version: 66.11
glider: 160
mission: 9
dive: 480
start: 8 1 113 12 29 4
data:
$ID,160
$MISSION,9
$DIVE,480
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,475
$D_ABORT,600
$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,215
$T_MISSION,250
$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,517.58301
$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,6
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56539.676
$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,3500
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,30
$C_ROLL_DIVE,1000
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,010813,080702,2434.692,-3802.904,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-67.0
$GPS2,010813,080702,2434.692,-3802.904,361,99.0,361,-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,18.2,35544,-26.8,-7.364,-30.00,830
$D_GRID,475
$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,18,begin dive
$GC,22,-1.38,-39.9,138,991,212,176,0.0,0.0,0,39,0.00,0.00,-14.25,0.000,16386,0.000,0.000,138,991,519,508,531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,138,991,508,531,3.4,0.0,1,156,13.05,2.38,-89.43,0.000,18692,0.319,0.076,3052,2044,2462,2456,2469,0,0,0,0,0,0,14.28,14.54,14.87
$GC,388,-1.38,-39.9,3052,2046,2456,2469,15.9,-8.1,23,395,0.00,2.38,0.00,0.000,1030,0.000,0.060,3053,1002,2462,2456,2469,0,0,0,0,0,0,28.83,14.47,28.83
$GC,694,-1.38,-39.9,3053,1001,2456,2469,44.6,-9.2,44,700,0.00,2.38,0.00,0.000,260,0.000,0.056,3052,2046,2462,2456,2468,0,0,0,0,0,0,28.83,14.38,28.83
$GC,931,-1.38,-43.2,3052,2045,2463,2469,62.1,-7.0,59,937,0.00,2.40,-0.20,0.000,17414,0.000,0.060,3053,994,2484,2476,2492,0,0,0,0,0,0,28.83,14.44,14.50
$GC,1246,-1.38,-43.2,3053,994,2475,2492,86.6,-8.1,80,1251,0.00,2.38,0.00,0.000,260,0.000,0.058,3052,2045,2484,2476,2492,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1484,-1.38,-43.2,3053,2045,2475,2492,104.9,-8.4,95,1489,0.00,2.40,0.00,0.000,1030,0.000,0.061,3052,994,2484,2476,2492,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1798,-1.39,-49.2,3053,994,2476,2491,131.3,-6.6,116,1804,0.00,2.38,-0.12,0.000,16644,0.000,0.074,3052,2041,2506,2497,2516,0,0,0,0,0,0,28.83,14.48,14.19
$GC,2034,-1.42,-76.4,3052,2041,2497,2516,142.2,-4.0,131,2040,0.00,2.40,-0.70,0.000,17414,0.000,0.062,3053,997,2622,2612,2632,0,0,0,0,0,0,28.83,14.42,14.76
$GC,2350,-1.44,-100.2,3053,998,2613,2632,155.5,-4.4,152,2356,0.00,2.38,-0.52,0.000,16644,0.000,0.074,3052,2040,2716,2720,2713,0,0,0,0,0,0,28.83,14.50,14.61
$GC,2586,-1.44,-104.0,2000,2035,2662,2704,169.0,-6.9,167,2591,0.00,2.40,0.00,0.000,1030,0.000,0.063,3052,1000,2716,2720,2713,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2901,-1.44,-104.0,3052,1000,2721,2712,197.9,-9.9,188,2907,0.00,2.38,-0.08,0.000,16644,0.000,0.073,3053,2043,2735,2744,2726,0,0,0,0,0,0,28.83,14.50,13.74
