version: 66.12
glider: 171
mission: 9
dive: 15
start: 11 5 115 15 43 4
data:
$ID,171
$MISSION,9
$DIVE,15
$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,37
$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
$GPS1,051115,153827,753.0392,8240.4072,10,1.3,42,-2.2,0.3,284.6,10,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-53.6
$GPS2,051115,154254,753.0161,8240.3516,16,1.3,16,-2.2,0.0,0.0,7,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,295.6,105154,-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,-146.0,172,2296,556,455,0.0,0.0,0,163,0.00,0.00,-143.75,0.000,16386,0.000,0.000,171,2296,2857,2888,2827,0,0,0,0,0,0,26.41,28.83,26.48
$GC,165,-0.77,-146.0,172,2296,2890,2828,3.1,-6.0,14,192,5.90,2.30,-15.70,0.000,18692,0.205,1.247,1773,3669,3496,3443,3550,0,0,0,0,0,0,26.05,25.10,26.28
$GC,416,-0.60,-146.0,1773,3669,3443,3555,84.6,-28.7,64,423,0.20,2.08,0.00,0.000,3078,0.135,0.031,1839,2300,3498,3442,3555,0,0,0,0,0,0,26.25,26.41,26.34
$GC,727,-0.60,-146.0,1839,2300,3443,3561,140.7,-16.9,81,735,0.00,2.17,0.00,0.000,260,0.000,0.055,1829,3661,3501,3442,3561,0,0,0,0,0,0,26.73,26.48,26.79
$GC,754,-0.60,-146.0,1829,3662,3443,3562,144.5,-14.3,86,761,0.00,2.05,0.00,0.000,1030,0.000,0.031,1829,2294,3503,3443,3563,0,0,0,0,0,0,26.56,26.53,26.58
$GC,1070,-0.63,-146.0,1829,2293,3443,3565,176.5,-9.4,104,1077,0.00,2.20,0.00,0.000,260,0.000,0.057,1820,3663,3504,3443,3565,0,0,0,0,0,0,26.81,26.55,26.88
$GC,1221,-0.66,-146.0,1819,3663,3443,3565,190.2,-8.0,134,1227,0.00,2.05,0.00,0.000,1030,0.000,0.033,1820,2303,3503,3442,3565,0,0,0,0,0,0,26.66,26.63,26.69
$GC,1531,-0.70,-146.0,1820,2303,3443,3565,215.7,-8.7,151,1538,0.00,2.15,0.00,0.000,516,0.000,0.041,1820,901,3503,3442,3565,0,0,0,0,0,0,26.87,26.64,26.94
$GC,1562,-0.74,-146.0,1820,902,3443,3565,218.7,-9.6,157,1569,0.00,2.15,0.00,0.000,1030,0.000,0.042,1810,2294,3503,3442,3565,0,0,0,0,0,0,26.68,26.65,26.71
$GC,1884,-0.77,-146.0,1810,2295,3442,3565,253.7,-10.7,174,1890,0.00,2.17,0.00,0.000,260,0.000,0.056,1800,3665,3503,3442,3565,0,0,0,0,0,0,26.91,26.66,26.97
$GC,1929,-0.80,-146.0,1799,3666,3443,3565,258.5,-10.3,183,1936,0.00,2.05,0.00,0.000,1030,0.000,0.033,1800,2305,3503,3442,3565,0,0,0,0,0,0,26.74,26.71,26.76
$GC,2246,-0.82,-146.0,1799,2305,3442,3560,285.9,-7.9,196,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2305,3501,3442,3560,0,0,0,0,0,0,26.93,27.01,26.99
$GC,2545,-0.85,-146.0,1800,2305,3442,3556,312.1,-9.6,206,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2305,3499,3442,3556,0,0,0,0,0,0,26.95,27.02,27.01
$GC,2845,-0.88,-146.0,1799,2305,3443,3552,343.2,-10.2,216,2852,0.12,2.15,0.00,0.000,4612,0.080,0.041,1725,901,3496,3442,3551,0,0,0,0,0,0,26.82,26.73,26.85
$GC,2897,-0.82,-146.0,1725,902,3443,3551,350.2,-14.3,226,2904,0.15,2.15,0.00,0.000,3078,0.125,0.044,1769,2291,3496,3442,3551,0,0,0,0,0,0,26.63,26.73,26.71
$GC,3209,-0.82,-146.0,1767,2291,3443,3547,383.1,-9.7,238,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,2291,3494,3442,3547,0,0,0,0,0,0,26.96,27.05,27.03
$GC,3508,-0.82,-146.0,1767,2291,3443,3542,410.6,-9.3,248,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,2291,3492,3442,3542,0,0,0,0,0,0,26.98,27.05,27.04
