version: 66.11
glider: 160
mission: 9
dive: 597
start: 8 23 113 18 25 2
data:
$ID,160
$MISSION,9
$DIVE,597
$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,-125763.69
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,230813,150758,2444.184,-3726.874,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-68.1
$GPS2,230813,150758,2444.184,-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,312.2,62098,-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,23,-1.61,-72.9,128,1942,221,167,0.0,0.0,0,98,0.00,0.00,-72.80,0.000,16386,0.000,0.000,128,1942,1908,1915,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.68,-146.0,128,1942,1912,1904,3.0,-0.6,5,150,13.00,2.55,-24.95,0.000,19204,0.364,0.092,2746,3011,2681,2696,2667,0,0,0,0,0,0,14.01,14.41,14.84
$GC,309,-1.58,-146.0,2747,3011,2697,2667,35.9,-18.5,18,315,0.17,2.45,0.00,0.000,3078,0.311,0.050,2778,1958,2682,2697,2667,0,0,0,0,0,0,13.86,14.40,28.83
$GC,633,-1.51,-146.0,2778,1961,2697,2667,85.3,-14.6,39,638,0.12,2.50,0.00,0.000,2308,0.312,0.059,2802,3010,2684,2701,2667,0,0,0,0,0,0,13.97,14.31,28.83
$GC,764,-1.45,-146.0,1760,3006,2638,2658,104.9,-15.0,47,770,0.00,2.55,0.00,0.000,1030,0.000,0.047,2802,1918,2682,2697,2667,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1079,-1.40,-146.0,2802,1920,2697,2667,154.1,-14.8,68,1087,0.12,2.38,0.00,0.000,2564,0.307,0.073,2836,889,2682,2697,2667,0,0,0,0,0,0,13.99,14.37,28.83
$GC,1318,-1.37,-146.0,2836,890,2697,2667,184.5,-12.4,83,1323,0.00,2.28,0.00,0.000,1030,0.000,0.050,2831,1898,2681,2697,2666,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1633,-1.34,-146.0,2832,1897,2697,2665,219.6,-10.4,104,1639,0.12,2.33,0.00,0.000,2564,0.300,0.057,2860,888,2681,2697,2665,0,0,0,0,0,0,14.04,14.25,28.83
$GC,1871,-1.34,-146.0,1792,888,2635,2656,243.4,-10.6,119,1876,0.00,2.22,0.00,0.000,1030,0.000,0.050,2857,1875,2680,2697,2664,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2205,-1.34,-146.0,2858,1874,2697,2663,281.0,-11.7,132,2211,0.00,2.75,0.00,0.000,260,0.000,0.080,2858,3009,2680,2697,2663,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2344,-1.34,-146.0,2858,3009,2696,2663,297.0,-12.4,136,2349,0.00,2.72,0.00,0.000,1030,0.000,0.048,2858,1844,2679,2696,2663,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2672,-1.34,-146.0,2858,1839,2696,2661,337.8,-12.0,147,2678,0.00,2.17,0.00,0.000,516,0.000,0.074,2858,891,2678,2696,2660,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2909,-1.34,-146.0,2858,892,2696,2659,366.1,-12.8,154,2914,0.00,2.12,0.00,0.000,1030,0.000,0.055,2857,1826,2677,2696,2658,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3225,-1.34,-146.0,2857,1825,2696,2656,405.5,-11.2,165,3231,0.00,2.85,0.00,0.000,260,0.000,0.076,2858,3012,2676,2696,2656,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3357,-1.34,-146.0,1792,3008,2634,2647,419.5,-11.1,169,3363,0.00,2.78,0.00,0.000,1030,0.000,0.043,2857,1806,2675,2695,2656,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3692,-1.34,-146.0,2858,1807,2694,2654,452.8,-9.6,180,3697,0.00,2.08,0.00,0.000,516,0.000,0.068,2857,892,2674,2695,2654,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3929,-1.34,-146.0,2858,892,2695,2653,475.6,-10.6,187,3935,0.00,2.03,0.00,0.000,1030,0.000,0.054,2857,1784,2673,2694,2652,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4245,-1.34,-146.0,2858,1784,2694,2650,513.9,-12.0,198,4251,0.00,2.05,0.00,0.000,516,0.000,0.060,2857,890,2672,2694,2651,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,4430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4430,begin apogee
$GC,4441,-0.25,0.0,2857,1803,2692,2650,540.0,-14.1,204,4617,1.40,0.00,170.27,1.310,10244,0.231,0.000,3206,1803,2085,2142,2029,0,0,0,0,0,0,13.64,28.83,13.40
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4619,begin climb
$GC,4623,1.68,146.0,3206,1803,2138,2024,551.3,0.0,210,4756,1.98,2.53,119.82,1.526,10500,0.100,0.068,3835,2859,1487,1508,1466,0,0,0,0,0,0,14.30,14.33,13.35
$GC,4988,1.57,146.0,3328,2855,1450,1459,506.2,16.4,222,4994,0.17,2.47,0.00,0.000,5126,0.327,0.049,3803,1790,1472,1481,1463,0,0,0,0,0,0,14.05,14.51,28.83
