version: 66.11
glider: 160
mission: 9
dive: 557
start: 8 17 113 1 42 5
data:
$ID,160
$MISSION,9
$DIVE,557
$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,-106415
$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,55
$R_STBD_OVSHOOT,69
$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
$GPS1,160813,211718,2448.935,-3738.319,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-70.6
$GPS2,160813,211718,2448.935,-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,205.2,48538,-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,-41.0,139,1920,218,167,0.0,0.0,0,115,0.00,0.00,-89.85,0.000,16386,0.000,0.000,139,1921,2369,2340,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.43,-88.9,138,1921,2341,2399,3.6,-1.6,6,147,13.50,2.25,-6.65,0.000,18948,0.370,0.084,2829,925,2661,2673,2649,0,0,0,0,0,0,14.04,14.52,14.87
$GC,382,-1.35,-88.9,2829,926,2674,2648,45.4,-15.1,22,391,0.15,2.25,0.00,0.000,3078,0.289,0.054,2858,1905,2660,2674,2647,0,0,0,0,0,0,14.02,14.41,28.83
$GC,688,-1.30,-88.9,2859,1904,2674,2647,85.1,-11.0,43,693,0.00,2.25,0.00,0.000,516,0.000,0.058,2858,927,2660,2674,2647,0,0,0,0,0,0,28.83,14.38,28.83
$GC,925,-1.24,-88.9,1792,926,2612,2638,111.5,-11.8,58,931,0.15,2.30,0.00,0.000,3078,0.285,0.057,2886,1923,2660,2674,2646,0,0,0,0,0,0,14.02,14.40,28.83
$GC,1241,-1.22,-88.9,2887,1923,2674,2646,147.8,-10.9,79,1246,0.00,2.30,0.00,0.000,516,0.000,0.064,2886,926,2660,2674,2646,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1478,-1.18,-88.9,2887,926,2674,2646,172.3,-10.6,94,1483,0.00,2.28,0.00,0.000,1030,0.000,0.058,2887,1915,2659,2674,2645,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1795,-1.16,-88.9,2887,1914,2674,2645,204.5,-10.2,115,1800,0.12,2.30,0.00,0.000,2564,0.305,0.060,2916,925,2659,2674,2645,0,0,0,0,0,0,14.04,14.40,28.83
$GC,2031,-1.16,-88.9,1888,925,2614,2636,228.3,-10.2,130,2037,0.00,2.20,0.00,0.000,1030,0.000,0.057,2915,1883,2659,2674,2644,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2361,-1.16,-88.9,2915,1881,2674,2643,259.8,-9.5,149,2366,0.00,2.22,0.00,0.000,516,0.000,0.061,2915,921,2658,2674,2643,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2599,-1.16,-88.9,2914,921,2674,2642,280.7,-9.7,156,2604,0.00,2.17,0.00,0.000,1030,0.000,0.053,2914,1870,2658,2674,2642,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2914,-1.16,-88.9,2914,1872,2674,2641,313.7,-10.3,167,2920,0.00,2.20,0.00,0.000,516,0.000,0.060,2914,922,2654,2668,2641,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3152,-1.16,-88.9,2914,922,2674,2639,336.6,-10.4,174,3157,0.00,2.15,0.00,0.000,1030,0.000,0.051,2914,1864,2656,2674,2638,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3467,-1.16,-88.9,2914,1862,2674,2637,368.3,-9.3,185,3472,0.00,2.17,0.00,0.000,516,0.000,0.060,2914,922,2655,2674,2637,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3704,-1.16,-88.9,2914,922,2674,2635,388.7,-9.3,192,3709,0.00,2.10,0.00,0.000,1030,0.000,0.050,2914,1842,2654,2674,2635,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4020,-1.16,-88.9,2914,1841,2674,2633,420.8,-9.9,203,4026,0.00,2.12,0.00,0.000,516,0.000,0.059,2913,925,2653,2674,2633,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4241,-1.16,-88.9,1864,924,2615,2622,444.1,-10.9,210,4247,0.00,2.08,0.00,0.000,1030,0.000,0.049,2913,1834,2652,2673,2631,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4574,-1.16,-88.9,2913,1833,2674,2629,478.5,-10.1,221,4580,0.00,2.10,0.00,0.000,516,0.000,0.057,2913,924,2651,2674,2629,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4781,-1.16,-88.9,2913,924,2674,2627,497.1,-9.7,227,4786,0.00,2.05,0.00,0.000,1030,0.000,0.048,2913,1823,2650,2674,2627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5096,-1.16,-88.9,2913,1822,2674,2625,528.0,-9.1,238,5101,0.00,2.08,0.00,0.000,516,0.000,0.057,2913,924,2649,2674,2625,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5221,begin apogee
