version: 66.12
glider: 171
mission: 9
dive: 103
start: 11 29 115 7 1 29
data:
$ID,171
$MISSION,9
$DIVE,103
$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,59
$R_STBD_OVSHOOT,44
$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
$GPS1,291115,065533,756.0000,8358.4375,38,2.0,42,-2.1,0.8,252.3,8,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-56.0
$GPS2,291115,070118,755.9922,8358.3799,13,1.2,13,-2.1,0.0,0.0,7,9.0
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,271.2,247570,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.54,-175.2,171,2315,544,468,0.0,0.0,0,166,0.00,0.00,-146.62,0.000,16386,0.000,0.000,171,2315,3103,3124,3082,0,0,0,0,0,0,26.32,28.83,26.39
$GC,169,-0.54,-175.2,171,2315,3126,3083,6.4,-12.5,12,192,6.05,2.30,-10.12,0.000,18692,0.200,1.222,1805,3656,3617,3479,3755,0,0,0,0,0,0,25.78,24.60,26.09
$GC,418,-0.53,-175.2,1805,3656,3480,3760,83.4,-18.9,54,426,0.00,2.08,0.00,0.000,1030,0.000,0.029,1805,2313,3619,3479,3759,0,0,0,0,0,0,26.35,26.30,26.37
$GC,790,-0.53,-175.2,1805,2311,3480,3764,139.0,-11.3,71,797,0.00,2.17,0.00,0.000,260,0.000,0.055,1795,3649,3622,3480,3764,0,0,0,0,0,0,26.67,26.37,26.73
$GC,863,-0.52,-175.2,1795,3649,3480,3764,148.0,-12.8,83,871,0.08,2.05,0.00,0.000,3078,0.114,0.029,1824,2283,3622,3480,3764,0,0,0,0,0,0,26.32,26.47,26.40
$GC,1247,-0.52,-175.2,1824,2283,3480,3765,189.7,-10.1,102,1254,0.00,2.22,0.00,0.000,260,0.000,0.055,1814,3655,3622,3479,3765,0,0,0,0,0,0,26.77,26.46,26.83
$GC,1283,-0.52,-175.2,1814,3655,3481,3765,193.4,-10.5,108,1290,0.00,2.05,0.00,0.000,1030,0.000,0.030,1814,2316,3622,3480,3765,0,0,0,0,0,0,26.60,26.54,26.63
$GC,1655,-0.52,-175.2,1814,2314,3480,3765,231.4,-9.6,125,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2314,3622,3480,3765,0,0,0,0,0,0,26.82,26.89,26.87
$GC,2016,-0.51,-175.2,1815,2315,3479,3760,267.4,-10.5,138,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2314,3619,3479,3760,0,0,0,0,0,0,26.84,26.91,26.91
$GC,2375,-0.51,-175.2,1814,2314,3480,3755,305.7,-10.2,148,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2314,3618,3482,3755,0,0,0,0,0,0,26.86,26.94,26.93
$GC,2735,-0.51,-175.2,1814,2314,3480,3749,339.3,-9.1,158,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2314,3614,3479,3749,0,0,0,0,0,0,26.89,26.96,26.94
$GC,3095,-0.51,-175.2,1814,2314,3480,3743,371.9,-9.0,168,3102,0.00,2.20,0.00,0.000,516,0.000,0.043,1814,904,3611,3480,3743,0,0,0,0,0,0,26.89,26.61,26.96
$GC,3125,-0.51,-175.2,1814,904,3479,3743,374.5,-9.6,173,3134,0.00,2.17,0.00,0.000,1030,0.000,0.043,1804,2291,3610,3478,3742,0,0,0,0,0,0,26.65,26.61,26.69
