version: 66.11
glider: 160
mission: 9
dive: 512
start: 8 9 113 3 13 20
data:
$ID,160
$MISSION,9
$DIVE,512
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,180
$T_MISSION,220
$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,100
$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,4
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-83760.414
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,080813,234748,2451.311,-3750.206,0,10000.0,0,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-69.4
$GPS2,080813,234748,2451.311,-3750.206,301,99.0,301,-15.1
$SPEED_LIMITS,0.144,0.204
$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,235.0,57293,-27.0,-8.333,-30.00,882
$D_GRID,450
$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,23,-1.40,-48.0,144,1949,224,161,0.0,0.0,0,40,0.00,0.00,-14.82,0.000,16386,0.000,0.000,144,1949,530,537,523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.40,-48.0,144,1949,537,522,3.1,0.0,1,163,12.55,2.45,-91.70,0.000,18948,0.340,0.080,2840,890,2494,2488,2500,0,0,0,0,0,0,14.26,14.38,14.84
$GC,395,-1.30,-48.0,2840,891,2493,2500,32.9,-14.0,24,402,0.15,2.38,0.00,0.000,3078,0.301,0.051,2869,1937,2496,2492,2500,0,0,0,0,0,0,14.05,14.47,28.83
$GC,716,-1.24,-48.0,2870,1937,2493,2500,69.8,-10.8,45,722,0.00,2.38,0.00,0.000,516,0.000,0.054,2870,893,2496,2492,2500,0,0,0,0,0,0,28.83,14.42,28.83
$GC,953,-1.18,-48.0,2871,892,2492,2500,94.8,-11.1,60,959,0.20,2.45,0.00,0.000,3078,0.288,0.053,2911,1964,2495,2492,2499,0,0,0,0,0,0,13.90,14.37,28.83
$GC,1270,-1.15,-48.0,2912,1963,2493,2499,126.0,-9.0,81,1275,0.00,2.45,0.00,0.000,516,0.000,0.058,2911,894,2496,2492,2500,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1508,-1.12,-51.2,2912,894,2492,2499,145.6,-8.0,96,1515,0.00,2.42,-0.12,0.000,17414,0.000,0.053,2912,1959,2516,2508,2524,0,0,0,0,0,0,28.83,14.43,14.06
$GC,1825,-1.11,-51.2,2912,1958,2508,2524,173.3,-9.4,117,1830,0.00,2.47,0.00,0.000,516,0.000,0.061,2912,892,2516,2508,2524,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2060,-1.08,-51.2,1872,892,2445,2514,195.8,-9.6,132,2067,0.15,2.40,0.00,0.000,3078,0.278,0.055,2942,1938,2515,2508,2523,0,0,0,0,0,0,14.06,14.43,28.83
$GC,2376,-1.08,-51.2,2943,1937,2508,2522,224.4,-8.6,153,2382,0.00,2.42,0.00,0.000,516,0.000,0.061,2943,891,2515,2508,2522,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2612,-1.08,-51.2,1920,890,2446,2512,246.4,-9.9,168,2618,0.00,2.40,0.00,0.000,1030,0.000,0.057,2943,1928,2514,2508,2521,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2932,-1.08,-51.2,2943,1927,2508,2520,277.8,-9.7,180,2937,0.00,2.58,0.00,0.000,260,0.000,0.086,2943,3006,2513,2508,2519,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3151,-1.08,-51.2,2943,3006,2508,2519,298.1,-9.3,187,3157,0.00,2.50,0.00,0.000,1030,0.000,0.044,2943,1907,2513,2508,2519,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3485,-1.08,-51.2,2943,1908,2508,2517,327.0,-8.8,198,3490,0.00,2.35,0.00,0.000,516,0.000,0.071,2943,893,2512,2508,2517,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3722,-1.08,-51.2,2943,893,2508,2516,347.4,-9.6,205,3727,0.00,2.30,0.00