version: 66.12
glider: 171
mission: 9
dive: 357
start: 2 5 116 18 33 40
data:
$ID,171
$MISSION,9
$DIVE,357
$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,47
$R_STBD_OVSHOOT,34
$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,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,050216,182535,543.7659,8033.7202,27,1.2,27,-2.8,0.0,0.0,6,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-49.9
$GPS2,050216,183327,543.6561,8033.7349,16,1.4,37,-2.8,0.3,168.4,6,9.0
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH5
$TGT_LATLONG,545.000,8035.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,56.5,3410,-19.8,-7.857,-23.49,1521
$D_GRID,2459
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.57,-78.3,168,2310,495,416,0.0,0.0,0,167,0.00,0.00,-145.20,0.000,16386,0.000,0.000,168,2310,2968,2995,2941,0,0,0,0,0,0,26.34,28.83,26.40
$GC,170,-0.57,-78.3,168,2310,2997,2941,6.0,-10.9,12,188,6.22,2.42,-5.43,0.000,18692,0.197,1.166,1797,3668,3220,3245,3195,0,0,0,0,0,0,25.05,23.74,25.45
$GC,237,-0.55,-78.3,1796,3669,3250,3195,36.3,-35.3,23,243,0.00,2.08,0.00,0.000,1030,0.000,0.029,1797,2292,3222,3250,3195,0,0,0,0,0,0,26.16,26.10,26.18
$GC,602,-0.55,-78.3,1797,2290,3252,3195,110.6,-13.4,41,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2290,3223,3252,3195,0,0,0,0,0,0,26.62,26.68,26.67
$GC,964,-0.55,-78.3,1797,2290,3255,3196,152.1,-11.5,56,969,0.00,2.12,0.00,0.000,516,0.000,0.040,1797,909,3225,3255,3195,0,0,0,0,0,0,26.70,26.21,26.76
$GC,1082,-0.55,-78.3,1797,910,3255,3195,164.8,-10.3,76,1089,0.08,2.22,0.00,0.000,3078,0.125,0.039,1814,2303,3225,3255,3195,0,0,0,0,0,0,25.99,26.21,26.06
$GC,1466,-0.56,-78.3,1814,2303,3255,3195,202.7,-9.2,95,1473,0.00,2.25,0.00,0.000,260,0.000,0.055,1804,3670,3225,3255,3195,0,0,0,0,0,0,26.76,26.12,26.82
$GC,1508,-0.56,-78.3,1803,3670,3255,3195,206.7,-9.7,102,1516,0.00,2.08,0.00,0.000,1030,0.000,0.029,1804,2313,3225,3255,3195,0,0,0,0,0,0,26.41,26.39,26.44
$GC,1874,-0.56,-78.3,1804,2313,3256,3193,236.7,-8.1,118,1881,0.00,2.25,0.00,0.000,260,0.000,0.054,1794,3670,3223,3255,3192,0,0,0,0,0,0,26.79,26.11,26.84
$GC,1958,-0.56,-78.3,1793,3670,3255,3191,244.0,-8.9,132,1964,0.00,2.10,0.00,0.000,1030,0.000,0.029,1794,2298,3222,3253,3191,0,0,0,0,0,0,26.42,26.40,26.45
$GC,2333,-0.56,-78.3,1793,2297,3254,3186,276.8,-8.8,145,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2297,3220,3255,3186,0,0,0,0,0,0,26.80,26.86,26.86
$GC,2691,-0.57,-78.3,1794,2295,3254,3180,307.6,-8.2,155,2696,0.00,2.17,0.00,0.000,516,0.000,0.040,1794,909,3217,3255,3180,0,0,0,0,0,0,26.80,26.26,26.86
