version: 66.11
glider: 160
mission: 9
dive: 593
start: 8 23 113 5 34 35
data:
$ID,160
$MISSION,9
$DIVE,593
$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,-123804.87
$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,13
$R_STBD_OVSHOOT,32
$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
$GPS1,230813,020844,2444.184,-3730.205,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-68.9
$GPS2,230813,020844,2444.184,-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,220.5,56779,-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,-72.9,144,1961,221,164,0.0,0.0,0,111,0.00,0.00,-86.07,0.000,16386,0.000,0.000,144,1961,2245,2230,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.68,-146.0,144,1960,2229,2260,3.1,-0.8,6,148,13.00,2.53,-11.43,0.000,18948,0.366,0.084,2745,875,2683,2698,2669,0,0,0,0,0,0,13.97,14.50,14.83
$GC,385,-1.58,-146.0,1664,875,2634,2659,48.4,-18.0,23,391,0.22,2.40,0.00,0.000,3078,0.303,0.050,2780,1945,2687,2706,2668,0,0,0,0,0,0,13.85,14.45,28.83
$GC,707,-1.51,-146.0,2780,1944,2698,2669,97.6,-14.5,44,712,0.00,2.42,0.00,0.000,516,0.000,0.060,2780,882,2683,2699,2668,0,0,0,0,0,0,28.83,14.41,28.83
$GC,945,-1.44,-146.0,2781,882,2699,2668,132.9,-14.3,59,951,0.25,2.40,0.00,0.000,3078,0.293,0.051,2826,1937,2683,2699,2668,0,0,0,0,0,0,13.85,14.40,28.83
$GC,1261,-1.41,-146.0,2826,1936,2698,2668,172.5,-11.9,80,1266,0.00,2.40,0.00,0.000,516,0.000,0.060,2826,883,2683,2699,2668,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1498,-1.38,-146.0,2826,884,2698,2668,199.2,-10.7,95,1504,0.15,2.38,0.00,0.000,3078,0.284,0.050,2847,1935,2682,2698,2667,0,0,0,0,0,0,13.99,14.42,28.83
$GC,1815,-1.38,-146.0,2847,1934,2698,2667,229.3,-9.2,116,1821,0.00,2.62,0.00,0.000,260,0.000,0.083,2844,3012,2682,2698,2667,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1987,-1.36,-146.0,2844,3011,2699,2667,246.9,-10.3,127,1993,0.00,2.60,0.00,0.000,1030,0.000,0.049,2843,1896,2682,2698,2667,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2326,-1.36,-146.0,2844,1897,2698,2665,285.1,-12.1,139,2333,0.00,2.33,0.00,0.000,516,0.000,0.074,2845,885,2681,2698,2664,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2564,-1.34,-146.0,2844,885,2698,2663,313.9,-13.1,146,2570,0.00,2.33,0.00,0.000,1030,0.000,0.057,2843,1897,2680,2697,2663,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2879,-1.34,-146.0,2844,1896,2698,2661,357.7,-13.3,157,2885,0.00,2.35,0.00,0.000,516,0.000,0.064,2843,877,2679,2698,2661,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3116,-1.32,-146.0,2843,878,2698,2659,387.1,-13.3,164,3123,0.00,2.28,0.00,0.000,1030,0.000,0.055,2848,1870,2678,2698,2659,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3433,-1.32,-146.0,2843,1868,2698,2657,430.3,-12.8,175,3440,0.00,2.28,0.00,0.000,516,0.000,0.062,2843,882,2677,2697,2657,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3670,-1.32,-146.0,2843,882,2696,2656,459.1,-13.3,182,3675,0.00,2.20,0.00,0.000,1030,0.000,0.054,2843,1847,2675,2695,2656,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3986,-1.32,-146.0,2843,1846,2696,2655,502.1,-12.6,193,3991,0.00,2.22,0.00,0.000,516,0.000,0.062,2843,880,2675,2696,2655,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4222,-1.32,-146.0,2843,880,2695,2654,529.0,-12.1,200,4229,0.00,2.17,0.00,0.000,1030,0.000,0.052,2843,1834,2674,2695,2653,0,0,0,0,0,0,28.83,14.27,28.83
$STATE,4294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4294,begin apogee
$GC,4303,-0.25,0.0,2843,1747,2695,2653,540.2,-11.9,203,4435,1.48,0.12,118.85,1.540,10244,0.239,0.042,3205,1832,2085,2142,2028,0,0,0,0,0,0,13.66,14.32,13.26
$STATE,4437,end apogee,CONTROL_FINISHED_OK
$STATE,4437,begin climb
$GC,4441,1.68,146.0,3205,1831,2139,2026,545.0,0.0,207,4575,1.98,2.40,119.38,1.532,10500,0.100,0.073,3834,2831,1484,1501,1467,0,0,0,0,0,0,14.30,14.33,13.34
$GC,4788,1.58,146.0,3835,2831,1483,1467,500.4,15.4,219,4794,0.17,2.42,0.00,0.000,5126,0.329,0.053,3803,1789,1474,1483,1466,0,0,0,0,0,0,14.06,14.51,28.83
$GC,5125,1.50,146.0,3804,1790,1483,1463,455.3,13.3,230,5130,0.00,2.47,0.00,0.000,260,0.000,0.060,3803,2834,1471,1482,1461,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5302,1.41,146.0,3804,2834,1481,1463,432.5,14.8,235,5308,0.28,2.38,0.00,0.000,5126,0.314,0.050,3753,1808,1472,1481,1463,0,0,0,0,0,0,13.90,14.42,28.83
