version: 66.12
glider: 171
mission: 9
dive: 82
start: 11 23 115 13 36 45
data:
$ID,171
$MISSION,9
$DIVE,82
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$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,180
$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,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,33
$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
$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
$GPS1,231115,133052,800.5080,8521.6562,30,1.1,47,-1.9,0.6,165.1,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.64
$_SM_ANGLEo,-51.7
$GPS2,231115,133634,800.4823,8521.6582,10,1.0,32,-1.9,0.3,55.6,9,7.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,254.9,400189,-12.3,-7.857,-16.95,3372
$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,-0.54,-175.2,168,2304,549,467,0.0,0.0,0,165,0.00,0.00,-146.18,0.000,16386,0.000,0.000,168,2304,3025,3051,2999,0,0,0,0,0,0,26.29,28.83,26.35
$GC,167,-0.54,-175.2,168,2305,3052,3000,5.5,-10.5,12,191,6.07,2.38,-11.98,0.000,19204,0.204,1.213,1813,908,3618,3466,3770,0,0,0,0,0,0,25.83,24.63,26.11
$GC,345,-0.53,-175.2,1812,907,3468,3773,64.6,-24.3,42,353,0.00,2.25,0.00,0.000,1030,0.000,0.044,1802,2318,3620,3467,3773,0,0,0,0,0,0,26.25,26.20,26.28
$GC,717,-0.52,-175.2,1802,2318,3468,3780,131.4,-16.2,59,724,0.00,2.17,0.00,0.000,260,0.000,0.054,1792,3669,3623,3467,3780,0,0,0,0,0,0,26.64,26.34,26.70
$GC,820,-0.52,-175.2,1792,3670,3467,3781,146.5,-13.8,76,827,0.10,2.10,0.00,0.000,3078,0.112,0.029,1829,2286,3624,3467,3781,0,0,0,0,0,0,26.29,26.45,26.38
$GC,1198,-0.51,-175.2,1829,2285,3468,3781,187.2,-11.0,94,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2285,3624,3467,3781,0,0,0,0,0,0,26.74,26.82,26.82
$GC,1559,-0.51,-175.2,1829,2285,3467,3781,224.5,-9.2,109,1566,0.00,2.10,0.00,0.000,516,0.000,0.041,1829,928,3624,3467,3781,0,0,0,0,0,0,26.80,26.54,26.86
$GC,1600,-0.51,-175.2,1829,928,3467,3781,228.4,-9.6,116,1608,0.00,2.20,0.00,0.000,1030,0.000,0.043,1820,2317,3624,3467,3781,0,0,0,0,0,0,26.61,26.53,26.64
$GC,1967,-0.51,-175.2,1821,2317,3467,3778,264.1,-9.7,130,1973,0.00,2.17,0.00,0.000,260,0.000,0.059,1811,3668,3622,3467,3777,0,0,0,0,0,0,26.84,26.53,26.90
$GC,2026,-0.51,-175.2,1810,3668,3467,3776,270.0,-9.6,140,2033,0.00,2.08,0.00,0.000,1030,0.000,0.032,1810,2308,3621,3467,3776,0,0,0,0,0,0,26.68,26.63,26.70
$GC,2399,-0.51,-175.2,1810,2307,3467,3770,306.1,-9.3,152,2405,0.00,2.20,0.00,0.000,260,0.000,0.060,1801,3666,3618,3466,3770,0,0,0,0,0,0,26.86,26.55,26.93
$GC,2446,-0.51,-175.2,1800,3666,3467,3769,310.7,-9.4,160,2454,0.12,2.10,0.00,0.000,3078,0.128,0.034,1839,2296,3617,3466,3769,0,0,0,0,0,0,26.52,26.64,26.63
