version: 66.11
glider: 160
mission: 9
dive: 486
start: 8 3 113 3 54 13
data:
$ID,160
$MISSION,9
$DIVE,486
$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,517.58301
$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,25
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-60256.098
$T_RSLEEP,-4
$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,27
$R_STBD_OVSHOOT,27
$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,2300
$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
$GPS1,020813,204243,2441.810,-3802.497,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-64.0
$GPS2,020813,204243,2441.810,-3802.497,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$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,37.9,27857,-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,-39.9,144,1941,214,172,0.0,0.0,0,39,0.00,0.00,-15.68,0.000,16386,0.000,0.000,143,1941,548,547,550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,144,1940,546,550,3.6,0.0,1,157,11.68,2.55,-87.60,0.000,18692,0.299,0.089,2846,3001,2461,2452,2470,0,0,0,0,0,0,14.20,14.27,14.81
$GC,242,-1.28,-39.9,2846,3001,2452,2470,16.0,-14.5,14,248,0.17,2.35,0.00,0.000,3078,0.305,0.034,2877,1948,2462,2453,2471,0,0,0,0,0,0,13.94,14.50,28.83
$GC,562,-1.22,-39.9,2881,1949,2453,2469,56.1,-10.8,35,568,0.00,2.40,0.00,0.000,516,0.000,0.061,2881,896,2461,2453,2469,0,0,0,0,0,0,28.83,14.31,28.83
$GC,627,-1.16,-39.9,2881,896,2452,2470,63.1,-10.8,39,634,0.20,2.30,0.00,0.000,3078,0.282,0.047,2915,1908,2461,2452,2470,0,0,0,0,0,0,13.94,14.42,28.83
$GC,949,-1.13,-39.9,2915,1907,2452,2469,94.3,-9.7,60,954,0.00,2.60,0.00,0.000,260,0.000,0.080,2914,3013,2460,2452,2469,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1077,-1.10,-39.9,2914,3014,2452,2469,107.1,-10.3,68,1082,0.00,2.53,0.00,0.000,1030,0.000,0.036,2914,1891,2460,2452,2469,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1397,-1.07,-39.9,2914,1891,2452,2469,137.0,-9.1,89,1403,0.12,2.28,0.00,0.000,2564,0.285,0.062,2944,895,2461,2453,2469,0,0,0,0,0,0,14.04,14.39,28.83
$GC,1633,-1.07,-39.9,1920,898,2390,2459,157.6,-8.8,104,1639,0.00,2.20,0.00,0.000,1030,0.000,0.043,2944,1868,2460,2452,2469,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1948,-1.07,-39.9,2944,1867,2452,2469,183.1,-7.8,125,1953,0.00,2.22,0.00,0.000,516,0.000,0.057,2945,895,2464,2459,2469,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2183,-1.07,-39.9,1920,895,2390,2459,202.3,-8.3,140,2189,0.00,2.15,0.00,0.000,1030,0.000,0.047,2944,1851,2459,2451,2468,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2498,-1.07,-39.9,2944,1850,2451,2468,227.6,-8.0,161,2503,0.00,2.20,0.00,0.000,516,0.000,0.055,2944,890,2459,2451,2468,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2734,-1.07,-39.9,2944,890,2451,2467,246.3,-8.1,176,2740,0.00,2.15,0.00,0.000,1030,0.000,0.046,2944,1839,2458,2451,2466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3052,-1.07,-39.9,2945,1839,2450,2464,271.2,-8.2,188,3057,0.00,2.15,0.00,0.000,516,0.000,0.056,2944,894,2458,2451,2465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3287,-1.07,-39.9,2944,895,2450,2464,291.6,-9.5,195,3292,0.00,2.08,0.00,0.000,1030,0.000,0.044,2941,1821,2456,2449,2464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3602,-1.07,-39.9,2945,1820,2451,2463,319.9,-7.9,206,3608,0.00,2.12,0.00,0.000,516,0.000,0.055,2945,895,2456,2450,2463,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3616,-1.07,-39.9,2943,895,2449,2463,319.9,-7.9,206,3621,0.00,2.05,0.00,0.000,1030,0.000,0.044,2944,1808,2456,2449,2463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