version: 66.11
glider: 160
mission: 9
dive: 408
start: 7 13 113 1 59 15
data:
$ID,160
$MISSION,9
$DIVE,408
$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,450
$T_MISSION,510
$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,110
$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,-41764.129
$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,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,32
$R_STBD_OVSHOOT,36
$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,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
$GPS1,130713,014400,2446.879,-3748.856,39,1.5,39,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.06
$_SM_ANGLEo,-68.5
$GPS2,130713,015836,2446.895,-3748.899,9,1.5,15,-15.0
$SPEED_LIMITS,0.127,0.203
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-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,96.9,3132,-22.3,-7.333,-25.92,1164
$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,25,-1.17,-55.9,146,1962,211,169,0.0,0.0,0,42,0.00,0.00,-15.27,0.000,16386,0.000,0.000,146,1962,538,522,554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.17,-55.9,145,1962,519,554,4.2,0.0,1,170,12.77,2.53,-98.60,0.000,18692,0.336,0.080,2915,2994,2706,2729,2684,0,0,0,0,0,0,14.20,14.45,14.79
$GC,218,-1.12,-55.9,2915,2993,2733,2692,13.1,-15.9,12,224,0.00,2.40,0.00,0.000,1030,0.000,0.032,2915,1948,2708,2733,2684,0,0,0,0,0,0,28.83,14.52,28.83
$GC,533,-1.04,-55.9,2915,1949,2733,2684,64.9,-14.8,33,535,0.17,0.00,0.00,0.000,2054,0.271,0.000,2953,1951,2708,2733,2684,0,0,0,0,0,0,14.23,28.83,28.83
$GC,834,-0.99,-55.9,2953,1949,2733,2683,100.6,-11.0,53,839,0.00,2.30,0.00,0.000,516,0.000,0.049,2954,895,2707,2733,2682,0,0,0,0,0,0,28.83,14.56,28.83
$GC,902,-0.94,-55.9,1928,895,2679,2674,107.4,-10.5,57,908,0.15,2.25,0.00,0.000,3078,0.260,0.040,2986,1930,2707,2733,2682,0,0,0,0,0,0,14.26,14.59,28.83
$GC,1218,-0.92,-55.9,2986,1928,2733,2682,134.9,-8.0,78,1224,0.00,2.55,0.00,0.000,260,0.000,0.064,2982,3002,2707,2733,2682,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1253,-0.90,-55.9,2982,3002,2733,2681,138.0,-8.0,80,1258,0.00,2.47,0.00,0.000,1030,0.000,0.032,2982,1926,2710,2740,2681,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1572,-0.89,-55.9,2982,1928,2733,2681,169.9,-10.4,101,1577,0.00,2.25,0.00,0.000,516,0.000,0.055,2982,901,2707,2733,2681,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1774,-0.86,-55.9,2982,901,2733,2680,192.8,-11.6,114,1780,0.15,2.22,0.00,0.000,3078,0.254,0.041,3013,1919,2706,2733,2680,0,0,0,0,0,0,14.27,14.62,28.83
$GC,2095,-0.86,-55.9,3014,1918,2733,2679,225.1,-9.6,135,2101,0.00,2.28,0.00,0.000,516,0.000,0.054,3014,898,2706,2733,2679,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2216,-0.86,-55.9,3014,898,2733,2679,235.8,-9.7,142,2223,0.00,2.17,0.00,0.000,1030,0.000,0.040,3014,1902,2705,2733,2678,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2520,-0.86,-55.9,3014,1902,2733,2677,262.1,-7.9,158,2525,0.00,2.60,0.00,0.000,260,0.000,0.063,3014,2999,2705,2733,2678,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2574,-0.88,-55.9,3014,2999,2733,2677,264.7,-7.9,159,2579,0.00,2.50,0.00,0.000,1030,0.000,0.034,3014,1904,2705,2733,2678,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2892,-0.90,-55.9,3014,1905,2733,2680,294.0,-8.9,170,2897,0.00,2.20,0.00,0.000,516,0.000,0.054,3015,897,2704,2733,2675,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2996,-0.90,-55.9,3014,898,2734,2676,303.7,-9.5,173,3001,0.00,2.17,0.00,0.000,1030,0.000,0.041,3015,1902,2704,2733,2675,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3