version: 66.12
glider: 171
mission: 9
dive: 66
start: 11 19 115 4 59 17
data:
$ID,171
$MISSION,9
$DIVE,66
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,191115,045335,759.7694,8455.7930,33,1.1,33,-2.0,0.0,0.0,7,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-56.4
$GPS2,191115,045906,759.8444,8455.7598,16,1.1,16,-2.0,0.0,0.0,7,8.5
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,104.9,62796,-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,-175.2,172,2321,548,472,0.0,0.0,0,165,0.00,0.00,-145.95,0.000,16386,0.000,0.000,172,2321,3051,3076,3026,0,0,0,0,0,0,26.25,28.83,26.32
$GC,167,-0.54,-175.2,172,2321,3078,3026,5.6,-10.5,12,191,6.03,2.40,-11.60,0.000,18692,0.200,1.222,1804,3666,3617,3464,3771,0,0,0,0,0,0,25.83,24.41,26.10
$GC,315,-0.52,-175.2,1804,3666,3464,3775,59.3,-32.6,37,324,0.00,2.10,0.00,0.000,1030,0.000,0.031,1804,2313,3619,3464,3775,0,0,0,0,0,0,26.27,26.20,26.29
$GC,694,-0.52,-175.2,1803,2312,3465,3781,131.3,-15.3,55,701,0.00,2.22,0.00,0.000,516,0.000,0.041,1804,898,3622,3464,3781,0,0,0,0,0,0,26.63,26.36,26.69
$GC,736,-0.51,-175.2,1804,898,3465,3781,137.1,-13.8,62,745,0.10,2.20,0.00,0.000,3078,0.122,0.042,1830,2298,3622,3464,3781,0,0,0,0,0,0,26.25,26.36,26.34
$GC,1102,-0.51,-175.2,1829,2298,3466,3784,177.4,-10.4,78,1109,0.00,2.20,0.00,0.000,260,0.000,0.057,1820,3662,3624,3464,3784,0,0,0,0,0,0,26.73,26.44,26.79
$GC,1162,-0.51,-175.2,1820,3663,3465,3784,184.3,-11.6,88,1169,0.00,2.10,0.00,0.000,1030,0.000,0.032,1820,2281,3624,3465,3784,0,0,0,0,0,0,26.56,26.53,26.58
$GC,1534,-0.51,-175.2,1821,2281,3465,3784,226.4,-10.9,105,1542,0.00,2.12,0.00,0.000,516,0.000,0.038,1820,907,3624,3464,3784,0,0,0,0,0,0,26.80,26.54,26.86
$GC,1577,-0.50,-175.2,1820,907,3465,3784,231.2,-11.3,112,1585,0.00,2.17,0.00,0.000,1030,0.000,0.044,1811,2299,3623,3464,3783,0,0,0,0,0,0,26.58,26.54,26.61
$GC,1967,-0.50,-175.2,1811,2299,3465,3780,271.4,-9.6,126,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2299,3621,3464,3779,0,0,0,0,0,0,26.84,26.91,26.90
$GC,2327,-0.50,-175.2,1810,2300,3464,3772,300.7,-8.1,136,2334,0.00,2.20,0.00,0.000,260,0.000,0.059,1801,3662,3618,3464,3772,0,0,0,0,0,0,26.87,26.57,26.94
$GC,2411,-0.50,-175.2,1801,3663,3464,3772,307.9,-8.7,150,2419,0.10,2.10,0.00,0.000,3078,0.128,0.034,1839,2289,3617,3464,3770,0,0,0,0,0,0,26.53,26.65,26.65
$GC,2796,-0.50,-175.2,1839,2289,3464,3764,335.7,-7.5,164,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2289,3614,3464,3764,0,0,0,0,0,0,26.89,26.96,26.96
