,26.81,26.78,26.83
$GC,1031,-0.83,-146.0,1883,1928,3451,3551,130.4,-8.2,104,1037,0.00,2.15,0.00,0.000,260,0.000,0.049,1882,3313,3501,3451,3551,0,0,0,0,0,0,27.03,26.77,27.09
$GC,1256,-0.93,-146.0,1882,3314,3452,3552,145.6,-6.8,149,1264,0.12,2.05,0.00,0.000,5126,0.046,0.031,1787,1924,3501,3451,3551,0,0,0,0,0,0,26.82,26.84,26.84
$GC,1573,-0.93,-146.0,1787,1924,3451,3551,184.6,-12.8,167,1581,0.12,2.15,0.00,0.000,2308,0.135,0.047,1820,3320,3500,3450,3551,0,0,0,0,0,0,26.72,26.80,26.83
$GC,1760,-0.99,-146.0,1821,3321,3451,3552,203.7,-9.9,204,1767,0.00,2.08,0.00,0.000,1030,0.000,0.034,1820,1927,3501,3451,3551,0,0,0,0,0,0,26.87,26.85,26.90
$GC,2076,-1.04,-146.0,1820,1928,3450,3551,233.6,-8.4,222,2082,0.00,2.17,0.00,0.000,260,0.000,0.052,1811,3315,3500,3450,3550,0,0,0,0,0,0,27.06,26.79,27.13
$GC,2306,-1.09,-146.0,1812,3314,3450,3547,255.9,-10.2,268,2313,0.08,2.08,0.00,0.000,5126,0.055,0.033,1750,1922,3498,3450,3547,0,0,0,0,0,0,26.80,26.85,26.86
$GC,2618,-1.07,-146.0,1750,1923,3450,3541,295.5,-11.8,280,2624,0.10,2.17,0.00,0.000,2308,0.145,0.051,1774,3318,3494,3449,3540,0,0,0,0,0,0,26.74,26.79,26.84
$GC,2849,-1.09,-146.0,1774,3318,3450,3540,314.9,-7.9,326,2855,0.00,2.08,0.00,0.000,1030,0.000,0.034,1774,1933,3493,3450,3536,0,0,0,0,0,0,26.88,26.85,26.90
$STATE,3038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3038,begin apogee
$GC,3041,-0.14,0.0,1774,1934,3450,3533,332.5,-9.4,334,3156,0.90,0.00,111.28,0.601,10246,0.106,0.000,2083,1930,2898,2944,2853,0,0,0,0,0,0,26.68,25.70,25.20
$STATE,3157,end apogee,CONTROL_FINISHED_OK
$STATE,3157,begin climb
$GC,3158,0.72,146.0,2083,1931,2942,2851,334.2,0.0,337,3280,0.73,2.22,113.50,0.584,10756,0.039,0.043,2400,530,2300,2381,2219,0,0,0,0,0,0,25.89,25.37,25.03
$GC,3503,0.57,146.0,2399,530,2374,2211,289.9,15.6,407,3511,0.25,2.10,0.00,0.000,5126,0.144,0.035,2320,1919,2291,2373,2209,0,0,1,0,0,0,26.24,26.41,26.33
$GC,3815,0.50,146.0,2320,1919,2371,2207,251.3,12.0,419,3821,0.00,2.20,0.00,0.000,260,0.000,0.047,2320,3331,2288,2370,2206,0,0,0,0,0,0,26.82,26.58,26.89
$GC,3840,0.41,146.0,2320,3332,2370,2206,247.9,13.1,424,3849,0.17,2.12,0.00,0.000,5126,0.139,0.030,2265,1915,2288,2370,2206,0,0,0,0,0,0,26.44,26.64,26.54
$GC,4145,0.45,170.8,2265,1915,2368,2204,219.5,8.9,440,4168,0.00,0.00,18.35,0.540,8198,0.000,0.000,2265,1914,2199,2284,2115,0,0,0,0,0,0,26.92,26.33,25.85
$GC,4466,0.52,221.1,2265,1914,2279,2112,191.8,7.7,456,4514,0.10,2.28,40.15,0.522,10500,0.092,0.050,2334,3328,1994,2068,1921,0,0,0,0,0,0,26.74,26.13,25.64