324,-0.91,-55.9,3015,1899,2733,2672,338.7,-10.9,184,3329,0.00,2.60,0.00,0.000,260,0.000,0.067,3014,2998,2701,2733,2669,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3407,-0.93,-55.9,3014,2997,2733,2672,346.4,-11.2,186,3412,0.00,2.50,0.00,0.000,1030,0.000,0.036,3014,1901,2702,2733,2672,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3725,-0.95,-55.9,3015,1903,2733,2670,381.0,-10.0,197,3730,0.00,2.20,0.00,0.000,516,0.000,0.055,3014,897,2701,2733,2669,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3934,-0.95,-55.9,3014,898,2733,2668,399.8,-9.9,203,3942,0.00,2.15,0.00,0.000,1030,0.000,0.041,3015,1884,2700,2733,2668,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4244,-0.96,-55.9,3015,1884,2733,2666,431.1,-9.6,214,4250,0.00,2.20,0.00,0.000,516,0.000,0.054,3015,895,2699,2733,2666,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4309,-0.98,-55.9,3015,895,2733,2667,437.8,-9.7,216,4314,0.12,2.12,0.00,0.000,5126,0.129,0.040,2963,1875,2699,2733,2666,0,0,0,0,0,0,14.59,14.66,28.83
$GC,4647,-0.96,-55.9,2963,1874,2733,2664,475.5,-11.3,227,4652,0.00,2.65,0.00,0.000,260,0.000,0.062,2963,2998,2697,2732,2663,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4682,-0.94,-55.9,2963,2998,2733,2663,479.6,-11.2,228,4687,0.00,2.55,0.00,0.000,1030,0.000,0.033,2963,1876,2697,2732,2663,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5020,-0.92,-55.9,2963,1877,2733,2661,518.3,-11.6,239,5026,0.12,2.15,0.00,0.000,2564,0.262,0.051,2993,899,2697,2733,2661,0,0,0,0,0,0,14.32,14.59,28.83
$GC,5079,-0.91,-55.9,2993,899,2733,2661,522.6,-11.3,240,5087,0.00,2.12,0.00,0.000,1030,0.000,0.039,2993,1880,2696,2732,2661,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5386,-0.91,-55.9,2993,1879,2732,2659,557.5,-10.3,251,5391,0.00,2.62,0.00,0.000,260,0.000,0.060,2993,2999,2695,2732,2659,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5424,-0.91,-55.9,2992,2999,2732,2659,561.0,-10.1,252,5429,0.00,2.55,0.00,0.000,1030,0.000,0.032,2993,1869,2695,2732,2659,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5757,-0.91,-55.9,2993,1870,2732,2657,591.4,-8.5,263,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1870,2696,2732,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6053,-0.91,-55.9,2993,1871,2730,2656,615.8,-8.0,273,6058,0.00,2.12,0.00,0.000,516,0.000,0.052,2993,899,2693,2730,2656,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6218,-0.91,-55.9,2993,900,2729,2656,629.1,-8.7,278,6223,0.00,2.10,0.00,0.000,1030,0.000,0.038,2993,1869,2692,2729,2656,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6545,-0.91,-55.9,2993,1868,2730,2654,655.9,-8.2,289,6550,0.00,2.65,0.00,0.000,260,0.000,0.060,2993,2996,2691,2729,2654,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6650,-0.91,-55.9,2993,2996,2728,2654,664.1,-8.4,292,6655,0.00,2.55,0.00,0.000,1030,0.000,0.032,2993,1867,2691,2728,2654,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6976,-0.91,-55.9,2993,1868,2728,2652,692.3,-8.4,303,6982,0.00,2.15,0.00,0.000,516,0.000,0.053,2992,895,2690,2728,2652,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7095,-0.91,-55.9,2993,895,2727,2652,700.7,-8.6,306,7102,0.00,2.15,0.00,0.000,1030,0.000,0.038,2993,1878,2689,2727,2652,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7401,-0.91,-55.9,2993,1877,2727,2656,732.0,-9.9,317,7406,0.00,2.65,0.00,0.000,260,0.000,0.060,2988,3000,2688,2727,2649,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7515,-0.91,-55.9,2993,3000,2726,2649,741.7,-10.2,320,7520,0.00,2.55,0.00,0.000,1030,0.000,0.032,2992,1873,2687,2726,2649,