version: 66.11
glider: 160
mission: 9
dive: 546
start: 8 15 113 2 11 30
data:
$ID,160
$MISSION,9
$DIVE,546
$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,-101015.75
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,140813,213904,2448.935,-3802.090,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-68.3
$GPS2,140813,213904,2448.935,-3802.090,241,99.0,241,-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,239.6,27659,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.38,-41.0,134,1960,216,167,0.0,0.0,0,39,0.00,0.00,-14.88,0.000,16386,0.000,0.000,134,1960,531,543,520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-41.0,134,1960,543,521,3.1,0.0,1,157,12.57,2.55,-89.57,0.000,19204,0.334,0.090,2848,894,2466,2465,2467,0,0,0,0,0,0,14.19,14.44,14.80
$GC,183,-1.57,-87.8,2849,896,2464,2468,2.9,-1.8,10,199,0.20,2.40,-8.48,0.000,21510,0.092,0.048,2773,1950,2663,2664,2662,0,0,0,0,0,0,14.48,14.45,14.82
$GC,498,-1.44,-87.8,2771,1949,2666,2654,54.6,-17.4,31,505,0.22,2.47,0.00,0.000,2308,0.307,0.065,2815,3012,2660,2666,2654,0,0,0,0,0,0,13.76,14.39,28.83
$GC,543,-1.33,-87.8,2815,3012,2666,2654,60.3,-16.1,33,552,0.22,2.45,0.00,0.000,3078,0.288,0.037,2862,1925,2660,2666,2654,0,0,0,0,0,0,13.90,14.46,28.83
$GC,850,-1.27,-87.8,2861,1927,2667,2653,104.6,-14.2,54,855,0.00,2.33,0.00,0.000,516,0.000,0.063,2862,905,2659,2667,2652,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1088,-1.22,-87.8,2862,900,2667,2652,136.5,-12.5,69,1094,0.17,2.28,0.00,0.000,3078,0.285,0.052,2896,1901,2659,2667,2651,0,0,0,0,0,0,13.95,14.42,28.83
$GC,1405,-1.19,-87.8,2896,1900,2668,2651,167.5,-9.0,90,1411,0.00,2.58,0.00,0.000,260,0.000,0.065,2885,3013,2659,2667,2651,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1633,-1.15,-87.8,2885,3018,2667,2651,190.7,-11.5,104,1640,0.17,2.58,0.00,0.000,3078,0.275,0.036,2921,1872,2659,2667,2651,0,0,0,0,0,0,13.78,14.28,28.83
$GC,1937,-1.15,-87.8,2921,1873,2667,2650,225.9,-11.1,125,1942,0.00,2.22,0.00,0.000,516,0.000,0.067,2921,901,2658,2667,2650,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2172,-1.15,-87.8,1888,896,2607,2641,250.0,-10.0,140,2178,0.00,2.17,0.00,0.000,1030,0.000,0.050,2921,1860,2657,2667,2648,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2489,-1.15,-87.8,2921,1860,2667,2647,277.7,-8.6,151,2495,0.00,2.22,0.00,0.000,516,0.000,0.060,2920,898,2657,2667,2648,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2726,-1.15,-87.8,2921,898,2667,2646,297.5,-9.5,158,2731,0.00,2.12,0.00,0.000,1030,0.000,0.047,2920,1845,2654,2663,2646,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3040,-1.15,-87.8,2921,1844,2667,2644,331.0,-10.4,169,3046,0.00,2.17,0.00,0.000,516,0.000,0.059,2921,900,2655,2667,2644,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3276,-1.15,-87.8,2921,899,2667,2643,356.4,-12.1,176,3282,0.00,2.08,0.00,0.000,1030,0.000,0.046,2920,1827,2652,2667,2638,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3593,-1.15,-87.8,2921,1826,2667,2641,396.7,-11.8,187,3599,0.00,2.15,0.00,0.000,516,0.000,0.057,2921,901,2654,2667,2641,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3829,-1.15,-87.8,2921,901,2667,2639,420.8,-10.7,194,3834,0.00,2.03,0.00,0.000,1030,0.000,0.045,2921,1808,2653,2667,2639,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4145,-1.15,-87.8,2921,1807,2667,2637,452.5,-9.5,205,4150,0.00,2.08,0.00,0.000,516,0.000,0.056,2921,900,2651,2666,2637,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4381,-1.15,-87.8,2920,900,2667,2635,474.7,-10.5,212,4387,0.00,2.00,0.00,0.000,1030,0.000,0.044,2921,1786,2651,2667,2635,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4696,-1.15,-87.8,2921,1786,2667,2631,510.1,-10.9,223,4702,0.00,2.03,0.00,0.000,516,0.000,0.056,2921,902,2650,2667,2633,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4933,-1.15,-87.8,2921,902,2667,2631,534.1,-11.1,230,4938,0.00,1.95,0.00,0.000,1030,0.000,0.044,2920,1774,2649,2667,2631,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,4974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4974,begin