version: 66.11
glider: 160
mission: 9
dive: 604
start: 8 24 113 20 4 17
data:
$ID,160
$MISSION,9
$DIVE,604
$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,-129196.97
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,240813,162102,2441.810,-3732.089,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-69.1
$GPS2,240813,162102,2441.810,-3732.089,241,99.0,241,-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,223.9,52416,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-1.61,-72.9,148,1965,219,166,0.0,0.0,0,115,0.00,0.00,-85.70,0.000,16386,0.000,0.000,144,1966,2247,2229,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.68,-146.0,144,1966,2229,2266,3.3,-1.6,6,151,12.98,2.45,-10.93,0.000,18948,0.366,0.083,2748,893,2682,2698,2667,0,0,0,0,0,0,13.97,14.50,14.87
$GC,381,-1.59,-146.0,2748,894,2699,2668,46.8,-17.4,23,388,0.17,2.38,0.00,0.000,3078,0.308,0.054,2780,1938,2683,2699,2667,0,0,0,0,0,0,13.97,14.50,28.83
$GC,704,-1.52,-146.0,2780,1937,2699,2667,94.1,-12.8,45,709,0.00,2.47,0.00,0.000,260,0.000,0.070,2773,3000,2683,2699,2667,0,0,0,0,0,0,28.83,14.26,28.83
$GC,879,-1.44,-146.0,2774,2999,2698,2667,115.8,-12.4,56,886,0.22,2.53,0.00,0.000,3078,0.288,0.045,2831,1892,2683,2699,2667,0,0,0,0,0,0,13.90,14.52,28.83
$GC,1203,-1.40,-146.0,2823,1893,2699,2663,152.2,-10.5,78,1208,0.00,2.22,0.00,0.000,516,0.000,0.061,2824,896,2680,2694,2667,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1438,-1.37,-146.0,2823,893,2698,2666,178.5,-11.6,93,1444,0.15,2.20,0.00,0.000,3078,0.289,0.048,2848,1878,2682,2699,2666,0,0,0,0,0,0,14.04,14.50,28.83
$GC,1762,-1.37,-146.0,2848,1878,2698,2665,216.8,-12.4,115,1768,0.00,2.25,0.00,0.000,516,0.000,0.057,2848,895,2682,2699,2665,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1996,-1.35,-146.0,2849,893,2699,2664,247.9,-14.2,130,2002,0.00,2.17,0.00,0.000,1030,0.000,0.047,2849,1868,2679,2695,2664,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2332,-1.35,-146.0,2849,1867,2698,2662,293.1,-12.4,142,2338,0.00,2.22,0.00,0.000,516,0.000,0.056,2848,899,2680,2699,2662,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2568,-1.35,-146.0,2848,899,2699,2659,316.8,-10.9,149,2574,0.00,2.10,0.00,0.000,1030,0.000,0.047,2849,1839,2680,2700,2660,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2903,-1.35,-146.0,2847,1838,2698,2659,349.9,-8.8,161,2908,0.00,2.15,0.00,0.000,516,0.000,0.057,2847,897,2678,2699,2658,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3139,-1.35,-146.0,2847,897,2698,2656,369.5,-9.4,168,3144,0.00,2.08,0.00,0.000,1030,0.000,0.047,2847,1829,2676,2698,2655,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3474,-1.35,-146.0,2847,1828,2698,2654,405.6,-10.8,180,3480,0.00,2.12,0.00,0.000,516,0.000,0.055,2847,897,2675,2698,2653,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3711,-1.35,-146.0,2847,897,2698,2653,431.1,-12.6,187,3717,0.00,2.08,0.00,0.000,1030,0.000,0.046,2846,1825,2675,2698,2652,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4046,-1.35,-146.0,2846,1824,2697,2651,478.7,-12.9,199,4052,0.00,2.12,0.00,0.000,516,0.000,0.056,2846,895,2674,2697,2651,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4283,-1.35,-146.0,2846,896,2705,2650,505.5,-12.4,206,4287,0.00,2.05,0.00,0.000,1030,0.000,0.045,2846,1808,2677,2706,2649,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,4584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4595,-0.25,0.0,2846,1808,2696,2648,542.4,-10.6,217,4775,1.45,0.00,171.12,1.308,10244,0.233,0.000,3206,1807,2084,2141,2027,0,0,0,0,0,0,13.63,28.83,13.40
$STATE,4776,end apogee,CONTROL_FINISHED_OK
$STATE,4776,begin climb
$GC,4780,1.68,146.0,3206,1808,2138,2025,546.6,0.0,223,4924,1.90,2.50,119.15,1.515,10500,0.096,0.068,3832,2857,1480,1494,1467,0,0,0,0,0,0,14.28,14.28,13.35
$GC,5202,1.58,146.0,3832,2857,1481,1467,485.1,17.7,235,5208,0.12,2.40,0.00,0.000,5126,0.310,0.049,3808,1806,1474,1481,1467,0,0,0,0,0,0,13.98,14.45,28.83
$GC,5526,1.50,146.0,3809,1806,1481,1464,435.2,13.8,246,5532,0.12,2.42,0.00,0.000,4356,0.319,0.054,3781,2850,1473,1481,1465,0,0,0,0,0,0,14.08,14.37,28.83
