version: 66.11
glider: 160
mission: 9
dive: 482
start: 8 1 113 23 31 2
data:
$ID,160
$MISSION,9
$DIVE,482
$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,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,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-57817.863
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,010813,160016,2432.321,-3804.771,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-68.5
$GPS2,010813,160016,2432.321,-3804.771,301,99.0,301,-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,106.6,40830,-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,-39.9,139,1958,217,165,0.0,0.0,0,39,0.00,0.00,-15.60,0.000,16386,0.000,0.000,139,1958,546,538,555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,139,1958,538,555,3.9,0.0,1,156,12.12,2.45,-86.75,0.000,18948,0.317,0.075,2846,900,2465,2455,2475,0,0,0,0,0,0,14.21,14.35,14.81
$GC,327,-1.28,-39.9,2846,900,2455,2473,27.1,-14.3,19,334,0.17,2.40,0.00,0.000,3078,0.295,0.054,2881,1954,2464,2455,2473,0,0,0,0,0,0,14.03,14.43,28.83
$GC,635,-1.22,-39.9,2882,1952,2455,2473,64.7,-10.8,40,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1952,2464,2455,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,933,-1.17,-39.9,2881,1952,2455,2473,97.0,-10.0,60,939,0.12,2.40,0.00,0.000,2564,0.304,0.051,2911,900,2463,2455,2472,0,0,0,0,0,0,14.05,14.33,28.83
$GC,1170,-1.13,-39.9,1872,899,2391,2461,118.8,-9.8,75,1175,0.00,2.40,0.00,0.000,1030,0.000,0.052,2911,1960,2463,2454,2472,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1485,-1.11,-39.9,2911,1959,2455,2471,150.1,-9.9,96,1490,0.00,2.42,0.00,0.000,516,0.000,0.057,2912,896,2463,2454,2472,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1627,-1.07,-39.9,2911,897,2455,2471,164.3,-10.0,105,1633,0.15,2.40,0.00,0.000,3078,0.285,0.053,2941,1958,2461,2455,2467,0,0,0,0,0,0,14.08,14.48,28.83
$GC,1948,-1.08,-44.4,2941,1957,2454,2470,187.6,-6.8,126,1954,0.00,2.45,-0.12,0.000,16900,0.000,0.075,2942,898,2489,2478,2501,0,0,0,0,0,0,28.83,14.45,14.13
$GC,2184,-1.08,-44.4,2941,893,2478,2501,205.8,-8.0,141,2189,0.00,2.38,0.00,0.000,1030,0.000,0.052,2941,1943,2489,2477,2501,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2499,-1.08,-44.4,2942,1942,2478,2500,232.8,-8.6,162,2504,0.00,2.40,0.00,0.000,516,0.000,0.058,2942,891,2488,2477,2500,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2735,-1.08,-44.4,2942,891,2478,2499,250.8,-7.9,176,2740,0.00,2.35,0.00,0.000,1030,0.000,0.051,2942,1929,2488,2477,2499,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3053,-1.08,-45.7,2942,1929,2477,2497,275.0,-7.2,187,3058,0.00,2.38,0.00,0.000,516,0.000,0.058,2942,893,2487,2477,2497,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3290,-1.08,-45.7,2942,893,2477,2492,292.8,-8.5,194,3295,0.00,2.33,0.00,0.000,1030,0.000,0.050,2942,1922,2486,2477,2495,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3604,-1.08,-45.7,2942,1922,2477,2494,321.7,-8.9,205,3610,0.00,2.35,0.00,0.000,516,0.000,0.058,2942,895,2485,2477,2494,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3840,-1.08,-45.7,2942,895,2478,2492,342.5,-9.6,212,3846,0.00,2.28,0.00,0.000,1030,0.000,0.050,2941,1903,2484,2477,2492,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4155,-1.08,-45.7,2942,1902,2477,2491,371.7,-8.5,223,4160,0.00,2.30,0.00,0.000,516,0.000,0.058,2942,895,2484,2477,2491,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4391,-1.08,-45.7,2942,895,2477,2486,389.5,-8.2,230,4396,0.00,2.22,0.00,0.000,1030,0.000,0.049,2941,1882,2483,2477,2489,