version: 66.11
glider: 160
mission: 9
dive: 584
start: 8 21 113 20 57 42
data:
$ID,160
$MISSION,9
$DIVE,584
$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,-119392.41
$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,25
$R_STBD_OVSHOOT,15
$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
$GPS1,210813,161237,2444.184,-3730.205,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-72.3
$GPS2,210813,161237,2444.184,-3730.205,241,99.0,241,-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,220.5,56779,-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,22,-1.61,-72.9,133,1940,219,163,0.0,0.0,0,113,0.00,0.00,-89.15,0.000,16386,0.000,0.000,133,1941,2341,2313,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.68,-146.0,133,1940,2313,2370,3.4,-1.4,6,151,13.05,2.50,-8.00,0.000,18948,0.366,0.093,2748,893,2682,2696,2668,0,0,0,0,0,0,14.01,14.37,14.85
$GC,388,-1.58,-146.0,2748,893,2696,2668,51.3,-17.8,23,394,0.17,2.45,0.00,0.000,3078,0.318,0.062,2780,1951,2682,2696,2668,0,0,0,0,0,0,13.93,14.40,28.83
$GC,710,-1.51,-146.0,2780,1950,2696,2668,100.4,-14.0,44,717,0.00,2.45,0.00,0.000,516,0.000,0.065,2780,894,2682,2696,2668,0,0,0,0,0,0,28.83,14.38,28.83
$GC,947,-1.44,-146.0,1736,895,2636,2659,136.7,-16.5,59,953,0.25,2.40,0.00,0.000,3078,0.297,0.064,2825,1938,2681,2696,2667,0,0,0,0,0,0,13.89,14.40,28.83
$GC,1263,-1.41,-146.0,2825,1937,2696,2667,179.8,-11.8,80,1270,0.00,2.45,0.00,0.000,516,0.000,0.070,2825,894,2681,2696,2667,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1501,-1.37,-146.0,2825,900,2696,2667,204.1,-9.6,95,1507,0.15,2.35,0.00,0.000,3078,0.283,0.062,2847,1916,2681,2696,2666,0,0,0,0,0,0,14.02,14.42,28.83
$GC,1816,-1.37,-146.0,2847,1915,2696,2666,235.2,-10.8,116,1823,0.00,2.38,0.00,0.000,516,0.000,0.069,2848,895,2681,2697,2666,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2044,-1.36,-146.0,2847,895,2697,2665,259.9,-11.7,128,2050,0.00,2.33,0.00,0.000,1030,0.000,0.061,2847,1901,2680,2697,2664,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2374,-1.36,-146.0,2847,1900,2690,2664,299.7,-12.0,139,2379,0.00,2.35,0.00,0.000,516,0.000,0.067,2847,896,2680,2696,2664,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2591,-1.34,-146.0,2847,896,2696,2662,328.4,-13.1,146,2597,0.00,2.30,0.00,0.000,1030,0.000,0.059,2846,1892,2678,2696,2661,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2931,-1.34,-146.0,2846,1892,2696,2660,371.1,-12.5,157,2937,0.00,2.33,0.00,0.000,516,0.000,0.066,2846,892,2677,2696,2659,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3072,-1.32,-146.0,2846,893,2696,2659,387.6,-12.7,161,3077,0.00,2.25,0.00,0.000,1030,0.000,0.057,2844,1874,2677,2696,2658,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3395,-1.32,-146.0,2844,1873,2696,2655,428.0,-12.1,172,3401,0.00,2.30,0.00,0.000,516,0.000,0.065,2845,895,2676,2696,2656,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3633,-1.30,-146.0,2844,895,2696,2654,455.0,-12.3,179,3639,0.12,2.20,0.00,0.000,3078,0.294,0.055,2867,1857,2674,2695,2654,0,0,0,0,0,0,14.02,14.42,28.83
$GC,3951,-1.30,-146.0,2866,1856,2696,2651,496.0,-12.4,190,3957,0.00,2.22,0.00,0.000,516,0.000,0.064,2867,898,2674,2696,2652,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4183,-1.30,-146.0,2867,898,2695,2651,524.2,-12.8,197,4188,0.00,2.15,0.00,0.000,1030,0.000,0.054,2873,1842,2672,2695,2650,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4329,-0.25,0.0,2867,1758,2695,2650,542.9,-12.2,202,4459,1.35,0.12,118.68,1.544,10244,0.228,0.093,3207,1841,2083,2140,2026,0,0,0,0,0,0,13.69,14.35,13.29
$STATE,4460,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4464,1.68,146.0,3206,1841,2138,2024,549.0,0.0,206,4600,1.95,2.38,118.65,1.531,10500,0.096,0.068,3832,2827,1485,1506,1465,0,0,0,0,0,0,14.30,14.33,13.37
$GC,4663,1.58,146.0,3833,2827,1492,1464,527.9,14.7,213,4671,0.15,2.30,0.00,0.000,5126,0.329,0.050,3807,1837,1477,1491,1464,0,0,0,0,0,0,14.12,14.48,28.83
$GC,4996,1.50,146.0,3807,1838,1487,1464,479.0,14.1,224,5002,0.12,2.33,0.00,0.000,4356,0.314,0.057,3780,2825,1477,1490,1464,0,0,0,0,0,0,14.12,14.50,28.83
$GC,5026,1.42,146.0,3780,2826,1486,1464,479.0,14.1,224,5034,0.15,2.35,0.00,0.000,5126,0.330,0.050,3756,1809,1475,1486,1464,0,0,0,0,0,0,14.06,14.51,28.83
