version: 66.12
glider: 171
mission: 9
dive: 127
start: 12 5 115 19 16 24
data:
$ID,171
$MISSION,9
$DIVE,127
$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,50
$R_STBD_OVSHOOT,42
$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
$GPS1,051215,191003,757.0356,8226.0371,40,1.3,44,-2.2,1.0,180.8,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-59.0
$GPS2,051215,191612,756.9490,8226.0654,14,1.1,14,-2.2,0.0,0.0,8,8.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8210.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,295.0,30001,-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,-175.2,169,2310,539,467,0.0,0.0,0,143,0.00,0.00,-123.72,0.000,16386,0.000,0.000,168,2310,2571,2642,2500,0,0,0,0,0,0,26.25,28.83,26.31
$GC,145,-0.54,-175.2,169,2311,2643,2501,3.6,-6.7,10,178,6.07,2.38,-21.88,0.000,18692,0.199,1.232,1807,3654,3617,3479,3755,0,0,0,0,0,0,25.70,24.57,26.01
$GC,345,-0.53,-175.2,1806,3655,3480,3760,63.6,-23.1,44,352,0.00,2.08,0.00,0.000,1030,0.000,0.030,1807,2301,3619,3479,3760,0,0,0,0,0,0,26.27,26.24,26.29
$GC,717,-0.52,-175.2,1806,2299,3480,3764,124.1,-14.3,61,725,0.00,2.22,0.00,0.000,260,0.000,0.057,1797,3659,3621,3479,3764,0,0,0,0,0,0,26.64,26.31,26.69
$GC,790,-0.52,-175.2,1796,3659,3479,3765,134.9,-13.9,73,798,0.08,2.08,0.00,0.000,3078,0.119,0.033,1825,2304,3622,3479,3765,0,0,0,0,0,0,26.25,26.41,26.33
$GC,1175,-0.52,-175.2,1825,2303,3480,3766,176.0,-11.1,92,1182,0.00,2.20,0.00,0.000,260,0.000,0.057,1815,3653,3622,3479,3765,0,0,0,0,0,0,26.74,26.41,26.80
$GC,1199,-0.51,-175.2,1815,3653,3480,3766,178.7,-11.3,96,1206,0.00,2.05,0.00,0.000,1030,0.000,0.031,1815,2304,3622,3479,3766,0,0,0,0,0,0,26.54,26.51,26.56
$GC,1583,-0.51,-175.2,1815,2303,3479,3766,220.9,-10.7,115,1590,0.00,2.20,0.00,0.000,260,0.000,0.058,1807,3655,3622,3479,3765,0,0,0,0,0,0,26.79,26.46,26.86
$GC,1661,-0.51,-175.2,1806,3655,3479,3765,229.6,-10.7,128,1668,0.00,2.05,0.00,0.000,1030,0.000,0.031,1807,2304,3622,3479,3765,0,0,0,0,0,0,26.60,26.58,26.63
$GC,2051,-0.51,-175.2,1806,2304,3480,3761,270.8,-10.7,144,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3620,3479,3761,0,0,0,0,0,0,26.84,26.91,26.89
$GC,2411,-0.50,-175.2,1806,2304,3479,3756,309.3,-10.6,154,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3617,3479,3756,0,0,0,0,0,0,26.85,26.93,26.91
$GC,2771,-0.50,-175.2,1806,2304,3480,3751,346.0,-10.1,164,2778,0.00,2.20,0.00,0.000,260,0.000,0.060,1798,3649,3614,3479,3750,0,0,0,0,0,0,26.87,26.52,26.94
$GC,2813,-0.50,-175.2,1797,3649,3480,3750,350.4,-10.6,171,2821,0.10,2.05,0.00,0.000,3078,0.103,0.032,1837,2294,3614,3479,3750,0,0,0,0,0,0,26.46,26.64,26.54
