version: 66.12
glider: 171
mission: 9
dive: 13
start: 11 5 115 10 1 2
data:
$ID,171
$MISSION,9
$DIVE,13
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,051115,095457,752.9016,8242.4434,10,1.8,37,-2.2,0.0,253.8,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.1
$GPS2,051115,100052,752.8785,8242.4346,15,1.1,19,-2.2,0.0,0.0,7,8.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,280.4,108978,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.77,-146.0,174,2310,556,457,0.0,0.0,0,163,0.00,0.00,-144.10,0.000,16386,0.000,0.000,173,2310,2877,2906,2848,0,0,0,0,0,0,26.35,28.83,26.41
$GC,165,-0.77,-146.0,174,2310,2908,2848,3.3,-6.2,14,192,5.93,2.25,-14.88,0.000,18692,0.206,1.244,1777,3655,3496,3442,3551,0,0,0,0,0,0,26.01,25.08,26.24
$GC,312,-0.58,-146.0,1777,3655,3443,3556,53.7,-29.2,43,319,0.20,2.05,0.00,0.000,3078,0.138,0.031,1843,2303,3499,3442,3556,0,0,0,0,0,0,26.15,26.32,26.24
$GC,628,-0.58,-146.0,1843,2302,3443,3559,109.1,-11.9,61,635,0.00,2.17,0.00,0.000,260,0.000,0.056,1833,3658,3501,3443,3559,0,0,0,0,0,0,26.68,26.42,26.73
$GC,824,-0.58,-146.0,1833,3659,3443,3564,138.0,-13.7,100,832,0.00,2.05,0.00,0.000,1030,0.000,0.032,1833,2302,3502,3442,3563,0,0,0,0,0,0,26.57,26.54,26.59
$GC,1129,-0.62,-146.0,1833,2302,3443,3567,174.0,-11.1,116,1135,0.00,2.17,0.00,0.000,260,0.000,0.056,1824,3653,3504,3443,3566,0,0,0,0,0,0,26.81,26.55,26.88
$GC,1235,-0.66,-146.0,1824,3654,3443,3566,185.7,-10.6,137,1242,0.00,2.05,0.00,0.000,1030,0.000,0.031,1824,2285,3504,3443,3566,0,0,0,0,0,0,26.66,26.63,26.68
$GC,1551,-0.70,-146.0,1824,2285,3443,3566,216.7,-9.1,155,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2285,3504,3442,3566,0,0,0,0,0,0,26.87,26.94,26.94
$GC,1852,-0.76,-146.0,1824,2285,3442,3566,242.6,-8.3,170,1857,0.00,2.15,0.00,0.000,260,0.000,0.058,1815,3655,3504,3442,3566,0,0,0,0,0,0,26.90,26.65,26.96
$GC,1887,-0.80,-146.0,1813,3655,3443,3566,245.8,-8.9,177,1896,0.00,2.03,0.00,0.000,1030,0.000,0.033,1815,2306,3504,3442,3566,0,0,0,0,0,0,26.74,26.71,26.76
$GC,2192,-0.84,-146.0,1815,2307,3443,3563,273.0,-8.7,189,2200,0.15,2.10,0.00,0.000,4612,0.069,0.041,1731,903,3502,3442,3562,0,0,0,0,0,0,26.79,26.70,26.82
$GC,2214,-0.83,-146.0,1730,903,3443,3562,275.2,-10.4,193,2222,0.15,2.15,0.00,0.000,3078,0.124,0.044,1773,2288,3502,3442,3562,0,0,0,0,0,0,26.60,26.69,26.67
$GC,2527,-0.83,-146.0,1772,2288,3443,3558,306.3,-10.3,205,2534,0.00,2.20,0.00,0.000,260,0.000,0.060,1764,3663,3499,3442,3557,0,0,0,0,0,0,26.94,26.68,27.01
$GC,2652,-0.83,-146.0,1764,3663,3442,3555,321.7,-12.6,230,2659,0.00,2.05,0.00,0.000,1030,0.000,0.035,1764,2305,3498,3442,3555,0,0,0,0,0,0,26.78,26.75,26.80
$GC,2979,-0.83,-146.0,1764,2305,3443,3551,363.1,-12.5,245,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,2305,3496,3442,3550,0,0,0,0,0,0,26.96,27.03,27.03
$GC,3279,-0.83,-146.0,1764,2305,3442,3546,398.3,-10.9,255,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2305,3494,3442,3546,0,0,0,0,0,0,26.97,27.05,27.03