$GC,2751,-0.57,-78.3,1794,909,3254,3180,312.6,-8.5,165,2758,0.10,2.20,0.00,0.000,3078,0.151,0.042,1810,2303,3216,3254,3179,0,0,0,0,0,0,26.08,26.21,26.20
$GC,3125,-0.59,-87.2,1810,2303,3255,3174,339.5,-7.3,177,3131,0.00,2.17,0.00,0.000,516,0.000,0.041,1810,905,3214,3254,3174,0,0,0,0,0,0,26.81,26.22,26.86
$GC,3185,-0.59,-88.5,1810,906,3253,3174,344.2,-7.8,187,3191,0.00,2.20,0.00,0.000,1030,0.000,0.042,1800,2314,3213,3253,3174,0,0,0,0,0,0,26.30,26.20,26.34
$GC,3558,-0.60,-94.6,1800,2314,3252,3171,372.7,-7.4,199,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2314,3210,3251,3170,0,0,0,0,0,0,26.81,26.88,26.86
$GC,3917,-0.61,-94.6,1799,2314,3250,3169,400.2,-7.9,209,3923,0.00,2.17,0.00,0.000,516,0.000,0.039,1800,905,3208,3249,3168,0,0,0,0,0,0,26.82,26.24,26.87
$GC,3970,-0.61,-94.6,1800,905,3249,3168,405.0,-8.8,218,3977,0.00,2.22,0.00,0.000,1030,0.000,0.043,1790,2304,3208,3248,3168,0,0,0,0,0,0,26.24,26.19,26.28
$GC,4351,-0.61,-94.6,1789,2304,3247,3164,438.3,-8.8,231,4356,0.00,2.17,0.00,0.000,516,0.000,0.041,1790,905,3205,3246,3164,0,0,0,0,0,0,26.82,26.22,26.87
$GC,4403,-0.61,-94.6,1789,904,3245,3164,443.3,-9.0,240,4410,0.00,2.22,0.00,0.000,1030,0.000,0.043,1779,2300,3204,3245,3164,0,0,0,0,0,0,26.22,26.17,26.27
$GC,4783,-0.62,-94.6,1779,2300,3244,3161,477.2,-9.1,253,4789,0.00,2.15,0.00,0.000,516,0.000,0.040,1779,903,3202,3244,3161,0,0,0,0,0,0,26.82,26.22,26.87
$GC,4849,-0.62,-94.6,1779,903,3245,3161,483.4,-9.1,264,4856,0.00,2.17,0.00,0.000,1030,0.000,0.042,1769,2304,3202,3244,3161,0,0,0,0,0,0,26.27,26.17,26.32
$GC,5216,-0.62,-94.6,1769,2304,3244,3158,516.9,-9.0,275,5221,0.00,2.17,0.00,0.000,516,0.000,0.041,1770,905,3200,3243,3158,0,0,0,0,0,0,26.82,26.18,26.87
$GC,5281,-0.62,-94.6,1769,905,3244,3158,523.3,-9.4,286,5288,0.10,2.22,0.00,0.000,3078,0.119,0.044,1811,2298,3200,3243,3158,0,0,0,0,0,0,25.88,26.16,26.03
$GC,5648,-0.65,-115.2,1811,2299,3243,3156,548.4,-6.5,297,5654,0.00,2.15,0.00,0.000,516,0.000,0.040,1811,905,3199,3243,3155,0,0,0,0,0,0,26.81,26.19,26.86
$GC,5708,-0.68,-133.0,1811,906,3243,3156,552.2,-6.7,307,5713,0.00,2.20,0.00,0.000,1030,0.000,0.043,1801,2314,3198,3242,3155,0,0,0,0,0,0,26.25,26.15,26.29
$GC,6081,-0.73,-161.2,1801,2314,3242,3153,574.7,-6.0,319,6087,0.12,2.20,0.00,0.000,4612,0.079,0.037,1713,899,3197,3242,3153,0,0,0,0,0,0,26.64,26.19,26.65
$GC,6134,-0.73,-161.2,1713,899,3242,3153,579.5,-9.4,328,6141,0.20,2.20,0.00,0.000,3078,0.143,0.044,1758,2310,3197,3242,3153,0,0,0,0,0,0,25.79,26.15,25.95
$GC,6514,-0.73,-161.2,1758,2311,3242,3151,609.3,-8.1,341,6520,0.00,2.17,0.00,0.000,516,0.000,0.040,1758,908,3196,3241,3151,0,0,0,0,0,0,26.81,26.15,26.86
