version: 66.12
glider: 171
mission: 9
dive: 57
start: 11 16 115 18 47 2
data:
$ID,171
$MISSION,9
$DIVE,57
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,161115,184035,758.6510,8435.5869,38,1.1,38,-2.0,0.0,0.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-47.8
$GPS2,161115,184651,758.6665,8435.6338,12,1.3,21,-2.0,0.2,50.5,7,8.9
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,92.2,99737,-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,-175.2,169,2307,495,420,0.0,0.0,0,165,0.00,0.00,-146.40,0.000,16386,0.000,0.000,169,2307,3013,3040,2987,0,0,0,0,0,0,26.27,28.83,26.34
$GC,168,-0.54,-175.2,169,2307,3042,2988,5.2,-9.6,12,195,6.00,2.35,-12.55,0.000,18692,0.200,1.233,1806,3655,3618,3463,3773,0,0,0,0,0,0,25.90,24.77,26.15
$GC,421,-0.53,-175.2,1806,3655,3464,3777,86.0,-21.9,55,429,0.00,2.10,0.00,0.000,1030,0.000,0.031,1806,2296,3620,3464,3776,0,0,0,0,0,0,26.33,26.27,26.35
$GC,787,-0.53,-175.2,1806,2295,3464,3782,144.6,-12.6,71,794,0.00,2.25,0.00,0.000,260,0.000,0.057,1796,3667,3622,3464,3781,0,0,0,0,0,0,26.65,26.38,26.71
$GC,932,-0.52,-175.2,1796,3667,3464,3783,162.3,-12.4,95,939,0.08,2.08,0.00,0.000,3078,0.116,0.032,1825,2299,3623,3464,3782,0,0,0,0,0,0,26.37,26.48,26.44
$GC,1316,-0.52,-175.2,1825,2299,3464,3783,205.0,-11.4,114,1323,0.00,2.20,0.00,0.000,260,0.000,0.058,1815,3656,3623,3464,3782,0,0,0,0,0,0,26.77,26.50,26.83
$GC,1369,-0.52,-175.2,1815,3657,3464,3782,211.4,-11.6,123,1377,0.00,2.08,0.00,0.000,1030,0.000,0.032,1815,2288,3623,3464,3782,0,0,0,0,0,0,26.63,26.58,26.65
$GC,1747,-0.51,-175.2,1814,2288,3464,3781,251.7,-9.8,141,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2287,3622,3464,3780,0,0,0,0,0,0,26.83,26.90,26.89
$GC,2108,-0.51,-175.2,1815,2288,3463,3774,285.6,-9.0,151,2115,0.00,2.12,0.00,0.000,516,0.000,0.043,1815,924,3618,3463,3773,0,0,0,0,0,0,26.86,26.63,26.92
$GC,2144,-0.51,-175.2,1815,924,3464,3773,288.7,-9.0,157,2152,0.00,2.15,0.00,0.000,1030,0.000,0.044,1805,2297,3617,3463,3772,0,0,0,0,0,0,26.67,26.63,26.70
$GC,2540,-0.51,-175.2,1805,2297,3464,3766,325.4,-9.0,173,2548,0.00,2.20,0.00,0.000,260,0.000,0.060,1795,3664,3614,3463,3766,0,0,0,0,0,0,26.89,26.62,26.95
$GC,2618,-0.50,-175.2,1795,3664,3464,3764,332.8,-9.3,186,2626,0.10,2.08,0.00,0.000,3078,0.105,0.034,1834,2311,3613,3463,3764,0,0,0,0,0,0,26.58,26.68,26.65
$GC,3009,-0.50,-175.2,1834,2310,3463,3758,363.2,-8.2,201,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2311,3610,3463,3757,0,0,0,0,0,0,26.91,26.98,26.96
$GC,3369,-0.50,-175.2,1834,2312,3463,3752,392.0,-7.7,211,3376,0.00,2.20,0.00,0.000,260,0.000,0.061,1825,3670,3607,3463,3751,0,0,0,0,0,0,26.92,26.64,26.98
$GC,3410,-0.50,-175.2,1823,3670,3463,3751,395.3,-8.3,218,3418,0.00,2.10,0.00,0.000,1030,0.000,0.034,1825,2302,3607,3463,3751,0,0,0,0,0,0,26.77,26.72,26.79
$GC,3801,-0.50,-175.2,1825,2302,3462,3745,427.4,-8.4,233,3808,0.00,2.20,0.00,0.000,260,0.000,0.063,1814,3660,3603,3462,3745,0,0,0,0,0,0,26.93,26.66,26.99
$GC,3896,-0.50,-175.2,1815,3660,3462,3744,436.6,-9.8,249,3905,0.00,2.10,0.00,0.000,1030,0.000,0.037,1814,2301,3603,3462,3744,0,0,0,0,0,0,26.78,26.72,26.80
$GC,4270,-0.50,-175.2,1815,2301,3462,3739,472.4,-9.5,261,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2301,3600,3462,3739,0,0,0,0,0,0,26.94,27.01,27.00
