version: 66.12
glider: 171
mission: 9
dive: 84
start: 11 24 115 2 46 36
data:
$ID,171
$MISSION,9
$DIVE,84
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,241115,024029,759.9737,8514.3867,39,1.2,39,-1.9,0.0,0.0,6,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-52.4
$GPS2,241115,024624,759.9876,8514.3926,13,1.1,13,-1.9,0.0,0.0,7,8.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,258.2,386864,-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,-175.2,168,2299,546,467,0.0,0.0,0,165,0.00,0.00,-146.50,0.000,16386,0.000,0.000,168,2299,3085,3106,3065,0,0,0,0,0,0,26.28,28.83,26.34
$GC,168,-0.54,-175.2,168,2299,3108,3065,6.2,-12.0,12,191,6.05,2.28,-10.45,0.000,18948,0.200,1.209,1818,914,3615,3468,3763,0,0,0,0,0,0,25.83,24.53,26.11
$GC,357,-0.53,-175.2,1818,913,3469,3768,68.3,-20.7,44,364,0.00,2.20,0.00,0.000,1030,0.000,0.044,1807,2294,3618,3469,3768,0,0,0,0,0,0,26.23,26.19,26.27
$GC,741,-0.52,-175.2,1806,2295,3470,3774,132.7,-15.5,63,749,0.00,2.22,0.00,0.000,260,0.000,0.055,1796,3674,3621,3469,3774,0,0,0,0,0,0,26.64,26.35,26.70
$GC,825,-0.52,-175.2,1796,3674,3470,3775,145.2,-13.9,77,834,0.08,2.10,0.00,0.000,3078,0.116,0.028,1825,2279,3622,3469,3775,0,0,0,0,0,0,26.29,26.45,26.37
$GC,1199,-0.52,-175.2,1825,2279,3469,3775,187.2,-11.0,94,1206,0.00,2.25,0.00,0.000,260,0.000,0.056,1815,3669,3622,3469,3775,0,0,0,0,0,0,26.75,26.45,26.82
$GC,1271,-0.51,-175.2,1814,3669,3469,3775,195.0,-10.8,106,1278,0.00,2.05,0.00,0.000,1030,0.000,0.031,1815,2312,3622,3469,3775,0,0,0,0,0,0,26.58,26.55,26.60
$GC,1655,-0.51,-175.2,1815,2311,3469,3775,236.1,-10.2,125,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3622,3469,3775,0,0,0,0,0,0,26.81,26.89,26.87
$GC,2039,-0.51,-175.2,1815,2311,3469,3770,272.3,-9.4,138,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3619,3469,3769,0,0,0,0,0,0,26.85,26.91,26.91
$GC,2399,-0.51,-175.2,1815,2311,3469,3763,306.0,-9.3,148,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2312,3616,3469,3763,0,0,0,0,0,0,26.87,26.94,26.94
$GC,2759,-0.51,-175.2,1814,2311,3469,3758,338.0,-8.7,158,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3612,3468,3757,0,0,0,0,0,0,26.89,26.96,26.95
$GC,3119,-0.50,-175.2,1814,2311,3469,3752,371.6,-9.8,168,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3609,3468,3751,0,0,0,0,0,0,26.90,26.98,26.96
$GC,3479,-0.50,-175.2,1815,2311,3468,3746,406.8,-9.5,178,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3606,3468,3745,0,0,0,0,0,0,26.91,26.98,26.97
$GC,3839,-0.50,-175.2,1815,2311,3468,3741,437.8,-8.3,188,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3604,3468,3741,0,0,0,0,0,0,26.92,26.99,26.98
$GC,4199,-0.50,-175.2,1814,2311,3468,3737,467.4,-8.4,198,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2311,3602,3468,3737,0,0,0,0,0,0,26.93,27.00,26.98
$GC,4559,-0.50,-175.2,1814,2311,3467,3734,498.2,-8.7,208,4566,0.00,2.17,0.00,0.000,516,0.000,0.044,1815,912,3600,3467,3733,0,0,0,0,0,0,26.93,26.65,26.99
$GC,4589,-0.50,-175.2,1815,912,3468,3732,500.9,-9.5,213,4598,0.00,2.20,0.00,0.000,1030,0.000,0.046,1805,2304,3599,3467,3732,0,0,0,0,0,0,26.68,26.63,26.72
$GC,4955,-0.50,-175.2,1804,2304,3468,3729,534.7,-9.2,224,4962,0.08,2.20,0.00,0.000,2308,0.153,0.062,1824,3664,3597,3467,3728,0,0,0,0,0,0,26.65,26.60,26.73
$GC,5014,-0.50,-175.2,1823,3664,3467,3728,539.7,-8.1,234,5022,0.00,2.10,0.00,0.000,1030,0.000,0.038,1824,2314,3597,3466,3728,0,0,0,0,0,0,26.76,26.70,26.78
