version: 66.11
glider: 160
mission: 9
dive: 580
start: 8 21 113 6 25 9
data:
$ID,160
$MISSION,9
$DIVE,580
$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,-117681.2
$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,36
$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
$GPS1,210813,023128,2446.559,-3846.268,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.4
$GPS2,210813,023128,2446.559,-3846.268,241,99.0,241,-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,167.2,78107,-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,-72.9,146,1961,220,173,0.0,0.0,0,109,0.00,0.00,-83.93,0.000,16386,0.000,0.000,146,1962,2190,2176,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.68,-146.0,146,1961,2176,2204,3.1,-1.0,5,149,13.15,2.53,-12.82,0.000,18948,0.372,0.086,2749,887,2684,2699,2669,0,0,0,0,0,0,14.00,14.53,14.85
$GC,386,-1.58,-146.0,2749,888,2699,2669,50.4,-18.9,22,392,0.17,2.38,0.00,0.000,3078,0.311,0.054,2781,1937,2684,2699,2669,0,0,0,0,0,0,13.95,14.46,28.83
$GC,709,-1.51,-146.0,2781,1936,2699,2668,98.5,-13.6,43,715,0.12,2.50,0.00,0.000,2308,0.318,0.071,2801,3003,2683,2699,2668,0,0,0,0,0,0,14.04,14.37,28.83
$GC,882,-1.46,-146.0,2802,3003,2699,2668,120.9,-13.0,54,887,0.00,2.47,0.00,0.000,1030,0.000,0.044,2802,1918,2683,2699,2668,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1203,-1.41,-146.0,2802,1919,2699,2668,158.8,-11.9,75,1209,0.12,2.30,0.00,0.000,2564,0.303,0.059,2835,896,2683,2699,2667,0,0,0,0,0,0,14.04,14.37,28.83
$GC,1310,-1.37,-146.0,2836,896,2699,2667,170.2,-11.8,81,1317,0.00,2.30,0.00,0.000,1030,0.000,0.046,2832,1926,2683,2699,2667,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1617,-1.35,-146.0,2832,1925,2699,2666,205.9,-11.4,102,1622,0.00,2.35,0.00,0.000,516,0.000,0.056,2835,887,2682,2699,2666,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1853,-1.32,-146.0,1792,889,2639,2657,232.7,-11.2,117,1861,0.17,2.30,0.00,0.000,3078,0.278,0.047,2867,1912,2685,2705,2665,0,0,0,0,0,0,14.00,14.44,28.83
$GC,2171,-1.32,-146.0,2867,1910,2699,2664,265.8,-10.6,133,2176,0.00,2.30,0.00,0.000,516,0.000,0.056,2868,901,2681,2699,2664,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2407,-1.32,-146.0,2868,896,2699,2663,290.4,-11.3,140,2412,0.00,2.22,0.00,0.000,1030,0.000,0.047,2868,1886,2680,2699,2662,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2722,-1.32,-146.0,2868,1885,2699,2660,326.9,-10.4,151,2727,0.00,2.25,0.00,0.000,516,0.000,0.056,2868,896,2679,2699,2660,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2959,-1.32,-146.0,2868,896,2699,2659,348.9,-9.9,158,2964,0.00,2.20,0.00,0.000,1030,0.000,0.047,2868,1877,2679,2699,2659,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3276,-1.32,-146.0,2867,1876,2699,2656,381.3,-9.9,169,3281,0.00,2.22,0.00,0.000,516,0.000,0.056,2867,894,2677,2699,2656,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3513,-1.32,-146.0,2868,895,2699,2655,404.2,-10.7,176,3518,0.00,2.12,0.00,0.000,1030,0.000,0.046,2868,1844,2677,2699,2655,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3828,-1.32,-146.0,2868,1843,2699,2653,440.7,-11.0,187,3833,0.00,2.15,0.00,0.000,516,0.000,0.054,2868,895,2675,2699,2652,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4065,-1.32,-146.0,2868,895,2697,2652,465.3,-11.4,194,4070,0.00,2.10,0.00,0.000,1030,0.000,0.044,2867,1834,2674,2698,2651,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4380,-1.32,-146.0,2868,1833,2697,2650,502.6,-10.9,205,4385,0.00,2.12,0.00,0.000,516,0.000,0.053,2868,895,2673,2697,2650,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4616,-1.32,-146.0,2868,895,2696,2649,525.4,-10.2,212,4622,0.00,2.08,0.00,0.000,1030,0.000,0.044,2868,1825,2672,2696,2649,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,4748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4748,begin apogee
$GC,4757,-0.25,0.0,2868,1824,2696,2648,540.2,-9.8,217,4886,1.35,0.00,119.50,1.537,10244,0.229,0.000,3207,1824,2083,2141,2025,0,0,0,0,0,0,13.67,28.83,13.29
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4888,begin climb
$GC,4892,1.68,146.0,3207,1824,2136,2020,543.5,0.0,221,5024,1.95,2.47,118.05,1.526,10500,0.097,0.073,3830,2858,1483,1508,1459,0,0,0,0,0,0,14.30,14.33,13.37
$GC,5257,1.58,146.0,3830,2858,1483,1463,493.5,16.5,233,5264,0.15,2.45,0.00,0.000,5126,0.326,0.050,3809,1797,1473,1483,1463,0,0,0,0,0,0,14.10,14.54,28.83
