version: 66.11
glider: 160
mission: 9
dive: 588
start: 8 22 113 12 10 5
data:
$ID,160
$MISSION,9
$DIVE,588
$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,-121356.48
$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,28
$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
$GPS1,220813,080646,2444.184,-3730.205,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.5
$GPS2,220813,080646,2444.184,-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,310.5,56779,-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,23,-1.61,-72.9,143,1955,220,165,0.0,0.0,0,118,0.00,0.00,-90.65,0.000,16390,0.000,0.000,143,1956,2383,2353,2414,0,0,0,0,0,0,28.83,28.83,14.87
$GC,125,-1.68,-146.0,143,1956,2354,2414,3.0,-1.3,6,152,13.15,2.55,-6.72,0.000,18692,0.369,0.101,2746,2998,2684,2696,2672,0,0,0,0,0,0,14.00,14.49,14.87
$GC,292,-1.59,-146.0,2747,2998,2696,2672,33.7,-19.1,16,299,0.15,2.38,0.00,0.000,3078,0.310,0.048,2774,1965,2684,2696,2673,0,0,0,0,0,0,14.06,14.49,28.83
$GC,597,-1.53,-146.0,2774,1966,2696,2672,86.2,-16.1,37,604,0.00,2.47,0.00,0.000,516,0.000,0.075,2777,888,2684,2697,2672,0,0,0,0,0,0,28.83,14.46,28.83
$GC,756,-1.47,-146.0,2777,888,2696,2672,108.9,-13.5,47,762,0.20,2.38,0.00,0.000,3078,0.300,0.056,2814,1924,2683,2696,2671,0,0,0,0,0,0,14.01,14.46,28.83
$GC,1078,-1.44,-146.0,2814,1924,2696,2671,147.2,-11.5,68,1083,0.00,2.40,0.00,0.000,516,0.000,0.065,2813,880,2683,2696,2671,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1315,-1.40,-146.0,2814,880,2696,2671,172.5,-11.1,83,1321,0.12,2.30,0.00,0.000,3078,0.298,0.057,2838,1888,2683,2697,2670,0,0,0,0,0,0,14.12,14.47,28.83
$GC,1631,-1.40,-146.0,2839,1887,2696,2669,207.4,-11.3,104,1636,0.00,2.33,0.00,0.000,516,0.000,0.067,2839,879,2684,2697,2672,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1868,-1.39,-146.0,2839,879,2697,2668,236.5,-13.1,119,1873,0.00,2.22,0.00,0.000,1030,0.000,0.050,2837,1866,2682,2696,2668,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2186,-1.39,-146.0,2832,1866,2696,2667,278.3,-12.9,133,2191,0.00,2.25,0.00,0.000,516,0.000,0.060,2832,877,2681,2696,2667,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2423,-1.37,-146.0,2833,878,2696,2665,304.3,-11.4,140,2429,0.00,2.17,0.00,0.000,1030,0.000,0.049,2830,1842,2680,2696,2664,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2739,-1.37,-146.0,2830,1842,2696,2662,340.3,-11.0,151,2746,0.00,2.80,0.00,0.000,260,0.000,0.081,2830,3008,2679,2696,2662,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2897,-1.37,-146.0,2830,3008,2696,2661,359.3,-12.2,156,2902,0.00,2.78,0.00,0.000,1030,0.000,0.044,2830,1797,2678,2696,2661,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3236,-1.37,-146.0,2830,1798,2696,2659,401.6,-12.6,167,3242,0.00,2.05,0.00,0.000,516,0.000,0.058,2830,883,2677,2696,2658,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3474,-1.37,-146.0,2830,884,2696,2657,430.6,-13.0,174,3480,0.00,2.05,0.00,0.000,1030,0.000,0.044,2830,1803,2675,2696,2655,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3789,-1.37,-146.0,2830,1802,2697,2654,470.7,-11.6,185,3795,0.00,2.10,0.00,0.000,516,0.000,0.055,2830,881,2675,2696,2654,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4027,-1.37,-146.0,2830,881,2695,2653,495.4,-11.3,192,4032,0.00,2.03,0.00,0.000,1030,0.000,0.044,2830,1789,2677,2703,2652,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4343,-1.37,-146.0,2830,1788,2695,2650,532.8,-11.2,203,4349,0.00,2.08,0.00,0.000,516,0.000,0.054,2830,884,2672,2695,2650,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,4404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4405,begin apogee
$GC,4416,-0.25,0.0,2830,1813,2694,2650,540.6,-11.6,205,4545,1.52,0.00,118.90,1.545,10244,0.239,0.000,3218,1813,2084,2142,2027,0,0,0,0,0,0,13.74,28.83,13.30
$STATE,4547,end apogee,CONTROL_FINISHED_OK
$STATE,4547,begin climb
$GC,4551,1.68,146.0,3218,1813,2138,2025,546.6,0.0,209,4684,1.90,2.47,118.10,1.543,10500,0.093,0.071,3830,2850,1485,1502,1468,0,0,0,0,0,0,14.32,14.33,13.36
$GC,4916,1.57,146.0,3830,2850,1486,1467,505.1,14.9,221,4922,0.17,2.45,0.00,0.000,5126,0.328,0.049,3803,1782,1476,1486,1467,0,0,0,0,0,0,14.10,14.57,28.83
$GC,5238,1.50,146.0,3803,1784,1486,1465,461.7,12.6,232,5243,0.00,2.53,0.00,0.000,260,0.000,0.060,3803,2852,1474,1485,1464,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5394,1.40,146.0,3803,2852,1483,1464,439.2,14.2,237,5401,0.28,2.40,0.00,0.000,5126,0.320,0.050,3753,1816,1473,1483,1464,0,0,0,0,0,0,13.95,14.55,28.83
