version: 66.11
glider: 160
mission: 9
dive: 576
start: 8 20 113 14 34 45
data:
$ID,160
$MISSION,9
$DIVE,576
$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,-115717.21
$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,64
$R_STBD_OVSHOOT,64
$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
$GPS1,200813,111716,2448.935,-3731.652,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-69.9
$GPS2,200813,111716,2448.935,-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,301.5,58120,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-1.61,-72.9,141,1991,217,167,0.0,0.0,0,116,0.00,0.00,-90.45,0.000,16390,0.000,0.000,141,1991,2383,2356,2411,0,0,0,0,0,0,28.83,28.83,14.81
$GC,123,-1.68,-146.0,141,1992,2357,2411,3.6,-1.6,6,154,13.12,2.35,-6.80,0.000,18692,0.371,0.109,2746,2957,2683,2694,2672,0,0,0,0,0,0,14.02,14.34,14.85
$GC,344,-1.58,-146.0,2746,2956,2695,2672,47.0,-19.3,20,350,0.17,2.22,0.00,0.000,3078,0.319,0.050,2778,1992,2683,2695,2672,0,0,0,0,0,0,13.83,14.40,28.83
$GC,666,-1.51,-146.0,2779,1993,2695,2672,100.6,-15.8,41,673,0.12,2.35,0.00,0.000,2308,0.315,0.080,2802,2964,2683,2695,2671,0,0,0,0,0,0,13.97,14.28,28.83
$GC,857,-1.45,-146.0,2802,2963,2695,2671,130.1,-15.4,53,863,0.00,2.40,0.00,0.000,1030,0.000,0.050,2802,1932,2683,2696,2671,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1178,-1.41,-146.0,2802,1933,2695,2671,174.1,-12.2,74,1184,0.12,2.42,0.00,0.000,2564,0.308,0.071,2837,889,2682,2695,2670,0,0,0,0,0,0,14.00,14.38,28.83
$GC,1405,-1.38,-146.0,2837,889,2695,2670,199.0,-11.1,88,1412,0.00,2.22,0.00,0.000,1030,0.000,0.054,2832,1862,2682,2695,2669,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1711,-1.35,-146.0,2832,1861,2695,2669,234.0,-11.7,109,1718,0.00,2.25,0.00,0.000,516,0.000,0.063,2835,888,2682,2696,2669,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1869,-1.32,-146.0,2835,888,2695,2669,253.2,-12.4,119,1875,0.15,2.22,0.00,0.000,3078,0.288,0.054,2861,1855,2681,2695,2668,0,0,0,0,0,0,13.95,14.40,28.83
$GC,2208,-1.32,-146.0,2861,1854,2695,2667,293.9,-12.4,130,2213,0.00,2.25,0.00,0.000,516,0.000,0.063,2862,884,2681,2695,2667,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2399,-1.32,-146.0,2861,884,2695,2666,317.9,-12.6,136,2404,0.00,2.20,0.00,0.000,1030,0.000,0.054,2860,1847,2680,2695,2665,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2733,-1.32,-146.0,2860,1845,2695,2664,360.3,-12.8,147,2738,0.00,2.22,0.00,0.000,516,0.000,0.060,2861,886,2680,2696,2664,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2968,-1.32,-146.0,2867,887,2696,2662,388.7,-13.1,154,2974,0.00,2.15,0.00,0.000,1030,0.000,0.052,2860,1827,2678,2695,2661,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3284,-1.32,-146.0,2861,1825,2695,2659,433.4,-13.4,165,3291,0.00,2.17,0.00,0.000,516,0.000,0.060,2860,887,2677,2695,2659,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3452,-1.32,-146.0,2860,887,2695,2659,454.2,-12.9,170,3458,0.00,2.10,0.00,0.000,1030,0.000,0.051,2860,1807,2676,2695,2658,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3781,-1.32,-146.0,2860,1806,2689,2655,492.8,-10.9,181,3786,0.00,2.12,0.00,0.000,516,0.000,0.059,2860,887,2675,2695,2655,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4017,-1.32,-146.0,2860,886,2695,2654,516.6,-10.7,188,4023,0.00,2.08,0.00,0.000,1030,0.000,0.050,2860,1796,2674,2694,2654,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,4239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4239,begin apogee
$GC,4249,-0.25,0.0,2860,1795,2694,2652,542.8,-10.8,196,4378,1.40,0.00,119.53,1.542,10244,0.236,0.000,3206,1795,2082,2140,2025,0,0,0,0,0,0,13.66,28.83,13.28
$STATE,4379,end apogee,CONTROL_FINISHED_OK
$STATE,4379,begin climb
$GC,4383,1.68,146.0,3206,1795,2136,2023,547.7,0.0,200,4516,1.95,2.45,118.70,1.532,10500,0.099,0.071,3829,2814,1487,1512,1462,0,0,0,0,0,0,14.29,14.33,13.37
$GC,4659,1.58,146.0,3829,2814,1495,1458,516.0,16.4,209,4666,0.15,2.35,0.00,0.000,5126,0.327,0.050,3809,1793,1474,1491,1458,0,0,0,0,0,0,14.11,14.50,28.83
$GC,4986,1.51,146.0,3808,1794,1487,1458,467.7,14.1,220,4992,0.12,2.42,0.00,0.000,4356,0.324,0.058,3781,2824,1472,1487,1458,0,0,0,0,0,0,14.07,14.51,28.83
