version: 66.11
glider: 160
mission: 9
dive: 592
start: 8 23 113 2 16 8
data:
$ID,160
$MISSION,9
$DIVE,592
$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,-123316.64
$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,28
$R_STBD_OVSHOOT,53
$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
$GPS1,220813,225201,2446.559,-3728.319,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-68.7
$GPS2,220813,225201,2446.559,-3728.319,241,99.0,241,-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,307.6,61313,-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,18,begin dive
$GC,23,-1.61,-72.9,138,1979,221,167,0.0,0.0,0,103,0.00,0.00,-77.45,0.000,16386,0.000,0.000,138,1979,2025,2021,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.68,-146.0,138,1979,2023,2026,3.0,-0.8,5,148,13.07,2.38,-18.85,0.000,18692,0.366,0.099,2749,2975,2687,2697,2677,0,0,0,0,0,0,14.04,14.50,14.85
$GC,271,-1.58,-146.0,2747,2975,2697,2668,31.3,-21.1,15,277,0.17,2.33,0.00,0.000,3078,0.308,0.041,2779,1953,2683,2698,2668,0,0,0,0,0,0,13.92,14.50,28.83
$GC,587,-1.51,-146.0,2779,1954,2698,2668,85.0,-16.3,36,594,0.12,2.40,0.00,0.000,2564,0.321,0.063,2807,897,2683,2698,2668,0,0,0,0,0,0,13.95,14.38,28.83
$GC,826,-1.45,-146.0,2807,900,2698,2668,120.6,-14.7,51,831,0.00,2.25,0.00,0.000,1030,0.000,0.053,2802,1892,2682,2698,2667,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1141,-1.40,-146.0,2801,1892,2698,2667,164.3,-13.2,72,1148,0.15,2.55,0.00,0.000,2308,0.302,0.067,2830,2973,2682,2697,2667,0,0,0,0,0,0,13.93,14.35,28.83
$GC,1255,-1.37,-146.0,2830,2973,2698,2667,178.7,-12.5,79,1261,0.00,2.47,0.00,0.000,1030,0.000,0.041,2830,1890,2682,2698,2667,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1577,-1.35,-146.0,2830,1891,2697,2667,217.4,-11.7,100,1583,0.12,2.28,0.00,0.000,2564,0.290,0.065,2858,893,2682,2697,2667,0,0,0,0,0,0,14.04,14.35,28.83
$GC,1814,-1.35,-146.0,1808,893,2638,2657,244.5,-11.4,115,1819,0.00,2.15,0.00,0.000,1030,0.000,0.054,2857,1839,2681,2698,2665,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2146,-1.35,-146.0,2858,1839,2698,2665,282.7,-11.5,128,2153,0.00,2.70,0.00,0.000,260,0.000,0.072,2858,2976,2680,2697,2664,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2305,-1.35,-146.0,2857,2976,2697,2664,301.9,-11.9,133,2310,0.00,2.58,0.00,0.000,1030,0.000,0.041,2857,1850,2683,2703,2664,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2643,-1.35,-146.0,2858,1851,2697,2662,339.6,-11.2,144,2649,0.00,2.17,0.00,0.000,516,0.000,0.064,2858,892,2679,2698,2661,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2880,-1.35,-146.0,2858,893,2697,2660,365.7,-12.1,151,2886,0.00,2.08,0.00,0.000,1030,0.000,0.052,2858,1813,2678,2697,2660,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3197,-1.35,-146.0,2858,1812,2697,2658,407.2,-12.7,162,3203,0.00,2.75,0.00,0.000,260,0.000,0.073,2857,2973,2677,2697,2658,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3349,-1.35,-146.0,2858,2973,2694,2658,423.6,-12.9,166,3355,0.00,2.65,0.00,0.000,1030,0.000,0.041,2858,1813,2676,2695,2658,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3655,-1.35,-146.0,2858,1814,2695,2655,464.4,-12.1,177,3662,0.00,2.10,0.00,0.000,516,0.000,0.063,2857,893,2675,2695,2655,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3893,-1.35,-146.0,2858,893,2695,2654,491.3,-12.4,184,3899,0.00,1.95,0.00,0.000,1030,0.000,0.050,2857,1762,2673,2694,2653,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4208,-1.35,-146.0,2858,1761,2694,2652,532.8,-12.9,195,4214,0.00,2.90,0.00,0.000,260,0.000,0.072,2858,2975,2673,2694,2652,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,4269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4269,begin apogee
$GC,4282,-0.25,0.0,2857,1797,2693,2652,541.6,-13.3,197,4459,1.40,0.00,169.77,1.317,10244,0.234,0.000,3203,1798,2083,2140,2026,0,0,0,0,0,0,13.69,28.83,13.40
$STATE,4461,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4465,1.68,146.0,3203,1798,2138,2025,553.2,0.0,203,4601,2.03,2.45,120.53,1.537,10756,0.116,0.067,3828,742,1486,1532,1440,0,0,0,0,0,0,14.26,14.33,13.35
$GC,4768,1.60,146.0,3280,742,1482,1434,526.2,12.4,213,4774,0.00,2.30,0.00,0.000,1030,0.000,0.046,3828,1775,1476,1516,1437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5102,1.51,146.0,3829,1773,1512,1435,483.4,13.0,224,5108,0.17,2.38,0.00,0.000,4612,0.312,0.060,3795,743,1473,1511,1435,0,0,0,0,0,0,13.97,14.48,28.83