$GC,3808,-0.82,-146.0,1767,2291,3443,3538,444.4,-12.3,258,3814,0.00,2.20,0.00,0.000,260,0.000,0.061,1764,3658,3490,3442,3538,0,0,0,0,0,0,26.98,26.72,27.05
$GC,3858,-0.82,-146.0,1764,3659,3443,3537,451.1,-13.4,268,3865,0.00,2.05,0.00,0.000,1030,0.000,0.035,1764,2305,3489,3442,3537,0,0,0,0,0,0,26.82,26.79,26.84
$GC,4169,-0.82,-146.0,1764,2305,3443,3534,490.2,-12.0,280,4175,0.00,2.15,0.00,0.000,516,0.000,0.041,1764,901,3488,3443,3533,0,0,0,0,0,0,26.99,26.75,27.05
$GC,4214,-0.82,-146.0,1764,902,3442,3533,495.3,-11.4,289,4222,0.00,2.17,0.00,0.000,1030,0.000,0.045,1757,2299,3487,3442,3533,0,0,0,0,0,0,26.80,26.76,26.83
$GC,4531,-0.82,-146.0,1756,2299,3443,3529,526.2,-9.0,302,4537,0.00,2.20,0.00,0.000,260,0.000,0.062,1748,3672,3486,3444,3529,0,0,0,0,0,0,26.99,26.73,27.05
$GC,4577,-0.80,-146.0,1748,3672,3443,3528,530.6,-9.4,311,4584,0.08,2.08,0.00,0.000,3078,0.116,0.034,1778,2295,3485,3442,3528,0,0,0,0,0,0,26.68,26.79,26.75
$STATE,4712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4712,begin apogee
$GC,4715,-0.16,0.0,1778,1923,3442,3527,541.8,-8.1,318,4848,0.62,0.00,123.88,0.858,10246,0.103,0.000,1992,1918,2899,2944,2854,0,0,0,0,1,0,26.68,25.06,24.38
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4849,begin climb
$GC,4850,0.77,146.0,1992,1918,2944,2853,543.2,0.0,322,4984,0.82,2.25,123.93,0.716,10756,0.063,0.044,2297,532,2299,2383,2215,0,0,0,0,0,0,25.24,24.82,24.43
$GC,5083,0.70,146.0,2297,532,2378,2209,522.1,12.1,370,5090,0.12,2.22,0.00,0.000,5126,0.151,0.036,2266,1936,2292,2376,2209,0,0,0,0,0,0,25.65,25.77,25.79
$GC,5414,0.66,146.0,2267,1936,2375,2206,486.3,10.6,386,5420,0.00,2.25,0.00,0.000,260,0.000,0.051,2266,3336,2289,2374,2205,0,0,0,0,0,0,26.46,26.22,26.52
$GC,5470,0.61,146.0,2265,3337,2374,2205,479.6,12.2,397,5479,0.08,2.15,0.00,0.000,5126,0.146,0.030,2240,1935,2289,2374,2205,0,0,0,0,0,0,26.17,26.30,26.25
$GC,5775,0.61,146.0,2240,1934,2373,2203,448.7,10.1,408,5781,0.00,2.22,0.00,0.000,516,0.000,0.048,2240,528,2287,2372,2203,0,0,0,0,0,0,26.64,26.41,26.71
$GC,5810,0.61,146.0,2240,528,2371,2203,445.2,10.2,415,5817,0.00,2.17,0.00,0.000,1030,0.000,0.037,2240,1933,2287,2372,2203,0,0,0,0,0,0,26.48,26.45,26.51
$GC,6136,0.61,146.0,2240,1933,2371,2202,412.4,10.2,430,6142,0.00,2.22,0.00,0.000,260,0.000,0.051,2240,3336,2286,2370,2202,0,0,0,0,0,0,26.74,26.50,26.81
$GC,6211,0.58,146.0,2239,3336,2372,2202,404.2,10.6,445,6219,0.00,2.12,0.00,0.000,1030,0.000,0.031,2240,1937,2286,2370,2202,0,0,0,0,0,0,26.59,26.56,26.61
$GC,6529,0.61,165.8,2239,1937,2369,2201,374.2,9.1,458,6551,0.00,2.25,14.90,0.636,8452,0.000,0.052,2240,3358,2221,2308,2134,0,0,0,0,0,0,26.81,26.28,25.70
$GC,6575,0.59,165.8,2239,3359,2305,2134,369.6,10.0,467,6582,0.00,2.20,0.00,0.000,1030,0.000,0.031,2240,1925,2218,2304,2133,0,0,0,0,0,0,26.46,26.43,26.48
$GC,6891,0.61,178.3,2240,1925,2300,2133,339.8,9.4,480,6908,0.00,2.15,11.32,0.624,8708,0.000,0.047,2240,531,2170,2256,2085,0,0,0,0,0,0,26.74,26.08,25.70
$GC,6943,0.66,196.8,2240,531,2252,2084,334.9,9.1,490,6965,0.00,2.17,16.33,0.620,9222,0.000,0.037,2240,1933,2095,2172,2018,0,0,0,0,0,0,26.44,26.40,25.53
$GC,7285,0.68,210.3,2239,1933,2161,2017,302.9,9.4,508,7299,0.00,0.00,12.25,0.601,8198,0.000,0.000,2240,1932,2040,2113,1968,0,0,0,0,0,0,26.63,26.12,25.60
