version: 66.12
glider: 171
mission: 9
dive: 12
start: 11 5 115 7 1 46
data:
$ID,171
$MISSION,9
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,240
$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,2040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$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,2300
$C_ROLL_CLIMB,1928
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,40
$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,9.3000002
$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
$GPS1,051115,065912,752.7627,8243.6436,12,1.1,12,-2.2,0.0,0.0,8,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-53.0
$GPS2,051115,070136,752.7412,8243.6465,12,1.1,12,-2.2,0.0,0.0,8,8.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,276.2,111214,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.77,-146.0,171,2314,552,461,0.0,0.0,0,154,0.00,0.00,-133.00,0.000,16386,0.000,0.000,170,2315,2828,2863,2794,0,0,0,0,0,0,26.54,28.83,26.60
$GC,156,-0.77,-146.0,171,2315,2863,2795,3.1,-5.1,13,184,5.93,2.30,-17.30,0.000,18692,0.207,1.222,1771,3664,3497,3441,3554,0,0,0,0,0,0,26.15,25.24,26.28
$GC,214,-0.56,-146.0,1771,3664,3441,3557,22.2,-32.4,24,222,0.25,2.08,0.00,0.000,3078,0.145,0.031,1851,2290,3498,3441,3556,0,0,0,0,0,0,26.18,26.36,26.28
$GC,519,-0.50,-146.0,1850,2290,3441,3557,95.1,-19.3,45,526,0.00,2.17,0.00,0.000,260,0.000,0.055,1842,3652,3499,3441,3557,0,0,0,0,0,0,26.71,26.46,26.77
$GC,670,-0.50,-146.0,1841,3652,3441,3558,116.9,-12.2,75,677,0.10,2.03,0.00,0.000,3078,0.110,0.030,1880,2296,3499,3441,3558,0,0,0,0,0,0,26.44,26.56,26.51
$GC,981,-0.58,-146.0,1879,2296,3442,3560,142.9,-7.2,92,982,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2295,3500,3441,3559,0,0,0,0,0,0,26.82,26.89,26.89
$GC,1282,-0.67,-146.0,1880,2296,3441,3559,167.8,-8.6,107,1288,0.17,2.12,0.00,0.000,4356,0.065,0.057,1764,3667,3500,3441,3559,0,0,0,0,0,0,26.72,26.62,26.75
$GC,1353,-0.62,-146.0,1765,3667,3441,3559,177.9,-15.8,121,1361,0.20,2.05,0.00,0.000,3078,0.116,0.032,1834,2304,3499,3440,3559,0,0,0,0,0,0,26.55,26.68,26.63
$GC,1665,-0.67,-146.0,1834,2303,3441,3559,208.5,-8.3,138,1671,0.00,2.15,0.00,0.000,516,0.000,0.040,1834,893,3500,3441,3559,0,0,0,0,0,0,26.91,26.68,26.97
$GC,1691,-0.73,-146.0,1834,894,3441,3559,210.6,-9.0,143,1697,0.00,2.15,0.00,0.000,1030,0.000,0.043,1827,2287,3499,3441,3558,0,0,0,0,0,0,26.71,26.67,26.74
$GC,2007,-0.78,-146.0,1827,2287,3440,3552,236.5,-8.1,161,2014,0.12,2.17,0.00,0.000,4356,0.080,0.060,1739,3658,3496,3440,3552,0,0,0,0,0,0,26.79,26.67,26.82
