version: 66.12
glider: 171
mission: 9
dive: 138
start: 12 8 115 18 41 6
data:
$ID,171
$MISSION,9
$DIVE,138
$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,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
$GPS1,081215,183505,754.5259,8222.2666,32,1.0,32,-2.2,0.0,0.0,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-58.1
$GPS2,081215,184054,754.5001,8222.2637,15,1.2,15,-2.2,0.0,0.0,7,9.1
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,715.000,8400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,92.6,193890,-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,-175.2,173,2312,541,467,0.0,0.0,0,153,0.00,0.00,-134.25,0.000,16386,0.000,0.000,173,2313,2818,2861,2776,0,0,0,0,0,0,26.27,28.83,26.33
$GC,156,-0.54,-175.2,174,2313,2862,2777,6.0,-11.3,11,183,6.10,2.40,-15.93,0.000,18692,0.203,1.221,1805,3655,3617,3477,3758,0,0,0,0,0,0,25.71,24.47,26.02
$GC,260,-0.53,-175.2,1804,3655,3477,3762,43.5,-25.2,29,268,0.00,2.10,0.00,0.000,1030,0.000,0.031,1805,2294,3619,3477,3762,0,0,0,0,0,0,26.20,26.17,26.22
$GC,633,-0.52,-175.2,1805,2292,3478,3768,117.0,-16.8,47,639,0.00,2.22,0.00,0.000,260,0.000,0.056,1795,3655,3621,3477,3766,0,0,0,0,0,0,26.60,26.26,26.66
$GC,651,-0.51,-175.2,1793,3655,3477,3767,120.1,-16.6,50,659,0.10,2.10,0.00,0.000,3078,0.118,0.032,1830,2292,3622,3477,3767,0,0,0,0,0,0,26.18,26.36,26.26
$GC,1017,-0.51,-175.2,1830,2292,3477,3768,164.3,-11.5,66,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2292,3622,3477,3768,0,0,0,0,0,0,26.71,26.77,26.77
$GC,1378,-0.51,-175.2,1830,2292,3478,3768,201.9,-10.1,81,1384,0.00,2.17,0.00,0.000,260,0.000,0.058,1820,3655,3622,3477,3768,0,0,0,0,0,0,26.77,26.42,26.82
$GC,1413,-0.51,-175.2,1820,3655,3477,3768,205.5,-9.7,87,1420,0.00,2.08,0.00,0.000,1030,0.000,0.033,1820,2308,3622,3477,3768,0,0,0,0,0,0,26.58,26.52,26.60
$GC,1785,-0.50,-175.2,1820,2307,3477,3768,239.3,-8.5,104,1792,0.00,2.17,0.00,0.000,516,0.000,0.041,1820,904,3622,3477,3768,0,0,0,0,0,0,26.82,26.51,26.87
$GC,1815,-0.50,-175.2,1820,904,3477,3768,241.9,-8.8,109,1823,0.00,2.20,0.00,0.000,1030,0.000,0.044,1811,2292,3623,3478,3768,0,0,0,0,0,0,26.58,26.50,26.61
$GC,2194,-0.50,-175.2,1811,2292,3477,3763,278.3,-10.1,123,2200,0.00,2.22,0.00,0.000,260,0.000,0.060,1800,3670,3619,3476,3762,0,0,0,0,0,0,26.84,26.48,26.90
$GC,2254,-0.50,-175.2,1800,3669,3477,3762,284.9,-11.4,133,2262,0.08,2.08,0.00,0.000,3078,0.106,0.032,1833,2307,3619,3477,3762,0,0,0,0,0,0,26.44,26.60,26.51
$GC,2627,-0.50,-175.2,1832,2307,3477,3757,319.5,-8.7,145,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2307,3616,3476,3757,0,0,0,0,0,0,26.86,26.93,26.92
