version: 66.11
glider: 160
mission: 9
dive: 5
start: 3 25 113 19 9 23
data:
$ID,160
$MISSION,9
$DIVE,5
$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,-41248.934
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,250313,190250,2431.969,-3759.209,8,2.8,27,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-72.9
$GPS2,250313,190857,2431.991,-3759.215,13,2.5,32,-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,180.1,64817,-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,-146.0,155,1912,1208,1207,0.0,0.0,0,85,0.00,0.00,-62.45,0.000,16386,0.000,0.000,155,1911,2775,2763,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.76,-146.0,156,1911,2763,2788,3.2,-2.8,4,119,14.48,2.97,-6.95,0.000,18692,0.412,0.092,3073,3174,3077,3046,3108,0,0,0,0,0,0,14.71,14.85,15.07
$GC,342,-0.68,-146.0,3073,3175,3046,3109,39.0,-14.6,20,350,0.15,2.80,0.00,0.000,3078,0.252,0.038,3107,1890,3077,3046,3109,0,0,0,0,0,0,14.83,14.96,28.83
$GC,647,-0.68,-146.0,3107,1891,3046,3109,77.4,-11.4,41,652,0.00,2.92,0.00,0.000,516,0.000,0.065,3107,500,3078,3047,3109,0,0,0,0,0,0,28.83,14.98,28.83
$GC,678,-0.68,-146.0,3107,500,3046,3109,81.2,-11.4,43,685,0.00,2.92,0.00,0.000,1030,0.000,0.046,3107,1902,3077,3046,3109,0,0,0,0,0,0,28.83,15.00,28.83
$GC,996,-0.68,-146.0,3107,1899,3046,3110,116.3,-11.3,64,1002,0.00,2.95,0.00,0.000,260,0.000,0.078,3107,3197,3078,3046,3110,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1033,-0.68,-146.0,3107,3197,3046,3110,120.1,-11.6,66,1038,0.00,2.83,0.00,0.000,1030,0.000,0.041,3107,1902,3078,3046,3110,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1345,-0.68,-146.0,3107,1902,3046,3111,157.7,-12.7,87,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1903,3078,3046,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-0.68,-146.0,3107,1903,3046,3111,192.3,-10.7,107,1651,0.00,2.97,0.00,0.000,516,0.000,0.064,3107,493,3078,3046,3110,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1667,-0.68,-146.0,3102,493,3046,3110,194.5,-10.7,108,1673,0.00,2.95,0.00,0.000,1030,0.000,0.049,3107,1907,3078,3046,3111,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1980,-0.72,-146.0,3107,1907,3046,3111,226.9,-10.1,129,1985,0.00,2.92,0.00,0.000,260,0.000,0.079,3107,3193,3078,3046,3111,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2097,-0.79,-146.0,3107,3193,3045,3111,237.9,-10.3,136,2104,0.00,2.83,0.00,0.000,1030,0.000,0.044,3107,1901,3077,3046,3109,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2417,-0.84,-146.0,3107,1902,3046,3111,272.5,-10.6,151,2419,0.15,0.00,0.00,0.000,4102,0.120,0.000,3048,1902,3078,3046,3110,0,0,0,0,0,0,15.10,28.83,28.83
$GC,2718,-0.76,-146.0,3048,1902,3045,3110,314.4,-14.0,161,2724,0.12,3.00,0.00,0.000,2564,0.259,0.073,3081,490,3078,3045,3111,0,0,0,0,0,0,14.98,15.08,28.83
$GC,2816,-0.72,-146.0,3081,490,3044,3111,327.1,-13.8,164,2821,0.00,2.95,0.00,0.000,1030,0.000,0.051,3081,1902,3077,3044,3110,0,0,0,0,0,0,28.83,15.09,28.83
$STATE,3081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3082,begin apogee
$GC,3085,-0.17,0.0,3081,1904,3044,3110,361.7,-12.7,173,3204,0.65,0.00,113.22,1.252,10246,0.200,0.000,3271,1904,2474,2525,2423,0,0,0,0,0,0,15.00,28.83,14.04
$STATE,3206,end apogee,CONTROL_FINISHED_OK
$STATE,3206,begin climb
$GC,3207,0.76,146.0,3271,1904,2521,2419,367.0,0.0,177,3331,0.95,3.17,113.18,1.275,10756,0.121,0.068,3574,493,1875,1944,1806,0,0,0,0,0,0,14.53,14.41,13.92
$GC,3437,0.67,163.3,3574,495,1943,1797,353.2,9.2,184,3458,0.00,3.00,13.43,1.144,9222,0.000,0.046,3574,1902,1808,1885,1731,0,0,0,0,0,0,28.83,14.73,14.18
