version: 66.11
glider: 160
mission: 9
dive: 538
start: 8 13 113 15 16 51
data:
$ID,160
$MISSION,9
$DIVE,538
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55936
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,517.58301
$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,-97092.484
$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,25
$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,2300
$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
$GPS1,130813,103603,2451.311,-3744.990,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-64.6
$GPS2,130813,103603,2451.311,-3744.990,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.197
$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,281.7,42997,-26.8,-7.500,-30.00,838
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.38,-41.0,136,1948,216,165,0.0,0.0,0,98,0.00,0.00,-74.57,0.000,16386,0.000,0.000,136,1949,1949,1958,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.44,-97.3,136,1949,1958,1942,3.2,-0.3,5,150,13.10,2.50,-23.23,0.000,19204,0.358,0.088,2828,904,2699,2720,2678,0,0,0,0,0,0,14.09,14.40,14.85
$GC,384,-1.34,-97.3,2828,905,2720,2678,50.3,-18.6,23,391,0.15,2.42,0.00,0.000,3078,0.301,0.058,2857,1945,2699,2720,2678,0,0,0,0,0,0,14.00,14.40,28.83
$GC,707,-1.29,-97.3,2857,1944,2720,2678,94.6,-11.5,44,712,0.00,2.45,0.00,0.000,516,0.000,0.062,2857,896,2699,2720,2678,0,0,0,0,0,0,28.83,14.39,28.83
$GC,946,-1.23,-97.3,2857,896,2720,2677,122.7,-12.0,59,952,0.17,2.45,0.00,0.000,3078,0.278,0.062,2892,1945,2698,2720,2677,0,0,0,0,0,0,13.99,14.39,28.83
$GC,1262,-1.20,-97.3,2892,1944,2720,2676,162.8,-11.8,80,1267,0.00,2.45,0.00,0.000,516,0.000,0.067,2893,901,2698,2720,2677,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1499,-1.18,-97.3,2893,901,2720,2676,188.0,-10.4,95,1504,0.00,2.40,0.00,0.000,1030,0.000,0.062,2893,1926,2698,2720,2676,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1814,-1.15,-97.3,2892,1925,2720,2676,221.1,-10.2,116,1820,0.12,2.42,0.00,0.000,2564,0.300,0.061,2922,896,2696,2720,2673,0,0,0,0,0,0,13.92,14.40,28.83
$GC,2052,-1.15,-97.3,2921,896,2723,2675,245.6,-11.0,131,2057,0.00,2.35,0.00,0.000,1030,0.000,0.055,2922,1911,2697,2720,2674,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2372,-1.15,-97.3,2922,1909,2720,2673,282.5,-12.0,143,2377,0.00,2.35,0.00,0.000,516,0.000,0.060,2922,897,2696,2719,2673,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2608,-1.15,-97.3,2922,896,2720,2672,308.4,-11.6,150,2614,0.00,2.28,0.00,0.000,1030,0.000,0.052,2922,1884,2695,2720,2671,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2923,-1.15,-97.3,2922,1884,2720,2669,344.3,-10.4,161,2929,0.00,2.30,0.00,0.000,516,0.000,0.060,2922,894,2694,2720,2669,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3160,-1.15,-97.3,2922,894,2719,2668,367.7,-10.8,168,3166,0.00,2.25,0.00,0.000,1030,0.000,0.052,2922,1872,2693,2720,2667,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3475,-1.15,-97.3,2922,1871,2720,2665,404.4,-10.9,179,3480,0.00,2.28,0.00,0.000,516,0.000,0.060,2922,895,2692,2719,2665,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3711,-1.15,-97.3,2922,895,2719,2664,428.0,-10.9,186,3717,0.00,2.22,0.00,0.000,1030,0.000,0.051,2922,1862,2691,2719,2664,