version: 66.11
glider: 160
mission: 9
dive: 9
start: 3 26 113 8 23 33
data:
$ID,160
$MISSION,9
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,400
$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,-41254.145
$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,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,30
$C_ROLL_DIVE,1930
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$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,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260313,081550,2425.850,-3759.288,40,2.7,59,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.23
$_SM_ANGLEo,-73.5
$GPS2,260313,082306,2425.850,-3759.332,12,1.2,29,-15.1
$SPEED_LIMITS,0.159,0.252
$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,188.6,53442,-16.1,-9.167,-19.98,2424
$D_GRID,990
$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,-0.85,-146.0,148,1937,1105,1058,0.0,0.0,0,41,0.00,0.00,-17.77,0.000,16386,0.000,0.000,148,1938,1459,1444,1474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.85,-146.0,148,1938,1444,1474,3.2,0.0,1,140,13.45,2.42,-73.88,0.000,18692,0.373,0.091,3049,2977,3075,3055,3095,0,0,0,0,0,0,14.60,14.74,14.94
$GC,367,-0.74,-146.0,3049,2977,3051,3100,29.6,-16.3,22,374,0.17,2.30,0.00,0.000,3078,0.252,0.037,3090,1919,3075,3051,3100,0,0,0,0,0,0,14.73,14.84,28.83
$GC,673,-0.68,-146.0,3090,1920,3051,3100,73.3,-13.9,43,678,0.00,2.42,0.00,0.000,260,0.000,0.066,3090,2986,3076,3052,3101,0,0,0,0,0,0,28.83,14.86,28.83
$GC,709,-0.63,-146.0,2128,2983,3018,3096,78.1,-14.3,45,715,0.12,2.28,0.00,0.000,3078,0.254,0.035,3120,1929,3076,3051,3101,0,0,0,0,0,0,14.80,14.91,28.83
$GC,1021,-0.63,-146.0,3119,1930,3051,3101,112.4,-10.7,66,1027,0.00,2.15,0.00,0.000,516,0.000,0.053,3120,881,3076,3051,3102,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1072,-0.63,-146.0,2176,881,3018,3096,117.7,-11.0,69,1078,0.00,2.17,0.00,0.000,1030,0.000,0.044,3120,1928,3076,3051,3102,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1385,-0.63,-146.0,3120,1929,3051,3102,154.6,-11.9,90,1391,0.00,2.35,0.00,0.000,260,0.000,0.068,3120,2982,3077,3052,3102,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1457,-0.63,-146.0,3120,2983,3047,3102,161.9,-11.3,94,1463,0.00,2.28,0.00,0.000,1030,0.000,0.036,3120,1921,3076,3051,3102,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1763,-0.63,-146.0,3120,1922,3051,3103,193.9,-9.2,115,1768,0.00,2.15,0.00,0.000,516,0.000,0.055,3120,881,3076,3051,3102,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1840,-0.63,-146.0,3120,881,3051,3102,201.5,-9.9,120,1845,0.00,2.17,0.00,0.000,1030,0.000,0.045,3120,1931,3074,3051,3097,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2158,-0.63,-146.0,3120,1932,3051,3103,230.4,-9.0,141,2163,0.00,2.20,0.00,0.000,516,0.000,0.054,3120,883,3076,3051,3102,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2199,-0.63,-146.0,3120,883,3051,3098,233.4,-9.2,143,2206,0.00,2.17,0.00,0.000,1030,0.000,0.045,3120,1933,3076,3051,3102,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2520,-0.63,-146.0,3120,1933,3051,3102,261.3,-8.4,161,2525,0.00,2.33,0.00,0.000,260,0.000,0.067,3120,2981,3077,3052,3102,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2562,-0.67,-146.0,3120,2980,3051,3102,264.0,-8.4,162,2567,0.00,2.25,0.00,0.000,1030,0.000,0.036,3120,1927,3076,3051,3102,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2885,-0.70,-146.0,3120,1928,3050,3102,293.9,-9.3,173,2890,0.00,2.15,0.00,0.000,516,0.000,0.055,3120,882,3076,3050,3103,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2927,-0.73,-146.0,3120,881,3049,3102,297.5,-9.6,174,2932,0.00,2.17,0.00,0.000,1030,0.000,0.045,3120,1933,3076,3049,3103,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3250,-0.76,-146.0,3120,1934,3048,3102,333.2,-11.1,185,3256,0.12,2.33,0.00,0.000,4356,0.137,0.066,3061,2985,3075,3048,3102,0,0,0,0,0,0,15.05,15.02,28.83