$GC,2048,-0.72,-146.0,1739,3659,3441,3551,241.7,-13.4,169,2057,0.17,2.05,0.00,0.000,3078,0.117,0.034,1801,2299,3495,3440,3551,0,0,0,0,0,0,26.61,26.74,26.69
$GC,2372,-0.75,-146.0,1800,2299,3443,3545,274.0,-9.8,184,2377,0.00,2.15,0.00,0.000,516,0.000,0.042,1801,898,3492,3440,3545,0,0,0,0,0,0,26.96,26.72,27.02
$GC,2397,-0.77,-146.0,1801,899,3440,3545,276.6,-10.7,189,2405,0.00,2.17,0.00,0.000,1030,0.000,0.044,1791,2299,3492,3440,3544,0,0,0,0,0,0,26.76,26.72,26.79
$GC,2703,-0.79,-146.0,1790,2299,3440,3538,306.0,-9.5,200,2708,0.00,2.12,0.00,0.000,260,0.000,0.060,1780,3668,3489,3440,3538,0,0,0,0,0,0,26.97,26.71,27.03
$GC,2822,-0.79,-146.0,1780,3668,3440,3535,319.0,-11.1,224,2829,0.00,2.05,0.00,0.000,1030,0.000,0.034,1780,2298,3487,3440,3535,0,0,0,0,0,0,26.81,26.78,26.82
$GC,3153,-0.79,-146.0,1780,2297,3441,3529,354.1,-10.6,240,3159,0.00,2.12,0.00,0.000,516,0.000,0.044,1780,909,3484,3440,3529,0,0,0,0,0,0,26.98,26.74,27.05
$GC,3208,-0.79,-146.0,1780,909,3440,3528,360.1,-10.4,251,3216,0.00,2.15,0.00,0.000,1030,0.000,0.044,1771,2294,3483,3440,3527,0,0,0,0,0,0,26.79,26.74,26.82
$GC,3513,-0.79,-146.0,1771,2294,3440,3522,391.9,-10.1,262,3520,0.00,2.20,0.00,0.000,260,0.000,0.061,1763,3671,3479,3438,3521,0,0,0,0,0,0,26.98,26.74,27.05
$GC,3539,-0.79,-146.0,1763,3672,3440,3522,394.6,-10.8,267,3546,0.00,2.08,0.00,0.000,1030,0.000,0.035,1764,2294,3480,3439,3521,0,0,0,0,0,0,26.82,26.79,26.84
$GC,3844,-0.79,-146.0,1763,2293,3439,3516,426.2,-10.3,278,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,2293,3477,3439,3516,0,0,0,0,0,0,26.99,27.07,27.05
$GC,4144,-0.79,-146.0,1763,2293,3437,3514,457.0,-10.1,288,4150,0.00,2.22,0.00,0.000,260,0.000,0.063,1754,3670,3474,3436,3513,0,0,0,0,0,0,27.00,26.74,27.06
$GC,4234,-0.79,-146.0,1754,3670,3436,3513,466.9,-11.0,306,4241,0.08,2.05,0.00,0.000,3078,0.117,0.035,1783,2306,3474,3436,3513,0,0,0,0,0,0,26.69,26.80,26.76
$GC,4566,-0.81,-146.0,1783,2307,3436,3509,498.3,-9.4,322,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2306,3471,3435,3508,0,0,0,0,0,0,27.00,27.08,27.07
$GC,4866,-0.83,-146.0,1782,2306,3435,3506,527.2,-9.6,332,4872,0.00,2.17,0.00,0.000,260,0.000,0.062,1774,3658,3470,3434,3506,0,0,0,0,0,0,27.01,26.74,27.07
$GC,4891,-0.83,-146.0,1773,3658,3434,3506,529.8,-10.4,337,4900,0.00,2.05,0.00,0.000,1030,0.000,0.037,1774,2304,3469,3434,3505,0,0,0,0,0,0,26.84,26.81,26.86
$STATE,5015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5015,begin apogee
$GC,5019,-0.16,0.0,1773,1915,3434,3503,542.4,-10.1,342,5146,0.62,0.00,118.93,0.864,10246,0.106,0.000,1986,1913,2899,2944,2854,0,0,0,0,1,0,26.70,25.08,24.41
