version: 66.12
glider: 171
mission: 9
dive: 14
start: 11 5 115 12 53 8
data:
$ID,171
$MISSION,9
$DIVE,14
$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,51
$R_STBD_OVSHOOT,43
$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
$GPS1,051115,124758,752.8337,8241.4492,39,1.1,39,-2.2,0.0,0.0,7,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-55.0
$GPS2,051115,125257,752.8020,8241.4062,16,1.9,43,-2.2,0.4,246.3,9,8.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,293.1,107123,-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,16,-0.77,-146.0,170,2306,555,460,0.0,0.0,0,163,0.00,0.00,-144.30,0.000,16386,0.000,0.000,170,2306,2920,2949,2891,0,0,0,0,0,0,26.45,28.83,26.51
$GC,165,-0.77,-146.0,170,2307,2950,2891,3.7,-7.3,14,192,5.93,2.28,-13.38,0.000,18692,0.206,1.245,1778,3652,3497,3442,3553,0,0,0,0,0,0,26.08,25.13,26.30
$GC,306,-0.57,-146.0,1778,3653,3442,3558,54.9,-32.1,42,313,0.22,2.05,0.00,0.000,3078,0.138,0.031,1851,2296,3500,3442,3558,0,0,0,0,0,0,26.17,26.34,26.26
$GC,627,-0.57,-146.0,1850,2296,3443,3561,116.1,-11.4,61,635,0.00,2.17,0.00,0.000,260,0.000,0.057,1842,3653,3502,3443,3561,0,0,0,0,0,0,26.70,26.44,26.75
$GC,819,-0.60,-146.0,1841,3654,3442,3565,142.3,-13.0,99,826,0.00,2.03,0.00,0.000,1030,0.000,0.031,1842,2298,3504,3442,3566,0,0,0,0,0,0,26.58,26.56,26.60
$GC,1130,-0.64,-146.0,1841,2297,3443,3568,179.4,-11.2,116,1136,0.00,2.17,0.00,0.000,260,0.000,0.057,1834,3654,3505,3442,3568,0,0,0,0,0,0,26.82,26.56,26.89
$GC,1246,-0.69,-146.0,1833,3654,3442,3568,191.4,-10.4,139,1253,0.00,2.03,0.00,0.000,1030,0.000,0.031,1834,2301,3505,3442,3568,0,0,0,0,0,0,26.67,26.65,26.70
$GC,1550,-0.74,-146.0,1833,2302,3443,3568,218.1,-7.8,155,1557,0.00,2.12,0.00,0.000,516,0.000,0.041,1834,909,3505,3442,3568,0,0,0,0,0,0,26.88,26.65,26.94
$GC,1596,-0.80,-146.0,1833,909,3443,3568,221.7,-8.3,164,1603,0.10,2.12,0.00,0.000,5126,0.044,0.042,1757,2290,3505,3442,3568,0,0,0,0,0,0,26.68,26.65,26.71
$GC,1912,-0.77,-146.0,1757,2291,3442,3568,258.5,-11.2,181,1920,0.12,2.17,0.00,0.000,2308,0.140,0.058,1782,3663,3505,3442,3568,0,0,0,0,0,0,26.63,26.65,26.72
$GC,2000,-0.77,-146.0,1782,3664,3442,3568,267.4,-9.5,198,2007,0.00,2.05,0.00,0.000,1030,0.000,0.034,1782,2297,3505,3442,3568,0,0,0,0,0,0,26.74,26.72,26.77
$GC,2304,-0.77,-146.0,1782,2297,3443,3564,300.9,-11.7,209,2311,0.00,2.20,0.00,0.000,260,0.000,0.060,1775,3668,3502,3442,3563,0,0,0,0,0,0,26.94,26.67,27.00
$GC,2395,-0.77,-146.0,1775,3669,3442,3561,312.5,-12.9,227,2402,0.00,2.08,0.00,0.000,1030,0.000,0.034,1775,2290,3501,3442,3561,0,0,0,0,0,0,26.77,26.74,26.79
$GC,2727,-0.77,-146.0,1775,2290,3442,3556,351.8,-11.3,243,2733,0.00,2.08,0.00,0.000,516,0.000,0.044,1775,908,3499,3442,3556,0,0,0,0,0,0,26.96,26.72,27.02
$GC,2767,-0.77,-146.0,1775,908,3442,3555,356.1,-10.3,251,2773,0.00,2.15,0.00,0.000,1030,0.000,0.044,1765,2294,3498,3442,3555,0,0,0,0,0,0,26.77,26.72,26.79
$GC,3088,-0.77,-146.0,1766,2294,3443,3551,388.4,-10.1,265,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,2294,3496,3442,3550,0,0,0,0,0,0,26.97,27.04,27.03
$GC,3387,-0.77,-146.0,1764,2294,3443,3546,420.4,-11.2,275,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,2294,3494,3442,3547,0,0,0,0,0,0,26.98,27.05,27.04
