version: 66.11
glider: 160
mission: 9
dive: 493
start: 8 5 113 5 10 19
data:
$ID,160
$MISSION,9
$DIVE,493
$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,-64524.332
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,040813,221014,2446.559,-3800.626,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,-67.5
$GPS2,040813,221014,2446.559,-3800.626,301,99.0,301,-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,145.7,22708,-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,-39.9,143,1923,216,167,0.0,0.0,0,38,0.00,0.00,-15.55,0.000,16386,0.000,0.000,143,1923,547,555,539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,143,1924,556,539,3.7,0.0,1,157,12.68,2.38,-87.68,0.000,18948,0.340,0.079,2851,879,2462,2456,2469,0,0,0,0,0,0,14.21,14.46,14.82
$GC,245,-1.29,-39.9,1824,878,2395,2460,14.8,-13.7,14,250,0.00,2.40,0.00,0.000,1030,0.000,0.045,2851,1936,2462,2455,2470,0,0,0,0,0,0,28.83,14.43,28.83
$GC,559,-1.22,-39.9,2851,1936,2456,2470,58.7,-12.6,35,566,0.20,2.38,0.00,0.000,2564,0.287,0.049,2898,899,2463,2456,2470,0,0,0,0,0,0,13.85,14.42,28.83
$GC,797,-1.18,-39.9,1856,899,2394,2459,81.8,-8.6,50,803,0.00,2.35,0.00,0.000,1030,0.000,0.045,2898,1937,2462,2456,2469,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1112,-1.14,-39.9,2897,1937,2456,2469,107.6,-8.7,71,1118,0.00,2.38,0.00,0.000,516,0.000,0.052,2898,901,2462,2456,2469,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1349,-1.10,-39.9,1864,901,2394,2459,130.5,-11.1,86,1355,0.17,2.30,0.00,0.000,3078,0.278,0.047,2934,1913,2462,2456,2469,0,0,0,0,0,0,14.00,14.42,28.83
$GC,1664,-1.10,-39.9,2934,1912,2456,2469,160.5,-8.3,107,1670,0.00,2.33,0.00,0.000,516,0.000,0.057,2934,900,2462,2456,2469,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1900,-1.10,-39.9,1920,900,2394,2459,178.6,-7.9,122,1905,0.00,2.30,0.00,0.000,1030,0.000,0.050,2934,1914,2462,2456,2468,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2214,-1.10,-39.9,2934,1913,2456,2468,204.3,-8.4,143,2220,0.00,2.35,0.00,0.000,516,0.000,0.058,2934,899,2461,2455,2468,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2288,-1.10,-39.9,2935,900,2455,2468,209.8,-8.7,147,2295,0.00,2.28,0.00,0.000,1030,0.000,0.050,2934,1899,2461,2456,2467,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2595,-1.11,-45.6,2934,1898,2455,2465,234.0,-6.7,168,2600,0.00,2.33,0.00,0.000,516,0.000,0.058,2934,893,2460,2455,2466,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2752,-1.11,-48.5,2935,893,2455,2466,244.5,-7.0,178,2757,0.00,2.28,0.00,0.000,1030,0.000,0.050,2934,1888,2459,2454,2465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3074,-1.11,-48.5,2934,1887,2455,2464,269.9,-8.7,191,3080,0.00,2.30,0.00,0.000,516,0.000,0.057,2934,893,2459,2454,2464,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3310,-1.11,-48.5,2940,893,2453,2463,292.4,-10.6,198,3315,0.00,2.25,0.00,0.000,1030,0.000,0.050,2934,1881,2458,2453,2463,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3625,-1.11,-48.5,2934,1879,2453,2462,323.7,-8.4,209,3631,0.00,2.28,0.00,0.000,516,0.000,0.057,2934,900,2457,2453,2462,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3860,-1.11,-48.5,2935,900,2452,2462,341.5,-8.3,216,3866,0.00,2.22,0.00,0.000,1030,0.000,0.048,2934,1875,2454,2451,2457,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4176,-1.11,-48.5,2934,1874,2451,2460,368.5,-8.1,227,4182,0.00,2.25,0.00,0.000,516,0.000,0.057,2934,895,2458,2451,2465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4377,-1.11,-48.5,2934,895,2450,2460,385