version: 66.11
glider: 160
mission: 9
dive: 456
start: 7 26 113 8 13 34
data:
$ID,160
$MISSION,9
$DIVE,456
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1000
$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,430
$T_MISSION,480
$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,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,-43177.789
$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,24
$R_STBD_OVSHOOT,20
$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,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
$GPS1,260713,023840,2427.581,-3820.346,0,10000.0,0,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-67.9
$GPS2,260713,023840,2427.581,-3820.346,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-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,215.8,14386,-26.8,-7.364,-30.00,830
$D_GRID,950
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.38,-39.9,143,1944,212,176,0.0,0.0,0,38,0.00,0.00,-15.12,0.000,16386,0.000,0.000,142,1943,538,534,543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,143,1943,534,545,3.8,0.0,1,163,12.90,2.40,-93.78,0.000,18948,0.348,0.078,2847,895,2643,2633,2653,0,0,0,0,0,0,14.12,14.52,14.82
$GC,395,-1.30,-39.9,2847,895,2634,2653,42.9,-15.5,24,401,0.12,2.40,0.00,0.000,3078,0.308,0.047,2870,1951,2643,2634,2652,0,0,0,0,0,0,14.11,14.48,28.83
$GC,715,-1.25,-39.9,2870,1951,2634,2652,85.6,-12.9,45,720,0.00,2.42,0.00,0.000,516,0.000,0.054,2870,893,2643,2634,2652,0,0,0,0,0,0,28.83,14.48,28.83
$GC,951,-1.19,-39.9,1840,893,2574,2643,116.1,-13.1,60,958,0.17,2.33,0.00,0.000,3078,0.286,0.047,2907,1928,2642,2634,2651,0,0,0,0,0,0,14.07,14.51,28.83
$GC,1267,-1.19,-39.9,2908,1927,2634,2650,152.1,-10.7,81,1272,0.00,2.38,0.00,0.000,516,0.000,0.055,2908,888,2642,2634,2650,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1503,-1.17,-39.9,2908,889,2634,2650,176.8,-11.0,96,1509,0.00,2.33,0.00,0.000,1030,0.000,0.046,2908,1914,2641,2633,2650,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1819,-1.17,-39.9,2908,1913,2634,2650,210.8,-10.1,117,1824,0.00,2.33,0.00,0.000,516,0.000,0.054,2908,896,2642,2634,2650,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1983,-1.15,-39.9,2908,896,2634,2649,227.4,-10.9,127,1990,0.00,2.28,0.00,0.000,1030,0.000,0.047,2908,1909,2641,2634,2648,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2289,-1.15,-39.9,2908,1907,2634,2647,261.2,-10.7,145,2295,0.00,2.33,0.00,0.000,516,0.000,0.054,2907,890,2643,2640,2647,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2470,-1.13,-39.9,2908,890,2634,2646,278.2,-11.0,150,2477,0.00,2.28,0.00,0.000,1030,0.000,0.046,2908,1902,2639,2634,2645,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2776,-1.13,-39.9,2908,1896,2634,2644,314.7,-11.5,161,2781,0.00,2.30,0.00,0.000,516,0.000,0.054,2908,896,2639,2633,2645,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2987,-1.11,-39.9,2908,896,2629,2644,337.9,-12.5,167,2993,0.00,2.22,0.00,0.000,1030,0.000,0.045,2907,1890,2638,2634,2642,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3293,-1.11,-39.9,2908,1889,2634,2641,375.9,-11.0,178,3299,0.00,2.28,0.00,0.000,516,0.000,0.054,2908,894,2637,2634,2641,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3398,-1.11,-39.9,2904,894,2634,2641,386.3,-10.8,181,3403,0.00,2.20,0.00,0.000,1030,0.000,0.044,2908,1882,2637,2634,2640,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3727,-1.11,-39.9,2908,1881,2634,2638,421.3,-10.6,192,3733,0.00,2.25,0.00,0.000,516,0.000,0.053,2908,894,2636,2634,2638,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3962,-1.11,-39.9,2908,894,2633,2638,447.1,-12.1,199,3967,0.00,2.17,0.00,0.000,1030,0.000