version: 66.11
glider: 160
mission: 9
dive: 4
start: 3 25 113 17 21 51
data:
$ID,160
$MISSION,9
$DIVE,4
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,-41247.684
$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,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250313,171806,2432.833,-3759.061,11,1.6,11,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.0
$GPS2,250313,172125,2432.842,-3759.063,15,1.6,15,-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,179.4,66398,-17.5,-10.000,-21.06,2227
$D_GRID,360
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.76,-146.0,143,1900,202,240,0.0,0.0,0,139,0.00,0.00,-112.32,0.000,16390,0.000,0.000,143,1901,3075,3014,3136,0,0,0,0,0,0,28.83,28.83,15.16
$GC,142,-0.76,-146.0,143,1901,3014,3137,2.7,-2.4,7,164,14.60,2.95,0.00,0.000,2308,0.415,0.064,3060,3197,3076,3019,3134,0,0,0,0,0,0,14.73,14.92,28.83
$GC,272,-0.63,-146.0,3060,3197,3022,3131,31.7,-16.5,16,278,0.25,2.85,0.00,0.000,3078,0.238,0.038,3123,1886,3076,3024,3129,0,0,0,0,0,0,14.82,14.97,28.83
$GC,591,-0.57,-146.0,3123,1886,3027,3125,73.9,-14.8,37,596,0.00,2.90,0.00,0.000,516,0.000,0.061,3123,499,3075,3026,3125,0,0,0,0,0,0,28.83,14.98,28.83
$GC,687,-0.57,-146.0,3123,499,3027,3124,86.5,-13.2,43,693,0.00,2.90,0.00,0.000,1030,0.000,0.046,3123,1898,3075,3026,3124,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1001,-0.62,-146.0,3123,1899,3027,3124,122.6,-11.1,64,1006,0.00,2.95,0.00,0.000,260,0.000,0.078,3129,3192,3075,3027,3124,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1108,-0.69,-146.0,3123,3192,3027,3124,134.6,-11.1,71,1114,0.00,2.80,0.00,0.000,1030,0.000,0.039,3123,1899,3075,3027,3124,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1426,-0.74,-146.0,3123,1900,3027,3123,169.2,-11.0,92,1431,0.00,2.92,0.00,0.000,516,0.000,0.063,3123,500,3075,3027,3123,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1488,-0.79,-146.0,3123,499,3027,3123,176.6,-11.8,96,1494,0.15,2.90,0.00,0.000,5126,0.117,0.046,3063,1900,3075,3027,3123,0,0,0,0,0,0,15.06,15.04,28.83
$GC,1807,-0.72,-146.0,3064,1901,3027,3123,217.5,-12.3,117,1813,0.12,2.92,0.00,0.000,2308,0.269,0.076,3091,3191,3073,3027,3120,0,0,0,0,0,0,14.94,15.02,28.83
$GC,1939,-0.72,-146.0,3091,3191,3027,3123,231.4,-10.8,125,1945,0.00,2.80,0.00,0.000,1030,0.000,0.041,3091,1900,3074,3027,3122,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2260,-0.72,-146.0,3091,1901,3026,3122,267.0,-11.0,142,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1901,3074,3027,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.72,-146.0,3090,1902,3027,3121,299.7,-10.6,152,2565,0.00,2.92,0.00,0.000,516,0.000,0.064,3091,501,3074,3027,3121,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2601,-0.72,-146.0,3090,500,3027,3121,303.4,-10.7,153,2606,0.00,2.92,0.00,0.000,1030,0.000,0.049,3090,1901,3073,3027,3120,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2924,-0.72,-146.0,3091,1902,3027,3119,339.1,-10.8,164,2930,0.00,2.92,0.00,0.000,260,0.000,0.080,3091,3191,3073,3027,3119,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3006,-0.72,-146.0,3091,3191,3027,3113,346.1,-10.9,166,3012,0.00,2.83,0.00,0.000,1030,0.000,0.047,3090,1899,3074,3030,3118,0,0,0,0,0,0,28.83,15.10,28.83
$STATE,3137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3137,begin apogee
$GC,3141,-0.17,0.0,3091,1900,3027,3118,363.4,-11.5,171,3254,0.60,0.00,108.45,1.291,10246,0.202,0.000,3264,1900,2476,2535,2418,0,0,0,0,0,0,15.00,28.83,14.05
