version: 66.11
glider: 160
mission: 9
dive: 513
start: 8 9 113 6 45 52
data:
$ID,160
$MISSION,9
$DIVE,513
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,180
$T_MISSION,220
$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,100
$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,4
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-84372.43
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,080813,235003,2453.688,-3751.665,0,10000.0,0,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-70.5
$GPS2,080813,235003,2453.688,-3751.665,301,99.0,301,-15.1
$SPEED_LIMITS,0.144,0.204
$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,233.1,61933,-18.4,-8.333,-22.19,1794
$D_GRID,450
$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,23,-1.02,-97.3,139,1980,218,165,0.0,0.0,0,39,0.00,0.00,-14.20,0.000,16386,0.000,0.000,139,1980,513,522,505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.02,-97.3,139,1980,522,505,3.2,0.0,1,170,13.07,2.55,-101.53,0.000,18948,0.335,0.080,2961,900,2698,2708,2688,0,0,0,0,0,0,14.25,14.34,14.83
$GC,402,-0.93,-97.3,2961,900,2711,2685,30.4,-12.0,24,409,0.12,2.35,0.00,0.000,3078,0.274,0.052,2986,1933,2697,2711,2684,0,0,0,0,0,0,14.11,14.43,28.83
$GC,707,-0.88,-97.3,2986,1932,2711,2684,61.7,-8.9,45,712,0.00,2.38,0.00,0.000,516,0.000,0.056,2986,897,2697,2711,2683,0,0,0,0,0,0,28.83,14.37,28.83
$GC,895,-0.83,-97.3,2986,897,2712,2683,80.5,-10.6,57,901,0.15,2.38,0.00,0.000,3078,0.246,0.054,3021,1929,2696,2711,2682,0,0,0,0,0,0,14.12,14.41,28.83
$GC,1216,-0.83,-97.3,3021,1931,2712,2683,108.3,-8.7,78,1221,0.00,2.40,0.00,0.000,516,0.000,0.066,3021,900,2697,2712,2682,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1392,-0.82,-97.3,3021,900,2712,2683,122.8,-8.2,89,1398,0.00,2.33,0.00,0.000,1030,0.000,0.055,3021,1918,2696,2712,2681,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1708,-0.82,-97.3,3021,1917,2712,2681,146.5,-7.4,110,1713,0.00,2.38,0.00,0.000,516,0.000,0.065,3021,896,2697,2712,2682,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1850,-0.82,-97.3,3021,896,2712,2681,157.8,-8.3,119,1856,0.00,2.33,0.00,0.000,1030,0.000,0.055,3021,1907,2696,2712,2680,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2171,-0.82,-97.3,3021,1906,2710,2680,183.6,-7.6,140,2176,0.00,2.35,0.00,0.000,516,0.000,0.066,3021,899,2696,2712,2680,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2328,-0.82,-97.3,3021,899,2712,2680,195.7,-7.9,150,2334,0.00,2.28,0.00,0.000,1030,0.000,0.054,3020,1890,2695,2711,2679,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2648,-0.82,-97.3,3021,1890,2712,2678,220.2,-8.0,171,2654,0.00,2.33,0.00,0.000,516,0.000,0.066,3021,897,2695,2711,2679,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2823,-0.82,-97.3,3021,898,2707,2678,234.9,-8.7,182,2828,0.00,2.28,0.00,0.000,1030,0.000,0.054,3020,1887,2695,2712,2678,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3142,-0.82,-97.3,3021,1886,2711,2671,263.8,-9.2,198,3147,0.00,2.33,0.00,0.000,516,0.000,0.065,3021,899,2694,2711,2677,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3293,-0.82,-97.3,3021,898,2711,2676,275.4,-9.3,202,3301,0.00,2.22,0.00,0.000,1030,0.000,0.053,3021,1873,2693,2712,2675,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3603,-0.83,-97.3,3021,1872,2712,2673,304.8,-8.5,213,3608,0.00,2.28,0.00,0.000,516,0.000,0.063,3021,898,2692,2711,2673,