$GC,3306,-0.76,-146.0,3061,2985,3048,3102,337.7,-11.6,186,3313,0.00,2.25,0.00,0.000,1030,0.000,0.037,3061,1927,3074,3047,3102,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3614,-0.71,-146.0,3061,1928,3047,3102,384.9,-14.4,197,3620,0.12,2.15,0.00,0.000,2564,0.273,0.053,3094,884,3074,3046,3102,0,0,0,0,0,0,14.95,15.05,28.83
$GC,3650,-0.66,-146.0,2144,883,3011,3097,389.7,-14.2,198,3656,0.00,2.17,0.00,0.000,1030,0.000,0.046,3094,1930,3074,3046,3102,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3979,-0.66,-146.0,3094,1930,3046,3101,428.1,-11.2,209,3984,0.00,2.33,0.00,0.000,260,0.000,0.070,3094,2981,3073,3046,3101,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4114,-0.66,-146.0,3094,2988,3045,3101,441.0,-10.5,213,4120,0.00,2.25,0.00,0.000,1030,0.000,0.038,3094,1927,3073,3045,3101,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4432,-0.66,-146.0,3094,1928,3044,3100,475.5,-10.7,224,4437,0.00,2.15,0.00,0.000,516,0.000,0.056,3094,882,3072,3044,3100,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4494,-0.66,-146.0,3094,882,3044,3100,482.5,-11.0,226,4499,0.00,2.17,0.00,0.000,1030,0.000,0.047,3094,1933,3071,3044,3099,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4826,-0.66,-146.0,3094,1935,3044,3098,516.9,-10.1,237,4831,0.00,2.33,0.00,0.000,260,0.000,0.070,3094,2984,3071,3044,3098,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4877,-0.66,-146.0,3094,2984,3043,3098,520.1,-10.0,238,4883,0.00,2.25,0.00,0.000,1030,0.000,0.038,3094,1931,3070,3043,3098,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5190,-0.66,-146.0,3094,1932,3042,3097,551.6,-9.5,249,5195,0.00,2.17,0.00,0.000,516,0.000,0.059,3094,879,3069,3042,3097,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5253,-0.66,-146.0,3094,878,3042,3097,557.9,-9.8,251,5258,0.00,2.17,0.00,0.000,1030,0.000,0.047,3094,1929,3069,3042,3097,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5586,-0.66,-146.0,3094,1932,3041,3094,590.4,-9.7,262,5591,0.00,2.33,0.00,0.000,260,0.000,0.071,3094,2980,3067,3040,3095,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5657,-0.66,-146.0,3094,2980,3039,3095,596.2,-9.3,264,5662,0.00,2.25,0.00,0.000,1030,0.000,0.038,3094,1926,3067,3039,3095,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5980,-0.66,-146.0,3094,1927,3039,3094,626.3,-9.1,275,5985,0.00,2.15,0.00,0.000,516,0.000,0.056,3094,882,3065,3038,3093,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6046,-0.66,-146.0,2152,881,3005,3089,632.4,-9.4,277,6051,0.00,2.17,0.00,0.000,1030,0.000,0.047,3094,1930,3066,3038,3094,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6374,-0.66,-146.0,3094,1930,3038,3092,663.2,-9.3,288,6379,0.00,2.33,0.00,0.000,260,0.000,0.072,3094,2980,3065,3038,3092,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6425,-0.66,-146.0,3094,2981,3037,3092,666.2,-9.3,289,6430,0.00,2.25,0.00,0.000,1030,0.000,0.040,3094,1929,3064,3037,3092,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6738,-0.66,-146.0,3094,1930,3037,3091,693.5,-8.1,300,6743,0.00,2.17,0.00,0.000,516,0.000,0.060,3094,879,3064,3037,3091,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6885,-0.66,-146.0,3094,879,3037,3090,704.4,-8.8,304,6892,0.00,2.17,0.00,0.000,1030,0.000,0.048,3094,1929,3063,3037,3090,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7191,-0.69,-146.0,3094,1929,3036,3090,734.5,-9.2,315,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1929,3063,3036,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7491,-0.73,-146.0,3