$GC,3578,-0.83,-146.0,1764,2305,3442,3541,431.6,-11.3,265,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2305,3491,3442,3541,0,0,0,0,0,0,26.98,27.05,27.04
$GC,3878,-0.83,-146.0,1764,2305,3442,3536,464.8,-11.0,275,3885,0.00,2.17,0.00,0.000,260,0.000,0.061,1756,3658,3489,3442,3536,0,0,0,0,0,0,26.99,26.73,27.05
$GC,3944,-0.83,-146.0,1756,3659,3442,3536,472.8,-11.9,288,3950,0.00,2.05,0.00,0.000,1030,0.000,0.034,1757,2298,3489,3442,3536,0,0,0,0,0,0,26.82,26.79,26.84
$GC,4270,-0.83,-146.0,1756,2298,3443,3532,512.4,-12.1,303,4276,0.00,2.20,0.00,0.000,260,0.000,0.062,1748,3663,3487,3443,3531,0,0,0,0,0,0,26.99,26.74,27.05
$GC,4315,-0.80,-146.0,1747,3663,3443,3531,518.4,-13.3,312,4322,0.08,2.08,0.00,0.000,3078,0.119,0.036,1776,2304,3486,3442,3531,0,0,0,0,0,0,26.67,26.79,26.75
$STATE,4510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4510,begin apogee
$GC,4514,-0.16,0.0,1776,1916,3443,3529,540.4,-11.0,321,4647,0.62,0.00,124.60,0.860,10246,0.104,0.000,1990,1914,2899,2945,2854,0,0,0,0,1,0,26.69,25.04,24.37
$STATE,4648,end apogee,CONTROL_FINISHED_OK
$STATE,4648,begin climb
$GC,4649,0.77,146.0,1990,1915,2945,2854,545.1,0.0,325,4781,0.82,2.22,123.53,0.718,10756,0.063,0.043,2292,540,2299,2384,2215,0,0,0,0,0,0,25.23,24.83,24.44
$GC,4905,0.71,146.0,2292,540,2377,2208,525.2,11.3,377,4911,0.00,2.20,0.00,0.000,1030,0.000,0.035,2292,1933,2292,2377,2208,0,0,0,0,0,0,25.88,25.84,25.90
$GC,5216,0.65,146.0,2291,1933,2375,2205,487.1,12.6,389,5223,0.15,2.22,0.00,0.000,4356,0.154,0.048,2251,3329,2289,2374,2205,0,0,0,0,0,0,26.15,26.23,26.29
$GC,5262,0.61,146.0,2251,3329,2375,2205,481.0,13.2,398,5270,0.00,2.12,0.00,0.000,1030,0.000,0.030,2253,1943,2289,2374,2205,0,0,0,0,0,0,26.34,26.32,26.36
$GC,5580,0.59,146.0,2253,1943,2373,2203,444.4,11.5,411,5585,0.00,2.20,0.00,0.000,260,0.000,0.051,2253,3342,2288,2373,2203,0,0,0,0,0,0,26.65,26.41,26.72
$GC,5614,0.55,146.0,2252,3342,2373,2203,440.1,12.0,418,5622,0.10,2.15,0.00,0.000,5126,0.136,0.031,2217,1926,2287,2372,2203,0,0,0,0,0,0,26.34,26.47,26.42
$GC,5942,0.60,167.9,2217,1926,2371,2202,409.9,9.0,433,5960,0.00,0.00,16.95,0.653,8198,0.000,0.000,2217,1926,2213,2302,2124,0,0,0,0,0,0,26.74,26.15,25.61
$GC,6242,0.64,179.4,2217,1926,2293,2123,381.8,9.5,443,6259,0.00,2.22,10.55,0.636,8452,0.000,0.052,2217,3355,2165,2251,2079,0,0,0,0,0,0,26.67,26.21,25.63
$GC,6299,0.64,179.4,2217,3355,2248,2079,376.1,10.7,454,6307,0.00,2.17,0.00,0.000,1030,0.000,0.029,2221,1924,2162,2247,2078,0,0,0,0,0,0,26.40,26.37,26.42
$GC,6604,0.75,228.4,2220,1924,2243,2079,350.7,7.7,465,6648,0.17,0.00,41.15,0.630,10246,0.062,0.000,2324,1922,1967,2046,1889,0,0,0,0,0,0,26.55,25.82,25.31
$GC,6935,0.68,228.4,2324,1922,2037,1885,305.5,13.9,476,6941,0.22,2.12,0.00,0.000,4612,0.136,0.043,2267,526,1960,2036,1885,0,0,0,0,0,0,26.18,26.29,26.32
$GC,6980,0.71,232.8,2266,527,2036,1884,300.4,9.8,485,6992,0.00,2.17,3.42,0.435,9222,0.000,0.036,2266,1927,1950,2028,1873,0,0,0,0,0,0,26.37,26.34,25.48