$GC,6562,-0.73,-161.2,1758,908,3241,3151,613.3,-8.5,349,6569,0.00,2.22,0.00,0.000,1030,0.000,0.044,1749,2297,3196,3241,3151,0,0,0,0,0,0,26.18,26.13,26.23
$GC,6947,-0.73,-161.2,1748,2297,3240,3150,647.0,-8.6,363,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,2297,3194,3240,3149,0,0,0,0,0,0,26.81,26.88,26.86
$GC,7306,-0.73,-161.2,1748,2297,3239,3149,677.2,-8.2,373,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,2297,3193,3238,3149,0,0,0,0,0,0,26.81,26.88,26.87
$GC,7667,-0.73,-161.2,1748,2297,3238,3148,708.1,-8.8,383,7672,0.00,2.20,0.00,0.000,516,0.000,0.038,1749,904,3193,3239,3147,0,0,0,0,0,0,26.82,26.15,26.87
$GC,7768,-0.73,-161.2,1749,904,3237,3147,717.2,-8.7,400,7775,0.00,2.25,0.00,0.000,1030,0.000,0.044,1738,2311,3191,3236,3147,0,0,0,0,0,0,26.15,26.10,26.21
$GC,8135,-0.73,-161.2,1738,2311,3237,3145,749.3,-8.8,411,8140,0.00,2.17,0.00,0.000,516,0.000,0.039,1738,908,3190,3236,3145,0,0,0,0,0,0,26.81,26.13,26.87
$GC,8158,-0.73,-161.2,1738,908,3236,3145,751.4,-9.1,415,8165,0.08,2.22,0.00,0.000,3078,0.136,0.045,1755,2301,3190,3236,3145,0,0,0,0,0,0,25.84,26.08,25.91
$GC,8532,-0.73,-161.2,1755,2301,3236,3144,783.1,-8.5,427,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,2301,3189,3235,3143,0,0,0,0,0,0,26.81,26.88,26.86
$GC,8890,-0.73,-161.2,1755,2301,3235,3142,814.8,-8.9,437,8897,0.00,2.22,0.00,0.000,516,0.000,0.041,1755,905,3188,3235,3142,0,0,0,0,0,0,26.81,26.08,26.86
$GC,9011,-0.73,-161.2,1755,905,3235,3142,825.6,-8.7,457,9017,0.00,2.22,0.00,0.000,1030,0.000,0.044,1745,2297,3188,3234,3142,0,0,0,0,0,0,26.13,26.08,26.18
$GC,9396,-0.73,-161.2,1745,2298,3234,3141,859.1,-8.7,471,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,2297,3187,3234,3141,0,0,0,0,0,0,26.81,26.88,26.86
$GC,9755,-0.73,-161.2,1745,2298,3233,3141,891.2,-8.9,481,9762,0.00,2.20,0.00,0.000,516,0.000,0.039,1745,909,3186,3233,3140,0,0,0,0,0,0,26.81,26.09,26.86
$GC,9889,-0.73,-161.2,1745,909,3233,3140,903.4,-9.5,503,9894,0.00,2.20,0.00,0.000,1030,0.000,0.044,1735,2313,3186,3232,3140,0,0,0,0,0,0,26.15,26.05,26.20
$GC,10259,-0.73,-161.2,1735,2313,3232,3139,937.7,-9.1,515,10265,0.00,2.22,0.00,0.000,516,0.000,0.039,1735,911,3185,3232,3139,0,0,0,0,0,0,26.80,26.09,26.86
$GC,10350,-0.73,-161.2,1735,912,3232,3139,945.8,-9.1,530,10356,0.10,2.20,0.00,0.000,3078,0.150,0.045,1757,2310,3185,3231,3139,0,0,0,0,0,0,25.81,26.01,25.94
$GC,10730,-0.74,-166.5,1756,2311,3231,3138,975.2,-7.5,543,10735,0.00,2.22,0.00,0.000,260,0.000,0.060,1747,3676,3184,3231,3137,0,0,0,0,0,0,26.80,25.84,26.86