$GC,5336,1.38,146.0,3756,1810,1486,1462,436.3,12.4,235,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,3756,1810,1474,1486,1462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,1.33,146.0,3756,1810,1486,1461,399.7,12.3,245,5638,0.12,2.40,0.00,0.000,4356,0.317,0.057,3728,2822,1472,1485,1460,0,0,0,0,0,0,14.07,14.46,28.83
$GC,5673,1.29,146.0,3072,2818,1452,1456,395.2,12.4,246,5679,0.00,2.35,0.00,0.000,1030,0.000,0.050,3728,1808,1472,1484,1460,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6007,1.26,146.0,3727,1809,1484,1459,356.9,11.6,257,6012,0.00,2.47,0.00,0.000,516,0.000,0.072,3726,745,1473,1483,1464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6028,1.23,146.0,3728,745,1484,1458,356.9,11.6,257,6034,0.15,2.30,0.00,0.000,5126,0.272,0.043,3696,1774,1470,1483,1458,0,0,0,0,0,0,14.05,14.52,28.83
$GC,6352,1.23,146.0,3697,1773,1484,1457,317.5,11.6,268,6358,0.00,2.55,0.00,0.000,260,0.000,0.063,3696,2859,1470,1483,1457,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6520,1.21,146.0,3696,2864,1482,1456,295.9,13.5,273,6526,0.00,2.42,0.00,0.000,1030,0.000,0.050,3699,1815,1469,1482,1456,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6849,1.21,146.0,3699,1817,1482,1456,258.9,10.4,284,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1814,1469,1482,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,1.21,146.0,3700,1817,1482,1456,225.0,12.1,301,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1817,1469,1482,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7446,1.21,146.0,3700,1817,1482,1455,187.9,11.7,321,7452,0.00,2.50,0.00,0.000,260,0.000,0.060,3699,2861,1468,1482,1455,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7588,1.20,146.0,3699,2861,1482,1455,170.6,12.0,330,7593,0.00,2.45,0.00,0.000,1030,0.000,0.050,3699,1817,1468,1481,1455,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7908,1.20,146.0,3700,1819,1481,1455,136.5,10.6,351,7914,0.00,2.50,0.00,0.000,516,0.000,0.068,3700,742,1468,1481,1455,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7967,1.20,146.0,3699,742,1481,1455,131.1,10.4,354,7974,0.00,2.40,0.00,0.000,1030,0.000,0.040,3699,1812,1468,1481,1455,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8274,1.20,146.0,3699,1812,1481,1455,101.1,8.7,375,8280,0.00,2.50,0.00,0.000,260,0.000,0.064,3699,2862,1467,1481,1453,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8511,1.20,146.0,2976,2857,1450,1449,78.0,9.9,390,8517,0.00,2.45,0.00,0.000,1030,0.000,0.050,3700,1818,1467,1481,1454,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8827,1.21,146.0,3699,1819,1481,1454,50.8,7.7,411,8833,0.00,2.50,0.00,0.000,260,0.000,0.060,3699,2862,1467,1481,1454,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8881,1.21,146.0,3700,2862,1481,1454,46.6,7.9,414,8886,0.00,2.45,0.00,0.000,1030,0.000,0.050,3699,1822,1467,1481,1454,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9196,1.24,146.0,3700,1824,1481,1454,23.8,7.9,435,9202,0.00,2.50,0.00,0.000,260,0.000,0.059,3700,2861,1467,1481,1454,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9339,1.24,150.7,3700,2860,1480,1454,11.9,7.2,444,9345,0.00,2.45,0.00,0.000,1030,0.000,0.050,3699,1823,1467,1481,1454,0,0,0,0,0,0,28.83,14.30,28.83
$STATE,9568,end climb,SURFACE_DEPTH_REACHED
$STATE,9568,begin surface coast
$FINISH,3.0,0.999552
$STATE,9627,end surface coast,NO_VERTICAL_VELOCITY
$STATE,9627,begin surface
$SM_CCo,9654,162.23,0.075,0,0,188,465.09
$SM_GC,3.26,10.57,0.32,162.23,0.054,0.064,0.075,145,1951,188,-9.77,-0.62,465.09,0,0,0,0,0,0,14.45,14.38,14.34
$IRIDIUM_FIX,2444.18,-3730.20,210813,202017
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.51
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3796352
$24V_AH,13.3,212.539
$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,28.325,86.525,237.325,162.225,0.000,0.000,0.000,1329.850,0.000,0.000,243.555,1859.148,5947.515,518.479,2893.722,1285.413,0.000,2614.235,0.000,1418.098,0.000,0.543,0.000
$DEVICE_MAMPS,365.670,94.095,1543.770,74.970,0.000,0.000,0.000,230.265,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9653.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.164,0.000,0.000,0.000
$MEM,344744
$DATA_FILE_SIZE,16752,463
$CAP_FILE_SIZE,132777,0
$CFSIZE,260034560,178782208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.861,169.9,1
$GPS,210813,203817,2444.184,-3730.205,0,10000.0,0,-14.9