version: 66.11
glider: 160
mission: 9
dive: 474
start: 7 31 113 9 6 55
data:
$ID,160
$MISSION,9
$DIVE,474
$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,-52326.586
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,310713,020646,2427.581,-3803.310,0,10000.0,0,-15.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-69.0
$GPS2,310713,090622,2439.266,-3803.466,244,99.0,263,-15.1
$SPEED_LIMITS,0.128,0.204
$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,121.0,31372,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.38,-39.9,144,1926,216,167,0.0,0.0,0,39,0.00,0.00,-15.50,0.000,16386,0.000,0.000,143,1926,544,548,541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,144,1927,549,541,3.8,0.0,1,153,12.65,2.38,-87.45,0.000,18948,0.338,0.076,2850,903,2463,2457,2469,0,0,0,0,0,0,14.26,14.39,14.81
$GC,295,-1.28,-39.9,2850,903,2457,2469,21.6,-14.5,17,303,0.15,2.35,0.00,0.000,3078,0.300,0.048,2880,1939,2463,2457,2469,0,0,0,0,0,0,14.04,14.45,28.83
$GC,601,-1.23,-39.9,2880,1938,2456,2477,63.7,-13.5,38,606,0.00,2.35,0.00,0.000,516,0.000,0.052,2880,902,2462,2456,2469,0,0,0,0,0,0,28.83,14.43,28.83
$GC,837,-1.17,-39.9,1840,901,2393,2459,93.6,-12.3,53,844,0.20,2.30,0.00,0.000,3078,0.287,0.047,2916,1927,2462,2456,2469,0,0,0,0,0,0,13.99,14.47,28.83
$GC,1154,-1.14,-39.9,2916,1927,2456,2469,126.7,-9.6,74,1160,0.00,2.38,0.00,0.000,516,0.000,0.054,2916,897,2462,2456,2469,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1391,-1.11,-39.9,2916,897,2456,2469,146.9,-8.7,89,1396,0.00,2.28,0.00,0.000,1030,0.000,0.050,2915,1896,2462,2456,2468,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1706,-1.10,-39.9,2916,1899,2456,2468,174.7,-9.1,110,1711,0.00,2.58,0.00,0.000,260,0.000,0.073,2916,3008,2462,2455,2469,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1922,-1.07,-39.9,2914,3007,2455,2469,195.4,-9.8,124,1928,0.15,2.55,0.00,0.000,3078,0.266,0.038,2948,1872,2462,2456,2469,0,0,0,0,0,0,14.09,14.50,28.83
$GC,2242,-1.07,-39.9,2947,1873,2455,2468,223.9,-7.4,145,2248,0.00,2.20,0.00,0.000,516,0.000,0.063,2948,901,2461,2455,2468,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2478,-1.07,-41.7,2948,899,2455,2468,240.4,-7.1,160,2483,0.00,2.15,0.00,0.000,1030,0.000,0.049,2948,1857,2461,2456,2467,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2807,-1.08,-43.9,2947,1857,2455,2465,263.3,-7.1,176,2812,0.00,2.20,0.00,0.000,516,0.000,0.059,2948,896,2460,2455,2465,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3044,-1.08,-43.9,2948,896,2454,2465,280.6,-8.2,183,3049,0.00,2.15,0.00,0.000,1030,0.000,0.050,2948,1851,2459,2454,2464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3358,-1.08,-43.9,2948,1849,2454,2463,309.7,-8.8,194,3364,0.00,2.17,0.00,0.000,516,0.000,0.057,2948,900,2458,2453,2463,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3594,-1.08,-43.9,2948,900,2452,2469,328.4,-8.6,201,3599,0.00,2.12,0.00,0.000,1030,0.000,0.050,2948,1843,2457,2452,2463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3908,-1.08,-43.9,2948,1843,2451,2462,354.9,-7.6,212,3913,0.00,2.15,0.00,0.000,516,0.000,0.057,2948,901,2457,2452,2462,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4145,-1.08,-43.9,2948,901,2450,2461,371.7,-7.7,219,4150,0.00,2.08,0.00,0.000,1030,0.000,0.048,2948,1823,2455,2450,2461,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4463,-1.09,-52.6,2948,1822,2450,2460,394.1,-6.3,230,4469,0.00,2.10,0.00,0.000,516,0.000,0.056,2948,900,2455,2450,2460,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4700,-