version: 66.11
glider: 160
mission: 9
dive: 504
start: 8 7 113 20 32 47
data:
$ID,160
$MISSION,9
$DIVE,504
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,135
$T_MISSION,200
$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,110
$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,517.58301
$N_FILEKB,4
$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,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-75503.539
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3900
$C_PITCH,3295
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,30
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2300
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$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
$GPS1,070813,171316,2448.935,-3750.206,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-67.8
$GPS2,070813,171316,2448.935,-3750.206,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,234.5,52911,-15.6,-7.407,-19.94,2197
$D_GRID,300
$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,22,-0.89,-107.1,144,1910,219,167,0.0,0.0,0,116,0.00,0.00,-91.15,0.000,16386,0.000,0.000,145,1910,2395,2361,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.89,-107.1,145,1910,2363,2429,3.3,-1.1,6,152,14.70,2.22,-7.55,0.000,18948,0.383,0.089,2995,933,2738,2758,2719,0,0,0,0,0,0,14.07,14.54,14.90
$GC,388,-0.81,-107.1,2995,934,2758,2718,38.9,-11.9,23,395,0.15,2.22,0.00,0.000,3078,0.256,0.054,3030,1918,2738,2758,2718,0,0,0,0,0,0,14.26,14.53,28.83
$GC,710,-0.76,-107.1,3030,1918,2758,2718,69.8,-7.9,44,715,0.00,2.28,0.00,0.000,516,0.000,0.065,3030,932,2737,2757,2718,0,0,0,0,0,0,28.83,14.47,28.83
$GC,947,-0.72,-107.1,1984,932,2697,2709,89.4,-8.3,59,953,0.12,2.30,0.00,0.000,3078,0.236,0.057,3059,1943,2737,2758,2717,0,0,0,0,0,0,14.26,14.44,28.83
$GC,1262,-0.72,-107.1,3059,1943,2758,2717,113.2,-7.2,80,1268,0.00,2.33,0.00,0.000,516,0.000,0.063,3059,933,2737,2758,2717,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1321,-0.72,-107.1,3059,933,2758,2717,116.6,-6.9,83,1328,0.00,2.30,0.00,0.000,1030,0.000,0.056,3059,1943,2737,2758,2717,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1628,-0.72,-107.1,3059,1945,2758,2716,138.2,-6.3,104,1633,0.00,2.35,0.00,0.000,516,0.000,0.065,3059,926,2737,2758,2716,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1735,-0.72,-107.1,3059,926,2758,2716,144.2,-6.6,110,1742,0.00,2.30,0.00,0.000,1030,0.000,0.054,3059,1931,2737,2758,2716,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2039,-0.74,-107.1,3059,1930,2758,2716,163.7,-6.5,131,2045,0.00,2.30,0.00,0.000,516,0.000,0.063,3059,929,2737,2758,2716,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2109,-0.74,-107.1,3059,928,2757,2719,168.4,-7.0,135,2114,0.00,2.25,0.00,0.000,1030,0.000,0.054,3059,1923,2736,2758,2714,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2425,-0.76,-107.1,3059,1922,2757,2714,191.9,-7.5,156,2430,0.00,2.28,0.00,0.000,516,0.000,0.060,3059,928,2735,2758,2713,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2489,-0.76,-107.1,3059,928,2758,2713,196.8,-7.7,160,2495,0.00,2.22,0.00,0.000,1030,0.000,0.052,3059,1906,2735,2758,2713,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2809,-0.78,-107.1,3059,1905,2758,2712,222.4,-7.9,181,2814,0.00,2.22,0.00,0.000,516,0.000,0.060,3059,932,2734,2757,2712,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2907,-0.78,-107.1,2048,931,2699,2702,229.4,-7.8,187,2913,0.00,2.17,0.00,0.000,1030,0.000,0.051,3059,1890,2734,2758,2711,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3223,-0.81,-107.1,3058,1889,2757,2710,252.3,-7.1,207,3228,0.00,2.20,0.00,0.000,516,0.000,0.060,3059,930,2734,2758,2710,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3278,-0.84,-107.1,3059,930,2757,2709,254.5,-6.8,208,3285,0.12,2.15,0.00,0.000,5126,0.121,0.051,3007,1880,2732,2757,2708,0,0,0,0,0,0,14.54,14.53,28.83
$GC,3597,-0.81,-107.1,3007,1879,2757,2707,280.6,-7.7,219,3603,0.00,2.17,0.00,0.000,516,0.000,0.061,3007,932,2732,2757,2707,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3688,-0.77,-107.1,3007,932,2753,2706,286.0,-7.8,221,3696,0.15,2.12,0.00,0.000,3078,0.239,0.052,3042,1864,2732,2758,2706,0,0,0,0,0,0,14.23,14.51,28.83
$STATE,3869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3869,begin apogee
$GC,3877,-0.25,0.0,3042,1863,2758,2705,302.3,-7.7,228,3965,0.57,0.00,82.72,1.197,10244,0.167,0.000,3208,1864,2297,2339,2255,0,0,0,0,0,0,14.12,28.83,13.57