$GC,3136,-1.44,-104.0,2048,2037,2685,2717,220.1,-9.4,203,3142,0.00,2.40,0.00,0.000,1030,0.000,0.062,3052,994,2734,2743,2726,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3451,-1.45,-107.1,3053,994,2743,2725,245.3,-6.6,224,3456,0.00,1.50,0.00,0.000,516,0.000,0.081,3053,318,2734,2743,2725,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3687,-1.45,-107.1,3053,318,2743,2724,259.8,-6.8,234,3692,0.00,1.45,0.00,0.000,1030,0.000,0.037,3052,994,2733,2743,2723,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4003,-1.45,-107.1,3053,994,2743,2721,286.1,-8.5,245,4008,0.00,2.35,0.00,0.000,260,0.000,0.060,3052,2049,2732,2743,2721,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4229,-1.45,-107.1,3053,2048,2743,2719,305.4,-9.3,252,4234,0.00,2.40,0.00,0.000,1030,0.000,0.060,3053,996,2732,2744,2720,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4555,-1.45,-107.1,3053,996,2744,2718,335.7,-8.5,263,4561,0.00,2.35,0.00,0.000,260,0.000,0.055,3052,2048,2730,2744,2717,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4792,-1.45,-107.1,3053,2047,2743,2716,351.3,-7.1,270,4797,0.00,2.40,0.00,0.000,1030,0.000,0.059,3052,991,2730,2744,2716,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5110,-1.45,-107.1,3053,991,2743,2714,374.0,-6.6,281,5115,0.00,2.38,0.00,0.000,260,0.000,0.053,3053,2048,2728,2743,2713,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5346,-1.45,-107.1,3053,2048,2743,2712,388.5,-6.8,288,5351,0.00,2.40,0.00,0.000,1030,0.000,0.058,3052,995,2727,2743,2712,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5661,-1.45,-107.1,3053,995,2743,2708,415.8,-8.7,299,5666,0.00,1.48,0.00,0.000,516,0.000,0.073,3052,341,2727,2743,2711,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5800,-1.45,-107.1,3052,341,2743,2710,427.2,-9.2,303,5806,0.00,1.40,0.00,0.000,1030,0.000,0.032,3052,1008,2727,2744,2710,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6123,-1.45,-107.1,3052,1008,2744,2708,457.8,-8.8,314,6128,0.00,2.28,0.00,0.000,260,0.000,0.053,3052,2040,2724,2742,2707,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6141,-1.45,-107.1,3053,2039,2743,2707,457.8,-8.8,314,6146,0.00,2.38,0.00,0.000,1030,0.000,0.057,3053,993,2725,2743,2707,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,6337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6337,begin apogee
$GC,6346,-0.25,0.0,3052,994,2743,2707,476.4,-8.5,321,6438,1.27,0.00,84.78,1.471,10246,0.172,0.000,3411,994,2298,2356,2240,0,0,0,0,0,0,14.07,28.83,13.40
$STATE,6442,end apogee,CONTROL_FINISHED_OK
$STATE,6442,begin climb
$GC,6446,1.45,107.1,3411,994,2353,2239,479.2,0.0,324,6547,1.45,2.42,87.43,1.479,10500,0.070,0.057,3890,2027,1858,1932,1785,0,0,0,0,0,0,14.34,14.31,13.45
$GC,6622,1.49,149.9,3890,2026,1924,1782,480.5,2.1,330,6665,0.00,2.38,34.30,1.443,11270,0.000,0.064,3890,997,1683,1756,1611,0,0,0,0,0,0,28.83,14.47,13.54
$GC,6979,1.49,149.9,3891,997,1740,1611,434.2,13.0,342,6984,0.00,2.33,0.00,0.000,2308,0.000,0.055,3891,2034,1675,1740,1611,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7216,1.49,149.9,3890,2033,1737,1611,405.5,13.1,349,7221,0.00,2.38,0.00,0.000,3078,0.000,0.063,3890,991,1674,1737,1611,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7531,1.49,149.9,3890,991,1735,1611,358.2,14.8,360,7536,0.00,1.45,0.00,0.000,2564,0.000,0.073,3890,338,1672,1734,1611,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7625,1.49,149.9,3890,339,1734,1611,342.9,15.9,363,7630,0.00,1.40,0.00,0.000,3078,0.000,0.039,3890,993,1672,1734,1611