version: 66.11
glider: 160
mission: 9
dive: 437
start: 7 21 113 2 51 6
data:
$ID,160
$MISSION,9
$DIVE,437
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,850
$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,390
$T_MISSION,410
$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,110
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-41934.676
$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,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,47
$R_STBD_OVSHOOT,45
$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,2479
$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,3
$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
$GPS1,210713,023800,2433.284,-3801.579,7,1.1,7,-15.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.32
$_SM_ANGLEo,-69.8
$GPS2,210713,025037,2433.287,-3801.637,11,1.2,11,-15.1
$SPEED_LIMITS,0.118,0.198
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$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,318.5,36692,-14.4,-6.838,-19.01,2374
$D_GRID,800
$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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,36,-0.83,-107.1,121,1973,217,165,0.0,0.0,0,50,0.00,0.00,-11.62,0.000,16386,0.000,0.000,121,1974,451,456,446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.83,-107.1,121,1974,463,446,4.0,0.0,1,193,13.45,2.40,-112.80,0.000,18692,0.337,0.083,3024,2986,2915,2913,2918,0,0,0,0,0,0,14.16,14.49,14.83
$GC,359,-0.75,-107.1,3024,2987,2914,2919,26.4,-12.8,20,366,0.00,2.25,0.00,0.000,1030,0.000,0.034,3024,1966,2915,2913,2918,0,0,0,0,0,0,28.83,14.54,28.83
$GC,665,-0.68,-107.1,3025,1965,2914,2918,63.4,-10.5,41,671,0.15,2.35,0.00,0.000,2564,0.234,0.051,3066,901,2916,2913,2919,0,0,0,0,0,0,14.14,14.39,28.83
$GC,803,-0.64,-107.1,3066,902,2913,2918,75.5,-9.6,49,811,0.00,2.25,0.00,0.000,1030,0.000,0.043,3066,1927,2915,2913,2918,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1109,-0.61,-107.1,3066,1927,2913,2917,106.0,-10.2,70,1115,0.12,2.30,0.00,0.000,2564,0.251,0.050,3100,900,2915,2913,2917,0,0,0,0,0,0,14.26,14.54,28.83
$GC,1193,-0.61,-107.1,3100,901,2913,2917,113.6,-9.5,75,1198,0.00,2.22,0.00,0.000,1030,0.000,0.041,3100,1919,2915,2913,2917,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1508,-0.64,-107.1,3100,1919,2913,2917,140.1,-8.2,96,1513,0.00,2.30,0.00,0.000,516,0.000,0.053,3099,894,2915,2913,2917,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1573,-0.64,-107.1,3100,894,2914,2916,145.4,-8.2,100,1578,0.00,2.25,0.00,0.000,1030,0.000,0.040,3099,1918,2914,2913,2916,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1892,-0.68,-107.1,3100,1916,2913,2916,171.5,-8.2,121,1897,0.00,2.28,0.00,0.000,516,0.000,0.053,3100,900,2914,2913,2916,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1973,-0.68,-107.1,3100,900,2913,2915,177.7,-8.2,126,1978,0.00,2.20,0.00,0.000,1030,0.000,0.040,3100,1901,2914,2913,2916,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2294,-0.72,-107.1,3100,1901,2913,2915,200.4,-7.2,147,2300,0.12,2.25,0.00,0.000,4612,0.116,0.051,3035,899,2914,2913,2915,0,0,0,0,0,0,14.52,14.54,28.83
$GC,2329,-0.72,-107.1,3035,898,2913,2914,203.3,-7.5,149,2334,0.00,2.17,0.00,0.000,1030,0.000,0.041,3035,1889,2913,2913,2914,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2650,-0.68,-107.1,3032,1889,2913,2913,233.9,-9.7,170,2656,0.12,2.53,0.00,0.000,2308,0.248,0.062,3068,3000,2913,2913,2913,0,0,0,0,0,0,14.24,14.53,28.83