1.09,-52.7,2948,900,2449,2460,409.6,-7.4,237,4705,0.00,2.05,0.00,0.000,1030,0.000,0.047,2947,1815,2454,2450,2459,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5014,-1.09,-52.7,2947,1813,2449,2457,436.9,-8.8,248,5019,0.00,2.10,0.00,0.000,516,0.000,0.056,2948,889,2453,2449,2457,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5250,-1.09,-52.7,2948,894,2449,2458,457.2,-9.5,255,5256,0.00,2.05,0.00,0.000,1030,0.000,0.045,2947,1812,2453,2449,2457,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5568,-1.10,-52.7,2948,1806,2448,2456,487.2,-8.4,266,5574,0.00,2.08,0.00,0.000,516,0.000,0.055,2953,899,2452,2448,2456,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5804,-1.10,-52.7,2948,899,2448,2456,505.2,-8.1,273,5809,0.00,2.00,0.00,0.000,1030,0.000,0.045,2948,1797,2451,2448,2455,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6123,-1.12,-53.0,2948,1796,2447,2453,530.3,-7.3,284,6128,0.00,2.05,0.00,0.000,516,0.000,0.057,2947,899,2447,2441,2453,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6359,-1.12,-53.0,2947,899,2445,2453,547.0,-7.7,291,6364,0.00,1.98,0.00,0.000,1030,0.000,0.045,2947,1782,2449,2446,2453,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6677,-1.14,-54.6,2948,1781,2446,2452,570.9,-7.2,302,6682,0.00,2.03,0.00,0.000,516,0.000,0.056,2947,901,2448,2445,2452,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6913,-1.14,-54.6,2948,901,2444,2452,588.7,-8.5,309,6918,0.00,1.98,0.00,0.000,1030,0.000,0.045,2948,1781,2447,2444,2451,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7232,-1.16,-54.6,2947,1780,2444,2449,618.9,-9.2,320,7238,0.00,2.03,0.00,0.000,516,0.000,0.056,2947,896,2447,2445,2450,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7468,-1.18,-54.6,2947,897,2443,2450,640.2,-9.9,327,7473,0.00,1.92,0.00,0.000,1030,0.000,0.044,2948,1756,2446,2443,2450,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7787,-1.20,-54.6,2948,1755,2443,2447,670.0,-8.7,338,7793,0.12,2.00,0.00,0.000,4612,0.134,0.053,2895,894,2444,2442,2447,0,0,0,0,0,0,14.48,14.41,28.83
$GC,8025,-1.18,-54.6,2895,894,2441,2447,691.8,-10.0,345,8030,0.00,1.92,0.00,0.000,1030,0.000,0.044,2894,1750,2444,2442,2446,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8342,-1.16,-54.6,2895,1749,2440,2445,726.1,-10.5,356,8347,0.00,1.95,0.00,0.000,516,0.000,0.055,2894,900,2443,2441,2445,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8397,-1.14,-54.6,2894,900,2441,2445,730.0,-10.5,357,8403,0.15,1.90,0.00,0.000,3078,0.291,0.044,2924,1747,2443,2441,2445,0,0,0,0,0,0,13.94,14.43,28.83
$GC,8715,-1.14,-54.6,2923,1746,2440,2444,763.6,-9.8,368,8720,0.00,1.95,0.00,0.000,516,0.000,0.056,2924,899,2442,2440,2444,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8952,-1.14,-54.6,2924,895,2439,2444,783.4,-9.0,375,8957,0.00,1.88,0.00,0.000,1030,0.000,0.044,2924,1734,2441,2439,2444,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9270,-1.15,-58.8,2924,1732,2439,2442,808.6,-6.8,386,9275,0.00,1.92,0.00,0.000,516,0.000,0.056,2924,900,2440,2439,2442,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9373,-1.16,-65.2,2924,901,2438,2442,815.0,-6.6,389,9378,0.00,1.88,0.00,0.000,1030,0.000,0.043,2924,1735,2440,2439,2442,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9702,-1.16,-67.8,2924,1734,2438,2441,837.6,-7.0,400,9707,0.00,1.92,0.00,0.000,516,0.000,0.057,2924,901,2438,2437,2440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9931,-1.16,-67.8,2924,901,2437,2440,855.6,-8.5,407,9937,0.00,1.85,0.00,0.000,1030,0.000,0.044,2924