version: 66.11
glider: 160
mission: 9
dive: 574
start: 8 20 113 8 12 7
data:
$ID,160
$MISSION,9
$DIVE,574
$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,-114735.83
$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,18
$R_STBD_OVSHOOT,16
$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
$GPS1,200813,030803,2448.935,-3731.652,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-70.5
$GPS2,200813,030803,2448.935,-3731.652,241,99.0,241,-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,211.5,58120,-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,-72.9,134,1944,219,165,0.0,0.0,0,116,0.00,0.00,-90.57,0.000,16390,0.000,0.000,135,1945,2384,2352,2417,0,0,0,0,0,0,28.83,28.83,14.83
$GC,122,-1.68,-146.0,134,1945,2353,2417,3.6,-1.7,6,148,13.20,2.47,-6.80,0.000,18948,0.373,0.083,2748,891,2682,2688,2676,0,0,0,0,0,0,13.97,14.52,14.85
$GC,384,-1.59,-146.0,2748,891,2689,2675,51.9,-18.8,22,392,0.17,2.50,0.00,0.000,3078,0.321,0.065,2780,1949,2682,2689,2675,0,0,0,0,0,0,13.90,14.38,28.83
$GC,688,-1.52,-146.0,2780,1947,2689,2675,103.8,-15.7,43,693,0.00,2.50,0.00,0.000,516,0.000,0.067,2780,887,2681,2689,2674,0,0,0,0,0,0,28.83,14.40,28.83
$GC,927,-1.45,-146.0,2781,887,2689,2674,137.0,-13.8,58,933,0.25,2.42,0.00,0.000,3078,0.299,0.063,2826,1921,2681,2689,2673,0,0,0,0,0,0,13.88,14.40,28.83
$GC,1244,-1.42,-146.0,2825,1919,2689,2673,173.4,-10.7,79,1249,0.00,2.45,0.00,0.000,516,0.000,0.067,2826,891,2681,2690,2672,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1420,-1.38,-146.0,1760,890,2627,2664,191.9,-10.8,90,1426,0.15,2.35,0.00,0.000,3078,0.289,0.059,2847,1902,2680,2689,2672,0,0,0,0,0,0,14.00,14.42,28.83
$GC,1736,-1.38,-146.0,2847,1901,2689,2672,228.4,-12.4,111,1741,0.00,2.38,0.00,0.000,516,0.000,0.063,2847,889,2680,2689,2672,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1803,-1.36,-146.0,2847,889,2689,2672,236.8,-12.8,115,1808,0.00,2.35,0.00,0.000,1030,0.000,0.056,2847,1897,2680,2689,2671,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2126,-1.36,-146.0,2843,1896,2689,2671,278.6,-12.9,129,2131,0.00,2.35,0.00,0.000,516,0.000,0.060,2847,889,2679,2689,2670,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2353,-1.34,-146.0,2847,889,2689,2669,306.3,-12.4,136,2358,0.00,2.28,0.00,0.000,1030,0.000,0.054,2846,1872,2678,2689,2668,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2683,-1.34,-146.0,2846,1871,2691,2667,345.4,-11.6,147,2688,0.00,2.30,0.00,0.000,516,0.000,0.060,2846,885,2677,2689,2666,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2815,-1.33,-146.0,2846,886,2689,2666,360.0,-11.3,151,2821,0.00,2.25,0.00,0.000,1030,0.000,0.052,2844,1859,2677,2689,2666,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3150,-1.33,-146.0,2844,1858,2688,2664,397.7,-11.3,162,3155,0.00,2.28,0.00,0.000,516,0.000,0.060,2844,884,2676,2689,2663,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3387,-1.31,-146.0,2844,884,2689,2661,424.2,-12.3,169,3393,0.00,2.22,0.00,0.000,1030,0.000,0.051,2844,1849,2675,2689,2661,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3703,-1.31,-146.0,2847,1848,2689,2659,466.0,-12.5,180,3708,0.00,2.25,0.00,0.000,516,0.000,0.059,2844,886,2674,2689,2659,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3890,-1.31,-146.0,2843,886,2689,2658,489.4,-12.4,186,3896,0.00,2.17,0.00,0.000,1030,0.000,0.050,2844,1827,2673,2689,2658,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4230,-1.31,-146.0,2844,1826,2688,2655,530.1,-12.3,197,4235,0.00,2.17,0.00,0.000,516,0.000,0.058,2844,888,2672,2689,2655,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4314,-1.31,-146.0,2844,888,2689,2654,538.8,-12.4,199,4320,0.00,2.12,0.00,0.000,1030,0.000,0.049,2843,1813,2671,2689,2654,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,4324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4324,begin apogee
$GC,4333,-0.25,0.0,2843,1813,2689,2654,542.9,-12.4,200,4461,1.48,0.00,118.10,1.554,10244,0.238,0.000,3207,1812,2085,2141,2030,0,0,0,0,0,0,13.71,28.83,13.31
$STATE,4463,end apogee,CONTROL_FINISHED_OK
$STATE,4463,begin climb
$GC,4467,1.68,146.0,3208,1811,2135,2025,547.9,0.0,204,4600,1.95,0.00,119.18,1.540,11270,0.103,0.000,3836,1812,1484,1526,1443,0,0,0,0,0,0,14.29,28.83,13.38
