version: 66.11
glider: 160
mission: 9
dive: 575
start: 8 20 113 11 24 10
data:
$ID,160
$MISSION,9
$DIVE,575
$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,-115224.98
$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,28
$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
$GPS1,200813,075324,2446.559,-3733.536,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.1
$GPS2,200813,075324,2446.559,-3733.536,241,99.0,241,-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,214.0,53288,-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,-72.9,143,1955,220,168,0.0,0.0,0,113,0.00,0.00,-87.45,0.000,16386,0.000,0.000,144,1955,2296,2276,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.68,-146.0,144,1955,2277,2318,3.4,-1.0,6,151,13.15,2.47,-9.52,0.000,18948,0.373,0.083,2744,892,2683,2695,2671,0,0,0,0,0,0,14.01,14.43,14.85
$GC,388,-1.58,-146.0,2744,892,2696,2671,54.4,-19.5,23,394,0.22,2.45,0.00,0.000,3078,0.317,0.060,2778,1944,2683,2696,2671,0,0,0,0,0,0,13.80,14.36,28.83
$GC,710,-1.51,-146.0,2779,1943,2695,2670,107.4,-14.0,44,716,0.12,2.47,0.00,0.000,2564,0.331,0.064,2808,891,2683,2696,2670,0,0,0,0,0,0,13.91,14.37,28.83
$GC,948,-1.46,-146.0,2808,891,2696,2670,135.7,-11.7,59,953,0.00,2.42,0.00,0.000,1030,0.000,0.059,2802,1934,2682,2695,2670,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1265,-1.41,-146.0,2802,1933,2695,2670,172.8,-12.8,80,1271,0.15,2.45,0.00,0.000,2564,0.311,0.061,2835,893,2682,2695,2670,0,0,0,0,0,0,13.83,14.38,28.83
$GC,1503,-1.39,-146.0,1792,892,2634,2661,205.8,-14.1,95,1508,0.00,2.40,0.00,0.000,1030,0.000,0.057,2833,1927,2682,2696,2669,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1819,-1.36,-146.0,2833,1926,2695,2669,252.0,-13.9,116,1824,0.00,2.40,0.00,0.000,516,0.000,0.063,2833,892,2681,2695,2668,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2055,-1.33,-146.0,2833,893,2695,2668,282.4,-13.8,123,2062,0.15,2.38,0.00,0.000,3078,0.289,0.055,2858,1917,2681,2696,2667,0,0,0,0,0,0,13.95,14.38,28.83
$GC,2375,-1.33,-146.0,2859,1915,2695,2666,322.7,-11.4,134,2381,0.00,2.38,0.00,0.000,516,0.000,0.061,2858,892,2677,2695,2659,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2613,-1.33,-146.0,2859,892,2695,2665,346.1,-10.3,141,2618,0.00,2.33,0.00,0.000,1030,0.000,0.054,2859,1899,2680,2696,2664,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2928,-1.33,-146.0,2859,1898,2695,2662,378.7,-9.9,152,2933,0.00,2.35,0.00,0.000,516,0.000,0.060,2859,886,2678,2695,2662,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3164,-1.33,-146.0,2859,886,2695,2661,404.2,-11.8,159,3170,0.00,2.30,0.00,0.000,1030,0.000,0.051,2859,1881,2678,2695,2661,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3481,-1.33,-146.0,2859,1880,2695,2658,448.4,-13.4,170,3486,0.00,2.30,0.00,0.000,516,0.000,0.059,2859,890,2677,2695,2659,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3717,-1.33,-146.0,2859,889,2695,2657,477.4,-13.1,177,3722,0.00,2.22,0.00,0.000,1030,0.000,0.050,2859,1861,2675,2695,2656,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4034,-1.33,-146.0,2859,1860,2695,2654,518.8,-11.9,188,4039,0.00,2.25,0.00,0.000,516,0.000,0.058,2859,888,2674,2695,2654,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4224,-1.33,-146.0,2859,889,2694,2654,539.9,-11.0,194,4229,0.00,2.20,0.00,0.000,1030,0.000,0.049,2859,1852,2674,2694,2654,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,4250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4250,begin apogee
$GC,4259,-0.25,0.0,2859,1757,2694,2650,543.4,-10.7,195,4389,1.38,0.10,119.00,1.547,10244,0.233,0.047,3202,1839,2082,2139,2025,0,0,0,0,0,0,13.71,14.29,13.28
$STATE,4391,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4396,1.68,146.0,3202,1839,2135,2024,546.3,0.0,199,4530,2.03,2.50,119.30,1.531,10756,0.117,0.061,3825,778,1485,1536,1435,0,0,0,0,0,0,14.25,14.34,13.36
$GC,4732,1.60,146.0,3826,778,1519,1434,498.2,18.1,210,4737,0.00,2.25,0.00,0.000,1030,0.000,0.044,3826,1775,1476,1518,1434,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5051,1.52,146.0,3826,1775,1513,1433,442.7,15.5,221,5057,0.15,2.30,0.00,0.000,4612,0.317,0.059,3795,778,1473,1513,1433,0,0,0,0,0,0,13.96,14.49,28.83
$GC,5174,1.45,146.0,3796,782,1513,1433,428.5,14.5,224,5182,0.17,2.33,0.00,0.000,5126,0.302,0.043,3761,1822,1472,1513,1432,0,0,0,0,0,0,14.02,14.53,28.83