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4707,-1.08,-45.7,2942,1882,2477,2487,415.5,-7.5,241,4713,0.00,2.25,0.00,0.000,516,0.000,0.058,2942,894,2482,2477,2487,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4943,-1.08,-45.7,2942,895,2476,2487,432.4,-7.9,248,4948,0.00,2.20,0.00,0.000,1030,0.000,0.048,2942,1874,2481,2476,2487,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5262,-1.08,-47.6,2942,1873,2476,2485,456.9,-7.1,259,5267,0.00,2.67,0.00,0.000,260,0.000,0.077,2942,3004,2480,2476,2484,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5498,-1.08,-47.6,2942,3004,2475,2484,475.1,-8.7,266,5503,0.00,2.65,0.00,0.000,1030,0.000,0.042,2942,1832,2480,2475,2485,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5816,-1.10,-47.6,2942,1832,2474,2483,507.2,-10.2,277,5821,0.00,2.12,0.00,0.000,516,0.000,0.063,2942,892,2478,2474,2483,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6052,-1.10,-47.6,2942,892,2474,2482,532.4,-11.7,284,6057,0.00,2.12,0.00,0.000,1030,0.000,0.050,2942,1829,2478,2474,2482,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6367,-1.10,-47.6,2942,1828,2474,2480,567.9,-10.1,295,6372,0.00,2.15,0.00,0.000,516,0.000,0.060,2942,894,2477,2474,2480,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6603,-1.10,-47.6,2942,897,2473,2480,588.2,-9.2,302,6609,0.00,2.08,0.00,0.000,1030,0.000,0.049,2942,1816,2476,2473,2480,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6922,-1.12,-49.0,2942,1815,2472,2478,614.2,-7.2,313,6927,0.00,2.12,0.00,0.000,516,0.000,0.060,2942,893,2475,2472,2478,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7158,-1.12,-49.1,2942,893,2471,2478,630.3,-7.4,320,7164,0.00,2.08,0.00,0.000,1030,0.000,0.048,2942,1807,2474,2470,2478,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7476,-1.13,-50.6,2942,1807,2470,2477,654.1,-7.2,331,7482,0.00,2.10,0.00,0.000,516,0.000,0.059,2941,894,2473,2470,2477,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7713,-1.13,-50.6,2942,894,2469,2477,672.3,-8.7,338,7718,0.00,2.03,0.00,0.000,1030,0.000,0.047,2942,1791,2472,2468,2476,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8031,-1.15,-50.6,2942,1790,2468,2474,702.7,-9.3,349,8037,0.00,2.08,0.00,0.000,516,0.000,0.058,2942,890,2471,2469,2474,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8268,-1.15,-50.6,2942,890,2468,2474,722.5,-8.9,356,8273,0.00,2.00,0.00,0.000,1030,0.000,0.047,2942,1778,2470,2467,2474,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8585,-1.17,-50.6,2942,1777,2468,2472,751.4,-8.5,367,8591,0.00,2.05,0.00,0.000,516,0.000,0.058,2942,892,2469,2467,2472,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8822,-1.17,-50.6,2942,892,2466,2471,770.3,-8.5,374,8827,0.00,1.98,0.00,0.000,1030,0.000,0.046,2942,1768,2468,2466,2470,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9141,-1.20,-50.6,2942,1767,2466,2469,798.5,-8.4,385,9146,0.00,2.00,0.00,0.000,516,0.000,0.058,2942,899,2464,2466,2463,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9375,-1.20,-50.6,2942,899,2465,2469,818.5,-9.2,392,9380,0.00,1.92,0.00,0.000,1030,0.000,0.045,2942,1755,2467,2465,2469,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9694,-1.22,-50.6,2942,1754,2465,2468,849.2,-9.2,403,9700,0.12,2.00,0.00,0.000,4612,0.143,0.056,2886,899,2466,2465,2468,0,0,0,0,0,0,14.42,14.32,28.83
$GC,9931,-1.19,-50.6,2886,899,2463,2468,872.6,-10.5,410,9936,0.00,1.90,0.00,0.000,1030,0.000,0.047,2884,1736,2465,2463,2468,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10248,-1.17,-50.6,2884,1735,2463,2467,905.3,-9.6,421,10254,0.12,1.95,0.00,0.000,2564,0.309,0.056,2912,896,2464,2462,2466,0,0,0,0,0,0,13.99,14.33,28.83