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4028,-1.15,-97.3,2922,1862,2719,2661,464.2,-10.9,197,4034,0.00,2.25,0.00,0.000,516,0.000,0.058,2922,892,2690,2719,2661,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4264,-1.15,-97.3,2922,890,2717,2661,488.9,-11.5,204,4270,0.00,2.17,0.00,0.000,1030,0.000,0.049,2922,1841,2689,2717,2661,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4579,-1.15,-97.3,2922,1840,2716,2659,524.2,-10.0,215,4584,0.00,2.20,0.00,0.000,516,0.000,0.057,2921,896,2688,2717,2659,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,4763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4763,begin apogee
$GC,4773,-0.25,0.0,2922,1804,2715,2658,542.4,-9.7,221,4860,1.08,0.00,78.85,1.534,10244,0.210,0.000,3203,1803,2300,2362,2238,0,0,0,0,0,0,13.76,28.83,13.34
$STATE,4865,end apogee,CONTROL_FINISHED_OK
$STATE,4865,begin climb
$GC,4869,1.44,97.3,3203,1803,2352,2237,544.6,0.0,224,4964,1.75,2.50,81.85,1.533,10500,0.096,0.071,3760,2856,1899,1961,1837,0,0,0,0,0,0,14.35,14.35,13.37
$GC,5198,1.31,97.3,3760,2856,1946,1827,522.0,10.2,235,5204,0.22,2.40,0.00,0.000,5126,0.313,0.047,3719,1805,1886,1946,1827,0,0,0,0,0,0,14.04,14.52,28.83
$GC,5534,1.23,102.6,3720,1806,1945,1825,496.8,6.9,246,5539,0.00,2.45,0.00,0.000,260,0.000,0.060,3719,2859,1885,1945,1825,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5772,1.13,103.3,3719,2859,1941,1825,480.6,7.4,253,5778,0.30,2.45,0.00,0.000,5126,0.291,0.047,3662,1783,1883,1941,1825,0,0,0,0,0,0,13.97,14.50,28.83
$GC,6092,1.09,111.0,3662,1784,1941,1824,459.4,6.6,264,6110,0.00,2.50,10.52,1.287,8452,0.000,0.060,3663,2865,1842,1912,1772,0,0,0,0,0,0,28.83,14.67,13.62
$GC,6341,1.02,111.0,2896,2860,1854,1763,439.9,8.0,272,6347,0.20,2.42,0.00,0.000,5126,0.283,0.045,3627,1800,1838,1907,1770,0,0,0,0,0,0,14.07,14.52,28.83
$GC,6675,1.02,129.4,3627,1801,1907,1768,420.1,5.2,283,6698,0.00,2.45,16.20,1.333,8452,0.000,0.058,3627,2862,1768,1844,1693,0,0,0,0,0,0,28.83,14.63,13.65
$GC,6792,1.00,141.8,3628,2862,1837,1693,414.0,6.0,286,6812,0.00,2.42,11.55,1.303,9222,0.000,0.047,3629,1796,1718,1792,1644,0,0,0,0,0,0,28.83,14.52,13.64
$GC,7137,1.01,153.9,3629,1796,1785,1644,391.6,6.0,298,7155,0.00,2.47,11.45,1.271,8452,0.000,0.061,3630,2859,1668,1739,1597,0,0,0,0,0,0,28.83,14.64,13.67
$GC,7386,0.98,153.9,2848,2854,1687,1591,372.1,8.3,306,7391,0.00,2.40,0.00,0.000,1030,0.000,0.047,3630,1810,1665,1733,1597,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7719,0.98,153.9,3630,1817,1732,1596,342.6,9.7,317,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1811,1666,1732,1600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8017,0.98,153.9,3630,1811,1732,1596,312.3,9.8,327,8022,0.00,2.50,0.00,0.000,260,0.000,0.058,3630,2863,1663,1730,1596,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8188,0.95,153.9,3630,2863,1728,1595,296.5,9.9,332,8194,0.00,2.42,0.00,0.000,1030,0.000,0.044,3630,1806,1661,1727,1596,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8512,0.96,158.4,3630,1809,1728,1596,271.2,6.9,343,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1809,1662,1728,1596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8808,0.96,158.4,3630,1809,1728,1595,249.1,7.8,353,8814,0.00,2.50,0.00,0.000,260,0.000,0.057,3630,2865,1661,1728,1595,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8959,0.93,158.4,3630,2864,1726,1595,236.0,9.5,362,8968,0.15,2.42,0.00,0.000,5126,0.275,0.044,3599,1810,1660,1726,1595,0,0,0,0,0,0,13.96,14.41,28.83