$GC,5621,1.37,146.0,3753,1809,1481,1461,386.8,13.6,246,5626,0.00,2.45,0.00,0.000,260,0.000,0.060,3753,2839,1471,1482,1461,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5691,1.32,146.0,3104,2834,1449,1456,377.2,13.6,248,5698,0.17,2.35,0.00,0.000,5126,0.308,0.049,3721,1827,1471,1481,1461,0,0,0,0,0,0,13.95,14.48,28.83
$GC,6023,1.30,146.0,3721,1828,1481,1459,336.2,11.6,259,6028,0.00,2.40,0.00,0.000,260,0.000,0.060,3721,2832,1470,1481,1459,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6089,1.27,146.0,3721,2832,1481,1458,328.5,11.7,261,6095,0.00,2.38,0.00,0.000,1030,0.000,0.048,3726,1819,1470,1481,1459,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6429,1.24,146.0,3726,1820,1481,1457,295.0,9.3,272,6435,0.12,2.42,0.00,0.000,4356,0.316,0.057,3698,2835,1469,1481,1457,0,0,0,0,0,0,13.97,14.40,28.83
$GC,6530,1.22,146.0,3699,2835,1480,1457,285.1,9.8,275,6535,0.00,2.35,0.00,0.000,1030,0.000,0.047,3700,1829,1468,1480,1457,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6869,1.22,146.0,3700,1831,1480,1457,251.3,10.2,286,6874,0.00,2.42,0.00,0.000,260,0.000,0.059,3699,2834,1468,1480,1456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6938,1.22,146.0,3700,2834,1479,1457,243.4,11.2,289,6943,0.00,2.35,0.00,0.000,1030,0.000,0.047,3699,1829,1468,1479,1457,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7253,1.22,146.0,3699,1830,1479,1456,208.1,11.2,310,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1830,1468,1479,1457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,1.22,146.0,3700,1831,1479,1456,175.2,10.9,330,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1831,1468,1479,1457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7852,1.22,146.0,3700,1831,1479,1456,144.4,9.6,350,7859,0.00,2.55,0.00,0.000,516,0.000,0.070,3699,736,1467,1479,1456,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7936,1.22,146.0,2976,736,1448,1452,136.7,9.4,355,7943,0.00,2.40,0.00,0.000,1030,0.000,0.042,3699,1806,1467,1479,1456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8252,1.22,146.0,3700,1805,1479,1455,106.2,10.0,376,8257,0.00,2.50,0.00,0.000,260,0.000,0.065,3700,2859,1467,1479,1455,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8465,1.22,146.0,3700,2858,1479,1455,83.5,11.2,389,8472,0.00,2.40,0.00,0.000,1030,0.000,0.048,3699,1834,1467,1479,1456,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8773,1.23,146.0,3699,1835,1479,1456,55.0,8.5,410,8779,0.00,2.55,0.00,0.000,516,0.000,0.072,3699,744,1467,1479,1456,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8839,1.26,146.0,3700,744,1479,1455,49.1,8.8,414,8845,0.00,2.45,0.00,0.000,1030,0.000,0.044,3699,1829,1467,1479,1456,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9160,1.28,146.0,3700,1828,1479,1454,23.4,8.5,435,9165,0.00,2.45,0.00,0.000,260,0.000,0.067,3700,2857,1467,1479,1456,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9321,1.28,146.0,3700,2857,1478,1455,6.9,11.2,445,9326,0.00,2.38,0.00,0.000,1030,0.000,0.046,3700,1842,1467,1479,1455,0,0,0,0,0,0,28.83,14.30,28.83
$STATE,9362,end climb,SURFACE_DEPTH_REACHED
$STATE,9362,begin surface coast
$FINISH,3.0,1.019911
$STATE,9394,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9420,162.45,0.074,0,0,189,465.09
$SM_GC,3.28,10.45,0.25,162.45,0.046,0.054,0.074,145,1959,189,-9.77,-0.76,465.09,0,0,0,0,0,0,14.45,14.51,14.33
$IRIDIUM_FIX,2446.56,-3730.20,230813,050548
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.47
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3792896
$24V_AH,13.3,214.772
$10V_AH,13.5,0.000
$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,28.275,86.875,238.225,162.450,0.000,0.000,0.000,748.950,0.000,0.000,242.619,1900.086,5624.790,509.914,2446.551,966.417,0.000,2046.385,0.000,1476.328,0.000,0.543,0.000
$DEVICE_MAMPS,365.670,94.095,1539.945,74.205,0.000,0.000,0.000,221.850,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9414.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.253,0.000,0.000,0.000
$MEM,344828
$DATA_FILE_SIZE,16756,450
$CAP_FILE_SIZE,127173,0
$CFSIZE,260034560,178388992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.165,175.2,1
$GPS,230813,051448,2446.559,-3730.205,0,10000.0,0,-14.9