version: 66.11
glider: 160
mission: 9
dive: 558
start: 8 17 113 5 41 22
data:
$ID,160
$MISSION,9
$DIVE,558
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,600
$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,240
$T_MISSION,270
$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,4
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106908.38
$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,25
$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
$GPS1,170813,013019,2451.311,-3734.985,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.7
$GPS2,170813,013019,2451.311,-3734.985,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.197
$TGT_NAME,CTR
$TGT_LATLONG,2434.000,-3802.000
$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,294.7,55663,-26.8,-7.500,-30.00,838
$D_GRID,540
$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,-1.38,-41.0,135,1962,216,167,0.0,0.0,0,100,0.00,0.00,-74.93,0.000,16386,0.000,0.000,135,1962,1950,1951,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.44,-96.3,135,1962,1952,1951,3.1,-0.7,5,151,13.45,2.47,-23.25,0.000,19204,0.371,0.104,2816,2997,2694,2713,2676,0,0,0,0,0,0,14.04,14.40,14.84
$GC,284,-1.34,-96.3,1760,2993,2654,2667,27.0,-17.4,16,291,0.20,2.40,0.00,0.000,3078,0.288,0.045,2856,1951,2695,2714,2676,0,0,0,0,0,0,13.83,14.31,28.83
$GC,600,-1.28,-96.3,2856,1952,2714,2677,72.3,-11.6,37,606,0.00,2.50,0.00,0.000,260,0.000,0.077,2856,2991,2695,2714,2676,0,0,0,0,0,0,28.83,14.27,28.83
$GC,753,-1.22,-96.3,2856,2990,2714,2676,90.4,-12.6,46,760,0.17,2.47,0.00,0.000,3078,0.275,0.050,2893,1918,2695,2714,2676,0,0,0,0,0,0,13.86,14.31,28.83
$GC,1060,-1.19,-96.3,2893,1919,2714,2676,125.2,-10.0,67,1066,0.00,2.60,0.00,0.000,260,0.000,0.078,2893,2994,2695,2714,2676,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1196,-1.17,-96.3,2893,2994,2713,2676,138.9,-10.8,75,1203,0.00,2.60,0.00,0.000,1030,0.000,0.052,2893,1873,2695,2714,2676,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1503,-1.15,-96.3,2893,1874,2714,2676,172.2,-10.6,96,1508,0.12,2.72,0.00,0.000,2308,0.283,0.075,2924,2999,2695,2714,2676,0,0,0,0,0,0,14.07,14.21,28.83
$GC,1649,-1.15,-96.3,2924,2998,2714,2675,186.9,-10.5,105,1655,0.00,2.70,0.00,0.000,1030,0.000,0.047,2924,1831,2695,2714,2676,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1965,-1.15,-96.3,2923,1832,2714,2676,219.5,-10.1,126,1970,0.00,2.20,0.00,0.000,516,0.000,0.072,2924,889,2694,2714,2674,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2200,-1.15,-96.3,1888,889,2657,2666,245.9,-12.2,141,2205,0.00,2.08,0.00,0.000,1030,0.000,0.050,2924,1800,2693,2714,2673,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2519,-1.15,-96.3,2924,1799,2714,2672,282.0,-11.0,153,2525,0.00,2.10,0.00,0.000,516,0.000,0.060,2923,889,2693,2714,2672,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2756,-1.15,-96.3,2924,889,2714,2671,305.3,-10.1,160,2761,0.00,2.08,0.00,0.000,1030,0.000,0.050,2923,1791,2692,2714,2670,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3071,-1.15,-96.3,2923,1790,2714,2668,339.2,-10.1,171,3076,0.00,2.08,0.00,0.000,516,0.000,0.058,2924,889,2690,2713,2668,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3307,-1.15,-96.3,2924,889,2711,2668,362.3,-10.7,178,3313,0.00,2.00,0.00,0.000,1030,0.000,0.047,2924,1770,2690,2712,2668,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3623,-1.15,-96.3,2924,1769,2712,2666,396.6,-9.9,189,3629,0.00,2.92,0.00,0.000,260,0.000,