$GC,4629,-0.50,-175.2,1814,2301,3463,3736,504.0,-8.3,271,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2301,3598,3462,3735,0,0,0,0,0,0,26.95,27.02,27.01
$GC,4989,-0.50,-175.2,1814,2301,3462,3730,530.4,-7.0,281,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2301,3596,3462,3731,0,0,0,0,0,0,26.95,27.02,27.01
$GC,5349,-0.50,-175.2,1815,2301,3462,3727,556.7,-7.6,291,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2301,3594,3462,3727,0,0,0,0,0,0,26.96,27.03,27.01
$GC,5709,-0.50,-175.2,1815,2301,3462,3722,585.0,-8.1,301,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2301,3592,3461,3723,0,0,0,0,0,0,26.96,27.03,27.02
$GC,6069,-0.50,-175.2,1814,2301,3461,3720,612.6,-7.5,311,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2301,3590,3461,3719,0,0,0,0,0,0,26.96,27.03,27.02
$GC,6429,-0.50,-175.2,1814,2301,3461,3717,639.5,-7.5,321,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2301,3589,3461,3717,0,0,0,0,0,0,26.96,27.03,27.02
$GC,6789,-0.50,-175.2,1814,2301,3461,3714,669.1,-8.7,331,6796,0.00,2.15,0.00,0.000,516,0.000,0.041,1815,908,3587,3461,3713,0,0,0,0,0,0,26.96,26.72,27.02
$GC,6849,-0.50,-175.2,1815,908,3461,3713,675.0,-9.7,341,6857,0.00,2.22,0.00,0.000,1030,0.000,0.047,1806,2304,3586,3461,3712,0,0,0,0,0,0,26.79,26.71,26.82
$GC,7222,-0.50,-175.2,1805,2305,3462,3710,713.1,-10.5,353,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3585,3461,3709,0,0,0,0,0,0,26.96,27.03,27.03
$GC,7582,-0.50,-175.2,1805,2305,3462,3708,749.5,-9.9,363,7589,0.00,2.17,0.00,0.000,516,0.000,0.044,1806,909,3584,3461,3707,0,0,0,0,0,0,26.96,26.71,27.02
$GC,7611,-0.50,-175.2,1806,909,3462,3707,752.4,-10.6,368,7620,0.10,2.22,0.00,0.000,3078,0.135,0.049,1833,2305,3584,3461,3707,0,0,0,0,0,0,26.64,26.70,26.76
$GC,7978,-0.50,-175.2,1833,2305,3461,3706,778.2,-6.4,379,7985,0.00,2.17,0.00,0.000,516,0.000,0.046,1833,911,3583,3461,3705,0,0,0,0,0,0,26.96,26.70,27.02
$GC,8014,-0.50,-175.2,1833,911,3461,3705,780.5,-6.6,385,8021,0.00,2.20,0.00,0.000,1030,0.000,0.050,1826,2299,3583,3461,3705,0,0,0,0,0,0,26.74,26.70,26.78
$GC,8410,-0.50,-175.2,1824,2299,3462,3703,804.1,-5.8,401,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2299,3582,3461,3703,0,0,0,0,0,0,26.96,27.03,27.02
$GC,8770,-0.50,-175.2,1825,2299,3461,3701,826.0,-6.2,411,8777,0.00,2.17,0.00,0.000,516,0.000,0.041,1826,908,3581,3461,3701,0,0,0,0,0,0,26.96,26.71,27.02
$GC,8842,-0.50,-175.2,1825,908,3462,3700,830.9,-7.2,423,8849,0.00,2.22,0.00,0.000,1030,0.000,0.049,1816,2310,3580,3461,3700,0,0,0,0,0,0,26.74,26.70,26.78
$GC,9238,-0.50,-175.2,1818,2310,3461,3699,860.5,-7.9,439,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2310,3580,3461,3699,0,0,0,0,0,0,26.96,27.03,27.02
$GC,9598,-0.50,-175.2,1817,2310,3460,3697,890.3,-8.3,449,9606,0.00,2.20,0.00,0.000,516,0.000,0.044,1817,907,3579,3461,3697,0,0,0,0,0,0,26.96,26.70,27.02
$GC,9676,-0.50,-175.2,1816,907,3461,3697,897.1,-8.7,462,9683,0.00,2.25,0.00,0.000,1030,0.000,0.049,1806,2315,3578,3460,3697,0,0,0,0,0,0,26.78,26.70,26.81
$GC,10067,-0.50,-175.2,1806,2316,3461,3695,929.5,-8.0,477,10074,0.00,2.20,0.00,0.000,516,0.000,0.042,1807,905,3577,3460,3694,0,0,0,0,0,0,26.96,26.71,27.02
$GC,10097,-0.50,-175.2,1806,905,3461,3694,931.9,-8.4,482,10105,0.10,2.25,0.00,0.000,3078,0.108,0.049,1836,2312,3577,3460,3694,0,0,0,0,0,0,26.64,26.69,26.70
$GC,10463,-0.50,-175.2,1836,2313,3461,3694,954.0,-5.6,493,10470,0.00,2.20,0.00,0.000,516,0.000,0.044,1836,903,3576,3460,3693,0,0,0,0,0,0,26.96,26.70,27.02
