version: 66.12
glider: 171
mission: 9
dive: 9
start: 11 4 115 17 36 28
data:
$ID,171
$MISSION,9
$DIVE,9
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$D_ABORT,600
$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,160
$T_MISSION,220
$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,2100
$C_ROLL_CLIMB,1928
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,49
$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
$GPS1,041115,172203,752.1638,8237.3906,86,0.9,86,-2.2,0.2,246.7,10,7.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-53.1
$GPS2,041115,173618,752.1236,8237.2227,12,1.3,12,-2.2,0.0,0.0,7,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,PIES
$TGT_LATLONG,800.000,8325.052
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,80.8,88922,-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,-146.0,176,2113,557,456,0.0,0.0,0,164,0.00,0.00,-144.00,0.000,16386,0.000,0.000,173,2114,2983,3005,2961,0,0,0,0,0,0,26.41,28.83,26.49
$GC,166,-0.72,-146.0,174,2113,3006,2961,3.4,-7.5,14,194,6.45,2.35,-11.68,0.000,18692,0.213,1.234,1877,3490,3500,3444,3556,0,0,0,0,0,0,26.03,25.10,26.17
$GC,214,-0.59,-146.0,1877,3490,3444,3558,21.5,-28.4,23,220,0.17,2.12,0.00,0.000,3078,0.126,0.031,1936,2101,3501,3444,3558,0,0,0,0,0,0,26.03,26.17,26.10
$GC,535,-0.60,-146.0,1935,2101,3445,3559,74.1,-14.5,48,541,0.00,2.20,0.00,0.000,260,0.000,0.053,1929,3481,3501,3444,3558,0,0,0,0,0,0,26.67,26.41,26.72
$GC,715,-0.68,-146.0,1927,3481,3444,3560,96.6,-10.3,84,721,0.00,2.08,0.00,0.000,1030,0.000,0.032,1927,2107,3502,3444,3560,0,0,0,0,0,0,26.56,26.53,26.58
$GC,1036,-0.80,-146.0,1927,2105,3444,3564,123.8,-8.2,103,1043,0.15,2.20,0.00,0.000,4356,0.074,0.054,1820,3492,3504,3444,3564,0,0,0,0,0,0,26.66,26.57,26.70
$GC,1102,-0.80,-146.0,1820,3493,3445,3564,132.5,-13.8,116,1109,0.12,2.10,0.00,0.000,3078,0.111,0.031,1867,2097,3504,3444,3564,0,0,0,0,0,0,26.51,26.63,26.58
$GC,1419,-0.87,-146.0,1867,2097,3445,3566,162.2,-8.0,134,1425,0.00,2.20,0.00,0.000,260,0.000,0.053,1860,3487,3504,3444,3565,0,0,0,0,0,0,26.89,26.64,26.96
$GC,1574,-0.95,-146.0,1860,3487,3445,3566,172.8,-6.2,165,1583,0.08,2.08,0.00,0.000,5126,0.050,0.031,1777,2100,3504,3444,3565,0,0,0,0,0,0,26.69,26.72,26.72
$GC,1879,-0.95,-146.0,1777,2099,3445,3566,205.7,-10.4,181,1887,0.12,2.20,0.00,0.000,2308,0.132,0.054,1810,3492,3504,3444,3565,0,0,0,0,0,0,26.62,26.68,26.74
$GC,1946,-0.99,-146.0,1810,3493,3445,3566,211.9,-8.6,194,1952,0.00,2.08,0.00,0.000,1030,0.000,0.032,1811,2107,3504,3444,3565,0,0,0,0,0,0,26.77,26.74,26.79
$GC,2262,-1.04,-146.0,1810,2106,3444,3566,240.7,-9.8,212,2268,0.00,2.20,0.00,0.000,260,0.000,0.056,1801,3489,3504,3444,3565,0,0,0,0,0,0,26.96,26.70,27.03
$GC,2337,-1.07,-146.0,1801,3490,3444,3564,248.8,-10.9,227,2345,0.00,2.08,0.00,0.000,1030,0.000,0.032,1801,2104,3503,3443,3564,0,0,0,0,0,0,26.79,26.76,26.82
$GC,2662,-1.10,-146.0,1801,2103,3444,3559,286.0,-11.6,239,2668,0.00,2.20,0.00,0.000,260,0.000,0.057,1792,3488,3500,3444,3557,0,0,0,0,0,0,26.98,26.72,27.05