$GC,5582,1.51,146.0,3808,1799,1482,1462,448.4,12.7,244,5588,0.12,2.50,0.00,0.000,4356,0.315,0.060,3780,2858,1471,1481,1462,0,0,0,0,0,0,14.10,14.49,28.83
$GC,5714,1.43,146.0,3781,2858,1481,1462,430.3,13.7,248,5720,0.00,2.42,0.00,0.000,1030,0.000,0.050,3782,1810,1471,1481,1462,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6048,1.37,146.0,3783,1811,1481,1460,384.0,14.1,259,6054,0.17,2.47,0.00,0.000,4356,0.315,0.059,3744,2858,1470,1480,1460,0,0,0,0,0,0,13.93,14.45,28.83
$GC,6162,1.32,146.0,3744,2857,1480,1460,369.0,15.0,262,6168,0.15,2.38,0.00,0.000,5126,0.305,0.047,3724,1826,1470,1480,1460,0,0,0,0,0,0,13.95,14.53,28.83
$GC,6489,1.30,146.0,3724,1826,1480,1458,322.6,13.5,273,6494,0.00,2.45,0.00,0.000,260,0.000,0.062,3724,2858,1468,1480,1457,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6629,1.26,146.0,3724,2858,1479,1457,304.0,14.2,277,6635,0.00,2.38,0.00,0.000,1030,0.000,0.050,3727,1840,1468,1479,1458,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6954,1.24,146.0,3726,1841,1479,1456,261.2,12.1,288,6960,0.12,2.45,0.00,0.000,4356,0.314,0.059,3698,2858,1467,1479,1456,0,0,0,0,0,0,13.96,14.37,28.83
$GC,6993,1.22,146.0,2960,2854,1448,1452,256.3,12.1,289,6998,0.00,2.38,0.00,0.000,1030,0.000,0.050,3699,1839,1467,1479,1456,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7308,1.22,146.0,3699,1840,1479,1456,223.0,10.3,308,7314,0.00,2.42,0.00,0.000,260,0.000,0.062,3699,2857,1467,1479,1456,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7361,1.22,146.0,2976,2853,1448,1451,217.2,11.3,311,7367,0.00,2.40,0.00,0.000,1030,0.000,0.049,3699,1836,1467,1479,1456,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7676,1.22,146.0,3700,1837,1479,1455,184.7,9.8,332,7682,0.00,2.45,0.00,0.000,260,0.000,0.061,3700,2857,1467,1479,1455,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7757,1.20,146.0,3699,2857,1478,1455,176.1,10.8,337,7763,0.00,2.38,0.00,0.000,1030,0.000,0.049,3700,1846,1466,1478,1455,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8078,1.20,146.0,3699,1847,1479,1455,144.6,10.1,358,8083,0.00,2.45,0.00,0.000,260,0.000,0.062,3699,2864,1466,1478,1455,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8244,1.20,146.0,3700,2863,1481,1455,126.0,12.1,368,8251,0.00,2.35,0.00,0.000,1030,0.000,0.049,3700,1871,1466,1478,1455,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8552,1.20,146.0,3700,1872,1478,1455,93.2,9.2,389,8558,0.00,2.62,0.00,0.000,516,0.000,0.065,3705,739,1467,1479,1455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8622,1.21,146.0,2976,739,1447,1450,87.2,9.0,393,8627,0.00,2.53,0.00,0.000,1030,0.000,0.037,3699,1867,1467,1479,1455,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8938,1.23,146.0,3700,1866,1479,1454,60.4,8.5,414,8944,0.00,2.35,0.00,0.000,260,0.000,0.066,3699,2860,1466,1479,1453,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9034,1.23,146.0,3699,2860,1478,1453,52.1,8.5,420,9039,0.00,2.38,0.00,0.000,1030,0.000,0.048,3699,1850,1466,1478,1454,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9354,1.25,146.0,3699,1850,1478,1454,25.1,9.3,441,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1851,1465,1478,1453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,1.58,247.1,3700,1850,1482,1450,3.2,0.3,461,9672,0.28,0.00,13.45,0.068,10498,0.073,0.000,3809,1850,1354,1378,1331,0,0,0,0,0,0,14.28,28.83,28.83
$STATE,9673,end climb,SURFACE_DEPTH_REACHED
$STATE,9673,begin surface coast
$FINISH,3.1,1.024979
$STATE,9820,end surface coast,NO_VERTICAL_VELOCITY
$STATE,9821,begin surface
$SM_CCo,9847,148.30,0.074,0,0,189,465.09
$SM_GC,3.17,10.77,0.25,148.30,0.046,0.055,0.074,142,1968,189,-9.77,-0.59,465.09,0,0,0,0,0,0,14.52,14.50,14.35
$IRIDIUM_FIX,2446.56,-3731.65,210813,060625
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.75
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3797888
$24V_AH,13.3,211.621
$10V_AH,13.5,0.000
$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,28.825,89.825,251.000,148.300,0.000,0.000,0.000,1124.050,0.000,0.000,243.490,1965.527,5927.765,509.718,2828.510,1208.347,0.000,2442.238,0.000,1522.081,0.000,0.545,0.000
$DEVICE_MAMPS,371.790,85.680,1536.885,74.205,0.000,0.000,0.000,214.200,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.250,0.000,0.000,0.000
$MEM,344736
$DATA_FILE_SIZE,16780,472
$CAP_FILE_SIZE,136549,0
$CFSIZE,260034560,179052544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,188.406,269.9,1
$GPS,210813,061425,2446.559,-3731.652,0,10000.0,0,-14.9