3943,-1.08,-48.2,2944,1807,2449,2462,342.9,-6.3,217,3948,0.00,2.83,0.00,0.000,260,0.000,0.074,2945,3007,2455,2449,2462,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4149,-1.08,-48.2,2944,3007,2448,2462,356.3,-7.4,223,4154,0.00,2.75,0.00,0.000,1030,0.000,0.043,2944,1787,2455,2448,2462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4464,-1.08,-48.2,2944,1788,2448,2461,383.9,-8.8,234,4469,0.00,2.03,0.00,0.000,516,0.000,0.059,2944,890,2454,2448,2460,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4701,-1.08,-48.2,2945,891,2448,2460,404.2,-9.3,241,4706,0.00,2.00,0.00,0.000,1030,0.000,0.044,2944,1783,2453,2448,2459,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5016,-1.08,-48.2,2944,1782,2444,2457,432.3,-7.7,252,5022,0.00,2.05,0.00,0.000,516,0.000,0.055,2944,891,2452,2447,2457,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5233,-1.08,-48.2,2944,891,2446,2457,448.8,-7.7,259,5238,0.00,2.00,0.00,0.000,1030,0.000,0.043,2944,1776,2451,2445,2457,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5570,-1.08,-48.2,2945,1775,2445,2456,475.1,-8.2,270,5575,0.00,2.03,0.00,0.000,516,0.000,0.056,2945,891,2450,2445,2456,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5806,-1.08,-48.2,2944,891,2444,2456,495.8,-9.9,277,5811,0.00,1.95,0.00,0.000,1030,0.000,0.043,2950,1761,2449,2444,2455,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6125,-1.10,-48.2,2944,1760,2444,2453,529.0,-9.8,288,6130,0.00,1.98,0.00,0.000,516,0.000,0.055,2944,895,2451,2450,2453,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6359,-1.10,-48.2,2945,895,2443,2458,549.9,-9.4,295,6364,0.00,1.92,0.00,0.000,1030,0.000,0.044,2944,1756,2449,2445,2454,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6679,-1.11,-48.2,2945,1755,2443,2452,577.9,-8.1,306,6684,0.00,2.00,0.00,0.000,516,0.000,0.056,2945,892,2447,2443,2452,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6916,-1.11,-48.2,2944,893,2442,2452,596.7,-8.6,313,6921,0.00,1.88,0.00,0.000,1030,0.000,0.042,2944,1730,2447,2442,2452,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7233,-1.13,-48.2,2944,1730,2442,2450,623.7,-8.0,324,7238,0.00,1.92,0.00,0.000,516,0.000,0.057,2944,891,2446,2442,2450,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7469,-1.13,-48.2,2944,892,2441,2450,640.8,-7.8,331,7474,0.00,1.85,0.00,0.000,1030,0.000,0.042,2945,1721,2445,2440,2450,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7787,-1.16,-55.0,2945,1720,2441,2445,663.4,-6.5,342,7793,0.00,1.92,0.00,0.000,516,0.000,0.056,2944,892,2444,2441,2448,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8020,-1.16,-57.4,2945,892,2440,2448,678.8,-7.1,349,8026,0.00,1.83,0.00,0.000,1030,0.000,0.042,2944,1710,2443,2440,2447,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8344,-1.18,-57.4,2944,1709,2440,2445,703.0,-7.5,360,8349,0.00,1.88,0.00,0.000,516,0.000,0.057,2945,894,2442,2440,2445,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8560,-1.18,-57.4,2944,894,2438,2445,721.4,-8.3,367,8565,0.00,1.85,0.00,0.000,1030,0.000,0.042,2944,1696,2441,2438,2445,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8897,-1.20,-57.4,2945,1694,2437,2444,747.6,-7.8,378,8903,0.12,1.85,0.00,0.000,4612,0.139,0.054,2894,896,2444,2438,2450,0,0,0,0,0,0,14.40,14.31,28.83
$GC,9134,-1.18,-57.4,2895,896,2437,2444,768.0,-9.4,385,9139,0.00,1.77,0.00,0.000,1030,0.000,0.041,2888,1690,2440,2437,2444,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9453,-1.16,-57.4,2888,1689,2436,2443,796.6,-8.4,396,9459,0.12,1.85,0.00,0.000,2564,0.304,0.054,2917,893,2439,2436,2443,0,0,0,0,0,0,13.96,14.31,28.83
