version: 66.11
glider: 160
mission: 9
dive: 603
start: 8 24 113 16 34 15
data:
$ID,160
$MISSION,9
$DIVE,603
$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,-128707.91
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,240813,115055,2444.184,-3730.205,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-66.2
$GPS2,240813,115055,2444.184,-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,-72.9,142,1956,217,156,0.0,0.0,0,118,0.00,0.00,-90.88,0.000,16390,0.000,0.000,142,1958,2384,2356,2412,0,0,0,0,0,0,28.83,28.83,14.83
$GC,124,-1.68,-146.0,142,1957,2357,2413,3.5,-1.4,6,150,13.15,2.45,-6.93,0.000,18948,0.370,0.075,2748,888,2682,2696,2669,0,0,0,0,0,0,14.02,14.52,14.88
$GC,385,-1.60,-146.0,2748,888,2697,2668,47.4,-17.7,22,392,0.15,2.42,0.00,0.000,3078,0.319,0.050,2775,1946,2682,2696,2668,0,0,0,0,0,0,13.95,14.45,28.83
$GC,707,-1.54,-146.0,2775,1945,2697,2668,96.6,-12.4,44,713,0.00,2.40,0.00,0.000,516,0.000,0.057,2775,896,2682,2696,2668,0,0,0,0,0,0,28.83,14.32,28.83
$GC,949,-1.47,-146.0,2775,896,2697,2668,129.5,-16.0,59,954,0.20,2.40,0.00,0.000,3078,0.301,0.051,2812,1944,2681,2696,2667,0,0,0,0,0,0,13.88,14.43,28.83
$GC,1253,-1.45,-146.0,2813,1944,2697,2667,171.7,-10.7,80,1259,0.00,2.42,0.00,0.000,516,0.000,0.057,2813,889,2681,2696,2667,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1306,-1.41,-146.0,2813,889,2697,2667,177.2,-10.5,83,1312,0.12,2.40,0.00,0.000,3078,0.298,0.049,2834,1945,2681,2696,2667,0,0,0,0,0,0,14.04,14.47,28.83
$GC,1628,-1.39,-146.0,2834,1944,2696,2667,206.2,-9.1,104,1634,0.00,2.42,0.00,0.000,516,0.000,0.057,2836,889,2681,2696,2666,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1865,-1.37,-146.0,2836,890,2697,2671,230.4,-11.0,119,1870,0.00,2.30,0.00,0.000,1030,0.000,0.050,2832,1906,2680,2696,2665,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2195,-1.36,-146.0,2833,1905,2696,2664,270.7,-12.8,136,2201,0.00,2.33,0.00,0.000,516,0.000,0.058,2832,895,2680,2696,2664,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2433,-1.34,-146.0,2832,894,2696,2663,300.3,-13.5,143,2439,0.15,2.25,0.00,0.000,3078,0.280,0.049,2860,1887,2679,2697,2662,0,0,0,0,0,0,13.99,14.40,28.83
$GC,2753,-1.34,-146.0,2859,1886,2696,2660,337.8,-10.4,154,2758,0.00,2.30,0.00,0.000,516,0.000,0.058,2860,892,2678,2696,2660,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2988,-1.34,-146.0,2860,893,2696,2659,360.7,-10.3,161,2995,0.00,2.20,0.00,0.000,1030,0.000,0.049,2860,1861,2677,2696,2658,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3305,-1.34,-146.0,2860,1867,2696,2655,393.7,-10.1,172,3312,0.00,2.22,0.00,0.000,516,0.000,0.057,2860,895,2675,2696,2655,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3544,-1.34,-146.0,2860,895,2695,2655,417.1,-11.0,179,3549,0.00,2.15,0.00,0.000,1030,0.000,0.047,2860,1849,2675,2696,2655,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3859,-1.34,-146.0,2860,1848,2695,2653,456.4,-12.0,190,3864,0.00,2.20,0.00,0.000,516,0.000,0.057,2860,892,2673,2695,2651,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4095,-1.34,-146.0,2860,892,2694,2651,484.2,-12.7,197,4102,0.00,2.12,0.00,0.000,1030,0.000,0.047,2860,1831,2673,2694,2652,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4415,-1.35,-146.0,2860,1835,2694,2650,524.0,-11.5,208,4421,0.00,2.12,0.00,0.000,516,0.000,0.057,2860,897,2672,2694,2650,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,4562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4562,begin apogee
$GC,4575,-0.25,0.0,2860,1802,2692,2649,541.2,-11.0,213,4702,1.38,0.00,118.20,1.548,10244,0.229,0.000,3205,1802,2085,2143,2027,0,0,0,0,0,0,13.66,28.83,13.30
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4708,1.68,146.0,3205,1802,2138,2024,545.9,0.0,217,4838,1.98,2.50,118.90,1.533,10500,0.100,0.063,3830,2855,1486,1507,1465,0,0,0,0,0,0,14.29,14.32,13.36
$GC,5068,1.57,146.0,3838,2855,1484,1462,497.5,17.0,229,5075,0.17,2.42,0.00,0.000,5126,0.340,0.044,3804,1797,1472,1483,1462,0,0,0,0,0,0,14.02,14.54,28.83
$GC,5382,1.50,146.0,3804,1797,1486,1462,446.8,14.8,240,5388,0.00,2.40,0.00,0.000,516,0.000,0.067,3809,748,1469,1481,1458,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5524,1.42,146.0,3808,749,1481,1462,428.7,14.4,244,5532,0.25,2.35,0.00,0.000,5126,0.298,0.041,3757,1812,1471,1481,1461,0,0,0,0,0,0,13.91,14.56,28.83
