version: 66.11
glider: 160
mission: 9
dive: 506
start: 8 8 113 7 26 54
data:
$ID,160
$MISSION,9
$DIVE,506
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,135
$T_MISSION,200
$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,6
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-79481.641
$T_RSLEEP,3
$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,23
$R_STBD_OVSHOOT,28
$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
$GPS1,080813,041027,2451.311,-3750.206,0,10000.0,0,-15.1
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-66.9
$GPS2,080813,041027,2451.311,-3750.206,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-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,145.0,57293,-15.6,-7.407,-19.94,2197
$D_GRID,300
$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,18,begin dive
$GC,22,-0.89,-107.1,145,1962,222,163,0.0,0.0,0,113,0.00,0.00,-89.18,0.000,16386,0.000,0.000,145,1962,2304,2276,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.89,-107.1,145,1962,2278,2332,3.3,-1.0,6,150,14.40,2.53,-10.52,0.000,18948,0.374,0.090,3003,897,2738,2759,2717,0,0,0,0,0,0,14.15,14.55,14.88
$GC,326,-0.81,-107.1,1952,896,2700,2708,30.8,-10.7,19,332,0.12,2.35,0.00,0.000,3078,0.261,0.050,3031,1941,2738,2760,2717,0,0,0,0,0,0,14.27,14.56,28.83
$GC,642,-0.77,-107.1,3030,1940,2759,2716,60.2,-8.4,40,648,0.00,2.40,0.00,0.000,516,0.000,0.063,3031,894,2738,2759,2717,0,0,0,0,0,0,28.83,14.50,28.83
$GC,881,-0.73,-107.1,1984,893,2699,2708,79.0,-8.4,55,886,0.00,2.33,0.00,0.000,1030,0.000,0.051,3031,1924,2737,2759,2716,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1195,-0.70,-107.1,3031,1923,2760,2716,105.5,-8.1,76,1202,0.12,2.35,0.00,0.000,2564,0.243,0.059,3066,895,2737,2759,2716,0,0,0,0,0,0,14.26,14.50,28.83
$GC,1432,-0.70,-107.1,2048,894,2700,2707,123.0,-7.6,91,1437,0.00,2.25,0.00,0.000,1030,0.000,0.051,3066,1895,2741,2759,2724,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1748,-0.72,-107.1,3066,1894,2759,2716,145.6,-6.6,112,1754,0.00,2.62,0.00,0.000,260,0.000,0.084,3066,3012,2737,2759,2715,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1904,-0.72,-107.1,3066,3011,2759,2716,156.3,-7.0,122,1910,0.00,2.60,0.00,0.000,1030,0.000,0.047,3066,1867,2737,2759,2716,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2224,-0.74,-107.1,3066,1868,2759,2714,180.3,-8.2,143,2230,0.00,2.22,0.00,0.000,516,0.000,0.070,3066,892,2736,2760,2713,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2414,-0.74,-107.1,2048,892,2701,2704,196.2,-8.6,155,2420,0.00,2.20,0.00,0.000,1030,0.000,0.050,3066,1861,2735,2759,2712,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2729,-0.77,-107.1,3066,1860,2759,2711,221.9,-7.8,176,2735,0.00,2.22,0.00,0.000,516,0.000,0.063,3066,893,2735,2760,2711,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2820,-0.78,-107.1,3067,893,2759,2711,228.0,-8.2,181,2826,0.00,2.15,0.00,0.000,1030,0.000,0.050,3066,1847,2735,2759,2711,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3126,-0.82,-107.1,3066,1846,2759,2706,249.6,-6.5,202,3132,0.12,2.20,0.00,0.000,4612,0.121,0.059,3005,893,2734,2759,2710,0,0,0,0,0,0,14.52,14.47,28.83
$GC,3200,-0.82,-107.1,3005,893,2759,2709,254.6,-7.3,205,3207,0.00,2.12,0.00,0.000,1030,0.000,0.050,3005,1834,2734,2759,2710,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3530,-0.78,-107.1,3005,1834,2758,2708,283.0,-8.7,216,3536,0.12,2.17,0.00,0.000,2564,0.262,0.057,3038,888,2733,2758,2708,0,0,0,0,0,0,14.21,14.47,28.83
$GC,3737,-0.78,-107.1,3038,889,2758,2708,298.4,-8.1,222,3742,0.00,2.10,0.00,0.000,1030,0.000,0.049,3038,1820,2732,2758,2707,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,3747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3747,begin apogee
$GC,3755,-0.25,0.0,3038,1820,2758,2707,300.7,-7.8,223,3844,0.60,0.00,82.55,1.198,10244,0.177,0.000,3207,1820,2297,2360,2235,0,0,0,0,0,0,14.04,28.83,13.54
$STATE,3849,end apogee,CONTROL_FINISHED_OK
