version: 66.11
glider: 160
mission: 9
dive: 447
start: 7 23 113 21 6 6
data:
$ID,160
$MISSION,9
$DIVE,447
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1000
$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,430
$T_MISSION,480
$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,9
$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,-41947.25
$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,24
$R_STBD_OVSHOOT,40
$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
$GPS1,230713,205310,2446.308,-3816.387,39,1.8,50,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.09
$_SM_ANGLEo,-71.4
$GPS2,230713,210537,2446.356,-3816.347,12,1.4,12,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$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,354.4,2274,-26.8,-7.364,-30.00,830
$D_GRID,950
$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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,37,-1.38,-39.9,144,1969,221,160,0.0,0.0,0,54,0.00,0.00,-15.30,0.000,16386,0.000,0.000,144,1969,536,533,539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.38,-39.9,144,1969,534,538,4.0,0.0,1,178,12.77,2.38,-94.55,0.000,18692,0.347,0.085,2843,2994,2641,2634,2649,0,0,0,0,0,0,14.18,14.46,14.77
$GC,339,-1.28,-39.9,2843,2994,2634,2650,35.0,-18.6,19,345,0.17,2.35,0.00,0.000,3078,0.289,0.035,2878,1937,2641,2634,2649,0,0,0,0,0,0,14.02,14.47,28.83
$GC,656,-1.22,-39.9,2878,1938,2634,2649,83.0,-13.0,40,661,0.00,2.33,0.00,0.000,516,0.000,0.056,2878,904,2641,2634,2649,0,0,0,0,0,0,28.83,14.49,28.83
$GC,836,-1.16,-39.9,2879,904,2634,2649,105.4,-13.1,51,844,0.22,2.30,0.00,0.000,3078,0.289,0.044,2917,1936,2641,2634,2649,0,0,0,0,0,0,14.02,14.52,28.83
$GC,1143,-1.13,-39.9,2918,1936,2633,2649,139.7,-11.3,72,1148,0.00,2.33,0.00,0.000,516,0.000,0.052,2918,905,2641,2634,2649,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1269,-1.10,-39.9,2918,905,2634,2649,155.7,-12.8,80,1274,0.00,2.30,0.00,0.000,1030,0.000,0.046,2918,1929,2641,2634,2649,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1589,-1.08,-39.9,2917,1928,2634,2648,192.5,-11.0,101,1595,0.00,2.33,0.00,0.000,516,0.000,0.052,2918,904,2641,2634,2649,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1639,-1.06,-39.9,2918,904,2634,2648,198.2,-10.9,104,1645,0.15,2.28,0.00,0.000,3078,0.287,0.045,2949,1922,2641,2634,2648,0,0,0,0,0,0,14.15,14.54,28.83
$GC,1960,-1.06,-39.9,2949,1921,2634,2647,231.2,-10.3,125,1965,0.00,2.47,0.00,0.000,260,0.000,0.065,2949,3006,2640,2634,2647,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2024,-1.06,-39.9,2949,3006,2634,2647,238.1,-10.7,129,2029,0.00,2.42,0.00,0.000,1030,0.000,0.035,2949,1909,2640,2634,2647,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2343,-1.06,-39.9,2949,1910,2634,2646,274.7,-11.8,143,2348,0.00,2.22,0.00,0.000,516,0.000,0.054,2949,905,2640,2634,2646,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2512,-1.06,-39.9,2949,905,2634,2645,294.7,-13.4,148,2517,0.00,2.20,0.00,0.000,1030,0.000,0.042,2948,1901,2639,2634,2645,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2835,-1.06,-39.9,2949,1900,2634,2643,340.7,-13.7,159,2841,0.00,2.25,0.00,0.000,516,0.000,0.051,2948,902,2638,2634,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2858,-1.06,-39.9,2949,902,2634,2643,340.7,-13.7,159,2864,0.00,2.20,0.00,0.000,1030,0.000,0.041,2949,1898,2638,2634,2642,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3174,-1.06,-39.9,2949,1898,2633,2641,381.8,-10.9,170,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1898,2637,2633,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