version: 66.11
glider: 160
mission: 9
dive: 587
start: 8 22 113 8 23 39
data:
$ID,160
$MISSION,9
$DIVE,587
$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,-120864.1
$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,34
$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,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
$GPS1,220813,043833,2444.184,-3726.874,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.9
$GPS2,220813,043833,2444.184,-3726.874,241,99.0,241,-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,312.2,62098,-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,22,-1.61,-72.9,140,1953,222,167,0.0,0.0,0,118,0.00,0.00,-90.62,0.000,16390,0.000,0.000,140,1952,2383,2350,2417,0,0,0,0,0,0,28.83,28.83,14.82
$GC,124,-1.68,-146.0,140,1955,2353,2417,3.7,-1.7,6,150,13.07,2.45,-6.47,0.000,18692,0.369,0.087,2735,3000,2682,2689,2676,0,0,0,0,0,0,14.00,14.50,14.87
$GC,272,-1.57,-146.0,1696,2996,2630,2667,33.1,-19.6,15,278,0.25,2.33,0.00,0.000,3078,0.307,0.031,2784,1958,2682,2689,2676,0,0,0,0,0,0,13.92,14.54,28.83
$GC,588,-1.50,-146.0,2784,1959,2691,2674,87.9,-15.5,36,594,0.00,2.42,0.00,0.000,516,0.000,0.062,2784,884,2682,2691,2673,0,0,0,0,0,0,28.83,14.45,28.83
$GC,826,-1.44,-146.0,2784,884,2691,2673,122.1,-14.3,51,832,0.22,2.33,0.00,0.000,3078,0.297,0.043,2824,1925,2681,2691,2672,0,0,0,0,0,0,13.90,14.47,28.83
$GC,1143,-1.40,-146.0,2824,1924,2691,2672,159.3,-10.5,72,1149,0.00,2.35,0.00,0.000,516,0.000,0.054,2825,891,2681,2691,2671,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1380,-1.37,-146.0,1760,890,2630,2662,186.0,-12.5,87,1386,0.15,2.28,0.00,0.000,3078,0.289,0.044,2848,1909,2680,2691,2670,0,0,0,0,0,0,14.02,14.45,28.83
$GC,1697,-1.37,-146.0,2848,1914,2691,2670,227.1,-12.9,108,1703,0.00,2.33,0.00,0.000,516,0.000,0.056,2848,888,2680,2691,2670,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1935,-1.35,-146.0,2848,889,2691,2669,254.2,-12.0,121,1941,0.00,2.25,0.00,0.000,1030,0.000,0.047,2848,1882,2679,2691,2668,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2250,-1.35,-146.0,2848,1882,2691,2667,295.7,-12.7,132,2256,0.00,2.28,0.00,0.000,516,0.000,0.057,2848,890,2677,2691,2663,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2488,-1.34,-146.0,2848,890,2691,2666,323.7,-12.6,139,2494,0.00,2.20,0.00,0.000,1030,0.000,0.048,2848,1865,2678,2692,2665,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2804,-1.34,-146.0,2848,1864,2692,2664,362.8,-11.6,150,2810,0.00,2.72,0.00,0.000,260,0.000,0.078,2848,3006,2677,2691,2664,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2934,-1.34,-146.0,2848,3006,2691,2663,377.6,-11.8,154,2940,0.00,2.67,0.00,0.000,1030,0.000,0.043,2848,1838,2677,2691,2663,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3273,-1.34,-146.0,2848,1839,2691,2661,417.3,-11.9,165,3279,0.00,2.15,0.00,0.000,516,0.000,0.063,2848,889,2675,2691,2660,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3511,-1.34,-146.0,2848,889,2691,2659,444.2,-12.3,172,3516,0.00,2.10,0.00,0.000,1030,0.000,0.047,2848,1818,2674,2691,2658,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3827,-1.34,-146.0,2848,1817,2691,2655,482.7,-11.3,183,3832,0.00,2.12,0.00,0.000,516,0.000,0.054,2848,885,2673,2692,2655,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4064,-1.34,-146.0,2848,885,2691,2654,507.7,-11.3,190,4070,0.00,2.08,0.00,0.000,1030,0.000,0.046,2847,1796,2672,2691,2654,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4346,begin apogee
$GC,4354,-0.25,0.0,2847,1794,2691,2651,542.0,-11.3,200,4533,1.45,0.00,169.70,1.312,10244,0.236,0.000,3206,1794,2084,2140,2028,0,0,0,0,0,0,13.65,28.83,13.41
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4539,1.68,146.0,3206,1795,2138,2026,547.9,0.0,206,4671,2.00,2.47,120.12,1.531,10756,0.115,0.057,3827,739,1486,1537,1436,0,0,0,0,0,0,14.28,14.36,13.38
$GC,4844,1.60,146.0,3296,738,1483,1432,508.7,16.2,216,4849,0.00,2.38,0.00,0.000,1030,0.000,0.041,3827,1803,1475,1515,1435,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5179,1.51,146.0,3827,1802,1512,1434,457.9,14.9,227,5185,0.17,2.45,0.00,0.000,4356,0.319,0.063,3789,2859,1472,1511,1433,0,0,0,0,0,0,13.98,14.52,28.83