$GC,10511,-0.51,-175.2,1836,903,3461,3693,956.8,-6.2,501,10519,0.00,2.22,0.00,0.000,1030,0.000,0.049,1830,2309,3576,3460,3693,0,0,0,0,0,0,26.74,26.69,26.77
$GC,10896,-0.51,-175.2,1829,2309,3461,3691,978.8,-5.8,515,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2309,3576,3461,3691,0,0,0,0,0,0,26.96,27.03,27.02
$STATE,11110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11110,begin apogee
$GC,11114,-0.11,0.0,1829,1958,3461,3691,991.4,-5.8,521,11277,0.38,0.00,154.32,1.133,10246,0.094,0.000,1960,1957,2899,2923,2875,0,0,0,0,1,0,26.65,24.65,23.61
$STATE,11278,end apogee,CONTROL_FINISHED_OK
$STATE,11278,begin climb
$GC,11279,0.54,175.2,1960,1958,2923,2875,995.7,0.0,525,11444,0.62,2.42,155.73,1.022,11012,0.067,0.054,2177,3376,2181,2252,2110,0,0,0,0,0,0,24.91,24.63,23.75
$GC,11503,0.54,175.2,2177,3376,2246,2107,983.4,8.4,551,11512,0.00,2.30,0.00,0.000,1030,0.000,0.032,2181,1963,2175,2245,2105,0,0,0,0,0,0,25.44,25.39,25.46
$GC,11870,0.56,187.6,2181,1963,2242,2103,955.0,7.5,562,11888,0.00,2.38,10.38,0.923,8452,0.000,0.053,2182,3384,2132,2196,2068,0,0,0,0,0,0,26.29,25.74,24.82
$GC,11923,0.55,187.6,2181,3384,2194,2068,950.4,8.8,571,11930,0.00,2.25,0.00,0.000,1030,0.000,0.033,2183,1960,2130,2193,2068,0,0,0,0,0,0,26.00,25.97,26.03
$GC,12302,0.55,187.6,2183,1956,2191,2067,920.9,8.1,584,12308,0.00,2.30,0.00,0.000,260,0.000,0.053,2183,3376,2128,2190,2067,0,0,0,0,0,0,26.47,26.22,26.53
$GC,12331,0.55,187.6,2183,3376,2191,2067,918.2,8.3,589,12340,0.00,2.20,0.00,0.000,1030,0.000,0.032,2183,1959,2128,2190,2067,0,0,0,0,0,0,26.32,26.29,26.34
$GC,12698,0.55,187.6,2183,1959,2190,2067,887.4,8.4,600,12704,0.00,2.28,0.00,0.000,260,0.000,0.053,2183,3371,2128,2189,2067,0,0,0,0,0,0,26.61,26.36,26.67
$GC,12721,0.54,187.6,2184,3371,2190,2067,885.1,9.2,604,12728,0.00,2.17,0.00,0.000,1030,0.000,0.032,2189,1958,2128,2189,2067,0,0,0,0,0,0,26.45,26.42,26.47
$GC,13094,0.54,187.6,2188,1957,2189,2067,853.2,8.5,616,13100,0.00,2.28,0.00,0.000,260,0.000,0.053,2189,3373,2127,2188,2066,0,0,0,0,0,0,26.69,26.44,26.75
$GC,13123,0.54,187.6,2189,3373,2188,2066,850.4,8.7,621,13131,0.00,2.20,0.00,0.000,1030,0.000,0.032,2194,1956,2126,2188,2064,0,0,0,0,0,0,26.55,26.49,26.57
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$STATE,22745,end climb,SURFACE_DEPTH_REACHED
$STATE,22745,begin surface coast
$FINISH,1.3,1.021456
$STATE,22757,end surface coast,CONTROL_FINISHED_OK
$STATE,22757,begin surface
$SM_CCo,22771,2.38,0.056,0,0,504,587.25
$SM_GC,-0.26,5.57,0.55,2.38,0.024,0.051,0.056,168,2314,504,-5.66,-0.88,587.25,0,0,0,0,0,0,26.26,26.18,26.15
$IRIDIUM_FIX,753.81,8435.13,161115,121836
$TT8_MAMPS,0.049434,0.049434
$HUMID,46.57
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3998176
$24V_AH,23.61,9.660
$10V_AH,10.17,7.082
$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
$DEVICE_SECS,13.550,142.700,658.375,2.375,0.000,0.000,0.000,246.650,0.000,0.000,22.764,0.000,19464.330,1172.372,2240.377,255.115,0.000,2172.156,0.000,1591.278,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.826,0.000,0.000,0.000
$MEM,260788
$DATA_FILE_SIZE,39990,1079
$CAP_FILE_SIZE,191652,0
$CFSIZE,260034560,245465088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.029,267.91,1
$GPS,171115,010735,758.617,8438.291,38,1.0,38,-2.0,0.0,0.0,7,8.0