$GC,5388,-0.50,-175.2,1824,2313,3467,3724,569.1,-7.8,246,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2313,3595,3466,3724,0,0,0,0,0,0,26.93,27.01,26.99
$GC,5747,-0.50,-175.2,1824,2314,3467,3721,595.6,-7.2,256,5754,0.00,2.20,0.00,0.000,516,0.000,0.045,1824,908,3593,3467,3720,0,0,0,0,0,0,26.94,26.64,26.99
$GC,5783,-0.50,-175.2,1823,908,3467,3720,598.3,-7.6,262,5790,0.00,2.20,0.00,0.000,1030,0.000,0.047,1814,2296,3593,3466,3720,0,0,0,0,0,0,26.68,26.63,26.72
$GC,6179,-0.50,-175.2,1814,2296,3466,3717,628.9,-7.8,278,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2296,3591,3466,3717,0,0,0,0,0,0,26.94,27.01,26.99
$GC,6539,-0.50,-175.2,1812,2296,3466,3714,656.7,-7.6,288,6546,0.00,2.17,0.00,0.000,516,0.000,0.041,1814,902,3589,3466,3713,0,0,0,0,0,0,26.94,26.65,26.99
$GC,6575,-0.50,-175.2,1813,902,3467,3713,659.5,-7.8,294,6582,0.08,2.22,0.00,0.000,3078,0.116,0.046,1835,2310,3589,3466,3713,0,0,0,0,0,0,26.53,26.63,26.61
$GC,6971,-0.50,-175.2,1835,2311,3466,3710,684.1,-6.1,310,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2310,3588,3466,3710,0,0,0,0,0,0,26.94,27.01,27.00
$GC,7331,-0.50,-175.2,1834,2311,3466,3708,707.5,-6.7,320,7338,0.00,2.20,0.00,0.000,516,0.000,0.043,1835,909,3586,3465,3708,0,0,0,0,0,0,26.94,26.65,27.00
$GC,7385,-0.50,-175.2,1835,910,3466,3708,711.5,-7.3,329,7393,0.00,2.22,0.00,0.000,1030,0.000,0.047,1827,2310,3586,3466,3707,0,0,0,0,0,0,26.67,26.63,26.72
$GC,7764,-0.50,-175.2,1827,2310,3466,3705,740.2,-7.8,342,7771,0.00,2.20,0.00,0.000,516,0.000,0.044,1827,908,3585,3465,3705,0,0,0,0,0,0,26.94,26.63,27.00
$GC,7799,-0.50,-175.2,1826,909,3466,3705,743.2,-8.5,348,7807,0.00,2.25,0.00,0.000,1030,0.000,0.047,1818,2311,3585,3465,3705,0,0,0,0,0,0,26.71,26.62,26.74
$GC,8196,-0.50,-175.2,1817,2312,3466,3703,776.3,-8.3,364,8203,0.00,2.22,0.00,0.000,516,0.000,0.044,1817,902,3584,3465,3703,0,0,0,0,0,0,26.94,26.63,27.00
$GC,8225,-0.50,-175.2,1817,902,3466,3703,779.0,-9.3,369,8235,0.00,2.25,0.00,0.000,1030,0.000,0.047,1807,2307,3583,3465,3702,0,0,0,0,0,0,26.71,26.61,26.74
$GC,8592,-0.50,-175.2,1807,2307,3466,3700,811.0,-8.7,380,8599,0.00,2.20,0.00,0.000,516,0.000,0.044,1807,911,3582,3465,3700,0,0,0,0,0,0,26.94,26.62,27.00
$GC,8628,-0.50,-175.2,1807,911,3466,3700,814.2,-9.0,386,8635,0.08,2.22,0.00,0.000,3078,0.119,0.048,1829,2304,3582,3465,3700,0,0,0,0,0,0,26.51,26.61,26.59
$GC,9024,-0.50,-175.2,1829,2304,3465,3699,843.5,-7.1,402,9031,0.00,2.20,0.00,0.000,516,0.000,0.044,1830,908,3581,3465,3698,0,0,0,0,0,0,26.94,26.62,26.99
$GC,9053,-0.50,-175.2,1829,910,3466,3698,845.7,-7.9,407,9062,0.00,2.25,0.00,0.000,1030,0.000,0.047,1821,2311,3581,3465,3698,0,0,0,0,0,0,26.70,26.60,26.74
$GC,9421,-0.50,-175.2,1820,2311,3466,3697,873.1,-7.4,418,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2310,3581,3465,3697,0,0,0,0,0,0,26.94,27.01,26.99
$GC,9780,-0.50,-175.2,1820,2311,3465,3696,898.6,-6.8,428,9787,0.00,2.22,0.00,0.000,516,0.000,0.044,1820,901,3580,3465,3695,0,0,0,0,0,0,26.94,26.62,27.00
$GC,9827,-0.50,-175.2,1820,901,3466,3695,901.8,-7.2,436,9835,0.00,2.25,0.00,0.000,1030,0.000,0.047,1811,2306,3579,3465,3694,0,0,0,0,0,0,26.70,26.61,26.74
$GC,10213,-0.50,-175.2,1811,2307,3465,3694,927.8,-6.6,450,10220,0.00,2.20,0.00,0.000,516,0.000,0.045,1811,909,3579,3465,3693,0,0,0,0,0,0,26.94,26.60,27.00