$GC,3203,-0.50,-175.2,1837,2294,3480,3744,380.6,-7.4,186,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2294,3611,3479,3744,0,0,0,0,0,0,26.89,26.96,26.94
$GC,3564,-0.50,-175.2,1836,2294,3480,3740,405.9,-6.9,196,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2294,3609,3479,3739,0,0,0,0,0,0,26.89,26.96,26.95
$GC,3923,-0.50,-175.2,1837,2294,3479,3735,432.3,-7.8,206,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2293,3607,3479,3735,0,0,0,0,0,0,26.90,26.97,26.96
$GC,4284,-0.50,-175.2,1837,2293,3479,3730,461.3,-8.2,216,4290,0.00,2.15,0.00,0.000,516,0.000,0.044,1837,912,3604,3479,3730,0,0,0,0,0,0,26.91,26.57,26.96
$GC,4313,-0.50,-175.2,1837,911,3479,3730,463.8,-8.7,221,4322,0.00,2.17,0.00,0.000,1030,0.000,0.047,1830,2288,3604,3479,3729,0,0,0,0,0,0,26.62,26.57,26.66
$GC,4679,-0.50,-175.2,1830,2289,3479,3726,494.3,-8.0,232,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2288,3602,3479,3725,0,0,0,0,0,0,26.91,26.98,26.96
$GC,5040,-0.50,-175.2,1830,2288,3480,3722,523.3,-7.8,242,5046,0.00,2.15,0.00,0.000,516,0.000,0.043,1830,915,3600,3479,3721,0,0,0,0,0,0,26.91,26.57,26.96
$GC,5081,-0.50,-175.2,1829,915,3479,3722,526.6,-8.0,249,5089,0.00,2.22,0.00,0.000,1030,0.000,0.047,1820,2307,3599,3478,3721,0,0,0,0,0,0,26.65,26.56,26.68
$GC,5473,-0.50,-175.2,1820,2308,3479,3718,557.6,-7.9,264,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2308,3598,3478,3718,0,0,0,0,0,0,26.91,26.98,26.97
$GC,5832,-0.50,-175.2,1820,2308,3478,3715,587.0,-8.2,274,5839,0.00,2.17,0.00,0.000,516,0.000,0.044,1820,924,3596,3478,3715,0,0,0,0,0,0,26.91,26.56,26.97
$GC,5873,-0.50,-175.2,1820,925,3478,3715,590.6,-8.8,281,5882,0.00,2.20,0.00,0.000,1030,0.000,0.045,1811,2309,3596,3478,3714,0,0,0,0,0,0,26.65,26.56,26.69
$GC,6265,-0.50,-175.2,1811,2309,3479,3712,623.6,-8.5,296,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2308,3594,3478,3711,0,0,0,0,0,0,26.91,26.98,26.97
$GC,6624,-0.50,-175.2,1811,2309,3478,3709,653.8,-8.5,306,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2309,3593,3478,3708,0,0,0,0,0,0,26.91,26.98,26.97
$GC,6984,-0.50,-175.2,1811,2309,3478,3707,683.6,-8.3,316,6991,0.00,2.17,0.00,0.000,516,0.000,0.044,1811,926,3592,3478,3706,0,0,0,0,0,0,26.91,26.55,26.97
$GC,7020,-0.50,-175.2,1811,926,3478,3706,686.8,-8.9,322,7028,0.08,2.20,0.00,0.000,3078,0.117,0.045,1832,2304,3591,3477,3706,0,0,0,0,0,0,26.44,26.55,26.51
$GC,7417,-0.50,-175.2,1832,2305,3478,3704,716.5,-7.4,338,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2304,3590,3477,3704,0,0,0,0,0,0,26.91,26.98,26.97
