version: 66.11
glider: 160
mission: 9
dive: 528
start: 8 11 113 19 20 11
data:
$ID,160
$MISSION,9
$DIVE,528
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,240
$T_MISSION,270
$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,100
$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,4
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-92200.375
$T_RSLEEP,3
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,110813,143333,2448.935,-3746.870,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-67.9
$GPS2,110813,143333,2448.935,-3746.870,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.197
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-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,240.4,52663,-26.8,-7.500,-30.00,838
$D_GRID,540
$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,22,-1.38,-41.0,131,1966,211,173,0.0,0.0,0,40,0.00,0.00,-15.35,0.000,16386,0.000,0.000,131,1966,541,536,547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.38,-41.0,131,1966,536,548,3.0,0.0,1,158,12.10,2.47,-88.72,0.000,19204,0.312,0.099,2845,3002,2468,2463,2474,0,0,0,0,0,0,14.27,14.40,14.82
$GC,390,-1.28,-41.0,2845,3002,2463,2473,33.5,-14.5,23,397,0.15,2.38,0.00,0.000,3078,0.293,0.045,2875,1955,2468,2463,2474,0,0,0,0,0,0,14.02,14.46,28.83
$GC,695,-1.22,-41.0,2875,1956,2463,2473,67.6,-9.5,44,701,0.00,2.45,0.00,0.000,516,0.000,0.067,2875,892,2467,2462,2473,0,0,0,0,0,0,28.83,14.40,28.83
$GC,933,-1.16,-41.0,2875,892,2462,2473,92.2,-10.9,59,939,0.20,2.30,0.00,0.000,3078,0.280,0.054,2918,1895,2468,2462,2474,0,0,0,0,0,0,13.93,14.34,28.83
$GC,1249,-1.14,-41.0,2918,1895,2462,2473,124.9,-10.8,80,1254,0.00,2.58,0.00,0.000,260,0.000,0.075,2912,3003,2467,2461,2473,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1460,-1.11,-41.0,2912,3003,2462,2473,146.0,-10.2,93,1468,0.00,2.55,0.00,0.000,1030,0.000,0.036,2912,1866,2467,2462,2473,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1768,-1.09,-45.5,2912,1866,2462,2473,170.2,-6.9,114,1775,0.12,2.25,-0.12,0.000,18948,0.285,0.083,2941,894,2491,2483,2500,0,0,0,0,0,0,14.06,14.38,13.75
$GC,2008,-1.09,-45.5,2941,894,2483,2500,187.5,-8.1,129,2013,0.00,2.20,0.00,0.000,1030,0.000,0.055,2942,1850,2491,2483,2500,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2323,-1.09,-45.5,2942,1850,2483,2500,218.0,-9.9,150,2328,0.00,2.25,0.00,0.000,516,0.000,0.064,2941,890,2491,2483,2500,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2558,-1.09,-45.5,1920,889,2419,2489,238.0,-7.8,165,2563,0.00,2.20,0.00,0.000,1030,0.000,0.058,2942,1837,2490,2483,2498,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2873,-1.10,-56.1,2942,1836,2483,2497,258.2,-6.2,182,2878,0.00,2.22,0.00,0.000,516,0.000,0.065,2942,888,2490,2483,2497,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3109,-1.10,-58.0,2942,888,2483,2496,273.2,-7.3,189,3114,0.00,2.17,0.00,0.000,1030,0.000,0.057,2942,1824,2489,2483,2495,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3424,-1.10,-58.0,2942,1824,2