$GC,10248,-0.50,-175.2,1811,910,3465,3693,930.1,-6.7,456,10256,0.08,2.25,0.00,0.000,3078,0.114,0.047,1833,2315,3579,3465,3693,0,0,0,0,0,0,26.50,26.60,26.58
$GC,10645,-0.51,-175.2,1832,2315,3465,3692,952.3,-5.5,472,10652,0.00,2.22,0.00,0.000,516,0.000,0.043,1832,901,3578,3465,3691,0,0,0,0,0,0,26.94,26.61,26.99
$GC,10686,-0.51,-175.2,1832,901,3465,3691,954.6,-5.8,479,10694,0.00,2.25,0.00,0.000,1030,0.000,0.047,1824,2315,3578,3465,3691,0,0,0,0,0,0,26.66,26.60,26.70
$GC,11078,-0.51,-175.2,1824,2315,3465,3690,979.0,-6.3,494,11084,0.00,2.17,0.00,0.000,516,0.000,0.043,1824,901,3577,3465,3690,0,0,0,0,0,0,26.94,26.61,26.99
$GC,11118,-0.51,-175.2,1823,901,3465,3690,981.8,-6.8,501,11127,0.00,2.22,0.00,0.000,1030,0.000,0.047,1813,2303,3577,3464,3690,0,0,0,0,0,0,26.65,26.60,26.69
$STATE,11256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11256,begin apogee
$GC,11261,-0.11,0.0,1813,1954,3465,3689,991.4,-7.0,509,11425,0.43,0.00,156.45,1.069,10246,0.095,0.000,1960,1952,2899,2923,2876,0,0,0,0,1,0,26.51,24.58,23.36
$STATE,11426,end apogee,CONTROL_FINISHED_OK
$STATE,11427,begin climb
$GC,11428,0.54,175.2,1960,1952,2923,2875,996.0,0.0,513,11590,0.60,0.00,156.45,1.027,10758,0.070,0.000,2172,1951,2182,2255,2110,0,0,0,0,0,0,24.94,24.44,23.49
$GC,11942,0.62,225.5,2172,1950,2244,2104,966.8,6.3,553,11991,0.00,2.35,44.75,1.001,8708,0.000,0.050,2172,566,1977,2040,1915,0,0,0,0,0,0,26.21,25.10,24.17
$GC,12027,0.70,273.9,2172,567,2035,1914,961.4,6.4,567,12083,0.10,2.30,46.53,0.993,11270,0.041,0.040,2253,1972,1781,1850,1712,0,0,0,0,0,0,25.53,25.51,23.94
$GC,12447,0.69,273.9,2253,1972,1843,1706,913.5,11.7,587,12455,0.12,2.25,0.00,0.000,4356,0.142,0.051,2218,3357,1773,1842,1705,0,0,0,0,0,0,25.96,26.01,26.08
$GC,12484,0.69,273.9,2218,3357,1842,1706,909.6,11.0,593,12491,0.00,2.20,0.00,0.000,1030,0.000,0.034,2221,1963,1773,1841,1705,0,0,0,0,0,0,26.13,26.10,26.15
$GC,12880,0.69,273.9,2221,1961,1839,1703,869.3,10.2,609,12886,0.00,2.25,0.00,0.000,516,0.000,0.046,2223,560,1771,1839,1704,0,0,0,0,0,0,26.53,26.25,26.59
$GC,12910,0.69,273.9,2223,561,1840,1704,866.3,9.6,614,12919,0.00,2.20,0.00,0.000,1030,0.000,0.035,2224,1960,1771,1839,1704,0,0,0,0,0,0,26.34,26.30,26.36
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$STATE,22101,end climb,SURFACE_DEPTH_REACHED
$STATE,22101,begin surface coast
$FINISH,-0.6,1.021108
$STATE,22126,end surface coast,CONTROL_FINISHED_OK
$STATE,22126,begin surface
$SM_CCo,22198,0.00,0.000,0,0,469,595.83
$SM_GC,-0.38,5.55,0.55,0.00,0.019,0.050,0.000,173,2316,469,-5.66,-0.85,595.83,0,0,0,0,0,0,26.22,26.15,26.25
$IRIDIUM_FIX,753.81,8518.70,231115,200615
$TT8_MAMPS,0.049434,0.049434
$HUMID,45.90
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3987808
$24V_AH,23.36,13.756
$10V_AH,10.08,9.460
$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,13.650,124.800,665.850,0.000,0.000,0.000,0.000,229.175,0.000,0.000,14.510,0.000,19058.465,1092.204,2117.153,264.211,0.000,2062.524,0.000,1509.121,0.000,0.541,0.000
$DEVICE_MAMPS,200.430,1208.700,1068.705,0.000,0.000,0.000,0.000,123.165,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22144.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.912,0.000,0.000,0.000
$MEM,260776
$DATA_FILE_SIZE,36680,1021
$CAP_FILE_SIZE,183832,0
$CFSIZE,260034560,242929664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.069,280.41,1
$GPS,241115,085734,759.470,8510.548,39,0.9,39,-1.9,0.0,0.0,9,6.8