$GC,9610,-1.16,-57.4,2917,893,2436,2443,809.1,-7.9,401,9615,0.00,1.77,0.00,0.000,1030,0.000,0.042,2915,1680,2438,2435,2442,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9947,-1.16,-57.4,2915,1679,2436,2440,834.5,-7.8,412,9953,0.00,1.83,0.00,0.000,516,0.000,0.057,2915,893,2438,2436,2440,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10184,-1.16,-57.4,2915,893,2434,2441,852.9,-8.6,419,10189,0.00,1.75,0.00,0.000,1030,0.000,0.042,2914,1673,2438,2436,2440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10501,-1.16,-57.4,2914,1672,2434,2439,882.1,-8.9,430,10506,0.00,1.80,0.00,0.000,516,0.000,0.056,2914,895,2436,2434,2439,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10586,-1.16,-57.4,2914,894,2433,2439,888.3,-9.0,432,10591,0.00,1.77,0.00,0.000,1030,0.000,0.043,2913,1664,2436,2433,2439,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10900,-1.16,-57.4,2913,1664,2432,2437,920.2,-9.3,443,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1664,2434,2432,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11201,-1.16,-57.4,2913,1663,2432,2436,949.9,-9.9,453,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1664,2434,2432,2436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11227,begin apogee
$GC,11235,-0.25,0.0,2913,1808,2432,2436,952.9,-10.0,454,11276,1.17,0.00,32.65,2.067,10244,0.232,0.000,3204,1808,2298,2305,2291,0,0,0,0,0,0,13.58,28.83,13.07
$STATE,11277,end apogee,CONTROL_FINISHED_OK
$STATE,11277,begin climb
$GC,11282,1.40,57.4,3204,1808,2305,2290,953.3,0.0,455,11346,1.67,0.00,57.55,2.150,11270,0.098,0.000,3740,1808,2063,2096,2030,0,0,0,0,0,0,14.36,28.83,12.97
$GC,11657,1.36,136.7,3740,1808,2089,2023,967.5,-2.4,468,11744,0.00,2.58,78.05,2.137,8708,0.000,0.064,3740,750,1737,1811,1664,0,0,0,0,0,0,28.83,14.17,13.06
$GC,11910,1.26,136.7,3741,751,1804,1658,947.0,11.8,476,11916,0.20,2.30,0.00,0.000,5126,0.304,0.038,3701,1780,1731,1804,1658,0,0,0,0,0,0,14.02,14.46,28.83
$GC,12239,1.18,136.7,3701,1779,1802,1655,909.7,11.4,487,12245,0.00,2.53,0.00,0.000,260,0.000,0.062,3701,2852,1728,1801,1655,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12477,1.08,136.7,3701,2851,1796,1654,882.2,12.3,494,12483,0.28,2.42,0.00,0.000,5126,0.319,0.050,3644,1800,1725,1796,1655,0,0,0,0,0,0,13.93,14.50,28.83
$GC,12795,1.03,136.7,3644,1801,1796,1653,845.3,10.9,505,12801,0.00,2.47,0.00,0.000,260,0.000,0.060,3644,2846,1725,1796,1654,0,0,0,0,0,0,28.83,14.44,28.83
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$FREEZE,5.54,25.462,-2.068,0,9,0
$STATE,23521,end climb,NO_VERTICAL_VELOCITY
$STATE,23521,begin surface
$SM_CCo,23526,146.48,0.227,1,0,188,517.58
$SM_GC,6.20,10.45,0.00,0.00,0.045,0.000,0.000,146,1917,188,-9.77,-0.93,518.07,0,0,0,0,0,0,14.57,28.83,28.83
$IRIDIUM_FIX,2441.81,-3804.37,030813,030358
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.69
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3834016
$24V_AH,13.0,188.384
$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,27.300,197.025,242.850,146.475,0.000,0.000,0.000,296.525,0.000,0.000,302.576,4417.215,15091.197,629.786,4195.547,840.070,0.000,2680.626,0.000,3466.801,0.000,0.541,0.000
$DEVICE_MAMPS,319.005,88.740,2150.415,227.205,0.000,0.000,0.000,160.650,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23557.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.964,0.000,0.000,0.000
$MEM,345392
$DATA_FILE_SIZE,36710,958
$CAP_FILE_SIZE,272483,0
$CFSIZE,260034560,187580416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,5.225, 52.3,1
$GPS,030813,034558,2441.810,-3804.367,0,10000.0,0,-15.1