version: 66.11
glider: 160
mission: 9
dive: 6
start: 3 25 113 21 5 52
data:
$ID,160
$MISSION,9
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55936
$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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41250.281
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3900
$C_PITCH,3330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2479
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.182281
$PRESSURE_SLOPE,0.0001158597
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043567605
$SEABIRD_T_H,0.00063562888
$SEABIRD_T_I,2.4601901e-05
$SEABIRD_T_J,2.6145824e-06
$SEABIRD_C_G,-9.8833933
$SEABIRD_C_H,1.1029875
$SEABIRD_C_I,-0.0011442616
$SEABIRD_C_J,0.00017903016
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250313,205906,2431.180,-3759.506,41,1.2,41,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-73.5
$GPS2,250313,210524,2431.186,-3759.527,11,1.5,28,-15.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,172.4,63318,-17.5,-10.000,-21.06,2227
$D_GRID,600
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.91,-146.0,149,1957,1233,1264,0.0,0.0,0,69,0.00,0.00,-47.12,0.000,16386,0.000,0.000,149,1957,2389,2356,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.91,-146.0,149,1957,2356,2422,3.1,-2.8,3,116,14.32,2.83,-22.40,0.000,18692,0.412,0.086,3024,3194,3073,3048,3098,0,0,0,0,0,0,14.69,14.85,15.04
$GC,344,-0.77,-146.0,3025,3193,3045,3103,44.4,-18.6,21,350,0.22,2.72,0.00,0.000,3078,0.256,0.036,3078,1942,3073,3044,3103,0,0,0,0,0,0,14.81,14.94,28.83
$GC,662,-0.72,-146.0,3078,1943,3043,3103,89.6,-13.1,42,663,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1947,3073,3044,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,962,-0.68,-146.0,3078,1943,3044,3103,130.7,-13.5,62,969,0.12,2.92,0.00,0.000,2564,0.278,0.059,3112,548,3074,3045,3104,0,0,0,0,0,0,14.90,15.00,28.83
$GC,1000,-0.68,-146.0,3112,548,3044,3104,135.3,-13.6,64,1005,0.00,2.92,0.00,0.000,1030,0.000,0.049,3112,1948,3074,3044,3104,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1312,-0.68,-146.0,3112,1950,3044,3104,169.3,-10.1,85,1318,0.00,2.83,0.00,0.000,260,0.000,0.077,3112,3193,3074,3044,3104,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1390,-0.72,-146.0,3113,3193,3044,3104,176.7,-9.4,90,1397,0.00,2.70,0.00,0.000,1030,0.000,0.036,3112,1942,3074,3045,3104,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1709,-0.75,-146.0,3112,1945,3044,3104,205.5,-9.6,111,1714,0.00,2.90,0.00,0.000,516,0.000,0.059,3112,551,3074,3044,3104,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1835,-0.75,-146.0,2176,550,3010,3099,218.5,-10.4,119,1841,0.00,2.90,0.00,0.000,1030,0.000,0.043,3112,1951,3077,3051,3104,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2151,-0.78,-146.0,3112,1952,3044,3104,250.6,-10.2,140,2156,0.00,2.80,0.00,0.000,260,0.000,0.075,3112,3192,3074,3044,3104,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2207,-0.81,-146.0,3112,3192,3044,3104,254.3,-10.4,141,2215,0.15,2.67,0.00,0.000,5126,0.122,0.034,3054,1947,3074,3044,3104,0,0,0,0,0,0,15.05,15.07,28.83
$GC,2514,-0.77,-146.0,3054,1949,3043,3104,299.7,-13.6,152,2520,0.00,2.92,0.00,0.000,516,0.000,0.059,3054,542,3073,3043,3104,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2601,-0.72,-146.0,3054,542,3043,3104,308.6,-13.7,154,2609,0.17,2.92,0.00,0.000,3078,0.253,0.045,3095,1952,3073,3042,3104,0,0,0,0,0,0,14.95,15.05,28.83