,0.000,1030,0.000,0.057,2943,1891,2512,2508,2516,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4037,-1.08,-51.2,2943,1895,2508,2514,380.2,-10.0,216,4042,0.00,2.33,0.00,0.000,516,0.000,0.065,2943,895,2511,2508,2514,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4272,-1.08,-51.2,2943,895,2508,2513,401.1,-9.5,223,4277,0.00,2.28,0.00,0.000,1030,0.000,0.056,2943,1883,2510,2508,2512,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4592,-1.11,-56.4,2943,1882,2507,2510,428.7,-7.7,234,4597,0.00,2.30,0.00,0.000,516,0.000,0.063,2943,892,2509,2508,2510,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4828,-1.12,-67.4,2943,892,2509,2510,444.4,-7.1,241,4834,0.00,2.28,0.00,0.000,1030,0.000,0.054,2943,1878,2508,2507,2509,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,4900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4900,begin apogee
$GC,4909,-0.25,0.0,2943,1767,2507,2509,450.9,-6.9,244,4976,1.00,0.08,60.47,1.201,10244,0.214,0.055,3204,1857,2298,2311,2285,0,0,0,0,0,0,13.80,14.47,13.55
$STATE,4977,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4984,1.42,67.4,3204,1857,2308,2283,451.4,0.0,246,5050,1.73,2.38,57.25,1.402,10500,0.098,0.075,3757,2862,2023,2064,1982,0,0,0,0,0,0,14.42,14.42,13.46
$GC,5284,1.30,84.7,3757,2861,2052,1971,442.2,6.3,256,5306,0.22,2.35,14.62,1.300,13318,0.315,0.047,3720,1834,1948,2003,1893,0,0,0,0,0,0,14.04,14.49,13.66
$GC,5604,1.24,108.0,3721,1833,2005,1886,421.7,5.6,267,5631,0.00,0.00,19.85,1.334,8198,0.000,0.000,3720,1834,1856,1934,1779,0,0,0,0,0,0,28.83,28.83,13.69
$GC,5938,1.18,127.5,3721,1834,1931,1773,400.2,6.1,278,5962,0.20,0.00,16.80,1.303,12294,0.298,0.000,3678,1833,1777,1858,1697,0,0,0,0,0,0,13.99,28.83,13.72
$GC,6267,1.13,128.3,3678,1833,1853,1696,375.0,8.2,289,6272,0.00,2.42,0.00,0.000,260,0.000,0.063,3678,2869,1775,1855,1696,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6504,1.05,128.3,3678,2868,1848,1695,351.7,11.0,296,6510,0.22,2.42,0.00,0.000,5126,0.284,0.046,3637,1804,1772,1848,1696,0,0,0,0,0,0,14.04,14.52,28.83
$GC,6827,1.03,128.3,3637,1805,1849,1694,318.9,9.4,307,6832,0.00,2.47,0.00,0.000,260,0.000,0.061,3637,2863,1771,1848,1694,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7063,0.99,128.4,3638,2862,1847,1693,299.2,8.3,314,7068,0.00,2.42,0.00,0.000,1030,0.000,0.045,3642,1803,1770,1847,1694,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7381,1.00,160.2,3642,1804,1847,1693,280.5,4.6,325,7414,0.00,2.45,26.73,1.211,8452,0.000,0.060,3642,2862,1643,1718,1569,0,0,0,0,0,0,28.83,14.59,13.70
$GC,7581,0.97,166.0,3643,2862,1709,1568,267.1,7.7,331,7592,0.15,2.42,4.62,0.983,13318,0.288,0.047,3613,1805,1622,1691,1554,0,0,0,0,0,0,14.09,14.50,13.52
$GC,7901,0.97,166.0,3613,1806,1690,1554,240.5,8.6,345,7906,0.00,2.47,0.00,0.000,260,0.000,0.060,3613,2865,1622,1690,1554,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7981,0.97,166.0,3612,2865,1690,1554,232.7,9.4,350,7986,0.00,2.42,0.00,0.000,1030,0.000,0.046,3615,1804,1621,1689,1554,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8301,0.97,170.7,3614,1805,1688,1555,205.8,7.8,371,8312,0.00,2.45,5.05,0.975,8452,0.000,0.057,3615,2863,1603,1670,1537,0,0,0,0,0,0,28.83,14.63,13.66