$GC,3688,-0.77,-146.0,1764,2295,3443,3541,457.0,-12.5,285,3695,0.00,2.20,0.00,0.000,260,0.000,0.062,1757,3671,3491,3442,3541,0,0,0,0,0,0,26.98,26.73,27.05
$GC,3774,-0.77,-146.0,1757,3672,3442,3540,468.1,-13.0,302,3782,0.08,2.05,0.00,0.000,3078,0.117,0.034,1787,2306,3491,3442,3540,0,0,0,0,0,0,26.68,26.79,26.75
$GC,4080,-0.79,-146.0,1787,2305,3442,3536,498.7,-9.5,313,4086,0.00,2.10,0.00,0.000,516,0.000,0.042,1787,904,3489,3442,3536,0,0,0,0,0,0,26.99,26.76,27.05
$GC,4130,-0.82,-146.0,1786,904,3442,3535,503.7,-9.6,323,4136,0.00,2.17,0.00,0.000,1030,0.000,0.046,1778,2298,3488,3442,3535,0,0,0,0,0,0,26.80,26.75,26.83
$GC,4441,-0.83,-146.0,1778,2300,3442,3531,534.5,-10.4,335,4447,0.00,2.15,0.00,0.000,260,0.000,0.063,1767,3671,3486,3442,3531,0,0,0,0,0,0,26.99,26.73,27.05
$STATE,4495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4495,begin apogee
$GC,4501,-0.16,0.0,1768,1924,3442,3531,540.5,-11.1,346,4636,0.65,0.00,127.32,0.781,10246,0.107,0.000,1988,1921,2899,2945,2854,0,0,0,0,1,0,26.67,25.10,24.42
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4639,0.77,146.0,1988,1921,2945,2854,544.7,0.0,350,4773,0.82,2.28,123.38,0.711,10756,0.064,0.045,2291,529,2298,2383,2214,0,0,0,0,0,0,25.29,25.01,24.44
$GC,4887,0.71,146.0,2291,530,2377,2208,523.9,12.3,401,4894,0.00,2.22,0.00,0.000,1030,0.000,0.035,2291,1939,2292,2377,2208,0,0,0,0,0,0,25.86,25.83,25.89
$GC,5203,0.65,146.0,2290,1939,2375,2205,481.9,13.4,414,5210,0.15,2.22,0.00,0.000,4356,0.152,0.050,2250,3329,2289,2374,2205,0,0,0,0,0,0,26.15,26.23,26.29
$GC,5235,0.61,146.0,2251,3329,2373,2205,477.7,12.8,420,5241,0.00,2.15,0.00,0.000,1030,0.000,0.029,2253,1930,2289,2374,2205,0,0,0,0,0,0,26.33,26.29,26.35
$GC,5566,0.59,146.0,2252,1930,2373,2203,438.8,11.6,436,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,1930,2288,2373,2203,0,0,0,0,0,0,26.65,26.73,26.72
$GC,5866,0.57,146.0,2252,1929,2371,2202,406.4,10.4,446,5871,0.00,2.20,0.00,0.000,260,0.000,0.051,2253,3332,2286,2371,2202,0,0,0,0,0,0,26.73,26.49,26.80
$GC,5906,0.53,146.0,2252,3332,2371,2202,401.8,11.3,454,5913,0.10,2.15,0.00,0.000,5126,0.138,0.031,2216,1918,2286,2371,2202,0,0,0,0,0,0,26.41,26.55,26.50
$GC,6228,0.59,175.3,2216,1917,2368,2200,373.9,8.6,468,6261,0.00,2.30,22.23,0.642,8452,0.000,0.050,2216,3329,2181,2268,2095,0,0,0,0,0,0,26.80,26.17,25.61
$GC,6290,0.59,175.3,2216,3330,2267,2095,367.7,10.2,480,6297,0.00,2.15,0.00,0.000,1030,0.000,0.028,2219,1923,2180,2266,2095,0,0,0,0,0,0,26.38,26.34,26.40
$GC,6621,0.63,180.1,2219,1922,2262,2093,335.4,9.8,496,6634,0.00,2.17,4.30,0.528,8708,0.000,0.044,2223,537,2164,2250,2079,0,0,0,0,0,0,26.70,26.32,25.60
$GC,6673,0.69,197.6,2223,537,2249,2079,330.5,9.2,506,6697,0.08,2.15,16.45,0.616,11270,0.050,0.035,2302,1938,2092,2168,2016,0,0,0,0,0,0,26.44,26.46,25.58
$GC,7016,0.64,197.6,2302,1939,2158,2016,283.6,13.4,524,7023,0.20,2.20,0.00,0.000,4356,0.142,0.050,2244,3330,2087,2158,2016,0,0,0,0,0,0,26.32,26.41,26.45
$GC,7062,0.64,197.6,2244,3330,2159,2016,278.3,10.8,533,7070,0.00,2.12,0.00,0.000,1030,0.000,0.030,2247,1934,2087,2158,2016,0,0,0,0,0,0,26.51,26.47,26.53
