version: 66.11
glider: 160
mission: 9
dive: 539
start: 8 13 113 19 25 5
data:
$ID,160
$MISSION,9
$DIVE,539
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,600
$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,240
$T_MISSION,270
$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,4
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-97584.492
$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,18
$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
$GPS1,130813,145943,2448.935,-3743.535,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-66.7
$GPS2,130813,145943,2448.935,-3743.535,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.197
$TGT_NAME,CTR
$TGT_LATLONG,2434.000,-3802.000
$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,198.3,41621,-26.8,-7.500,-30.00,838
$D_GRID,540
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.38,-41.0,127,1955,222,166,0.0,0.0,0,115,0.00,0.00,-90.25,0.000,16386,0.000,0.000,127,1956,2389,2352,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.43,-90.9,127,1956,2354,2427,3.6,-1.4,6,146,13.52,2.45,-6.40,0.000,18948,0.370,0.082,2823,882,2671,2680,2662,0,0,0,0,0,0,14.03,14.54,14.85
$GC,381,-1.34,-90.9,2823,882,2682,2660,47.8,-16.1,22,389,0.20,2.42,0.00,0.000,3078,0.290,0.050,2858,1945,2668,2676,2660,0,0,0,0,0,0,14.00,14.46,28.83
$GC,685,-1.28,-90.9,2858,1943,2683,2660,91.4,-12.9,43,691,0.00,2.42,0.00,0.000,516,0.000,0.056,2857,887,2671,2683,2660,0,0,0,0,0,0,28.83,14.45,28.83
$GC,922,-1.22,-90.9,1792,886,2621,2650,122.5,-13.3,58,929,0.20,2.38,0.00,0.000,3078,0.275,0.052,2899,1920,2668,2677,2659,0,0,0,0,0,0,13.95,14.41,28.83
$GC,1240,-1.19,-90.9,2898,1919,2683,2658,160.2,-10.9,79,1246,0.00,2.38,0.00,0.000,516,0.000,0.057,2898,886,2670,2683,2658,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1476,-1.16,-90.9,1840,886,2621,2648,185.0,-10.3,94,1481,0.00,2.35,0.00,0.000,1030,0.000,0.052,2898,1916,2670,2684,2657,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1791,-1.14,-90.9,2898,1915,2683,2657,216.8,-10.6,115,1798,0.12,2.38,0.00,0.000,2564,0.295,0.056,2927,890,2669,2683,2656,0,0,0,0,0,0,14.07,14.42,28.83
$GC,2029,-1.14,-90.9,2927,890,2683,2656,241.4,-10.8,130,2034,0.00,2.30,0.00,0.000,1030,0.000,0.051,2927,1902,2669,2683,2655,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2363,-1.14,-90.9,2927,1901,2683,2654,277.9,-11.3,144,2368,0.00,2.35,0.00,0.000,516,0.000,0.057,2927,885,2669,2684,2654,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2510,-1.14,-90.9,2927,886,2683,2653,292.7,-11.5,148,2515,0.00,2.28,0.00,0.000,1030,0.000,0.050,2927,1887,2668,2683,2653,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2826,-1.14,-90.9,2927,1887,2684,2651,334.0,-12.4,159,2832,0.00,2.33,0.00,0.000,516,0.000,0.058,2927,887,2667,2683,2651,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2984,-1.14,-90.9,2927,888,2683,2650,353.1,-12.1,164,2989,0.00,2.25,0.00,0.000,1030,0.000,0.050,2923,1871,2667,2684,2650,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3321,-1.14,-90.9,2927,1870,2683,2647,389.6,-10.4,175,3326,0.00,2.28,0.00,0.000,516,0.000,0.059,2927,886,2665,2683,2647,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3411,-1.14,-90.9,2927,887,2683,2647,396.6,-10.3,177,3418,0.00,2.22,0.00,0.000,1030,0.000,0.049,2926,1866,2664,2682,2646,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3716,-1.14,-90.9,2926,1865,2683,2645,427.6,-9.0,188,3721,0.00,2.25,0.00,0.000,516,0.000,0.058,2926,890,2667,2683,2652,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3913,-1.14,-90.9,2926,890,2683,2644,444.9,-9.3,194,3918,0.00,2.15,0.00,0.000,1030,0.000,0.047,2925,1835,2663