$GC,2695,-0.65,-107.1,3067,3000,2913,2913,236.9,-8.5,172,2702,0.00,2.45,0.00,0.000,1030,0.000,0.033,3068,1881,2913,2913,2913,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3001,-0.65,-107.1,3068,1882,2913,2912,262.9,-7.9,188,3006,0.00,2.17,0.00,0.000,516,0.000,0.056,3069,899,2912,2913,2912,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3136,-0.65,-107.1,3067,898,2913,2911,272.9,-8.0,192,3141,0.00,2.15,0.00,0.000,1030,0.000,0.039,3068,1883,2911,2913,2910,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3465,-0.65,-107.1,3068,1883,2913,2909,299.7,-8.1,203,3470,0.00,2.22,0.00,0.000,516,0.000,0.054,3068,894,2910,2913,2908,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3508,-0.65,-107.1,3069,895,2913,2909,302.8,-8.1,204,3513,0.00,2.15,0.00,0.000,1030,0.000,0.039,3068,1877,2910,2912,2908,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3836,-0.65,-107.1,3069,1877,2911,2905,332.6,-8.9,215,3841,0.00,2.55,0.00,0.000,260,0.000,0.061,3068,3001,2909,2911,2907,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3859,-0.65,-107.1,3069,3001,2911,2907,332.6,-8.9,215,3864,0.00,2.50,0.00,0.000,1030,0.000,0.031,3068,1862,2908,2910,2907,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4173,-0.65,-107.1,3068,1863,2910,2906,359.1,-7.3,226,4178,0.00,2.12,0.00,0.000,516,0.000,0.055,3069,900,2908,2910,2906,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4319,-0.65,-107.1,3069,900,2909,2906,367.5,-6.8,230,4325,0.00,2.10,0.00,0.000,1030,0.000,0.039,3068,1862,2907,2909,2906,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4637,-0.65,-107.1,3068,1861,2909,2912,388.6,-6.2,241,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1861,2907,2909,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.65,-107.1,3069,1861,2909,2903,409.7,-7.4,251,4939,0.00,2.15,0.00,0.000,516,0.000,0.052,3068,900,2906,2909,2903,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5012,-0.65,-107.1,3068,901,2909,2903,414.9,-7.7,253,5018,0.00,2.08,0.00,0.000,1030,0.000,0.038,3068,1854,2905,2908,2903,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5336,-0.65,-107.1,3069,1854,2908,2901,441.2,-8.1,264,5342,0.00,2.62,0.00,0.000,260,0.000,0.063,3068,3005,2904,2908,2901,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5381,-0.65,-107.1,3068,3004,2908,2901,444.4,-8.1,265,5386,0.00,2.55,0.00,0.000,1030,0.000,0.033,3068,1841,2904,2908,2901,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5709,-0.65,-107.1,3069,1842,2908,2900,470.5,-7.6,276,5714,0.00,2.08,0.00,0.000,516,0.000,0.053,3068,898,2904,2908,2900,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5829,-0.65,-107.1,3068,901,2907,2901,478.4,-7.9,279,5836,0.00,2.08,0.00,0.000,1030,0.000,0.038,3068,1851,2903,2907,2900,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6135,-0.65,-107.1,3068,1851,2906,2898,505.8,-8.6,290,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1851,2902,2906,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6433,-0.68,-107.1,3069,1851,2906,2897,533.3,-9.1,300,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1851,2901,2906,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6735,-0.71,-107.1,3069,1851,2905,2903,559.4,-8.5,310,6740,0.00,2.15,0.00,0.000,516,0.000,0.051,3068,897,2900,2905,2895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6800,-0.74,-107.1,3069,898,2905,2896,564.9,-8.5,312,6805,0.00,2.08,0.00,0.000,1030,0.000,0.037,3069,1845,2898,2905,2891,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7138,-0.77,-107.1,3068,1845,2904,2894,590.8,-7.4,323,7144,0.00,2.12,0.00,0.000,516,0.000,0.051,3068,900,2899,2904,2894,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7173,-0.80,-107.1,3064,900,2904,2894,593.6,-7.4,324,7178,0.00,2.05,0.00,0.000,1030,0.000,0.037,3068,1837,2899,2904,2894,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7511,-0.84,-107.1,3069,1836,2903,2892,620.0,-8.4,335,7517,0.12,2.67,0.00,0.000,4356,0.120,0.062,3014,2996,2897,2903,2892,0,0,0,0,0,0,14.54,14.47,28.83