-1.06,-39.9,2945,1898,2634,2639,410.1,-8.8,180,3478,0.00,2.25,0.00,0.000,516,0.000,0.052,2949,901,2636,2634,2639,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3582,-1.06,-39.9,2949,901,2634,2638,418.1,-8.5,183,3587,0.00,2.20,0.00,0.000,1030,0.000,0.041,2949,1896,2636,2634,2638,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3904,-1.06,-39.9,2949,1896,2634,2635,445.1,-8.0,194,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1896,2634,2633,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-1.06,-39.9,2949,1896,2634,2633,471.5,-9.5,204,4206,0.00,2.25,0.00,0.000,516,0.000,0.054,2949,901,2633,2634,2633,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4296,-1.06,-39.9,2949,901,2634,2632,481.2,-10.1,207,4302,0.00,2.20,0.00,0.000,1030,0.000,0.041,2949,1894,2633,2634,2632,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4634,-1.06,-39.9,2949,1893,2634,2630,519.6,-12.2,218,4640,0.00,2.25,0.00,0.000,516,0.000,0.053,2949,899,2631,2633,2630,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4730,-1.06,-39.9,2949,899,2633,2630,532.1,-12.8,221,4735,0.00,2.22,0.00,0.000,1030,0.000,0.041,2949,1890,2631,2633,2629,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5066,-1.06,-39.9,2944,1889,2633,2627,576.6,-13.3,232,5072,0.00,2.25,0.00,0.000,516,0.000,0.053,2949,899,2629,2633,2626,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5242,-1.06,-39.9,2949,899,2632,2627,597.1,-12.9,237,5248,0.00,2.15,0.00,0.000,1030,0.000,0.041,2949,1869,2629,2631,2627,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5561,-1.07,-39.9,2950,1869,2631,2625,633.8,-10.3,248,5567,0.00,2.60,0.00,0.000,260,0.000,0.063,2949,3002,2628,2631,2625,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5610,-1.07,-39.9,2949,3002,2631,2625,637.7,-10.1,249,5615,0.00,2.50,0.00,0.000,1030,0.000,0.032,2949,1868,2628,2630,2627,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5935,-1.09,-39.9,2949,1869,2630,2623,669.2,-8.9,260,5940,0.00,2.15,0.00,0.000,516,0.000,0.054,2949,905,2626,2630,2622,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6043,-1.09,-39.9,2949,905,2628,2622,678.2,-9.0,263,6048,0.00,2.12,0.00,0.000,1030,0.000,0.040,2949,1863,2625,2628,2622,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6366,-1.10,-39.9,2949,1863,2628,2621,706.9,-8.5,274,6372,0.00,2.20,0.00,0.000,516,0.000,0.052,2949,904,2628,2635,2621,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6431,-1.10,-39.9,2949,904,2627,2621,712.1,-7.9,276,6437,0.00,2.12,0.00,0.000,1030,0.000,0.040,2949,1857,2624,2627,2621,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6770,-1.12,-39.9,2949,1857,2627,2619,739.5,-8.3,287,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1857,2622,2626,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-1.14,-39.9,2949,1857,2626,2617,766.4,-9.2,297,7071,0.00,2.17,0.00,0.000,516,0.000,0.053,2949,905,2621,2625,2617,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7120,-1.16,-39.9,2949,904,2626,2617,769.7,-9.2,298,7126,0.00,2.12,0.00,0.000,1030,0.000,0.040,2949,1859,2621,2626,2617,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7439,-1.18,-39.9,2949,1858,2626,2616,803.1,-10.4,309,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1858,2621,2626,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7735,-1.19,-39.9,2949,1858,2625,2619,834.8,-10.6,319,7737,0.12,0.00,0.00,0.000,4102,0.141,0.000,2907,1859,2619,2625,2614,0,0,0,0,0,0,14.50,28.83,28.83