$GC,7777,-0.50,-175.2,1831,2305,3476,3701,742.3,-7.2,348,7784,0.00,2.17,0.00,0.000,516,0.000,0.044,1832,916,3589,3477,3701,0,0,0,0,0,0,26.91,26.53,26.97
$GC,7819,-0.51,-175.2,1831,916,3477,3701,745.4,-7.1,355,7826,0.00,2.20,0.00,0.000,1030,0.000,0.047,1823,2305,3589,3477,3701,0,0,0,0,0,0,26.59,26.54,26.63
$GC,8210,-0.51,-175.2,1823,2306,3477,3699,775.3,-7.6,370,8216,0.00,2.17,0.00,0.000,516,0.000,0.045,1823,923,3588,3477,3699,0,0,0,0,0,0,26.91,26.53,26.97
$GC,8239,-0.51,-175.2,1823,925,3477,3699,777.6,-8.7,375,8247,0.00,2.20,0.00,0.000,1030,0.000,0.047,1813,2306,3587,3477,3698,0,0,0,0,0,0,26.58,26.53,26.63
$GC,8605,-0.51,-175.2,1813,2306,3477,3697,806.6,-8.0,386,8612,0.00,2.17,0.00,0.000,516,0.000,0.045,1813,926,3586,3476,3697,0,0,0,0,0,0,26.91,26.52,26.97
$GC,8640,-0.51,-175.2,1813,926,3477,3697,809.6,-8.6,392,8648,0.00,2.22,0.00,0.000,1030,0.000,0.047,1803,2324,3586,3476,3697,0,0,0,0,0,0,26.58,26.52,26.62
$GC,9038,-0.51,-175.2,1803,2324,3476,3694,841.5,-7.8,408,9045,0.10,2.20,0.00,0.000,2564,0.148,0.043,1832,920,3586,3478,3694,0,0,0,0,0,0,26.62,26.53,26.67
$GC,9098,-0.51,-175.2,1832,920,3476,3694,845.6,-6.7,418,9104,0.00,2.20,0.00,0.000,1030,0.000,0.047,1824,2303,3585,3476,3694,0,0,0,0,0,0,26.58,26.53,26.62
$GC,9471,-0.51,-175.2,1823,2303,3477,3693,870.2,-6.7,430,9476,0.00,2.12,0.00,0.000,516,0.000,0.044,1824,923,3584,3476,3692,0,0,0,0,0,0,26.91,26.52,26.97
$GC,9517,-0.51,-175.2,1824,923,3476,3692,873.4,-6.9,438,9524,0.00,2.20,0.00,0.000,1030,0.000,0.047,1814,2304,3584,3476,3692,0,0,0,0,0,0,26.57,26.51,26.61
$GC,9903,-0.51,-175.2,1813,2304,3476,3691,901.3,-7.2,452,9908,0.00,2.15,0.00,0.000,516,0.000,0.045,1813,914,3582,3475,3690,0,0,0,0,0,0,26.91,26.51,26.96
$GC,9979,-0.51,-175.2,1813,914,3477,3691,907.1,-7.5,465,9987,0.00,2.22,0.00,0.000,1030,0.000,0.047,1804,2304,3582,3475,3690,0,0,0,0,0,0,26.60,26.51,26.65
$GC,10371,-0.51,-175.2,1804,2304,3475,3689,937.9,-7.9,480,10377,0.00,2.17,0.00,0.000,516,0.000,0.045,1804,926,3582,3475,3689,0,0,0,0,0,0,26.90,26.50,26.96
$GC,10405,-0.51,-175.2,1804,926,3476,3689,940.7,-8.2,486,10413,0.10,2.22,0.00,0.000,3078,0.109,0.047,1832,2314,3582,3475,3689,0,0,0,0,0,0,26.38,26.50,26.46
$GC,10802,-0.51,-175.2,1832,2314,3475,3688,963.0,-5.2,502,10809,0.00,2.20,0.00,0.000,516,0.000,0.043,1833,917,3581,3475,3687,0,0,0,0,0,0,26.91,26.50,26.96
$GC,10844,-0.51,-175.2,1833,918,3475,3687,965.5,-6.1,509,10852,0.00,2.20,0.00,0.000,1030,0.000,0.048,1824,2298,3581,3475,3687,0,0,0,0,0,0,26.55,26.50,26.60
