version: 66.12
glider: 171
mission: 9
dive: 77
start: 11 22 115 4 39 41
data:
$ID,171
$MISSION,9
$DIVE,77
$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,54
$R_STBD_OVSHOOT,38
$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
$GPS1,221115,043405,800.2940,8519.2822,37,1.0,37,-1.9,0.0,0.0,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.51
$_SM_ANGLEo,-53.2
$GPS2,221115,043930,800.3274,8519.2754,16,1.0,16,-1.9,0.0,0.0,8,7.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,94.4,19678,-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,-175.2,169,2312,544,464,0.0,0.0,0,165,0.00,0.00,-146.00,0.000,16386,0.000,0.000,169,2313,3047,3072,3022,0,0,0,0,0,0,26.32,28.83,26.38
$GC,168,-0.54,-175.2,169,2313,3073,3022,5.8,-11.2,12,189,6.05,0.00,-11.50,0.000,18950,0.203,0.000,1814,2313,3618,3463,3774,0,0,0,0,0,0,25.85,24.95,26.13
$GC,558,-0.54,-175.2,1814,2313,3465,3784,104.5,-15.2,35,565,0.00,2.20,0.00,0.000,260,0.000,0.057,1804,3664,3623,3464,3783,0,0,0,0,0,0,26.60,26.31,26.66
$GC,708,-0.53,-175.2,1804,3665,3464,3786,129.5,-16.6,60,715,0.00,2.08,0.00,0.000,1030,0.000,0.031,1804,2317,3625,3464,3786,0,0,0,0,0,0,26.48,26.43,26.51
$GC,1086,-0.52,-175.2,1804,2315,3464,3788,175.7,-11.0,78,1093,0.00,2.17,0.00,0.000,260,0.000,0.057,1795,3655,3625,3464,3787,0,0,0,0,0,0,26.74,26.45,26.81
$GC,1218,-0.52,-175.2,1795,3655,3464,3788,191.3,-11.6,100,1226,0.08,2.05,0.00,0.000,3078,0.110,0.030,1825,2287,3625,3464,3787,0,0,0,0,0,0,26.41,26.55,26.49
$GC,1590,-0.52,-175.2,1825,2286,3464,3788,225.3,-9.3,117,1598,0.00,2.15,0.00,0.000,516,0.000,0.041,1825,908,3625,3464,3787,0,0,0,0,0,0,26.82,26.54,26.87
$GC,1621,-0.52,-175.2,1825,909,3464,3788,228.1,-10.0,122,1628,0.00,2.20,0.00,0.000,1030,0.000,0.043,1816,2297,3624,3462,3787,0,0,0,0,0,0,26.63,26.55,26.65
$GC,1999,-0.52,-175.2,1816,2298,3464,3782,265.7,-9.6,138,2006,0.00,2.20,0.00,0.000,260,0.000,0.057,1806,3668,3622,3463,3781,0,0,0,0,0,0,26.85,26.55,26.91
$GC,2077,-0.52,-175.2,1806,3668,3464,3781,273.5,-9.5,151,2084,0.00,2.08,0.00,0.000,1030,0.000,0.032,1806,2310,3622,3463,3781,0,0,0,0,0,0,26.69,26.64,26.71
$GC,2468,-0.52,-175.2,1805,2310,3464,3773,308.4,-9.1,166,2474,0.00,2.17,0.00,0.000,516,0.000,0.044,1806,910,3618,3463,3773,0,0,0,0,0,0,26.88,26.60,26.94
$GC,2509,-0.52,-175.2,1808,910,3464,3772,312.3,-9.3,173,2517,0.12,2.22,0.00,0.000,3078,0.137,0.044,1833,2314,3617,3463,3772,0,0,0,0,0,0,26.52,26.60,26.64
$GC,2901,-0.52,-175.2,1833,2315,3463,3767,341.9,-7.6,188,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2315,3614,3463,3766,0,0,0,0,0,0,26.90,26.97,26.96