$STATE,5148,end apogee,CONTROL_FINISHED_OK
$STATE,5148,begin climb
$GC,5149,0.77,146.0,1986,1914,2943,2854,545.9,0.0,346,5284,0.82,2.33,122.85,0.715,10756,0.067,0.047,2287,536,2299,2381,2218,0,0,0,0,0,0,25.27,25.02,24.46
$GC,5383,0.72,146.0,2286,537,2376,2213,525.6,12.5,394,5389,0.00,2.20,0.00,0.000,1030,0.000,0.035,2287,1933,2293,2375,2212,0,0,0,0,0,0,25.84,25.80,25.86
$GC,5714,0.66,146.0,2286,1933,2374,2208,482.7,13.1,410,5720,0.12,2.20,0.00,0.000,4356,0.164,0.049,2255,3329,2290,2373,2208,0,0,0,0,0,0,26.16,26.25,26.29
$GC,5760,0.62,146.0,2255,3329,2372,2208,476.5,13.1,419,5766,0.00,2.12,0.00,0.000,1030,0.000,0.030,2260,1943,2289,2371,2208,0,0,0,0,0,0,26.34,26.31,26.36
$GC,6076,0.59,146.0,2260,1943,2370,2206,441.6,10.7,432,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,1943,2287,2369,2206,0,0,0,0,0,0,26.65,26.73,26.72
$GC,6376,0.57,146.0,2260,1943,2369,2205,409.6,10.8,442,6382,0.15,2.20,0.00,0.000,4356,0.160,0.050,2219,3325,2286,2368,2205,0,0,0,0,0,0,26.42,26.51,26.56
$GC,6402,0.58,155.7,2217,3325,2369,2205,407.0,9.6,447,6414,0.00,2.12,6.97,0.630,9222,0.000,0.031,2219,1927,2263,2346,2180,0,0,0,0,0,0,26.58,26.55,25.74
$GC,6739,0.67,200.4,2219,1927,2342,2178,378.9,7.9,464,6779,0.10,0.00,37.92,0.650,10246,0.096,0.000,2295,1924,2080,2154,2007,0,0,0,0,0,0,26.61,25.89,25.38
$GC,7069,0.63,200.4,2294,1924,2142,2004,338.2,12.7,475,7076,0.17,2.22,0.00,0.000,4356,0.145,0.052,2245,3335,2072,2141,2003,0,0,0,0,0,0,26.23,26.32,26.37
$GC,7100,0.63,200.4,2245,3335,2141,2004,334.2,11.6,481,7108,0.00,2.15,0.00,0.000,1030,0.000,0.030,2249,1933,2071,2140,2003,0,0,0,0,0,0,26.41,26.38,26.44
$GC,7432,0.63,200.4,2249,1933,2139,2002,300.4,10.0,497,7439,0.00,2.20,0.00,0.000,516,0.000,0.045,2250,525,2069,2137,2002,0,0,0,0,0,0,26.70,26.48,26.77
$GC,7463,0.68,216.9,2250,525,2138,2002,297.3,9.2,503,7481,0.00,2.15,13.52,0.598,9222,0.000,0.035,2251,1925,2014,2086,1942,0,0,0,0,0,0,26.53,26.51,25.68
$GC,7796,0.74,249.9,2250,1925,2080,1938,267.5,8.5,519,7829,0.00,2.30,28.23,0.583,8452,0.000,0.050,2250,3338,1878,1958,1798,0,0,0,0,0,0,26.70,26.03,25.51
$GC,7884,0.75,256.8,2250,3338,1953,1799,259.2,9.7,536,7898,0.00,2.17,7.22,0.562,9222,0.000,0.030,2253,1923,1850,1929,1771,0,0,0,0,0,0,26.27,26.24,25.51
$GC,8202,0.78,256.8,2253,1923,1925,1769,225.5,11.8,556,8209,0.10,2.15,0.00,0.000,2564,0.093,0.042,2332,535,1846,1924,1769,0,0,0,0,0,0,26.45,26.36,26.48
$GC,8223,0.78,256.8,2331,535,1925,1769,222.4,14.5,560,8230,0.10,2.15,0.00,0.000,5126,0.124,0.034,2296,1930,1846,1924,1769,0,0,0,0,0,0,26.26,26.39,26.34
