version: 66.11
glider: 160
mission: 9
dive: 595
start: 8 23 113 11 58 17
data:
$ID,160
$MISSION,9
$DIVE,595
$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,-124783.35
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,230813,083627,2446.559,-3701.224,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-71.1
$GPS2,230813,083627,2446.559,-3701.224,241,99.0,241,-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,227.1,104977,-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,22,-1.61,-72.9,134,1954,220,167,0.0,0.0,0,104,0.00,0.00,-79.88,0.000,16386,0.000,0.000,134,1955,2092,2086,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-1.68,-146.0,134,1955,2087,2098,3.0,-0.6,5,148,13.12,2.40,-16.77,0.000,18948,0.368,0.081,2748,893,2683,2697,2669,0,0,0,0,0,0,13.98,14.40,14.83
$GC,384,-1.60,-146.0,2748,894,2697,2669,47.8,-17.0,22,391,0.15,2.42,0.00,0.000,3078,0.314,0.056,2775,1954,2683,2697,2669,0,0,0,0,0,0,13.94,14.42,28.83
$GC,702,-1.53,-146.0,2775,1954,2697,2669,93.6,-14.0,43,707,0.00,2.53,0.00,0.000,260,0.000,0.077,2773,3008,2683,2697,2669,0,0,0,0,0,0,28.83,14.11,28.83
$GC,731,-1.47,-146.0,2773,3008,2697,2669,96.5,-13.7,44,739,0.22,2.40,0.00,0.000,3078,0.288,0.038,2820,1956,2683,2697,2669,0,0,0,0,0,0,13.88,14.47,28.83
$GC,1038,-1.44,-146.0,2820,1957,2697,2669,131.1,-9.8,65,1045,0.00,2.42,0.00,0.000,516,0.000,0.069,2821,895,2680,2693,2668,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1266,-1.41,-146.0,2821,895,2697,2669,156.2,-11.5,79,1274,0.00,2.42,0.00,0.000,1030,0.000,0.058,2817,1954,2683,2697,2669,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1572,-1.38,-146.0,2817,1953,2697,2668,194.2,-12.1,100,1578,0.12,2.47,0.00,0.000,2564,0.300,0.064,2845,897,2682,2697,2667,0,0,0,0,0,0,14.04,14.14,28.83
$GC,1613,-1.36,-146.0,2845,897,2697,2668,198.6,-11.9,102,1619,0.00,2.40,0.00,0.000,1030,0.000,0.055,2844,1948,2682,2697,2667,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1930,-1.36,-146.0,2844,1947,2697,2667,235.4,-10.8,123,1936,0.00,2.42,0.00,0.000,516,0.000,0.064,2844,897,2682,2697,2667,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2090,-1.36,-146.0,1800,897,2638,2657,252.0,-10.5,133,2095,0.00,2.33,0.00,0.000,1030,0.000,0.050,2844,1919,2681,2696,2666,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2425,-1.36,-146.0,2844,1918,2697,2664,285.0,-10.2,144,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1917,2680,2697,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-1.36,-146.0,2844,1918,2697,2664,317.1,-11.0,154,2725,0.00,2.35,0.00,0.000,516,0.000,0.058,2844,894,2680,2697,2663,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2871,-1.36,-146.0,2844,894,2697,2661,331.8,-11.9,158,2878,0.00,2.30,0.00,0.000,1030,0.000,0.048,2844,1907,2679,2697,2661,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3177,-1.36,-146.0,2844,1906,2697,2660,373.6,-12.6,169,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1911,2678,2697,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3479,-1.36,-146.0,2844,1906,2697,2657,410.7,-12.0,179,3485,0.00,2.35,0.00,0.000,516,0.000,0.059,2843,893,2677,2697,2657,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3554,-1.36,-146.0,2844,893,2696,2657,418.6,-11.7,181,3559,0.00,2.28,0.00,0.000,1030,0.000,0.048,2844,1898,2675,2696,2655,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3883,-1.36,-146.0,2844,1898,2695,2655,456.4,-11.3,192,3889,0.00,2.33,0.00,0.000,516,0.000,0.059,2843,889,2674,2693,2655,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3967,-1.36,-146.0,2843,889,2695,2655,464.5,-11.5,194,3973,0.00,2.28,0.00,0.000,1030,0.000,0.048,2843,1895,2675,2695,2655,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4284,-1.36,-146.0,2843,1894,2695,2654,505.5,-12.7,205,4290,0.00,2.30,0.00,0.000,516,0.000,0.059,2843,895,2674,2694,2654,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4424,-1.36,-146.0,2844,895,2694,2653,522.2,-13.1,209,4430,0.00,2.20,0.00,0.000,1030,0.000,0.047,2843,1871,2673,2694,2653,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,4560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4560,begin apogee
$GC,4571,-0.25,0.0,2843,1764,2694,2652,542.0,-12.6,214,4751,1.45,0.05,170.65,1.306,10244,0.232,0.067,3200,1837,2083,2140,2026,0,0,0,0,0,0,13.65,14.22,13.40
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4753,begin climb
$GC,4758,1.68,146.0,3204,1838,2138,2025,551.3,0.0,220,4891,1.98,2.33,119.28,1.530,10500,0.100,0.062,3832,2817,1486,1507,1465,0,0,0,0,0,0,14.33,14.36,13.35
$GC,5123,1.57,146.0,3832,2817,1482,1463,506.1,16.1,232,5129,0.15,2.28,0.00,0.000,5126,0.321,0.046,3806,1827,1472,1481,1463,0,0,0,0,0,0,14.09,14.52,28.83
