version: 66.11
glider: 160
mission: 9
dive: 596
start: 8 23 113 15 15 36
data:
$ID,160
$MISSION,9
$DIVE,596
$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,-125272.62
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,230813,114648,2441.810,-3726.874,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.4
$GPS2,230813,114648,2441.810,-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,316.2,60907,-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,-72.9,123,1950,221,167,0.0,0.0,0,102,0.00,0.00,-76.45,0.000,16386,0.000,0.000,122,1954,2002,2010,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.68,-146.0,123,1954,2007,1998,3.1,-0.7,5,151,13.12,2.53,-20.77,0.000,18692,0.367,0.087,2738,2998,2684,2696,2672,0,0,0,0,0,0,14.00,14.28,14.83
$GC,310,-1.56,-146.0,2737,2997,2695,2671,36.7,-21.5,17,317,0.25,2.40,0.00,0.000,3078,0.307,0.041,2786,1947,2683,2696,2671,0,0,0,0,0,0,13.78,14.43,28.83
$GC,617,-1.49,-146.0,2785,1947,2696,2671,90.6,-15.3,38,622,0.00,2.53,0.00,0.000,260,0.000,0.068,2785,3000,2683,2696,2671,0,0,0,0,0,0,28.83,14.30,28.83
$GC,855,-1.42,-146.0,1712,2996,2633,2661,123.9,-13.7,53,862,0.22,2.50,0.00,0.000,3078,0.291,0.044,2831,1922,2683,2696,2671,0,0,0,0,0,0,13.81,14.39,28.83
$GC,1172,-1.39,-146.0,2831,1923,2696,2671,166.2,-13.4,74,1177,0.00,2.33,0.00,0.000,516,0.000,0.062,2837,891,2683,2696,2670,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1409,-1.36,-146.0,2836,891,2696,2670,197.5,-13.3,89,1415,0.00,2.25,0.00,0.000,1030,0.000,0.044,2831,1897,2682,2696,2669,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1725,-1.33,-146.0,2832,1896,2696,2670,235.8,-11.4,110,1730,0.12,2.33,0.00,0.000,2564,0.295,0.053,2860,888,2682,2696,2669,0,0,0,0,0,0,13.97,14.36,28.83
$GC,1962,-1.33,-146.0,2860,888,2696,2669,260.4,-11.3,121,1968,0.00,2.20,0.00,0.000,1030,0.000,0.045,2859,1872,2682,2696,2668,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2279,-1.33,-146.0,2858,1870,2696,2667,300.9,-12.5,132,2285,0.00,2.70,0.00,0.000,260,0.000,0.078,2857,2993,2682,2697,2667,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2435,-1.33,-146.0,1808,2990,2637,2657,321.4,-13.0,137,2440,0.00,2.65,0.00,0.000,1030,0.000,0.044,2857,1845,2681,2696,2666,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2774,-1.33,-146.0,2857,1846,2696,2664,361.8,-11.9,148,2780,0.00,2.80,0.00,0.000,260,0.000,0.073,2857,2996,2680,2697,2664,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2924,-1.33,-146.0,2858,2995,2695,2663,377.8,-12.4,152,2931,0.00,2.72,0.00,0.000,1030,0.000,0.042,2857,1815,2679,2696,2663,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3232,-1.33,-146.0,2857,1817,2696,2661,419.8,-13.1,163,3237,0.00,2.08,0.00,0.000,516,0.000,0.058,2857,893,2675,2691,2660,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3469,-1.33,-146.0,2857,894,2696,2659,450.2,-14.0,170,3475,0.00,2.03,0.00,0.000,1030,0.000,0.045,2857,1803,2677,2696,2658,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3785,-1.33,-146.0,2857,1802,2696,2656,493.8,-12.5,181,3791,0.00,2.08,0.00,0.000,516,0.000,0.054,2857,892,2676,2696,2656,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4022,-1.33,-146.0,2857,892,2694,2655,520.7,-12.3,188,4027,0.00,2.00,0.00,0.000,1030,0.000,0.044,2857,1789,2675,2695,2655,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,4183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4183,begin apogee
$GC,4192,-0.25,0.0,2857,1788,2694,2654,542.7,-12.0,194,4375,1.40,0.00,173.07,1.300,10244,0.230,0.000,3206,1788,2083,2139,2028,0,0,0,0,0,0,13.66,28.83,13.39
$STATE,4376,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4380,1.68,146.0,3206,1788,2138,2026,550.9,0.0,200,4514,1.95,2.55,119.95,1.522,10500,0.096,0.068,3832,2852,1488,1510,1466,0,0,0,0,0,0,14.29,14.32,13.35
$GC,4747,1.58,146.0,3832,2852,1482,1464,506.0,15.4,212,4753,0.17,2.45,0.00,0.000,5126,0.334,0.047,3803,1790,1473,1482,1464,0,0,0,0,0,0,14.04,14.53,28.83