483,2493,299.7,-8.3,200,3429,0.00,2.20,0.00,0.000,516,0.000,0.063,2942,886,2487,2482,2493,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3660,-1.10,-58.0,2942,886,2483,2493,319.8,-9.4,207,3665,0.00,2.15,0.00,0.000,1030,0.000,0.054,2941,1819,2487,2482,2492,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3976,-1.10,-58.0,2942,1817,2482,2491,352.2,-9.7,218,3982,0.00,2.80,0.00,0.000,260,0.000,0.078,2942,3003,2487,2483,2491,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4151,-1.10,-58.0,2941,3001,2482,2490,367.7,-10.1,223,4156,0.00,2.78,0.00,0.000,1030,0.000,0.047,2942,1787,2486,2482,2490,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4467,-1.10,-58.0,2942,1788,2482,2488,398.5,-8.7,234,4472,0.00,2.08,0.00,0.000,516,0.000,0.068,2942,890,2482,2477,2488,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4704,-1.10,-58.0,2942,890,2481,2487,416.3,-8.1,241,4709,0.00,2.05,0.00,0.000,1030,0.000,0.051,2942,1777,2483,2481,2486,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5022,-1.11,-61.9,2941,1775,2481,2485,440.2,-7.0,252,5027,0.00,2.08,0.00,0.000,516,0.000,0.061,2942,888,2482,2481,2484,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5258,-1.11,-61.9,2942,889,2480,2485,457.1,-7.9,259,5263,0.00,2.00,0.00,0.000,1030,0.000,0.050,2941,1759,2482,2480,2484,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5576,-1.13,-61.9,2942,1758,2485,2483,485.7,-8.9,270,5582,0.00,2.05,0.00,0.000,516,0.000,0.061,2942,888,2481,2480,2483,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5812,-1.13,-61.9,2942,888,2478,2482,507.3,-9.9,277,5817,0.00,2.00,0.00,0.000,1030,0.000,0.050,2942,1760,2480,2478,2482,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,6124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6128,begin apogee
$GC,6136,-0.25,0.0,2942,1796,2478,2480,541.1,-10.2,288,6180,1.00,0.00,36.90,1.529,10244,0.215,0.000,3201,1796,2297,2308,2287,0,0,0,0,0,0,13.73,28.83,13.39
$STATE,6182,end apogee,CONTROL_FINISHED_OK
$STATE,6182,begin climb
$GC,6186,1.40,61.9,3201,1796,2307,2287,542.8,0.0,289,6248,1.70,2.50,53.38,1.554,10500,0.096,0.071,3748,2866,2045,2082,2009,0,0,0,0,0,0,14.45,14.47,13.33
$GC,6483,1.32,112.0,3748,2866,2076,2003,547.6,1.4,299,6533,0.17,2.45,42.88,1.549,13318,0.331,0.047,3726,1794,1841,1918,1764,0,0,0,0,0,0,13.98,14.48,13.44
$GC,6833,1.23,112.0,3726,1794,1915,1755,520.8,8.8,311,6839,0.12,2.50,0.00,0.000,4356,0.316,0.058,3697,2865,1835,1915,1756,0,0,0,0,0,0,14.06,14.49,28.83
$GC,7070,1.14,112.0,3697,2864,1911,1755,499.6,9.7,318,7077,0.17,2.40,0.00,0.000,5126,0.301,0.045,3665,1807,1833,1911,1755,0,0,0,0,0,0,14.02,14.49,28.83
$GC,7392,1.09,112.0,3665,1814,1911,1752,472.2,8.0,329,7397,0.00,2.47,0.00,0.000,260,0.000,0.060,3664,2863,1831,1911,1752,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7629,1.02,112.0,3665,2863,1920,1751,454.0,8.0,336,7635,0.20,2.38,0.00,0.000,5126,0.289,0.043,3628,1821,1830,1909,1751,0,0,0,0,0,0,13.95,14.49,28.83
