version: 66.11
glider: 160
mission: 9
dive: 473
start: 7 31 113 2 22 22
data:
$ID,160
$MISSION,9
$DIVE,473
$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,-52020.199
$T_RSLEEP,-4
$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,36
$R_STBD_OVSHOOT,30
$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,2300
$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
$GPS1,300713,190504,2425.212,-3808.502,0,10000.0,0,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-69.3
$GPS2,300713,190504,2425.212,-3808.502,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,C_NE
$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,94.0,19618,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-1.38,-39.9,139,1940,216,167,0.0,0.0,0,40,0.00,0.00,-15.05,0.000,16386,0.000,0.000,138,1940,534,532,536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.38,-39.9,139,1940,532,536,3.9,0.0,1,153,12.77,2.33,-88.55,0.000,18948,0.340,0.077,2844,904,2463,2461,2465,0,0,0,0,0,0,14.19,14.42,14.82
$GC,249,-1.31,-39.9,2844,905,2461,2465,10.6,-9.7,14,256,0.00,2.35,0.00,0.000,1030,0.000,0.048,2844,1947,2463,2461,2465,0,0,0,0,0,0,28.83,14.40,28.83
$GC,554,-1.23,-39.9,2844,1946,2461,2465,55.9,-14.4,35,560,0.20,2.40,0.00,0.000,2564,0.291,0.052,2891,904,2463,2461,2465,0,0,0,0,0,0,13.90,14.37,28.83
$GC,792,-1.17,-39.9,2891,904,2455,2465,82.8,-10.5,50,797,0.00,2.25,0.00,0.000,1030,0.000,0.049,2891,1906,2462,2460,2465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1107,-1.13,-39.9,2891,1905,2461,2465,111.5,-8.7,71,1112,0.12,2.30,0.00,0.000,2564,0.311,0.054,2920,901,2462,2460,2465,0,0,0,0,0,0,14.00,14.44,28.83
$GC,1344,-1.10,-39.9,2920,901,2460,2465,130.7,-8.5,86,1349,0.00,2.22,0.00,0.000,1030,0.000,0.048,2920,1891,2462,2460,2465,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1659,-1.09,-39.9,2920,1889,2460,2465,156.4,-8.2,107,1664,0.00,2.25,0.00,0.000,516,0.000,0.056,2920,903,2462,2459,2465,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1896,-1.06,-39.9,2920,904,2459,2465,176.0,-8.6,122,1901,0.15,2.15,0.00,0.000,3078,0.282,0.047,2951,1859,2462,2459,2465,0,0,0,0,0,0,14.07,14.47,28.83
$GC,2212,-1.06,-39.9,2951,1859,2459,2464,200.8,-8.2,143,2217,0.00,2.67,0.00,0.000,260,0.000,0.066,2951,3011,2461,2459,2463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2412,-1.06,-39.9,1920,3008,2395,2454,217.6,-8.6,156,2417,0.00,2.60,0.00,0.000,1030,0.000,0.037,2951,1849,2460,2457,2464,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2731,-1.06,-39.9,2951,1850,2457,2463,244.5,-8.0,177,2736,0.00,2.12,0.00,0.000,516,0.000,0.056,2951,900,2460,2458,2462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2893,-1.06,-39.9,2951,900,2457,2463,257.1,-7.9,185,2898,0.00,2.12,0.00,0.000,1030,0.000,0.044,2951,1858,2459,2457,2462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3225,-1.07,-43.8,2951,1858,2457,2461,280.6,-6.9,196,3230,0.00,2.17,0.00,0.000,516,0.000,0.054,2951,903,2459,2457,2461,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3462,-1.07,-43.8,2951,903,2456,2461,296.6,-7.5,203,3467,0.00,2.08,0.00,0.000,1030,0.000,0.043,2951,1840,2458,2456,2460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3777,-1.07,-43.8,2951,1840,2455,2458,322.4,-8.0,214,3782,0.00,2.12,0.00,0.000,516,0.000,0.054,2954,904,2457,2456,2458,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4012,-1.07,-43.8,2950,904,2454,2458,341.4,-9.0,221,4018,0.00,2.03,0.00,0.000,1030,0.000,0.042,2951,1820,2456,2454,2458,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4330,-1.