$GC,3260,-0.52,-175.2,1833,2315,3464,3761,369.8,-7.8,198,3267,0.00,2.17,0.00,0.000,516,0.000,0.042,1833,917,3612,3463,3761,0,0,0,0,0,0,26.91,26.64,26.97
$GC,3296,-0.52,-175.2,1833,917,3463,3760,372.8,-8.6,204,3303,0.00,2.17,0.00,0.000,1030,0.000,0.046,1826,2299,3611,3463,3759,0,0,0,0,0,0,26.68,26.64,26.72
$GC,3692,-0.52,-175.2,1825,2299,3464,3755,404.5,-7.7,220,3699,0.00,2.15,0.00,0.000,516,0.000,0.041,1825,912,3608,3463,3754,0,0,0,0,0,0,26.91,26.65,26.98
$GC,3740,-0.52,-175.2,1826,913,3463,3754,408.2,-7.9,228,3747,0.00,2.22,0.00,0.000,1030,0.000,0.045,1816,2313,3608,3463,3753,0,0,0,0,0,0,26.71,26.64,26.74
$GC,4124,-0.52,-175.2,1816,2314,3463,3749,437.6,-7.9,242,4131,0.00,2.17,0.00,0.000,516,0.000,0.042,1816,921,3605,3462,3749,0,0,0,0,0,0,26.93,26.65,26.98
$GC,4172,-0.52,-175.2,1815,922,3463,3750,441.6,-8.4,250,4179,0.00,2.20,0.00,0.000,1030,0.000,0.045,1806,2308,3605,3462,3748,0,0,0,0,0,0,26.72,26.65,26.76
$GC,4557,-0.51,-175.2,1806,2309,3462,3744,474.1,-8.2,264,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2308,3602,3462,3743,0,0,0,0,0,0,26.93,27.00,26.99
$GC,4916,-0.51,-175.2,1806,2309,3462,3740,505.6,-9.1,274,4923,0.00,2.17,0.00,0.000,516,0.000,0.044,1806,915,3601,3462,3740,0,0,0,0,0,0,26.94,26.65,26.99
$GC,4952,-0.51,-175.2,1806,916,3462,3739,509.0,-10.1,280,4960,0.08,2.20,0.00,0.000,3078,0.118,0.046,1828,2305,3600,3462,3739,0,0,0,0,0,0,26.55,26.65,26.63
$GC,5349,-0.51,-175.2,1828,2305,3462,3736,543.3,-8.7,296,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2305,3599,3462,3736,0,0,0,0,0,0,26.94,27.01,27.00
$GC,5709,-0.51,-175.2,1827,2305,3462,3732,574.1,-8.5,306,5715,0.00,2.17,0.00,0.000,516,0.000,0.044,1828,916,3596,3461,3731,0,0,0,0,0,0,26.94,26.65,27.00
$GC,5768,-0.51,-175.2,1828,916,3463,3731,579.5,-8.8,316,5775,0.00,2.22,0.00,0.000,1030,0.000,0.047,1818,2315,3595,3461,3730,0,0,0,0,0,0,26.74,26.65,26.77
$GC,6141,-0.51,-175.2,1818,2315,3462,3728,610.5,-8.1,328,6147,0.00,2.20,0.00,0.000,516,0.000,0.043,1818,909,3595,3462,3728,0,0,0,0,0,0,26.94,26.65,27.00
$GC,6182,-0.51,-175.2,1818,910,3462,3728,613.9,-8.2,335,6189,0.00,2.22,0.00,0.000,1030,0.000,0.046,1808,2305,3594,3462,3727,0,0,0,0,0,0,26.74,26.65,26.77
$GC,6573,-0.51,-175.2,1808,2305,3462,3724,645.2,-7.9,350,6579,0.00,2.17,0.00,0.000,516,0.000,0.044,1808,918,3592,3461,3724,0,0,0,0,0,0,26.94,26.65,27.00
$GC,6620,-0.51,-175.2,1808,919,3462,3724,649.0,-8.2,358,6628,0.08,2.17,0.00,0.000,3078,0.115,0.047,1829,2297,3592,3461,3723,0,0,0,0,0,0,26.55,26.65,26.63
