version: 66.11
glider: 160
mission: 9
dive: 581
start: 8 21 113 9 48 49
data:
$ID,160
$MISSION,9
$DIVE,581
$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,-118170.16
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,210813,061425,2446.559,-3731.652,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-70.7
$GPS2,210813,061425,2446.559,-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,215.4,56160,-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,-72.9,142,1969,220,166,0.0,0.0,0,120,0.00,0.00,-90.85,0.000,16390,0.000,0.000,142,1969,2382,2354,2410,0,0,0,0,0,0,28.83,28.83,14.81
$GC,126,-1.68,-146.0,142,1969,2355,2410,3.8,-1.8,6,157,13.18,2.50,-6.70,0.000,18948,0.372,0.086,2745,900,2684,2696,2672,0,0,0,0,0,0,13.99,14.42,14.85
$GC,394,-1.58,-146.0,2745,901,2696,2672,53.3,-18.9,23,400,0.22,2.33,0.00,0.000,3078,0.302,0.050,2781,1939,2684,2696,2672,0,0,0,0,0,0,13.86,14.44,28.83
$GC,717,-1.51,-146.0,2781,1939,2696,2672,102.0,-14.5,44,722,0.00,2.38,0.00,0.000,516,0.000,0.058,2782,892,2684,2696,2672,0,0,0,0,0,0,28.83,14.44,28.83
$GC,955,-1.44,-146.0,2782,893,2696,2672,135.2,-14.0,59,961,0.25,2.35,0.00,0.000,3078,0.295,0.049,2825,1938,2683,2696,2671,0,0,0,0,0,0,13.85,14.42,28.83
$GC,1272,-1.40,-146.0,2826,1936,2696,2671,175.6,-12.6,80,1277,0.00,2.38,0.00,0.000,516,0.000,0.060,2826,895,2683,2696,2671,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1444,-1.36,-146.0,2826,895,2696,2671,197.9,-12.8,91,1450,0.17,2.33,0.00,0.000,3078,0.278,0.049,2853,1933,2683,2696,2670,0,0,0,0,0,0,13.97,14.42,28.83
$GC,1765,-1.36,-146.0,2853,1932,2696,2671,232.9,-10.4,112,1770,0.00,2.38,0.00,0.000,516,0.000,0.060,2854,892,2683,2696,2670,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1926,-1.35,-146.0,1792,891,2636,2661,250.1,-11.4,122,1932,0.00,2.35,0.00,0.000,1030,0.000,0.052,2853,1922,2682,2696,2669,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2260,-1.35,-146.0,2853,1922,2696,2668,290.6,-12.2,133,2265,0.00,2.35,0.00,0.000,516,0.000,0.059,2853,895,2682,2696,2668,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2452,-1.35,-146.0,2855,895,2696,2667,313.2,-11.7,139,2458,0.00,2.33,0.00,0.000,1030,0.000,0.051,2853,1916,2680,2696,2665,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2786,-1.35,-146.0,2853,1915,2696,2664,351.7,-11.6,150,2791,0.00,2.33,0.00,0.000,516,0.000,0.057,2853,897,2680,2696,2664,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3013,-1.35,-146.0,2853,895,2696,2663,380.0,-13.0,157,3019,0.00,2.28,0.00,0.000,1030,0.000,0.050,2853,1900,2679,2696,2662,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3343,-1.35,-146.0,2854,1899,2696,2660,423.3,-12.8,168,3348,0.00,2.28,0.00,0.000,516,0.000,0.055,2854,897,2677,2696,2658,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3534,-1.35,-146.0,2854,897,2695,2659,448.1,-12.9,174,3539,0.00,2.20,0.00,0.000,1030,0.000,0.047,2853,1875,2677,2696,2659,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3869,-1.35,-146.0,2854,1875,2696,2656,488.9,-12.2,185,3874,0.00,2.22,0.00,0.000,516,0.000,0.055,2854,896,2675,2695,2656,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4105,-1.35,-146.0,2854,896,2694,2655,515.2,-11.6,192,4110,0.00,2.15,0.00,0.000,1030,0.000,0.047,2854,1856,2675,2695,2655,0,0,0,0,0,0,28.83,14.39,28.83
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4326,begin apogee
$GC,4335,-0.25,0.0,2853,1768,2694,2654,543.1,-11.2,200,4467,1.42,0.10,119.68,1.539,10244,0.236,0.109,3207,1842,2085,2143,2027,0,0,0,0,0,0,13.65,14.31,13.28
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4472,1.68,146.0,3207,1842,2137,2024,547.5,0.0,204,4607,1.95,2.35,118.45,1.532,10500,0.096,0.072,3831,2819,1485,1506,1464,0,0,0,0,0,0,14.31,14.33,13.35
$GC,4682,1.57,146.0,3832,2819,1489,1462,524.5,15.7,211,4688,0.17,2.28,0.00,0.000,5126,0.317,0.051,3802,1839,1475,1489,1462,0,0,0,0,0,0,14.12,14.49,28.83
$GC,5009,1.50,146.0,3802,1839,1486,1462,472.9,14.8,222,5014,0.00,2.33,0.00,0.000,260,0.000,0.063,3802,2821,1473,1485,1462,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5098,1.42,146.0,3802,2820,1483,1462,462.2,15.0,224,5106,0.25,2.35,0.00,0.000,5126,0.307,0.050,3757,1803,1472,1483,1462,0,0,0,0,0,0,14.01,14.54,28.83