$GC,2907,-0.72,-146.0,3095,1952,3042,3103,346.2,-11.3,165,2913,0.00,2.80,0.00,0.000,260,0.000,0.076,3093,3190,3072,3041,3104,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2939,-0.72,-146.0,3093,3190,3041,3103,350.0,-11.3,166,2945,0.00,2.67,0.00,0.000,1030,0.000,0.036,3093,1948,3071,3039,3104,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3272,-0.72,-146.0,3093,1949,3041,3102,386.7,-10.9,177,3277,0.00,2.92,0.00,0.000,516,0.000,0.063,3093,546,3071,3040,3103,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3304,-0.72,-146.0,3093,547,3041,3103,390.3,-10.9,178,3311,0.00,2.92,0.00,0.000,1030,0.000,0.047,3093,1952,3071,3039,3103,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3639,-0.72,-146.0,3093,1954,3039,3102,425.2,-10.2,189,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1954,3070,3039,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3938,-0.72,-146.0,3093,1954,3039,3100,455.3,-9.8,199,3943,0.00,2.80,0.00,0.000,260,0.000,0.076,3093,3193,3069,3038,3100,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4004,-0.72,-146.0,3093,3193,3038,3101,461.5,-10.0,201,4009,0.00,2.70,0.00,0.000,1030,0.000,0.037,3093,1944,3069,3038,3101,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4331,-0.72,-146.0,3093,1945,3038,3099,495.3,-10.7,212,4337,0.00,2.92,0.00,0.000,516,0.000,0.063,3093,544,3068,3038,3099,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4417,-0.72,-146.0,3093,544,3037,3099,502.7,-11.3,214,4424,0.00,2.92,0.00,0.000,1030,0.000,0.047,3093,1950,3068,3037,3099,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4724,-0.75,-146.0,3093,1951,3037,3097,542.2,-12.1,225,4730,0.00,2.83,0.00,0.000,260,0.000,0.077,3093,3196,3067,3037,3097,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4766,-0.79,-146.0,3093,3196,3036,3097,546.1,-12.0,226,4771,0.00,2.70,0.00,0.000,1030,0.000,0.039,3093,1952,3066,3036,3097,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5089,-0.83,-146.0,3093,1952,3035,3096,584.1,-11.3,237,5095,0.00,2.95,0.00,0.000,516,0.000,0.065,3093,543,3065,3035,3095,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5137,-0.86,-146.0,3093,543,3035,3095,588.1,-11.4,238,5143,0.12,2.95,0.00,0.000,5126,0.131,0.049,3046,1958,3065,3035,3095,0,0,0,0,0,0,15.10,15.10,28.83
$STATE,5214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5214,begin apogee
$GC,5218,-0.21,0.0,3047,1770,3034,3095,600.0,-12.5,241,5345,0.73,0.00,119.05,1.605,10246,0.213,0.000,3253,1769,2474,2530,2418,0,0,0,0,0,0,14.97,28.83,13.81
$STATE,5346,end apogee,CONTROL_FINISHED_OK
$STATE,5346,begin climb
$GC,5348,0.91,146.0,3253,1770,2530,2416,604.5,0.0,245,5486,1.17,3.10,123.75,1.608,10756,0.126,0.070,3615,380,1875,1932,1818,0,0,0,0,0,0,14.38,14.29,13.72
$GC,5512,0.80,245.9,3615,380,1931,1812,598.0,5.4,250,5609,0.00,3.03,84.38,1.558,9222,0.000,0.046,3615,1781,1467,1513,1422,0,0,0,0,0,0,28.83,14.48,13.77
$GC,5909,0.71,245.9,3615,1781,1495,1420,531.2,16.7,264,5915,0.20,3.22,0.00,0.000,4356,0.247,0.072,3560,3181,1457,1495,1419,0,0,0,0,0,0,14.73,14.81,28.83
$GC,5966,0.62,245.9,3564,3181,1490,1419,525.9,16.4,265,5974,0.12,3.12,0.00,0.000,5126,0.281,0.046,3537,1785,1455,1491,1420,0,0,0,0,0,0,14.76,14.86,28.83
$GC,6272,0.62,245.9,3537,1786,1488,1419,488.1,11.0,276,6278,0.00,3.05,0.00,0.000,516,0.000,0.073,3537,362,1454,1488,1420,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6324,0.62,245.9,3537,362,1488,1420,484.3,11.1,277,6329,0.00,2.95,0.00,0.000,1030,0.000,0.044,3536,1776,1453,1487,1420,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6636,0.62,245.9,3537,1776,1487,1419,445.6,11.8,288,6642,0.00,3.22,0.00,0.000,260,0.000,0.076,3537,3186,1453,1487,1419,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6693,0.62,245.9,3537,3187,1487,1419,441.1,12.2,289,6701,0.00,3.12,0.00,0.000,1030,0.000,0.047,3537,1773,1452,1486,1419,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6999,0.62,245.9,3537,1773,1486,1419,399.3,12.5,300,7004,0.00,3.00,0.00,0.000,516,0.000,0.073,3537,367,1452,1486,1419,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7045,0.62,245.9,3537,367,1486,1419,395