$GC,5730,1.35,146.0,3754,1817,1483,1462,395.4,13.4,248,5736,0.00,2.45,0.00,0.000,516,0.000,0.066,3753,745,1472,1483,1462,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5769,1.31,146.0,3136,745,1452,1458,390.5,13.5,249,5775,0.17,2.35,0.00,0.000,5126,0.282,0.037,3717,1823,1473,1484,1462,0,0,0,0,0,0,14.04,14.55,28.83
$GC,6105,1.28,146.0,3717,1817,1482,1460,347.2,12.8,260,6110,0.00,2.38,0.00,0.000,260,0.000,0.063,3717,2834,1471,1483,1460,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6324,1.24,146.0,3717,2833,1481,1460,318.5,12.4,267,6330,0.00,2.38,0.00,0.000,1030,0.000,0.047,3725,1815,1470,1481,1460,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6663,1.22,146.0,3725,1815,1482,1458,281.6,11.3,278,6669,0.15,2.45,0.00,0.000,4612,0.301,0.059,3699,744,1469,1481,1458,0,0,0,0,0,0,13.93,14.39,28.83
$GC,6704,1.20,146.0,3699,744,1481,1458,277.2,11.3,279,6709,0.00,2.35,0.00,0.000,1030,0.000,0.037,3699,1804,1469,1482,1457,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7022,1.20,146.0,3699,1804,1482,1457,243.1,10.7,291,7027,0.00,2.45,0.00,0.000,260,0.000,0.065,3699,2847,1469,1482,1457,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7143,1.17,146.0,2960,2840,1449,1452,229.6,12.0,298,7150,0.00,2.40,0.00,0.000,1030,0.000,0.050,3699,1819,1469,1481,1457,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7450,1.17,146.0,3700,1820,1481,1457,194.0,11.0,319,7456,0.00,2.50,0.00,0.000,516,0.000,0.065,3699,745,1469,1482,1456,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7524,1.17,146.0,3699,745,1481,1456,186.7,10.9,323,7532,0.00,2.38,0.00,0.000,1030,0.000,0.037,3699,1813,1468,1481,1456,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7831,1.17,146.0,3700,1812,1481,1456,153.5,10.0,344,7837,0.00,2.45,0.00,0.000,260,0.000,0.064,3699,2847,1468,1481,1456,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8035,1.16,146.0,3699,2847,1481,1456,130.8,11.4,357,8041,0.15,2.40,0.00,0.000,5126,0.287,0.048,3670,1819,1468,1482,1455,0,0,0,0,0,0,13.90,14.40,28.83
$GC,8358,1.18,146.0,3670,1821,1481,1456,99.1,9.3,378,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3670,1821,1468,1481,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8657,1.21,146.0,3670,1821,1481,1456,73.9,8.0,398,8662,0.00,2.45,0.00,0.000,260,0.000,0.060,3677,2846,1468,1481,1456,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8703,1.23,146.0,3670,2846,1481,1456,70.8,8.8,400,8710,0.00,2.40,0.00,0.000,1030,0.000,0.049,3671,1815,1469,1482,1456,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9009,1.28,155.3,3671,1816,1481,1456,47.1,6.8,421,9020,0.12,2.45,4.20,0.750,10756,0.123,0.063,3725,745,1453,1468,1438,0,0,0,0,0,0,14.40,14.47,13.60
$GC,9111,1.28,155.3,3725,745,1469,1441,39.0,7.8,427,9117,0.00,2.42,0.00,0.000,1030,0.000,0.037,3725,1833,1455,1469,1441,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9428,1.28,155.3,3725,1831,1469,1441,12.4,8.8,448,9433,0.00,2.40,0.00,0.000,260,0.000,0.065,3725,2851,1455,1469,1441,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,9537,end climb,SURFACE_DEPTH_REACHED
$STATE,9537,begin surface coast
$FINISH,2.8,1.022971
$STATE,9569,end surface coast,CONTROL_FINISHED_OK
$STATE,9569,begin surface
$SM_CCo,9597,160.43,0.078,0,0,189,465.09
$SM_GC,3.16,10.60,2.12,160.43,0.052,0.044,0.078,143,1955,189,-9.79,0.79,465.09,0,0,0,0,0,0,14.52,14.41,14.40
$IRIDIUM_FIX,2444.18,-3730.20,220813,111105
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.62
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3794816
$24V_AH,13.3,213.668
$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,28.700,94.475,241.200,160.425,0.000,0.000,0.000,2367.650,0.000,0.000,246.778,1930.435,5731.618,520.020,3862.260,1294.662,0.000,3686.882,0.000,1491.229,0.000,0.543,0.000
$DEVICE_MAMPS,369.495,100.980,1545.300,78.030,0.000,0.000,0.000,231.795,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9590.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.209,0.000,0.000,0.000
$MEM,344744
$DATA_FILE_SIZE,16791,457
$CAP_FILE_SIZE,145401,0
$CFSIZE,260034560,178761728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.462,242.8,1
$GPS,220813,114905,2444.184,-3730.205,0,10000.0,0,-14.9