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3688,-0.83,-97.3,3021,898,2712,2673,310.1,-8.0,215,3693,0.00,2.17,0.00,0.000,1030,0.000,0.052,3020,1857,2691,2711,2672,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4006,-0.85,-97.3,3021,1856,2711,2671,334.7,-7.2,226,4011,0.00,2.22,0.00,0.000,516,0.000,0.063,3021,899,2691,2711,2671,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4103,-0.85,-97.3,3021,899,2711,2671,341.7,-7.1,229,4108,0.00,2.17,0.00,0.000,1030,0.000,0.050,3021,1849,2690,2711,2670,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4443,-0.86,-97.3,3021,1848,2712,2668,366.4,-7.4,240,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1848,2690,2712,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4738,-0.88,-97.3,3021,1848,2711,2670,389.8,-8.1,250,4743,0.00,2.22,0.00,0.000,516,0.000,0.063,3021,894,2689,2711,2667,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4782,-0.90,-97.3,3021,894,2711,2666,392.4,-7.9,251,4787,0.00,2.15,0.00,0.000,1030,0.000,0.049,3021,1844,2688,2711,2666,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5110,-0.92,-97.3,3021,1842,2712,2664,420.5,-8.4,262,5115,0.00,2.20,0.00,0.000,516,0.000,0.062,3021,898,2687,2711,2664,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5179,-0.93,-97.3,1984,897,2655,2655,426.0,-8.1,264,5184,0.00,2.15,0.00,0.000,1030,0.000,0.050,3021,1843,2687,2711,2664,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,5474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5474,begin apogee
$GC,5484,-0.25,0.0,3021,1761,2711,2662,450.0,-7.7,274,5568,0.68,0.10,76.78,1.429,10244,0.174,0.112,3210,1837,2298,2356,2241,0,0,0,0,0,0,13.85,14.38,13.40
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5577,1.02,97.3,3210,1837,2354,2239,452.6,0.0,277,5670,1.30,2.35,80.35,1.421,10500,0.093,0.063,3626,2827,1899,1974,1825,0,0,0,0,0,0,14.35,14.38,13.44
$GC,5824,0.91,115.5,3625,2827,1965,1820,445.2,7.3,285,5848,0.20,2.25,15.45,1.325,13318,0.292,0.043,3588,1834,1825,1910,1740,0,0,0,0,0,0,14.14,14.52,13.61
$GC,6147,0.84,134.8,3588,1836,1904,1735,421.0,7.2,296,6169,0.00,2.50,16.33,1.320,8708,0.000,0.068,3588,743,1745,1830,1661,0,0,0,0,0,0,28.83,14.62,13.71
$GC,6233,0.78,147.6,3588,743,1824,1661,416.1,7.6,298,6254,0.17,2.33,11.45,1.266,13318,0.239,0.044,3549,1776,1695,1780,1611,0,0,0,0,0,0,14.27,14.57,13.69
$GC,6580,0.76,171.2,3549,1775,1771,1610,389.5,7.0,310,6608,0.00,2.45,20.10,1.305,8452,0.000,0.059,3549,2856,1596,1672,1521,0,0,0,0,0,0,28.83,14.62,13.71
$GC,6839,0.71,171.2,3548,2855,1663,1520,369.0,8.5,318,6845,0.00,2.35,0.00,0.000,1030,0.000,0.043,3549,1817,1591,1663,1520,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7162,0.68,178.6,3548,1818,1661,1520,343.0,7.9,329,7174,0.12,2.38,5.07,1.077,12548,0.252,0.055,3516,2858,1571,1640,1503,0,0,0,0,0,0,14.20,14.68,13.62
$GC,7323,0.66,186.5,3516,2857,1639,1504,330.0,7.9,334,7341,0.00,2.33,9.52,1.164,9222,0.000,0.041,3519,1829,1535,1601,1470,0,0,0,0,0,0,28.83,14.56,13.76
$GC,7657,0.69,216.5,3519,1829,1593,1469,306.7,6.6,345,7685,0.00,0.00,25.67,1.232,8198,0.000,0.000,3519,1830,1416,1467,1365,0,0,0,0,0,0,28.83,28.83,13.76
$GC,7988,0.71,238.7,3520,1829,1450,1363,284.2,7.1,356,8017,0.00,2.42,18.98,1.190,8452,0.000,0.057,3519,2857,1323,1361,1285,0,0,0,0,0,0,28.83,14.57,13.76
$GC,8036,0.72,243.8,3519,2857,1357,1284,280.5,8.0,357,8045,0.00,2.33,3.80,0.876,9222,0.000,0.041,3520,1828,1308,1344,1272,0,0,0,0,0,0,28.83,14.56,13.52