$GC,7005,-0.51,-175.2,1829,2298,3461,3721,674.4,-6.4,372,7012,0.00,2.15,0.00,0.000,516,0.000,0.041,1830,916,3591,3461,3721,0,0,0,0,0,0,26.94,26.65,27.00
$GC,7047,-0.51,-175.2,1829,916,3461,3721,677.2,-7.1,379,7054,0.00,2.20,0.00,0.000,1030,0.000,0.047,1821,2304,3591,3461,3721,0,0,0,0,0,0,26.69,26.65,26.73
$GC,7437,-0.51,-175.2,1820,2304,3461,3718,704.1,-7.0,394,7444,0.00,2.17,0.00,0.000,516,0.000,0.045,1821,919,3589,3461,3718,0,0,0,0,0,0,26.94,26.64,27.00
$GC,7473,-0.51,-175.2,1820,919,3461,3718,706.7,-7.5,400,7480,0.00,2.20,0.00,0.000,1030,0.000,0.047,1812,2309,3589,3461,3718,0,0,0,0,0,0,26.69,26.64,26.73
$GC,7869,-0.51,-175.2,1811,2309,3461,3716,737.2,-7.8,416,7876,0.00,2.20,0.00,0.000,516,0.000,0.044,1812,911,3588,3461,3716,0,0,0,0,0,0,26.94,26.64,27.00
$GC,7941,-0.51,-175.2,1812,911,3461,3715,743.2,-8.4,428,7948,0.00,2.20,0.00,0.000,1030,0.000,0.047,1802,2299,3587,3459,3715,0,0,0,0,0,0,26.70,26.65,26.73
$GC,8338,-0.51,-175.2,1802,2298,3462,3713,776.9,-8.5,444,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2299,3587,3461,3713,0,0,0,0,0,0,26.94,27.01,27.00
$GC,8697,-0.51,-175.2,1801,2299,3462,3711,807.7,-8.6,454,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2299,3586,3461,3711,0,0,0,0,0,0,26.94,27.01,27.00
$GC,9057,-0.51,-175.2,1802,2299,3461,3709,837.6,-8.2,464,9064,0.00,2.17,0.00,0.000,516,0.000,0.041,1802,911,3585,3461,3709,0,0,0,0,0,0,26.94,26.65,27.01
$GC,9146,-0.51,-175.2,1802,911,3462,3708,845.4,-8.6,479,9155,0.12,2.22,0.00,0.000,3078,0.134,0.047,1830,2305,3584,3461,3708,0,0,0,0,0,0,26.57,26.64,26.70
$GC,9526,-0.52,-175.2,1829,2305,3462,3708,869.7,-6.2,492,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2306,3584,3462,3707,0,0,0,0,0,0,26.94,27.02,27.01
$GC,9885,-0.52,-175.2,1829,2306,3461,3706,892.0,-6.2,502,9892,0.00,2.17,0.00,0.000,516,0.000,0.045,1830,923,3583,3461,3705,0,0,0,0,0,0,26.94,26.64,27.01
$GC,9975,-0.52,-175.2,1830,923,3461,3707,898.2,-7.2,517,9983,0.00,2.17,0.00,0.000,1030,0.000,0.047,1821,2300,3583,3461,3705,0,0,0,0,0,0,26.69,26.65,26.73
$GC,10355,-0.52,-175.2,1821,2301,3461,3704,924.5,-7.1,530,10361,0.00,2.17,0.00,0.000,516,0.000,0.043,1821,908,3582,3461,3704,0,0,0,0,0,0,26.94,26.64,27.01
$GC,10408,-0.52,-175.2,1821,908,3461,3704,928.6,-7.4,539,10415,0.00,2.25,0.00,0.000,1030,0.000,0.048,1812,2310,3582,3461,3703,0,0,0,0,0,0,26.72,26.63,26.75
$GC,10787,-0.52,-175.2,1811,2310,3461,3702,957.9,-8.0,552,10793,0.00,2.20,0.00,0.000,516,0.000,0.045,1812,913,3581,3461,3702,0,0,0,0,0,0,26.94,26.63,27.01