$GC,2831,-0.51,-175.2,1838,2296,3467,3763,336.8,-6.6,174,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2296,3614,3466,3763,0,0,0,0,0,0,26.89,26.96,26.95
$GC,3190,-0.51,-175.2,1838,2296,3467,3758,363.9,-8.1,184,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2296,3612,3466,3758,0,0,0,0,0,0,26.90,26.97,26.96
$GC,3551,-0.51,-175.2,1839,2296,3466,3753,393.3,-7.9,194,3557,0.00,2.15,0.00,0.000,516,0.000,0.044,1839,912,3609,3466,3752,0,0,0,0,0,0,26.91,26.64,26.97
$GC,3592,-0.51,-175.2,1839,913,3466,3752,396.8,-7.5,201,3601,0.00,2.22,0.00,0.000,1030,0.000,0.046,1830,2309,3609,3466,3752,0,0,0,0,0,0,26.71,26.63,26.74
$GC,3984,-0.51,-175.2,1830,2311,3466,3747,427.7,-7.9,216,3990,0.00,2.17,0.00,0.000,516,0.000,0.044,1830,919,3606,3466,3746,0,0,0,0,0,0,26.92,26.63,26.98
$GC,4013,-0.51,-175.2,1830,919,3466,3746,430.1,-8.0,221,4022,0.00,2.22,0.00,0.000,1030,0.000,0.047,1820,2315,3606,3466,3746,0,0,0,0,0,0,26.72,26.63,26.74
$GC,4379,-0.51,-175.2,1820,2315,3466,3743,461.5,-8.7,232,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2315,3603,3465,3742,0,0,0,0,0,0,26.92,26.99,26.98
$GC,4740,-0.51,-175.2,1820,2316,3465,3738,490.3,-7.7,242,4746,0.00,2.17,0.00,0.000,516,0.000,0.041,1821,915,3601,3465,3738,0,0,0,0,0,0,26.93,26.65,26.99
$GC,4793,-0.51,-175.2,1820,915,3465,3738,494.5,-7.7,251,4800,0.00,2.22,0.00,0.000,1030,0.000,0.046,1812,2314,3601,3465,3737,0,0,0,0,0,0,26.72,26.64,26.76
$GC,5172,-0.50,-175.2,1811,2314,3466,3735,524.0,-8.0,264,5178,0.00,2.17,0.00,0.000,516,0.000,0.041,1811,917,3599,3465,3734,0,0,0,0,0,0,26.94,26.64,26.99
$GC,5202,-0.50,-175.2,1811,917,3466,3734,526.5,-8.6,269,5211,0.08,2.20,0.00,0.000,3078,0.119,0.047,1831,2305,3599,3465,3734,0,0,0,0,0,0,26.53,26.63,26.61
$GC,5568,-0.50,-175.2,1831,2305,3465,3730,553.2,-7.5,280,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2305,3597,3465,3730,0,0,0,0,0,0,26.93,27.01,26.99
$GC,5928,-0.50,-175.2,1831,2305,3465,3727,580.7,-7.8,290,5934,0.00,2.17,0.00,0.000,516,0.000,0.044,1832,917,3595,3465,3726,0,0,0,0,0,0,26.94,26.64,26.99
$GC,5975,-0.51,-175.2,1831,918,3465,3726,584.5,-8.3,298,5982,0.00,2.22,0.00,0.000,1030,0.000,0.047,1823,2313,3595,3464,3726,0,0,0,0,0,0,26.72,26.63,26.75
$GC,6360,-0.51,-175.2,1823,2313,3464,3723,615.7,-8.1,312,6366,0.00,2.17,0.00,0.000,516,0.000,0.043,1823,923,3594,3465,3723,0,0,0,0,0,0,26.94,26.64,26.99
$GC,6395,-0.51,-175.2,1822,923,3465,3723,618.7,-8.4,318,6402,0.00,2.20,0.00,0.000,1030,0.000,0.047,1813,2304,3592,3464,3721,0,0,0,0,0,0,26.72,26.64,26.75
$GC,6792,-0.51,-175.2,1812,2304,3465,3720,651.0,-8.1,334,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2303,3592,3464,3720,0,0,0,0,0,0,26.94,27.01,26.99
