version: 66.11
glider: 160
mission: 9
dive: 598
start: 8 23 113 21 50 12
data:
$ID,160
$MISSION,9
$DIVE,598
$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,-126255.78
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,230813,181604,2441.810,-3726.874,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-68.6
$GPS2,230813,181604,2441.810,-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,226.2,60907,-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,-72.9,126,1966,221,167,0.0,0.0,0,116,0.00,0.00,-90.18,0.000,16390,0.000,0.000,126,1966,2384,2357,2411,0,0,0,0,0,0,28.83,28.83,14.83
$GC,122,-1.68,-146.0,126,1966,2357,2411,3.5,-1.7,6,148,13.07,2.47,-6.72,0.000,18948,0.365,0.082,2746,892,2682,2695,2670,0,0,0,0,0,0,13.87,14.47,14.85
$GC,384,-1.58,-146.0,2748,892,2696,2670,51.4,-18.3,22,392,0.17,2.40,0.00,0.000,3078,0.314,0.061,2779,1937,2682,2696,2669,0,0,0,0,0,0,13.91,14.42,28.83
$GC,688,-1.51,-146.0,2779,1936,2696,2670,97.1,-13.9,43,694,0.12,2.55,0.00,0.000,2308,0.317,0.072,2801,3010,2682,2695,2670,0,0,0,0,0,0,14.01,14.36,28.83
$GC,806,-1.45,-146.0,2802,3010,2695,2670,111.8,-13.0,50,812,0.00,2.53,0.00,0.000,1030,0.000,0.044,2801,1905,2682,2695,2670,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1122,-1.40,-146.0,2802,1906,2696,2670,150.1,-11.6,71,1128,0.15,2.65,0.00,0.000,2308,0.291,0.067,2830,3011,2682,2696,2669,0,0,0,0,0,0,13.96,14.17,28.83
$GC,1270,-1.37,-146.0,1792,3007,2635,2660,166.8,-11.7,80,1276,0.00,2.58,0.00,0.000,1030,0.000,0.044,2829,1886,2682,2696,2669,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1586,-1.34,-146.0,2829,1887,2696,2669,201.0,-10.5,101,1591,0.12,2.25,0.00,0.000,2564,0.291,0.068,2859,899,2682,2696,2668,0,0,0,0,0,0,14.07,14.41,28.83
$GC,1823,-1.34,-146.0,2859,899,2696,2668,225.8,-10.9,116,1828,0.00,2.20,0.00,0.000,1030,0.000,0.059,2858,1864,2680,2695,2666,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2138,-1.34,-146.0,2858,1863,2696,2666,261.1,-11.2,134,2144,0.00,2.75,0.00,0.000,260,0.000,0.076,2857,3009,2681,2696,2666,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2306,-1.34,-146.0,2857,3009,2695,2665,279.6,-11.7,139,2312,0.00,2.67,0.00,0.000,1030,0.000,0.042,2857,1841,2680,2696,2665,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2636,-1.34,-146.0,2857,1843,2695,2664,316.8,-11.1,150,2641,0.00,2.15,0.00,0.000,516,0.000,0.071,2857,898,2679,2695,2663,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2871,-1.34,-146.0,2857,898,2695,2661,342.6,-11.8,157,2877,0.00,2.10,0.00,0.000,1030,0.000,0.058,2857,1823,2678,2696,2660,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3188,-1.34,-146.0,2857,1823,2696,2659,382.1,-12.2,168,3194,0.00,2.12,0.00,0.000,516,0.000,0.063,2857,894,2677,2695,2659,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3426,-1.34,-146.0,2857,894,2695,2657,409.3,-12.3,175,3431,0.00,2.05,0.00,0.000,1030,0.000,0.055,2857,1793,2675,2695,2656,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3741,-1.34,-146.0,2857,1792,2696,2655,448.4,-11.6,186,3746,0.00,2.90,0.00,0.000,260,0.000,0.073,2857,3007,2675,2695,2655,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3918,-1.34,-146.0,2857,3007,2694,2655,467.3,-12.0,191,3924,0.00,2.85,0.00,0.000,1030,0.000,0.042,2859,1770,2674,2694,2654,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4233,-1.34,-146.0,2857,1772,2694,2653,506.9,-11.6,202,4239,0.00,1.98,0.00,0.000,516,0.000,0.066,2857,896,2673,2694,2652,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4472,-1.34,-146.0,2857,897,2693,2647,533.5,-12.1,209,4477,0.00,1.95,0.00,0.000,1030,0.000,0.054,2857,1759,2672,2693,2651,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,4513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4513,begin apogee
$GC,4524,-0.25,0.0,2857,1803,2692,2651,541.7,-12.5,211,4662,1.40,0.00,125.62,1.499,10244,0.233,0.000,3205,1803,2082,2138,2027,0,0,0,0,0,0,13.66,28.83,13.28
$STATE,4663,end apogee,CONTROL_FINISHED_OK
$STATE,4663,begin climb
$GC,4667,1.68,146.0,3205,1802,2135,2025,548.7,0.0,215,4801,1.98,2.53,119.30,1.532,10500,0.098,0.069,3834,2863,1489,1511,1467,0,0,0,0,0,0,14.22,14.34,13.35
$GC,5033,1.58,146.0,3832,2862,1483,1464,507.5,15.9,227,5040,0.15,2.45,0.00,0.000,5126,0.325,0.049,3809,1802,1473,1483,1464,0,0,0,0,0,0,14.08,14.51,28.83