08,-43.8,2952,1818,2454,2456,370.7,-8.4,232,4335,0.00,2.72,0.00,0.000,260,0.000,0.064,2952,3003,2455,2454,2457,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4547,-1.08,-43.8,2951,3003,2453,2456,388.5,-8.0,239,4552,0.00,2.67,0.00,0.000,1030,0.000,0.035,2950,1807,2454,2452,2456,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4885,-1.10,-43.8,2951,1808,2452,2455,413.9,-7.5,250,4890,0.00,2.03,0.00,0.000,516,0.000,0.056,2951,903,2453,2452,2454,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5120,-1.10,-43.8,2951,903,2450,2454,431.9,-8.5,257,5125,0.00,1.98,0.00,0.000,1030,0.000,0.042,2951,1793,2452,2451,2453,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5439,-1.12,-43.8,2951,1793,2451,2453,460.3,-8.8,268,5444,0.00,2.03,0.00,0.000,516,0.000,0.055,2951,903,2451,2451,2452,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5675,-1.12,-43.8,2951,903,2450,2453,481.6,-9.9,275,5680,0.00,1.98,0.00,0.000,1030,0.000,0.042,2951,1785,2451,2450,2452,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5993,-1.14,-43.8,2951,1785,2450,2450,513.5,-8.9,286,5998,0.00,2.03,0.00,0.000,516,0.000,0.055,2950,897,2450,2449,2451,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6228,-1.14,-43.8,2951,897,2449,2445,531.4,-7.8,293,6233,0.00,1.95,0.00,0.000,1030,0.000,0.041,2951,1777,2449,2449,2450,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6547,-1.16,-48.1,2951,1776,2449,2449,554.4,-6.8,304,6552,0.00,2.00,0.00,0.000,516,0.000,0.054,2951,897,2449,2449,2449,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6782,-1.16,-48.1,2951,897,2448,2449,570.7,-7.6,311,6787,0.00,1.92,0.00,0.000,1030,0.000,0.041,2951,1772,2448,2448,2448,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7102,-1.19,-48.1,2951,1761,2448,2445,601.1,-9.9,322,7108,0.12,1.98,0.00,0.000,4612,0.136,0.052,2898,901,2446,2448,2445,0,0,0,0,0,0,14.48,14.43,28.83
$GC,7338,-1.16,-48.1,2898,901,2446,2445,626.2,-11.7,329,7343,0.00,1.90,0.00,0.000,1030,0.000,0.042,2897,1756,2445,2446,2445,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7655,-1.15,-48.1,2898,1756,2445,2444,661.2,-9.9,340,7661,0.00,1.95,0.00,0.000,516,0.000,0.054,2897,903,2445,2445,2445,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7894,-1.12,-48.1,2897,903,2444,2444,680.9,-8.5,347,7900,0.15,1.88,0.00,0.000,3078,0.294,0.041,2927,1745,2444,2444,2444,0,0,0,0,0,0,13.95,14.45,28.83
$GC,8213,-1.12,-48.1,2927,1745,2444,2443,705.5,-7.4,358,8218,0.00,1.92,0.00,0.000,516,0.000,0.054,2927,904,2443,2444,2443,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8448,-1.12,-48.1,2926,908,2443,2443,722.7,-8.0,365,8453,0.00,1.85,0.00,0.000,1030,0.000,0.041,2927,1734,2443,2443,2443,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8762,-1.12,-48.1,2925,1733,2443,2441,749.9,-8.2,376,8767,0.00,1.92,0.00,0.000,516,0.000,0.055,2927,898,2442,2443,2441,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8999,-1.12,-48.1,2927,898,2444,2441,768.8,-8.8,383,9004,0.00,1.83,0.00,0.000,1030,0.000,0.041,2927,1720,2442,2443,2441,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9313,-1.12,-48.1,2927,1719,2442,2439,798.4,-9.3,394,9318,0.00,1.88,0.00,0.000,516,0.000,0.055,2927,902,2440,2442,2439,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9549,-1.12,-48.1,2927,902,2441,2439,819.7,-10.1,401,9554,0.00,1.83,0.00,0.000,1030,0.000,0.041,2927,1720,2439,2440,2439,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9864,-1.12,-48.1,2927,1720,2441,2436,853.9,-10.1,412,9869,0.00,1.88,0.00,0.000,516,0.000,0.055,2927,903,2