$GC,5417,1.43,146.0,3789,2859,1502,1433,425.8,14.3,234,5423,0.17,2.38,0.00,0.000,5126,0.320,0.047,3761,1826,1467,1502,1433,0,0,0,0,0,0,14.00,14.54,28.83
$GC,5736,1.38,146.0,3761,1827,1503,1433,382.5,13.0,245,5741,0.00,2.45,0.00,0.000,260,0.000,0.060,3761,2863,1466,1501,1432,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5884,1.32,146.0,3761,2862,1498,1433,364.4,14.2,249,5890,0.22,2.40,0.00,0.000,5126,0.304,0.048,3723,1827,1463,1494,1433,0,0,0,0,0,0,13.92,14.47,28.83
$GC,6203,1.29,146.0,3723,1823,1497,1433,322.3,11.8,260,6208,0.00,2.47,0.00,0.000,260,0.000,0.060,3723,2863,1465,1499,1432,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6293,1.26,146.0,3723,2863,1496,1440,314.0,11.8,262,6301,0.00,2.42,0.00,0.000,1030,0.000,0.047,3726,1817,1464,1496,1432,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6601,1.24,146.0,3725,1818,1496,1433,278.1,10.6,273,6607,0.12,2.47,0.00,0.000,4356,0.318,0.055,3698,2857,1464,1496,1432,0,0,0,0,0,0,13.98,14.35,28.83
$GC,6688,1.21,146.0,3698,2857,1496,1432,270.4,10.9,275,6693,0.00,2.35,0.00,0.000,1030,0.000,0.046,3699,1837,1463,1495,1432,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7004,1.21,146.0,3699,1838,1496,1432,236.2,10.0,290,7009,0.00,2.53,0.00,0.000,516,0.000,0.064,3699,745,1463,1495,1431,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7039,1.21,146.0,3699,745,1496,1431,232.5,10.1,292,7044,0.00,2.47,0.00,0.000,1030,0.000,0.039,3699,1841,1465,1496,1434,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7360,1.21,146.0,3699,1838,1496,1431,199.5,10.6,313,7367,0.00,2.40,0.00,0.000,260,0.000,0.064,3699,2858,1463,1495,1431,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7517,1.19,146.0,3699,2858,1495,1431,180.0,12.7,323,7523,0.00,2.35,0.00,0.000,1030,0.000,0.047,3699,1853,1462,1494,1431,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7838,1.19,146.0,3699,1854,1495,1431,142.4,11.2,344,7843,0.00,2.58,0.00,0.000,516,0.000,0.066,3700,744,1463,1496,1431,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7937,1.19,146.0,3700,745,1495,1431,131.8,11.0,350,7944,0.00,2.47,0.00,0.000,1030,0.000,0.039,3699,1847,1463,1495,1431,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8253,1.19,146.0,3700,1846,1495,1431,99.5,8.6,371,8258,0.00,2.38,0.00,0.000,260,0.000,0.063,3700,2859,1463,1495,1431,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8490,1.19,146.0,2976,2855,1462,1427,76.8,9.9,386,8497,0.00,2.30,0.00,0.000,1030,0.000,0.045,3700,1874,1462,1494,1431,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8807,1.21,146.0,3700,1876,1494,1431,47.7,8.1,407,8812,0.00,2.35,0.00,0.000,260,0.000,0.060,3700,2857,1462,1494,1431,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8887,1.21,146.0,3700,2857,1494,1431,40.6,8.5,412,8892,0.00,2.25,0.00,0.000,1030,0.000,0.047,3700,1891,1462,1494,1431,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9207,1.23,146.0,3699,1892,1494,1431,13.5,8.8,433,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1890,1462,1494,1431,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,3.16,26.095,-1.034,0,110,0
$STATE,9504,end climb,NO_VERTICAL_VELOCITY
$STATE,9504,begin surface
$SM_CCo,9530,161.35,0.075,0,0,189,465.09
$SM_GC,3.45,10.57,0.15,161.35,0.053,0.106,0.075,143,1954,189,-9.79,-0.79,465.09,0,0,0,0,0,0,14.33,14.40,14.33
$IRIDIUM_FIX,2444.18,-3730.20,220813,080846
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.87
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3795200
$24V_AH,13.4,213.323
$10V_AH,13.2,0.000
$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,28.425,85.525,289.825,161.350,0.000,0.000,0.000,983.725,0.000,0.000,247.842,1887.315,5712.823,544.809,2660.733,1089.503,0.000,2328.520,0.000,1491.136,0.000,0.543,0.000
$DEVICE_MAMPS,368.730,105.570,1530.765,74.970,0.000,0.000,0.000,200.430,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9513.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.211,0.000,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,16793,453
$CAP_FILE_SIZE,130739,0
$CFSIZE,260034560,178675712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,5.139, 94.1,1
$GPS,220813,080646,2444.184,-3730.205,0,10000.0,0,-14.9