version: 66.11
glider: 160
mission: 9
dive: 586
start: 8 22 113 5 1 16
data:
$ID,160
$MISSION,9
$DIVE,586
$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,-120370.66
$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,19
$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
$GPS1,220813,000447,2446.559,-3446.073,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.7
$GPS2,220813,000447,2446.559,-3446.073,241,99.0,241,-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,235.9,330829,-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,-72.9,140,1958,223,164,0.0,0.0,0,116,0.00,0.00,-90.55,0.000,16386,0.000,0.000,139,1957,2375,2349,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.68,-146.0,138,1957,2349,2402,3.3,-1.7,6,153,13.05,2.47,-7.28,0.000,18948,0.366,0.084,2746,891,2684,2697,2672,0,0,0,0,0,0,13.93,14.42,14.86
$GC,390,-1.57,-146.0,2746,891,2697,2672,53.9,-18.9,23,396,0.20,2.38,0.00,0.000,3078,0.309,0.051,2785,1938,2683,2697,2670,0,0,0,0,0,0,13.95,14.50,28.83
$GC,713,-1.51,-146.0,2785,1938,2697,2671,103.5,-14.4,44,718,0.00,2.40,0.00,0.000,516,0.000,0.056,2785,891,2684,2697,2671,0,0,0,0,0,0,28.83,14.38,28.83
$GC,951,-1.44,-146.0,2785,892,2697,2671,137.5,-14.5,59,957,0.20,2.35,0.00,0.000,3078,0.301,0.050,2825,1931,2683,2697,2670,0,0,0,0,0,0,13.95,14.50,28.83
$GC,1268,-1.40,-146.0,2825,1930,2697,2670,174.5,-10.8,80,1273,0.00,2.40,0.00,0.000,516,0.000,0.058,2825,888,2683,2697,2670,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1505,-1.36,-146.0,2825,889,2697,2670,202.4,-11.9,95,1511,0.17,2.35,0.00,0.000,3078,0.282,0.047,2852,1929,2683,2697,2669,0,0,0,0,0,0,14.00,14.50,28.83
$GC,1821,-1.36,-146.0,2853,1928,2697,2668,235.4,-10.4,116,1826,0.00,2.40,0.00,0.000,516,0.000,0.057,2853,888,2683,2697,2669,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2058,-1.35,-146.0,2853,888,2697,2667,260.0,-11.7,128,2064,0.00,2.33,0.00,0.000,1030,0.000,0.049,2853,1911,2682,2697,2667,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2373,-1.35,-146.0,2849,1910,2697,2666,301.6,-12.7,139,2378,0.00,2.35,0.00,0.000,516,0.000,0.057,2853,891,2681,2697,2666,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2592,-1.35,-146.0,2853,891,2705,2664,329.6,-12.6,146,2597,0.00,2.28,0.00,0.000,1030,0.000,0.048,2853,1894,2680,2697,2664,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2932,-1.35,-146.0,2853,1893,2697,2661,372.3,-12.8,157,2937,0.00,2.33,0.00,0.000,516,0.000,0.057,2852,886,2678,2696,2661,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3168,-1.35,-146.0,2853,886,2697,2660,401.5,-12.9,164,3174,0.00,2.25,0.00,0.000,1030,0.000,0.047,2853,1879,2677,2696,2659,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3483,-1.35,-146.0,2853,1876,2696,2657,441.5,-11.5,175,3488,0.00,2.28,0.00,0.000,516,0.000,0.056,2852,891,2677,2697,2657,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3702,-1.35,-146.0,2854,891,2696,2656,465.5,-10.9,182,3707,0.00,2.20,0.00,0.000,1030,0.000,0.047,2853,1863,2675,2696,2654,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4041,-1.35,-146.0,2853,1862,2695,2654,499.6,-10.0,193,4046,0.00,2.25,0.00,0.000,516,0.000,0.056,2853,885,2674,2695,2654,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4152,-1.35,-146.0,2853,885,2695,2654,509.4,-10.0,196,4157,0.00,2.17,0.00,0.000,1030,0.000,0.046,2853,1850,2674,2695,2653,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,4437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4437,begin apogee
$GC,4448,-0.25,0.0,2853,1758,2694,2652,540.2,-10.1,206,4582,1.42,0.10,121.07,1.520,10244,0.236,0.109,3207,1837,2080,2138,2023,0,0,0,0,0,0,13.64,14.31,13.28
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4588,1.68,146.0,3207,1837,2135,2021,543.5,0.0,210,4724,2.00,2.33,118.25,1.519,10500,0.099,0.065,3845,2816,1482,1502,1462,0,0,0,0,0,0,14.34,14.35,13.37
$GC,4956,1.57,146.0,3847,2817,1481,1462,492.3,17.5,222,4964,0.22,2.25,0.00,0.000,5126,0.342,0.046,3807,1830,1471,1481,1462,0,0,0,0,0,0,14.01,14.55,28.83