0.078,2924,2991,2688,2711,2666,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3784,-1.15,-96.3,2924,2991,2710,2666,413.2,-10.6,194,3790,0.00,2.85,0.00,0.000,1030,0.000,0.045,2923,1751,2688,2710,2666,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4118,-1.15,-96.3,2924,1752,2710,2664,447.2,-10.2,205,4123,0.00,1.98,0.00,0.000,516,0.000,0.062,2923,887,2687,2710,2664,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4353,-1.15,-96.3,2924,887,2710,2663,471.2,-11.0,212,4359,0.00,1.92,0.00,0.000,1030,0.000,0.045,2924,1729,2686,2710,2662,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4670,-1.15,-96.3,2924,1728,2710,2660,506.5,-10.5,223,4676,0.00,3.03,0.00,0.000,260,0.000,0.075,2924,2997,2685,2709,2661,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4809,-1.15,-96.3,2924,2997,2708,2661,519.8,-10.4,227,4814,0.00,3.00,0.00,0.000,1030,0.000,0.045,2924,1693,2684,2708,2661,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,5009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5009,begin apogee
$GC,5018,-0.25,0.0,2923,1810,2708,2661,540.3,-9.2,234,5102,1.10,0.00,77.90,1.552,10244,0.215,0.000,3207,1810,2298,2358,2238,0,0,0,0,0,0,13.69,28.83,13.30
$STATE,5104,end apogee,CONTROL_FINISHED_OK
$STATE,5108,begin climb
$GC,5112,1.44,96.3,3208,1810,2356,2236,543.3,0.0,237,5206,1.73,2.47,80.93,1.550,10500,0.090,0.072,3762,2844,1904,1968,1840,0,0,0,0,0,0,14.34,14.33,13.33
$GC,5438,1.31,96.3,3762,2844,1955,1834,524.1,10.2,247,5447,0.22,2.42,0.00,0.000,5126,0.309,0.049,3723,1788,1894,1955,1834,0,0,0,0,0,0,14.02,14.50,28.83
$GC,5748,1.22,96.3,3723,1790,1954,1833,496.1,7.7,258,5754,0.12,2.50,0.00,0.000,4356,0.299,0.058,3694,2849,1893,1954,1833,0,0,0,0,0,0,14.06,14.47,28.83
$GC,5985,1.13,99.5,3694,2848,1950,1833,479.7,7.1,265,5991,0.17,2.40,0.00,0.000,5126,0.299,0.047,3668,1802,1892,1951,1833,0,0,0,0,0,0,14.00,14.51,28.83
$GC,6307,1.10,115.9,3665,1803,1951,1831,460.8,5.5,276,6330,0.00,2.45,15.90,1.369,8452,0.000,0.063,3665,2848,1824,1898,1750,0,0,0,0,0,0,28.83,14.65,13.62
$GC,6562,1.04,115.9,3665,2850,1890,1749,442.3,7.9,284,6568,0.17,2.35,0.00,0.000,5126,0.287,0.046,3634,1826,1819,1889,1749,0,0,0,0,0,0,14.07,14.52,28.83
$GC,6892,1.02,119.8,3634,1827,1889,1748,418.8,7.0,295,6898,0.00,2.40,0.00,0.000,260,0.000,0.060,3634,2845,1818,1889,1748,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7129,0.98,122.1,3634,2845,1887,1748,402.6,7.2,302,7142,0.15,2.35,4.55,1.088,13318,0.278,0.044,3612,1820,1802,1876,1728,0,0,0,0,0,0,14.04,14.50,13.49
$GC,7440,1.00,142.6,3611,1821,1876,1729,384.2,5.0,313,7468,0.00,2.40,20.38,1.314,8452,0.000,0.057,3612,2849,1714,1792,1637,0,0,0,0,0,0,28.83,14.62,13.65
$GC,7700,0.99,151.2,3612,2849,1784,1636,368.7,6.4,321,7716,0.00,2.30,8.57,1.208,9222,0.000,0.044,3615,1851,1680,1754,1606,0,0,0,0,0,0,28.83,14.50,13.65
$GC,8019,1.00,162.5,3616,1852,1747,1605,349.1,6.1,332,8037,0.00,2.53,11.00,1.215,8708,0.000,0.066,3616,745,1632,1703,1562,0,0,0,0,0,0,28.83,14.64,13.69
$GC,8183,1.00,166.2,3616,745,1699,1563,338.3,7.0,337,8188,0.00,2.50,0.00,0.000,1030,0.000,0.039,3616,1867,1630,1699,1562,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8512,1.00,166.2,3616,1867,1697,1562,312.7,7.9,348,8517,0.00,2.28,0.00,0.000,260,0.000,0.065,3616,2844,1629,1696,1562,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8750,0.98,166.2,3616,2843,1693,1562,293.6,8.6,355,8755,0.00,2.20,0.00,0.000,1030,0.000,0.047,3616,1899,1627,1693,1562,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9069,0.99,171.4,3616,1900,1693,1562,269.6,6.9,366,9082,0.00,2.22,7.82,1.094,8452,0.000,0.059,3616,2845,1599,1664,1534,0,0,0,0,0,0,28.83,14.64,13.63