$GC,5231,-0.25,0.0,2913,1804,2674,2624,540.0,-9.7,242,5313,1.15,0.00,70.82,1.537,10244,0.216,0.000,3209,1803,2295,2331,2259,0,0,0,0,0,0,13.71,28.83,13.31
$STATE,5314,end apogee,CONTROL_FINISHED_OK
$STATE,5318,begin climb
$GC,5323,1.43,88.9,3209,1803,2328,2259,544.0,0.0,245,5409,1.70,2.53,75.65,1.543,10500,0.088,0.070,3759,2859,1933,1992,1874,0,0,0,0,0,0,14.37,14.36,13.33
$GC,5647,1.31,94.3,3759,2864,1982,1866,533.2,6.8,255,5653,0.22,2.38,0.00,0.000,5126,0.309,0.047,3722,1824,1924,1982,1866,0,0,0,0,0,0,14.01,14.51,28.83
$GC,5967,1.24,111.9,3722,1825,1982,1864,515.0,5.3,266,5995,0.12,2.50,18.95,1.431,12804,0.305,0.066,3700,737,1839,1912,1766,0,0,0,0,0,0,14.08,14.62,13.59
$GC,6035,1.17,124.5,3700,740,1908,1766,510.9,6.0,268,6053,0.00,2.42,11.80,1.385,9222,0.000,0.041,3699,1817,1789,1867,1712,0,0,0,0,0,0,28.83,14.55,13.57
$GC,6370,1.11,124.5,3699,1816,1861,1708,482.5,9.0,279,6376,0.17,2.40,0.00,0.000,4356,0.272,0.063,3663,2854,1784,1861,1708,0,0,0,0,0,0,14.02,14.47,28.83
$GC,6493,1.05,124.5,3658,2854,1855,1707,472.9,9.7,282,6501,0.00,2.38,0.00,0.000,1030,0.000,0.049,3659,1815,1781,1856,1707,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6801,1.01,124.5,3659,1816,1857,1708,441.8,9.4,293,6803,0.17,0.00,0.00,0.000,4102,0.279,0.000,3622,1816,1781,1855,1708,0,0,0,0,0,0,14.04,28.83,28.83
$GC,7097,1.02,131.2,3622,1816,1854,1707,419.4,6.7,303,7103,0.00,0.00,4.55,1.088,8198,0.000,0.000,3623,1816,1764,1839,1689,0,0,0,0,0,0,28.83,28.83,13.50
$GC,7398,1.05,160.5,3621,1816,1840,1690,404.7,3.9,313,7431,0.00,2.45,27.55,1.358,8708,0.000,0.063,3630,745,1641,1714,1569,0,0,0,0,0,0,28.83,14.58,13.59
$GC,7470,1.07,187.0,3630,746,1710,1569,401.8,4.3,315,7498,0.00,2.42,22.92,1.359,9222,0.000,0.040,3629,1822,1538,1607,1470,0,0,0,0,0,0,28.83,14.51,13.56
$GC,7823,1.08,194.9,3629,1821,1592,1467,380.0,6.5,327,7837,0.00,2.38,7.38,1.196,8452,0.000,0.068,3630,2852,1502,1559,1445,0,0,0,0,0,0,28.83,14.62,13.62
$GC,7989,1.06,194.9,3630,2852,1551,1445,367.1,8.5,332,7994,0.00,2.33,0.00,0.000,1030,0.000,0.049,3629,1836,1498,1551,1445,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8317,1.06,194.9,3630,1836,1550,1445,338.5,9.0,343,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1836,1500,1550,1450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8614,1.06,194.9,3629,1836,1548,1445,308.0,10.4,353,8619,0.00,2.42,0.00,0.000,260,0.000,0.062,3629,2858,1497,1548,1446,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8683,1.06,194.9,2848,2853,1512,1440,300.6,10.8,355,8689,0.00,2.35,0.00,0.000,1030,0.000,0.048,3630,1838,1496,1547,1445,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9017,1.06,194.9,3630,1839,1545,1445,265.4,10.1,366,9022,0.00,2.58,0.00,0.000,516,0.000,0.067,3630,745,1496,1547,1445,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9092,1.06,194.9,3630,745,1547,1446,258.8,9.7,368,9097,0.00,2.45,0.00,0.000,1030,0.000,0.039,3630,1827,1496,1547,1445,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9401,1.06,194.9,3630,1827,1546,1443,230.9,8.7,385,9407,