version: 66.11
glider: 160
mission: 9
dive: 579
start: 8 21 113 2 50 50
data:
$ID,160
$MISSION,9
$DIVE,579
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55936
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00269
$HD_B,0.031300001
$HD_C,1.8999999e-05
$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,465.08878
$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,-117191.16
$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,39
$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,2086
$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
$GPS1,200813,220333,2446.559,-3730.205,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-70.7
$GPS2,200813,220333,2446.559,-3730.205,241,99.0,241,-14.9
$SPEED_LIMITS,0.089,0.128
$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,216.4,58387,-30.8,-7.500,-40.00,1453
$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,24,-1.61,-72.9,130,1976,215,168,0.0,0.0,0,117,0.00,0.00,-90.55,0.000,16386,0.000,0.000,131,1976,2383,2352,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.68,-146.0,130,1976,2352,2414,3.3,-1.2,6,154,13.18,2.53,-7.03,0.000,18948,0.370,0.086,2744,906,2684,2696,2673,0,0,0,0,0,0,13.96,14.39,14.86
$GC,392,-1.58,-146.0,2744,907,2698,2672,53.7,-18.9,23,398,0.22,2.33,0.00,0.000,3078,0.308,0.049,2780,1936,2684,2697,2672,0,0,0,0,0,0,13.86,14.45,28.83
$GC,713,-1.51,-146.0,2780,1936,2697,2672,100.6,-13.0,44,719,0.12,2.42,0.00,0.000,2564,0.328,0.064,2808,901,2684,2697,2672,0,0,0,0,0,0,13.97,14.26,28.83
$GC,951,-1.45,-146.0,1744,900,2635,2663,129.0,-11.9,59,956,0.00,2.35,0.00,0.000,1030,0.000,0.057,2802,1928,2684,2697,2671,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1268,-1.40,-146.0,2802,1927,2697,2671,168.2,-14.5,80,1274,0.15,2.40,0.00,0.000,2564,0.311,0.063,2836,901,2686,2702,2671,0,0,0,0,0,0,13.94,14.36,28.83
$GC,1505,-1.37,-146.0,2836,901,2696,2671,203.5,-15.2,95,1510,0.00,2.35,0.00,0.000,1030,0.000,0.060,2833,1919,2682,2696,2669,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1821,-1.35,-146.0,2832,1918,2696,2669,246.1,-11.5,116,1826,0.00,2.38,0.00,0.000,516,0.000,0.069,2833,900,2683,2697,2669,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2011,-1.32,-146.0,1792,900,2638,2660,266.8,-10.8,123,2017,0.17,2.33,0.00,0.000,3078,0.277,0.061,2865,1906,2682,2696,2668,0,0,0,0,0,0,13.95,14.37,28.83
$GC,2342,-1.32,-146.0,2865,1905,2697,2667,303.0,-11.8,134,2348,0.00,2.33,0.00,0.000,516,0.000,0.061,2866,894,2681,2697,2666,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2579,-1.32,-146.0,2866,894,2696,2665,330.2,-12.8,141,2584,0.00,2.25,0.00,0.000,1030,0.000,0.051,2865,1885,2682,2697,2667,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2893,-1.32,-146.0,2866,1884,2697,2663,368.7,-10.9,152,2899,0.00,2.28,0.00,0.000,516,0.000,0.057,2866,897,2680,2697,2663,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3131,-1.32,-146.0,2866,897,2696,2665,390.7,-9.8,159,3136,0.00,2.17,0.00,0.000,1030,0.000,0.048,2862,1859,2679,2697,2661,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3447,-1.32,-146.0,2866,1859,2696,2659,422.3,-9.8,170,3452,0.00,2.20,0.00,0.000,516,0.000,0.054,2866,891,2677,2696,2659,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3684,-1.32,-146.0,2866,892,2696,2656,445.9,-10.8,177,3689,0.00,2.12,0.00,0.000,1030,0.000,0.045,2866,1833,2676,2697,2656,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4000,-1.32,-146.0,2866,1832,2694,2654,484.6,-12.2,188,4005,0.00,2.15,0.00,0.000,516,0.000,0.054,2866,891,2675,2696,2655,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4104,-1.32,-146.0,2866,891,2696,2654,496.5,-12.2,191,4109,0.00,2.12,0.00,0.000,1030,0.000,0.045,2866,1832,2675,2696,2654,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4433,-1.32,-146.0,2866,1831,2696,2651,539.7,-13.1,202,4438,0.00,2.12,0.00,0.000,516,0.000,0.054,2866,896,2673,2696,2651,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4475,-0.25,0.0,2865,1811,2695,2651,544.7,-13.0,203,4609,1.35,0.00,121.15,1.524,10244,0.234,0.000,3203,1810,2082,2140,2025,0,0,0,0,0,0,13.69,28.83,13.28
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4611,begin climb
$GC,4614,1.68,146.0,3203,1810,2137,2024,551.4,0.0,207,4750,1.98,2.50,118.80,1.531,10500,0.102,0.072,3831,2859,1482,1499,1466,0,0,0,0,0,0,14.28,14.33,13.35
$GC,4765,1.65,146.0,3831,2858,1489,1465,542.2,9.1,212,4770,0.00,2.45,0.00,0.000,1030,0.000,0.050,3836,1806,1476,1487,1465,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5083,1.55,146.0,3835,1806,1482,1462,487.3,16.0,223,5089,0.17,2.47,0.00,0.000,4356,0.321,0.060,3798,2855,1474,1486,1462,0,0,0,0,0,0,14.01,14.49,28.83
