version: 66.12
glider: 171
mission: 9
dive: 88
start: 11 25 115 4 49 38
data:
$ID,171
$MISSION,9
$DIVE,88
$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,52
$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
$GPS1,251115,044327,759.7717,8459.0713,40,1.6,44,-2.0,0.0,221.1,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-52.7
$GPS2,251115,044927,759.7556,8459.0488,13,1.6,22,-2.0,0.3,38.9,5,9.8
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,251.3,358724,-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,16,begin dive
$GC,17,-0.54,-175.2,168,2304,542,464,0.0,0.0,0,153,0.00,0.00,-133.93,0.000,16386,0.000,0.000,167,2304,2753,2799,2708,0,0,0,0,0,0,26.38,28.83,26.44
$GC,156,-0.54,-175.2,168,2304,2801,2708,3.2,-6.0,11,190,6.00,2.33,-20.02,0.000,18692,0.200,1.226,1803,3658,3618,3482,3754,0,0,0,0,0,0,25.86,24.66,26.15
$GC,417,-0.53,-175.2,1803,3658,3482,3757,87.2,-22.6,55,424,0.00,2.08,0.00,0.000,1030,0.000,0.031,1803,2306,3619,3482,3757,0,0,0,0,0,0,26.34,26.32,26.36
$GC,801,-0.52,-175.2,1803,2305,3483,3762,150.6,-16.9,74,808,0.00,2.20,0.00,0.000,260,0.000,0.054,1793,3666,3622,3482,3762,0,0,0,0,0,0,26.68,26.39,26.74
$GC,945,-0.52,-175.2,1792,3666,3483,3763,172.9,-13.4,98,952,0.10,2.08,0.00,0.000,3078,0.111,0.031,1830,2291,3622,3483,3762,0,0,0,0,0,0,26.36,26.51,26.44
$GC,1329,-0.51,-175.2,1830,2290,3483,3763,210.1,-8.8,117,1337,0.00,2.22,0.00,0.000,260,0.000,0.057,1820,3668,3622,3482,3763,0,0,0,0,0,0,26.79,26.50,26.84
$GC,1371,-0.51,-175.2,1820,3669,3482,3763,214.3,-10.5,124,1379,0.00,2.08,0.00,0.000,1030,0.000,0.031,1820,2314,3622,3482,3762,0,0,0,0,0,0,26.63,26.57,26.65
$GC,1737,-0.51,-175.2,1820,2314,3483,3762,250.6,-9.8,140,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2314,3622,3482,3762,0,0,0,0,0,0,26.83,26.90,26.89
$GC,2097,-0.51,-175.2,1820,2313,3482,3756,283.4,-9.0,150,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2312,3619,3482,3756,0,0,0,0,0,0,26.86,26.94,26.92
$GC,2458,-0.51,-175.2,1820,2313,3482,3750,317.7,-9.4,160,2465,0.00,2.17,0.00,0.000,260,0.000,0.060,1812,3654,3615,3482,3749,0,0,0,0,0,0,26.88,26.58,26.94
$GC,2511,-0.51,-175.2,1812,3654,3483,3749,323.2,-10.1,169,2519,0.00,2.08,0.00,0.000,1030,0.000,0.032,1812,2298,3615,3482,3749,0,0,0,0,0,0,26.72,26.67,26.74
$GC,2891,-0.51,-175.2,1812,2297,3482,3743,358.8,-9.3,182,2897,0.00,2.22,0.00,0.000,260,0.000,0.061,1802,3663,3612,3482,3742,0,0,0,0,0,0,26.90,26.59,26.96
$GC,2926,-0.50,-175.2,1802,3663,3483,3741,362.3,-9.9,188,2934,0.10,2.10,0.00,0.000,3078,0.138,0.034,1838,2293,3612,3482,3742,0,0,0,0,0,0,26.55,26.67,26.63
$GC,3323,-0.50,-175.2,1838,2294,3482,3736,391.6,-7.1,204,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2293,3609,3482,3736,0,0,0,0,0,0,26.91,26.98,26.96
$GC,3683,-0.50,-175.2,1838,2293,3482,3732,417.9,-7.3,214,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2293,3606,3481,3731,0,0,0,0,0,0,26.91,26.98,26.98
$GC,4043,-0.50,-175.2,1838,2294,3481,3726,444.5,-7.4,224,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2293,3603,3481,3726,0,0,0,0,0,0,26.92,26.99,26.98
$GC,4403,-0.51,-175.2,1838,2293,3481,3721,471.3,-7.5,234,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2293,3601,3481,3721,0,0,0,0,0,0,26.93,27.00,26.98
$GC,4763,-0.51,-175.2,1838,2294,3481,3718,498.1,-7.4,244,4770,0.00,2.15,0.00,0.000,516,0.000,0.044,1838,916,3598,3480,3717,0,0,0,0,0,0,26.94,26.64,26.99