$GC,3155,-0.50,-175.2,1838,2289,3464,3758,364.7,-8.2,174,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2289,3611,3464,3758,0,0,0,0,0,0,26.91,26.98,26.96
$GC,3515,-0.50,-175.2,1839,2289,3464,3753,394.1,-8.0,184,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2289,3608,3463,3753,0,0,0,0,0,0,26.92,26.99,26.98
$GC,3875,-0.50,-175.2,1838,2289,3464,3748,421.1,-7.4,194,3882,0.00,2.15,0.00,0.000,516,0.000,0.044,1839,924,3605,3463,3748,0,0,0,0,0,0,26.93,26.65,26.99
$GC,3899,-0.50,-175.2,1838,924,3464,3746,423.0,-8.1,198,3906,0.00,2.17,0.00,0.000,1030,0.000,0.046,1831,2304,3605,3463,3747,0,0,0,0,0,0,26.70,26.65,26.73
$GC,4271,-0.50,-175.2,1830,2304,3464,3743,452.2,-7.9,210,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2304,3602,3463,3742,0,0,0,0,0,0,26.94,27.01,26.99
$GC,4631,-0.50,-175.2,1830,2304,3464,3738,481.5,-8.0,220,4638,0.00,2.20,0.00,0.000,516,0.000,0.044,1831,907,3600,3463,3738,0,0,0,0,0,0,26.94,26.67,27.00
$GC,4661,-0.50,-175.2,1831,907,3463,3738,484.1,-8.5,225,4670,0.00,2.22,0.00,0.000,1030,0.000,0.048,1821,2304,3600,3463,3738,0,0,0,0,0,0,26.74,26.66,26.77
$GC,5027,-0.50,-175.2,1821,2304,3463,3735,515.0,-8.3,236,5035,0.00,2.17,0.00,0.000,516,0.000,0.044,1821,918,3598,3463,3734,0,0,0,0,0,0,26.94,26.66,27.00
$GC,5057,-0.50,-175.2,1821,918,3463,3734,517.6,-8.8,241,5066,0.00,2.22,0.00,0.000,1030,0.000,0.048,1812,2311,3598,3463,3733,0,0,0,0,0,0,26.74,26.65,26.77
$GC,5423,-0.50,-175.2,1811,2311,3463,3730,550.9,-9.3,252,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2311,3595,3462,3729,0,0,0,0,0,0,26.94,27.01,27.01
$GC,5783,-0.50,-175.2,1811,2311,3463,3726,583.9,-9.1,262,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2311,3594,3462,3726,0,0,0,0,0,0,26.94,27.02,27.01
$GC,6143,-0.50,-175.2,1812,2311,3462,3724,615.1,-8.5,272,6150,0.00,2.17,0.00,0.000,516,0.000,0.044,1812,920,3593,3464,3723,0,0,0,0,0,0,26.95,26.67,27.01
$GC,6185,-0.50,-175.2,1812,920,3463,3722,618.8,-8.5,279,6193,0.12,2.22,0.00,0.000,3078,0.138,0.048,1839,2315,3592,3462,3722,0,0,0,0,0,0,26.59,26.66,26.71
$GC,6576,-0.50,-175.2,1839,2315,3463,3720,645.9,-6.9,294,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2315,3590,3462,3719,0,0,0,0,0,0,26.95,27.02,27.01
$GC,6936,-0.50,-175.2,1839,2315,3463,3717,669.8,-6.5,304,6942,0.00,2.17,0.00,0.000,516,0.000,0.043,1840,927,3588,3461,3716,0,0,0,0,0,0,26.95,26.68,27.01
$GC,7013,-0.50,-175.2,1839,927,3462,3716,675.3,-6.9,317,7021,0.00,2.20,0.00,0.000,1030,0.000,0.047,1832,2304,3589,3462,3716,0,0,0,0,0,0,26.75,26.66,26.78