$GC,2987,-0.50,-175.2,1832,2307,3477,3751,347.0,-7.5,155,2993,0.00,2.20,0.00,0.000,260,0.000,0.060,1823,3658,3613,3476,3751,0,0,0,0,0,0,26.88,26.50,26.94
$GC,3029,-0.50,-175.2,1822,3658,3476,3751,350.4,-8.3,162,3036,0.00,2.10,0.00,0.000,1030,0.000,0.034,1823,2295,3612,3474,3750,0,0,0,0,0,0,26.66,26.63,26.69
$GC,3420,-0.50,-175.2,1822,2294,3476,3745,386.6,-9.9,177,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2294,3610,3476,3745,0,0,0,0,0,0,26.89,26.95,26.94
$GC,3779,-0.50,-175.2,1822,2294,3476,3742,421.4,-9.3,187,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2294,3608,3476,3741,0,0,0,0,0,0,26.89,26.96,26.95
$GC,4139,-0.50,-175.2,1823,2294,3475,3737,451.8,-8.1,197,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2294,3606,3475,3737,0,0,0,0,0,0,26.89,26.96,26.96
$GC,4498,-0.50,-175.2,1822,2294,3476,3733,482.4,-8.6,207,4506,0.00,2.25,0.00,0.000,260,0.000,0.062,1813,3664,3603,3477,3730,0,0,0,0,0,0,26.90,26.51,26.96
$GC,4540,-0.50,-175.2,1813,3664,3476,3732,486.1,-9.3,214,4548,0.00,2.12,0.00,0.000,1030,0.000,0.038,1813,2306,3603,3475,3731,0,0,0,0,0,0,26.68,26.61,26.71
$GC,4932,-0.50,-175.2,1813,2306,3476,3728,517.5,-7.7,229,4938,0.00,2.17,0.00,0.000,516,0.000,0.039,1813,892,3601,3475,3728,0,0,0,0,0,0,26.90,26.58,26.96
$GC,4973,-0.50,-175.2,1813,892,3475,3728,520.9,-8.3,236,4981,0.12,2.25,0.00,0.000,3078,0.138,0.046,1847,2301,3601,3475,3727,0,0,0,0,0,0,26.44,26.54,26.51
$GC,5364,-0.50,-175.2,1847,2301,3475,3724,546.8,-7.0,251,5371,0.00,2.17,0.00,0.000,516,0.000,0.041,1848,907,3599,3475,3724,0,0,0,0,0,0,26.90,26.56,26.96
$GC,5405,-0.50,-175.2,1848,907,3474,3723,549.6,-6.6,258,5412,0.00,2.22,0.00,0.000,1030,0.000,0.046,1841,2308,3599,3475,3723,0,0,0,0,0,0,26.59,26.54,26.63
$GC,5796,-0.50,-175.2,1840,2308,3474,3720,575.7,-6.5,273,5804,0.00,2.20,0.00,0.000,516,0.000,0.044,1841,909,3597,3474,3720,0,0,0,0,0,0,26.90,26.55,26.96
$GC,5856,-0.51,-175.2,1840,909,3474,3719,579.7,-6.4,283,5863,0.00,2.22,0.00,0.000,1030,0.000,0.046,1831,2307,3596,3474,3719,0,0,0,0,0,0,26.58,26.53,26.63
$GC,6230,-0.51,-175.2,1831,2307,3474,3717,604.9,-6.9,295,6237,0.00,2.15,0.00,0.000,516,0.000,0.044,1831,902,3595,3474,3716,0,0,0,0,0,0,26.90,26.53,26.96
$GC,6260,-0.51,-175.2,1831,903,3474,3716,607.1,-7.6,300,6268,0.00,2.22,0.00,0.000,1030,0.000,0.047,1821,2305,3595,3474,3716,0,0,0,0,0,0,26.58,26.53,26.62
$GC,6626,-0.51,-175.2,1821,2305,3474,3713,634.3,-7.4,311,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3593,3474,3713,0,0,0,0,0,0,26.90,26.97,26.96