$GC,7586,0.75,242.6,2239,1932,2108,1965,275.6,8.5,518,7619,0.12,2.28,27.75,0.595,10500,0.080,0.048,2326,3330,1908,1989,1827,0,0,0,0,0,0,26.50,25.98,25.44
$GC,7659,0.67,242.6,2326,3331,1985,1828,266.0,14.7,532,7666,0.17,2.17,0.00,0.000,5126,0.135,0.031,2260,1922,1905,1984,1827,0,0,0,0,0,0,26.02,26.17,26.16
$GC,7970,0.67,242.6,2259,1922,1982,1824,235.6,10.4,548,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1922,1903,1982,1824,0,0,0,0,0,0,26.59,26.66,26.66
$GC,8270,0.69,242.6,2259,1921,1982,1823,200.1,11.6,563,8276,0.00,2.25,0.00,0.000,260,0.000,0.050,2261,3326,1901,1981,1822,0,0,0,0,0,0,26.70,26.46,26.77
$GC,8341,0.69,242.6,2259,3326,1981,1823,191.5,12.3,577,8348,0.00,2.12,0.00,0.000,1030,0.000,0.030,2260,1931,1901,1981,1822,0,0,0,0,0,0,26.55,26.52,26.57
$GC,8652,0.72,242.6,2260,1931,1981,1821,161.7,10.1,594,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,1931,1901,1981,1821,0,0,0,0,0,0,26.78,26.85,26.84
$GC,8953,0.83,282.9,2259,1931,1981,1820,133.1,8.1,609,8996,0.12,2.28,33.17,0.491,10500,0.076,0.051,2343,3332,1743,1825,1661,0,0,0,0,0,0,26.69,26.17,25.72
$GC,9110,0.78,282.9,2343,3332,1819,1661,114.9,11.5,640,9119,0.15,2.15,0.00,0.000,5126,0.124,0.029,2295,1919,1739,1818,1661,0,0,0,0,0,0,26.25,26.39,26.33
$GC,9416,0.92,331.0,2294,1918,1816,1659,93.2,7.8,656,9463,0.12,2.17,40.20,0.453,10756,0.080,0.047,2385,529,1546,1642,1450,0,0,0,0,0,0,26.55,26.03,25.60
$GC,9523,0.92,331.0,2385,529,1638,1445,79.3,12.8,677,9531,0.12,2.15,0.00,0.000,5126,0.114,0.032,2340,1930,1542,1639,1445,0,0,0,0,0,0,26.09,26.21,26.17
$GC,9840,1.11,404.6,2340,1930,1639,1444,52.6,6.6,695,9906,0.17,2.28,58.62,0.412,10500,0.059,0.046,2446,3326,1246,1347,1146,0,0,0,0,0,0,26.48,25.86,25.47
$GC,9976,1.05,404.6,2446,3326,1344,1143,34.9,15.5,721,9983,0.20,2.15,0.00,0.000,5126,0.120,0.028,2384,1922,1243,1343,1143,0,0,0,0,0,0,25.96,26.10,26.03
$GC,10288,1.14,425.8,2384,1921,1342,1140,5.4,9.0,753,10302,0.00,2.20,8.82,0.063,8708,0.000,0.043,2388,532,1162,1259,1065,0,0,0,0,0,0,26.55,26.31,26.29
$STATE,10315,end climb,SURFACE_DEPTH_REACHED
$STATE,10315,begin surface coast
$FINISH,0.0,1.021506
$STATE,10346,end surface coast,CONTROL_FINISHED_OK
$STATE,10346,begin surface
$SM_CCo,10361,68.80,0.050,0,0,504,587.25
$SM_GC,-0.56,5.90,2.72,68.80,0.053,0.034,0.050,171,2291,504,-5.79,-1.50,587.25,0,0,0,0,0,0,26.41,26.35,26.29
$IRIDIUM_FIX,749.46,8239.00,051115,124933
$TT8_MAMPS,0.050932,0.050932
$HUMID,47.20
$INTERNAL_PRESSURE,9.46672
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,4014304
$24V_AH,24.38,3.212
$10V_AH,10.38,3.570
$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,15.200,92.375,471.175,68.800,0.000,0.000,0.000,168.150,0.000,0.000,17.591,0.000,8121.093,848.184,1565.948,154.680,0.000,1570.498,0.000,1127.067,0.000,0.540,0.000
$DEVICE_MAMPS,205.020,1246.950,858.330,49.725,0.000,0.000,0.000,119.340,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10356.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.430,0.000,0.000,0.000
$MEM,260828
$DATA_FILE_SIZE,26724,764
$CAP_FILE_SIZE,125066,0
$CFSIZE,260034560,249593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.065,155.11,1
$GPS,051115,183758,753.286,8239.286,38,1.2,43,-2.2,0.4,271.9,8,8.9