$GC,7151,-0.51,-175.2,1813,2304,3464,3718,680.1,-8.2,344,7158,0.00,2.20,0.00,0.000,516,0.000,0.044,1813,911,3591,3466,3717,0,0,0,0,0,0,26.94,26.64,27.00
$GC,7199,-0.51,-175.2,1813,911,3465,3717,684.3,-8.9,352,7207,0.10,2.22,0.00,0.000,3078,0.147,0.046,1832,2305,3590,3464,3717,0,0,0,0,0,0,26.55,26.63,26.67
$GC,7585,-0.51,-175.2,1831,2305,3464,3715,712.6,-7.2,366,7590,0.00,2.17,0.00,0.000,516,0.000,0.045,1832,923,3589,3464,3714,0,0,0,0,0,0,26.94,26.63,27.00
$GC,7631,-0.51,-175.2,1832,923,3464,3714,716.2,-7.6,374,7638,0.00,2.20,0.00,0.000,1030,0.000,0.047,1823,2308,3589,3464,3714,0,0,0,0,0,0,26.67,26.63,26.72
$GC,8016,-0.51,-175.2,1823,2308,3464,3711,746.3,-7.9,388,8023,0.00,2.17,0.00,0.000,516,0.000,0.044,1823,924,3588,3464,3712,0,0,0,0,0,0,26.94,26.63,27.00
$GC,8051,-0.51,-175.2,1823,925,3464,3712,749.2,-8.6,394,8059,0.00,2.22,0.00,0.000,1030,0.000,0.047,1814,2316,3587,3464,3711,0,0,0,0,0,0,26.72,26.63,26.75
$GC,8449,-0.51,-175.2,1814,2317,3464,3709,782.7,-8.4,410,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2316,3586,3464,3709,0,0,0,0,0,0,26.94,27.01,27.00
$GC,8807,-0.51,-175.2,1813,2317,3464,3708,812.3,-8.2,420,8814,0.00,2.20,0.00,0.000,516,0.000,0.041,1814,915,3586,3464,3708,0,0,0,0,0,0,26.94,26.64,27.00
$GC,8873,-0.51,-175.2,1814,916,3464,3708,817.8,-8.6,431,8882,0.00,2.20,0.00,0.000,1030,0.000,0.047,1804,2304,3585,3464,3707,0,0,0,0,0,0,26.68,26.63,26.72
$GC,9239,-0.51,-175.2,1803,2304,3465,3706,847.8,-8.2,442,9246,0.00,2.20,0.00,0.000,516,0.000,0.044,1804,908,3585,3464,3706,0,0,0,0,0,0,26.94,26.63,27.00
$GC,9281,-0.51,-175.2,1804,909,3464,3706,851.4,-8.8,449,9290,0.12,2.25,0.00,0.000,3078,0.135,0.047,1831,2311,3584,3464,3705,0,0,0,0,0,0,26.54,26.62,26.67
$GC,9673,-0.51,-175.2,1830,2312,3464,3705,877.4,-6.6,464,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2311,3584,3464,3704,0,0,0,0,0,0,26.94,27.01,27.00
$GC,10033,-0.51,-175.2,1830,2312,3464,3703,901.3,-6.7,474,10040,0.00,2.17,0.00,0.000,516,0.000,0.044,1831,925,3583,3463,3704,0,0,0,0,0,0,26.94,26.63,27.00
$GC,10093,-0.51,-175.2,1831,925,3464,3702,905.7,-7.4,484,10100,0.00,2.20,0.00,0.000,1030,0.000,0.047,1822,2310,3583,3464,3702,0,0,0,0,0,0,26.67,26.62,26.71
$GC,10465,-0.51,-175.2,1822,2310,3464,3700,931.9,-7.0,496,10472,0.00,2.20,0.00,0.000,516,0.000,0.044,1822,910,3581,3463,3700,0,0,0,0,0,0,26.94,26.62,27.00
$GC,10519,-0.52,-175.2,1822,911,3464,3700,935.7,-7.1,505,10526,0.00,2.22,0.00,0.000,1030,0.000,0.048,1813,2306,3581,3463,3700,0,0,0,0,0,0,26.67,26.61,26.70