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7829,-0.91,-55.9,2993,1875,2726,2648,779.3,-11.5,331,7834,0.00,2.15,0.00,0.000,516,0.000,0.052,2993,898,2687,2726,2648,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7903,-0.91,-55.9,2993,898,2726,2647,786.9,-11.6,333,7908,0.00,2.12,0.00,0.000,1030,0.000,0.039,2993,1876,2686,2725,2648,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8230,-0.91,-55.9,2993,1875,2725,2646,825.6,-11.0,344,8235,0.00,2.65,0.00,0.000,260,0.000,0.061,2993,2995,2688,2725,2651,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8288,-0.91,-55.9,2993,2995,2724,2646,829.3,-10.7,345,8294,0.00,2.55,0.00,0.000,1030,0.000,0.033,2993,1874,2685,2724,2646,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8598,-0.92,-55.9,2993,1875,2723,2644,858.2,-7.6,356,8603,0.00,2.15,0.00,0.000,516,0.000,0.053,2993,898,2684,2724,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8726,-0.92,-59.2,2993,900,2722,2644,867.2,-7.0,360,8731,0.00,2.12,0.00,0.000,1030,0.000,0.039,2992,1871,2683,2722,2645,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9064,-0.96,-81.5,2993,1871,2722,2643,886.1,-5.4,371,9069,0.00,2.67,0.00,0.000,260,0.000,0.061,2994,2995,2682,2722,2642,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9150,-0.98,-99.8,2993,2996,2721,2642,890.1,-5.7,373,9155,0.00,2.58,0.00,0.000,1030,0.000,0.034,2993,1868,2682,2722,2643,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9464,-0.98,-99.8,2993,1870,2721,2641,915.6,-8.7,384,9470,0.00,2.72,0.00,0.000,260,0.000,0.061,2992,3000,2681,2721,2641,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9502,-0.98,-99.8,2000,2996,2669,2632,918.9,-9.1,385,9508,0.00,2.58,0.00,0.000,1030,0.000,0.035,2993,1876,2681,2721,2641,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9835,-1.00,-99.8,2993,1879,2720,2640,958.0,-12.7,396,9840,0.00,2.17,0.00,0.000,516,0.000,0.054,2993,898,2680,2720,2640,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9956,-1.00,-99.8,2993,898,2719,2640,971.6,-13.8,399,9962,0.00,2.15,0.00,0.000,1030,0.000,0.041,2993,1878,2679,2719,2640,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,10076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10076,begin apogee
$GC,10085,-0.25,0.0,2993,1789,2719,2639,992.8,-14.4,404,10140,0.80,0.00,49.72,2.134,10244,0.206,0.000,3205,1789,2475,2533,2418,0,0,0,0,0,0,13.93,28.83,13.17
$STATE,10141,end apogee,CONTROL_FINISHED_OK
$STATE,10142,begin climb
$GC,10145,1.22,99.8,3205,1788,2531,2414,996.0,0.0,406,10256,1.58,2.35,95.43,2.203,10756,0.116,0.058,3686,757,2066,2119,2014,0,0,0,0,0,0,14.32,14.38,13.07
$GC,10487,1.15,158.3,3686,757,2110,2009,1006.1,2.2,417,10549,0.00,2.30,55.65,2.140,9222,0.000,0.036,3686,1815,1830,1910,1751,0,0,0,0,0,0,28.83,14.56,13.21
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$FREEZE,6.52,25.105,-1.285,0,1,0
$STATE,22648,end climb,NO_VERTICAL_VELOCITY
$STATE,22648,begin surface
$SM_CCo,22655,65.72,0.081,0,0,189,561.49
$SM_GC,7.42,10.77,0.28,0.00,0.052,0.071,0.000,136,1950,190,-9.78,-1.24,561.49,0,0,0,0,0,0,14.62,14.63,28.83
$IRIDIUM_FIX,2437.06,-3749.17,120713,181846
$TT8_MAMPS,0.023219,0.023219
$HUMID,74.13
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3863584
$TM_FREEKB,4714324
$24V_AH,13.1,159.692
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22677.000,5748.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.936,10.506,0.000,0.000
$MEM,345208
$DATA_FILE_SIZE,33332,923
$CAP_FILE_SIZE,261910,0
$CFSIZE,260034560,197033984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,224.6,1
$GPS,130713,082454,2447.060,-3747.019,40,1.7,40,-15.0