,1722,2438,2437,2440,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10252,-1.16,-67.8,2924,1721,2437,2439,886.6,-9.7,418,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1721,2442,2437,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10551,-1.16,-67.8,2924,1721,2436,2437,918.4,-10.8,428,10556,0.00,1.90,0.00,0.000,516,0.000,0.057,2924,900,2436,2436,2436,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10669,-1.16,-67.8,2924,900,2436,2437,929.1,-11.1,431,10674,0.00,1.85,0.00,0.000,1030,0.000,0.044,2924,1720,2436,2436,2437,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,10859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10859,begin apogee
$GC,10868,-0.25,0.0,2924,1817,2445,2436,952.1,-10.4,438,10908,1.12,0.00,33.45,2.066,10244,0.225,0.000,3206,1818,2299,2310,2289,0,0,0,0,0,0,13.57,28.83,13.10
$STATE,10910,end apogee,CONTROL_FINISHED_OK
$STATE,10910,begin climb
$GC,10914,1.41,67.8,3206,1818,2305,2288,953.1,0.0,439,10994,1.73,2.53,67.50,2.162,10756,0.104,0.060,3745,748,2023,2060,1987,0,0,0,0,0,0,14.40,14.44,12.99
$GC,11004,1.41,67.8,3745,748,2057,1978,955.9,-3.1,442,11009,0.00,2.38,0.00,0.000,1030,0.000,0.038,3745,1795,2017,2057,1977,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11328,1.31,91.9,3745,1795,2053,1970,948.4,4.4,453,11357,0.00,2.53,23.90,2.029,8452,0.000,0.061,3745,2850,1922,1981,1863,0,0,0,0,0,0,28.83,14.47,13.31
$GC,11588,1.18,91.9,3746,2849,1973,1861,927.3,9.1,461,11594,0.38,2.38,0.00,0.000,5126,0.325,0.044,3677,1808,1917,1973,1861,0,0,0,0,0,0,13.95,14.50,28.83
$GC,11912,1.10,91.9,3677,1809,1973,1858,901.2,7.4,472,11917,0.00,2.47,0.00,0.000,260,0.000,0.059,3677,2854,1915,1973,1858,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12149,1.01,91.9,3677,2854,1972,1857,884.5,7.7,479,12155,0.28,2.40,0.00,0.000,5126,0.295,0.044,3627,1803,1914,1972,1857,0,0,0,0,0,0,13.93,14.50,28.83
$GC,12470,0.97,95.1,3633,1804,1972,1855,861.4,7.0,490,12475,0.00,2.47,0.00,0.000,260,0.000,0.057,3627,2855,1913,1972,1855,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12572,0.92,96.4,3627,2855,1972,1854,854.1,7.2,493,12579,0.17,2.40,0.00,0.000,5126,0.298,0.044,3595,1809,1913,1972,1854,0,0,0,0,0,0,13.95,14.47,28.83
$GC,12906,0.91,104.1,3595,1810,1972,1853,832.1,6.4,504,12925,0.00,2.45,12.40,1.802,8708,0.000,0.069,3595,746,1872,1938,1806,0,0,0,0,0,0,28.83,14.64,13.46
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$FREEZE,5.48,25.707,-1.025,0,1,0
$STATE,23054,end climb,NO_VERTICAL_VELOCITY
$STATE,23055,begin surface
$SM_CCo,23059,141.93,0.075,0,0,189,517.58
$SM_GC,6.33,10.50,2.12,0.00,0.046,0.046,0.000,140,1954,191,-9.79,0.90,517.34,0,0,0,0,0,0,14.55,14.41,28.83
$IRIDIUM_FIX,2429.95,-3801.44,310713,080844
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.14
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3838624
$24V_AH,13.0,185.135
$10V_AH,12.8,0.000
$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,28.175,204.825,254.275,141.925,0.000,0.000,0.000,688.525,0.000,0.000,267.678,4143.053,15048.067,634.842,4202.645,830.697,0.000,2971.046,0.000,3205.950,0.000,0.542,0.000
$DEVICE_MAMPS,338.130,102.510,2161.890,74.970,0.000,0.000,0.000,221.085,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23089.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.043,0.000,0.000,0.000
$MEM,345112
$DATA_FILE_SIZE,36659,944
$CAP_FILE_SIZE,269121,0
$CFSIZE,260034560,188981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,48.391, 74.0,1
$GPS,310713,090622,2439.266,-3803.466,301,99.0,301,-15.1