$GC,10897,-0.52,-175.2,1813,2306,3463,3700,962.9,-7.1,518,10904,0.00,2.20,0.00,0.000,516,0.000,0.045,1813,916,3581,3463,3699,0,0,0,0,0,0,26.94,26.61,26.99
$GC,10969,-0.52,-175.2,1813,916,3464,3699,968.3,-7.6,530,10976,0.00,2.22,0.00,0.000,1030,0.000,0.048,1803,2312,3581,3463,3699,0,0,0,0,0,0,26.66,26.61,26.70
$STATE,11291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11292,begin apogee
$GC,11296,-0.11,0.0,1803,1960,3463,3698,992.6,-7.4,544,11458,0.45,0.00,153.98,1.194,10246,0.098,0.000,1956,1960,2899,2923,2875,0,0,0,0,1,0,26.52,24.53,23.41
$STATE,11460,end apogee,CONTROL_FINISHED_OK
$STATE,11460,begin climb
$GC,11461,0.54,175.2,1957,1959,2923,2874,997.1,0.0,548,11631,0.60,2.42,158.23,1.029,11012,0.071,0.052,2170,3372,2181,2252,2110,0,0,0,0,0,0,24.89,24.23,23.59
$GC,11666,0.54,175.2,2170,3373,2247,2108,986.2,8.3,586,11673,0.00,2.30,0.00,0.000,1030,0.000,0.033,2171,1964,2177,2246,2108,0,0,0,0,0,0,25.26,25.22,25.28
$GC,12050,0.54,178.3,2171,1963,2243,2104,956.4,7.8,600,12057,0.00,2.33,0.00,0.000,260,0.000,0.052,2171,3379,2173,2242,2104,0,0,0,0,0,0,26.28,26.00,26.34
$GC,12086,0.54,178.3,2171,3380,2242,2104,953.4,8.3,606,12093,0.00,2.25,0.00,0.000,1030,0.000,0.033,2172,1950,2173,2242,2104,0,0,0,0,0,0,26.13,26.09,26.15
$GC,12482,0.55,181.7,2171,1949,2241,2103,922.5,7.8,622,12488,0.00,0.00,4.22,0.724,8198,0.000,0.000,2172,1948,2158,2229,2088,0,0,0,0,0,0,26.53,25.96,24.87
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$STATE,23106,end climb,SURFACE_DEPTH_REACHED
$STATE,23106,begin surface coast
$FINISH,0.4,1.021403
$STATE,23131,end surface coast,CONTROL_FINISHED_OK
$STATE,23132,begin surface
$SM_CCo,23144,42.80,0.052,0,0,504,587.25
$SM_GC,-0.71,5.40,0.55,42.80,0.026,0.050,0.052,168,2315,504,-5.66,-0.90,587.25,0,0,0,0,0,0,26.39,26.31,26.25
$IRIDIUM_FIX,755.99,8525.39,231115,071215
$TT8_MAMPS,0.049434,0.049434
$HUMID,48.38
$INTERNAL_PRESSURE,9.39835
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3988576
$24V_AH,23.41,13.443
$10V_AH,10.14,9.287
$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,14.025,173.750,581.500,42.800,0.000,0.000,0.000,199.225,0.000,0.000,33.615,0.000,19721.455,1198.229,2304.420,285.574,0.000,2192.595,0.000,1681.689,0.000,0.539,0.000
$DEVICE_MAMPS,204.255,1213.290,1194.165,52.020,0.000,0.000,0.000,124.695,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23148.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.850,0.000,0.000,0.000
$MEM,260796
$DATA_FILE_SIZE,40044,1138
$CAP_FILE_SIZE,204166,0
$CFSIZE,260034560,243097600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.039,263.14,1
$GPS,231115,200405,759.323,8518.146,31,1.0,31,-1.9,0.0,0.0,9,7.5