$GC,5170,1.43,146.0,3781,2824,1484,1457,443.8,14.6,225,5178,0.17,2.35,0.00,0.000,5126,0.320,0.048,3756,1808,1471,1484,1458,0,0,0,0,0,0,14.00,14.52,28.83
$GC,5477,1.38,146.0,3756,1808,1484,1457,401.2,12.4,236,5483,0.00,2.40,0.00,0.000,260,0.000,0.060,3756,2819,1470,1483,1457,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5574,1.33,146.0,3756,2818,1482,1457,388.1,13.2,239,5580,0.17,2.35,0.00,0.000,5126,0.316,0.047,3730,1805,1469,1482,1457,0,0,0,0,0,0,13.88,14.52,28.83
$GC,5910,1.31,146.0,3730,1806,1482,1456,346.1,12.6,250,5915,0.00,2.40,0.00,0.000,260,0.000,0.060,3730,2816,1469,1482,1456,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6034,1.27,146.0,3730,2816,1481,1456,333.2,13.3,253,6041,0.15,2.30,0.00,0.000,5126,0.304,0.044,3709,1819,1468,1481,1456,0,0,0,0,0,0,13.88,14.48,28.83
$GC,6339,1.27,146.0,3709,1820,1481,1455,292.4,12.2,264,6344,0.00,2.38,0.00,0.000,260,0.000,0.059,3709,2816,1468,1481,1455,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6472,1.24,146.0,3709,2816,1481,1455,276.1,12.7,268,6477,0.00,2.28,0.00,0.000,1030,0.000,0.045,3713,1835,1468,1481,1455,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6791,1.24,146.0,3712,1836,1481,1455,241.8,10.1,281,6796,0.00,2.55,0.00,0.000,516,0.000,0.067,3713,742,1468,1481,1455,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6819,1.24,146.0,3711,742,1480,1455,239.1,10.4,282,6827,0.00,2.38,0.00,0.000,1030,0.000,0.040,3709,1798,1467,1481,1454,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7127,1.24,146.0,3708,1797,1481,1454,207.3,10.2,303,7133,0.00,2.50,0.00,0.000,260,0.000,0.064,3712,2857,1466,1480,1453,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7364,1.22,146.0,3713,2857,1479,1453,179.2,12.9,318,7370,0.00,2.35,0.00,0.000,1030,0.000,0.047,3713,1846,1466,1480,1453,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7680,1.22,146.0,3713,1847,1479,1451,141.7,11.1,339,7685,0.00,2.42,0.00,0.000,260,0.000,0.060,3713,2863,1466,1480,1453,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7861,1.19,146.0,3713,2863,1479,1453,119.4,13.4,350,7870,0.15,2.33,0.00,0.000,5126,0.306,0.047,3685,1865,1466,1479,1453,0,0,0,0,0,0,13.83,14.34,28.83
$GC,8168,1.21,146.0,3685,1862,1479,1453,87.1,9.0,371,8174,0.00,2.62,0.00,0.000,516,0.000,0.067,3686,746,1465,1479,1452,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8188,1.23,146.0,3686,746,1479,1453,85.0,9.4,372,8195,0.00,2.58,0.00,0.000,1030,0.000,0.042,3686,1873,1466,1479,1453,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8510,1.26,146.0,3686,1872,1479,1453,59.7,7.5,393,8515,0.00,2.30,0.00,0.000,260,0.000,0.063,3686,2857,1465,1479,1452,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8747,1.26,146.0,3686,2856,1479,1452,39.3,8.9,408,8752,0.00,2.25,0.00,0.000,1030,0.000,0.043,3686,1893,1465,1479,1452,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9064,1.29,146.0,3686,1894,1479,1452,12.3,8.7,429,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,3686,1895,1465,1479,1452,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,3.38,26.328,-1.051,0,99,0
$STATE,9344,end climb,NO_VERTICAL_VELOCITY
$STATE,9344,begin surface
$SM_CCo,9349,162.20,0.070,0,0,188,465.09
$SM_GC,3.81,10.35,0.15,0.00,0.041,0.092,0.000,136,1960,189,-9.79,-0.71,465.33,0,0,0,0,0,0,14.54,14.55,28.83
$IRIDIUM_FIX,2448.93,-3731.65,200813,111116
$TT8_MAMPS,0.023968,0.023968
$HUMID,82.28
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3799424
$24V_AH,13.3,210.662
$10V_AH,13.4,0.000
$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,28.325,83.850,238.225,162.200,0.000,0.000,0.000,244.725,0.000,0.000,246.594,1875.676,5710.156,518.046,1994.826,1058.118,0.000,1539.221,0.000,1461.278,0.000,0.542,0.000
$DEVICE_MAMPS,371.025,109.395,1542.240,70.380,0.000,0.000,0.000,165.240,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.189,0.000,0.000,0.000
$MEM,345080
$DATA_FILE_SIZE,16786,448
$CAP_FILE_SIZE,120413,0
$CFSIZE,260034560,179347456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,255.2,1
$GPS,200813,111716,2448.935,-3731.652,241,99.0,241,-14.9