,0.042,2908,1870,2635,2633,2637,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4277,-1.11,-39.9,2908,1869,2633,2635,485.0,-11.1,210,4282,0.00,2.22,0.00,0.000,516,0.000,0.052,2908,894,2633,2632,2635,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4448,-1.11,-39.9,2908,894,2632,2635,502.0,-11.1,215,4453,0.00,2.15,0.00,0.000,1030,0.000,0.041,2908,1859,2633,2632,2634,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4769,-1.11,-39.9,2908,1858,2632,2632,534.9,-9.3,226,4775,0.00,2.22,0.00,0.000,516,0.000,0.050,2908,887,2632,2632,2632,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4970,-1.11,-39.9,2908,888,2630,2633,554.5,-10.5,232,4976,0.00,2.12,0.00,0.000,1030,0.000,0.040,2908,1842,2630,2630,2631,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5292,-1.11,-39.9,2908,1841,2630,2630,593.2,-12.4,243,5298,0.00,2.17,0.00,0.000,516,0.000,0.050,2908,890,2630,2630,2630,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5426,-1.11,-39.9,1824,890,2564,2621,609.7,-13.0,247,5432,0.00,2.10,0.00,0.000,1030,0.000,0.040,2908,1834,2629,2628,2630,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5759,-1.11,-39.9,2908,1833,2627,2627,649.6,-11.0,258,5766,0.00,2.15,0.00,0.000,516,0.000,0.050,2908,891,2630,2633,2627,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5971,-1.11,-39.9,2908,892,2626,2627,668.4,-9.6,264,5978,0.00,2.08,0.00,0.000,1030,0.000,0.040,2908,1824,2627,2627,2627,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6279,-1.11,-39.9,2908,1823,2627,2625,695.3,-8.2,275,6285,0.00,2.12,0.00,0.000,516,0.000,0.052,2908,892,2626,2627,2625,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6478,-1.11,-39.9,2907,893,2626,2625,713.8,-10.2,281,6484,0.00,2.05,0.00,0.000,1030,0.000,0.039,2908,1812,2625,2626,2624,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6803,-1.11,-39.9,2908,1811,2626,2622,753.6,-12.6,292,6809,0.00,2.10,0.00,0.000,516,0.000,0.051,2908,892,2623,2625,2622,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6954,-1.11,-39.9,2908,892,2625,2622,770.9,-13.4,296,6961,0.00,2.03,0.00,0.000,1030,0.000,0.040,2908,1801,2623,2625,2621,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7259,-1.11,-39.9,2908,1800,2625,2620,811.8,-11.2,307,7265,0.00,2.08,0.00,0.000,516,0.000,0.052,2908,892,2622,2625,2619,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7358,-1.11,-39.9,2908,892,2624,2620,822.1,-11.0,310,7363,0.00,2.03,0.00,0.000,1030,0.000,0.041,2914,1797,2621,2624,2619,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7690,-1.11,-39.9,2908,1796,2624,2617,852.2,-8.3,321,7696,0.00,2.08,0.00,0.000,516,0.000,0.052,2908,892,2620,2624,2617,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7895,-1.11,-39.9,2908,892,2622,2617,868.3,-8.5,327,7901,0.00,2.00,0.00,0.000,1030,0.000,0.041,2908,1781,2619,2622,2617,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8210,-1.11,-39.9,2908,1780,2622,2615,898.4,-9.4,338,8215,0.00,2.85,0.00,0.000,260,0.000,0.067,2908,3003,2618,2621,2615,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8270,-1.11,-39.9,2908,3003,2620,2615,901.8,-9.5,339,8276,0.00,2.75,0.00,0.000,1030,0.000,0.037,2907,1776,2618,2621,2615,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8574,-1.11,-39.9,2908,1776,2620,2613,938.6,-11.7,350,8580,0.00,2.00,0.00,0.000,516,0.000,0.056,2908,894,2617,2620,2614,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,8700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8700,begin apogee
$GC,8710,-0.25,0.0,2908,1809,2620,2613,953.6,-12.0,354,8751,1.17,0.00,33.25,2.074,10244,0.231,0.000,3203,1808,2475,2488,2463,0,0,0,0,0,0,13.71,28.83,13.12
$STATE,8752,end apogee,CONTROL_FINISHED_OK