$GC,5408,1.38,146.0,3757,1804,1483,1461,419.1,12.7,235,5413,0.00,2.42,0.00,0.000,260,0.000,0.061,3757,2821,1471,1482,1461,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5452,1.33,146.0,3757,2821,1482,1460,413.8,12.8,236,5458,0.15,2.35,0.00,0.000,5126,0.321,0.050,3728,1809,1471,1482,1460,0,0,0,0,0,0,14.01,14.52,28.83
$GC,5783,1.30,146.0,3728,1810,1482,1459,374.1,11.7,247,5788,0.00,2.42,0.00,0.000,260,0.000,0.060,3728,2825,1469,1480,1458,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5905,1.27,146.0,3728,2824,1481,1458,361.6,12.3,250,5913,0.00,2.38,0.00,0.000,1030,0.000,0.050,3728,1810,1469,1481,1458,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6213,1.25,146.0,3728,1811,1481,1457,320.5,12.6,261,6219,0.12,2.42,0.00,0.000,4356,0.311,0.057,3700,2824,1469,1481,1457,0,0,0,0,0,0,14.00,14.33,28.83
$GC,6288,1.22,146.0,3699,2823,1481,1457,311.2,13.0,263,6294,0.00,2.35,0.00,0.000,1030,0.000,0.050,3700,1828,1469,1481,1457,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6617,1.22,146.0,3699,1826,1480,1456,268.3,12.6,274,6623,0.00,2.38,0.00,0.000,260,0.000,0.060,3699,2821,1468,1481,1456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6661,1.22,146.0,3700,2820,1479,1456,263.2,12.6,275,6666,0.00,2.33,0.00,0.000,1030,0.000,0.050,3699,1828,1468,1480,1456,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6972,1.22,146.0,3699,1829,1480,1456,225.3,11.3,292,6977,0.00,2.40,0.00,0.000,260,0.000,0.060,3700,2821,1468,1480,1456,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7047,1.21,146.0,3700,2821,1479,1456,217.5,11.9,296,7053,0.00,2.33,0.00,0.000,1030,0.000,0.050,3700,1833,1468,1480,1456,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7352,1.21,146.0,3700,1839,1480,1455,183.4,10.6,317,7357,0.00,2.38,0.00,0.000,260,0.000,0.060,3699,2819,1467,1479,1455,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7459,1.21,146.0,3700,2819,1479,1456,172.3,11.9,323,7465,0.00,2.28,0.00,0.000,1030,0.000,0.049,3700,1850,1467,1479,1455,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7762,1.21,146.0,3700,1852,1479,1455,140.0,9.4,344,7767,0.00,2.35,0.00,0.000,260,0.000,0.060,3700,2822,1467,1479,1455,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7930,1.21,146.0,3699,2821,1478,1455,125.0,9.5,354,7936,0.00,2.20,0.00,0.000,1030,0.000,0.048,3700,1886,1466,1478,1455,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8235,1.21,146.0,3700,1887,1479,1455,97.8,9.2,375,8242,0.00,2.65,0.00,0.000,516,0.000,0.066,3700,742,1467,1479,1455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8286,1.21,146.0,3700,743,1479,1455,92.8,9.6,378,8292,0.00,2.47,0.00,0.000,1030,0.000,0.038,3700,1850,1467,1479,1455,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8608,1.23,146.0,3700,1850,1479,1454,63.8,8.9,399,8614,0.00,2.58,0.00,0.000,516,0.000,0.060,3700,744,1466,1479,1454,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8784,1.25,146.0,2976,743,1448,1450,48.1,9.2,410,8789,0.00,2.60,0.00,0.000,1030,0.000,0.038,3700,1903,1466,1479,1454,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9099,1.27,146.0,3700,1902,1479,1453,19.6,9.2,431,9105,0.00,2.28,0.00,0.000,260,0.000,0.067,3700,2854,1466,1479,1453,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,9314,end climb,SURFACE_DEPTH_REACHED
$STATE,9314,begin surface coast
$FINISH,3.0,1.003275
$STATE,9436,end surface coast,NO_VERTICAL_VELOCITY
$STATE,9436,begin surface
$SM_CCo,9464,161.73,0.074,0,0,189,465.09
$SM_GC,3.36,10.50,2.15,161.73,0.048,0.045,0.074,151,1954,189,-9.77,0.82,465.09,0,0,0,0,0,0,14.40,14.31,14.35
$IRIDIUM_FIX,2446.56,-3728.32,210813,090930
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.02
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3797504
$24V_AH,13.3,211.830
$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,28.400,94.350,238.125,161.725,0.000,0.000,0.000,606.450,0.000,0.000,243.485,1893.270,5666.876,528.120,2302.573,1146.312,0.000,1921.623,0.000,1463.889,0.000,0.543,0.000
$DEVICE_MAMPS,371.790,109.395,1539.180,74.205,0.000,0.000,0.000,208.080,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9457.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.254,0.000,0.000,0.000
$MEM,344764
$DATA_FILE_SIZE,16759,453
$CAP_FILE_SIZE,129282,0
$CFSIZE,260034560,178982912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,9.424,259.7,1
$GPS,210813,093930,2446.559,-3728.319,0,10000.0,0,-14.9