$GC,4901,1.59,146.0,3836,1812,1511,1440,489.5,15.7,219,4907,0.00,2.45,0.00,0.000,260,0.000,0.067,3836,2862,1475,1510,1440,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5133,1.48,146.0,3836,2862,1506,1439,453.4,16.8,226,5139,0.35,2.42,0.00,0.000,5126,0.340,0.050,3775,1818,1471,1503,1439,0,0,0,0,0,0,13.95,14.54,28.83
$GC,5457,1.43,146.0,3776,1819,1499,1441,408.7,12.5,237,5463,0.00,2.47,0.00,0.000,260,0.000,0.063,3776,2863,1470,1499,1441,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5497,1.36,146.0,3776,2862,1497,1441,403.7,12.6,238,5503,0.22,2.42,0.00,0.000,5126,0.330,0.050,3738,1815,1469,1497,1441,0,0,0,0,0,0,13.90,14.50,28.83
$GC,5829,1.33,146.0,3738,1816,1496,1441,364.2,12.1,249,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,3738,1816,1468,1496,1441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6129,1.30,146.0,3739,1816,1496,1441,324.9,13.4,259,6135,0.00,2.50,0.00,0.000,260,0.000,0.062,3739,2868,1468,1495,1441,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6165,1.27,146.0,3739,2867,1495,1441,319.6,13.7,260,6171,0.17,2.45,0.00,0.000,5126,0.325,0.050,3707,1816,1467,1494,1441,0,0,0,0,0,0,13.88,14.45,28.83
$GC,6501,1.27,146.0,3707,1818,1494,1442,275.9,12.8,271,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,3707,1818,1467,1494,1441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6801,1.27,146.0,3707,1818,1493,1441,240.2,11.3,283,6807,0.00,2.50,0.00,0.000,516,0.000,0.067,3712,744,1467,1494,1441,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6840,1.27,146.0,3713,744,1493,1441,236.1,11.6,285,6846,0.00,2.45,0.00,0.000,1030,0.000,0.041,3713,1824,1468,1495,1441,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7156,1.27,146.0,3712,1823,1493,1440,201.9,10.5,306,7161,0.00,2.42,0.00,0.000,260,0.000,0.066,3708,2856,1466,1493,1440,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7274,1.23,146.0,3712,2855,1491,1440,188.7,12.2,313,7280,0.00,2.42,0.00,0.000,1030,0.000,0.050,3713,1822,1465,1491,1440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7591,1.23,146.0,3713,1824,1491,1440,151.8,11.3,334,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,3713,1823,1465,1491,1440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7889,1.23,146.0,3713,1823,1491,1440,118.0,11.1,354,7894,0.00,2.47,0.00,0.000,260,0.000,0.061,3713,2857,1465,1491,1440,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8126,1.21,146.0,3008,2853,1456,1436,92.2,10.4,369,8132,0.00,2.40,0.00,0.000,1030,0.000,0.048,3714,1826,1464,1488,1440,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8442,1.21,146.0,3714,1827,1489,1440,63.7,9.7,390,8447,0.00,2.45,0.00,0.000,260,0.000,0.060,3714,2856,1464,1489,1440,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8600,1.20,146.0,3714,2855,1490,1440,49.1,8.9,400,8607,0.15,2.40,0.00,0.000,5126,0.304,0.048,3685,1834,1464,1488,1440,0,0,0,0,0,0,13.81,14.33,28.83
$GC,8922,1.23,146.0,3686,1835,1488,1440,23.9,8.3,421,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,3686,1835,1464,1488,1440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9222,1.54,229.7,3686,1835,1491,1436,3.5,1.6,441,9236,0.35,0.00,10.48,0.070,10242,0.119,0.000,3796,1835,1380,1411,1349,0,0,0,0,0,0,14.20,28.83,28.83
$STATE,9237,end climb,SURFACE_DEPTH_REACHED
$STATE,9237,begin surface coast
$FINISH,3.3,1.025020
$STATE,9390,end surface coast,NO_VERTICAL_VELOCITY
$STATE,9390,begin surface
$SM_CCo,9395,152.57,0.072,0,0,189,465.09
$SM_GC,3.74,10.73,0.28,0.00,0.047,0.056,0.000,144,1954,190,-9.77,-0.79,465.09,0,0,0,0,0,0,14.54,14.56,28.83
$IRIDIUM_FIX,2446.56,-3733.54,200813,070724
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.79
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3800192
$24V_AH,13.3,210.298
$10V_AH,13.3,0.000
$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,29.175,76.350,247.750,152.575,0.000,0.000,0.000,863.725,0.000,0.000,243.564,1779.069,5978.463,501.228,2417.582,1137.258,0.000,2093.087,0.000,1356.431,0.000,0.543,0.000
$DEVICE_MAMPS,373.320,83.385,1553.715,71.910,0.000,0.000,0.000,228.735,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9418.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.185,0.000,0.000,0.000
$MEM,344768
$DATA_FILE_SIZE,16747,452
$CAP_FILE_SIZE,126407,0
$CFSIZE,260034560,179552256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.258, 45.1,1
$GPS,200813,075324,2446.559,-3733.536,0,10000.0,0,-14.9