$GC,6986,-0.51,-175.2,1821,2304,3475,3710,660.8,-7.3,321,6993,0.00,2.20,0.00,0.000,516,0.000,0.043,1821,902,3591,3474,3709,0,0,0,0,0,0,26.90,26.53,26.96
$GC,7034,-0.51,-175.2,1821,903,3474,3709,664.6,-7.8,329,7042,0.00,2.22,0.00,0.000,1030,0.000,0.045,1810,2309,3591,3474,3709,0,0,0,0,0,0,26.58,26.53,26.63
$GC,7419,-0.51,-175.2,1811,2309,3475,3708,694.8,-8.1,343,7425,0.00,2.20,0.00,0.000,516,0.000,0.044,1811,909,3590,3474,3707,0,0,0,0,0,0,26.90,26.53,26.96
$GC,7460,-0.51,-175.2,1811,909,3475,3707,698.4,-8.2,350,7468,0.12,2.25,0.00,0.000,3078,0.137,0.046,1838,2312,3590,3474,3707,0,0,0,0,0,0,26.41,26.51,26.58
$GC,7852,-0.51,-175.2,1838,2312,3474,3705,724.7,-6.5,365,7858,0.00,2.17,0.00,0.000,516,0.000,0.044,1839,902,3589,3474,3705,0,0,0,0,0,0,26.90,26.52,26.96
$GC,7881,-0.51,-175.2,1838,903,3475,3705,726.6,-6.9,370,7889,0.00,2.22,0.00,0.000,1030,0.000,0.047,1830,2299,3589,3474,3705,0,0,0,0,0,0,26.57,26.51,26.61
$GC,8248,-0.51,-175.2,1829,2299,3474,3703,751.0,-6.8,381,8254,0.00,2.15,0.00,0.000,516,0.000,0.041,1830,894,3588,3474,3702,0,0,0,0,0,0,26.90,26.53,26.96
$GC,8271,-0.52,-175.2,1830,894,3474,3702,752.8,-7.2,385,8279,0.00,2.25,0.00,0.000,1030,0.000,0.048,1820,2303,3588,3474,3702,0,0,0,0,0,0,26.55,26.51,26.60
$GC,8645,-0.52,-175.2,1820,2302,3474,3700,780.2,-7.2,397,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3586,3473,3700,0,0,0,0,0,0,26.90,26.97,26.96
$GC,9003,-0.52,-175.2,1820,2302,3474,3699,805.6,-7.0,407,9010,0.00,2.20,0.00,0.000,516,0.000,0.043,1820,905,3585,3473,3698,0,0,0,0,0,0,26.91,26.51,26.96
$GC,9039,-0.52,-175.2,1819,905,3474,3698,808.4,-7.8,413,9047,0.00,2.22,0.00,0.000,1030,0.000,0.047,1810,2301,3585,3473,3698,0,0,0,0,0,0,26.55,26.50,26.60
$GC,9437,-0.52,-175.2,1810,2301,3474,3697,839.5,-8.0,429,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2300,3584,3473,3696,0,0,0,0,0,0,26.90,26.97,26.96
$GC,9796,-0.52,-175.2,1810,2301,3473,3694,868.9,-8.1,439,9803,0.00,2.20,0.00,0.000,516,0.000,0.041,1810,902,3583,3473,3694,0,0,0,0,0,0,26.90,26.51,26.96
$GC,9832,-0.52,-175.2,1810,903,3474,3694,872.1,-9.4,445,9840,0.08,2.22,0.00,0.000,3078,0.116,0.047,1830,2304,3583,3473,3694,0,0,0,0,0,0,26.35,26.50,26.44
$GC,10229,-0.52,-175.2,1829,2304,3474,3693,900.6,-7.2,461,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2304,3583,3473,3693,0,0,0,0,0,0,26.90,26.97,26.96
$GC,10590,-0.52,-175.2,1830,2303,3473,3691,925.9,-7.1,471,10596,0.00,2.20,0.00,0.000,516,0.000,0.044,1830,910,3582,3473,3691,0,0,0,0,0,0,26.90,26.48,26.96
