version: 66.11
glider: 160
mission: 9
dive: 277
start: 6 5 113 12 23 46
data:
$ID,160
$MISSION,9
$DIVE,277
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,420
$T_MISSION,450
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55936
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41596.691
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3900
$C_PITCH,3315
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1910
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2479
$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,3
$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
$GPS1,050613,120706,2421.510,-3746.622,25,1.7,25,-15.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-73.2
$GPS2,050613,122315,2421.435,-3746.721,13,99.0,32,-15.0
$SPEED_LIMITS,0.136,0.224
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,240.8,1884,-26.9,-7.857,-30.00,857
$D_GRID,990
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.27,-44.0,138,1916,865,724,0.0,0.0,0,42,0.00,0.00,-16.05,0.000,16386,0.000,0.000,138,1916,1152,1152,1153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.27,-44.0,138,1916,1153,1153,3.3,0.0,1,133,12.62,2.35,-67.28,0.000,18948,0.342,0.075,2902,849,2658,2696,2621,0,0,0,0,0,0,14.31,14.52,14.78
$GC,365,-1.20,-44.0,2902,849,2697,2621,34.7,-15.5,22,371,0.00,2.25,0.00,0.000,1030,0.000,0.037,2902,1912,2659,2697,2621,0,0,0,0,0,0,28.83,14.61,28.83
$GC,684,-1.14,-44.0,2901,1912,2697,2621,84.6,-16.8,43,690,0.17,2.30,0.00,0.000,2564,0.295,0.045,2942,843,2659,2697,2621,0,0,0,0,0,0,14.23,14.62,28.83
$GC,859,-1.11,-44.0,1920,842,2643,2613,114.5,-17.9,54,865,0.00,2.20,0.00,0.000,1030,0.000,0.037,2942,1891,2659,2697,2621,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1173,-1.09,-44.0,2942,1890,2699,2621,165.8,-13.5,75,1178,0.00,2.22,0.00,0.000,516,0.000,0.047,2942,847,2659,2698,2621,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1218,-1.07,-44.0,2942,847,2698,2621,169.8,-12.3,77,1225,0.00,2.17,0.00,0.000,1030,0.000,0.036,2942,1888,2659,2697,2621,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1522,-1.07,-60.2,2949,1887,2697,2621,194.2,-5.9,98,1528,0.00,2.58,-0.35,0.000,16644,0.000,0.074,2942,2959,2732,2765,2699,0,0,0,0,0,0,28.83,14.60,14.77
$GC,1593,-1.06,-69.1,1888,2955,2710,2692,198.6,-6.8,102,1601,0.12,2.50,-0.17,0.000,19462,0.269,0.030,2970,1862,2764,2795,2733,0,0,0,0,0,0,14.31,14.61,14.66
$GC,1910,-1.06,-69.1,2967,1864,2795,2734,221.6,-8.8,123,1915,0.00,2.10,0.00,0.000,516,0.000,0.048,2967,866,2764,2794,2734,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1962,-1.06,-69.1,2967,866,2794,2733,226.6,-10.0,126,1968,0.00,2.15,0.00,0.000,1030,0.000,0.035,2967,1895,2763,2794,2733,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2276,-1.06,-69.1,2967,1895,2794,2734,265.8,-13.1,143,2281,0.00,2.53,0.00,0.000,260,0.000,0.057,2966,2963,2764,2794,2734,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2334,-1.06,-69.1,2967,2963,2794,2734,270.2,-13.0,144,2340,0.00,2.42,0.00,0.000,1030,0.000,0.030,2967,1893,2764,2794,2734,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2640,-1.06,-69.1,2967,1895,2794,2732,311.5,-11.8,155,2646,0.00,2.17,0.00,0.000,516,0.000,0.047,2967,859,2763,2794,2732,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2734,-1.06,-69.1,2967,855,2794,2732,322.5,-11.6,158,2740,0.00,2.15,0.00,0.000,1030,0.000,0.036,2966,1886,2762,2794,2731,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3070,-1.06,-69.1,2966,1885,2794,2729,356.5,-9.6,169,3075,0.00,2.17,0.00,0.000,516,0.000,0.047,2967,862,2760,2792,2729,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3128,-1.06,-69.1,2967,858,2794,2729,360.0,-9.5,170,3134,0.00,2.12,0.00,0.000,1030,0.000