.2,-9.2,233,4382,0.00,2.20,0.00,0.000,1030,0.000,0.047,2934,1868,2455,2450,2461,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4699,-1.11,-48.5,2934,1867,2450,2458,415.5,-9.1,244,4705,0.00,2.22,0.00,0.000,516,0.000,0.056,2934,896,2454,2450,2458,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4871,-1.11,-48.5,2934,896,2450,2458,430.6,-9.7,249,4876,0.00,2.17,0.00,0.000,1030,0.000,0.045,2935,1858,2453,2449,2457,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5194,-1.11,-48.5,2934,1858,2449,2456,462.4,-9.8,260,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1858,2452,2449,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5491,-1.11,-48.5,2934,1858,2451,2455,491.1,-9.5,270,5497,0.00,2.20,0.00,0.000,516,0.000,0.056,2935,899,2452,2449,2455,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5590,-1.11,-48.5,2935,899,2448,2455,500.2,-9.5,273,5595,0.00,2.17,0.00,0.000,1030,0.000,0.045,2934,1861,2451,2448,2454,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5923,-1.11,-48.5,2935,1860,2448,2453,529.4,-8.6,284,5928,0.00,2.22,0.00,0.000,516,0.000,0.056,2934,893,2450,2448,2453,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6059,-1.11,-48.5,2934,893,2447,2453,540.1,-8.4,288,6065,0.00,2.17,0.00,0.000,1030,0.000,0.044,2934,1855,2450,2447,2453,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6388,-1.11,-49.7,2934,1854,2447,2452,566.2,-7.2,299,6393,0.00,2.20,0.00,0.000,516,0.000,0.056,2934,897,2449,2447,2452,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6624,-1.11,-49.7,2934,897,2445,2452,583.8,-8.1,306,6630,0.00,2.12,0.00,0.000,1030,0.000,0.044,2934,1837,2448,2445,2451,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6940,-1.11,-49.7,2935,1836,2445,2450,611.8,-8.7,317,6946,0.00,2.17,0.00,0.000,516,0.000,0.056,2934,893,2447,2445,2450,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7131,-1.11,-49.7,2935,893,2444,2450,629.9,-9.9,323,7136,0.00,2.12,0.00,0.000,1030,0.000,0.044,2933,1830,2447,2444,2450,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7463,-1.11,-49.7,2934,1829,2444,2447,661.2,-9.3,334,7469,0.00,2.15,0.00,0.000,516,0.000,0.057,2935,899,2445,2443,2447,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7620,-1.11,-49.7,2935,900,2443,2445,675.8,-9.1,339,7626,0.00,2.10,0.00,0.000,1030,0.000,0.044,2934,1821,2446,2445,2447,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7957,-1.11,-49.7,2935,1820,2443,2445,702.7,-7.8,350,7962,0.00,2.15,0.00,0.000,516,0.000,0.056,2935,890,2444,2443,2445,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8116,-1.11,-49.7,1920,892,2382,2435,715.6,-8.3,355,8122,0.00,2.08,0.00,0.000,1030,0.000,0.044,2934,1807,2444,2442,2446,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8450,-1.13,-49.7,2934,1806,2442,2443,743.3,-8.4,366,8456,0.00,2.10,0.00,0.000,516,0.000,0.057,2934,900,2443,2442,2444,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8651,-1.13,-49.7,2934,900,2441,2444,759.4,-8.5,372,8656,0.00,2.03,0.00,0.000,1030,0.000,0.044,2934,1795,2442,2441,2444,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8973,-1.14,-49.7,2934,1795,2441,2442,787.4,-8.2,383,8979,0.00,2.08,0.00,0.000,516,0.000,0.057,2934,899,2441,2440,2442,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9179,-1.14,-49.7,2935,899,2439,2442,802.8,-8.1,389,9185,0.00,2.03,0.00,0.000,1030,0.000,0.044,2934,1791,2441,2440,2442,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9497,-1.16,-49.7,2934,1790,2439,2436,827.6,-7.6,400,9504,0.00,2.08,0.00,0.000,516,0.000,0.057,