$GC,5482,1.40,146.0,3761,1820,1508,1430,388.0,12.3,235,5487,0.00,2.42,0.00,0.000,260,0.000,0.068,3762,2854,1471,1512,1430,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5613,1.34,146.0,3104,2849,1474,1425,370.8,13.3,239,5619,0.20,2.28,0.00,0.000,5126,0.304,0.050,3728,1875,1469,1509,1429,0,0,0,0,0,0,13.94,14.49,28.83
$GC,5949,1.31,146.0,3729,1875,1509,1428,327.9,12.9,250,5954,0.00,2.55,0.00,0.000,516,0.000,0.068,3729,783,1468,1509,1428,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5999,1.29,146.0,3729,782,1509,1428,322.8,12.9,251,6004,0.00,2.38,0.00,0.000,1030,0.000,0.041,3728,1829,1468,1508,1428,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6324,1.26,146.0,3729,1828,1508,1427,280.5,13.0,262,6330,0.00,2.42,0.00,0.000,260,0.000,0.068,3728,2863,1468,1509,1427,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6562,1.22,146.0,3728,2863,1506,1427,246.7,14.3,270,6568,0.17,2.28,0.00,0.000,5126,0.301,0.051,3693,1881,1466,1506,1427,0,0,0,0,0,0,13.87,14.37,28.83
$GC,6878,1.22,146.0,3693,1882,1506,1426,207.5,11.6,291,6883,0.00,2.58,0.00,0.000,516,0.000,0.066,3700,777,1466,1506,1426,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6914,1.22,146.0,3700,779,1506,1433,203.3,11.7,293,6920,0.00,2.47,0.00,0.000,1030,0.000,0.042,3700,1858,1466,1506,1426,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7234,1.22,146.0,3699,1857,1506,1425,168.3,10.7,314,7240,0.00,2.35,0.00,0.000,260,0.000,0.068,3699,2858,1465,1506,1425,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7426,1.20,146.0,2976,2854,1471,1421,146.0,12.0,326,7431,0.00,2.22,0.00,0.000,1030,0.000,0.050,3700,1909,1464,1503,1425,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7741,1.20,146.0,3700,1909,1504,1425,116.4,9.1,347,7746,0.00,2.28,0.00,0.000,260,0.000,0.064,3700,2857,1469,1504,1434,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7848,1.20,146.0,3700,2857,1507,1425,107.2,9.6,353,7855,0.00,2.20,0.00,0.000,1030,0.000,0.050,3700,1928,1464,1503,1425,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8150,1.20,146.0,3700,1929,1503,1425,76.2,10.3,374,8156,0.00,2.22,0.00,0.000,260,0.000,0.062,3700,2861,1464,1503,1425,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8202,1.20,146.0,3700,2861,1503,1425,70.6,10.8,377,8208,0.00,2.15,0.00,0.000,1030,0.000,0.046,3700,1946,1464,1503,1425,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8523,1.22,146.0,3700,1947,1502,1425,42.4,8.4,398,8529,0.00,2.70,0.00,0.000,516,0.000,0.065,3700,783,1464,1503,1425,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8647,1.24,146.0,3700,784,1503,1425,32.8,8.5,405,8654,0.00,2.55,0.00,0.000,1030,0.000,0.040,3700,1911,1464,1503,1425,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8949,1.26,146.0,3700,1911,1503,1425,4.9,9.2,426,8955,0.00,2.67,0.00,0.000,516,0.000,0.060,3700,785,1464,1504,1424,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9020,1.55,227.6,3700,783,1505,1422,3.6,1.7,430,9032,0.30,2.55,6.32,0.073,11266,0.086,0.048,3806,1891,1412,1454,1371,0,0,0,0,0,0,14.34,14.30,28.83
$STATE,9033,end climb,SURFACE_DEPTH_REACHED
$STATE,9033,begin surface coast
$FINISH,3.4,1.024499
$STATE,9157,end surface coast,NO_VERTICAL_VELOCITY
$STATE,9157,begin surface
$SM_CCo,9162,156.30,0.073,0,0,189,465.09
$SM_CCo,9591,0.35,0.083,0,0,189,465.09
$SM_GC,3.66,10.73,0.10,0.35,0.044,0.111,0.083,142,1991,189,-9.78,-0.74,465.09,0,0,0,0,0,0,14.54,14.63,14.41
$IRIDIUM_FIX,2448.93,-3731.65,200813,111116
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.23
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,3799808
$24V_AH,13.3,210.483
$10V_AH,13.3,0.000
$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,28.925,90.775,244.625,156.650,0.000,0.000,0.000,292.100,0.750,0.000,243.578,1931.016,5570.320,511.929,2099.495,1029.307,0.000,1613.583,0.000,1500.648,0.000,0.542,0.000
$DEVICE_MAMPS,372.555,110.925,1546.830,83.385,0.000,0.000,0.000,168.300,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9176.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.211,0.000,0.000,0.000
$MEM,345080
$DATA_FILE_SIZE,16760,439
$CAP_FILE_SIZE,124230,0
$CFSIZE,260034560,179445760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,13.131,209.2,1
$GPS,200813,111716,2448.935,-3731.652,0,10000.0,0,-14.9