$GC,7380,0.67,217.5,2247,1935,2156,2015,249.8,9.1,546,7404,0.00,2.22,16.88,0.571,8452,0.000,0.050,2247,3333,2009,2083,1936,0,0,0,0,0,0,26.76,26.06,25.71
$GC,7428,0.67,217.5,2246,3333,2081,1937,244.5,11.6,555,7434,0.00,2.15,0.00,0.000,1030,0.000,0.031,2247,1932,2008,2080,1936,0,0,0,0,0,0,26.41,26.37,26.42
$GC,7743,0.70,217.5,2246,1931,2079,1934,208.4,11.6,573,7751,0.00,2.22,0.00,0.000,260,0.000,0.050,2247,3321,2005,2076,1934,0,0,0,0,0,0,26.70,26.46,26.77
$GC,7815,0.70,217.5,2246,3322,2077,1934,199.4,13.2,587,7821,0.00,2.12,0.00,0.000,1030,0.000,0.031,2247,1930,2005,2077,1934,0,0,0,0,0,0,26.55,26.53,26.58
$GC,8125,0.77,236.8,2246,1930,2077,1933,169.4,9.1,604,8149,0.12,0.00,16.88,0.522,10246,0.079,0.000,2329,1928,1930,2009,1852,0,0,0,0,0,0,26.65,26.11,25.80
$GC,8446,0.75,236.8,2329,1928,2005,1849,127.8,12.0,620,8453,0.17,2.22,0.00,0.000,4356,0.133,0.052,2278,3323,1926,2004,1848,0,0,0,0,0,0,26.41,26.48,26.53
$GC,8482,0.83,272.5,2277,3323,2003,1848,124.5,8.4,627,8520,0.00,2.12,30.30,0.485,9222,0.000,0.031,2278,1929,1786,1870,1702,0,0,0,0,0,0,26.56,26.53,25.67
$GC,8830,1.02,353.7,2278,1929,1862,1699,102.8,6.3,651,8908,0.25,2.28,66.68,0.455,10756,0.048,0.047,2418,532,1452,1559,1345,0,0,0,0,0,0,26.49,25.77,25.34
$GC,8927,0.98,353.7,2417,532,1558,1343,89.1,14.6,670,8935,0.17,2.17,0.00,0.000,5126,0.115,0.036,2359,1922,1450,1557,1343,0,0,0,0,0,0,25.82,25.94,25.89
$GC,9232,1.11,397.6,2358,1923,1554,1339,60.0,8.0,686,9277,0.12,2.25,34.90,0.422,10500,0.076,0.050,2442,3338,1275,1380,1171,0,0,0,0,0,0,26.36,25.92,25.52
$GC,9351,1.06,397.6,2442,3338,1376,1170,43.6,16.3,709,9360,0.17,2.17,0.00,0.000,5126,0.125,0.031,2385,1923,1272,1376,1169,0,0,0,0,0,0,26.01,26.14,26.08
$GC,9657,1.12,416.1,2384,1922,1375,1167,12.5,9.1,740,9671,0.00,2.20,8.30,0.083,8708,0.000,0.045,2385,536,1201,1303,1100,0,0,0,0,0,0,26.57,26.32,26.27
$GC,9726,1.24,441.3,2385,537,1303,1100,6.2,8.8,753,9745,0.10,2.12,11.27,0.065,11270,0.041,0.033,2479,1930,1098,1192,1004,0,0,0,0,0,0,26.39,26.38,26.32
$STATE,9759,end climb,SURFACE_DEPTH_REACHED
$STATE,9759,begin surface coast
$FINISH,-1.2,1.021538
$STATE,9780,end surface coast,CONTROL_FINISHED_OK
$STATE,9780,begin surface
$SM_CCo,9793,62.40,0.050,0,0,503,587.25
$SM_GC,-0.57,5.90,0.55,62.40,0.031,0.051,0.050,171,2294,503,-5.80,-1.41,587.25,0,0,0,0,0,0,26.43,26.37,26.33
$IRIDIUM_FIX,749.46,8245.48,051115,095652
$TT8_MAMPS,0.050183,0.050183
$HUMID,48.03
$INTERNAL_PRESSURE,9.47648
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,4014688
$24V_AH,24.42,3.119
$10V_AH,10.31,3.521
$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,15.475,96.200,478.875,62.400,0.000,0.000,0.000,175.275,0.000,0.000,43.944,0.000,7539.908,873.078,1585.476,151.101,0.000,1600.748,0.000,1118.902,0.000,0.541,0.000
$DEVICE_MAMPS,205.785,1245.420,781.065,50.490,0.000,0.000,0.000,118.575,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.405,0.000,0.000,0.000
$MEM,260796
$DATA_FILE_SIZE,26729,760
$CAP_FILE_SIZE,123250,0
$CFSIZE,260034560,249667584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.087,154.20,1
$GPS,051115,153827,753.039,8240.407,10,1.3,42,-2.2,0.3,284.6,10,7.5