$GC,5077,1.50,146.0,3804,1790,1481,1461,460.3,13.6,223,5082,0.00,2.53,0.00,0.000,260,0.000,0.059,3803,2852,1471,1481,1461,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5314,1.41,146.0,3804,2851,1479,1461,428.9,14.2,230,5319,0.28,2.38,0.00,0.000,5126,0.322,0.047,3754,1822,1470,1479,1461,0,0,0,0,0,0,13.88,14.54,28.83
$GC,5634,1.37,146.0,3754,1823,1479,1459,386.6,12.5,241,5639,0.00,2.45,0.00,0.000,260,0.000,0.060,3754,2850,1469,1479,1459,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5872,1.31,146.0,3754,2849,1478,1458,356.3,13.6,248,5878,0.17,2.38,0.00,0.000,5126,0.314,0.047,3722,1831,1468,1478,1459,0,0,0,0,0,0,13.91,14.49,28.83
$GC,6192,1.29,146.0,3722,1832,1479,1457,316.7,11.5,259,6197,0.00,2.45,0.00,0.000,260,0.000,0.060,3722,2855,1467,1478,1457,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6325,1.25,146.0,3008,2850,1445,1452,300.3,12.7,263,6330,0.00,2.38,0.00,0.000,1030,0.000,0.046,3726,1835,1467,1478,1457,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6660,1.23,146.0,3725,1837,1478,1456,258.1,12.6,274,6666,0.12,2.45,0.00,0.000,4356,0.318,0.057,3698,2860,1467,1478,1456,0,0,0,0,0,0,13.95,14.33,28.83
$GC,6873,1.21,146.0,3698,2855,1478,1456,231.3,12.6,285,6880,0.00,2.35,0.00,0.000,1030,0.000,0.047,3700,1847,1467,1478,1456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7179,1.21,146.0,3700,1848,1478,1456,193.7,12.3,306,7184,0.00,2.55,0.00,0.000,516,0.000,0.066,3700,746,1466,1477,1456,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7198,1.21,146.0,3700,746,1478,1456,191.3,12.5,307,7204,0.00,2.45,0.00,0.000,1030,0.000,0.037,3700,1855,1466,1478,1455,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7519,1.21,146.0,3700,1854,1478,1455,157.7,9.5,328,7524,0.00,2.38,0.00,0.000,260,0.000,0.063,3700,2851,1466,1478,1455,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7756,1.20,146.0,3700,2850,1477,1454,135.1,9.8,343,7762,0.00,2.25,0.00,0.000,1030,0.000,0.046,3699,1891,1465,1477,1454,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8073,1.20,146.0,3700,1891,1478,1454,106.6,8.8,364,8078,0.00,2.33,0.00,0.000,260,0.000,0.059,3700,2854,1465,1477,1454,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8223,1.20,146.0,3700,2853,1477,1453,93.0,8.9,373,8230,0.00,2.28,0.00,0.000,1030,0.000,0.047,3699,1881,1465,1477,1454,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8530,1.21,146.0,3699,1882,1477,1454,63.8,8.8,394,8535,0.00,2.62,0.00,0.000,516,0.000,0.064,3700,749,1465,1477,1454,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8584,1.23,146.0,2976,749,1447,1450,59.4,8.7,397,8589,0.00,2.50,0.00,0.000,1030,0.000,0.037,3699,1880,1466,1478,1454,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8899,1.25,146.0,3699,1880,1477,1453,32.2,8.8,418,8904,0.00,2.33,0.00,0.000,260,0.000,0.063,3699,2854,1465,1477,1453,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9043,1.25,146.0,3699,2854,1477,1453,18.5,9.4,427,9049,0.00,2.28,0.00,0.000,1030,0.000,0.045,3700,1890,1465,1477,1453,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,9224,end climb,SURFACE_DEPTH_REACHED
$STATE,9227,begin surface coast
$FINISH,2.8,1.009137
$STATE,9255,end surface coast,CONTROL_FINISHED_OK
$STATE,9255,begin surface
$SM_CCo,9282,162.12,0.073,0,0,189,465.09
$SM_GC,3.34,10.57,0.12,162.12,0.052,0.099,0.073,130,1942,189,-9.78,-1.02,465.09,0,0,0,0,0,0,14.45,14.46,14.33
$IRIDIUM_FIX,2444.18,-3726.87,230813,151558
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.87
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3791744
$24V_AH,13.3,215.374
$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,28.400,86.525,293.025,162.125,0.000,0.000,0.000,298.775,0.000,0.000,243.634,1917.466,5392.248,547.187,2121.248,909.007,0.000,1663.159,0.000,1528.213,0.000,0.543,0.000
$DEVICE_MAMPS,367.200,98.685,1522.350,72.675,0.000,0.000,0.000,169.830,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9269.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.161,0.000,0.000,0.000
$MEM,345148
$DATA_FILE_SIZE,16813,441
$CAP_FILE_SIZE,120900,0
$CFSIZE,260034560,178094080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,10.390,186.5,1
$GPS,230813,150758,2444.184,-3726.874,0,10000.0,0,-14.9