,2683,2643,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4240,-1.14,-90.9,2926,1834,2683,2641,479.1,-10.7,205,4245,0.00,2.20,0.00,0.000,516,0.000,0.057,2926,887,2662,2683,2642,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4326,-1.14,-90.9,2925,885,2683,2641,486.9,-11.2,207,4331,0.00,2.15,0.00,0.000,1030,0.000,0.047,2925,1834,2662,2683,2641,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4641,-1.14,-90.9,2925,1831,2683,2639,528.4,-12.4,218,4646,0.00,2.20,0.00,0.000,516,0.000,0.057,2925,884,2661,2683,2639,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,4767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4768,begin apogee
$GC,4778,-0.25,0.0,2925,1810,2683,2637,543.3,-12.0,222,4872,1.08,0.00,83.80,1.463,10244,0.211,0.000,3205,1809,2299,2350,2249,0,0,0,0,1,0,13.75,28.83,13.28
$STATE,4876,end apogee,CONTROL_FINISHED_OK
$STATE,4877,begin climb
$GC,4880,1.43,90.9,3205,1809,2351,2249,548.1,0.0,225,4971,1.73,2.50,79.75,1.518,10500,0.092,0.071,3761,2856,1925,1984,1867,0,0,0,0,0,0,14.35,14.33,13.34
$GC,5207,1.30,90.9,3762,2856,1973,1860,534.3,9.2,236,5213,0.25,2.45,0.00,0.000,5126,0.305,0.050,3716,1784,1916,1973,1860,0,0,0,0,0,0,14.05,14.52,28.83
$GC,5536,1.22,93.1,3717,1785,1974,1857,508.9,7.2,247,5542,0.12,2.53,0.00,0.000,4356,0.308,0.060,3687,2858,1915,1973,1857,0,0,0,0,0,0,14.09,14.47,28.83
$GC,5719,1.13,99.8,3688,2858,1973,1855,497.6,6.7,252,5730,0.00,2.42,5.82,1.207,9222,0.000,0.057,3688,1812,1895,1957,1833,0,0,0,0,0,0,28.83,14.52,13.59
$GC,6060,1.08,115.6,3688,1812,1958,1829,477.0,5.6,264,6083,0.17,2.45,16.02,1.378,12804,0.292,0.071,3646,741,1825,1902,1749,0,0,0,0,0,0,14.00,14.66,13.66
$GC,6262,1.07,129.5,3646,741,1898,1748,466.0,5.8,270,6282,0.00,2.40,12.70,1.359,9222,0.000,0.044,3650,1798,1770,1849,1691,0,0,0,0,0,0,28.83,14.53,13.65
$GC,6613,1.04,132.6,3646,1797,1843,1690,442.2,7.1,282,6618,0.00,2.45,0.00,0.000,260,0.000,0.066,3642,2860,1766,1842,1690,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6849,0.99,132.6,3646,2860,1838,1688,425.2,7.8,289,6856,0.17,2.40,0.00,0.000,5126,0.282,0.045,3617,1809,1764,1839,1689,0,0,0,0,0,0,14.04,14.50,28.83
$GC,7170,1.00,143.4,3617,1810,1838,1687,403.3,6.2,300,7188,0.00,2.42,12.57,1.295,8452,0.000,0.058,3618,2859,1712,1789,1635,0,0,0,0,0,0,28.83,14.67,13.62
$GC,7420,0.97,143.4,3617,2858,1780,1634,383.2,8.5,308,7426,0.00,2.38,0.00,0.000,1030,0.000,0.048,3618,1819,1707,1780,1635,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7753,0.97,143.4,3617,1820,1779,1635,352.8,9.6,319,7758,0.00,2.45,0.00,0.000,260,0.000,0.059,3617,2855,1707,1779,1635,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7876,0.97,143.4,3617,2855,1778,1634,342.4,10.6,322,7883,0.00,2.38,0.00,0.000,1030,0.000,0.050,3617,1824,1705,1777,1634,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8178,0.97,143.4,3618,1825,1778,1635,312.8,8.3,333,8184,0.00,2.53,0.00,0.000,516,0.000,0.070,3617,749,1706,1777,1635,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8218,0.97,143.4,3617,749,1777,1635,309.7,8.3,334,8224,0.00,2.45,0.00,0.000,1030,0.000,0.043,3617,1835,1705,1776,1635,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8552,0.98,148.8,3617,1834,1777,1634,285.4,6.8,345,8562,0.00,2.33,3.90,0.920,8452,0.000,0.059,3617,2858,1693,1766,1620,0,0,0,0,0,0,28.83,14.60,13.48
$GC,8764,0.96,151.8,3617,2857,1766,1621,271.4,7.1,351,8777,0.00,2.35,4.43,0.975,9222,0.000,0.040,3617,1835,1679,1751,1608,0,0,0,0,0,0,28.83,14.48,13.54
$GC,9107,0.97,157.3,3618,1836,1752,1609,248.0,6.8,363,9122,0.00,2.35,7.38,1.057,8452,0.000,0.056,3617,2853,1654,1724,1584,0,0,0,0,0,0,28.83,14.66,13.71