$GC,7405,-0.50,-175.2,1831,2305,3462,3713,702.0,-6.7,332,7411,0.00,2.17,0.00,0.000,516,0.000,0.044,1832,914,3587,3462,3712,0,0,0,0,0,0,26.95,26.66,27.01
$GC,7434,-0.50,-175.2,1832,914,3462,3713,704.1,-7.9,337,7443,0.00,2.22,0.00,0.000,1030,0.000,0.049,1822,2304,3587,3461,3713,0,0,0,0,0,0,26.74,26.65,26.77
$GC,7800,-0.50,-175.2,1822,2304,3462,3710,729.4,-6.9,348,7807,0.00,2.17,0.00,0.000,516,0.000,0.045,1822,920,3586,3462,3710,0,0,0,0,0,0,26.95,26.66,27.01
$GC,7824,-0.50,-175.2,1822,920,3462,3710,731.2,-7.5,352,7831,0.00,2.22,0.00,0.000,1030,0.000,0.049,1813,2317,3586,3462,3710,0,0,0,0,0,0,26.70,26.65,26.74
$GC,8196,-0.50,-175.2,1813,2317,3462,3708,758.7,-7.6,364,8203,0.00,2.17,0.00,0.000,516,0.000,0.042,1813,922,3584,3461,3708,0,0,0,0,0,0,26.95,26.67,27.01
$GC,8225,-0.50,-175.2,1813,923,3462,3708,761.1,-8.2,369,8236,0.10,2.22,0.00,0.000,3078,0.149,0.048,1831,2314,3585,3462,3708,0,0,0,0,0,0,26.58,26.65,26.71
$GC,8592,-0.51,-175.2,1831,2314,3461,3707,787.1,-7.2,380,8599,0.00,2.17,0.00,0.000,516,0.000,0.044,1832,923,3583,3461,3706,0,0,0,0,0,0,26.95,26.66,27.01
$GC,8646,-0.51,-175.2,1832,923,3462,3706,791.2,-7.8,389,8654,0.00,2.20,0.00,0.000,1030,0.000,0.049,1823,2306,3583,3461,3706,0,0,0,0,0,0,26.70,26.65,26.74
$GC,9025,-0.51,-175.2,1823,2306,3461,3705,819.4,-7.4,402,9031,0.00,2.17,0.00,0.000,516,0.000,0.046,1823,924,3582,3461,3704,0,0,0,0,0,0,26.95,26.65,27.01
$GC,9066,-0.51,-175.2,1823,924,3461,3704,822.5,-7.6,409,9074,0.00,2.20,0.00,0.000,1030,0.000,0.049,1813,2305,3582,3461,3704,0,0,0,0,0,0,26.71,26.65,26.74
$GC,9457,-0.51,-175.2,1813,2306,3462,3702,853.4,-8.1,424,9463,0.00,2.17,0.00,0.000,516,0.000,0.045,1813,923,3581,3461,3702,0,0,0,0,0,0,26.95,26.65,27.01
$GC,9504,-0.51,-175.2,1813,923,3461,3702,857.4,-9.3,432,9512,0.00,2.22,0.00,0.000,1030,0.000,0.048,1803,2312,3581,3461,3701,0,0,0,0,0,0,26.75,26.65,26.77
$GC,9889,-0.51,-175.2,1803,2313,3461,3700,890.6,-8.7,446,9896,0.00,2.17,0.00,0.000,516,0.000,0.044,1803,926,3580,3461,3700,0,0,0,0,0,0,26.95,26.65,27.01
$GC,9918,-0.51,-175.2,1805,926,3461,3700,893.3,-9.4,451,9927,0.12,2.22,0.00,0.000,3078,0.136,0.049,1830,2316,3581,3462,3700,0,0,0,0,0,0,26.57,26.65,26.70
$GC,10285,-0.51,-175.2,1830,2316,3462,3699,921.0,-7.4,462,10292,0.00,2.17,0.00,0.000,516,0.000,0.042,1831,924,3579,3461,3698,0,0,0,0,0,0,26.95,26.65,27.01
$GC,10344,-0.51,-175.2,1831,924,3462,3698,925.6,-7.7,472,10352,0.00,2.22,0.00,0.000,1030,0.000,0.049,1822,2315,3579,3461,3698,0,0,0,0,0,0,26.72,26.65,26.76
$GC,10717,-0.51,-175.2,1821,2314,3462,3697,952.9,-7.1,484,10723,0.00,2.17,0.00,0.000,516,0.000,0.044,1822,924,3579,3461,3697,0,0,0,0,0,0,26.94,26.65,27.01