$GC,8359,0.72,243.8,3520,1829,1343,1272,250.5,9.5,368,8364,0.00,2.50,0.00,0.000,516,0.000,0.069,3520,750,1307,1343,1272,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8382,0.72,243.8,3520,749,1343,1272,250.5,9.5,368,8388,0.00,2.42,0.00,0.000,1030,0.000,0.043,3520,1824,1307,1343,1272,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8697,0.72,245.7,3520,1823,1342,1272,219.6,8.2,389,8707,0.00,2.40,2.90,0.660,8452,0.000,0.060,3520,2855,1299,1334,1264,0,0,0,0,0,0,28.83,14.51,13.50
$GC,8790,0.72,245.7,3520,2855,1333,1266,212.3,8.7,394,8797,0.00,2.33,0.00,0.000,1030,0.000,0.041,3519,1829,1299,1333,1266,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9092,0.75,273.3,3520,1830,1333,1266,189.9,6.8,415,9126,0.00,2.50,26.38,1.086,8708,0.000,0.070,3521,748,1182,1224,1141,0,0,0,0,0,0,28.83,14.58,13.78
$GC,9169,0.79,293.8,3520,746,1223,1139,185.0,7.2,419,9196,0.00,2.45,18.70,1.069,9222,0.000,0.043,3520,1840,1099,1155,1043,0,0,0,0,0,0,28.83,14.45,13.76
$GC,9512,0.87,319.9,3521,1840,1155,1034,160.1,6.8,442,9544,0.15,2.62,23.25,1.044,10756,0.119,0.065,3587,743,993,1064,923,0,0,0,0,0,0,14.39,14.52,13.81
$GC,9603,0.89,345.7,3587,743,1065,922,153.0,6.9,447,9634,0.00,2.40,23.70,1.031,9222,0.000,0.041,3586,1801,886,967,805,0,0,0,0,0,0,28.83,14.52,13.75
$GC,9943,0.89,345.7,3587,1800,967,798,112.0,13.4,470,9948,0.00,2.45,0.00,0.000,260,0.000,0.062,3586,2864,882,967,798,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10101,0.87,345.7,3587,2864,967,797,89.4,14.2,480,10106,0.00,2.38,0.00,0.000,1030,0.000,0.043,3587,1827,882,967,797,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10421,0.87,345.7,3587,1828,967,790,55.3,9.9,501,10428,0.00,2.42,0.00,0.000,260,0.000,0.056,3587,2862,881,967,796,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10445,0.87,345.7,2816,2857,959,795,53.0,10.1,502,10451,0.00,2.35,0.00,0.000,1030,0.000,0.042,3587,1833,881,967,796,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10761,0.87,345.7,3587,1834,967,794,23.5,9.2,523,10766,0.00,2.53,0.00,0.000,516,0.000,0.067,3587,749,880,967,794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10867,0.87,345.7,3586,750,967,794,13.1,11.2,529,10873,0.00,2.42,0.00,0.000,1030,0.000,0.041,3587,1825,880,967,794,0,0,0,0,0,0,28.83,14.46,28.83
$FREEZE,4.31,25.768,-2.085,0,36,0
$STATE,11122,end climb,NO_VERTICAL_VELOCITY
$STATE,11122,begin surface
$SM_CCo,11127,90.68,0.075,0,0,189,517.58
$SM_GC,5.31,9.93,0.28,0.00,0.037,0.070,0.000,145,1959,190,-9.79,-0.57,517.58,0,0,0,0,0,0,14.55,14.50,28.83
$IRIDIUM_FIX,2451.31,-3753.54,090813,030315
$TT8_MAMPS,0.023968,0.023968
$HUMID,86.93
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3823616
$24V_AH,13.4,196.307
$10V_AH,12.7,0.000
$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,25.900,108.775,378.425,90.675,0.000,0.000,0.000,181.750,0.000,0.000,306.507,2016.138,7251.943,584.374,2110.716,512.999,0.000,1647.766,0.000,1563.923,0.000,0.541,0.000
$DEVICE_MAMPS,335.070,111.690,1429.020,74.970,0.000,0.000,0.000,120.870,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11130.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.483,0.000,0.000,0.000
$MEM,345388
$DATA_FILE_SIZE,20074,547
$CAP_FILE_SIZE,144189,0
$CFSIZE,260034560,185282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.293, 44.3,1
$GPS,090813,030715,2451.311,-3753.542,0,10000.0,0,-15.1