$GC,10812,-0.74,-166.5,1747,3676,3231,3137,982.0,-8.2,557,10820,0.00,2.12,0.00,0.000,1030,0.000,0.035,1747,2311,3183,3230,3137,0,0,0,0,0,0,26.32,26.29,26.35
$STATE,10943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10943,begin apogee
$GC,10949,-0.11,0.0,1748,1949,3231,3137,992.7,-7.9,564,11068,0.65,0.00,110.70,0.702,10246,0.106,0.000,1959,1946,2899,2973,2826,0,0,0,0,1,0,25.58,24.88,23.91
$STATE,11069,end apogee,CONTROL_FINISHED_OK
$STATE,11069,begin climb
$GC,11072,0.70,166.5,1959,1947,2970,2822,995.3,0.0,567,11303,0.73,0.00,224.30,0.773,10758,0.064,0.000,2223,1945,2218,2313,2123,0,0,0,0,0,0,25.33,24.59,23.70
$GC,11635,0.70,166.5,2223,1946,2296,2115,956.0,8.4,608,11640,0.00,2.30,0.00,0.000,260,0.000,0.050,2223,3374,2205,2296,2114,0,0,0,0,0,0,26.32,25.84,26.39
$GC,11717,0.70,166.5,2223,3374,2295,2114,948.2,9.3,622,11724,0.00,2.20,0.00,0.000,1030,0.000,0.031,2223,1971,2204,2294,2114,0,0,0,0,0,0,26.08,26.04,26.11
$GC,12104,0.70,166.5,2223,1971,2292,2112,916.5,8.3,636,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1971,2202,2292,2112,0,0,0,0,0,0,26.55,26.63,26.62
$GC,12461,0.71,166.5,2223,1972,2292,2111,886.0,8.5,646,12467,0.00,2.25,0.00,0.000,516,0.000,0.042,2226,565,2201,2292,2111,0,0,0,0,0,0,26.63,26.08,26.70
$GC,12486,0.71,166.5,2226,565,2292,2110,884.0,8.4,650,12492,0.00,2.15,0.00,0.000,1030,0.000,0.034,2226,1971,2200,2291,2110,0,0,0,0,0,0,26.25,26.17,26.29
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$STATE,23461,end climb,SURFACE_DEPTH_REACHED
$STATE,23461,begin surface coast
$FINISH,-0.3,1.021369
$STATE,23479,end surface coast,CONTROL_FINISHED_OK
$STATE,23479,begin surface
$SM_CCo,23495,164.18,0.298,1,0,504,587.25
$SM_GC,-0.10,5.95,0.55,164.18,0.031,0.044,0.298,170,2313,504,-5.66,-0.90,587.25,0,0,0,0,1,0,26.33,26.20,24.84
$IRIDIUM_FIX,536.98,8036.18,050216,114201
$TT8_MAMPS,0.049434,0.049434
$HUMID,46.02
$INTERNAL_PRESSURE,9.49601
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3882976
$24V_AH,23.70,53.928
$10V_AH,9.76,32.781
$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,15.150,164.125,605.475,164.175,0.000,0.000,0.000,263.975,0.000,0.000,38.566,0.000,19823.027,1225.460,2550.214,512.816,0.000,2361.806,0.000,1838.727,0.000,0.542,0.000
$DEVICE_MAMPS,196.605,1165.860,772.650,298.350,0.000,0.000,0.000,121.635,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23508.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.526,0.000,0.000,0.000
$MEM,260760
$DATA_FILE_SIZE,46621,1242
$CAP_FILE_SIZE,211413,0
$CFSIZE,260034560,216895488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.042,232.82,1
$GPS,060216,010905,544.889,8035.183,33,0.9,33,-2.8,0.0,0.0,9,6.8