$GC,2783,-1.13,-146.0,1791,3488,3444,3556,300.3,-11.4,263,2789,0.00,2.08,0.00,0.000,1030,0.000,0.033,1791,2106,3499,3443,3555,0,0,0,0,0,0,26.82,26.77,26.84
$GC,3114,-1.16,-146.0,1792,2105,3444,3551,331.3,-8.6,279,3119,0.00,2.15,0.00,0.000,260,0.000,0.058,1782,3488,3496,3443,3550,0,0,0,0,0,0,27.00,26.73,27.06
$GC,3154,-1.18,-146.0,1782,3489,3446,3550,335.0,-9.2,287,3160,0.00,2.10,0.00,0.000,1030,0.000,0.034,1782,2099,3496,3443,3550,0,0,0,0,0,0,26.80,26.78,26.84
$GC,3475,-1.20,-146.0,1782,2096,3444,3545,361.3,-8.4,301,3482,0.10,2.17,0.00,0.000,4356,0.085,0.057,1693,3491,3493,3443,3544,0,0,0,0,0,0,26.84,26.73,26.88
$GC,3626,-1.11,-146.0,1694,3491,3443,3541,382.5,-14.8,331,3633,0.22,2.10,0.00,0.000,3078,0.128,0.033,1769,2095,3492,3443,3541,0,0,0,0,0,0,26.63,26.79,26.72
$GC,3957,-1.11,-146.0,1769,2095,3444,3537,417.6,-10.4,347,3964,0.00,2.22,0.00,0.000,260,0.000,0.059,1764,3486,3489,3443,3535,0,0,0,0,0,0,27.01,26.74,27.08
$GC,4088,-1.11,-146.0,1764,3487,3443,3534,431.9,-10.4,373,4095,0.00,2.10,0.00,0.000,1030,0.000,0.033,1764,2099,3487,3441,3533,0,0,0,0,0,0,26.84,26.81,26.86
$GC,4410,-1.11,-146.0,1764,2098,3444,3530,464.9,-10.2,387,4416,0.00,2.17,0.00,0.000,260,0.000,0.060,1756,3487,3485,3443,3528,0,0,0,0,0,0,27.01,26.74,27.08
$GC,4490,-1.11,-146.0,1757,3488,3443,3528,473.3,-10.3,403,4496,0.00,2.10,0.00,0.000,1030,0.000,0.034,1756,2102,3485,3443,3527,0,0,0,0,0,0,26.84,26.82,26.86
$STATE,4559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4559,begin apogee
$GC,4563,-0.14,0.0,1757,1914,3443,3526,480.8,-10.7,407,4684,0.95,0.00,114.85,0.699,10246,0.108,0.000,2080,1911,2898,2945,2851,0,0,0,0,0,0,26.66,25.35,24.80
$STATE,4686,end apogee,CONTROL_FINISHED_OK
$STATE,4686,begin climb
$GC,4687,0.72,146.0,2080,1911,2941,2850,483.8,0.0,411,4810,0.73,0.00,118.88,0.677,10758,0.036,0.000,2388,1911,2301,2383,2220,0,0,0,0,0,0,25.59,25.09,24.58
$GC,5101,0.56,146.0,2388,1911,2373,2209,427.6,16.3,430,5102,0.28,0.00,0.00,0.000,4102,0.156,0.000,2311,1911,2290,2373,2208,0,0,0,0,0,0,26.05,26.25,26.22
$GC,5401,0.49,146.0,2311,1911,2372,2207,391.5,11.8,440,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1911,2288,2371,2206,0,0,0,0,0,0,26.63,26.70,26.70
$GC,5701,0.42,146.0,2311,1911,2370,2205,355.3,11.9,450,5703,0.17,0.00,0.00,0.000,4102,0.166,0.000,2263,1911,2286,2369,2204,0,0,0,0,0,0,26.37,26.57,26.53
$GC,6001,0.39,146.0,2263,1912,2368,2203,323.9,11.1,460,6007,0.00,2.22,0.00,0.000,260,0.000,0.050,2263,3313,2285,2368,2203,0,0,0,0,0,0,26.80,26.55,26.87
$GC,6071,0.36,146.0,2263,3313,2368,2204,314.7,13.7,474,6079,0.00,2.08,0.00,0.000,1030,0.000,0.030,2267,1938,2285,2367,2203,0,0,0,0,0,0,26.65,26.62,26.67
$GC,6393,0.33,146.0,2267,1939,2366,2202,277.2,11.3,488,6399,0.00,2.17,0.00,0.000,516,0.000,0.047,2266,538,2283,2366,2201,0,0,0,0,0,0,26.86,26.62,26.94
$GC,6443,0.33,146.0,2267,539,2366,2200,271.9,10.5,498,6450,0.00,2.10,0.00,0.000,1030,0.000,0.036,2267,1909,2283,2366,2201,0,0,0,0,0,0,26.69,26.65,26.71