2934,898,2439,2439,2440,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9674,-1.16,-49.7,2935,898,2438,2440,841.0,-8.6,405,9679,0.00,2.00,0.00,0.000,1030,0.000,0.044,2934,1777,2438,2437,2440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9992,-1.18,-49.7,2934,1776,2438,2438,870.7,-9.4,416,9997,0.00,2.05,0.00,0.000,516,0.000,0.057,2934,895,2438,2438,2438,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10119,-1.18,-49.7,2934,895,2437,2438,883.8,-10.2,420,10124,0.00,2.00,0.00,0.000,1030,0.000,0.044,2935,1769,2437,2437,2438,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10458,-1.19,-49.7,2934,1768,2437,2436,917.2,-9.7,431,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1769,2436,2437,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10754,-1.21,-49.7,2931,1769,2436,2435,945.0,-9.1,441,10760,0.00,2.03,0.00,0.000,516,0.000,0.058,2934,899,2436,2437,2435,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,10815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10815,begin apogee
$GC,10827,-0.25,0.0,2935,1809,2436,2435,950.9,-8.8,443,10868,1.08,0.00,32.83,2.082,10244,0.223,0.000,3206,1809,2297,2306,2288,0,0,0,0,0,0,13.58,28.83,13.10
$STATE,10870,end apogee,CONTROL_FINISHED_OK
$STATE,10870,begin climb
$GC,10873,1.39,49.7,3206,1809,2306,2287,951.3,0.0,444,10929,1.65,0.00,49.45,2.141,11270,0.096,0.000,3737,1810,2094,2123,2065,0,0,0,0,0,0,14.37,28.83,13.02
$GC,11250,1.36,137.9,3737,1810,2117,2060,966.4,-3.5,457,11342,0.00,2.53,86.12,2.145,8708,0.000,0.060,3739,750,1736,1811,1661,0,0,0,0,0,0,28.83,14.19,13.05
$GC,11374,1.27,163.9,3739,749,1805,1659,961.2,4.1,461,11407,0.15,2.55,26.15,2.061,13318,0.311,0.039,3711,1866,1631,1701,1561,0,0,0,0,0,0,14.01,14.33,13.12
$GC,11736,1.19,163.9,3711,1865,1681,1557,911.4,13.6,473,11742,0.12,2.33,0.00,0.000,4356,0.326,0.061,3683,2856,1619,1681,1557,0,0,0,0,0,0,14.04,14.45,28.83
$GC,11974,1.10,163.9,3684,2857,1676,1557,881.2,13.6,480,11980,0.17,2.28,0.00,0.000,5126,0.314,0.048,3652,1872,1617,1677,1557,0,0,0,0,0,0,14.02,14.50,28.83
$GC,12294,1.06,163.9,3652,1874,1676,1556,843.4,10.7,491,12299,0.00,2.33,0.00,0.000,260,0.000,0.060,3652,2854,1616,1676,1556,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12410,1.00,163.9,3652,2853,1675,1555,831.9,11.3,494,12416,0.17,2.25,0.00,0.000,5126,0.292,0.045,3621,1873,1615,1675,1555,0,0,0,0,0,0,14.01,14.48,28.83
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$FREEZE,5.38,25.643,-2.087,0,16,0
$STATE,22078,end climb,NO_VERTICAL_VELOCITY
$STATE,22078,begin surface
$SM_CCo,22083,100.12,0.076,0,0,188,517.58
$SM_GC,6.04,10.90,0.00,0.00,0.047,0.000,0.000,146,1953,190,-9.77,0.06,517.58,0,0,0,0,0,0,14.51,28.83,28.83
$IRIDIUM_FIX,2446.56,-3800.63,040813,222214
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.66
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3831328
$24V_AH,13.0,190.299
$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,28.075,181.500,296.525,100.125,0.000,0.000,0.000,229.675,0.000,0.000,303.635,3714.832,15022.245,619.425,3483.667,958.192,0.000,2329.093,0.000,2839.566,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,78.795,2145.060,75.735,0.000,0.000,0.000,121.635,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22116.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.249,0.000,0.000,0.000
$MEM,345268
$DATA_FILE_SIZE,33343,923
$CAP_FILE_SIZE,244425,0
$CFSIZE,260034560,186519552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,113.3,1
$GPS,040813,221014,2446.559,-3800.626,301,99.0,301,-15.1