$GC,5840,1.37,146.0,3757,1811,1481,1460,387.8,11.8,255,5846,0.00,2.38,0.00,0.000,260,0.000,0.057,3757,2838,1469,1480,1459,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6056,1.30,146.0,3757,2838,1487,1459,361.2,12.4,262,6062,0.17,2.35,0.00,0.000,5126,0.289,0.041,3725,1808,1469,1479,1459,0,0,0,0,0,0,13.77,14.40,28.83
$GC,6390,1.28,146.0,3725,1808,1478,1458,326.4,10.4,273,6396,0.00,2.45,0.00,0.000,516,0.000,0.066,3726,750,1468,1478,1458,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6435,1.25,146.0,3726,750,1478,1458,322.3,10.6,274,6442,0.00,2.33,0.00,0.000,1030,0.000,0.038,3725,1807,1467,1478,1457,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6756,1.23,146.0,3726,1805,1479,1457,285.6,11.6,285,6762,0.12,2.38,0.00,0.000,4356,0.292,0.054,3697,2835,1467,1478,1456,0,0,0,0,0,0,13.98,14.24,28.83
$GC,6957,1.21,146.0,3697,2835,1477,1456,261.8,12.7,291,6962,0.00,2.33,0.00,0.000,1030,0.000,0.044,3698,1820,1466,1477,1456,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7275,1.21,146.0,3700,1821,1477,1456,221.3,11.2,310,7281,0.00,2.50,0.00,0.000,516,0.000,0.068,3700,749,1466,1477,1456,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7298,1.21,146.0,3699,749,1477,1456,219.2,11.4,311,7303,0.00,2.38,0.00,0.000,1030,0.000,0.039,3699,1807,1466,1477,1456,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7606,1.21,146.0,3699,1807,1477,1456,190.2,7.7,332,7611,0.00,2.40,0.00,0.000,260,0.000,0.057,3701,2843,1466,1477,1455,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7730,1.19,146.0,3698,2842,1476,1455,180.4,8.0,340,7737,0.00,2.35,0.00,0.000,1030,0.000,0.046,3700,1836,1466,1477,1455,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8045,1.19,146.0,3700,1837,1477,1455,154.2,9.0,361,8050,0.00,2.53,0.00,0.000,516,0.000,0.068,3700,752,1466,1477,1455,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8084,1.19,146.0,3700,752,1477,1455,150.6,10.6,363,8088,0.00,2.45,0.00,0.000,1030,0.000,0.038,3699,1843,1466,1477,1455,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8392,1.19,146.0,3700,1842,1477,1455,116.6,10.1,384,8398,0.00,2.33,0.00,0.000,260,0.000,0.058,3698,2842,1466,1477,1455,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8484,1.19,146.0,3700,2842,1476,1454,107.2,9.8,390,8490,0.00,2.33,0.00,0.000,1030,0.000,0.046,3700,1839,1465,1476,1455,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8801,1.19,146.0,3700,1840,1477,1455,81.6,8.3,411,8806,0.00,2.55,0.00,0.000,516,0.000,0.067,3700,750,1466,1477,1455,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8823,1.19,146.0,3700,750,1476,1455,80.2,8.6,412,8830,0.00,2.47,0.00,0.000,1030,0.000,0.039,3699,1848,1466,1477,1455,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9146,1.21,146.0,3705,1847,1477,1455,53.2,9.2,434,9152,0.00,2.33,0.00,0.000,260,0.000,0.060,3700,2843,1465,1477,1454,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9208,1.21,146.0,3700,2843,1477,1454,47.4,9.5,438,9214,0.00,2.30,0.00,0.000,1030,0.000,0.044,3699,1852,1465,1477,1454,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9528,1.23,146.0,3699,1853,1477,1455,21.9,8.7,459,9533,0.00,2.55,0.00,0.000,516,0.000,0.065,3699,753,1465,1476,1455,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9685,1.26,146.0,3700,754,1477,1455,8.5,7.9,469,9692,0.00,2.42,0.00,0.000,1030,0.000,0.039,3699,1834,1465,1477,1454,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,9738,end climb,SURFACE_DEPTH_REACHED
$STATE,9738,begin surface coast
$STATE,9768,end surface coast,CONTROL_FINISHED_OK
$STATE,9768,begin surface
$SM_CCo,9795,161.82,0.073,0,0,189,465.09
$SM_GC,3.30,10.90,0.22,161.82,0.073,0.081,0.073,150,1954,189,-9.78,-1.05,465.09,0,0,0,0,0,0,14.17,14.38,14.33
$IRIDIUM_FIX,2441.81,-3732.09,240813,161602
$TT8_MAMPS,0.026215,0.026215
$HUMID,80.43
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,13.3,217.040
$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,28.750,99.175,237.100,161.825,0.000,0.000,0.000,1032.175,0.000,0.000,243.496,1084.339,6326.082,475.923,3110.235,1226.852,0.000,2377.702,0.000,1961.536,0.000,0.543,0.000
$DEVICE_MAMPS,370.260,81.090,1548.360,73.440,0.000,0.000,0.000,211.905,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9793.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.244,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,16794,475
$CAP_FILE_SIZE,196286,0
$CFSIZE,260034560,177459200
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,6.409, 40.3,1
$GPS,240813,162102,2441.810,-3732.089,0,10000.0,0,-14.9