$STATE,8752,begin climb
$GC,8756,1.38,39.9,3203,1808,2488,2463,955.1,0.0,355,8805,1.67,2.42,38.05,2.133,10500,0.097,0.067,3740,2856,2314,2328,2301,0,0,0,0,0,0,14.42,14.44,13.09
$GC,8819,1.38,39.9,3740,2856,2326,2300,957.0,-3.7,357,8825,0.00,2.45,0.00,0.000,1030,0.000,0.045,3740,1789,2313,2326,2300,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9144,1.40,169.6,3740,1790,2322,2298,988.6,-8.7,368,9281,0.00,2.58,123.22,2.196,8964,0.000,0.057,3740,2850,1783,1852,1714,0,0,0,0,0,0,28.83,14.14,13.07
$GC,9512,1.28,169.6,3104,2846,1787,1706,958.9,14.5,380,9518,0.20,2.70,0.00,0.000,5126,0.335,0.043,3710,1655,1773,1834,1713,0,0,0,0,0,0,14.09,14.52,28.83
$GC,9845,1.19,169.6,3711,1655,1834,1709,917.9,11.8,391,9851,0.12,2.78,0.00,0.000,4356,0.316,0.056,3681,2854,1772,1835,1709,0,0,0,0,0,0,14.11,14.51,28.83
$GC,10081,1.10,169.6,3683,2854,1834,1708,892.4,11.3,398,10087,0.17,2.67,0.00,0.000,5126,0.315,0.044,3652,1675,1769,1831,1708,0,0,0,0,0,0,14.07,14.54,28.83
$GC,10401,1.05,169.6,3652,1675,1831,1706,861.6,9.0,409,10406,0.00,2.72,0.00,0.000,260,0.000,0.057,3652,2855,1768,1831,1706,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10637,0.98,169.6,3652,2850,1829,1706,839.5,10.2,416,10643,0.22,2.70,0.00,0.000,5126,0.311,0.044,3613,1670,1767,1829,1706,0,0,0,0,0,0,13.96,14.51,28.83
$GC,10955,0.96,169.6,3613,1671,1830,1704,812.0,7.9,427,10960,0.00,2.17,0.00,0.000,516,0.000,0.067,3616,741,1767,1830,1704,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11191,0.94,169.6,3616,742,1830,1703,794.2,8.2,434,11196,0.00,2.12,0.00,0.000,1030,0.000,0.037,3616,1694,1766,1829,1703,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11509,0.92,169.6,3616,1690,1830,1701,766.1,8.2,445,11515,0.00,2.67,0.00,0.000,260,0.000,0.060,3616,2854,1765,1830,1701,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11686,0.87,169.6,3615,2854,1829,1701,751.7,8.9,450,11691,0.20,2.62,0.00,0.000,5126,0.294,0.044,3577,1702,1765,1829,1701,0,0,0,0,0,0,13.93,14.45,28.83
$GC,12005,0.88,171.6,3577,1704,1829,1700,727.4,7.1,461,12011,0.00,2.72,0.00,0.000,260,0.000,0.058,3577,2853,1765,1830,1700,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12242,0.88,171.6,3577,2852,1828,1700,710.7,7.6,468,12247,0.00,2.60,0.00,0.000,1030,0.000,0.042,3577,1711,1764,1828,1700,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12556,0.88,171.6,3576,1712,1828,1699,685.2,7.9,479,12561,0.00,2.70,0.00,0.000,260,0.000,0.057,3577,2856,1763,1828,1699,0,0,0,0,0,0,28.83,14.35,28.83
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$FREEZE,6.25,25.277,-1.909,0,1,0
$STATE,20864,end climb,NO_VERTICAL_VELOCITY
$STATE,20864,begin surface
$SM_CCo,20869,153.93,0.215,1,0,189,561.49
$SM_GC,7.05,10.30,0.30,0.00,0.050,0.057,0.000,144,1953,188,-9.78,-0.99,561.98,0,0,0,0,0,0,14.58,14.46,28.83
$IRIDIUM_FIX,2427.58,-3815.16,260713,080841
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.20
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,3845536
$24V_AH,13.1,179.412
$10V_AH,12.9,0.000
$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,27.700,187.400,273.175,153.925,0.000,0.000,0.000,736.325,0.250,0.000,307.069,3822.957,13520.843,666.589,4071.634,728.128,0.000,2933.070,0.000,2983.218,0.000,0.541,0.000
$DEVICE_MAMPS,348.075,78.030,2195.550,214.965,0.000,0.000,0.000,208.080,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20891.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.911,0.000,0.000,0.000
$MEM,345116
$DATA_FILE_SIZE,30015,850
$CAP_FILE_SIZE,243724,0
$CFSIZE,260034560,191041536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,10.881,253.5,1
$GPS,260713,080041,2427.581,-3815.158,0,10000.0,0,-15.1