$GC,9315,0.99,171.4,3616,2845,1656,1534,249.5,8.3,374,9320,0.00,2.17,0.00,0.000,1030,0.000,0.045,3616,1909,1595,1656,1534,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9635,0.99,171.4,3617,1910,1656,1534,224.3,8.0,395,9641,0.00,2.22,0.00,0.000,260,0.000,0.059,3617,2844,1594,1655,1534,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9871,0.99,171.4,2816,2838,1615,1529,204.2,8.8,410,9876,0.00,2.15,0.00,0.000,1030,0.000,0.045,3617,1918,1594,1654,1534,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10187,0.99,171.4,3617,1919,1655,1534,178.1,8.0,431,10193,0.00,2.22,0.00,0.000,260,0.000,0.060,3617,2849,1594,1654,1534,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10425,0.99,171.4,3616,2849,1653,1534,156.8,9.3,446,10430,0.00,2.12,0.00,0.000,1030,0.000,0.045,3617,1934,1593,1653,1534,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10739,0.99,171.4,3617,1935,1654,1534,127.9,7.8,467,10745,0.00,2.20,0.00,0.000,260,0.000,0.060,3616,2848,1594,1654,1534,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10843,1.00,178.2,2784,2844,1611,1529,121.2,6.7,473,10855,0.00,2.12,6.75,0.917,9222,0.000,0.044,3617,1932,1570,1630,1511,0,0,0,0,0,0,28.83,14.36,13.70
$GC,11152,1.04,198.9,3616,1933,1627,1510,106.9,5.0,494,11177,0.00,2.15,18.23,0.952,8452,0.000,0.058,3616,2848,1484,1538,1431,0,0,0,0,0,0,28.83,14.60,13.78
$GC,11349,1.04,198.9,3617,2848,1530,1431,90.7,9.6,506,11355,0.00,2.08,0.00,0.000,1030,0.000,0.044,3616,1952,1480,1530,1431,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11654,1.07,206.4,3617,1953,1530,1431,64.1,6.6,527,11670,0.00,2.78,6.72,0.844,8708,0.000,0.063,3616,752,1454,1499,1410,0,0,0,0,0,0,28.83,14.53,13.78
$GC,11786,1.13,216.1,2816,751,1463,1406,55.7,6.3,535,11803,0.12,2.60,9.25,0.836,11270,0.132,0.038,3678,1915,1415,1452,1378,0,0,0,0,0,0,14.43,14.48,13.85
$GC,12117,1.13,216.1,3678,1914,1444,1378,29.2,9.1,557,12122,0.00,2.20,0.00,0.000,260,0.000,0.065,3678,2848,1410,1444,1377,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12338,1.11,216.1,2944,2844,1409,1375,6.7,11.1,571,12344,0.15,2.12,0.00,0.000,5126,0.271,0.045,3652,1931,1410,1441,1380,0,0,0,0,0,0,13.96,14.38,28.83
$FREEZE,3.21,25.533,-2.087,0,81,0
$STATE,12546,end climb,NO_VERTICAL_VELOCITY
$STATE,12546,begin surface
$SM_CCo,12552,155.98,0.074,0,0,190,517.58
$SM_GC,3.80,10.27,0.00,0.00,0.047,0.000,0.000,141,1928,189,-9.78,-0.62,517.83,0,0,0,0,0,0,14.57,28.83,28.83
$IRIDIUM_FIX,2451.31,-3734.99,170813,010119
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.10
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3806336
$24V_AH,13.3,206.344
$10V_AH,12.2,0.000
$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,28.175,113.875,268.000,155.975,0.000,0.000,0.000,364.650,0.000,0.000,247.713,2573.198,7458.682,557.698,2716.899,813.188,0.000,1986.083,0.000,2058.173,0.000,0.541,0.000
$DEVICE_MAMPS,371.025,104.040,1552.185,74.205,0.000,0.000,0.000,198.900,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12553.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.106,0.000,0.000,0.000
$MEM,344836
$DATA_FILE_SIZE,20098,585
$CAP_FILE_SIZE,162352,0
$CFSIZE,260034560,181284864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,163.8,1
$GPS,170813,013019,2451.311,-3734.985,241,99.0,241,-14.9