version: 66.11
glider: 160
mission: 9
dive: 590
start: 8 22 113 19 50 15
data:
$ID,160
$MISSION,9
$DIVE,590
$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,-122335.05
$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,23
$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
$GPS1,220813,151212,2446.559,-3726.874,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-68.5
$GPS2,220813,151212,2446.559,-3726.874,241,99.0,241,-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,308.4,63572,-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,23,-1.61,-72.9,130,1974,219,164,0.0,0.0,0,102,0.00,0.00,-76.62,0.000,16386,0.000,0.000,130,1974,1996,1995,1998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.68,-146.0,130,1974,1996,1998,3.1,-0.5,5,150,12.93,2.45,-21.05,0.000,18692,0.363,0.095,2747,2980,2683,2697,2670,0,0,0,0,0,0,14.04,14.33,14.89
$GC,337,-1.57,-146.0,2747,2981,2697,2670,39.7,-19.6,19,345,0.20,2.38,0.00,0.000,3078,0.305,0.048,2785,1954,2684,2698,2670,0,0,0,0,0,0,13.85,14.40,28.83
$GC,644,-1.51,-146.0,2784,1955,2698,2670,90.6,-14.2,40,649,0.00,2.45,0.00,0.000,516,0.000,0.061,2785,885,2683,2697,2670,0,0,0,0,0,0,28.83,14.27,28.83
$GC,882,-1.44,-146.0,1728,884,2636,2661,121.2,-13.0,55,888,0.25,2.33,0.00,0.000,3078,0.293,0.044,2829,1917,2683,2698,2669,0,0,0,0,0,0,13.83,14.43,28.83
$GC,1198,-1.41,-146.0,2829,1917,2698,2668,162.7,-12.6,76,1203,0.00,2.55,0.00,0.000,260,0.000,0.073,2819,3005,2682,2697,2668,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1312,-1.37,-146.0,2819,3005,2698,2668,177.0,-12.8,83,1319,0.15,2.55,0.00,0.000,3078,0.291,0.046,2847,1893,2683,2697,2669,0,0,0,0,0,0,13.95,14.45,28.83
$GC,1635,-1.37,-146.0,2847,1894,2698,2668,212.7,-11.0,104,1640,0.00,2.30,0.00,0.000,516,0.000,0.060,2848,886,2683,2698,2668,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1872,-1.35,-146.0,2848,886,2698,2668,238.8,-11.5,119,1878,0.00,2.25,0.00,0.000,1030,0.000,0.044,2846,1884,2683,2699,2667,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2190,-1.35,-146.0,2846,1884,2698,2666,276.6,-12.0,133,2196,0.00,2.30,0.00,0.000,516,0.000,0.055,2846,882,2682,2698,2666,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2428,-1.33,-146.0,2845,882,2697,2664,304.9,-12.9,140,2434,0.00,2.20,0.00,0.000,1030,0.000,0.045,2844,1863,2681,2698,2664,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2745,-1.33,-146.0,2844,1858,2698,2662,344.5,-11.3,151,2750,0.00,2.25,0.00,0.000,516,0.000,0.054,2844,885,2680,2698,2662,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2981,-1.31,-146.0,2845,885,2698,2661,366.7,-10.0,158,2987,0.00,2.15,0.00,0.000,1030,0.000,0.044,2844,1841,2678,2697,2660,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3298,-1.31,-146.0,2844,1840,2698,2658,399.2,-10.4,169,3304,0.00,2.20,0.00,0.000,516,0.000,0.054,2844,879,2677,2697,2658,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3536,-1.31,-146.0,2844,879,2702,2656,424.8,-11.7,176,3541,0.00,2.12,0.00,0.000,1030,0.000,0.044,2843,1824,2675,2698,2652,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3851,-1.31,-146.0,2843,1823,2697,2654,466.7,-12.8,187,3856,0.00,2.15,0.00,0.000,516,0.000,0.054,2844,885,2675,2697,2654,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4088,-1.31,-146.0,2844,885,2697,2652,495.6,-13.1,194,4093,0.00,2.05,0.00,0.000,1030,0.000,0.043,2843,1799,2674,2697,2651,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4404,-1.31,-146.0,2844,1798,2697,2649,538.4,-12.8,205,4410,0.00,2.10,0.00,0.000,516,0.000,0.053,2843,880,2673,2697,2649,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,4436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4436,begin apogee
$GC,4447,-0.25,0.0,2843,1805,2697,2649,543.1,-12.8,206,4627,1.48,0.00,172.45,1.310,10244,0.238,0.000,3207,1805,2083,2141,2025,0,0,0,0,0,0,13.69,28.83,13.40
$STATE,4628,end apogee,CONTROL_FINISHED_OK
$STATE,4628,begin climb
$GC,4632,1.68,146.0,3207,1805,2138,2023,552.0,0.0,212,4765,1.95,2.53,118.72,1.530,10500,0.096,0.073,3832,2855,1484,1506,1463,0,0,0,0,0,0,14.30,14.32,13.36
$GC,4998,1.57,146.0,3832,2855,1481,1461,504.3,17.0,224,5004,0.17,2.45,0.00,0.000,5126,0.330,0.051,3804,1790,1471,1481,1461,0,0,0,0,0,0,14.07,14.53,28.83