$GC,10752,-0.51,-175.2,1822,924,3461,3697,955.5,-7.6,490,10760,0.00,2.22,0.00,0.000,1030,0.000,0.049,1812,2313,3579,3461,3697,0,0,0,0,0,0,26.73,26.64,26.76
$GC,11149,-0.51,-175.2,1812,2313,3462,3695,982.7,-6.7,506,11155,0.00,2.17,0.00,0.000,516,0.000,0.044,1812,924,3578,3461,3695,0,0,0,0,0,0,26.94,26.65,27.01
$GC,11196,-0.51,-175.2,1812,925,3462,3695,986.1,-7.0,514,11204,0.00,2.20,0.00,0.000,1030,0.000,0.048,1803,2303,3577,3461,3694,0,0,0,0,0,0,26.74,26.65,26.77
$STATE,11255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11256,begin apogee
$GC,11260,-0.11,0.0,1801,1976,3461,3694,990.5,-7.5,519,11418,0.45,0.00,150.30,1.193,10246,0.096,0.000,1957,1975,2899,2923,2876,0,0,0,0,1,0,26.57,24.56,23.46
$STATE,11420,end apogee,CONTROL_FINISHED_OK
$STATE,11420,begin climb
$GC,11421,0.54,175.2,1957,1975,2924,2876,994.6,0.0,523,11584,0.60,2.47,155.62,1.016,11012,0.070,0.055,2172,3380,2181,2253,2109,0,0,0,0,0,0,24.89,24.56,23.58
$GC,11607,0.58,203.5,2172,3380,2248,2108,985.2,7.0,557,11640,0.00,2.35,26.00,0.978,9222,0.000,0.034,2172,1957,2067,2129,2006,0,0,0,0,0,0,25.19,25.13,23.77
$GC,12017,0.61,221.4,2172,1957,2120,1999,954.7,7.3,575,12038,0.00,2.40,16.58,0.962,8452,0.000,0.054,2172,3375,1995,2057,1933,0,0,0,0,0,0,26.25,25.55,24.58
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$STATE,23003,end climb,SURFACE_DEPTH_REACHED
$STATE,23003,begin surface coast
$FINISH,-1.1,1.021258
$STATE,23027,end surface coast,CONTROL_FINISHED_OK
$STATE,23028,begin surface
$SM_CCo,23100,0.00,0.000,0,0,459,598.53
$SM_GC,-0.77,5.72,0.55,0.00,0.021,0.050,0.000,171,2305,459,-5.66,-1.16,598.53,0,0,0,0,0,0,26.17,26.10,26.20
$IRIDIUM_FIX,753.81,8454.84,181115,221141
$TT8_MAMPS,0.049434,0.049434
$HUMID,46.22
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3994720
$24V_AH,23.46,11.029
$10V_AH,10.16,7.866
$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,14.525,173.200,665.575,0.000,0.000,0.000,0.000,204.050,0.000,0.000,17.008,0.000,19707.572,1230.063,2191.456,280.116,0.000,2199.817,0.000,1592.649,0.000,0.539,0.000
$DEVICE_MAMPS,200.430,1221.705,1192.635,0.000,0.000,0.000,0.000,126.225,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23046.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.850,0.000,0.000,0.000
$MEM,260772
$DATA_FILE_SIZE,40028,1077
$CAP_FILE_SIZE,201033,0
$CFSIZE,260034560,244617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.098,310.84,1
$GPS,191115,112505,759.903,8458.126,27,1.2,27,-2.0,0.0,0.0,6,9.2