version: 66.11
glider: 160
mission: 9
dive: 599
start: 8 24 113 1 5 37
data:
$ID,160
$MISSION,9
$DIVE,599
$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,-126744.71
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,230813,214209,2446.559,-3730.205,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.2
$GPS2,230813,214209,2446.559,-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,-72.9,124,1963,220,167,0.0,0.0,0,102,0.00,0.00,-77.38,0.000,16386,0.000,0.000,124,1963,2026,2022,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.68,-146.0,124,1963,2023,2030,3.0,-0.6,5,150,12.90,2.53,-19.35,0.000,18692,0.359,0.099,2738,2996,2683,2698,2668,0,0,0,0,0,0,13.99,14.36,14.85
$GC,262,-1.57,-146.0,2738,2996,2698,2668,27.0,-20.0,14,270,0.22,2.42,0.00,0.000,3078,0.308,0.048,2781,1953,2683,2698,2668,0,0,0,0,0,0,13.78,14.38,28.83
$GC,568,-1.50,-146.0,2781,1954,2697,2668,79.8,-14.8,35,575,0.12,2.55,0.00,0.000,2308,0.317,0.073,2802,2995,2683,2698,2668,0,0,0,0,0,0,13.99,14.28,28.83
$GC,658,-1.45,-146.0,2802,2995,2698,2668,92.4,-15.2,40,664,0.00,2.58,0.00,0.000,1030,0.000,0.054,2802,1905,2683,2698,2668,0,0,0,0,0,0,28.83,14.37,28.83
$GC,975,-1.39,-146.0,2802,1906,2698,2667,141.3,-14.8,61,981,0.15,2.70,0.00,0.000,2308,0.293,0.077,2830,2997,2682,2698,2667,0,0,0,0,0,0,13.78,14.26,28.83
$GC,1127,-1.36,-146.0,2830,2996,2698,2672,160.7,-13.0,70,1134,0.00,2.65,0.00,0.000,1030,0.000,0.053,2829,1864,2682,2698,2667,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1433,-1.33,-146.0,2829,1865,2698,2667,191.4,-8.9,91,1440,0.12,2.25,0.00,0.000,2564,0.294,0.073,2860,887,2682,2698,2667,0,0,0,0,0,0,14.04,14.32,28.83
$GC,1674,-1.31,-146.0,1792,886,2636,2657,213.7,-10.6,106,1679,0.00,2.15,0.00,0.000,1030,0.000,0.057,2858,1833,2682,2698,2666,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2004,-1.31,-146.0,2858,1833,2698,2665,255.2,-13.0,127,2010,0.00,2.17,0.00,0.000,516,0.000,0.066,2857,889,2681,2697,2665,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2242,-1.31,-146.0,2858,890,2698,2664,280.7,-11.2,134,2247,0.00,2.12,0.00,0.000,1030,0.000,0.057,2857,1826,2681,2698,2664,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2556,-1.31,-146.0,2858,1825,2698,2662,311.4,-9.1,145,2562,0.00,2.15,0.00,0.000,516,0.000,0.063,2857,884,2680,2698,2662,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2793,-1.31,-146.0,2858,885,2698,2661,334.1,-10.7,152,2799,0.00,2.10,0.00,0.000,1030,0.000,0.055,2857,1806,2679,2698,2660,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3110,-1.31,-146.0,2858,1808,2698,2659,376.1,-13.6,163,3117,0.00,2.12,0.00,0.000,516,0.000,0.061,2858,884,2678,2698,2658,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3140,-1.31,-146.0,2858,884,2698,2659,376.1,-13.6,163,3147,0.00,2.03,0.00,0.000,1030,0.000,0.054,2857,1781,2678,2698,2658,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3446,-1.31,-146.0,2857,1781,2698,2656,423.1,-13.9,174,3452,0.00,2.92,0.00,0.000,260,0.000,0.073,2857,2998,2676,2697,2655,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3543,-1.31,-146.0,2857,2997,2696,2655,436.2,-13.7,177,3549,0.00,2.85,0.00,0.000,1030,0.000,0.042,2857,1769,2676,2696,2656,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3882,-1.31,-146.0,2857,1771,2696,2654,476.4,-11.3,188,3887,0.00,2.00,0.00,0.000,516,0.000,0.066,2858,885,2675,2696,2654,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4118,-1.31,-146.0,2858,885,2696,2654,501.1,-11.2,195,4124,0.00,1.95,0.00,0.000,1030,0.000,0.054,2857,1741,2674,2696,2653,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4435,-1.31,-146.0,2857,1740,2695,2651,536.6,-10.6,206,4441,0.00,3.00,0.00,0.000,260,0.000,0.073,2857,2996,2670,2695,2645,0,0,0,0,0,0,28.83,14.29,28.83
$STATE,4467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4467,begin apogee
$GC,4479,-0.25,0.0,2857,1791,2695,2651,540.7,-10.8,207,4658,1.38,0.00,171.12,1.301,10244,0.230,0.000,3201,1791,2083,2139,2027,0,0,0,0,0,0,13.66,28.83,13.40
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4664,1.68,146.0,3201,1791,2136,2025,547.1,0.0,213,4797,2.03,2.42,119.82,1.526,10756,0.117,0.068,3825,740,1490,1538,1442,0,0,0,0,0,0,14.25,14.33,13.34
$GC,4827,1.58,146.0,3826,740,1527,1440,535.2,9.7,218,4832,0.00,2.40,0.00,0.000,1030,0.000,0.050,3825,1798,1482,1526,1438,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5146,1.50,146.0,3825,1797,1515,1437,486.3,14.0,229,5152,0.17,2.47,0.00,0.000,4356,0.315,0.061,3787,2860,1475,1515,1436,0,0,0,0,0,0,13.97,14.51,28.83