$GC,8036,-1.19,-39.9,2907,1860,2624,2614,868.5,-11.1,329,8042,0.00,2.65,0.00,0.000,260,0.000,0.064,2906,3003,2619,2624,2614,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8095,-1.19,-39.9,2910,3003,2623,2614,872.4,-11.1,330,8101,0.00,2.60,0.00,0.000,1030,0.000,0.034,2906,1835,2618,2623,2614,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8402,-1.19,-39.9,2906,1836,2623,2613,906.1,-9.7,341,8407,0.00,2.12,0.00,0.000,516,0.000,0.056,2906,904,2617,2623,2612,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8481,-1.19,-39.9,2906,904,2621,2612,912.7,-9.9,343,8486,0.00,2.10,0.00,0.000,1030,0.000,0.042,2906,1840,2617,2623,2612,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8803,-1.19,-39.9,2906,1839,2620,2611,946.9,-10.4,354,8809,0.00,2.67,0.00,0.000,260,0.000,0.064,2906,2995,2615,2621,2610,0,0,0,0,0,0,28.83,14.36,28.83
$STATE,8835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8835,begin apogee
$GC,8845,-0.25,0.0,2906,1802,2620,2611,950.8,-10.4,355,8886,1.20,0.00,33.50,2.075,10244,0.239,0.000,3203,1800,2475,2490,2461,0,0,0,0,0,0,13.68,28.83,13.16
$STATE,8888,end apogee,CONTROL_FINISHED_OK
$STATE,8888,begin climb
$GC,8891,1.38,39.9,3204,1800,2489,2460,951.5,0.0,356,8936,1.67,0.00,38.60,2.124,11270,0.109,0.000,3740,1800,2313,2332,2295,0,0,0,0,0,0,14.36,28.83,13.12
$GC,9228,1.42,183.9,3733,1801,2319,2292,981.0,-10.5,368,9374,0.00,2.53,134.50,2.186,8452,0.000,0.056,3733,2853,1725,1797,1654,0,0,0,0,0,0,28.83,14.16,13.06
$GC,9605,1.32,183.9,3733,2853,1775,1654,959.6,12.2,380,9610,0.00,2.45,0.00,0.000,1030,0.000,0.041,3740,1770,1714,1775,1654,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9934,1.23,183.9,3740,1771,1774,1651,922.2,11.1,391,9939,0.20,2.50,0.00,0.000,4356,0.333,0.052,3697,2853,1712,1774,1651,0,0,0,0,0,0,14.00,14.52,28.83
$GC,10111,1.16,183.9,3697,2853,1772,1650,903.5,11.6,396,10117,0.15,2.47,0.00,0.000,5126,0.341,0.044,3673,1757,1711,1772,1651,0,0,0,0,0,0,14.08,14.56,28.83
$GC,10429,1.11,183.9,3673,1758,1774,1648,868.4,10.4,407,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,1758,1710,1772,1648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10728,1.07,183.9,3673,1755,1772,1648,836.4,10.9,417,10734,0.12,2.55,0.00,0.000,4356,0.311,0.054,3644,2858,1709,1772,1647,0,0,0,0,0,0,14.06,14.49,28.83
$GC,10863,1.03,183.9,3644,2857,1770,1646,822.7,10.7,421,10869,0.00,2.45,0.00,0.000,1030,0.000,0.044,3644,1779,1708,1770,1646,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11191,1.01,183.9,3644,1780,1770,1645,789.1,10.1,432,11196,0.00,2.42,0.00,0.000,516,0.000,0.067,3643,744,1707,1770,1645,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11219,0.99,183.9,3645,744,1770,1644,789.1,10.1,432,11228,0.12,2.33,0.00,0.000,5126,0.278,0.037,3619,1786,1707,1770,1644,0,0,0,0,0,0,14.12,14.53,28.83
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$FREEZE,6.37,25.734,-1.063,0,1,0
$STATE,20526,end climb,NO_VERTICAL_VELOCITY
$STATE,20526,begin surface
$SM_CCo,20531,144.93,0.075,0,0,188,561.49
$SM_GC,7.21,10.50,2.05,0.00,0.044,0.038,0.000,147,1956,191,-9.77,0.99,561.25,0,0,0,0,0,0,14.56,14.48,28.83
$IRIDIUM_FIX,2434.69,-3816.63,230713,141404
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.26
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3848992
$TM_FREEKB,4535960
$24V_AH,13.1,175.879
$10V_AH,12.4,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,20563.000,63.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.064,9.232,0.000,0.000
$MEM,345432
$DATA_FILE_SIZE,26710,762
$CAP_FILE_SIZE,265110,0
$CFSIZE,260034560,192061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,292.4,1
$GPS,240713,025735,2447.796,-3817.561,33,1.0,33,-15.1