version: 66.11
glider: 160
mission: 9
dive: 568
start: 8 19 113 3 18 21
data:
$ID,160
$MISSION,9
$DIVE,568
$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,120
$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,0.00269
$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,-111800.19
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,180813,221705,2448.935,-3734.985,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-69.6
$GPS2,180813,221705,2448.935,-3734.985,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.140
$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,298.6,53249,-17.0,-7.500,-30.00,2840
$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,22,-0.97,-116.8,142,1949,213,173,0.0,0.0,0,101,0.00,0.00,-76.62,0.000,16386,0.000,0.000,141,1949,1993,1992,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.97,-116.8,142,1949,1993,1994,3.1,-0.6,5,145,14.07,2.58,-18.00,0.000,18948,0.366,0.090,2975,895,2563,2559,2568,0,0,0,0,0,0,14.08,14.49,14.85
$GC,380,-0.87,-116.8,1888,894,2494,2558,29.5,-10.6,22,386,0.17,2.50,0.00,0.000,3078,0.258,0.061,3013,1953,2564,2560,2568,0,0,0,0,0,0,14.00,14.35,28.83
$GC,696,-0.81,-116.8,3014,1952,2559,2567,61.4,-9.9,43,702,0.00,2.50,0.00,0.000,516,0.000,0.063,3014,895,2563,2559,2568,0,0,0,0,0,0,28.83,14.35,28.83
$GC,711,-0.75,-116.8,3013,895,2559,2568,61.4,-9.9,43,718,0.17,2.42,0.00,0.000,3078,0.235,0.058,3050,1930,2563,2559,2568,0,0,0,0,0,0,14.09,14.38,28.83
$GC,1017,-0.75,-116.8,3051,1929,2559,2568,84.1,-5.7,64,1022,0.00,2.58,0.00,0.000,260,0.000,0.089,3050,3011,2562,2559,2566,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1119,-0.75,-116.8,1952,3007,2492,2557,89.9,-6.3,70,1125,0.00,2.47,0.00,0.000,1030,0.000,0.047,3051,1921,2563,2559,2567,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1436,-0.75,-116.8,3051,1922,2559,2568,109.5,-6.1,91,1442,0.00,2.62,0.00,0.000,260,0.000,0.079,3050,3015,2563,2559,2567,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1571,-0.75,-116.8,3050,3015,2559,2568,117.6,-6.6,99,1578,0.00,2.60,0.00,0.000,1030,0.000,0.050,3051,1878,2563,2559,2568,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1877,-0.75,-116.8,3051,1879,2559,2567,140.7,-7.6,120,1882,0.00,2.30,0.00,0.000,516,0.000,0.071,3050,893,2564,2560,2568,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1996,-0.75,-116.8,2000,892,2495,2557,149.1,-7.6,127,2003,0.00,2.30,0.00,0.000,1030,0.000,0.053,3051,1878,2562,2559,2566,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2304,-0.75,-116.8,3051,1877,2559,2566,168.0,-5.3,148,2309,0.00,2.33,0.00,0.000,516,0.000,0.062,3051,892,2562,2558,2566,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2406,-0.75,-116.8,1960,891,2491,2556,173.4,-5.8,154,2412,0.00,2.28,0.00,0.000,1030,0.000,0.054,3051,1868,2562,2559,2566,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2721,-0.75,-116.8,3051,1867,2559,2565,193.4,-6.9,175,2727,0.00,2.30,0.00,0.000,516,0.000,0.063,3051,891,2562,2559,2565,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2867,-0.75,-116.8,3051,892,2558,2565,204.0,-7.4,184,2872,0.00,2.22,0.00,0.000,1030,0.000,0.053,3051,1849,2561,2559,2564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3182,-0.75,-116.8,3051,1848,2568,2564,226.7,-6.9,205,3187,0.00,2.25,0.00,0.000,516,0.000,0.062,3050,891,2561,2558,2564,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3281,-0.75,-116.8,3051,891,2558,2563,233.6,-7.4,211,3287,0.00,2.20,0.00,0.000,1030,0.000,0.051,3051,1840,2560,2558,2563,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3602,-0.75,-116.8,3051,1838,2558,2562,256.5