$GC,3492,-0.51,-175.2,1804,2291,3479,3737,409.4,-9.7,184,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2291,3608,3479,3737,0,0,0,0,0,0,26.90,26.97,26.96
$GC,3852,-0.50,-175.2,1804,2291,3480,3732,444.7,-9.8,194,3858,0.00,2.15,0.00,0.000,516,0.000,0.040,1804,908,3605,3479,3731,0,0,0,0,0,0,26.91,26.63,26.97
$GC,3893,-0.50,-175.2,1804,908,3480,3731,449.0,-10.4,201,3902,0.12,2.22,0.00,0.000,3078,0.138,0.044,1834,2310,3605,3479,3731,0,0,0,0,0,0,26.53,26.62,26.60
$GC,4284,-0.50,-175.2,1834,2310,3479,3726,483.2,-8.9,216,4291,0.00,2.20,0.00,0.000,516,0.000,0.042,1835,908,3602,3479,3725,0,0,0,0,0,0,26.91,26.62,26.97
$GC,4320,-0.50,-175.2,1834,909,3480,3725,486.4,-9.5,222,4328,0.00,2.22,0.00,0.000,1030,0.000,0.045,1827,2305,3602,3479,3725,0,0,0,0,0,0,26.70,26.62,26.73
$GC,4717,-0.50,-175.2,1827,2305,3479,3721,522.0,-8.7,238,4723,0.00,2.20,0.00,0.000,516,0.000,0.044,1827,907,3599,3479,3720,0,0,0,0,0,0,26.91,26.62,26.98
$GC,4746,-0.50,-175.2,1827,907,3479,3721,524.6,-9.2,243,4755,0.00,2.20,0.00,0.000,1030,0.000,0.044,1817,2300,3599,3479,3720,0,0,0,0,0,0,26.66,26.61,26.70
$GC,5112,-0.50,-175.2,1817,2300,3479,3717,556.6,-8.6,254,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2300,3597,3479,3716,0,0,0,0,0,0,26.92,26.99,26.98
$GC,5473,-0.50,-175.2,1817,2300,3479,3713,587.4,-8.4,264,5479,0.00,2.17,0.00,0.000,516,0.000,0.041,1817,907,3595,3478,3712,0,0,0,0,0,0,26.92,26.63,26.98
$GC,5508,-0.50,-175.2,1817,907,3479,3712,590.4,-8.5,270,5515,0.00,2.22,0.00,0.000,1030,0.000,0.044,1807,2306,3595,3478,3712,0,0,0,0,0,0,26.70,26.61,26.72
$GC,5905,-0.50,-175.2,1807,2307,3478,3708,623.4,-8.0,286,5911,0.00,2.20,0.00,0.000,516,0.000,0.044,1807,909,3593,3478,3708,0,0,0,0,0,0,26.92,26.62,26.98
$GC,5940,-0.50,-175.2,1807,909,3479,3708,626.4,-8.7,292,5948,0.10,2.20,0.00,0.000,3078,0.109,0.046,1836,2299,3593,3478,3708,0,0,0,0,0,0,26.51,26.62,26.58
$GC,6337,-0.50,-175.2,1835,2299,3479,3706,653.7,-7.0,308,6344,0.00,2.17,0.00,0.000,516,0.000,0.041,1836,904,3591,3478,3705,0,0,0,0,0,0,26.92,26.62,26.98
$GC,6378,-0.50,-175.2,1836,904,3479,3705,656.8,-7.7,315,6386,0.00,2.22,0.00,0.000,1030,0.000,0.044,1828,2309,3591,3478,3705,0,0,0,0,0,0,26.65,26.60,26.70
$GC,6769,-0.50,-175.2,1827,2309,3478,3702,686.5,-7.6,330,6776,0.00,2.20,0.00,0.000,516,0.000,0.044,1828,908,3589,3477,3702,0,0,0,0,0,0,26.92,26.61,26.98
$GC,6805,-0.50,-175.2,1827,909,3478,3702,689.3,-8.1,336,6812,0.00,2.22,0.00,0.000,1030,0.000,0.046,1818,2312,3589,3477,3701,0,0,0,0,0,0,26.65,26.60,26.70