$GC,5149,1.43,146.0,3796,743,1511,1435,478.3,13.1,225,5155,0.17,2.40,0.00,0.000,5126,0.298,0.044,3761,1826,1473,1511,1435,0,0,0,0,0,0,14.03,14.56,28.83
$GC,5478,1.39,146.0,3761,1825,1511,1432,434.7,13.4,236,5484,0.00,2.40,0.00,0.000,260,0.000,0.063,3761,2850,1471,1511,1431,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5717,1.32,146.0,3761,2849,1500,1432,401.7,15.1,243,5723,0.22,2.35,0.00,0.000,5126,0.298,0.045,3722,1835,1466,1500,1432,0,0,0,0,0,0,13.90,14.51,28.83
$GC,6038,1.30,146.0,3723,1836,1500,1433,358.6,12.1,254,6043,0.00,2.40,0.00,0.000,260,0.000,0.057,3722,2848,1465,1499,1432,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6113,1.26,146.0,3722,2848,1498,1432,349.6,12.4,256,6119,0.00,2.35,0.00,0.000,1030,0.000,0.047,3727,1831,1465,1498,1432,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6444,1.24,146.0,3727,1837,1498,1433,314.6,9.9,267,6450,0.12,2.42,0.00,0.000,4356,0.314,0.055,3699,2852,1464,1497,1432,0,0,0,0,0,0,13.97,14.29,28.83
$GC,6585,1.22,146.0,3699,2852,1495,1432,300.7,10.5,271,6591,0.00,2.30,0.00,0.000,1030,0.000,0.047,3699,1860,1463,1495,1432,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6911,1.22,146.0,3699,1861,1496,1432,266.4,10.6,282,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,3700,1861,1464,1496,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,1.22,146.0,3700,1861,1496,1432,233.0,11.0,297,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,3700,1861,1464,1496,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7505,1.22,146.0,3700,1861,1495,1432,199.3,11.2,317,7511,0.00,2.38,0.00,0.000,260,0.000,0.057,3699,2849,1463,1495,1432,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7712,1.20,146.0,2952,2844,1461,1428,175.5,11.6,330,7718,0.00,2.28,0.00,0.000,1030,0.000,0.047,3700,1868,1463,1494,1432,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8029,1.20,146.0,3700,1869,1494,1432,141.7,10.5,351,8034,0.00,2.35,0.00,0.000,260,0.000,0.057,3699,2847,1463,1494,1432,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8078,1.20,146.0,3700,2847,1493,1432,135.7,11.6,354,8084,0.00,2.30,0.00,0.000,1030,0.000,0.046,3699,1868,1462,1492,1432,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8399,1.20,146.0,3700,1870,1494,1433,101.6,10.2,375,8405,0.00,2.38,0.00,0.000,260,0.000,0.057,3700,2848,1462,1492,1432,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8522,1.20,146.0,3700,2847,1492,1433,90.4,10.0,382,8529,0.00,2.33,0.00,0.000,1030,0.000,0.047,3705,1854,1462,1492,1432,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8825,1.20,146.0,3700,1856,1492,1433,63.6,8.3,403,8830,0.00,2.40,0.00,0.000,260,0.000,0.058,3700,2848,1462,1492,1432,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8898,1.20,146.0,3700,2848,1492,1432,57.2,9.9,407,8906,0.00,2.30,0.00,0.000,1030,0.000,0.047,3700,1869,1462,1492,1432,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9206,1.22,146.0,3700,1870,1492,1432,30.6,8.9,428,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,3700,1870,1462,1492,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9505,1.22,146.0,3700,1870,1493,1433,5.5,9.1,448,9510,0.00,2.38,0.00,0.000,260,0.000,0.060,3700,2851,1463,1493,1433,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,9536,end climb,SURFACE_DEPTH_REACHED
$STATE,9536,begin surface coast
$FINISH,2.8,1.024974
$STATE,9540,end surface coast,CONTROL_FINISHED_OK
$STATE,9541,begin surface
$SM_CCo,9568,162.12,0.075,0,0,189,465.09
$SM_GC,3.19,10.50,2.15,162.12,0.049,0.048,0.075,147,1965,189,-9.77,0.85,465.09,0,0,0,0,0,0,14.45,14.35,14.32
$IRIDIUM_FIX,2444.18,-3730.20,230813,020244
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.18
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3793280
$24V_AH,13.3,214.555
$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,28.275,90.400,290.300,162.125,0.000,0.000,0.000,605.025,0.000,0.000,246.751,1819.967,5866.919,549.673,2274.060,935.868,0.000,1929.565,0.000,1413.625,0.000,0.543,0.000
$DEVICE_MAMPS,366.435,98.685,1536.885,74.970,0.000,0.000,0.000,194.310,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9554.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.162,0.000,0.000,0.000
$MEM,344780
$DATA_FILE_SIZE,16755,450
$CAP_FILE_SIZE,123822,0
$CFSIZE,260034560,178442240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,10.859, 33.4,1
$GPS,230813,020844,2444.184,-3730.205,0,10000.0,0,-14.9