,-7.0,229,3607,0.00,2.22,0.00,0.000,516,0.000,0.061,3052,890,2560,2558,2562,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3702,-0.75,-116.8,2000,890,2494,2552,263.0,-6.9,232,3707,0.00,2.15,0.00,0.000,1030,0.000,0.050,3051,1821,2559,2557,2562,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4035,-0.75,-116.8,3051,1820,2557,2560,284.2,-6.1,243,4040,0.00,2.20,0.00,0.000,516,0.000,0.061,3051,889,2558,2557,2560,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4158,-0.75,-116.8,3051,889,2557,2560,290.6,-6.5,246,4164,0.00,2.12,0.00,0.000,1030,0.000,0.049,3050,1810,2558,2557,2560,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4463,-0.75,-116.8,3051,1809,2557,2558,314.0,-7.4,257,4469,0.00,2.15,0.00,0.000,516,0.000,0.059,3050,891,2557,2556,2558,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4544,-0.75,-116.8,3050,891,2556,2558,319.3,-7.5,259,4549,0.00,2.10,0.00,0.000,1030,0.000,0.048,3051,1803,2557,2556,2558,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4866,-0.75,-116.8,3051,1801,2555,2557,346.2,-8.4,270,4872,0.00,2.15,0.00,0.000,516,0.000,0.060,3051,887,2556,2555,2557,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4957,-0.75,-116.8,3051,887,2554,2557,351.9,-8.3,272,4963,0.00,2.08,0.00,0.000,1030,0.000,0.047,3051,1789,2556,2555,2557,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5265,-0.77,-116.8,3051,1788,2554,2556,379.5,-8.2,283,5270,0.00,2.12,0.00,0.000,516,0.000,0.060,3050,886,2555,2554,2556,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5315,-0.77,-116.8,3050,886,2561,2556,382.5,-8.1,284,5320,0.00,2.05,0.00,0.000,1030,0.000,0.046,3050,1779,2555,2554,2556,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5640,-0.78,-116.8,3051,1778,2553,2554,408.0,-7.4,295,5645,0.00,2.10,0.00,0.000,516,0.000,0.059,3051,885,2553,2553,2554,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5684,-0.78,-116.8,3051,885,2553,2554,410.8,-7.4,296,5689,0.00,2.05,0.00,0.000,1030,0.000,0.045,3051,1773,2553,2553,2554,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6013,-0.80,-116.8,3051,1772,2553,2553,433.8,-6.7,307,6019,0.00,2.08,0.00,0.000,516,0.000,0.060,3051,891,2552,2552,2553,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6088,-0.80,-116.8,3050,891,2552,2553,438.3,-6.4,309,6093,0.00,2.00,0.00,0.000,1030,0.000,0.045,3052,1764,2552,2552,2553,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6417,-0.82,-116.8,3051,1762,2552,2552,458.9,-6.2,320,6423,0.00,2.05,0.00,0.000,516,0.000,0.059,3051,891,2552,2553,2552,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6472,-0.84,-116.8,3051,891,2553,2552,461.2,-6.1,321,6477,0.00,1.98,0.00,0.000,1030,0.000,0.045,3050,1753,2551,2551,2552,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6792,-0.86,-116.8,3051,1751,2551,2551,481.9,-6.4,332,6797,0.00,2.03,0.00,0.000,516,0.000,0.058,3051,891,2551,2551,2551,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6866,-0.87,-116.8,3051,891,2551,2551,486.3,-6.3,334,6872,0.12,1.95,0.00,0.000,5126,0.132,0.045,3004,1740,2555,2552,2559,0,0,0,0,0,0,14.33,14.37,28.83
$GC,7197,-0.85,-116.8,3004,1739,2550,2550,509.8,-7.0,345,7202,0.00,2.00,0.00,0.000,516,0.000,0.060,2999,891,2550,2550,2550,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7279,-0.83,-116.8,3004,892,2549,2550,514.8,-7.0,347,7284,0.00,1.95,0.00,0.000,1030,0.000,0.046,3003,1738,2549,2549,2550,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7602,-0.80,-116.8,3004,1737,2549,2548,539.1,-7.4,358,7604,0.12,0.00,0.00,0.000,2054,0.256,0.000,3032,1737,2549,2549,2549,0,0,0,0,0,0,14.17,28.83,28.83