apogee
$GC,4983,-0.25,0.0,2919,1773,2667,2631,541.5,-11.4,232,5059,1.10,0.00,70.00,1.555,10244,0.219,0.000,3203,1773,2298,2333,2263,0,0,0,0,0,0,13.72,28.83,13.30
$STATE,5061,end apogee,CONTROL_FINISHED_OK
$STATE,5061,begin climb
$GC,5066,1.43,87.8,3203,1773,2330,2262,544.3,0.0,234,5150,1.70,2.58,74.88,1.549,10500,0.098,0.063,3748,2863,1939,2000,1878,0,0,0,0,0,0,14.23,14.35,13.35
$GC,5387,1.31,89.5,3748,2863,1989,1871,535.0,7.3,245,5393,0.17,2.42,0.00,0.000,5126,0.323,0.042,3719,1796,1931,1991,1871,0,0,0,0,0,0,14.04,14.53,28.83
$GC,5717,1.22,89.5,3719,1797,1990,1868,510.8,7.5,256,5723,0.12,2.47,0.00,0.000,4356,0.306,0.052,3691,2859,1928,1989,1868,0,0,0,0,0,0,14.07,14.47,28.83
$GC,5877,1.13,89.5,2944,2854,1934,1859,497.6,8.1,261,5883,0.17,2.42,0.00,0.000,5126,0.304,0.041,3665,1788,1927,1988,1867,0,0,0,0,0,0,14.01,14.55,28.83
$GC,6214,1.10,108.4,3665,1789,1989,1865,477.7,5.2,272,6235,0.00,0.00,17.00,1.397,8710,0.000,0.000,3664,1789,1854,1936,1773,0,0,0,0,0,0,28.83,28.83,13.62
$GC,6550,1.07,128.7,3665,1789,1935,1766,459.9,5.0,283,6578,0.00,2.55,18.10,1.398,8452,0.000,0.057,3665,2860,1771,1855,1687,0,0,0,0,0,0,28.83,14.60,13.62
$GC,6744,1.01,131.8,3665,2859,1847,1687,447.2,7.1,289,6750,0.22,2.40,0.00,0.000,5126,0.275,0.041,3622,1801,1766,1847,1686,0,0,0,0,0,0,14.09,14.54,28.83
$GC,7073,1.01,133.3,3622,1802,1847,1685,424.0,7.3,300,7078,0.00,0.00,3.45,0.913,8198,0.000,0.000,3622,1802,1755,1836,1675,0,0,0,0,0,0,28.83,28.83,13.46
$GC,7371,1.01,133.3,3622,1802,1837,1676,400.4,7.9,310,7376,0.00,2.47,0.00,0.000,260,0.000,0.056,3621,2858,1755,1835,1675,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7508,0.99,133.3,3622,2858,1833,1675,389.7,8.5,314,7513,0.00,2.38,0.00,0.000,1030,0.000,0.042,3629,1815,1754,1833,1675,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7837,0.99,133.3,3630,1816,1833,1676,364.2,7.5,325,7842,0.00,2.45,0.00,0.000,260,0.000,0.055,3630,2860,1754,1832,1676,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7987,0.96,133.3,3629,2859,1830,1676,353.3,8.4,329,7995,0.00,2.40,0.00,0.000,1030,0.000,0.043,3630,1822,1753,1830,1676,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8293,0.96,133.3,3630,1823,1830,1676,327.1,7.7,340,8299,0.00,2.45,0.00,0.000,260,0.000,0.056,3630,2862,1753,1830,1676,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8389,0.93,133.3,3630,2862,1829,1676,319.3,8.3,343,8395,0.15,2.40,0.00,0.000,5126,0.278,0.043,3600,1826,1753,1830,1676,0,0,0,0,0,0,13.95,14.43,28.83
$GC,8729,0.95,149.3,3601,1827,1830,1676,299.4,5.5,354,8751,0.00,0.00,15.73,1.187,8198,0.000,0.000,3600,1827,1687,1767,1608,0,0,0,0,0,0,28.83,28.83,13.62
$GC,9054,0.96,160.4,3600,1831,1760,1609,279.8,6.1,365,9073,0.00,2.45,10.38,1.141,8452,0.000,0.056,3600,2858,1642,1716,1569,0,0,0,0,0,0,28.83,14.60,13.67
$GC,9112,0.97,169.6,3600,2857,1712,1568,277.4,6.4,366,9129,0.00,2.35,9.73,1.130,9222,0.000,0.043,3602,1827,1605,1678,1532,0,0,0,0,0,0,28.83,14.57,13.69
