version: 66.11
glider: 160
mission: 9
dive: 582
start: 8 21 113 13 5 40
data:
$ID,160
$MISSION,9
$DIVE,582
$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,-118659.16
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,210813,093930,2446.559,-3728.319,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.5
$GPS2,210813,093930,2446.559,-3728.319,241,99.0,241,-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,217.6,61313,-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,-72.9,149,1949,219,166,0.0,0.0,0,117,0.00,0.00,-90.68,0.000,16390,0.000,0.000,149,1950,2383,2356,2411,0,0,0,0,0,0,28.83,28.83,14.81
$GC,124,-1.68,-146.0,149,1950,2357,2411,3.7,-1.7,6,150,13.15,2.42,-6.70,0.000,18948,0.373,0.087,2745,892,2682,2695,2670,0,0,0,0,0,0,14.02,14.46,14.86
$GC,386,-1.58,-146.0,2745,892,2696,2670,52.1,-18.5,22,394,0.22,2.40,0.00,0.000,3078,0.295,0.054,2782,1948,2682,2696,2669,0,0,0,0,0,0,13.87,14.42,28.83
$GC,691,-1.51,-146.0,2781,1947,2696,2669,102.6,-14.7,43,697,0.00,2.42,0.00,0.000,516,0.000,0.064,2782,898,2682,2696,2669,0,0,0,0,0,0,28.83,14.31,28.83
$GC,930,-1.44,-146.0,1696,897,2633,2660,135.3,-14.2,58,936,0.25,2.35,0.00,0.000,3078,0.298,0.060,2825,1929,2682,2696,2668,0,0,0,0,0,0,13.84,14.41,28.83
$GC,1247,-1.41,-146.0,2822,1928,2695,2668,172.8,-11.4,79,1252,0.00,2.55,0.00,0.000,260,0.000,0.074,2816,3006,2682,2696,2668,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1313,-1.37,-146.0,2816,3006,2696,2668,180.9,-12.4,83,1319,0.17,2.55,0.00,0.000,3078,0.288,0.042,2850,1895,2681,2695,2668,0,0,0,0,0,0,13.94,14.45,28.83
$GC,1635,-1.37,-146.0,2850,1896,2696,2668,219.1,-12.0,104,1641,0.00,2.30,0.00,0.000,516,0.000,0.072,2851,893,2682,2696,2668,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1872,-1.35,-146.0,1792,893,2635,2658,248.8,-13.1,119,1877,0.00,2.22,0.00,0.000,1030,0.000,0.056,2846,1874,2681,2696,2666,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2187,-1.35,-146.0,2846,1873,2696,2665,289.1,-12.5,130,2192,0.00,2.70,0.00,0.000,260,0.000,0.075,2844,3010,2680,2695,2665,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2339,-1.33,-146.0,2844,3009,2695,2664,305.0,-12.7,134,2345,0.00,2.65,0.00,0.000,1030,0.000,0.041,2844,1845,2680,2695,2665,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2645,-1.33,-146.0,2844,1846,2695,2663,344.6,-11.7,145,2650,0.00,2.17,0.00,0.000,516,0.000,0.067,2844,889,2678,2695,2662,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2883,-1.32,-146.0,2844,889,2696,2661,369.8,-11.5,152,2889,0.00,2.15,0.00,0.000,1030,0.000,0.056,2843,1833,2677,2695,2660,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3199,-1.32,-146.0,2840,1833,2695,2659,409.9,-12.0,163,3206,0.00,2.17,0.00,0.000,516,0.000,0.060,2843,891,2677,2696,2658,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3437,-1.30,-146.0,2843,891,2696,2657,437.5,-12.7,170,3443,0.15,2.10,0.00,0.000,3078,0.288,0.054,2872,1820,2675,2695,2656,0,0,0,0,0,0,13.95,14.41,28.83
$GC,3757,-1.30,-146.0,2872,1824,2695,2655,476.7,-11.9,181,3762,0.00,2.83,0.00,0.000,260,0.000,0.072,2871,3007,2672,2695,2650,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3919,-1.30,-146.0,2871,3006,2694,2654,497.6,-12.8,186,3924,0.00,2.78,0.00,0.000,1030,0.000,0.039,2871,1790,2674,2694,2654,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4252,-1.30,-146.0,2871,1791,2694,2652,538.8,-12.1,197,4258,0.00,2.03,0.00,0.000,516,0.000,0.065,2871,893,2672,2694,2651,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,4283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4283,begin apogee
$GC,4296,-0.25,0.0,2871,1802,2694,2651,543.5,-12.2,198,4427,1.35,0.00,119.72,1.535,10244,0.231,0.000,3206,1802,2082,2140,2025,0,0,0,0,0,0,13.68,28.83,13.26
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4429,begin climb
$GC,4432,1.68,146.0,3208,1802,2137,2024,549.7,0.0,202,4570,1.95,2.53,118.80,1.533,10500,0.096,0.067,3834,2860,1486,1506,1467,0,0,0,0,0,0,14.30,14.33,13.35
$GC,4802,1.58,146.0,3834,2860,1487,1466,503.6,16.5,214,4810,0.15,2.45,0.00,0.000,5126,0.327,0.047,3809,1797,1476,1487,1466,0,0,0,0,0,0,14.08,14.53,28.83
$GC,5111,1.50,146.0,3809,1798,1485,1465,455.4,14.0,225,5117,0.12,2.50,0.00,0.000,4356,0.314,0.054,3781,2861,1475,1484,1466,0,0,0,0,0,0,14.11,14.51,28.83