$GC,4793,-0.51,-175.2,1838,916,3480,3717,500.3,-7.9,249,4802,0.00,2.17,0.00,0.000,1030,0.000,0.046,1831,2298,3598,3480,3717,0,0,0,0,0,0,26.69,26.65,26.72
$GC,5159,-0.51,-175.2,1829,2298,3480,3713,526.6,-7.0,260,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2297,3596,3480,3713,0,0,0,0,0,0,26.94,27.01,26.99
$GC,5519,-0.51,-175.2,1830,2298,3480,3709,550.2,-6.5,270,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2297,3595,3481,3709,0,0,0,0,0,0,26.94,27.01,26.99
$GC,5879,-0.51,-175.2,1831,2298,3480,3707,574.7,-6.9,280,5886,0.00,2.15,0.00,0.000,516,0.000,0.040,1831,912,3592,3479,3706,0,0,0,0,0,0,26.94,26.65,27.00
$GC,5908,-0.51,-175.2,1830,913,3480,3706,576.9,-7.6,285,5918,0.00,2.22,0.00,0.000,1030,0.000,0.045,1821,2313,3592,3479,3706,0,0,0,0,0,0,26.73,26.64,26.76
$GC,6275,-0.51,-175.2,1821,2313,3479,3703,606.0,-8.1,296,6282,0.00,2.17,0.00,0.000,516,0.000,0.042,1821,923,3591,3479,3703,0,0,0,0,0,0,26.94,26.65,27.00
$GC,6310,-0.51,-175.2,1821,923,3479,3703,609.0,-8.6,302,6318,0.00,2.20,0.00,0.000,1030,0.000,0.046,1812,2306,3590,3479,3702,0,0,0,0,0,0,26.72,26.64,26.75
$GC,6707,-0.51,-175.2,1812,2306,3479,3700,642.3,-8.3,318,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2306,3589,3479,3700,0,0,0,0,0,0,26.94,27.01,26.99
$GC,7066,-0.51,-175.2,1812,2306,3479,3697,671.7,-8.0,328,7074,0.00,2.20,0.00,0.000,516,0.000,0.044,1812,912,3588,3479,3697,0,0,0,0,0,0,26.94,26.64,27.00
$GC,7108,-0.51,-175.2,1811,913,3480,3697,675.3,-8.3,335,7116,0.08,2.22,0.00,0.000,3078,0.115,0.047,1833,2305,3588,3479,3697,0,0,0,0,0,0,26.54,26.63,26.62
$GC,7500,-0.51,-175.2,1833,2305,3479,3694,700.9,-6.3,350,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2305,3586,3479,3694,0,0,0,0,0,0,26.94,27.01,27.00
$GC,7860,-0.51,-175.2,1832,2305,3480,3693,724.0,-6.6,360,7866,0.00,2.17,0.00,0.000,516,0.000,0.044,1833,922,3585,3479,3692,0,0,0,0,0,0,26.94,26.63,27.00
$GC,7907,-0.51,-175.2,1833,923,3479,3692,727.4,-7.4,368,7914,0.00,2.20,0.00,0.000,1030,0.000,0.046,1824,2306,3585,3479,3691,0,0,0,0,0,0,26.72,26.63,26.75
$GC,8292,-0.51,-175.2,1824,2306,3479,3690,755.9,-7.6,382,8298,0.00,2.17,0.00,0.000,516,0.000,0.044,1824,926,3584,3479,3690,0,0,0,0,0,0,26.94,26.63,27.00
$GC,8339,-0.51,-175.2,1823,926,3480,3690,759.7,-8.1,390,8346,0.00,2.20,0.00,0.000,1030,0.000,0.047,1814,2305,3584,3479,3689,0,0,0,0,0,0,26.72,26.63,26.74
$GC,8723,-0.51,-175.2,1814,2305,3479,3688,791.4,-8.2,404,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2305,3583,3479,3688,0,0,0,0,0,0,26.93,27.01,27.00
$GC,9083,-0.51,-175.2,1814,2305,3479,3686,819.1,-7.5,414,9090,0.00,2.17,0.00,0.000,516,0.000,0.045,1814,923,3582,3479,3686,0,0,0,0,0,0,26.94,26.62,26.99
$GC,9149,-0.51,-175.2,1814,924,3479,3686,824.1,-7.9,425,9158,0.00,2.17,0.00,0.000,1030,0.000,0.046,1805,2302,3582,3479,3686,0,0,0,0,0,0,26.67,26.63,26.71
$GC,9515,-0.51,-175.2,1804,2302,3478,3684,852.1,-7.7,436,9522,0.00,2.17,0.00,0.000,516,0.000,0.043,1805,914,3581,3478,3684,0,0,0,0,0,0,26.94,26.62,27.00
$GC,9551,-0.51,-175.2,1804,914,3478,3684,855.0,-8.0,442,9559,0.10,2.22,0.00,0.000,3078,0.149,0.047,1829,2305,3581,3478,3684,0,0,0,0,0,0,26.53,26.61,26.60
$GC,9948,-0.52,-175.2,1829,2305,3478,3683,882.4,-6.9,458,9954,0.00,2.17,0.00,0.000,516,0.000,0.044,1829,924,3580,3478,3683,0,0,0,0,0,0,26.94,26.61,26.99
$GC,9989,-0.52,-175.2,1829,925,3478,3683,885.6,-8.4,465,9997,0.00,2.22,0.00,0.000,1030,0.000,0.047,1821,2315,3580,3478,3683,0,0,0,0,0,0,26.70,26.61,26.74
