version: 66.11
glider: 160
mission: 9
dive: 553
start: 8 16 113 8 55 4
data:
$ID,160
$MISSION,9
$DIVE,553
$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,-104453.48
$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,44
$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
$GPS1,160813,043630,2448.935,-3738.319,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.3
$GPS2,160813,043630,2448.935,-3738.319,241,99.0,241,-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,295.2,48538,-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,23,-1.38,-41.0,146,1975,215,167,0.0,0.0,0,99,0.00,0.00,-74.32,0.000,16386,0.000,0.000,146,1975,1933,1929,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.44,-97.3,146,1975,1932,1938,3.0,-0.4,5,151,13.30,2.40,-24.20,0.000,18692,0.366,0.103,2827,2980,2698,2719,2678,0,0,0,0,0,0,14.07,14.43,14.86
$GC,294,-1.35,-97.3,2827,2980,2719,2678,32.5,-17.6,17,300,0.15,2.35,0.00,0.000,3078,0.293,0.045,2856,1952,2698,2719,2678,0,0,0,0,0,0,14.01,14.46,28.83
$GC,617,-1.29,-97.3,2856,1952,2719,2678,86.4,-13.6,38,622,0.00,2.45,0.00,0.000,516,0.000,0.070,2860,891,2698,2719,2677,0,0,0,0,0,0,28.83,14.40,28.83
$GC,854,-1.23,-97.3,2860,891,2719,2678,114.3,-12.5,53,861,0.17,2.33,0.00,0.000,3078,0.279,0.043,2893,1914,2698,2719,2677,0,0,0,0,0,0,13.99,14.44,28.83
$GC,1171,-1.20,-97.3,2892,1913,2719,2677,148.9,-10.9,74,1176,0.00,2.58,0.00,0.000,260,0.000,0.078,2883,3006,2698,2719,2677,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1339,-1.17,-97.3,2883,3005,2719,2676,167.7,-12.0,84,1347,0.15,2.50,0.00,0.000,3078,0.282,0.044,2913,1910,2698,2719,2677,0,0,0,0,0,0,13.99,14.43,28.83
$GC,1643,-1.17,-97.3,2914,1911,2719,2676,199.5,-9.5,105,1649,0.00,2.38,0.00,0.000,516,0.000,0.072,2913,888,2697,2719,2676,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1878,-1.17,-97.3,1856,888,2661,2667,222.8,-10.6,120,1884,0.00,2.28,0.00,0.000,1030,0.000,0.050,2912,1880,2697,2719,2675,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2209,-1.17,-97.3,2912,1879,2719,2673,262.1,-12.0,139,2215,0.00,2.67,0.00,0.000,260,0.000,0.081,2912,3002,2696,2719,2674,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2376,-1.17,-97.3,2912,3002,2718,2672,280.8,-12.0,144,2382,0.00,2.62,0.00,0.000,1030,0.000,0.044,2912,1852,2696,2719,2673,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2705,-1.17,-97.3,2912,1853,2719,2673,314.4,-9.5,155,2710,0.00,2.20,0.00,0.000,516,0.000,0.064,2912,890,2695,2719,2671,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2940,-1.17,-97.3,2911,890,2719,2669,335.6,-9.8,162,2946,0.00,2.15,0.00,0.000,1030,0.000,0.049,2912,1838,2694,2719,2669,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3256,-1.17,-97.3,2912,1833,2719,2667,368.7,-9.7,173,3263,0.00,2.80,0.00,0.000,260,0.000,0.080,2912,3009,2693,2719,2667,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3425,-1.17,-97.3,2912,3007,2717,2667,383.5,-9.3,178,3431,0.00,2.75,0.00,0.000,1030,0.000,0.043,2912,1806,2692,2717,2667,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3755,-1.17,-97.3,2912,1807,2717,2665,413.6,-9.2,189,3760,0.00,2.10,0.00,0.000,516,0.000,0.062,2912,888,2690,2717,2664,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3991,-1.17,-97.3,2912,888,2717,2663,438.4,-11.7,196,3997,0.00,2.08,0.00,0.000,1030,0.000,0.045,2912,1801,2689,2717,2662,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