$GC,5453,1.49,146.0,3806,1828,1481,1462,455.9,14.9,243,5459,0.12,2.47,0.00,0.000,4612,0.311,0.067,3781,744,1471,1481,1462,0,0,0,0,0,0,14.07,14.47,28.83
$GC,5642,1.43,146.0,3782,745,1480,1461,428.2,14.5,249,5647,0.00,2.25,0.00,0.000,1030,0.000,0.040,3781,1753,1470,1480,1461,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5983,1.37,146.0,3781,1752,1479,1459,382.6,12.9,260,5989,0.17,2.58,0.00,0.000,4356,0.297,0.054,3741,2863,1468,1479,1458,0,0,0,0,0,0,13.90,14.46,28.83
$GC,6186,1.31,146.0,3742,2863,1478,1458,359.5,11.6,266,6192,0.00,2.42,0.00,0.000,1030,0.000,0.046,3741,1813,1468,1478,1458,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6511,1.27,146.0,3742,1814,1478,1457,324.2,10.5,277,6513,0.15,0.00,0.00,0.000,4102,0.311,0.000,3710,1813,1467,1478,1457,0,0,0,0,0,0,13.97,28.83,28.83
$GC,6808,1.25,146.0,3710,1814,1478,1456,292.8,10.5,287,6813,0.00,2.47,0.00,0.000,516,0.000,0.068,3713,744,1467,1478,1456,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6837,1.24,146.0,3713,745,1478,1456,292.8,10.5,287,6845,0.00,2.40,0.00,0.000,1030,0.000,0.041,3713,1819,1467,1478,1456,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7148,1.22,146.0,3712,1818,1478,1455,257.5,10.6,298,7153,0.00,2.40,0.00,0.000,260,0.000,0.057,3712,2852,1466,1478,1455,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7237,1.19,146.0,3713,2852,1477,1455,247.4,11.7,301,7245,0.15,2.40,0.00,0.000,5126,0.298,0.044,3684,1814,1466,1477,1455,0,0,0,0,0,0,13.82,14.32,28.83
$GC,7543,1.19,146.0,3684,1815,1477,1455,210.8,11.8,322,7548,0.00,2.47,0.00,0.000,516,0.000,0.069,3686,749,1466,1477,1455,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7611,1.19,146.0,2944,748,1447,1450,203.0,11.9,326,7617,0.00,2.38,0.00,0.000,1030,0.000,0.040,3686,1807,1466,1477,1455,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7926,1.19,146.0,3686,1806,1477,1454,168.0,10.1,347,7932,0.00,2.45,0.00,0.000,260,0.000,0.057,3686,2855,1465,1477,1454,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8162,1.19,146.0,2944,2850,1446,1449,143.5,10.3,362,8168,0.00,2.38,0.00,0.000,1030,0.000,0.043,3686,1832,1465,1477,1453,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8479,1.19,146.0,3686,1832,1477,1454,117.5,7.6,383,8485,0.00,2.45,0.00,0.000,260,0.000,0.054,3686,2853,1465,1477,1453,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8554,1.19,146.0,3686,2853,1477,1453,112.2,7.7,387,8560,0.00,2.38,0.00,0.000,1030,0.000,0.041,3686,1829,1465,1477,1454,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8860,1.21,146.0,3686,1830,1477,1453,88.3,7.6,408,8866,0.00,2.53,0.00,0.000,516,0.000,0.067,3686,741,1465,1477,1453,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8889,1.23,146.0,3686,741,1477,1453,86.6,7.9,409,8897,0.00,2.45,0.00,0.000,1030,0.000,0.041,3686,1835,1465,1477,1453,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9196,1.26,146.0,3686,1834,1477,1453,56.9,9.1,430,9202,0.00,2.38,0.00,0.000,260,0.000,0.057,3686,2855,1465,1477,1453,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9435,1.26,146.0,3686,2854,1477,1453,37.7,7.6,445,9440,0.00,2.30,0.00,0.000,1030,0.000,0.041,3686,1858,1465,1477,1453,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9752,1.30,146.0,3686,1859,1477,1453,12.6,8.6,466,9757,0.00,2.38,0.00,0.000,260,0.000,0.054,3686,2859,1465,1477,1453,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,9861,end climb,SURFACE_DEPTH_REACHED
$STATE,9861,begin surface coast
$FINISH,2.8,1.011964
$STATE,9892,end surface coast,CONTROL_FINISHED_OK
$STATE,9892,begin surface
$SM_CCo,9920,161.95,0.073,0,0,189,465.09
$SM_GC,3.25,10.43,2.15,161.95,0.046,0.044,0.073,123,1954,189,-9.78,0.82,465.09,0,0,0,0,0,0,14.53,14.36,14.32
$IRIDIUM_FIX,2441.81,-3726.87,230813,111148
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.38
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3792128
$24V_AH,13.3,215.179
$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,28.225,95.525,289.925,161.950,0.000,0.000,0.000,545.825,0.000,0.000,243.636,1858.119,6154.690,567.134,2245.278,935.089,0.000,1899.164,0.000,1435.509,0.000,0.542,0.000
$DEVICE_MAMPS,367.965,81.090,1530.000,73.440,0.000,0.000,0.000,195.075,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9906.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.229,0.000,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,16757,475
$CAP_FILE_SIZE,128466,0
$CFSIZE,260034560,178188288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,61.873, 79.6,1
$GPS,230813,114648,2441.810,-3726.874,0,10000.0,0,-14.9