$GC,5265,1.50,146.0,3806,1831,1481,1460,442.0,14.5,233,5271,0.12,2.30,0.00,0.000,4356,0.308,0.052,3778,2817,1470,1480,1460,0,0,0,0,0,0,14.09,14.45,28.83
$GC,5448,1.43,146.0,3780,2817,1478,1460,417.8,14.9,238,5455,0.00,2.28,0.00,0.000,1030,0.000,0.044,3782,1819,1469,1478,1460,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5758,1.37,146.0,3782,1820,1479,1460,373.6,13.2,249,5765,0.17,2.38,0.00,0.000,4356,0.322,0.053,3744,2821,1468,1478,1458,0,0,0,0,0,0,13.90,14.46,28.83
$GC,5951,1.32,146.0,3088,2817,1446,1453,348.7,12.8,255,5958,0.12,2.25,0.00,0.000,5126,0.315,0.042,3726,1830,1467,1477,1457,0,0,0,0,0,0,14.00,14.53,28.83
$GC,6283,1.30,146.0,3725,1829,1477,1456,311.0,10.9,266,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3725,1831,1467,1478,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,1.27,146.0,3725,1835,1478,1455,279.7,10.6,276,6589,0.00,2.33,0.00,0.000,260,0.000,0.054,3725,2817,1468,1481,1455,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6715,1.24,146.0,3726,2817,1477,1455,263.8,12.6,280,6721,0.15,2.25,0.00,0.000,5126,0.315,0.041,3698,1834,1466,1477,1455,0,0,0,0,0,0,13.85,14.38,28.83
$GC,7037,1.24,146.0,3698,1834,1477,1455,223.1,13.1,297,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1835,1466,1477,1455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7336,1.24,146.0,3698,1835,1477,1454,188.7,10.5,317,7341,0.00,2.50,0.00,0.000,516,0.000,0.060,3699,751,1465,1477,1454,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7391,1.24,146.0,3700,751,1477,1454,183.4,10.6,320,7396,0.00,2.35,0.00,0.000,1030,0.000,0.034,3699,1812,1465,1477,1453,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7706,1.24,146.0,3699,1811,1477,1453,149.7,10.5,341,7712,0.00,2.42,0.00,0.000,260,0.000,0.060,3699,2850,1465,1477,1453,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7943,1.24,146.0,2976,2846,1446,1448,123.2,11.1,356,7948,0.00,2.30,0.00,0.000,1030,0.000,0.044,3700,1845,1464,1476,1452,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8258,1.24,146.0,3700,1846,1475,1453,90.2,10.3,377,8263,0.00,2.38,0.00,0.000,260,0.000,0.055,3700,2849,1464,1476,1452,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8366,1.24,146.0,3700,2849,1476,1452,79.3,11.5,383,8373,0.00,2.28,0.00,0.000,1030,0.000,0.042,3699,1861,1464,1476,1453,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8668,1.26,148.2,3700,1862,1476,1453,53.1,7.3,404,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,3700,1862,1464,1476,1453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8968,1.27,148.2,3700,1863,1476,1453,30.1,9.7,424,8975,0.00,2.35,0.00,0.000,260,0.000,0.055,3700,2850,1464,1476,1452,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9031,1.27,148.2,3700,2849,1476,1452,24.9,10.0,427,9037,0.00,2.25,0.00,0.000,1030,0.000,0.041,3700,1868,1464,1476,1453,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,9316,end climb,SURFACE_DEPTH_REACHED
$STATE,9316,begin surface coast
$FINISH,2.9,1.024971
$STATE,9438,end surface coast,CONTROL_FINISHED_OK
$STATE,9438,begin surface
$SM_CCo,9466,161.07,0.073,0,0,189,465.09
$SM_GC,3.06,10.77,0.20,161.07,0.067,0.083,0.073,140,1952,189,-9.78,-0.82,465.09,0,0,0,0,0,0,14.44,14.41,14.35
$IRIDIUM_FIX,2444.18,-3726.87,220813,040433
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.24
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3795584
$24V_AH,13.3,213.080
$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,28.625,74.800,239.325,161.075,0.000,0.000,0.000,1568.400,0.000,0.000,243.550,1881.476,5727.944,505.640,3126.020,1258.945,0.000,2846.232,0.000,1451.404,0.000,0.543,0.000
$DEVICE_MAMPS,366.435,109.395,1520.055,73.440,0.000,0.000,0.000,229.500,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9467.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.206,0.000,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,16772,455
$CAP_FILE_SIZE,133363,0
$CFSIZE,260034560,178728960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,195.883, 89.2,1
$GPS,220813,043833,2444.184,-3726.874,0,10000.0,0,-14.9