$GC,5342,1.50,146.0,3809,1804,1482,1463,456.6,15.8,238,5348,0.12,2.53,0.00,0.000,4356,0.314,0.057,3781,2870,1471,1481,1462,0,0,0,0,0,0,14.10,14.51,28.83
$GC,5504,1.42,146.0,3781,2870,1481,1462,429.4,16.8,243,5512,0.15,2.50,0.00,0.000,5126,0.321,0.050,3755,1805,1474,1481,1468,0,0,0,0,0,0,14.02,14.50,28.83
$GC,5838,1.38,146.0,3755,1806,1481,1461,378.3,14.6,254,5843,0.00,2.53,0.00,0.000,260,0.000,0.058,3755,2868,1471,1481,1461,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5956,1.33,146.0,3755,2868,1480,1460,363.5,15.2,257,5962,0.15,2.45,0.00,0.000,5126,0.308,0.048,3727,1817,1470,1480,1460,0,0,0,0,0,0,13.98,14.48,28.83
$GC,6280,1.31,146.0,3727,1818,1480,1459,321.7,11.4,268,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3727,1818,1467,1476,1459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6574,1.28,146.0,3727,1818,1480,1457,290.8,9.9,278,6579,0.00,2.50,0.00,0.000,260,0.000,0.057,3727,2863,1468,1480,1457,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6693,1.25,146.0,3727,2863,1479,1456,280.3,10.9,281,6699,0.15,2.42,0.00,0.000,5126,0.303,0.048,3698,1830,1468,1479,1457,0,0,0,0,0,0,13.92,14.42,28.83
$GC,7008,1.25,146.0,3698,1831,1480,1457,242.2,12.5,294,7014,0.00,2.53,0.00,0.000,516,0.000,0.070,3699,737,1465,1479,1451,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7033,1.25,146.0,3699,737,1479,1457,239.5,12.7,295,7039,0.00,2.47,0.00,0.000,1030,0.000,0.045,3699,1843,1468,1479,1457,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7349,1.25,146.0,3699,1843,1479,1456,201.5,11.2,316,7354,0.00,2.40,0.00,0.000,260,0.000,0.062,3699,2856,1467,1479,1456,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7586,1.23,146.0,3699,2856,1478,1456,176.0,10.0,331,7591,0.00,2.35,0.00,0.000,1030,0.000,0.047,3700,1851,1467,1478,1456,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7901,1.23,146.0,3700,1853,1479,1456,148.7,8.9,352,7907,0.00,2.40,0.00,0.000,260,0.000,0.057,3698,2852,1467,1478,1456,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8053,1.23,146.0,3700,2852,1478,1456,134.1,10.6,361,8060,0.00,2.30,0.00,0.000,1030,0.000,0.045,3700,1867,1467,1478,1456,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8358,1.23,146.0,3700,1868,1478,1456,101.4,10.5,382,8363,0.00,2.60,0.00,0.000,516,0.000,0.069,3699,741,1467,1478,1456,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8458,1.23,146.0,2976,741,1447,1452,91.4,10.4,388,8463,0.00,2.50,0.00,0.000,1030,0.000,0.044,3699,1855,1467,1478,1456,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8774,1.23,149.3,3699,1855,1478,1455,63.5,7.3,409,8780,0.00,2.38,0.00,0.000,260,0.000,0.062,3700,2855,1466,1478,1455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8902,1.23,149.3,3700,2856,1479,1455,52.6,8.8,417,8908,0.00,2.42,0.00,0.000,1030,0.000,0.046,3700,1831,1466,1478,1455,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9223,1.25,149.3,3700,1832,1479,1455,27.0,7.8,438,9228,0.00,2.53,0.00,0.000,516,0.000,0.070,3699,744,1466,1478,1455,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9338,1.28,149.3,3700,744,1472,1455,18.0,8.0,445,9344,0.00,2.45,0.00,0.000,1030,0.000,0.044,3699,1827,1467,1479,1455,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,9539,end climb,SURFACE_DEPTH_REACHED
$STATE,9539,begin surface coast
$FINISH,3.0,1.014082
$STATE,9596,end surface coast,CONTROL_FINISHED_OK
$STATE,9596,begin surface
$SM_CCo,9622,162.30,0.074,0,0,189,465.09
$SM_GC,3.28,10.48,0.28,162.30,0.046,0.078,0.074,125,1960,189,-9.78,-0.71,465.09,0,0,0,0,0,0,14.50,14.35,14.32
$IRIDIUM_FIX,2446.56,-3730.20,230813,212109
$TT8_MAMPS,0.024717,0.024717
$HUMID,81.58
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3790976
$24V_AH,13.3,215.814
$10V_AH,12.6,0.000
$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,28.225,92.750,244.925,162.300,0.000,0.000,0.000,954.550,0.000,0.000,246.623,1943.585,5719.298,522.206,2665.090,1089.855,0.000,2280.800,0.000,1509.211,0.000,0.542,0.000
$DEVICE_MAMPS,364.905,146.880,1532.295,74.205,0.000,0.000,0.000,209.610,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9624.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.253,0.000,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,16790,462
$CAP_FILE_SIZE,132535,0
$CFSIZE,260034560,177942528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,21.870,147.2,1
$GPS,230813,214209,2446.559,-3730.205,0,10000.0,0,-14.9