$GC,7201,-0.50,-175.2,1817,2312,3477,3700,719.1,-7.4,352,7208,0.00,2.20,0.00,0.000,516,0.000,0.043,1818,910,3588,3477,3699,0,0,0,0,0,0,26.92,26.60,26.98
$GC,7255,-0.50,-175.2,1817,911,3478,3699,723.4,-8.0,361,7263,0.00,2.22,0.00,0.000,1030,0.000,0.046,1808,2313,3587,3477,3698,0,0,0,0,0,0,26.65,26.60,26.69
$GC,7634,-0.50,-175.2,1808,2313,3477,3697,753.6,-8.1,374,7641,0.00,2.20,0.00,0.000,516,0.000,0.042,1808,911,3587,3477,3697,0,0,0,0,0,0,26.92,26.60,26.98
$GC,7676,-0.50,-175.2,1808,911,3477,3697,757.1,-8.5,381,7684,0.12,2.22,0.00,0.000,3078,0.136,0.046,1834,2304,3586,3477,3696,0,0,0,0,0,0,26.51,26.60,26.63
$GC,8068,-0.50,-175.2,1834,2304,3477,3694,784.5,-7.0,396,8074,0.00,2.17,0.00,0.000,516,0.000,0.044,1834,920,3585,3477,3693,0,0,0,0,0,0,26.92,26.58,26.98
$GC,8103,-0.51,-175.2,1834,920,3477,3694,787.1,-8.2,402,8110,0.00,2.20,0.00,0.000,1030,0.000,0.047,1826,2307,3584,3476,3693,0,0,0,0,0,0,26.65,26.59,26.68
$GC,8500,-0.51,-175.2,1826,2307,3475,3691,816.8,-7.4,418,8506,0.00,2.15,0.00,0.000,516,0.000,0.044,1826,910,3584,3477,3691,0,0,0,0,0,0,26.92,26.58,26.98
$GC,8547,-0.51,-175.2,1826,910,3475,3691,820.7,-8.0,426,8554,0.00,2.22,0.00,0.000,1030,0.000,0.047,1816,2308,3583,3475,3691,0,0,0,0,0,0,26.64,26.59,26.68
$GC,8932,-0.51,-175.2,1816,2308,3476,3690,849.6,-7.3,440,8938,0.00,2.20,0.00,0.000,516,0.000,0.044,1816,916,3582,3475,3689,0,0,0,0,0,0,26.92,26.58,26.98
$GC,9003,-0.51,-175.2,1816,916,3475,3689,855.2,-7.7,452,9010,0.00,2.22,0.00,0.000,1030,0.000,0.047,1806,2315,3582,3475,3689,0,0,0,0,0,0,26.64,26.59,26.68
$GC,9400,-0.51,-175.2,1806,2316,3475,3687,884.8,-7.4,468,9406,0.00,2.15,0.00,0.000,516,0.000,0.042,1806,910,3581,3475,3687,0,0,0,0,0,0,26.92,26.58,26.98
$GC,9447,-0.51,-175.2,1806,910,3475,3687,888.6,-7.8,476,9454,0.10,2.22,0.00,0.000,3078,0.110,0.046,1835,2309,3581,3475,3687,0,0,0,0,0,0,26.47,26.58,26.55
$GC,9832,-0.51,-175.2,1834,2309,3476,3686,913.0,-6.4,490,9838,0.00,2.17,0.00,0.000,516,0.000,0.044,1835,904,3580,3475,3686,0,0,0,0,0,0,26.93,26.58,26.98
$GC,9891,-0.51,-175.2,1835,904,3475,3686,917.0,-6.9,500,9898,0.00,2.22,0.00,0.000,1030,0.000,0.046,1827,2305,3580,3475,3686,0,0,0,0,0,0,26.63,26.58,26.67
$GC,10264,-0.51,-175.2,1826,2304,3475,3684,941.3,-6.4,512,10270,0.00,2.20,0.00,0.000,516,0.000,0.044,1826,881,3579,3475,3684,0,0,0,0,0,0,26.92,26.57,26.98
$GC,10317,-0.52,-175.2,1826,882,3476,3684,944.8,-6.6,521,10325,0.00,2.28,0.00,0.000,1030,0.000,0.045,1816,2312,3579,3474,3684,0,0,0,0,0,0,26.63,26.58,26.67
$GC,10697,-0.52,-175.2,1816,2312,3475,3682,969.3,-6.3,534,10702,0.00,2.20,0.00,0.000,516,0.000,0.044,1816,918,3578,3475,3682,0,0,0,0,0,0,26.91,26.56,26.98