$GC,5320,1.50,146.0,3803,1791,1481,1461,457.6,14.1,233,5325,0.00,2.53,0.00,0.000,260,0.000,0.058,3803,2860,1471,1481,1461,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5557,1.41,146.0,3803,2860,1478,1461,424.8,15.2,240,5563,0.28,2.40,0.00,0.000,5126,0.305,0.048,3752,1824,1469,1478,1461,0,0,0,0,0,0,13.93,14.49,28.83
$GC,5876,1.36,146.0,3752,1825,1478,1460,382.4,12.1,251,5881,0.00,2.50,0.00,0.000,516,0.000,0.070,3752,739,1469,1478,1460,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6043,1.33,146.0,3752,739,1478,1459,363.0,11.9,256,6049,0.15,2.47,0.00,0.000,5126,0.278,0.045,3722,1841,1468,1478,1458,0,0,0,0,0,0,14.01,14.49,28.83
$GC,6375,1.31,146.0,3723,1840,1479,1456,325.1,11.1,267,6380,0.00,2.40,0.00,0.000,260,0.000,0.063,3722,2863,1467,1478,1456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6613,1.27,146.0,3723,2862,1477,1456,298.1,12.0,274,6618,0.00,2.33,0.00,0.000,1030,0.000,0.046,3726,1857,1466,1477,1456,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6932,1.24,146.0,3726,1858,1484,1456,262.5,10.5,285,6938,0.12,2.40,0.00,0.000,4356,0.316,0.055,3698,2860,1466,1477,1455,0,0,0,0,0,0,13.94,14.36,28.83
$GC,7170,1.22,146.0,3698,2860,1477,1457,236.6,11.2,296,7176,0.00,2.35,0.00,0.000,1030,0.000,0.046,3699,1853,1466,1476,1456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7486,1.22,146.0,3699,1853,1477,1455,202.6,10.7,317,7491,0.00,2.42,0.00,0.000,260,0.000,0.057,3699,2862,1466,1477,1455,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7725,1.20,146.0,3699,2861,1476,1455,176.8,10.8,332,7730,0.00,2.33,0.00,0.000,1030,0.000,0.044,3699,1865,1465,1476,1455,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8039,1.20,146.0,3700,1865,1477,1455,145.3,9.4,353,8045,0.00,2.40,0.00,0.000,260,0.000,0.057,3700,2865,1465,1476,1455,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8237,1.20,146.0,3699,2864,1476,1454,125.1,10.8,365,8244,0.00,2.33,0.00,0.000,1030,0.000,0.045,3699,1872,1465,1476,1454,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8542,1.20,146.0,3699,1873,1476,1454,94.8,10.1,386,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,1873,1465,1476,1454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8842,1.20,146.0,3699,1873,1476,1455,67.5,8.8,406,8848,0.00,2.38,0.00,0.000,260,0.000,0.056,3699,2868,1465,1476,1454,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9081,1.20,146.0,3700,2866,1476,1454,44.0,10.0,421,9087,0.00,2.33,0.00,0.000,1030,0.000,0.044,3699,1865,1465,1476,1455,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9397,1.22,147.1,3700,1866,1476,1454,18.1,7.4,442,9402,0.00,2.62,0.00,0.000,516,0.000,0.069,3700,739,1465,1476,1455,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9426,1.23,147.1,3699,740,1476,1454,16.4,7.6,443,9433,0.00,2.58,0.00,0.000,1030,0.000,0.042,3699,1885,1464,1476,1453,0,0,0,0,0,0,28.83,14.29,28.83
$STATE,9608,end climb,SURFACE_DEPTH_REACHED
$STATE,9612,begin surface coast
$FINISH,2.9,1.014061
$STATE,9654,end surface coast,CONTROL_FINISHED_OK
$STATE,9654,begin surface
$SM_CCo,9680,162.38,0.074,0,0,190,465.09
$SM_GC,3.28,10.48,0.12,162.38,0.046,0.095,0.074,126,1963,190,-9.78,-0.79,465.09,0,0,0,0,0,0,14.53,14.48,14.31
$IRIDIUM_FIX,2441.81,-3726.87,230813,181804
$TT8_MAMPS,0.023219,0.023219
$HUMID,81.62
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3791360
$24V_AH,13.4,215.580
$10V_AH,13.2,0.000
$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,28.125,86.800,290.100,162.375,0.000,0.000,0.000,436.675,0.000,0.000,245.523,2010.863,5623.065,538.885,2332.439,948.247,0.000,1821.137,0.000,1594.335,0.000,0.542,0.000
$DEVICE_MAMPS,364.140,94.860,1526.175,74.205,0.000,0.000,0.000,169.830,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9663.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.206,0.000,0.000,0.000
$MEM,345148
$DATA_FILE_SIZE,16766,459
$CAP_FILE_SIZE,123940,0
$CFSIZE,260034560,177987584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,6.720,357.8,1
$GPS,230813,181604,2441.810,-3726.874,0,10000.0,0,-14.9