$GC,9267,0.95,158.4,3600,1811,1726,1595,209.6,8.6,383,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1812,1661,1728,1595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9566,0.97,158.4,3600,1813,1726,1595,184.7,8.1,403,9571,0.00,2.47,0.00,0.000,260,0.000,0.057,3599,2862,1660,1726,1595,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9707,0.97,158.4,3600,2862,1726,1595,171.9,8.5,412,9713,0.00,2.45,0.00,0.000,1030,0.000,0.043,3602,1801,1660,1726,1595,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10029,1.00,169.7,3601,1802,1726,1595,150.6,6.1,433,10048,0.00,2.45,13.05,0.991,8452,0.000,0.057,3602,2860,1604,1670,1539,0,0,0,0,0,0,28.83,14.60,13.67
$GC,10142,1.00,170.9,3601,2859,1664,1534,142.4,7.4,440,10148,0.00,2.38,0.00,0.000,1030,0.000,0.043,3602,1824,1599,1664,1534,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10463,1.03,176.5,3602,1825,1664,1538,122.1,6.8,461,10479,0.00,2.42,6.55,0.914,8452,0.000,0.057,3602,2856,1576,1639,1514,0,0,0,0,0,0,28.83,14.56,13.71
$GC,10583,1.04,184.8,3602,2856,1635,1514,114.2,6.5,468,10598,0.00,2.35,8.38,0.923,9222,0.000,0.041,3602,1822,1542,1600,1484,0,0,0,0,0,0,28.83,14.51,13.78
$GC,10913,1.08,184.9,3602,1823,1593,1482,90.2,7.5,490,10919,0.12,2.50,0.00,0.000,2564,0.132,0.061,3661,747,1538,1593,1483,0,0,0,0,0,0,14.40,14.33,28.83
$GC,11056,1.08,184.9,3662,748,1593,1483,77.4,9.1,499,11062,0.00,2.45,0.00,0.000,1030,0.000,0.042,3661,1827,1538,1593,1483,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11376,1.08,187.9,3662,1826,1593,1483,52.0,7.1,520,11382,0.00,2.40,0.00,0.000,260,0.000,0.062,3662,2859,1537,1592,1483,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11612,1.07,203.1,3661,2859,1591,1483,36.1,5.6,535,11633,0.00,2.38,14.48,0.825,9222,0.000,0.043,3670,1828,1469,1519,1419,0,0,0,0,0,0,28.83,14.23,13.83
$GC,11942,1.07,203.1,3669,1829,1511,1419,8.1,9.2,557,11947,0.00,2.42,0.00,0.000,260,0.000,0.059,3669,2854,1465,1511,1419,0,0,0,0,0,0,28.83,14.21,28.83
$FREEZE,4.15,25.925,-2.071,0,61,0
$STATE,12156,end climb,NO_VERTICAL_VELOCITY
$STATE,12156,begin surface
$SM_CCo,12162,160.80,0.074,0,0,189,517.58
$SM_CCo,12598,0.85,0.061,0,0,188,517.58
$SM_GC,4.41,10.25,2.12,0.85,0.042,0.048,0.061,127,1956,188,-9.78,0.76,517.58,0,0,0,0,0,0,14.62,14.42,14.46
$IRIDIUM_FIX,2448.93,-3743.54,130813,141443
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.51
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3814016
$24V_AH,13.3,201.780
$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,27.625,105.000,252.875,161.650,0.000,0.000,0.000,708.125,0.000,0.000,243.518,2480.750,7485.138,542.379,2935.687,865.896,0.000,2261.637,0.000,1952.273,0.000,0.542,0.000
$DEVICE_MAMPS,358.020,87.975,1533.825,74.205,0.000,0.000,0.000,202.725,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.111,0.000,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,20082,571
$CAP_FILE_SIZE,157872,0
$CFSIZE,260034560,182837248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.289,317.5,1
$GPS,130813,145943,2448.935,-3743.535,0,10000.0,0,-14.9