$GC,11236,-0.52,-175.2,1824,2298,3475,3687,989.7,-6.7,524,11242,0.00,2.12,0.00,0.000,516,0.000,0.042,1824,917,3580,3475,3686,0,0,0,0,0,0,26.90,26.51,26.96
$STATE,11245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11245,begin apogee
$GC,11251,-0.11,0.0,1817,1962,3475,3686,990.6,-6.7,526,11398,0.43,0.00,144.30,1.054,10246,0.095,0.000,1963,1962,2898,2921,2876,0,0,0,0,0,0,26.38,24.68,23.69
$STATE,11399,end apogee,CONTROL_FINISHED_OK
$STATE,11400,begin climb
$GC,11401,0.54,175.2,1963,1962,2919,2872,995.6,0.0,530,11558,0.57,0.00,151.77,1.026,10758,0.070,0.000,2170,1962,2183,2254,2113,0,0,0,0,0,0,25.00,24.51,23.63
$GC,11895,0.60,210.4,2170,1962,2241,2105,967.0,6.8,564,11934,0.00,2.30,30.58,1.001,8708,0.000,0.050,2171,572,2039,2098,1981,0,0,0,0,0,0,26.20,25.28,24.36
$GC,11982,0.65,241.8,2171,573,2095,1979,961.0,6.9,578,12019,0.00,2.25,29.48,0.991,9222,0.000,0.039,2172,1957,1911,1974,1849,0,0,0,0,0,0,25.70,25.66,24.15
$GC,12402,0.66,248.0,2171,1957,1968,1844,929.4,7.7,598,12416,0.12,2.33,6.28,0.861,10500,0.083,0.053,2253,3369,1887,1950,1825,0,0,0,0,0,0,26.15,25.77,24.69
$GC,12462,0.65,248.0,2253,3370,1949,1825,922.0,13.7,608,12470,0.12,2.20,0.00,0.000,5126,0.125,0.031,2210,1966,1886,1948,1825,0,0,0,0,0,0,25.88,26.06,25.96
$GC,12836,0.65,248.0,2210,1964,1947,1824,881.7,10.8,620,12842,0.00,2.22,0.00,0.000,516,0.000,0.044,2214,560,1885,1947,1824,0,0,0,0,0,0,26.50,26.22,26.56
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$STATE,22417,end climb,SURFACE_DEPTH_REACHED
$STATE,22417,begin surface coast
$FINISH,0.0,1.020365
$STATE,22441,end surface coast,CONTROL_FINISHED_OK
$STATE,22441,begin surface
$SM_CCo,22454,27.05,0.054,0,0,503,587.25
$SM_GC,-0.50,5.38,0.57,27.05,0.021,0.047,0.054,170,2316,503,-5.66,-0.93,587.25,0,0,0,0,0,0,26.31,26.22,26.15
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$TT8_MAMPS,0.049434,0.049434
$HUMID,49.33
$INTERNAL_PRESSURE,9.38859
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3971296
$24V_AH,23.63,20.111
$10V_AH,10.13,13.278
$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
$DEVICE_SECS,13.450,144.575,588.075,27.050,0.000,0.000,0.000,236.475,0.000,0.000,15.777,0.000,19237.428,1076.066,2212.024,306.868,0.000,2072.144,0.000,1586.189,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22460.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.964,0.000,0.000,0.000
$MEM,260776
$DATA_FILE_SIZE,40052,1072
$CAP_FILE_SIZE,191648,0
$CFSIZE,260034560,238870528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,155.60,1
$GPS,061215,013206,757.188,8223.427,38,1.3,38,-2.2,0.0,0.0,8,10.0