$GC,5236,1.47,146.0,3798,2855,1480,1461,467.2,15.2,227,5244,0.17,2.40,0.00,0.000,5126,0.314,0.049,3773,1815,1471,1480,1462,0,0,0,0,0,0,14.02,14.52,28.83
$GC,5545,1.41,146.0,3773,1816,1480,1460,424.1,12.5,238,5550,0.00,2.47,0.00,0.000,260,0.000,0.062,3773,2861,1470,1480,1460,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5642,1.35,146.0,3773,2862,1479,1459,411.1,13.0,241,5649,0.22,2.42,0.00,0.000,5126,0.308,0.047,3736,1824,1469,1479,1460,0,0,0,0,0,0,13.93,14.49,28.83
$GC,5981,1.32,146.0,3736,1824,1479,1457,369.7,12.3,252,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,1824,1468,1479,1457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6278,1.29,146.0,3736,1824,1479,1456,332.3,12.5,262,6284,0.00,2.45,0.00,0.000,260,0.000,0.060,3736,2857,1467,1479,1456,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6307,1.26,146.0,3736,2856,1479,1456,332.3,12.5,262,6316,0.17,2.40,0.00,0.000,5126,0.317,0.049,3707,1822,1467,1479,1456,0,0,0,0,0,0,13.92,14.47,28.83
$GC,6618,1.26,146.0,3706,1823,1479,1456,293.3,11.1,273,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,1823,1466,1478,1455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,1.26,146.0,3706,1824,1479,1455,263.1,9.7,283,6919,0.00,2.47,0.00,0.000,260,0.000,0.060,3706,2858,1464,1479,1450,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7027,1.24,146.0,3706,2858,1478,1454,253.4,10.0,286,7033,0.00,2.35,0.00,0.000,1030,0.000,0.047,3713,1843,1466,1478,1454,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7349,1.24,146.0,3712,1843,1478,1454,222.1,9.5,307,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,3712,1844,1466,1478,1454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7647,1.24,146.0,3713,1844,1477,1453,192.4,10.2,327,7653,0.00,2.55,0.00,0.000,516,0.000,0.064,3712,744,1465,1478,1453,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7693,1.24,146.0,3713,744,1478,1453,188.8,10.4,329,7699,0.00,2.45,0.00,0.000,1030,0.000,0.036,3713,1843,1465,1479,1452,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7997,1.24,146.0,3713,1842,1479,1452,154.6,11.4,350,8003,0.00,2.40,0.00,0.000,260,0.000,0.065,3712,2861,1464,1478,1451,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8235,1.22,146.0,3713,2860,1478,1452,128.0,11.0,365,8241,0.00,2.30,0.00,0.000,1030,0.000,0.047,3713,1869,1464,1477,1452,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8550,1.22,146.0,3709,1870,1477,1452,97.2,9.7,386,8555,0.00,2.35,0.00,0.000,260,0.000,0.060,3713,2856,1464,1477,1452,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8789,1.20,146.0,3713,2856,1477,1452,71.9,10.2,401,8795,0.15,2.28,0.00,0.000,5126,0.301,0.047,3685,1872,1465,1479,1452,0,0,0,0,0,0,13.81,14.31,28.83
$GC,9106,1.23,146.0,3685,1873,1478,1452,48.1,7.7,422,9112,0.00,2.35,0.00,0.000,260,0.000,0.060,3684,2855,1464,1477,1452,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9250,1.23,146.0,3684,2855,1477,1452,36.5,8.1,431,9255,0.00,2.28,0.00,0.000,1030,0.000,0.046,3686,1886,1465,1478,1452,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9570,1.26,146.0,3686,1887,1478,1452,8.9,9.5,452,9577,0.00,2.65,0.00,0.000,516,0.000,0.063,3685,743,1465,1478,1452,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9623,1.30,146.0,3694,742,1479,1452,4.5,8.5,455,9629,0.00,2.55,0.00,0.000,1030,0.000,0.035,3686,1879,1465,1479,1452,0,0,0,0,0,0,28.83,14.38,28.83
$FREEZE,3.13,25.811,-2.079,0,102,0
$STATE,9823,end climb,NO_VERTICAL_VELOCITY
$STATE,9823,begin surface
$SM_CCo,9828,161.57,0.070,0,0,188,465.09
$SM_GC,3.55,10.40,0.12,0.00,0.046,0.109,0.000,147,1961,190,-9.77,-0.88,465.09,0,0,0,0,0,0,14.50,14.55,28.83
$IRIDIUM_FIX,2446.56,-3846.27,210813,020228
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.87
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3798272
$24V_AH,13.3,211.377
$10V_AH,13.4,0.000
$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,28.475,89.600,239.950,161.575,0.000,0.000,0.000,924.875,0.000,0.000,246.728,1900.521,6159.722,519.390,2593.273,1199.187,0.000,2227.975,0.000,1450.733,0.000,0.543,0.000
$DEVICE_MAMPS,370.260,108.630,1530.765,70.380,0.000,0.000,0.000,216.495,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9854.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.213,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,16767,468
$CAP_FILE_SIZE,132027,0
$CFSIZE,260034560,179105792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,108.559, 90.4,1
$GPS,210813,023128,2446.559,-3846.268,0,10000.0,0,-14.9