$STATE,3971,end apogee,CONTROL_FINISHED_OK
$STATE,3971,begin climb
$GC,3974,0.89,107.1,3208,1863,2332,2254,305.0,0.0,231,4073,1.17,2.38,84.20,1.199,10500,0.099,0.081,3584,2858,1857,1933,1782,0,0,0,0,0,0,14.40,14.40,13.60
$GC,4106,0.89,107.1,3584,2858,1928,1779,308.2,-2.3,235,4111,0.00,2.38,0.00,0.000,1030,0.000,0.056,3587,1837,1852,1927,1778,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4426,0.84,165.7,3587,1838,1928,1773,292.3,4.7,246,4478,0.00,0.00,44.97,1.168,8198,0.000,0.000,3587,1838,1619,1689,1549,0,0,0,0,0,0,28.83,28.83,13.76
$GC,4785,0.75,165.7,3587,1838,1678,1548,264.6,8.5,258,4791,0.20,2.55,0.00,0.000,4612,0.259,0.074,3537,740,1613,1678,1548,0,0,0,0,0,0,14.15,14.52,28.83
$GC,4805,0.66,165.7,3538,740,1678,1548,264.6,8.5,258,4812,0.12,2.42,0.00,0.000,5126,0.222,0.051,3508,1800,1612,1677,1548,0,0,0,0,0,0,14.38,14.57,28.83
$GC,5128,0.64,170.1,3509,1799,1677,1546,238.8,7.2,274,5133,0.00,2.45,0.00,0.000,260,0.000,0.071,3508,2860,1611,1676,1546,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5279,0.59,171.0,3508,2859,1674,1546,227.8,7.4,283,5286,0.00,2.42,0.00,0.000,1030,0.000,0.048,3508,1805,1610,1674,1546,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5585,0.60,203.4,3508,1805,1674,1545,209.3,5.9,304,5620,0.00,2.45,28.40,1.082,8452,0.000,0.065,3508,2860,1468,1527,1409,0,0,0,0,0,0,28.83,14.62,13.81
$GC,5691,0.62,253.4,3508,2860,1518,1409,202.5,5.1,310,5736,0.00,2.35,39.67,1.082,9222,0.000,0.047,3508,1825,1263,1305,1222,0,0,0,0,0,0,28.83,14.56,13.77
$GC,6047,0.62,253.4,3508,1825,1294,1216,172.2,8.7,334,6052,0.00,2.53,0.00,0.000,516,0.000,0.072,3508,740,1255,1294,1216,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6100,0.62,253.4,3508,740,1293,1216,167.6,9.2,337,6106,0.00,2.45,0.00,0.000,1030,0.000,0.048,3508,1817,1254,1294,1215,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6418,0.65,258.2,3508,1817,1294,1214,141.8,7.2,358,6423,0.00,2.50,0.00,0.000,516,0.000,0.067,3508,744,1254,1294,1214,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6487,0.69,272.5,3508,743,1294,1214,137.2,6.7,362,6508,0.00,2.38,15.18,0.955,9222,0.000,0.047,3508,1794,1188,1238,1139,0,0,0,0,0,0,28.83,14.54,13.89
$GC,6818,0.75,300.0,3508,1794,1236,1130,117.8,6.1,384,6848,0.00,2.45,23.33,0.962,8708,0.000,0.066,3508,745,1076,1143,1009,0,0,0,0,0,0,28.83,14.58,13.88
$GC,7038,0.82,300.0,2632,745,1127,1002,101.0,8.4,398,7044,0.17,2.30,0.00,0.000,3078,0.109,0.047,3579,1762,1074,1144,1004,0,0,0,0,0,0,14.52,14.49,28.83
$GC,7355,0.79,300.0,3579,1761,1143,1002,66.1,10.2,419,7360,0.12,2.55,0.00,0.000,4356,0.212,0.065,3545,2863,1072,1143,1001,0,0,0,0,0,0,14.23,14.42,28.83
$GC,7459,0.77,300.0,2656,2859,1125,1000,56.2,9.9,425,7465,0.00,2.50,0.00,0.000,1030,0.000,0.049,3555,1774,1071,1141,1001,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7774,0.78,314.8,3547,1774,1141,1000,32.5,6.7,446,7795,0.00,2.42,13.38,0.819,8708,0.000,0.073,3547,739,1013,1090,936,0,0,0,0,0,0,28.83,14.57,13.92
$GC,7883,0.78,317.1,3547,739,1090,935,24.8,7.3,452,7889,0.00,2.35,0.00,0.000,1030,0.000,0.047,3547,1776,1011,1090,933,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8186,1.07,475.1,3548,1778,1089,929,5.1,0.0,473,8203,0.25,0.00,13.55,0.105,10498,0.090,0.000,3646,1777,908,1001,815,0,0,0,0,0,0,14.40,28.83,28.83
$STATE,8204,end climb,SURFACE_DEPTH_REACHED
$STATE,8204,begin surface coast
$FINISH,5.0,1.024774
$STATE,8287,end surface coast,CONTROL_FINISHED_OK
$STATE,8287,begin surface
$SM_CCo,8295,93.88,0.074,0,0,188,517.58
$SM_GC,5.85,10.10,0.38,0.00,0.042,0.059,0.000,143,1958,189,-9.79,-0.65,517.83,0,0,0,0,0,0,14.67,14.54,28.83
$IRIDIUM_FIX,2448.93,-3752.08,070813,202038
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.58
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,3827104
$24V_AH,13.6,193.621
$10V_AH,12.4,0.000
$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,27.975,84.700,345.400,93.875,0.000,0.000,0.000,1635.675,0.250,0.000,303.622,1632.322,5359.583,537.611,3052.986,930.492,0.000,2866.078,0.000,1211.468,0.000,0.545,0.000
$DEVICE_MAMPS,383.265,116.280,1198.755,74.205,0.000,0.000,0.000,218.025,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8300.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.432,0.000,0.000,0.000
$MEM,344980
$DATA_FILE_SIZE,16765,480
$CAP_FILE_SIZE,132432,0
$CFSIZE,260034560,185532416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.301,113.1,1
$GPS,070813,201838,2448.935,-3752.082,0,10000.0,0,-15.1