$GC,10381,-0.52,-175.2,1821,2316,3477,3682,915.1,-7.6,480,10387,0.00,2.15,0.00,0.000,516,0.000,0.042,1821,910,3580,3478,3682,0,0,0,0,0,0,26.94,26.61,26.99
$GC,10428,-0.52,-175.2,1820,910,3478,3682,919.0,-8.1,488,10435,0.00,2.22,0.00,0.000,1030,0.000,0.047,1812,2311,3580,3478,3682,0,0,0,0,0,0,26.65,26.60,26.70
$GC,10813,-0.52,-175.2,1811,2311,3478,3680,949.3,-7.9,502,10819,0.00,2.20,0.00,0.000,516,0.000,0.044,1812,913,3578,3477,3680,0,0,0,0,0,0,26.93,26.60,26.99
$GC,10878,-0.52,-175.2,1811,913,3477,3680,954.9,-8.8,513,10887,0.00,2.22,0.00,0.000,1030,0.000,0.047,1802,2305,3578,3477,3680,0,0,0,0,0,0,26.70,26.60,26.73
$GC,11244,-0.52,-175.2,1801,2305,3477,3678,985.1,-8.1,524,11251,0.00,2.20,0.00,0.000,516,0.000,0.044,1802,907,3577,3477,3678,0,0,0,0,0,0,26.93,26.60,26.99
$GC,11268,-0.52,-175.2,1801,907,3478,3678,987.1,-8.7,528,11276,0.10,2.22,0.00,0.000,3078,0.109,0.048,1831,2301,3577,3477,3678,0,0,0,0,0,0,26.49,26.60,26.58
$STATE,11315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11315,begin apogee
$GC,11319,-0.11,0.0,1831,1969,3478,3678,990.5,-7.1,531,11465,0.38,0.00,142.85,1.041,10246,0.093,0.000,1963,1966,2899,2921,2877,0,0,0,0,0,0,26.53,24.79,23.90
$STATE,11466,end apogee,CONTROL_FINISHED_OK
$STATE,11466,begin climb
$GC,11468,0.54,175.2,1963,1966,2919,2871,995.2,0.0,535,11625,0.57,0.00,151.82,1.017,10758,0.070,0.000,2171,1965,2182,2252,2113,0,0,0,0,0,0,25.03,24.56,23.68
$GC,12002,0.57,189.7,2170,1966,2239,2105,960.8,7.4,575,12021,0.00,2.28,12.48,0.935,8708,0.000,0.050,2171,559,2123,2186,2060,0,0,0,0,0,0,26.25,25.63,24.53
$GC,12067,0.59,205.5,2171,559,2183,2060,956.0,7.4,586,12088,0.00,2.28,15.82,0.957,9222,0.000,0.038,2171,1966,2061,2121,2001,0,0,0,0,0,0,25.96,25.90,24.37
$GC,12470,0.59,205.5,2171,1966,2114,1998,923.3,8.3,603,12477,0.00,2.30,0.00,0.000,260,0.000,0.054,2172,3375,2055,2113,1998,0,0,0,0,0,0,26.39,26.11,26.45
$GC,12548,0.59,205.5,2171,3376,2112,1998,916.1,9.0,616,12555,0.00,2.25,0.00,0.000,1030,0.000,0.034,2172,1954,2054,2112,1997,0,0,0,0,0,0,26.28,26.22,26.29
$GC,12939,0.60,211.9,2171,1954,2112,1997,885.1,7.7,631,12952,0.00,2.28,6.53,0.855,8452,0.000,0.055,2172,3366,2034,2092,1977,0,0,0,0,0,0,26.59,26.06,24.98
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$STATE,22592,end climb,SURFACE_DEPTH_REACHED
$STATE,22592,begin surface coast
$FINISH,0.6,1.021359
$STATE,22617,end surface coast,CONTROL_FINISHED_OK
$STATE,22617,begin surface
$SM_CCo,22630,61.33,0.052,0,0,504,587.25
$SM_GC,-0.72,5.38,0.55,61.33,0.028,0.047,0.052,168,2316,504,-5.65,-0.90,587.25,0,0,0,0,0,0,26.54,26.46,26.37
$IRIDIUM_FIX,753.81,8501.34,241115,221244
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.79
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3986272
$24V_AH,23.68,14.333
$10V_AH,9.99,9.814
$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
$DEVICE_SECS,13.500,159.650,530.775,61.325,0.000,0.000,0.000,224.300,0.000,0.000,23.584,0.000,19320.543,1133.899,2289.862,287.079,0.000,2136.593,0.000,1653.210,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22634.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.870,0.000,0.000,0.000
$MEM,260812
$DATA_FILE_SIZE,40037,1120
$CAP_FILE_SIZE,199573,0
$CFSIZE,260034560,242536448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,341.06,1
$GPS,251115,110853,759.458,8455.281,41,1.1,41,-2.0,0.0,0.0,7,8.7