4306,-1.17,-97.3,2912,1801,2716,2661,481.7,-13.3,207,4312,0.00,2.88,0.00,0.000,260,0.000,0.076,2912,3009,2688,2716,2660,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4458,-1.17,-97.3,2912,3009,2715,2660,498.1,-13.0,211,4465,0.00,2.85,0.00,0.000,1030,0.000,0.043,2912,1768,2687,2714,2661,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4765,-1.17,-97.3,2912,1769,2714,2659,539.0,-11.4,222,4771,0.00,2.00,0.00,0.000,516,0.000,0.059,2912,890,2687,2715,2659,0,0,0,0,0,0,28.83,14.36,28.83
$STATE,4797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4797,begin apogee
$GC,4808,-0.25,0.0,2912,1803,2715,2658,542.9,-11.0,223,4895,1.15,0.00,78.45,1.545,10244,0.222,0.000,3205,1803,2295,2334,2257,0,0,0,0,0,0,13.71,28.83,13.30
$STATE,4899,end apogee,CONTROL_FINISHED_OK
$STATE,4900,begin climb
$GC,4904,1.44,97.3,3205,1803,2330,2257,546.5,0.0,226,4999,1.73,2.53,82.55,1.543,10500,0.093,0.071,3757,2860,1902,1966,1838,0,0,0,0,0,0,14.35,14.34,13.34
$GC,5232,1.31,97.3,3758,2860,1949,1826,525.7,10.4,237,5238,0.22,2.45,0.00,0.000,5126,0.314,0.046,3722,1787,1887,1949,1826,0,0,0,0,0,0,14.03,14.50,28.83
$GC,5568,1.22,97.3,3722,1788,1949,1822,496.5,8.6,248,5574,0.12,2.53,0.00,0.000,4356,0.306,0.059,3694,2860,1885,1949,1822,0,0,0,0,0,0,14.07,14.50,28.83
$GC,5807,1.13,97.3,3694,2859,1948,1820,479.1,7.8,255,5812,0.17,2.42,0.00,0.000,5126,0.306,0.047,3665,1800,1884,1948,1820,0,0,0,0,0,0,13.99,14.49,28.83
$GC,6127,1.10,118.9,3665,1801,1948,1819,461.2,4.9,266,6150,0.00,2.47,17.00,1.365,8452,0.000,0.060,3665,2857,1811,1889,1734,0,0,0,0,0,0,28.83,14.65,13.61
$GC,6382,1.04,121.5,3665,2856,1876,1733,444.5,7.2,274,6389,0.17,2.35,0.00,0.000,5126,0.290,0.045,3636,1831,1805,1877,1733,0,0,0,0,0,0,14.08,14.52,28.83
$GC,6713,1.02,127.0,3636,1832,1875,1733,422.5,6.8,285,6727,0.00,2.47,7.22,1.219,8708,0.000,0.063,3642,742,1780,1856,1704,0,0,0,0,0,0,28.83,14.66,13.60
$GC,6958,1.00,127.0,3642,742,1852,1703,402.9,7.9,293,6964,0.00,2.47,0.00,0.000,1030,0.000,0.038,3642,1843,1777,1851,1703,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7298,0.98,133.5,3642,1842,1852,1700,378.2,6.7,304,7313,0.12,2.33,6.85,1.183,12548,0.276,0.064,3614,2853,1751,1828,1675,0,0,0,0,0,0,14.06,14.66,13.62
$GC,7550,0.96,143.7,3613,2853,1822,1674,361.7,6.2,312,7568,0.00,2.33,9.82,1.209,9222,0.000,0.045,3616,1850,1711,1788,1635,0,0,0,0,0,0,28.83,14.52,13.66
$GC,7883,0.98,161.6,3615,1851,1780,1635,343.4,5.3,323,7905,0.00,2.35,16.33,1.252,8452,0.000,0.060,3616,2853,1639,1710,1568,0,0,0,0,0,0,28.83,14.63,13.69
$GC,8122,0.96,161.6,3616,2853,1700,1567,327.2,7.8,330,8129,0.00,2.28,0.00,0.000,1030,0.000,0.044,3617,1869,1633,1700,1567,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8426,0.96,161.6,3617,1873,1699,1567,298.9,9.1,341,8431,0.00,2.35,0.00,0.000,260,0.000,0.060,3617,2854,1633,1699,1567,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8664,0.94,161.6,3617,2854,1697,1567,276.1,10.5,348,8669,0.00,2.25,0.00,0.000,1030,0.000,0.044,3617,1882,1632,1697,1567,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8983,0.94,161.6,3617,1883,1697,1567,245.6,8.7,360,8988,0.00,2.33,0.00,0.000,260,0.000,0.060,3617,2854,1632,1697,1567,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9118,0.92,161.6,3617,2853,1696,1567,233.6,9.3,368,9125,0.00,2.22,0.00,0.000,1030,0.000,0.044,3617,1892,1631,1696,1567,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9424,0.93,169.2,3617,1893,1696,1567,210.2,6.6,389,9439,0.00,2.28,7.12,1.026,8452,0.000,0.060,3617,2858,1606,1670,1542,0,0,0,0,0,0,28.83,14.61,13.66