$GC,10484,-1.17,-50.6,2912,896,2462,2466,925.2,-9.0,428,10490,0.00,1.88,0.00,0.000,1030,0.000,0.046,2911,1726,2464,2462,2466,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,10765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10765,begin apogee
$GC,10773,-0.25,0.0,2911,1820,2462,2464,951.0,-8.6,438,10818,1.17,0.00,39.45,2.098,10244,0.227,0.000,3206,1820,2297,2307,2287,0,0,0,0,0,0,13.57,28.83,13.13
$STATE,10820,end apogee,CONTROL_FINISHED_OK
$STATE,10820,begin climb
$GC,10823,1.39,50.6,3206,1820,2306,2287,951.5,0.0,439,10882,1.70,2.42,50.17,2.140,10500,0.097,0.067,3745,2848,2091,2118,2064,0,0,0,0,0,0,14.38,14.40,13.06
$GC,11096,1.33,135.1,3746,2848,2113,2056,960.0,-3.1,448,11189,0.15,2.40,82.43,2.140,13318,0.339,0.044,3729,1799,1745,1818,1673,0,0,0,0,0,0,14.00,14.47,13.11
$GC,11508,1.24,135.1,3729,1800,1805,1668,923.4,10.7,462,11514,0.12,2.45,0.00,0.000,4356,0.328,0.056,3701,2847,1736,1805,1668,0,0,0,0,0,0,14.04,14.47,28.83
$GC,11745,1.14,135.1,3701,2844,1801,1668,900.8,10.3,469,11751,0.17,2.38,0.00,0.000,5126,0.312,0.047,3666,1805,1734,1801,1668,0,0,0,0,0,0,14.06,14.50,28.83
$GC,12065,1.08,135.1,3666,1806,1801,1665,871.8,8.6,480,12070,0.00,2.45,0.00,0.000,260,0.000,0.057,3666,2849,1733,1801,1665,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12301,1.01,135.1,3666,2849,1799,1665,851.3,9.3,487,12307,0.22,2.38,0.00,0.000,5126,0.291,0.043,3626,1821,1732,1799,1665,0,0,0,0,0,0,13.91,14.42,28.83
$GC,12620,0.98,135.1,3625,1822,1799,1663,822.9,8.6,498,12625,0.00,2.42,0.00,0.000,260,0.000,0.057,3626,2850,1731,1799,1663,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12855,0.93,135.1,3626,2850,1798,1662,801.2,10.0,505,12861,0.15,2.35,0.00,0.000,5126,0.295,0.043,3601,1827,1730,1798,1663,0,0,0,0,0,0,13.99,14.45,28.83
$GC,13175,0.93,135.1,3600,1828,1798,1661,769.4,9.7,516,13180,0.00,2.40,0.00,0.000,260,0.000,0.057,3600,2846,1729,1798,1661,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13411,0.90,135.1,3600,2846,1796,1661,746.2,10.6,523,13416,0.00,2.35,0.00,0.000,1030,0.000,0.044,3603,1838,1729,1797,1661,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13729,0.90,135.1,3603,1839,1797,1660,715.2,8.8,534,13734,0.00,2.40,0.00,0.000,260,0.000,0.058,3603,2851,1728,1797,1660,0,0,0,0,0,0,28.83,14.35,28.83
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$FREEZE,5.42,25.742,-1.089,0,5,0
$STATE,23005,end climb,NO_VERTICAL_VELOCITY
$STATE,23005,begin surface
$SM_CCo,23011,139.50,0.074,0,0,188,517.58
$SM_GC,6.11,10.57,0.00,0.00,0.049,0.000,0.000,138,1961,189,-9.79,0.31,517.83,0,0,0,0,0,0,14.55,28.83,28.83
$IRIDIUM_FIX,2432.32,-3804.77,010813,232344
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.23
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3835552
$24V_AH,13.1,187.222
$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,27.675,186.225,251.350,139.500,0.000,0.000,0.000,545.575,0.000,0.000,303.580,4480.363,14448.400,609.611,4527.551,776.916,0.000,2935.312,0.000,3569.520,0.000,0.540,0.000
$DEVICE_MAMPS,338.895,101.745,2140.470,74.205,0.000,0.000,0.000,211.140,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23049.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.165,0.000,0.000,0.000
$MEM,345120
$DATA_FILE_SIZE,36671,954
$CAP_FILE_SIZE,270155,0
$CFSIZE,260034560,188174336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.214, 24.1,1
$GPS,010813,231844,2432.321,-3804.771,0,10000.0,0,-15.1