$GC,5732,1.42,146.0,3781,2848,1473,1464,409.7,13.4,251,5747,0.00,2.38,0.00,0.000,1030,0.000,0.047,3782,1815,1469,1479,1459,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6050,1.37,146.0,3782,1820,1479,1463,371.2,11.0,262,6052,0.22,0.00,0.00,0.000,4102,0.308,0.000,3736,1816,1470,1479,1462,0,0,0,0,0,0,13.91,28.83,28.83
$GC,6350,1.34,146.0,3736,1816,1479,1461,339.3,10.8,272,6356,0.00,2.45,0.00,0.000,260,0.000,0.057,3736,2857,1470,1479,1461,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6472,1.30,146.0,3737,2857,1478,1460,325.2,12.6,275,6478,0.00,2.38,0.00,0.000,1030,0.000,0.045,3738,1818,1469,1478,1460,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6800,1.27,146.0,3738,1819,1479,1460,280.4,13.3,286,6806,0.15,2.45,0.00,0.000,4356,0.309,0.054,3705,2855,1468,1478,1459,0,0,0,0,0,0,13.91,14.24,28.83
$GC,6863,1.24,146.0,3705,2855,1478,1458,275.0,13.4,287,6876,0.00,2.33,0.00,0.000,1030,0.000,0.044,3712,1830,1468,1478,1459,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7178,1.24,146.0,3712,1831,1478,1457,236.3,10.1,302,7184,0.00,2.42,0.00,0.000,260,0.000,0.057,3712,2851,1467,1478,1457,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7202,1.22,146.0,3713,2851,1478,1457,233.8,10.3,303,7217,0.00,2.33,0.00,0.000,1030,0.000,0.047,3713,1854,1467,1476,1458,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7524,1.22,146.0,3713,1854,1478,1452,204.4,9.5,324,7529,0.00,2.53,0.00,0.000,516,0.000,0.063,3712,752,1467,1478,1457,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7611,1.22,146.0,3712,752,1477,1457,195.8,9.7,328,7627,0.00,2.42,0.00,0.000,1030,0.000,0.036,3712,1842,1470,1484,1457,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7933,1.22,146.0,3712,1842,1478,1456,160.6,12.2,349,7938,0.00,2.38,0.00,0.000,260,0.000,0.063,3712,2848,1466,1477,1456,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8183,1.20,146.0,3712,2847,1477,1456,128.5,13.0,360,8196,0.00,2.30,0.00,0.000,1030,0.000,0.047,3713,1862,1466,1477,1456,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8502,1.20,146.0,3714,1862,1477,1456,94.7,8.8,381,8508,0.12,2.55,0.00,0.000,4612,0.297,0.063,3686,758,1466,1477,1456,0,0,0,0,0,0,13.90,14.09,28.83
$GC,8569,1.21,146.0,3686,758,1477,1456,89.2,8.2,384,8585,0.00,2.40,0.00,0.000,1030,0.000,0.037,3686,1831,1466,1477,1456,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8891,1.24,146.0,3686,1831,1477,1456,63.4,10.1,405,8896,0.00,2.42,0.00,0.000,260,0.000,0.063,3686,2846,1466,1477,1456,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9157,1.24,146.0,3686,2846,1477,1456,39.2,9.2,417,9171,0.00,2.30,0.00,0.000,1030,0.000,0.047,3686,1857,1466,1477,1456,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9477,1.26,146.0,3686,1858,1477,1456,10.7,8.9,438,9482,0.00,2.53,0.00,0.000,516,0.000,0.063,3686,756,1468,1480,1456,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9566,1.29,146.0,3686,754,1479,1453,3.4,8.4,442,9572,0.00,2.45,0.00,0.000,1030,0.000,0.042,3686,1839,1466,1480,1453,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,9584,end climb,SURFACE_DEPTH_REACHED
$STATE,9584,begin surface coast
$STATE,9621,end surface coast,CONTROL_FINISHED_OK
$STATE,9621,begin surface
$SM_CCo,9647,161.60,0.074,0,0,189,465.09
$SM_GC,3.29,10.55,0.25,161.60,0.054,0.063,0.074,144,1962,189,-9.78,-0.57,465.09,0,0,0,0,0,0,14.45,14.42,14.33
$IRIDIUM_FIX,2441.81,-3732.09,240813,191941
$TT8_MAMPS,0.024717,0.024717
$HUMID,79.49
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.3,217.287
$10V_AH,12.6,0.000
$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,28.175,84.175,290.275,161.600,0.000,0.000,0.000,1019.975,0.000,0.000,243.508,719.479,5234.470,454.688,4671.228,1059.701,0.000,2417.506,0.000,1432.821,0.000,0.546,0.000
$DEVICE_MAMPS,365.670,82.620,1515.465,74.205,0.000,0.000,0.000,224.910,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,-680564693277057719623408366969033850880000.000,0.000,0.000,0.000
$MEM,344728
$DATA_FILE_SIZE,16841,446
$CAP_FILE_SIZE,138363,0
$CFSIZE,260034560,177487872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,  0.0,1
$GPS,240813,194341,2441.810,-3732.089,0,10000.0,0,-14.9