version: 66.11
glider: 160
mission: 9
dive: 591
start: 8 22 113 23 2 36
data:
$ID,160
$MISSION,9
$DIVE,591
$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,-122824.28
$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,27
$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
$GPS1,220813,194204,2444.184,-3728.759,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-67.7
$GPS2,220813,194204,2444.184,-3728.759,241,99.0,241,-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,221.3,59081,-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,-72.9,132,1960,221,166,0.0,0.0,0,118,0.00,0.00,-90.07,0.000,16390,0.000,0.000,131,1960,2384,2357,2411,0,0,0,0,0,0,28.83,28.83,14.80
$GC,124,-1.68,-146.0,131,1960,2357,2411,3.9,-1.9,6,150,12.98,2.50,-6.57,0.000,18948,0.363,0.092,2747,894,2683,2695,2672,0,0,0,0,0,0,14.01,14.48,14.85
$GC,386,-1.58,-146.0,2748,894,2696,2672,53.1,-19.5,22,393,0.17,2.42,0.00,0.000,3078,0.310,0.060,2779,1942,2683,2696,2671,0,0,0,0,0,0,13.87,14.38,28.83
$GC,690,-1.52,-146.0,2780,1942,2697,2671,103.3,-14.7,43,696,0.00,2.45,0.00,0.000,516,0.000,0.067,2779,895,2684,2696,2672,0,0,0,0,0,0,28.83,14.34,28.83
$GC,882,-1.45,-146.0,1728,895,2636,2662,128.9,-12.5,55,888,0.25,2.45,0.00,0.000,3078,0.291,0.060,2824,1959,2683,2696,2670,0,0,0,0,0,0,13.67,14.32,28.83
$GC,1199,-1.42,-146.0,2824,1958,2696,2670,165.8,-11.5,76,1204,0.00,2.47,0.00,0.000,516,0.000,0.068,2824,896,2683,2696,2670,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1436,-1.38,-146.0,2824,898,2696,2670,195.9,-13.7,91,1443,0.15,2.40,0.00,0.000,3078,0.282,0.059,2847,1940,2683,2696,2670,0,0,0,0,0,0,13.97,14.38,28.83
$GC,1752,-1.38,-146.0,2847,1939,2696,2669,237.2,-12.4,112,1757,0.00,2.42,0.00,0.000,516,0.000,0.068,2847,899,2682,2696,2669,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1990,-1.36,-146.0,2847,899,2696,2669,264.1,-12.3,123,1995,0.00,2.33,0.00,0.000,1030,0.000,0.059,2847,1915,2682,2696,2668,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2305,-1.36,-146.0,2847,1914,2696,2667,304.5,-12.3,134,2310,0.00,2.38,0.00,0.000,516,0.000,0.066,2847,893,2684,2696,2672,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2542,-1.34,-146.0,2846,894,2696,2665,332.4,-12.8,141,2547,0.00,2.30,0.00,0.000,1030,0.000,0.057,2846,1899,2680,2696,2664,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2858,-1.34,-146.0,2846,1898,2696,2663,372.4,-11.6,152,2863,0.00,2.35,0.00,0.000,516,0.000,0.064,2846,892,2679,2696,2663,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3096,-1.34,-146.0,2846,893,2696,2661,397.4,-11.5,159,3101,0.00,2.25,0.00,0.000,1030,0.000,0.056,2845,1880,2678,2696,2660,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3411,-1.34,-146.0,2846,1879,2696,2659,435.9,-11.9,170,3416,0.00,2.28,0.00,0.000,516,0.000,0.063,2845,897,2677,2696,2659,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3647,-1.34,-146.0,2845,897,2696,2657,462.8,-12.5,177,3653,0.00,2.20,0.00,0.000,1030,0.000,0.054,2845,1864,2676,2696,2656,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3962,-1.34,-146.0,2845,1863,2695,2654,505.9,-13.2,188,3968,0.00,2.72,0.00,0.000,260,0.000,0.072,2845,3010,2675,2695,2655,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4109,-1.34,-146.0,2845,3011,2694,2654,523.1,-13.7,192,4115,0.00,2.70,0.00,0.000,1030,0.000,0.041,2845,1826,2674,2695,2654,0,0,0,0,0,0,28.83,14.44,28.83
$STATE,4240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4240,begin apogee
$GC,4249,-0.25,0.0,2845,1827,2694,2653,543.7,-13.1,197,4428,1.45,0.00,170.60,1.309,10244,0.234,0.000,3205,1827,2083,2139,2027,0,0,0,0,0,0,13.68,28.83,13.40
$STATE,4429,end apogee,CONTROL_FINISHED_OK
$STATE,4429,begin climb
$GC,4433,1.68,146.0,3204,1827,2136,2025,551.7,0.0,203,4567,1.98,2.53,118.97,1.526,10500,0.098,0.063,3836,2867,1487,1509,1466,0,0,0,0,0,0,14.30,14.34,13.35
$GC,4799,1.57,146.0,3296,2863,1451,1458,502.7,16.5,215,4805,0.17,2.45,0.00,0.000,5126,0.320,0.050,3803,1801,1472,1483,1462,0,0,0,0,0,0,14.09,14.52,28.83
$GC,5134,1.50,146.0,3803,1802,1481,1461,453.5,14.7,226,5139,0.00,2.50,0.00,0.000,260,0.000,0.057,3798,2863,1471,1481,1462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5306,1.41,146.0,3803,2862,1480,1461,428.8,15.2,231,5312,0.28,2.42,0.00,0.000,5126,0.304,0.046,3752,1808,1471,1480,1462,0,0,0,0,0,0,13.90,14.52,28.83