$GC,4613,0.47,221.1,2334,3328,2061,1922,172.1,14.0,485,4620,0.15,2.10,0.00,0.000,5126,0.131,0.030,2285,1933,1990,2059,1921,0,0,0,0,0,0,26.29,26.46,26.38
$GC,4929,0.47,226.0,2287,1933,2058,1917,139.9,9.8,503,4937,0.00,2.17,3.25,0.371,8708,0.000,0.043,2292,538,1977,2049,1905,0,0,0,0,0,0,26.84,26.47,25.82
$GC,4957,0.52,241.2,2292,540,2049,1906,137.2,9.3,508,4976,0.00,2.10,14.68,0.496,9222,0.000,0.035,2292,1918,1914,1992,1837,0,0,0,0,0,0,26.64,26.60,25.86
$GC,5272,0.61,270.6,2292,1919,1985,1833,109.0,8.6,526,5304,0.00,2.22,24.98,0.472,8452,0.000,0.049,2292,3323,1792,1872,1713,0,0,0,0,0,0,26.85,26.27,25.81
$GC,5378,0.69,291.4,2292,3324,1868,1714,99.9,9.0,547,5403,0.12,2.10,18.10,0.465,11270,0.041,0.031,2381,1924,1708,1785,1631,0,0,0,0,0,0,26.50,26.50,25.75
$GC,5718,0.75,331.6,2380,1924,1778,1627,66.5,8.1,569,5755,0.00,2.17,32.62,0.433,8708,0.000,0.044,2385,545,1545,1638,1452,0,0,0,0,0,0,26.79,26.17,25.74
$GC,5840,0.85,375.0,2385,544,1636,1446,56.2,8.0,593,5883,0.00,2.10,35.17,0.417,9222,0.000,0.037,2384,1923,1367,1472,1262,0,0,1,0,0,0,26.45,26.42,25.63
$GC,6180,0.88,375.0,2384,1924,1468,1257,23.5,10.3,629,6186,0.00,2.20,0.00,0.000,260,0.000,0.047,2385,3327,1362,1467,1257,0,0,0,0,0,0,26.73,26.48,26.79
$GC,6286,0.91,375.0,2384,3328,1468,1257,11.9,11.6,650,6295,0.08,2.08,0.00,0.000,3078,0.049,0.029,2452,1937,1362,1467,1257,0,0,0,0,0,0,26.55,26.58,26.59
$STATE,6360,end climb,SURFACE_DEPTH_REACHED
$STATE,6360,begin surface coast
$FINISH,-1.1,1.021518
$STATE,6380,end surface coast,CONTROL_FINISHED_OK
$STATE,6380,begin surface
$SM_CCo,6392,86.93,0.049,0,0,504,587.25
$SM_GC,-0.57,5.78,0.00,86.93,0.031,0.000,0.049,175,1934,504,-6.07,0.17,587.25,0,0,0,0,0,0,26.65,26.89,26.51
$IRIDIUM_FIX,749.46,8236.84,041115,104743
$TT8_MAMPS,0.048685,0.048685
$HUMID,53.93
$INTERNAL_PRESSURE,9.59367
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,4017760
$24V_AH,25.03,2.326
$10V_AH,10.29,3.053
$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,15.100,51.300,412.075,86.925,0.000,0.000,0.000,0.000,0.000,0.000,31.518,0.000,4537.387,721.371,1194.189,94.324,0.000,1190.565,0.000,970.671,0.000,0.544,0.000
$DEVICE_MAMPS,211.140,52.020,600.525,48.960,0.000,0.000,0.000,0.000,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.625,0.000,0.000,0.000
$MEM,260840
$DATA_FILE_SIZE,23445,660
$CAP_FILE_SIZE,96732,0
$CFSIZE,260034560,250310656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.034,166.81,1
$GPS,041115,124233,752.283,8235.729,14,1.5,23,-2.2,0.3,263.9,6,9.9