$GC,8395,0.97,170.7,3615,2864,1670,1537,198.6,8.4,376,8402,0.00,2.35,0.00,0.000,1030,0.000,0.045,3615,1827,1604,1671,1537,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8696,0.97,170.7,3615,1828,1670,1537,171.8,8.5,397,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1828,1604,1670,1538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8996,0.98,180.2,3616,1828,1669,1537,150.0,7.2,417,9013,0.00,2.47,9.88,0.974,8452,0.000,0.060,3615,2865,1562,1624,1501,0,0,0,0,0,0,28.83,14.64,13.78
$GC,9201,0.98,180.2,3615,2865,1618,1501,131.0,10.8,430,9207,0.00,2.35,0.00,0.000,1030,0.000,0.045,3616,1845,1559,1618,1501,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9522,1.00,180.2,3615,1846,1618,1501,100.0,8.4,451,9528,0.00,2.55,0.00,0.000,516,0.000,0.069,3615,746,1559,1618,1501,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9567,1.02,180.2,3616,746,1618,1502,96.9,8.8,453,9574,0.00,2.50,0.00,0.000,1030,0.000,0.045,3616,1853,1559,1618,1501,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9874,1.04,182.4,3615,1853,1618,1501,73.6,8.1,474,9879,0.00,2.35,0.00,0.000,260,0.000,0.065,3615,2862,1560,1617,1503,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10109,1.04,182.4,2816,2858,1577,1496,52.6,8.8,489,10114,0.00,2.35,0.00,0.000,1030,0.000,0.044,3612,1837,1558,1615,1501,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10427,1.10,209.0,3616,1838,1616,1501,34.7,5.2,510,10456,0.00,2.40,22.08,0.864,8452,0.000,0.060,3616,2864,1444,1495,1393,0,0,0,0,0,0,28.83,14.57,13.81
$GC,10533,1.15,235.3,3616,2864,1488,1393,28.1,5.3,516,10559,0.15,2.33,18.52,0.842,11270,0.112,0.044,3677,1845,1337,1372,1302,0,0,0,0,0,0,14.45,14.47,13.86
$GC,10874,1.41,306.5,3678,1843,1361,1298,4.3,0.0,539,10903,0.22,0.00,25.62,0.088,10242,0.117,0.000,3750,1844,1122,1170,1075,0,0,0,0,0,0,14.25,28.83,28.83
$STATE,10904,end climb,SURFACE_DEPTH_REACHED
$STATE,10904,begin surface coast
$FINISH,4.2,1.025014
$STATE,10991,end surface coast,CONTROL_FINISHED_OK
$STATE,10996,begin surface
$SM_CCo,11001,118.85,0.073,0,0,188,517.58
$SM_GC,4.82,10.45,0.28,0.00,0.041,0.055,0.000,139,1979,190,-9.79,-0.45,517.58,0,0,0,0,0,0,14.61,14.57,28.83
$IRIDIUM_FIX,2453.69,-3751.66,080813,232303
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.71
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,23.10
$XPDR_PINGS,3
$SC_FREEKB,3824000
$24V_AH,13.5,196.094
$10V_AH,12.7,0.000
$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,27.400,92.025,281.500,118.850,0.000,0.000,0.000,206.675,0.750,0.000,302.477,2231.132,6834.954,529.336,2309.327,477.270,0.000,1647.156,0.000,1719.244,0.000,0.542,0.000
$DEVICE_MAMPS,339.660,86.445,1402.245,72.675,0.000,0.000,0.000,155.295,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11012.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.462,0.000,0.000,0.000
$MEM,345388
$DATA_FILE_SIZE,20082,547
$CAP_FILE_SIZE,143460,0
$CFSIZE,260034560,185389056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.485,151.4,1
$GPS,080813,235003,2453.688,-3751.665,0,10000.0,0,-15.1