094,1929,3035,3089,761.1,-8.5,325,7497,0.00,2.35,0.00,0.000,260,0.000,0.074,3094,2985,3062,3035,3089,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7539,-0.77,-146.0,3094,2984,3034,3089,763.9,-8.5,326,7545,0.00,2.28,0.00,0.000,1030,0.000,0.042,3094,1925,3061,3034,3089,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7858,-0.81,-146.0,3094,1926,3033,3087,791.4,-8.3,337,7863,0.00,2.17,0.00,0.000,516,0.000,0.060,3094,878,3060,3034,3087,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7954,-0.85,-146.0,2128,877,2997,3082,799.3,-8.4,340,7960,0.12,2.20,0.00,0.000,5126,0.132,0.050,3048,1932,3060,3033,3087,0,0,0,0,0,0,15.07,15.07,28.83
$GC,8283,-0.85,-146.0,3048,1932,3031,3085,832.9,-10.0,351,8288,0.00,2.35,0.00,0.000,260,0.000,0.074,3048,2986,3058,3031,3085,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8435,-0.85,-146.0,3047,2986,3030,3086,848.2,-10.0,356,8440,0.00,2.28,0.00,0.000,1030,0.000,0.042,3048,1929,3057,3030,3085,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8768,-0.85,-146.0,3048,1930,3030,3085,881.9,-10.6,367,8773,0.00,2.17,0.00,0.000,516,0.000,0.064,3049,882,3057,3029,3085,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8899,-0.85,-146.0,3047,882,3029,3084,896.2,-11.7,371,8904,0.00,2.20,0.00,0.000,1030,0.000,0.052,3048,1932,3056,3028,3084,0,0,0,0,0,0,28.83,15.05,28.83
$GC,9222,-0.85,-146.0,3048,1933,3028,3082,936.3,-12.9,382,9227,0.00,2.35,0.00,0.000,260,0.000,0.077,3048,2981,3055,3028,3082,0,0,0,0,0,0,28.83,15.03,28.83
$GC,9363,-0.85,-146.0,3048,2981,3027,3082,952.1,-12.9,386,9368,0.00,2.28,0.00,0.000,1030,0.000,0.044,3048,1928,3052,3027,3078,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,9673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9674,begin apogee
$GC,9678,-0.21,0.0,3048,1791,3026,3081,993.4,-12.4,397,9827,0.73,0.00,140.30,2.057,10246,0.210,0.000,3256,1790,2471,2522,2421,0,0,0,0,0,0,14.94,28.83,13.43
$STATE,9828,end apogee,CONTROL_FINISHED_OK
$STATE,9829,begin climb
$GC,9830,0.85,146.0,3256,1790,2519,2421,999.0,0.0,402,9985,1.15,2.58,146.65,2.057,10500,0.115,0.069,3603,2848,1875,1920,1830,0,0,0,0,0,0,14.15,14.06,13.38
$GC,9992,0.70,267.2,3603,2846,1917,1828,994.1,4.0,407,10123,0.20,2.40,119.62,2.011,13318,0.298,0.046,3564,1817,1383,1410,1356,0,0,0,0,0,0,14.04,14.17,13.37
$GC,10430,0.63,267.2,3564,1817,1394,1349,928.6,15.4,422,10436,0.12,2.35,0.00,0.000,4612,0.273,0.067,3531,739,1371,1393,1349,0,0,0,0,0,0,14.62,14.68,28.83
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$STATE,18431,end climb,SURFACE_DEPTH_REACHED
$STATE,18432,begin surface coast
$FINISH,2.4,1.025339
$STATE,18463,end surface coast,CONTROL_FINISHED_OK
$STATE,18463,begin surface
$SM_CCo,18482,13.90,0.086,0,0,1256,300.00
$SM_GC,3.32,9.98,0.30,13.90,0.073,0.080,0.086,144,1935,1256,-9.90,-0.85,300.00,0,0,0,0,0,0,14.94,14.97,14.93
$IRIDIUM_FIX,2420.48,-3757.07,260313,030316
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.21
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,4016576
$TM_FREEKB,7845464
$24V_AH,13.4,7.062
$10V_AH,13.3,0.000
$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,26.300,190.600,406.575,13.900,0.000,0.000,0.000,248.925,0.000,0.000,31.587,2774.329,12934.921,652.765,2438.170,129.783,0.000,2036.428,0.000,2020.361,0.000,0.539,0.000
$DEVICE_MAMPS,373.320,91.035,2057.085,86.445,0.000,0.000,0.000,236.385,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18460.000,4730.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.949,12.919,0.000,0.000
$MEM,345564
$DATA_FILE_SIZE,26755,764
$CAP_FILE_SIZE,204706,0
$CFSIZE,260034560,249905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,320.9,1
$GPS,260313,133326,2423.696,-3759.359,35,3.1,54,-15.1