$STATE,3849,begin climb
$GC,3853,0.89,107.1,3207,1820,2359,2234,304.0,0.0,226,3943,1.15,0.00,84.47,1.200,11270,0.100,0.000,3580,1820,1859,1945,1774,0,0,0,0,0,0,14.33,28.83,13.62
$GC,4265,0.83,142.5,3580,1820,1935,1766,288.6,5.7,240,4298,0.00,2.40,27.00,1.149,8452,0.000,0.072,3579,2862,1715,1800,1631,0,0,0,0,0,0,28.83,14.59,13.80
$GC,4524,0.72,142.5,3579,2862,1788,1630,266.7,9.6,248,4530,0.22,2.40,0.00,0.000,5126,0.253,0.054,3529,1814,1709,1788,1631,0,0,0,0,0,0,14.18,14.51,28.83
$GC,4845,0.67,142.5,3529,1815,1788,1629,237.5,8.5,263,4850,0.00,2.45,0.00,0.000,260,0.000,0.070,3530,2858,1708,1788,1629,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5002,0.60,142.5,3529,2858,1785,1627,223.9,8.2,273,5008,0.17,2.38,0.00,0.000,5126,0.233,0.052,3492,1824,1707,1785,1629,0,0,0,0,0,0,14.28,14.56,28.83
$GC,5324,0.65,206.1,3492,1825,1786,1628,207.8,4.4,294,5377,0.00,2.42,47.62,1.088,8452,0.000,0.067,3492,2860,1458,1521,1396,0,0,0,0,0,0,28.83,14.53,13.76
$GC,5474,0.64,215.1,3492,2859,1509,1396,198.6,7.0,303,5489,0.00,2.35,8.05,0.978,9222,0.000,0.051,3492,1833,1420,1469,1371,0,0,0,0,0,0,28.83,14.52,13.78
$GC,5799,0.66,215.1,3492,1834,1458,1371,172.0,8.8,325,5805,0.00,2.50,0.00,0.000,516,0.000,0.066,3492,743,1413,1456,1371,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5846,0.67,215.1,3492,743,1456,1372,168.4,9.5,327,5853,0.00,2.45,0.00,0.000,1030,0.000,0.043,3492,1832,1413,1455,1372,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6152,0.70,224.5,3492,1831,1453,1372,143.9,7.0,348,6168,0.00,2.35,8.30,0.924,8452,0.000,0.071,3492,2860,1379,1416,1343,0,0,0,0,0,0,28.83,14.66,13.80
$GC,6192,0.70,224.5,3491,2860,1413,1342,141.1,7.6,350,6198,0.10,2.38,0.00,0.000,3078,0.151,0.050,3525,1815,1378,1413,1343,0,0,0,0,0,0,14.57,14.59,28.83
$GC,6509,0.74,278.9,3525,1816,1411,1343,124.8,4.9,371,6555,0.00,0.00,43.60,0.990,8454,0.000,0.000,3525,1816,1162,1213,1111,0,0,0,0,0,0,28.83,28.83,13.84
$GC,6853,0.74,278.9,3525,1816,1209,1100,96.7,9.3,394,6859,0.00,2.47,0.00,0.000,516,0.000,0.068,3525,744,1154,1209,1100,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6923,0.77,278.9,2640,744,1191,1098,90.2,9.5,398,6928,0.00,2.38,0.00,0.000,1030,0.000,0.041,3526,1810,1154,1209,1099,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7239,0.83,314.6,3526,1809,1209,1098,66.2,5.7,419,7275,0.12,2.45,29.48,0.899,10756,0.126,0.061,3586,742,1014,1089,939,0,0,0,0,0,0,14.47,14.61,13.88
$GC,7323,0.86,367.7,3586,742,1089,944,60.0,4.9,424,7373,0.00,2.38,43.75,0.889,9222,0.000,0.041,3587,1795,798,888,709,0,0,0,0,0,0,28.83,14.56,13.86
$GC,7687,0.86,367.7,3587,1794,887,701,27.3,9.5,448,7692,0.00,2.47,0.00,0.000,260,0.000,0.073,3586,2861,793,887,700,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7878,0.82,367.7,2784,2858,880,696,4.5,13.2,460,7884,0.00,2.45,0.00,0.000,1030,0.000,0.060,3587,1808,791,887,695,0,0,0,0,0,0,28.83,14.48,28.83
$FREEZE,4.27,25.882,-1.004,0,29,0
$STATE,8089,end climb,NO_VERTICAL_VELOCITY
$STATE,8089,begin surface
$SM_CCo,8094,79.60,0.079,0,0,188,517.58
$SM_GC,5.19,10.00,0.35,0.00,0.049,0.054,0.000,147,1967,190,-9.78,-0.59,517.58,0,0,0,0,0,0,14.61,14.58,28.83
$IRIDIUM_FIX,2451.31,-3755.42,080813,070701
$TT8_MAMPS,0.023968,0.023968
$HUMID,82.76
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3826336
$24V_AH,13.5,194.611
$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,27.275,75.850,374.825,79.600,0.000,0.000,0.000,847.400,0.250,0.000,306.571,1696.103,5070.634,514.332,2475.157,591.098,0.000,2099.739,0.000,1317.796,0.000,0.545,0.000
$DEVICE_MAMPS,374.085,90.270,1200.285,78.795,0.000,0.000,0.000,185.130,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8095.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.212,0.000,0.000,0.000
$MEM,345056
$DATA_FILE_SIZE,16778,474
$CAP_FILE_SIZE,122393,0
$CFSIZE,260034560,185630720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,11.416, 91.2,1
$GPS,080813,071301,2451.311,-3755.417,0,10000.0,0,-15.1