$GC,10834,-0.52,-175.2,1812,913,3461,3702,961.9,-8.5,560,10841,0.00,2.20,0.00,0.000,1030,0.000,0.048,1802,2302,3581,3461,3701,0,0,0,0,0,0,26.67,26.63,26.72
$STATE,11181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11181,begin apogee
$GC,11185,-0.11,0.0,1802,1961,3461,3700,992.3,-8.7,573,11334,0.47,0.00,146.12,1.039,10246,0.095,0.000,1964,1960,2898,2922,2874,0,0,0,0,0,0,26.55,24.59,23.52
$STATE,11336,end apogee,CONTROL_FINISHED_OK
$STATE,11336,begin climb
$GC,11337,0.54,175.2,1966,1960,2921,2870,998.1,0.0,577,11496,0.57,0.00,154.30,1.021,10758,0.069,0.000,2171,1960,2183,2256,2111,0,0,0,0,0,0,25.00,24.44,23.47
$GC,11830,0.61,215.8,2171,1960,2243,2103,970.8,6.6,611,11874,0.00,2.33,35.60,0.997,8708,0.000,0.047,2171,566,2016,2078,1955,0,0,0,0,0,0,26.20,25.16,24.17
$GC,11908,0.67,254.0,2171,565,2076,1954,965.4,6.7,624,11954,0.08,2.28,36.67,0.988,11270,0.050,0.037,2240,1968,1862,1927,1797,0,0,0,0,0,0,25.57,25.58,23.76
$GC,12336,0.66,254.0,2240,1968,1920,1792,917.7,11.4,645,12343,0.00,2.30,0.00,0.000,260,0.000,0.054,2240,3363,1855,1920,1791,0,0,0,0,0,0,26.31,26.02,26.37
$GC,12420,0.66,254.0,2240,3364,1919,1792,907.1,13.0,659,12428,0.08,2.20,0.00,0.000,5126,0.134,0.034,2213,1964,1855,1919,1791,0,0,0,0,0,0,25.98,26.15,26.07
$GC,12805,0.65,254.0,2212,1961,1919,1790,867.6,10.4,673,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1961,1854,1918,1790,0,0,0,0,0,0,26.55,26.63,26.61
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$STATE,22486,end climb,SURFACE_DEPTH_REACHED
$STATE,22486,begin surface coast
$FINISH,0.0,1.021349
$STATE,22522,end surface coast,CONTROL_FINISHED_OK
$STATE,22522,begin surface
$SM_CCo,22535,1.50,0.049,0,0,504,587.25
$SM_GC,0.27,5.80,0.52,1.50,0.044,0.044,0.049,170,2315,504,-5.65,-1.30,587.25,0,0,0,0,0,0,26.35,26.32,26.24
$IRIDIUM_FIX,755.99,8516.53,211115,221040
$TT8_MAMPS,0.050183,0.050183
$HUMID,47.59
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3990496
$24V_AH,23.47,12.679
$10V_AH,10.17,8.838
$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
$DEVICE_SECS,14.100,150.800,637.075,1.500,0.000,0.000,0.000,199.525,0.000,0.000,17.506,0.000,19179.414,1120.747,2264.662,279.350,0.000,2119.675,0.000,1664.878,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.942,0.000,0.000,0.000
$MEM,260808
$DATA_FILE_SIZE,39970,1127
$CAP_FILE_SIZE,195107,0
$CFSIZE,260034560,243580928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,349.28,1
$GPS,221115,105622,800.971,8522.257,41,1.2,41,-1.9,0.0,0.0,7,8.8