,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7963,1.49,149.9,3890,993,1729,1611,289.7,16.4,374,7968,0.00,1.48,0.00,0.000,2564,0.000,0.068,3890,329,1672,1734,1611,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8199,1.49,149.9,3890,329,1733,1610,252.4,16.7,381,8204,0.00,1.45,0.00,0.000,3078,0.000,0.039,3890,1002,1672,1733,1611,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8514,1.49,149.9,3891,1001,1734,1610,201.1,14.7,402,8519,0.00,2.30,0.00,0.000,2308,0.000,0.057,3890,2041,1671,1733,1610,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8582,1.49,149.9,3456,2036,1690,1604,191.3,14.7,406,8588,0.00,2.40,0.00,0.000,3078,0.000,0.063,3890,1003,1671,1733,1609,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8897,1.49,149.9,3890,1002,1733,1610,151.7,11.1,427,8902,0.00,1.50,0.00,0.000,2564,0.000,0.076,3890,324,1671,1733,1609,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8931,1.49,149.9,3890,324,1732,1610,146.7,13.0,429,8937,0.00,1.48,0.00,0.000,3078,0.000,0.040,3887,1004,1671,1732,1610,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9251,1.49,149.9,3890,1004,1732,1609,112.9,10.8,450,9256,0.00,1.55,0.00,0.000,2564,0.000,0.070,3890,333,1670,1732,1609,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9486,1.49,149.9,3424,332,1686,1604,86.1,11.1,465,9491,0.00,1.45,0.00,0.000,3078,0.000,0.039,3890,1002,1671,1733,1609,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9800,1.49,149.9,3891,1002,1732,1609,51.9,9.6,486,9805,0.00,1.50,0.00,0.000,2564,0.000,0.069,3891,331,1670,1731,1609,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10031,1.49,149.9,3890,331,1730,1609,30.7,8.7,501,10038,0.00,1.45,0.00,0.000,3078,0.000,0.036,3891,1001,1669,1730,1609,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10352,1.53,188.5,3890,1012,1733,1604,4.8,2.6,522,10368,0.00,0.00,14.50,0.089,10754,0.000,0.000,3890,1012,1548,1623,1473,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10369,end climb,SURFACE_DEPTH_REACHED
$STATE,10369,begin surface coast
$FINISH,4.7,1.025076
$STATE,10470,end surface coast,CONTROL_FINISHED_OK
$STATE,10470,begin surface
$SM_CCo,10479,168.45,0.075,0,0,188,517.58
$SM_CCo,11016,0.00,0.000,0,0,190,517.58
$SM_GC,5.53,11.23,0.00,0.00,0.067,0.000,0.000,149,1013,190,-10.41,0.37,517.58,0,0,0,0,0,0,14.59,28.83,28.83
$IRIDIUM_FIX,2434.69,-3802.90,010813,121229
$TT8_MAMPS,0.023219,0.023219
$HUMID,87.09
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,22.60
$XPDR_PINGS,2
$SC_FREEKB,3836320
$24V_AH,13.4,186.490
$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
$DEVICE_SECS,27.000,82.275,221.000,168.450,0.000,0.000,0.000,601.250,0.500,0.000,366.103,2200.194,6563.326,508.148,2708.245,502.302,0.000,2012.749,0.000,1725.816,0.000,0.543,0.000
$DEVICE_MAMPS,319.005,81.090,1478.745,74.970,0.000,0.000,0.000,196.605,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10500.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.773,0.000,0.000,0.000
$MEM,345440
$DATA_FILE_SIZE,20094,530
$CAP_FILE_SIZE,139050,0
$CFSIZE,260034560,188551168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.668, 98.6,1
$GPS,010813,121529,2434.692,-3802.904,0,10000.0,0,-15.1