,0.036,2967,1883,2761,2793,2729,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3434,-1.06,-69.1,2967,1882,2794,2727,391.1,-9.2,181,3440,0.00,2.55,0.00,0.000,260,0.000,0.059,2967,2956,2760,2793,2727,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3512,-1.06,-69.1,2967,2955,2793,2727,397.2,-9.2,183,3518,0.00,2.42,0.00,0.000,1030,0.000,0.031,2966,1884,2760,2794,2726,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3833,-1.06,-69.1,2966,1886,2793,2725,430.3,-11.0,194,3839,0.00,2.15,0.00,0.000,516,0.000,0.049,2967,866,2759,2793,2725,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3953,-1.06,-69.1,2967,866,2793,2725,442.7,-12.6,197,3960,0.00,2.10,0.00,0.000,1030,0.000,0.037,2967,1873,2758,2791,2725,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4260,-1.08,-69.1,2967,1873,2792,2724,493.2,-16.3,208,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1872,2758,2792,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4557,-1.09,-69.1,2967,1873,2792,2723,540.0,-14.7,218,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1873,2757,2792,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-1.11,-69.1,2967,1873,2791,2721,574.3,-10.2,228,4863,0.00,2.58,0.00,0.000,260,0.000,0.060,2967,2955,2755,2790,2721,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4897,-1.13,-69.1,2967,2955,2790,2719,577.6,-9.9,229,4902,0.00,2.47,0.00,0.000,1030,0.000,0.032,2967,1866,2755,2790,2721,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5227,-1.15,-69.1,2967,1867,2789,2718,606.8,-8.7,240,5233,0.00,2.12,0.00,0.000,516,0.000,0.050,2966,863,2754,2789,2719,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5363,-1.17,-69.1,2967,863,2789,2719,619.1,-9.8,244,5368,0.00,2.05,0.00,0.000,1030,0.000,0.037,2966,1845,2753,2788,2719,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5690,-1.19,-69.1,2967,1845,2788,2718,657.2,-12.1,255,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1845,2752,2788,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5988,-1.21,-69.1,2967,1845,2787,2717,695.2,-12.6,265,5994,0.12,2.65,0.00,0.000,4356,0.142,0.059,2914,2955,2752,2787,2717,0,0,0,0,0,0,14.73,14.66,28.83
$GC,6031,-1.21,-69.1,2914,2954,2786,2716,700.1,-13.0,266,6036,0.00,2.55,0.00,0.000,1030,0.000,0.034,2914,1846,2751,2786,2717,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6357,-1.21,-69.1,2914,1848,2784,2716,745.1,-12.8,277,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1848,2750,2785,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,-1.21,-69.1,2914,1848,2783,2716,780.9,-11.9,287,6659,0.00,2.10,0.00,0.000,516,0.000,0.052,2914,858,2749,2783,2715,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6727,-1.21,-69.1,2914,858,2782,2715,788.6,-11.8,289,6733,0.00,2.08,0.00,0.000,1030,0.000,0.041,2914,1843,2748,2782,2715,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7053,-1.21,-69.1,2913,1842,2781,2713,830.3,-12.8,300,7058,0.00,2.12,0.00,0.000,516,0.000,0.051,2913,858,2747,2781,2713,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7106,-1.21,-69.1,2914,858,2781,2712,835.1,-13.0,301,7112,0.00,2.05,0.00,0.000,1030,0.000,0.041,2914,1834,2746,2780,2713,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7420,-1.21,-69.1,2914,1833,2780,2711,878.5,-13.1,312,7426,0.00,2.70,0.00,0.000,260,0.000,0.063,2913,2953,2745,2780,2711,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7536,-1.21,-69.1,2914,2953,2779,2711,891.7,-13.7,315,7541,0.00,2.55,0.00,0.000,1030,0.000,0.037,2913,1852,2745,2779,2711,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7849,-1.21,-69.1,2914,1853,2778,2710,936.2,-12.9,326,7854,0.00,2.12,0.00,0.000,516,0.000,0.054,2914,862,2744,2778,2710,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