.3,12.5,301,7051,0.00,2.92,0.00,0.000,1030,0.000,0.044,3536,1776,1452,1486,1419,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7364,0.65,245.9,3536,1777,1485,1419,358.9,10.2,312,7369,0.00,3.22,0.00,0.000,260,0.000,0.074,3536,3187,1451,1485,1418,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7430,0.65,245.9,2760,3184,1458,1415,351.9,10.5,314,7435,0.00,3.12,0.00,0.000,1030,0.000,0.045,3537,1769,1451,1484,1419,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7758,0.68,271.9,3537,1769,1483,1418,322.7,8.8,325,7788,0.00,3.00,20.70,1.187,8708,0.000,0.072,3537,365,1365,1397,1333,0,0,0,0,0,0,28.83,14.92,14.47
$GC,7840,0.74,291.5,3537,365,1395,1332,316.8,9.1,327,7864,0.00,2.95,18.27,1.173,9222,0.000,0.043,3537,1781,1289,1323,1255,0,0,0,0,0,0,28.83,14.97,14.39
$GC,8181,0.79,291.5,3537,1781,1314,1247,276.2,12.3,339,8187,0.12,3.17,0.00,0.000,2308,0.131,0.070,3590,3178,1280,1313,1247,0,0,0,0,0,0,15.00,14.93,28.83
$GC,8218,0.79,291.5,2864,3178,1292,1244,270.6,13.3,340,8223,0.00,3.12,0.00,0.000,1030,0.000,0.045,3590,1777,1278,1310,1246,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8530,0.75,291.5,3590,1777,1310,1247,215.5,17.1,357,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1777,1279,1309,1250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,0.72,291.5,3590,1777,1310,1247,167.4,14.8,377,8836,0.00,3.00,0.00,0.000,516,0.000,0.073,3590,366,1278,1310,1247,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8857,0.69,291.5,3591,366,1309,1247,164.9,14.6,378,8865,0.15,2.92,0.00,0.000,5126,0.230,0.043,3555,1781,1278,1309,1247,0,0,0,0,0,0,14.90,14.99,28.83
$GC,9163,0.69,291.5,3556,1781,1309,1247,126.5,12.0,399,9168,0.00,3.15,0.00,0.000,260,0.000,0.069,3555,3175,1278,1309,1247,0,0,0,0,0,0,28.83,14.98,28.83
$GC,9214,0.69,291.5,2752,3169,1289,1244,120.3,13.1,402,9219,0.00,3.10,0.00,0.000,1030,0.000,0.045,3555,1774,1277,1307,1247,0,0,0,0,0,0,28.83,15.00,28.83
$GC,9527,0.72,291.5,3555,1775,1307,1247,84.5,11.2,423,9532,0.00,3.00,0.00,0.000,516,0.000,0.073,3556,362,1277,1307,1247,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9548,0.76,291.5,2752,362,1288,1244,82.7,10.9,424,9554,0.00,2.92,0.00,0.000,1030,0.000,0.043,3555,1776,1277,1307,1247,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9861,0.79,291.5,3555,1777,1307,1247,50.1,10.9,445,9866,0.00,3.17,0.00,0.000,260,0.000,0.069,3555,3182,1277,1307,1247,0,0,0,0,0,0,28.83,14.98,28.83
$GC,9879,0.83,291.5,3555,3183,1307,1247,48.0,11.1,446,9885,0.12,3.12,0.00,0.000,3078,0.127,0.044,3599,1767,1277,1307,1247,0,0,0,0,0,0,15.00,15.00,28.83
$STATE,10196,end climb,SURFACE_DEPTH_REACHED
$STATE,10196,begin surface coast
$FINISH,1.9,1.009379
$STATE,10211,end surface coast,CONTROL_FINISHED_OK
$STATE,10212,begin surface
$SM_CCo,10231,2.72,0.113,0,0,1256,300.00
$SM_GC,3.90,10.05,0.40,2.72,0.067,0.067,0.113,147,1948,1256,-9.89,-0.99,300.00,0,0,0,0,0,0,14.98,15.03,14.96
$IRIDIUM_FIX,2422.84,-3758.52,250313,191959
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.99
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,4017728
$TM_FREEKB,7865620
$24V_AH,13.7,6.106
$10V_AH,13.7,0.000
$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,27.800,142.800,366.150,2.725,0.000,0.000,0.000,222.175,0.000,0.000,31.266,1629.227,6884.647,474.906,1553.438,84.847,0.000,1420.629,0.000,1202.510,0.000,0.542,0.000
$DEVICE_MAMPS,412.335,128.520,1608.030,113.220,0.000,0.000,0.000,233.325,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10210.000,4041.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.176,12.941,0.000,0.000
$MEM,345596
$DATA_FILE_SIZE,16776,468
$CAP_FILE_SIZE,128763,0
$CFSIZE,260034560,250277888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,304.3,1
$GPS,250313,235734,2430.080,-3759.307,6,2.4,25,-15.1