$GC,9454,0.99,169.6,3602,1828,1671,1527,250.2,7.7,378,9460,0.00,2.42,0.00,0.000,260,0.000,0.055,3602,2858,1601,1670,1532,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9509,0.99,169.6,3602,2858,1669,1530,245.4,8.7,380,9514,0.00,2.38,0.00,0.000,1030,0.000,0.042,3603,1824,1600,1669,1531,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9825,1.01,169.6,3609,1825,1669,1530,216.8,9.5,401,9832,0.00,2.45,0.00,0.000,260,0.000,0.057,3602,2858,1599,1668,1531,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9945,1.01,169.6,2816,2854,1626,1526,204.5,10.7,408,9951,0.00,2.35,0.00,0.000,1030,0.000,0.042,3603,1837,1599,1667,1531,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10252,1.03,169.6,3603,1838,1667,1531,175.5,8.1,429,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1838,1598,1666,1530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10554,1.06,177.7,3603,1838,1666,1530,154.9,6.5,449,10567,0.00,2.45,6.80,0.968,8452,0.000,0.056,3603,2867,1573,1638,1508,0,0,0,0,0,0,28.83,14.62,13.72
$GC,10616,1.06,178.6,3603,2860,1634,1507,149.9,7.4,453,10622,0.00,2.33,0.00,0.000,1030,0.000,0.043,3603,1846,1572,1634,1510,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10937,1.09,178.6,3603,1847,1633,1508,123.0,8.9,474,10943,0.12,2.53,0.00,0.000,2564,0.129,0.060,3669,746,1570,1633,1508,0,0,0,0,0,0,14.45,14.35,28.83
$GC,11017,1.09,178.6,3669,747,1633,1508,114.4,10.3,479,11023,0.00,2.45,0.00,0.000,1030,0.000,0.037,3669,1846,1570,1632,1508,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11338,1.09,179.4,3669,1846,1632,1508,88.7,7.4,500,11343,0.00,2.35,0.00,0.000,260,0.000,0.060,3669,2854,1570,1632,1508,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11575,1.05,179.4,3669,2854,1630,1508,69.8,8.6,515,11581,0.17,2.33,0.00,0.000,5126,0.272,0.041,3635,1847,1569,1631,1508,0,0,0,0,0,0,13.88,14.39,28.83
$GC,11891,1.10,209.1,3635,1848,1631,1508,54.1,3.9,536,11920,0.00,0.00,25.77,0.892,8198,0.000,0.000,3635,1848,1444,1495,1394,0,0,0,0,0,0,28.83,28.83,13.78
$GC,12222,1.13,209.1,3635,1848,1482,1394,31.9,8.3,558,12227,0.00,2.40,0.00,0.000,260,0.000,0.057,3636,2854,1437,1481,1394,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12281,1.15,209.1,3635,2854,1479,1395,27.5,8.6,561,12288,0.00,2.35,0.00,0.000,1030,0.000,0.044,3640,1834,1437,1479,1395,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12588,1.25,215.1,3640,1834,1476,1397,4.3,6.8,582,12592,0.17,0.00,1.98,0.102,10246,0.097,0.000,3712,1834,1422,1460,1384,0,0,0,0,0,0,14.40,28.83,14.18
$FREEZE,4.29,25.752,-1.352,0,69,0
$STATE,12753,end climb,NO_VERTICAL_VELOCITY
$STATE,12753,begin surface
$SM_CCo,12759,156.35,0.075,0,0,188,517.58
$SM_GC,4.83,10.32,0.25,0.00,0.037,0.054,0.000,132,1965,190,-9.79,-0.96,517.58,0,0,0,0,0,0,14.54,14.59,28.83
$IRIDIUM_FIX,2451.31,-3738.32,150813,020241
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.51
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,3810944
$24V_AH,13.3,203.561
$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,28.025,108.075,253.800,156.350,0.000,0.000,0.000,381.075,0.250,0.000,246.871,2375.066,8322.620,576.068,2492.482,838.033,0.000,1918.922,0.000,1833.613,0.000,0.542,0.000
$DEVICE_MAMPS,333.540,90.270,1555.245,74.970,0.000,0.000,0.000,190.485,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12782.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.435,0.000,0.000,0.000
$MEM,344804
$DATA_FILE_SIZE,20073,593
$CAP_FILE_SIZE,159479,0
$CFSIZE,260034560,182185984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,66.092,262.4,1
$GPS,150813,020141,2451.311,-3738.319,0,10000.0,0,-14.9