$GC,10673,-0.52,-175.2,1830,910,3473,3691,932.0,-7.7,485,10681,0.00,2.22,0.00,0.000,1030,0.000,0.047,1821,2304,3583,3476,3691,0,0,0,0,0,0,26.53,26.48,26.58
$GC,11059,-0.52,-175.2,1821,2304,3474,3690,960.2,-7.4,499,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3581,3473,3690,0,0,0,0,0,0,26.90,26.97,26.96
$GC,11418,-0.52,-175.2,1821,2304,3474,3689,987.4,-7.6,509,11425,0.00,2.20,0.00,0.000,516,0.000,0.044,1822,910,3580,3473,3688,0,0,0,0,0,0,26.90,26.48,26.96
$STATE,11452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11452,begin apogee
$GC,11458,-0.11,0.0,1814,1968,3474,3688,990.1,-7.9,515,11609,0.43,0.00,147.80,1.043,10246,0.095,0.000,1960,1969,2898,2921,2875,0,0,0,0,0,0,26.36,24.65,23.61
$STATE,11610,end apogee,CONTROL_FINISHED_OK
$STATE,11610,begin climb
$GC,11612,0.54,175.2,1960,1969,2919,2871,995.9,0.0,519,11773,0.60,0.00,153.77,1.022,10758,0.070,0.000,2175,1968,2180,2251,2110,0,0,0,0,0,0,24.99,24.20,23.56
$GC,12139,0.58,198.5,2174,1968,2241,2104,964.1,7.1,559,12165,0.00,2.35,20.48,0.972,8708,0.000,0.048,2183,562,2088,2149,2027,0,0,0,0,0,0,26.23,25.38,24.22
$GC,12249,0.58,198.5,2183,562,2145,2026,955.4,8.5,577,12255,0.00,2.25,0.00,0.000,1030,0.000,0.037,2183,1962,2085,2144,2026,0,0,0,0,0,0,25.88,25.84,25.91
$GC,12645,0.58,198.5,2182,1962,2142,2026,923.4,7.9,593,12651,0.00,2.28,0.00,0.000,260,0.000,0.053,2183,3362,2083,2141,2026,0,0,0,0,0,0,26.44,26.12,26.51
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$STATE,23564,end climb,SURFACE_DEPTH_REACHED
$STATE,23564,begin surface coast
$FINISH,0.2,1.020453
$STATE,23589,end surface coast,CONTROL_FINISHED_OK
$STATE,23589,begin surface
$SM_CCo,23605,24.60,0.054,0,0,504,587.25
$SM_GC,-0.27,5.65,2.75,24.60,0.037,0.036,0.054,170,2305,504,-5.67,-1.02,587.25,0,0,0,0,0,0,26.31,26.22,26.17
$IRIDIUM_FIX,751.63,8223.60,081215,121021
$TT8_MAMPS,0.049434,0.049434
$HUMID,48.22
$INTERNAL_PRESSURE,9.40812
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3967072
$24V_AH,23.56,21.758
$10V_AH,10.02,14.231
$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
$DEVICE_SECS,14.000,172.175,612.450,24.600,0.000,0.000,0.000,208.775,0.000,0.000,16.558,0.000,20186.422,1156.126,2275.549,342.397,0.000,2160.672,0.000,1657.875,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23613.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.396,0.000,0.000,0.000
$MEM,260748
$DATA_FILE_SIZE,39962,1121
$CAP_FILE_SIZE,207842,0
$CFSIZE,260034560,237793280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6230.60,0x234070,0,24
$CURRENT,0.046,228.78,1
$GPS,091215,011622,754.040,8225.047,39,0.8,62,-2.2,0.6,229.2,9,7.8