$GC,10731,-0.52,-175.2,1817,918,3476,3683,971.7,-6.9,540,10738,0.00,2.22,0.00,0.000,1030,0.000,0.047,1806,2315,3578,3475,3682,0,0,0,0,0,0,26.63,26.57,26.67
$STATE,11018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11018,begin apogee
$GC,11023,-0.11,0.0,1806,1956,3475,3682,991.4,-6.9,553,11181,0.45,0.00,150.48,1.183,10246,0.095,0.000,1960,1954,2899,2921,2877,0,0,0,0,1,0,26.46,24.60,23.45
$STATE,11183,end apogee,CONTROL_FINISHED_OK
$STATE,11183,begin climb
$GC,11184,0.54,175.2,1960,1955,2921,2876,995.5,0.0,557,11349,0.60,2.50,155.70,1.018,11012,0.070,0.053,2174,3374,2181,2251,2111,0,0,0,0,0,0,24.92,24.58,23.58
$GC,11389,0.54,175.2,2173,3374,2246,2110,985.1,8.0,594,11398,0.00,2.30,0.00,0.000,1030,0.000,0.033,2180,1964,2176,2244,2109,0,0,0,0,0,0,25.29,25.26,25.32
$GC,11781,0.55,182.4,2180,1963,2241,2105,955.1,7.6,609,11795,0.00,2.33,5.03,0.806,8452,0.000,0.053,2181,3368,2155,2224,2087,0,0,0,0,0,0,26.30,25.81,24.81
$GC,11817,0.55,182.4,2180,3368,2222,2089,951.9,8.1,615,11824,0.00,2.22,0.00,0.000,1030,0.000,0.034,2186,1964,2155,2222,2088,0,0,0,0,0,0,26.07,26.04,26.10
$GC,12215,0.54,182.4,2186,1963,2219,2088,920.4,7.9,631,12221,0.00,2.25,0.00,0.000,260,0.000,0.051,2186,3379,2153,2218,2088,0,0,0,0,0,0,26.51,26.21,26.57
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$STATE,22570,end climb,SURFACE_DEPTH_REACHED
$STATE,22570,begin surface coast
$FINISH,1.5,1.021510
$STATE,22582,end surface coast,CONTROL_FINISHED_OK
$STATE,22582,begin surface
$SM_CCo,22596,41.35,0.053,0,0,504,587.25
$SM_GC,-0.86,5.45,1.62,41.35,0.024,0.031,0.053,168,2293,504,-5.66,1.55,587.25,0,0,0,0,0,0,26.39,26.34,26.22
$IRIDIUM_FIX,751.63,8402.20,291115,002713
$TT8_MAMPS,0.049434,0.049434
$HUMID,48.58
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3980512
$24V_AH,23.45,16.511
$10V_AH,9.95,11.145
$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,13.550,172.900,577.550,41.350,0.000,0.000,0.000,217.100,0.000,0.000,14.287,0.000,19172.990,1149.698,2329.109,311.266,0.000,2183.259,0.000,1704.219,0.000,0.539,0.000
$DEVICE_MAMPS,199.665,1222.470,1183.455,52.785,0.000,0.000,0.000,121.635,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22600.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.898,0.000,0.000,0.000
$MEM,260812
$DATA_FILE_SIZE,40022,1157
$CAP_FILE_SIZE,201927,0
$CFSIZE,260034560,241119232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.038,328.35,1
$GPS,291115,132005,755.867,8354.856,56,1.0,56,-2.1,0.0,0.0,8,7.8