0.00,2.40,0.00,0.000,260,0.000,0.066,3630,2857,1495,1546,1445,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9505,1.05,194.9,3630,2857,1544,1445,222.1,9.3,391,9510,0.00,2.35,0.00,0.000,1030,0.000,0.048,3630,1847,1494,1544,1445,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9820,1.05,194.9,3630,1848,1544,1445,192.6,9.6,412,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1848,1494,1544,1445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10120,1.05,194.9,3630,1848,1544,1445,163.9,9.3,432,10126,0.00,2.42,0.00,0.000,260,0.000,0.062,3630,2858,1494,1544,1445,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10180,1.05,194.9,3630,2857,1543,1445,158.9,9.9,435,10187,0.00,2.35,0.00,0.000,1030,0.000,0.047,3630,1851,1494,1543,1445,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10486,1.05,194.9,3630,1852,1543,1445,132.6,7.8,456,10492,0.00,2.62,0.00,0.000,516,0.000,0.067,3630,743,1494,1543,1445,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10540,1.05,194.9,2880,743,1510,1441,128.3,8.3,459,10546,0.00,2.53,0.00,0.000,1030,0.000,0.039,3630,1857,1494,1543,1445,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10857,1.07,199.9,3630,1857,1543,1445,104.7,6.9,480,10868,0.00,2.35,3.20,0.672,8452,0.000,0.066,3631,2849,1486,1534,1438,0,0,0,0,0,0,28.83,14.39,13.54
$GC,10970,1.07,199.9,3630,2848,1534,1439,95.3,8.3,487,10975,0.00,2.33,0.00,0.000,1030,0.000,0.046,3630,1845,1484,1529,1440,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11290,1.09,199.9,3630,1846,1534,1440,69.2,8.0,508,11296,0.00,2.58,0.00,0.000,516,0.000,0.067,3630,743,1487,1534,1440,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11385,1.11,199.9,3631,743,1534,1441,62.1,8.8,513,11392,0.00,2.55,0.00,0.000,1030,0.000,0.040,3630,1856,1487,1534,1441,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11687,1.16,214.9,3630,1855,1534,1441,40.7,5.7,534,11708,0.12,2.30,14.73,0.835,10500,0.125,0.064,3694,2859,1419,1456,1383,0,0,0,0,0,0,14.39,14.58,13.72
$GC,11901,1.13,214.9,3694,2859,1447,1382,20.9,10.0,547,11909,0.17,2.33,0.00,0.000,5126,0.269,0.047,3662,1857,1415,1447,1383,0,0,0,0,0,0,14.00,14.38,28.83
$GC,12207,1.38,274.1,3662,1857,1446,1383,3.3,0.2,568,12224,0.20,0.00,13.65,0.103,10754,0.091,0.000,3739,1857,1308,1345,1272,0,0,0,0,0,0,14.26,28.83,28.83
$STATE,12225,end climb,SURFACE_DEPTH_REACHED
$STATE,12225,begin surface coast
$FINISH,3.2,1.010151
$STATE,12264,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12264,begin surface
$SM_CCo,12270,143.18,0.073,0,0,188,517.58
$SM_GC,3.80,10.48,0.22,0.00,0.041,0.067,0.000,136,1961,190,-9.79,-0.71,517.58,0,0,0,0,0,0,14.52,14.53,28.83
$IRIDIUM_FIX,2451.31,-3734.99,170813,010119
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.90
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3806720
$24V_AH,13.3,206.142
$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,28.450,107.050,271.200,143.175,0.000,0.000,0.000,842.250,0.000,0.000,243.689,2312.126,7956.987,539.660,2837.837,891.176,0.000,2335.555,0.000,1787.665,0.000,0.543,0.000
$DEVICE_MAMPS,370.260,91.800,1543.005,73.440,0.000,0.000,0.000,211.140,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12275.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.036,0.000,0.000,0.000
$MEM,344820
$DATA_FILE_SIZE,20049,572
$CAP_FILE_SIZE,159807,0
$CFSIZE,260034560,181395456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,10.360,222.3,1
$GPS,170813,013019,2451.311,-3734.985,0,10000.0,0,-14.9