$GC,5329,1.50,146.0,3802,1791,1480,1460,452.3,15.5,235,5334,0.00,2.53,0.00,0.000,260,0.000,0.063,3803,2860,1469,1479,1460,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5486,1.41,146.0,3803,2859,1477,1460,425.2,16.9,240,5492,0.28,2.45,0.00,0.000,5126,0.312,0.050,3753,1802,1469,1478,1460,0,0,0,0,0,0,13.95,14.50,28.83
$GC,5826,1.36,146.0,3752,1803,1478,1458,378.3,13.3,251,5831,0.00,2.50,0.00,0.000,260,0.000,0.062,3753,2855,1467,1478,1457,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5924,1.31,146.0,3753,2855,1477,1457,364.3,13.8,254,5930,0.17,2.42,0.00,0.000,5126,0.308,0.050,3721,1816,1466,1476,1457,0,0,0,0,0,0,13.95,14.49,28.83
$GC,6261,1.29,146.0,3721,1817,1476,1456,321.9,12.7,265,6266,0.00,2.47,0.00,0.000,260,0.000,0.061,3721,2854,1466,1476,1456,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6317,1.27,146.0,3721,2855,1476,1456,316.9,13.0,266,6322,0.00,2.42,0.00,0.000,1030,0.000,0.050,3726,1813,1466,1476,1456,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6635,1.25,146.0,3726,1815,1477,1456,275.5,12.0,277,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3725,1815,1466,1477,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,1.22,146.0,3726,1815,1477,1449,241.1,11.3,289,6940,0.12,2.53,0.00,0.000,4356,0.317,0.060,3698,2861,1465,1476,1455,0,0,0,0,0,0,13.89,14.35,28.83
$GC,6970,1.20,146.0,3698,2866,1476,1454,236.7,11.6,291,6976,0.00,2.45,0.00,0.000,1030,0.000,0.050,3700,1818,1465,1476,1454,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7291,1.20,146.0,3699,1819,1476,1454,202.5,10.3,312,7298,0.00,2.50,0.00,0.000,260,0.000,0.063,3699,2855,1464,1476,1453,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7468,1.19,146.0,2952,2850,1444,1449,183.8,10.7,323,7473,0.00,2.40,0.00,0.000,1030,0.000,0.050,3699,1833,1464,1475,1453,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7783,1.19,146.0,3699,1834,1475,1453,150.3,11.2,344,7789,0.00,2.47,0.00,0.000,260,0.000,0.061,3699,2862,1464,1476,1453,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7916,1.17,146.0,3700,2862,1475,1453,134.1,12.9,352,7922,0.00,2.38,0.00,0.000,1030,0.000,0.049,3699,1845,1464,1475,1453,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8232,1.17,146.0,3699,1846,1475,1453,99.0,9.9,373,8238,0.00,2.58,0.00,0.000,516,0.000,0.067,3699,744,1464,1476,1453,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8321,1.17,146.0,3700,743,1476,1453,91.4,9.3,378,8329,0.00,2.47,0.00,0.000,1030,0.000,0.038,3699,1848,1464,1476,1452,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8629,1.19,149.4,3700,1847,1476,1453,65.5,7.3,399,8634,0.00,2.40,0.00,0.000,260,0.000,0.066,3700,2858,1464,1476,1452,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8805,1.19,149.4,3700,2857,1475,1452,49.8,9.6,410,8811,0.00,2.28,0.00,0.000,1030,0.000,0.047,3699,1885,1464,1476,1452,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9122,1.21,149.8,3700,1886,1476,1452,23.8,7.5,431,9127,0.00,2.65,0.00,0.000,516,0.000,0.065,3699,741,1464,1476,1452,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9153,1.23,149.8,3699,741,1476,1452,21.6,8.2,432,9160,0.00,2.58,0.00,0.000,1030,0.000,0.040,3699,1879,1463,1475,1452,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,9392,end climb,SURFACE_DEPTH_REACHED
$STATE,9392,begin surface coast
$FINISH,2.9,1.025012
$STATE,9513,end surface coast,NO_VERTICAL_VELOCITY
$STATE,9514,begin surface
$SM_CCo,9541,161.32,0.073,0,0,189,465.09
$SM_GC,3.21,10.65,0.15,161.32,0.058,0.089,0.073,133,1958,189,-9.78,-0.65,465.09,0,0,0,0,0,0,14.45,14.45,14.34
$IRIDIUM_FIX,2444.18,-3728.76,220813,191904
$TT8_MAMPS,0.024717,0.024717
$HUMID,80.47
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3794048
$24V_AH,13.4,214.138
$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,28.350,90.500,291.175,161.325,0.000,0.000,0.000,465.900,0.000,0.000,243.637,1880.590,5737.161,548.853,2203.710,875.267,0.000,1810.812,0.000,1467.543,0.000,0.541,0.000
$DEVICE_MAMPS,363.375,94.860,1530.000,72.675,0.000,0.000,0.000,198.900,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9532.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.254,0.000,0.000,0.000
$MEM,344812
$DATA_FILE_SIZE,16808,457
$CAP_FILE_SIZE,125540,0
$CFSIZE,260034560,178618368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,9.451, 35.0,1
$GPS,220813,194204,2444.184,-3728.759,0,10000.0,0,-14.9