$GC,7297,0.71,232.8,2266,1927,2028,1873,269.3,10.1,498,7304,0.00,2.22,0.00,0.000,260,0.000,0.050,2266,3334,1950,2028,1873,0,0,0,0,0,0,26.66,26.42,26.72
$GC,7368,0.71,232.8,2266,3334,2027,1873,259.8,14.2,512,7375,0.00,2.12,0.00,0.000,1030,0.000,0.028,2267,1931,1950,2027,1873,0,0,0,0,0,0,26.53,26.50,26.55
$GC,7689,0.71,232.8,2266,1931,2026,1873,215.3,13.1,530,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1931,1949,2026,1872,0,0,0,0,0,0,26.76,26.84,26.82
$GC,7990,0.73,232.8,2266,1931,2025,1873,184.1,10.4,545,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1931,1948,2025,1872,0,0,0,0,0,0,26.82,26.89,26.87
$GC,8290,0.79,254.1,2267,1931,2025,1872,152.7,9.0,560,8316,0.00,2.25,19.70,0.513,8452,0.000,0.051,2267,3326,1860,1943,1778,0,0,0,0,0,0,26.85,26.32,25.85
$GC,8371,0.82,256.5,2266,3326,1940,1779,145.0,9.9,573,8378,0.08,2.12,0.00,0.000,3078,0.047,0.031,2334,1925,1859,1939,1779,0,0,0,0,0,0,26.46,26.47,26.49
$GC,8692,0.82,256.5,2334,1923,1936,1776,110.7,11.4,592,8699,0.00,2.15,0.00,0.000,516,0.000,0.046,2336,534,1856,1936,1776,0,0,0,0,0,0,26.77,26.53,26.82
$GC,8809,0.87,274.1,2335,534,1936,1775,98.7,9.2,615,8831,0.00,2.12,17.30,0.472,9222,0.000,0.034,2336,1929,1780,1864,1696,0,0,0,0,0,0,26.61,26.58,25.86
$GC,9136,1.08,382.2,2335,1929,1855,1695,78.4,5.0,635,9228,0.15,0.00,87.40,0.430,10758,0.070,0.000,2432,1929,1339,1449,1230,0,0,0,0,0,0,26.59,25.72,25.35
$GC,9528,1.05,382.2,2431,1929,1441,1223,33.2,14.4,675,9534,0.17,2.17,0.00,0.000,4356,0.134,0.048,2381,3328,1331,1440,1223,0,0,0,0,0,0,26.16,26.23,26.29
$GC,9594,1.07,382.2,2381,3328,1441,1223,25.2,11.4,688,9602,0.00,2.12,0.00,0.000,1030,0.000,0.028,2382,1929,1332,1441,1223,0,0,0,0,0,0,26.35,26.32,26.37
$STATE,9828,end climb,SURFACE_DEPTH_REACHED
$STATE,9828,begin surface coast
$FINISH,0.1,1.021425
$STATE,9858,end surface coast,CONTROL_FINISHED_OK
$STATE,9858,begin surface
$SM_CCo,9870,85.38,0.050,0,0,504,587.25
$SM_GC,-0.41,5.88,0.57,85.38,0.052,0.044,0.050,170,2305,504,-5.79,-1.19,587.25,0,0,0,0,0,0,26.48,26.44,26.36
$IRIDIUM_FIX,747.28,8243.32,051115,065946
$TT8_MAMPS,0.049434,0.049434
$HUMID,46.69
$INTERNAL_PRESSURE,9.48625
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4015072
$24V_AH,24.37,3.028
$10V_AH,10.36,3.473
$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,14.875,74.175,444.600,85.375,0.000,0.000,0.000,240.575,0.000,0.000,20.842,0.000,7761.519,826.723,1556.037,148.884,0.000,1579.160,0.000,1054.244,0.000,0.541,0.000
$DEVICE_MAMPS,205.785,1243.890,859.860,49.725,0.000,0.000,0.000,121.635,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9870.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.448,0.000,0.000,0.000
$MEM,260800
$DATA_FILE_SIZE,26759,715
$CAP_FILE_SIZE,116423,0
$CFSIZE,260034560,249749504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.087,142.12,1
$GPS,051115,124758,752.834,8241.449,39,1.1,39,-2.2,0.0,0.0,7,8.7