$GC,9208,0.95,157.3,2816,2849,1675,1578,240.2,8.1,369,9214,0.00,2.30,0.00,0.000,1030,0.000,0.044,3617,1838,1651,1719,1584,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9524,0.96,159.7,3618,1840,1718,1584,216.4,7.2,390,9529,0.00,2.53,0.00,0.000,516,0.000,0.068,3617,754,1650,1717,1584,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9654,0.96,159.7,2848,753,1676,1579,206.8,7.6,398,9659,0.00,2.45,0.00,0.000,1030,0.000,0.040,3618,1843,1650,1717,1584,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9969,0.96,159.7,3618,1843,1717,1584,182.4,8.0,419,9974,0.00,2.33,0.00,0.000,260,0.000,0.056,3617,2856,1651,1718,1584,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10176,0.96,159.7,3618,2856,1716,1584,164.9,8.9,432,10182,0.00,2.28,0.00,0.000,1030,0.000,0.039,3618,1862,1649,1715,1584,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10491,0.97,172.9,3617,1863,1715,1584,143.8,5.9,453,10511,0.00,2.58,13.95,0.979,8708,0.000,0.067,3617,743,1591,1657,1526,0,0,0,0,0,0,28.83,14.60,13.70
$GC,10567,0.98,186.6,3617,743,1654,1525,139.6,5.8,457,10588,0.00,2.50,12.32,0.981,9222,0.000,0.040,3617,1859,1534,1595,1474,0,0,0,0,0,0,28.83,14.54,13.74
$GC,10887,1.00,186.6,3617,1859,1589,1473,115.6,8.2,479,10892,0.00,2.28,0.00,0.000,260,0.000,0.057,3617,2852,1531,1588,1474,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11124,1.00,186.9,3617,2852,1586,1474,95.9,7.5,494,11129,0.00,2.25,0.00,0.000,1030,0.000,0.038,3617,1866,1530,1587,1474,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11440,1.04,203.5,3617,1867,1586,1474,77.9,5.5,515,11460,0.00,2.28,14.15,0.889,8452,0.000,0.052,3617,2858,1466,1518,1414,0,0,0,0,0,0,28.83,14.62,13.76
$GC,11533,1.06,215.2,3617,2858,1512,1414,71.9,6.1,520,11549,0.00,2.25,10.12,0.874,9222,0.000,0.041,3617,1878,1419,1460,1379,0,0,0,0,0,0,28.83,14.48,13.83
$GC,11861,1.10,215.2,3618,1879,1451,1379,45.0,8.3,542,11866,0.00,2.62,0.00,0.000,516,0.000,0.067,3617,750,1415,1451,1380,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12036,1.15,217.8,2832,750,1420,1376,30.8,7.2,553,12042,0.15,2.55,0.00,0.000,3078,0.114,0.044,3687,1869,1414,1449,1380,0,0,0,0,0,0,14.38,14.38,28.83
$GC,12352,1.25,238.3,3694,1881,1442,1384,4.4,5.0,574,12369,0.00,2.35,10.32,0.070,8452,0.000,0.060,3687,2857,1327,1361,1293,0,0,0,0,0,0,28.83,14.38,14.37
$GC,12491,1.54,300.3,3688,2868,1347,1300,4.2,-0.1,582,12513,0.30,2.25,16.62,0.070,11266,0.073,0.040,3798,1870,1186,1224,1149,0,0,0,0,0,0,14.41,14.42,28.83
$STATE,12516,end climb,SURFACE_DEPTH_REACHED
$STATE,12516,begin surface coast
$FINISH,2.9,1.025094
$STATE,12526,end surface coast,CONTROL_FINISHED_OK
$STATE,12526,begin surface
$SM_CCo,12531,127.40,0.074,0,0,189,517.58
$SM_GC,5.13,10.73,0.17,0.00,0.047,0.089,0.000,144,1956,190,-9.77,-1.02,517.58,0,0,0,0,0,0,14.56,14.52,28.83
$IRIDIUM_FIX,2451.31,-3744.99,130813,191902
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.02
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.30
$XPDR_PINGS,1
$SC_FREEKB,3813632
$24V_AH,13.3,202.028
$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,28.750,123.050,303.875,127.400,0.000,0.000,0.000,970.875,0.250,0.000,246.466,2502.031,7779.321,562.796,3168.083,955.014,0.000,2579.944,0.000,1974.456,0.000,0.544,0.000
$DEVICE_MAMPS,370.260,88.740,1517.760,74.205,0.000,0.000,0.000,208.845,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12549.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.089,0.000,0.000,0.000
$MEM,344772
$DATA_FILE_SIZE,20085,584
$CAP_FILE_SIZE,170927,0
$CFSIZE,260034560,182751232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,7.299,148.6,1
$GPS,130813,191102,2451.311,-3744.990,0,10000.0,0,-14.9