$GC,6755,0.40,205.4,2266,1909,2365,2200,245.1,7.3,511,6807,0.00,2.30,45.15,0.568,8452,0.000,0.050,2267,3333,2059,2132,1986,0,0,0,0,0,0,26.90,26.03,25.51
$GC,6872,0.42,216.3,2267,3336,2125,1986,235.5,9.5,534,6885,0.00,2.15,9.48,0.552,9222,0.000,0.029,2267,1924,2017,2089,1946,0,0,0,0,0,0,26.32,26.28,25.53
$GC,7200,0.42,216.3,2266,1924,2083,1941,204.0,11.0,554,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1924,2011,2082,1940,0,0,0,0,0,0,26.64,26.71,26.70
$GC,7500,0.44,216.3,2267,1924,2082,1938,169.2,11.3,569,7506,0.00,2.22,0.00,0.000,260,0.000,0.052,2267,3340,2009,2081,1938,0,0,0,0,0,0,26.74,26.48,26.82
$GC,7621,0.44,216.3,2267,3340,2084,1939,154.4,12.6,593,7626,0.00,2.12,0.00,0.000,1030,0.000,0.031,2267,1935,2008,2079,1938,0,0,0,0,0,0,26.60,26.58,26.63
$GC,7941,0.56,272.1,2267,1936,2080,1938,124.4,7.4,612,7990,0.12,0.00,46.47,0.483,10246,0.079,0.000,2342,1932,1788,1871,1705,0,0,0,0,0,0,26.69,26.01,25.58
$GC,8281,0.60,288.7,2340,1932,1861,1702,92.6,9.2,629,8304,0.00,2.28,13.73,0.468,8452,0.000,0.049,2341,3334,1719,1799,1639,0,0,0,0,0,0,26.63,26.17,25.72
$GC,8393,0.72,342.9,2341,3334,1794,1640,84.2,7.5,651,8446,0.00,2.12,45.17,0.448,9222,0.000,0.028,2344,1928,1497,1603,1391,0,0,0,0,0,0,26.41,26.37,25.42
$GC,8743,0.82,367.7,2344,1929,1603,1385,55.1,8.9,676,8772,0.15,2.20,20.15,0.425,10756,0.067,0.044,2436,539,1396,1507,1286,0,0,0,0,0,0,26.40,26.06,25.64
$GC,8816,0.82,367.7,2437,540,1505,1285,45.4,14.0,690,8824,0.10,2.12,0.00,0.000,5126,0.112,0.033,2399,1934,1394,1505,1284,0,0,1,0,0,0,26.10,26.22,26.17
$GC,9128,0.82,367.7,2399,1935,1504,1284,11.1,10.3,722,9135,0.00,2.17,0.00,0.000,260,0.000,0.047,2399,3321,1393,1503,1284,0,0,0,0,0,0,26.63,26.39,26.70
$GC,9170,0.82,367.7,2398,3321,1504,1285,6.4,11.6,730,9177,0.00,2.10,0.00,0.000,1030,0.000,0.029,2400,1932,1393,1503,1284,0,0,0,0,0,0,26.48,26.45,26.50
$STATE,9200,end climb,SURFACE_DEPTH_REACHED
$STATE,9200,begin surface coast
$FINISH,0.7,1.021587
$STATE,9220,end surface coast,CONTROL_FINISHED_OK
$STATE,9220,begin surface
$SM_CCo,9232,91.72,0.050,0,0,504,587.25
$SM_GC,-0.90,6.05,0.25,91.72,0.065,0.055,0.050,173,2107,504,-6.06,-1.27,587.25,0,0,0,0,0,0,26.50,26.49,26.36
$IRIDIUM_FIX,749.46,8241.16,041115,173145
$TT8_MAMPS,0.047936,0.047936
$HUMID,50.03
$INTERNAL_PRESSURE,9.50578
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,4016608
$24V_AH,24.58,2.571
$10V_AH,10.33,3.210
$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,15.975,78.150,413.875,91.725,0.000,0.000,0.000,575.300,0.000,0.000,13.691,0.000,7274.084,829.861,1917.379,152.533,0.000,1912.103,0.000,1084.518,0.000,0.541,0.000
$DEVICE_MAMPS,212.670,1233.945,699.210,50.490,0.000,0.000,0.000,113.220,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9236.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.986,0.000,0.000,0.000
$MEM,261028
$DATA_FILE_SIZE,26696,736
$CAP_FILE_SIZE,119756,0
$CFSIZE,260034560,250085376
$ERRORS,0,0,2,0,0,8,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.048,82.95,1
$GPS,041115,201257,752.165,8238.668,39,1.4,43,-2.2,0.0,181.9,10,7.0