$GC,7540,-0.88,-107.1,3013,3000,2902,2891,620.0,-8.4,335,7548,0.00,2.60,0.00,0.000,1030,0.000,0.034,3015,1820,2896,2902,2891,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7849,-0.84,-107.1,3014,1822,2901,2891,656.9,-11.4,346,7854,0.00,2.05,0.00,0.000,516,0.000,0.053,3014,900,2895,2900,2891,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7899,-0.80,-107.1,3014,900,2900,2887,661.2,-11.5,347,7904,0.00,2.03,0.00,0.000,1030,0.000,0.039,3014,1825,2895,2900,2891,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8222,-0.75,-107.1,3014,1825,2900,2890,696.8,-9.8,358,8228,0.12,2.70,0.00,0.000,2308,0.265,0.063,3046,2998,2894,2899,2890,0,0,0,0,0,0,14.19,14.45,28.83
$GC,8252,-0.71,-107.1,3046,2998,2899,2890,696.8,-9.8,358,8259,0.00,2.62,0.00,0.000,1030,0.000,0.034,3046,1813,2894,2899,2890,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8558,-0.71,-107.1,3046,1814,2899,2888,722.5,-7.0,369,8563,0.00,2.05,0.00,0.000,516,0.000,0.055,3046,899,2893,2899,2888,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8653,-0.70,-107.1,3046,899,2899,2893,729.2,-7.1,372,8659,0.00,2.03,0.00,0.000,1030,0.000,0.039,3046,1817,2893,2898,2888,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8990,-0.70,-107.1,3046,1816,2898,2886,750.4,-6.4,383,8996,0.00,2.75,0.00,0.000,260,0.000,0.065,3046,3003,2891,2898,2884,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9020,-0.70,-107.1,3046,3002,2897,2886,750.4,-6.4,383,9027,0.00,2.65,0.00,0.000,1030,0.000,0.035,3046,1809,2891,2897,2886,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9325,-0.70,-107.1,3046,1810,2897,2884,774.8,-7.8,394,9330,0.00,2.05,0.00,0.000,516,0.000,0.055,3046,900,2890,2897,2884,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9432,-0.68,-107.1,3045,900,2896,2884,783.2,-8.6,397,9437,0.00,2.00,0.00,0.000,1030,0.000,0.039,3046,1809,2890,2896,2884,0,0,0,0,0,0,28.83,14.53,28.83
$STATE,9602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9603,begin apogee
$GC,9610,-0.25,0.0,3046,1809,2896,2883,800.9,-9.6,403,9709,0.57,0.00,91.65,1.918,10244,0.187,0.000,3205,1809,2476,2538,2415,0,0,0,0,0,0,14.00,28.83,13.12
$STATE,9713,end apogee,CONTROL_FINISHED_OK
$STATE,9713,begin climb
$GC,9717,0.83,107.1,3205,1808,2533,2414,805.4,0.0,406,9827,1.17,2.50,95.93,1.971,10756,0.114,0.056,3563,747,2040,2110,1971,0,0,0,0,0,0,14.22,14.28,13.16
$GC,10057,0.87,256.1,3563,748,2100,1964,816.0,0.4,417,10198,0.00,2.33,128.65,1.945,9222,0.000,0.037,3563,1802,1436,1500,1373,0,0,0,0,0,0,28.83,14.56,13.19
$GC,10519,0.79,256.1,3563,1802,1466,1373,784.9,8.5,433,10524,0.00,2.45,0.00,0.000,516,0.000,0.060,3564,742,1420,1466,1374,0,0,0,0,0,0,28.83,14.53,28.83
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$FREEZE,5.10,25.191,-1.716,0,1,0
$STATE,20450,end climb,NO_VERTICAL_VELOCITY
$STATE,20451,begin surface
$SM_CCo,20458,96.32,0.078,0,0,189,561.49
$SM_GC,6.34,9.90,0.45,0.00,0.046,0.046,0.000,140,1974,188,-9.78,-0.79,561.74,0,0,0,0,0,0,14.62,14.57,28.83
$IRIDIUM_FIX,2422.84,-3803.71,210713,020221
$TT8_MAMPS,0.023968,0.023968
$HUMID,82.84
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3852832
$TM_FREEKB,4535960
$24V_AH,13.1,171.933
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,26.300,215.825,441.275,96.325,0.000,0.000,0.000,0.000,0.000,0.000,14.625,2961.006,12207.354,730.868,4474.045,594.332,0.000,2055.378,0.000,2216.819,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20422.000,2.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.576,9.810,0.000,0.000
$MEM,345484
$DATA_FILE_SIZE,30026,786
$CAP_FILE_SIZE,288992,0
$CFSIZE,260034560,193241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035, 46.0,1
$GPS,210713,084036,2434.617,-3803.157,36,1.3,36,-15.1