$GC,3780,0.60,163.3,3574,1902,1876,1725,313.9,10.7,196,3782,0.20,0.00,0.00,0.000,4102,0.237,0.000,3526,1902,1799,1875,1724,0,0,0,0,0,0,14.83,28.83,28.83
$GC,4080,0.69,208.3,3526,1903,1875,1723,289.1,7.9,206,4124,0.00,3.12,35.38,1.149,8708,0.000,0.069,3526,494,1620,1688,1553,0,0,0,0,0,0,28.83,14.78,14.32
$GC,4175,0.80,248.4,2720,494,1655,1545,281.6,8.2,209,4216,0.20,2.97,32.53,1.180,11270,0.099,0.046,3601,1906,1462,1521,1403,0,0,0,0,0,0,14.88,14.85,14.21
$GC,4518,0.74,248.4,3601,1906,1493,1401,233.4,14.4,224,4524,0.12,2.95,0.00,0.000,4356,0.238,0.070,3569,3196,1450,1499,1401,0,0,0,0,0,0,14.83,14.91,28.83
$GC,4537,0.68,248.4,3569,3197,1497,1402,230.7,14.4,225,4542,0.00,2.88,0.00,0.000,1030,0.000,0.044,3572,1898,1449,1497,1402,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4854,0.68,248.4,3573,1899,1493,1401,191.2,11.9,246,4860,0.00,3.00,0.00,0.000,516,0.000,0.071,3573,489,1447,1493,1402,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4896,0.68,248.4,3572,489,1492,1396,187.2,12.0,248,4903,0.00,2.95,0.00,0.000,1030,0.000,0.044,3573,1904,1447,1491,1403,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5202,0.68,248.4,3573,1904,1491,1402,150.3,12.0,269,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1904,1446,1491,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,0.68,248.4,3573,1904,1489,1402,113.3,12.4,289,5508,0.00,3.05,0.00,0.000,516,0.000,0.067,3573,487,1445,1489,1402,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5604,0.68,248.4,3573,487,1488,1402,102.0,12.0,295,5611,0.00,2.95,0.00,0.000,1030,0.000,0.044,3573,1909,1445,1488,1402,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5909,0.68,248.4,3573,1909,1488,1401,64.7,11.7,316,5915,0.00,2.92,0.00,0.000,260,0.000,0.070,3573,3193,1444,1487,1402,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5946,0.68,248.4,3573,3193,1486,1403,60.4,12.6,318,5952,0.12,2.83,0.00,0.000,5126,0.262,0.041,3547,1894,1445,1487,1404,0,0,0,0,0,0,14.92,15.03,28.83
$GC,6260,0.76,248.4,3547,1895,1487,1403,26.4,11.0,339,6265,0.00,2.95,0.00,0.000,516,0.000,0.067,3547,498,1444,1486,1403,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6337,0.86,248.4,3547,498,1487,1403,18.2,10.7,344,6343,0.20,2.90,0.00,0.000,3078,0.096,0.043,3617,1900,1444,1486,1403,0,0,0,0,0,0,15.03,15.02,28.83
$STATE,6444,end climb,SURFACE_DEPTH_REACHED
$STATE,6444,begin surface coast
$FINISH,1.5,1.007018
$STATE,6460,end surface coast,CONTROL_FINISHED_OK
$STATE,6460,begin surface
$SM_CCo,6479,21.77,0.081,0,0,1255,300.00
$SM_GC,2.59,10.25,0.00,21.77,0.081,0.000,0.081,149,1905,1255,-9.89,0.11,300.00,0,0,0,0,0,0,15.00,28.83,15.00
$IRIDIUM_FIX,2425.21,-3758.52,250313,171745
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.73
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,4018112
$TM_FREEKB,7871820
$24V_AH,13.9,5.866
$10V_AH,13.6,0.000
$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,27.600,76.675,307.725,21.775,0.000,0.000,0.000,212.000,0.000,0.000,35.776,1164.515,4077.047,389.307,1187.449,62.301,0.000,1121.413,0.000,861.892,0.000,0.542,0.000
$DEVICE_MAMPS,412.335,91.800,1275.255,81.090,0.000,0.000,0.000,229.500,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6447.000,3406.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.505,12.976,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,13430,352
$CAP_FILE_SIZE,89774,0
$CFSIZE,260034560,250400768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,274.3,1
$GPS,250313,205906,2431.180,-3759.506,41,1.2,41,-15.1