7891,-1.21,-69.1,2914,862,2777,2710,940.4,-12.7,327,7897,0.00,2.10,0.00,0.000,1030,0.000,0.041,2913,1849,2743,2777,2710,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8217,-1.21,-69.1,2913,1850,2776,2708,978.1,-10.8,338,8223,0.00,2.67,0.00,0.000,260,0.000,0.064,2913,2957,2742,2776,2708,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8251,-1.21,-69.1,2913,2957,2776,2708,982.0,-10.7,339,8256,0.00,2.58,0.00,0.000,1030,0.000,0.037,2913,1853,2741,2775,2708,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,8342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8342,begin apogee
$GC,8350,-0.23,0.0,2913,1768,2776,2708,991.4,-10.2,342,8419,1.25,0.00,60.72,2.082,10244,0.241,0.000,3235,1768,2475,2532,2419,0,0,0,0,0,0,14.29,28.83,13.53
$STATE,8420,end apogee,CONTROL_FINISHED_OK
$STATE,8420,begin climb
$GC,8423,1.29,69.1,3235,1768,2531,2418,992.9,0.0,344,8496,1.60,2.28,64.38,2.085,10756,0.112,0.057,3727,745,2195,2217,2173,0,0,0,0,0,0,14.35,14.39,13.35
$GC,8515,1.29,69.1,3727,745,2212,2172,992.5,0.3,347,8520,0.00,2.25,0.00,0.000,1030,0.000,0.037,3727,1781,2191,2212,2170,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8835,1.21,94.5,3728,1780,2199,2165,980.0,4.8,358,8868,0.00,2.60,24.27,2.001,8452,0.000,0.057,3727,2839,2090,2116,2064,0,0,0,0,0,0,28.83,14.50,13.70
$GC,9097,1.09,94.5,3727,2838,2109,2060,960.1,8.8,366,9104,0.32,2.40,0.00,0.000,5126,0.351,0.040,3672,1814,2085,2109,2061,0,0,0,0,0,0,14.16,14.62,28.83
$GC,9415,1.05,120.2,3671,1816,2109,2057,941.8,4.8,377,9448,0.00,2.47,25.77,1.944,8452,0.000,0.059,3672,2829,1987,2026,1948,0,0,0,0,0,0,28.83,14.58,13.79
$GC,9517,0.98,135.6,3672,2829,2021,1945,935.7,6.0,380,9542,0.20,2.45,16.27,1.929,13318,0.330,0.043,3635,1802,1925,1972,1879,0,0,0,0,0,0,14.20,14.57,13.68
$GC,9871,0.94,135.6,3634,1804,1966,1874,904.6,9.7,392,9876,0.00,2.50,0.00,0.000,260,0.000,0.057,3634,2830,1919,1965,1873,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9966,0.90,135.6,3635,2830,1963,1873,893.8,11.1,395,9972,0.17,2.42,0.00,0.000,5126,0.317,0.041,3609,1812,1918,1964,1873,0,0,0,0,0,0,14.24,14.66,28.83
$GC,10300,0.90,135.6,3609,1813,1963,1871,855.3,11.8,406,10305,0.00,2.47,0.00,0.000,260,0.000,0.058,3609,2826,1917,1963,1871,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10490,0.87,135.6,2880,2821,1915,1863,832.5,12.1,412,10495,0.00,2.40,0.00,0.000,1030,0.000,0.041,3616,1817,1916,1962,1870,0,0,0,0,0,0,28.83,14.67,28.83
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$STATE,19416,end climb,SURFACE_DEPTH_REACHED
$STATE,19417,begin surface coast
$FINISH,2.7,1.024833
$STATE,19449,end surface coast,CONTROL_FINISHED_OK
$STATE,19449,begin surface
$SM_CCo,19473,46.15,0.084,0,0,1256,300.00
$SM_GC,4.38,10.50,0.12,46.15,0.062,0.096,0.084,135,1927,1256,-9.86,-0.90,300.00,0,0,0,0,0,0,14.66,14.72,14.58
$IRIDIUM_FIX,2411.01,-3745.65,050613,121214
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.93
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3913760
$TM_FREEKB,5831068
$24V_AH,13.3,105.534
$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,27.625,193.750,255.125,46.150,0.000,0.000,0.000,582.275,0.000,0.000,36.180,3068.364,13369.284,530.002,2974.010,535.150,0.000,2338.957,0.000,2260.629,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,121.635,2085.390,84.150,0.000,0.000,0.000,215.730,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19473.000,4773.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.777,12.948,0.000,0.000
$MEM,345152
$DATA_FILE_SIZE,29985,790
$CAP_FILE_SIZE,226310,0
$CFSIZE,260034560,215367680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,165.5,1
$GPS,050613,175035,2419.355,-3747.640,41,1.4,41,-15.0