$GC,5384,1.41,146.0,3787,2859,1510,1436,455.5,13.6,236,5390,0.20,2.40,0.00,0.000,5126,0.316,0.045,3755,1822,1471,1507,1436,0,0,0,0,0,0,13.95,14.53,28.83
$GC,5707,1.37,146.0,3756,1823,1504,1436,414.2,12.5,247,5712,0.00,2.47,0.00,0.000,260,0.000,0.058,3755,2864,1469,1503,1436,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5945,1.31,146.0,3750,2863,1499,1436,383.2,14.0,254,5951,0.22,2.40,0.00,0.000,5126,0.301,0.045,3717,1830,1470,1503,1437,0,0,0,0,0,0,13.88,14.50,28.83
$GC,6264,1.29,146.0,3718,1832,1499,1436,340.0,13.0,265,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,3717,1832,1468,1499,1437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,1.27,146.0,3717,1832,1498,1437,300.9,13.0,275,6568,0.00,2.47,0.00,0.000,260,0.000,0.057,3717,2860,1469,1498,1441,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6696,1.24,146.0,3717,2859,1496,1436,284.0,13.2,279,6703,0.15,2.38,0.00,0.000,5126,0.283,0.042,3696,1840,1466,1496,1437,0,0,0,0,0,0,13.95,14.45,28.83
$GC,7013,1.24,146.0,3696,1841,1496,1436,247.5,11.3,290,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,3695,1841,1466,1496,1437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,1.24,146.0,3696,1842,1496,1436,212.7,11.5,310,7318,0.00,2.42,0.00,0.000,260,0.000,0.055,3696,2860,1466,1496,1437,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7503,1.24,146.0,2976,2855,1463,1432,189.4,12.5,322,7509,0.00,2.40,0.00,0.000,1030,0.000,0.043,3699,1830,1466,1495,1437,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7818,1.24,146.0,3699,1831,1495,1436,151.8,11.4,343,7824,0.00,2.47,0.00,0.000,260,0.000,0.055,3699,2862,1466,1495,1437,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7919,1.22,146.0,3699,2862,1494,1436,140.3,12.0,349,7924,0.00,2.38,0.00,0.000,1030,0.000,0.044,3699,1846,1466,1495,1437,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8239,1.22,146.0,3699,1847,1495,1437,106.9,10.1,370,8245,0.00,2.45,0.00,0.000,260,0.000,0.055,3699,2861,1465,1494,1437,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8265,1.22,146.0,3699,2861,1494,1436,104.7,10.2,371,8270,0.00,2.35,0.00,0.000,1030,0.000,0.044,3699,1855,1466,1495,1437,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8580,1.22,146.0,3699,1857,1494,1436,77.3,7.6,392,8585,0.00,2.58,0.00,0.000,516,0.000,0.069,3699,750,1465,1494,1437,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8631,1.22,146.0,3700,750,1494,1437,73.2,8.3,395,8637,0.00,2.50,0.00,0.000,1030,0.000,0.043,3699,1851,1465,1494,1436,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8952,1.25,153.6,3699,1851,1494,1437,49.2,7.0,416,8957,0.00,2.40,0.00,0.000,260,0.000,0.060,3700,2863,1465,1494,1436,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9192,1.25,153.6,3699,2863,1494,1437,31.2,8.6,431,9197,0.00,2.35,0.00,0.000,1030,0.000,0.044,3699,1856,1465,1494,1437,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9507,1.29,153.6,3700,1857,1494,1437,3.7,8.9,452,9512,0.00,2.40,0.00,0.000,260,0.000,0.060,3699,2855,1466,1495,1437,0,0,0,0,0,0,28.83,14.25,28.83
$STATE,9523,end climb,SURFACE_DEPTH_REACHED
$STATE,9523,begin surface coast
$FINISH,2.9,1.025087
$STATE,9554,end surface coast,CONTROL_FINISHED_OK
$STATE,9554,begin surface
$SM_CCo,9583,162.18,0.074,0,0,190,465.09
$SM_GC,3.26,10.40,2.15,162.18,0.041,0.044,0.074,141,1959,190,-9.79,0.99,465.09,0,0,0,0,0,0,14.45,14.31,14.32
$IRIDIUM_FIX,2446.56,-3728.32,240813,000041
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.69
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3790592
$24V_AH,13.3,216.020
$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,28.075,96.350,290.950,162.175,0.000,0.000,0.000,452.575,0.000,0.000,243.460,1837.949,5853.070,556.480,2132.313,992.365,0.000,1790.762,0.000,1411.706,0.000,0.542,0.000
$DEVICE_MAMPS,358.785,98.685,1526.175,74.205,0.000,0.000,0.000,208.080,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9566.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.182,0.000,0.000,0.000
$MEM,344784
$DATA_FILE_SIZE,16771,455
$CAP_FILE_SIZE,125462,0
$CFSIZE,260034560,177864704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.844,263.9,1
$GPS,240813,005041,2446.559,-3728.319,0,10000.0,0,-14.9