$GC,8544,0.78,256.8,2296,1931,1923,1768,175.0,14.1,579,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1930,1845,1923,1768,0,0,0,0,0,0,26.71,26.78,26.77
$GC,8845,0.84,296.1,2295,1930,1922,1768,143.6,8.2,594,8888,0.00,2.28,32.58,0.500,8452,0.000,0.048,2295,3336,1688,1772,1604,0,0,0,0,0,0,26.78,26.13,25.67
$GC,8957,0.87,318.4,2295,3336,1768,1604,133.5,9.0,616,8985,0.00,2.15,19.75,0.490,9222,0.000,0.028,2301,1921,1597,1690,1505,0,0,0,0,0,0,26.35,26.33,25.56
$GC,9289,0.96,336.8,2301,1920,1686,1498,103.8,9.1,637,9313,0.12,2.15,15.73,0.470,10756,0.079,0.043,2391,529,1522,1626,1419,0,0,0,0,0,0,26.44,26.13,25.69
$GC,9377,0.96,336.8,2391,529,1624,1416,92.5,12.0,654,9385,0.12,2.15,0.00,0.000,5126,0.122,0.034,2348,1929,1520,1624,1416,0,0,0,0,0,0,26.15,26.28,26.24
$GC,9694,1.09,390.1,2348,1929,1622,1414,62.9,7.5,672,9743,0.12,2.28,43.05,0.426,10500,0.078,0.048,2434,3329,1306,1415,1197,0,0,0,0,0,0,26.51,25.98,25.58
$GC,9808,1.05,390.1,2434,3329,1411,1196,48.0,16.1,691,9815,0.17,2.15,0.00,0.000,5126,0.122,0.029,2382,1923,1303,1411,1195,0,0,0,0,0,0,26.05,26.19,26.13
$GC,10119,1.12,411.8,2382,1922,1410,1192,17.3,9.0,723,10138,0.00,2.17,9.82,0.094,8708,0.000,0.044,2387,536,1218,1321,1116,0,0,0,0,0,0,26.60,26.34,26.27
$GC,10193,1.23,432.8,2387,537,1322,1116,10.5,9.0,737,10211,0.10,2.10,9.73,0.076,11270,0.041,0.033,2478,1921,1132,1229,1036,0,0,0,0,0,0,26.41,26.40,26.32
$STATE,10244,end climb,SURFACE_DEPTH_REACHED
$STATE,10244,begin surface coast
$FINISH,0.8,1.021440
$STATE,10254,end surface coast,CONTROL_FINISHED_OK
$STATE,10255,begin surface
$SM_CCo,10267,65.05,0.051,0,0,504,587.25
$SM_GC,-0.36,6.40,0.57,65.05,0.076,0.044,0.051,173,2307,504,-5.78,-1.10,587.25,0,0,0,0,0,0,26.45,26.41,26.34
$IRIDIUM_FIX,747.28,8245.75,051115,065420
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.55
$INTERNAL_PRESSURE,9.47648
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,4015456
$24V_AH,24.41,2.934
$10V_AH,10.32,3.425
$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,16.275,96.050,466.300,65.050,0.000,0.000,0.000,0.000,0.000,0.000,13.660,0.000,8032.319,861.821,1342.531,146.250,0.000,1391.791,0.000,1099.251,0.000,0.542,0.000
$DEVICE_MAMPS,207.315,1221.705,864.450,51.255,0.000,0.000,0.000,0.000,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10240.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.420,0.000,0.000,0.000
$MEM,261060
$DATA_FILE_SIZE,26714,745
$CAP_FILE_SIZE,153332,1
$CFSIZE,260034560,249790464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.041,105.32,1
$GPS,051115,095457,752.902,8242.443,10,1.8,37,-2.2,0.0,253.8,8,8.0