version: 66.11
glider: 160
mission: 9
dive: 594
start: 8 23 113 8 46 5
data:
$ID,160
$MISSION,9
$DIVE,594
$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,-124294.12
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,230813,051448,2446.559,-3730.205,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-66.9
$GPS2,230813,051448,2446.559,-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,306.4,58387,-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,-72.9,144,1960,219,166,0.0,0.0,0,115,0.00,0.00,-89.57,0.000,16386,0.000,0.000,144,1960,2350,2324,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.68,-146.0,144,1960,2324,2377,3.5,-1.6,6,151,13.10,2.50,-8.10,0.000,18692,0.371,0.105,2735,2995,2682,2698,2667,0,0,0,0,0,0,13.98,14.42,14.85
$GC,305,-1.57,-146.0,2735,2995,2699,2667,36.2,-19.1,17,312,0.25,2.45,0.00,0.000,3078,0.299,0.050,2785,1948,2683,2699,2668,0,0,0,0,0,0,13.83,14.38,28.83
$GC,611,-1.51,-146.0,2784,1949,2699,2667,84.9,-13.8,38,616,0.00,2.45,0.00,0.000,516,0.000,0.078,2785,892,2683,2699,2667,0,0,0,0,0,0,28.83,14.31,28.83
$GC,647,-1.44,-146.0,2785,892,2699,2667,90.2,-14.5,40,653,0.25,2.33,0.00,0.000,3078,0.287,0.056,2829,1904,2683,2699,2667,0,0,0,0,0,0,13.85,14.37,28.83
$GC,968,-1.40,-146.0,2829,1903,2699,2667,133.8,-14.3,61,974,0.00,2.67,0.00,0.000,260,0.000,0.083,2829,3015,2682,2698,2667,0,0,0,0,0,0,28.83,14.33,28.83
$GC,999,-1.37,-146.0,2829,3015,2699,2668,136.8,-14.0,62,1006,0.00,2.60,0.00,0.000,1030,0.000,0.045,2835,1888,2683,2699,2667,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1304,-1.34,-146.0,2829,1889,2699,2667,176.6,-11.2,83,1310,0.12,2.33,0.00,0.000,2564,0.289,0.073,2858,888,2683,2699,2667,0,0,0,0,0,0,14.04,14.30,28.83
$GC,1542,-1.32,-146.0,2858,888,2699,2666,200.9,-10.4,98,1548,0.00,2.28,0.00,0.000,1030,0.000,0.060,2857,1879,2682,2699,2666,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1857,-1.32,-146.0,2858,1879,2699,2666,233.9,-10.5,119,1863,0.00,2.72,0.00,0.000,260,0.000,0.079,2857,3013,2683,2700,2666,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2020,-1.32,-146.0,2857,3013,2699,2665,251.0,-11.0,129,2025,0.00,2.70,0.00,0.000,1030,0.000,0.043,2857,1836,2682,2699,2665,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2353,-1.32,-146.0,2857,1837,2699,2664,288.9,-11.6,140,2359,0.00,2.17,0.00,0.000,516,0.000,0.073,2857,886,2681,2699,2663,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2590,-1.32,-146.0,2857,887,2699,2662,316.8,-12.6,147,2595,0.00,2.15,0.00,0.000,1030,0.000,0.058,2857,1828,2680,2699,2661,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2905,-1.32,-146.0,2857,1827,2699,2660,357.4,-11.9,158,2910,0.00,2.17,0.00,0.000,516,0.000,0.066,2857,887,2679,2699,2660,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3141,-1.32,-146.0,2857,884,2699,2659,383.9,-12.2,165,3147,0.00,2.15,0.00,0.000,1030,0.000,0.057,2858,1825,2678,2699,2658,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3458,-1.32,-146.0,2857,1824,2699,2656,426.2,-12.9,176,3464,0.00,2.17,0.00,0.000,516,0.000,0.064,2857,882,2677,2699,2655,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3695,-1.32,-146.0,2857,882,2698,2655,453.9,-12.6,183,3700,0.00,2.10,0.00,0.000,1030,0.000,0.056,2857,1802,2676,2697,2655,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4010,-1.32,-146.0,2857,1801,2697,2654,492.7,-11.1,194,4015,0.00,2.10,0.00,0.000,516,0.000,0.063,2857,889,2675,2697,2654,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4246,-1.32,-146.0,2857,889,2697,2652,517.6,-11.6,201,4253,0.00,2.05,0.00,0.000,1030,0.000,0.054,2857,1783,2674,2696,2652,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,4438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4438,begin apogee
$GC,4447,-0.25,0.0,2857,1782,2696,2651,542.0,-11.3,208,4579,1.40,0.00,120.03,1.535,10244,0.233,0.000,3204,1783,2082,2141,2024,0,0,0,0,0,0,13.64,28.83,13.26
$STATE,4580,end apogee,CONTROL_FINISHED_OK
$STATE,4580,begin climb
$GC,4584,1.68,146.0,3204,1783,2137,2023,547.5,0.0,212,4719,1.98,2.60,118.80,1.537,10500,0.100,0.067,3832,2868,1485,1505,1465,0,0,0,0,0,0,14.27,14.33,13.34
$GC,4951,1.58,146.0,3833,2868,1485,1464,503.0,15.8,224,4957,0.15,2.47,0.00,0.000,5126,0.333,0.049,3809,1795,1474,1484,1465,0,0,0,0,0,0,14.08,14.53,28.83