$STATE,3256,end apogee,CONTROL_FINISHED_OK
$STATE,3256,begin climb
$GC,3257,0.76,146.0,3264,1900,2534,2414,367.8,0.0,174,3381,0.98,3.10,113.10,1.291,10500,0.120,0.073,3574,3192,1874,1954,1795,0,0,0,0,0,0,14.54,14.42,13.95
$GC,3393,0.96,306.0,3574,3192,1944,1794,366.0,2.6,179,3524,0.20,2.95,121.72,1.258,11270,0.115,0.044,3639,1896,1227,1255,1200,0,0,0,0,0,0,14.52,14.54,13.93
$GC,3836,0.86,306.0,3639,1896,1241,1188,306.0,13.9,194,3842,0.12,3.00,0.00,0.000,4612,0.267,0.067,3608,490,1214,1241,1188,0,0,0,0,0,0,14.81,14.90,28.83
$GC,3903,0.78,306.0,3608,490,1240,1188,297.6,13.6,196,3909,0.00,2.95,0.00,0.000,1030,0.000,0.046,3608,1900,1213,1240,1187,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4232,0.78,306.0,3608,1900,1240,1185,249.3,15.7,207,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1900,1212,1240,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4534,0.78,306.0,3608,1900,1239,1184,198.6,17.7,227,4540,0.00,2.92,0.00,0.000,260,0.000,0.076,3608,3191,1212,1240,1184,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4555,0.74,306.0,2880,3194,1223,1182,194.9,17.9,228,4561,0.15,2.85,0.00,0.000,5126,0.257,0.043,3573,1890,1212,1241,1184,0,0,0,0,0,0,14.94,15.04,28.83
$GC,4869,0.78,306.0,3573,1890,1237,1184,147.7,13.4,249,4874,0.00,2.92,0.00,0.000,516,0.000,0.067,3573,499,1211,1239,1184,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4935,0.84,306.0,2816,499,1222,1182,139.6,12.8,253,4940,0.00,2.90,0.00,0.000,1030,0.000,0.043,3573,1903,1211,1239,1184,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5248,0.89,306.0,3573,1903,1239,1183,99.5,13.4,274,5254,0.12,3.00,0.00,0.000,2564,0.136,0.061,3619,491,1211,1239,1183,0,0,0,0,0,0,15.03,15.03,28.83
$GC,5305,0.89,306.0,3618,490,1239,1182,91.6,15.5,277,5312,0.00,2.92,0.00,0.000,1030,0.000,0.044,3619,1904,1210,1238,1183,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5612,0.84,306.0,3618,1904,1245,1182,41.5,15.6,298,5618,0.00,3.00,0.00,0.000,516,0.000,0.064,3619,499,1210,1238,1183,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5640,0.80,306.0,3619,495,1239,1183,38.5,16.1,299,5647,0.12,2.90,0.00,0.000,5126,0.233,0.043,3590,1905,1212,1238,1187,0,0,0,0,0,0,14.95,15.04,28.83
$STATE,5898,end climb,SURFACE_DEPTH_REACHED
$STATE,5899,begin surface coast
$FINISH,1.4,1.025726
$STATE,5915,end surface coast,CONTROL_FINISHED_OK
$STATE,5915,begin surface
$SM_CCo,5992,0.00,0.000,0,0,1208,311.78
$SM_GC,2.10,10.05,0.00,0.00,0.074,0.000,0.000,156,1906,1208,-9.88,0.20,311.78,0,0,0,0,0,0,15.02,28.83,28.83
$IRIDIUM_FIX,2422.84,-3758.52,250313,171704
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.12
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,23.00
$XPDR_PINGS,17
$SC_FREEKB,4018496
$TM_FREEKB,7877048
$24V_AH,13.9,5.692
$10V_AH,13.5,0.000
$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,27.475,75.925,343.275,0.000,0.000,0.000,0.000,0.000,4.250,0.000,17.725,1042.441,3711.708,419.159,857.540,39.885,0.000,922.116,0.000,804.743,0.000,0.542,0.000
$DEVICE_MAMPS,415.395,80.325,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5897.000,3045.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.484,13.025,0.000,0.000
$MEM,345592
$DATA_FILE_SIZE,10143,318
$CAP_FILE_SIZE,94392,0
$CFSIZE,260034560,250466304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,271.9,1
$GPS,250313,190250,2431.969,-3759.209,8,2.8,27,-15.1