$STATE,7624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7625,begin apogee
$GC,7635,-0.25,0.0,3032,1816,2549,2549,541.3,-7.4,359,7736,0.62,0.00,94.70,1.563,10244,0.179,0.000,3204,1816,2084,2131,2037,0,0,0,0,0,0,13.78,28.83,13.26
$STATE,7740,end apogee,CONTROL_FINISHED_OK
$STATE,7740,begin climb
$GC,7744,0.97,116.8,3205,1816,2128,2035,544.5,0.0,362,7855,1.30,2.45,97.72,1.551,10500,0.109,0.070,3607,2848,1605,1664,1547,0,0,0,0,0,0,14.28,14.31,13.33
$GC,7868,0.97,116.8,3607,2849,1653,1546,541.6,4.6,366,7875,0.00,2.42,0.00,0.000,1030,0.000,0.048,3615,1795,1600,1653,1547,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8179,0.86,116.8,3615,1796,1645,1546,513.8,8.0,377,8185,0.15,2.47,0.00,0.000,4356,0.265,0.060,3580,2851,1594,1644,1545,0,0,0,0,0,0,14.11,14.46,28.83
$GC,8368,0.77,116.8,3580,2852,1642,1545,498.2,8.0,383,8374,0.15,2.35,0.00,0.000,5126,0.259,0.049,3548,1827,1593,1642,1545,0,0,0,0,0,0,14.14,14.50,28.83
$GC,8705,0.72,123.3,3548,1829,1642,1544,474.7,7.3,394,8715,0.00,2.38,3.10,0.818,8452,0.000,0.063,3548,2851,1583,1634,1532,0,0,0,0,0,0,28.83,14.59,13.47
$GC,8901,0.66,123.3,3548,2850,1634,1535,458.2,9.0,400,8907,0.17,2.28,0.00,0.000,5126,0.236,0.047,3508,1852,1584,1633,1535,0,0,0,0,0,0,14.09,14.42,28.83
$GC,9230,0.66,125.8,3508,1853,1634,1536,432.7,7.4,411,9236,0.00,0.00,3.30,0.868,8198,0.000,0.000,3508,1853,1574,1626,1523,0,0,0,0,0,0,28.83,28.83,13.47
$GC,9528,0.69,159.9,3508,1853,1627,1525,412.6,6.3,421,9568,0.00,2.62,31.90,1.368,8708,0.000,0.070,3508,745,1430,1474,1386,0,0,0,0,0,0,28.83,14.51,13.59
$GC,9588,0.72,187.8,3508,745,1472,1386,408.5,6.5,423,9621,0.00,2.53,25.00,1.360,9222,0.000,0.041,3508,1848,1316,1357,1276,0,0,0,0,0,0,28.83,14.50,13.50
$GC,9951,0.74,187.8,3507,1848,1347,1274,381.8,7.5,435,9957,0.00,2.62,0.00,0.000,516,0.000,0.063,3508,746,1310,1347,1274,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10036,0.77,187.8,3508,745,1347,1274,376.9,7.5,437,10042,0.12,2.47,0.00,0.000,3078,0.133,0.041,3555,1833,1310,1347,1274,0,0,0,0,0,0,14.42,14.45,28.83
$GC,10356,0.75,187.8,3556,1831,1346,1274,347.3,9.1,448,10362,0.00,2.40,0.00,0.000,260,0.000,0.067,3556,2859,1309,1345,1274,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10411,0.72,187.8,3556,2858,1343,1273,343.3,9.4,449,10417,0.15,2.38,0.00,0.000,5126,0.239,0.046,3527,1824,1308,1343,1274,0,0,0,0,0,0,14.11,14.44,28.83
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$STATE,14572,end climb,SURFACE_DEPTH_REACHED
$STATE,14572,begin surface coast
$FINISH,3.4,1.011681
$STATE,14596,end surface coast,NO_VERTICAL_VELOCITY
$STATE,14596,begin surface
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$SM_CCo,14981,0.00,0.000,0,0,191,465.09
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$IRIDIUM_FIX,2448.93,-3734.99,190813,030356
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.98
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,3802496
$24V_AH,13.3,208.739
$10V_AH,12.1,0.000
$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,28.250,154.450,317.525,105.450,0.000,0.000,0.000,247.200,0.500,0.000,242.537,2491.987,9816.729,593.557,2413.167,1129.157,0.000,1871.290,0.000,1850.646,0.000,0.542,0.000
$DEVICE_MAMPS,366.435,120.870,1562.895,74.205,0.000,0.000,0.000,169.830,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14633.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.151,0.000,0.000,0.000
$MEM,345148
$DATA_FILE_SIZE,26716,684
$CAP_FILE_SIZE,185056,1
$CFSIZE,260034560,180072448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.272,275.7,1
$GPS,190813,030856,2448.935,-3734.985,0,10000.0,0,-14.9