$GC,5323,1.42,146.0,3781,2861,1482,1465,428.3,14.1,231,5331,0.17,2.45,0.00,0.000,5126,0.309,0.045,3754,1795,1473,1482,1465,0,0,0,0,0,0,14.01,14.49,28.83
$GC,5634,1.38,146.0,3755,1796,1482,1464,386.3,12.4,242,5639,0.00,2.53,0.00,0.000,260,0.000,0.056,3755,2864,1472,1482,1463,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5784,1.33,146.0,3755,2864,1481,1463,368.6,13.7,246,5792,0.15,2.42,0.00,0.000,5126,0.313,0.046,3722,1815,1472,1481,1463,0,0,0,0,0,0,13.97,14.48,28.83
$GC,6096,1.30,146.0,3728,1817,1482,1461,327.6,11.9,257,6101,0.00,2.47,0.00,0.000,260,0.000,0.056,3727,2859,1471,1481,1461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6186,1.27,146.0,3727,2858,1481,1461,318.7,12.1,259,6193,0.00,2.42,0.00,0.000,1030,0.000,0.045,3727,1813,1471,1481,1461,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6497,1.25,146.0,3727,1814,1481,1460,281.6,11.2,270,6503,0.12,2.50,0.00,0.000,4356,0.308,0.053,3698,2863,1470,1481,1460,0,0,0,0,0,0,14.01,14.41,28.83
$GC,6596,1.22,146.0,3698,2862,1481,1459,269.2,12.0,273,6601,0.00,2.40,0.00,0.000,1030,0.000,0.044,3700,1834,1470,1481,1459,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6916,1.22,146.0,3700,1836,1481,1458,229.4,12.9,288,6921,0.00,2.45,0.00,0.000,260,0.000,0.056,3699,2862,1469,1481,1458,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6944,1.22,146.0,3699,2862,1481,1458,226.8,13.3,289,6952,0.00,2.40,0.00,0.000,1030,0.000,0.044,3699,1834,1469,1480,1458,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7251,1.22,146.0,3699,1836,1481,1457,187.0,12.0,310,7256,0.00,2.45,0.00,0.000,260,0.000,0.057,3699,2859,1469,1481,1457,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7397,1.20,146.0,2944,2855,1448,1453,169.8,11.9,319,7403,0.00,2.38,0.00,0.000,1030,0.000,0.044,3699,1852,1468,1480,1457,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7712,1.20,146.0,3706,1852,1481,1457,140.9,7.6,340,7717,0.00,2.58,0.00,0.000,516,0.000,0.067,3700,745,1468,1480,1457,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7727,1.20,146.0,3699,745,1480,1457,140.9,7.6,340,7734,0.00,2.53,0.00,0.000,1030,0.000,0.043,3699,1866,1468,1480,1457,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8032,1.20,146.0,3699,1865,1481,1456,116.8,8.4,361,8037,0.00,2.35,0.00,0.000,260,0.000,0.060,3700,2859,1468,1481,1456,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8228,1.20,146.0,3700,2861,1480,1456,99.0,9.6,373,8235,0.00,2.35,0.00,0.000,1030,0.000,0.044,3700,1851,1468,1480,1456,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8535,1.22,146.0,3700,1852,1480,1456,71.3,8.3,394,8541,0.00,2.42,0.00,0.000,260,0.000,0.056,3699,2862,1468,1480,1456,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8747,1.22,146.0,3700,2861,1480,1456,52.8,9.2,407,8754,0.00,2.33,0.00,0.000,1030,0.000,0.043,3699,1860,1468,1479,1457,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9054,1.24,146.0,3701,1861,1480,1456,25.6,8.4,428,9059,0.00,2.40,0.00,0.000,260,0.000,0.054,3700,2864,1467,1479,1456,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9152,1.24,146.0,3699,2863,1480,1456,16.7,9.3,434,9157,0.00,2.30,0.00,0.000,1030,0.000,0.041,3700,1873,1468,1480,1456,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,9377,end climb,SURFACE_DEPTH_REACHED
$STATE,9377,begin surface coast
$FINISH,2.9,1.024892
$STATE,9479,end surface coast,NO_VERTICAL_VELOCITY
$STATE,9479,begin surface
$SM_CCo,9505,161.48,0.073,0,0,189,465.09
$SM_GC,3.14,10.43,0.17,161.48,0.045,0.068,0.073,149,1961,189,-9.77,-0.79,465.09,0,0,0,0,0,0,14.45,14.50,14.35
$IRIDIUM_FIX,2448.93,-3728.32,210813,121236
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.59
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3797120
$24V_AH,13.3,212.033
$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,28.400,96.675,238.525,161.475,0.000,0.000,0.000,566.200,0.000,0.000,243.497,1900.707,5689.795,531.099,2302.961,1114.295,0.000,1887.717,0.000,1471.136,0.000,0.543,0.000
$DEVICE_MAMPS,373.320,87.210,1535.355,72.675,0.000,0.000,0.000,191.250,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9503.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.187,0.000,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,16755,456
$CAP_FILE_SIZE,126478,0
$CFSIZE,260034560,178896896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.733,353.4,1
$GPS,210813,155226,2455.566,-3729.220,229,99.0,239,-14.9