438,2441,2436,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10100,-1.12,-48.1,2927,903,2440,2436,875.7,-9.9,419,10105,0.00,1.80,0.00,0.000,1030,0.000,0.041,2926,1710,2438,2440,2436,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10418,-1.12,-48.1,2927,1709,2440,2434,904.8,-8.1,430,10423,0.00,1.85,0.00,0.000,516,0.000,0.056,2926,903,2437,2440,2435,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10653,-1.12,-48.1,2927,904,2438,2434,922.1,-7.7,437,10658,0.00,1.83,0.00,0.000,1030,0.000,0.042,2926,1698,2436,2438,2434,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10970,-1.12,-48.1,2927,1698,2438,2434,946.7,-7.5,448,10975,0.00,1.85,0.00,0.000,516,0.000,0.056,2927,900,2436,2440,2433,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,11031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11031,begin apogee
$GC,11042,-0.25,0.0,2927,1809,2437,2433,951.9,-7.7,450,11083,1.10,0.00,33.17,2.067,10244,0.222,0.000,3205,1809,2297,2309,2286,0,0,0,0,0,0,13.60,28.83,13.10
$STATE,11084,end apogee,CONTROL_FINISHED_OK
$STATE,11085,begin climb
$GC,11088,1.39,48.1,3205,1809,2307,2285,951.9,0.0,451,11145,1.70,2.45,48.15,2.149,10500,0.098,0.063,3746,2858,2100,2127,2074,0,0,0,0,0,0,14.40,14.43,13.03
$GC,11168,1.39,48.1,3747,2858,2124,2070,955.6,-5.2,454,11173,0.00,2.40,0.00,0.000,1030,0.000,0.041,3757,1804,2097,2124,2070,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11507,1.36,144.1,3753,1804,2122,2065,970.4,-4.5,465,11610,0.00,2.53,93.47,2.160,8708,0.000,0.066,3753,751,1708,1777,1640,0,0,0,0,0,0,28.83,14.16,13.06
$GC,11666,1.25,161.6,3752,751,1768,1639,964.0,5.2,470,11691,0.25,2.42,17.80,2.013,13318,0.286,0.039,3700,1826,1639,1707,1572,0,0,0,0,0,0,14.04,14.38,13.19
$GC,12021,1.18,161.6,3700,1826,1691,1569,922.9,11.2,482,12026,0.00,2.35,0.00,0.000,260,0.000,0.059,3700,2851,1630,1691,1569,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12257,1.09,161.6,3700,2850,1685,1569,895.7,12.6,489,12263,0.25,2.30,0.00,0.000,5126,0.295,0.044,3646,1835,1627,1685,1569,0,0,0,0,0,0,14.02,14.51,28.83
$GC,12577,1.05,161.6,3647,1835,1685,1567,859.2,11.1,500,12582,0.00,2.38,0.00,0.000,260,0.000,0.057,3646,2850,1626,1685,1567,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12813,0.99,161.6,3646,2850,1683,1567,831.3,12.7,507,12819,0.17,2.28,0.00,0.000,5126,0.294,0.041,3618,1845,1625,1683,1567,0,0,0,0,0,0,14.01,14.50,28.83
$GC,13132,0.97,161.6,3619,1846,1684,1566,793.1,11.0,518,13138,0.00,2.38,0.00,0.000,260,0.000,0.057,3618,2856,1624,1683,1566,0,0,0,0,0,0,28.83,14.42,28.83
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$FREEZE,5.68,25.306,-1.652,0,1,0
$STATE,22066,end climb,NO_VERTICAL_VELOCITY
$STATE,22066,begin surface
$SM_CCo,22072,162.15,0.079,0,0,189,517.58
$SM_GC,6.56,10.38,0.00,0.00,0.054,0.000,0.000,144,1926,190,-9.77,-0.68,517.58,0,0,0,0,0,0,14.48,28.83,28.83
$IRIDIUM_FIX,2427.58,-3803.31,310713,020246
$TT8_MAMPS,0.023219,0.023219
$HUMID,85.20
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3839008
$24V_AH,13.0,184.847
$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
$DEVICE_SECS,27.675,184.725,230.575,162.150,0.000,0.000,0.000,548.875,0.000,0.000,303.582,4026.239,14365.880,635.726,4040.470,767.825,0.000,2768.980,0.000,3136.740,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.957,0.000,0.000,0.000
$MEM,345152
$DATA_FILE_SIZE,33407,903
$CAP_FILE_SIZE,253733,0
$CFSIZE,260034560,189112320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,8.908,252.3,1
$GPS,310713,020646,2427.581,-3803.310,0,10000.0,0,-15.1