$GC,9507,0.94,178.4,3617,2858,1667,1535,204.4,6.4,394,9523,0.00,2.22,9.25,1.029,9222,0.000,0.044,3617,1899,1568,1629,1507,0,0,0,0,0,0,28.83,14.53,13.73
$GC,9819,0.94,183.8,3617,1899,1623,1507,184.9,6.8,415,9830,0.00,2.62,4.25,0.874,8708,0.000,0.061,3623,744,1550,1608,1492,0,0,0,0,0,0,28.83,14.61,13.55
$GC,9865,0.94,183.8,3617,744,1609,1492,182.0,7.7,417,9873,0.00,2.58,0.00,0.000,1030,0.000,0.036,3617,1899,1550,1609,1492,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10170,0.94,183.8,3616,1898,1609,1493,152.0,10.8,438,10176,0.00,2.22,0.00,0.000,260,0.000,0.063,3617,2852,1551,1609,1493,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10314,0.94,183.8,3617,2852,1607,1492,135.3,11.3,447,10319,0.00,2.22,0.00,0.000,1030,0.000,0.043,3617,1898,1549,1607,1492,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10635,0.97,195.9,3617,1900,1607,1493,110.6,6.0,468,10655,0.00,2.30,12.68,0.938,8452,0.000,0.060,3617,2855,1497,1551,1443,0,0,0,0,0,0,28.83,14.57,13.78
$GC,10818,0.98,205.7,3617,2855,1546,1442,99.9,6.3,479,10833,0.00,2.22,9.12,0.906,9222,0.000,0.043,3617,1893,1457,1506,1409,0,0,0,0,0,0,28.83,14.37,13.81
$GC,11145,1.01,205.7,3617,1894,1499,1409,73.1,8.3,501,11150,0.00,2.67,0.00,0.000,516,0.000,0.062,3617,739,1453,1498,1409,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11210,1.04,205.7,3617,739,1498,1409,67.3,8.6,505,11216,0.00,2.62,0.00,0.000,1030,0.000,0.037,3617,1902,1453,1498,1409,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11531,1.09,211.7,3617,1902,1497,1409,45.4,6.8,526,11542,0.00,2.67,4.25,0.741,8708,0.000,0.059,3617,743,1437,1477,1397,0,0,0,0,0,0,28.83,14.59,13.61
$GC,11698,1.13,212.1,3617,744,1477,1399,33.7,7.5,536,11707,0.12,2.62,0.00,0.000,3078,0.132,0.037,3675,1913,1438,1477,1399,0,0,0,0,0,0,14.40,14.46,28.83
$GC,12003,1.13,212.1,3676,1913,1474,1403,4.9,9.5,557,12009,0.00,2.22,0.00,0.000,260,0.000,0.067,3675,2852,1438,1474,1402,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12196,1.43,273.0,2944,2853,1430,1407,3.7,0.0,569,12209,0.25,2.17,6.72,0.102,11266,0.070,0.050,3788,1919,1384,1419,1350,0,0,0,0,0,0,14.43,14.35,28.83
$FREEZE,3.07,25.771,-0.933,0,76,0
$STATE,12211,end climb,NO_VERTICAL_VELOCITY
$STATE,12211,begin surface
$SM_CCo,12217,151.35,0.075,0,0,189,517.58
$SM_GC,4.43,10.57,0.08,0.00,0.040,0.150,0.000,145,1954,190,-9.77,-0.85,517.58,0,0,0,0,0,0,14.55,14.62,28.83
$IRIDIUM_FIX,2451.31,-3736.44,160813,080854
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.11
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3808256
$24V_AH,13.3,205.199
$10V_AH,12.8,0.000
$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,28.425,120.350,271.625,151.350,0.000,0.000,0.000,549.500,0.250,0.000,245.507,2487.221,7512.171,564.204,2778.991,922.478,0.000,2148.399,0.000,1979.162,0.000,0.543,0.000
$DEVICE_MAMPS,365.670,149.940,1544.535,74.970,0.000,0.000,0.000,208.080,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12226.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.092,0.000,0.000,0.000
$MEM,344812
$DATA_FILE_SIZE,20059,570
$CAP_FILE_SIZE,163362,0
$CFSIZE,260034560,181596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,6.906,213.1,1
$GPS,160813,084054,2451.311,-3736.436,0,10000.0,0,-14.9