$GC,5630,1.36,146.0,3752,1809,1477,1460,385.7,12.7,242,5635,0.00,2.50,0.00,0.000,260,0.000,0.057,3752,2866,1469,1479,1460,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5690,1.32,146.0,3752,2866,1479,1460,380.8,12.6,243,5697,0.17,2.45,0.00,0.000,5126,0.312,0.047,3725,1806,1469,1479,1460,0,0,0,0,0,0,13.94,14.50,28.83
$GC,5999,1.30,146.0,3725,1807,1479,1458,342.7,11.4,254,6004,0.00,2.50,0.00,0.000,260,0.000,0.057,3725,2863,1468,1479,1458,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6122,1.26,146.0,3725,2863,1479,1458,330.7,11.9,257,6130,0.00,2.42,0.00,0.000,1030,0.000,0.047,3727,1816,1468,1479,1458,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6427,1.24,146.0,3727,1817,1479,1457,292.7,11.1,268,6433,0.12,2.50,0.00,0.000,4356,0.316,0.055,3699,2864,1471,1479,1463,0,0,0,0,0,0,13.98,14.38,28.83
$GC,6528,1.21,146.0,3698,2864,1478,1457,281.1,11.5,271,6533,0.00,2.42,0.00,0.000,1030,0.000,0.047,3700,1830,1469,1478,1461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6852,1.21,146.0,3700,1830,1478,1455,245.5,11.4,282,6857,0.00,2.55,0.00,0.000,516,0.000,0.073,3700,738,1467,1478,1456,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6877,1.21,146.0,3700,738,1479,1456,242.8,11.4,283,6883,0.00,2.50,0.00,0.000,1030,0.000,0.045,3700,1846,1467,1478,1456,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7194,1.21,146.0,3700,1846,1478,1456,208.8,9.8,304,7199,0.00,2.38,0.00,0.000,260,0.000,0.062,3699,2856,1466,1478,1455,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7420,1.19,146.0,3700,2855,1477,1455,184.7,10.9,318,7427,0.00,2.35,0.00,0.000,1030,0.000,0.045,3700,1843,1466,1478,1455,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7726,1.19,146.0,3699,1844,1478,1455,154.7,9.3,339,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3700,1844,1466,1478,1455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,1.19,146.0,3700,1844,1478,1455,125.9,10.3,359,8032,0.00,2.42,0.00,0.000,260,0.000,0.055,3699,2857,1466,1478,1455,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8143,1.19,146.0,3700,2857,1477,1455,113.7,11.2,366,8149,0.00,2.38,0.00,0.000,1030,0.000,0.044,3699,1840,1464,1477,1451,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8459,1.19,146.0,3700,1842,1477,1455,84.6,8.4,387,8465,0.00,2.42,0.00,0.000,260,0.000,0.055,3699,2858,1466,1477,1455,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8647,1.19,146.0,3700,2858,1477,1455,67.2,8.4,399,8653,0.00,2.28,0.00,0.000,1030,0.000,0.041,3699,1877,1466,1477,1455,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8969,1.19,146.0,3701,1879,1477,1455,38.9,8.8,420,8974,0.00,2.30,0.00,0.000,260,0.000,0.053,3699,2855,1466,1477,1455,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9114,1.19,146.0,3699,2855,1476,1455,24.5,9.4,429,9120,0.00,2.28,0.00,0.000,1030,0.000,0.041,3705,1873,1466,1477,1455,0,0,0,0,0,0,28.83,14.18,28.83
$STATE,9350,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,2.9,1.010757
$STATE,9397,end surface coast,CONTROL_FINISHED_OK
$STATE,9397,begin surface
$SM_CCo,9423,161.62,0.073,0,0,190,465.09
$SM_GC,3.28,10.55,0.17,161.62,0.050,0.069,0.073,138,1978,190,-9.79,-0.82,465.09,0,0,0,0,0,0,14.47,14.50,14.33
$IRIDIUM_FIX,2446.56,-3728.32,220813,222201
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.99
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3793664
$24V_AH,13.4,214.340
$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,28.275,87.350,289.575,161.625,0.000,0.000,0.000,443.800,0.000,0.000,243.618,1893.981,5576.486,543.073,2212.193,886.420,0.000,1792.710,0.000,1492.575,0.000,0.542,0.000
$DEVICE_MAMPS,363.375,91.800,1526.175,73.440,0.000,0.000,0.000,169.830,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9405.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.236,0.000,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,16777,448
$CAP_FILE_SIZE,123368,0
$CFSIZE,260034560,178520064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,7.723,183.0,1
$GPS,220813,225201,2446.559,-3728.319,0,10000.0,0,-14.9