$GC,5272,1.50,146.0,3809,1796,1483,1464,452.8,15.3,235,5278,0.12,2.53,0.00,0.000,4356,0.318,0.055,3781,2868,1473,1482,1464,0,0,0,0,0,0,14.07,14.49,28.83
$GC,5474,1.42,146.0,3781,2868,1481,1463,421.9,16.0,241,5481,0.15,2.45,0.00,0.000,5126,0.325,0.047,3755,1805,1472,1481,1464,0,0,0,0,0,0,14.00,14.50,28.83
$GC,5800,1.38,146.0,3755,1806,1481,1462,373.9,14.1,252,5805,0.00,2.50,0.00,0.000,260,0.000,0.057,3754,2864,1471,1481,1461,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5997,1.31,146.0,3752,2864,1480,1461,346.7,14.0,258,6003,0.17,2.40,0.00,0.000,5126,0.311,0.045,3721,1826,1470,1480,1461,0,0,0,0,0,0,13.92,14.48,28.83
$GC,6329,1.29,146.0,3721,1827,1480,1460,308.1,11.0,269,6334,0.00,2.47,0.00,0.000,260,0.000,0.057,3722,2869,1470,1480,1460,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6437,1.26,146.0,3722,2869,1479,1459,296.1,11.8,272,6442,0.00,2.40,0.00,0.000,1030,0.000,0.044,3726,1832,1469,1479,1460,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6766,1.24,146.0,3725,1833,1480,1458,253.9,13.0,283,6772,0.12,2.53,0.00,0.000,4612,0.320,0.068,3699,744,1469,1480,1458,0,0,0,0,0,0,13.99,14.33,28.83
$GC,6791,1.21,146.0,3699,744,1480,1458,253.9,13.0,283,6796,0.00,2.47,0.00,0.000,1030,0.000,0.044,3699,1847,1469,1480,1458,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7106,1.21,146.0,3699,1846,1480,1457,214.1,11.0,304,7111,0.00,2.40,0.00,0.000,260,0.000,0.063,3699,2861,1468,1480,1457,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7278,1.19,146.0,3699,2860,1479,1457,195.9,10.0,315,7284,0.00,2.35,0.00,0.000,1030,0.000,0.044,3699,1843,1468,1479,1457,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7599,1.19,146.0,3699,1844,1479,1457,166.3,9.6,336,7604,0.00,2.55,0.00,0.000,516,0.000,0.070,3699,751,1467,1479,1456,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7668,1.19,146.0,2976,750,1448,1452,159.5,10.6,340,7673,0.00,2.47,0.00,0.000,1030,0.000,0.043,3699,1852,1468,1479,1457,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7984,1.19,146.0,3699,1850,1479,1456,124.5,10.8,361,7990,0.00,2.38,0.00,0.000,260,0.000,0.062,3699,2858,1467,1479,1456,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8220,1.19,146.0,3700,2857,1479,1456,98.7,11.3,376,8226,0.00,2.35,0.00,0.000,1030,0.000,0.044,3700,1849,1467,1479,1456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8535,1.19,147.2,3699,1849,1479,1456,69.8,7.4,397,8542,0.00,2.42,0.00,0.000,260,0.000,0.058,3699,2861,1467,1479,1456,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8654,1.19,147.2,3699,2861,1479,1457,61.4,7.5,404,8659,0.00,2.38,0.00,0.000,1030,0.000,0.045,3699,1841,1467,1479,1456,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8971,1.21,147.2,3699,1842,1479,1456,36.8,8.4,425,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1842,1467,1479,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,1.23,147.2,3699,1842,1479,1456,9.5,10.1,445,9275,0.00,2.45,0.00,0.000,260,0.000,0.058,3699,2861,1468,1479,1457,0,0,0,0,0,0,28.83,14.24,28.83
$STATE,9331,end climb,SURFACE_DEPTH_REACHED
$STATE,9331,begin surface coast
$FINISH,2.8,1.024959
$STATE,9352,end surface coast,CONTROL_FINISHED_OK
$STATE,9352,begin surface
$SM_CCo,9379,162.52,0.074,0,0,188,465.09
$SM_GC,3.17,10.45,2.17,162.52,0.044,0.048,0.074,136,1954,188,-9.79,0.88,465.09,0,0,0,0,0,0,14.42,14.36,14.34
$IRIDIUM_FIX,2446.56,-3701.22,230813,080827
$TT8_MAMPS,0.024717,0.024717
$HUMID,81.18
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3792512
$24V_AH,13.3,214.966
$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,28.275,90.850,238.825,162.525,0.000,0.000,0.000,490.675,0.000,0.000,243.633,1886.023,5601.126,518.903,2219.784,911.115,0.000,1792.970,0.000,1453.267,0.000,0.542,0.000
$DEVICE_MAMPS,371.025,104.805,1536.885,74.205,0.000,0.000,0.000,172.125,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9372.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.183,0.000,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,16809,450
$CAP_FILE_SIZE,126722,0
$CFSIZE,260034560,178290688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,82.668,269.4,1
$GPS,230813,083627,2446.559,-3701.224,0,10000.0,0,-14.9