$GC,7947,1.01,126.9,3628,1822,1909,1750,433.9,5.7,347,7966,0.00,2.40,12.38,1.313,8452,0.000,0.057,3628,2862,1780,1860,1700,0,0,0,0,0,0,28.83,14.66,13.60
$GC,8198,0.97,127.4,2848,2858,1804,1692,415.7,7.4,355,8204,0.00,2.38,0.00,0.000,1030,0.000,0.043,3629,1818,1776,1854,1699,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8532,0.95,127.4,3630,1819,1853,1699,390.1,8.0,366,8538,0.00,2.42,0.00,0.000,260,0.000,0.057,3629,2862,1775,1853,1698,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8770,0.91,127.4,3630,2861,1851,1698,370.6,8.6,373,8776,0.17,2.38,0.00,0.000,5126,0.277,0.043,3594,1825,1774,1851,1698,0,0,0,0,0,0,13.97,14.47,28.83
$GC,9090,0.92,134.6,3594,1826,1851,1698,346.9,6.6,384,9104,0.00,2.40,7.43,1.169,8452,0.000,0.060,3594,2865,1748,1828,1669,0,0,0,0,0,0,28.83,14.65,13.58
$GC,9336,0.92,138.6,3594,2865,1823,1668,329.3,7.0,392,9346,0.00,2.38,3.40,0.854,9222,0.000,0.042,3594,1827,1734,1811,1658,0,0,0,0,0,0,28.83,14.49,13.46
$GC,9671,0.92,138.6,3594,1828,1812,1659,304.1,8.4,403,9676,0.00,2.42,0.00,0.000,260,0.000,0.058,3594,2863,1735,1812,1659,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9907,0.92,138.6,3594,2862,1810,1658,282.5,10.1,410,9912,0.00,2.33,0.00,0.000,1030,0.000,0.041,3600,1844,1734,1810,1659,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10225,0.92,139.1,3600,1845,1810,1659,254.8,7.4,421,10230,0.00,2.40,0.00,0.000,260,0.000,0.057,3600,2862,1734,1810,1659,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10464,0.93,145.6,3600,2862,1809,1659,237.9,6.7,434,10479,0.00,2.30,8.25,1.070,9222,0.000,0.041,3603,1861,1705,1783,1628,0,0,0,0,0,0,28.83,14.38,13.62
$GC,10794,0.93,148.2,3602,1862,1778,1627,214.7,7.2,456,10799,0.00,2.35,0.00,0.000,260,0.000,0.057,3602,2861,1702,1778,1626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11033,0.93,148.2,3602,2861,1774,1626,195.7,8.7,471,11038,0.00,2.30,0.00,0.000,1030,0.000,0.042,3603,1858,1701,1775,1627,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11348,0.94,153.1,3603,1859,1775,1627,171.7,6.9,492,11364,0.00,2.55,7.90,0.989,8708,0.000,0.067,3603,748,1673,1748,1598,0,0,0,0,0,0,28.83,14.61,13.69
$GC,11435,0.97,166.6,2752,748,1700,1592,165.8,5.8,497,11456,0.00,2.55,13.25,1.011,9222,0.000,0.041,3603,1876,1617,1692,1542,0,0,0,0,0,0,28.83,14.52,13.72
$GC,11766,1.00,176.8,3602,1875,1684,1542,144.1,6.3,519,11782,0.00,2.25,9.18,0.973,8452,0.000,0.061,3603,2862,1575,1644,1506,0,0,0,0,0,0,28.83,14.62,13.74
$GC,11995,1.00,176.8,3603,2862,1638,1506,125.8,8.6,533,12002,0.00,2.25,0.00,0.000,1030,0.000,0.042,3603,1877,1572,1639,1506,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12301,1.03,176.8,3603,1878,1639,1507,100.8,8.2,554,12307,0.00,2.33,0.00,0.000,260,0.000,0.059,3603,2864,1572,1638,1506,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12537,1.03,176.8,2816,2859,1598,1502,80.8,8.1,569,12542,0.00,2.25,0.00,0.000,1030,0.000,0.040,3603,1877,1571,1636,1507,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12852,1.08,192.3,3603,1878,1636,1507,59.8,5.6,590,12873,0.12,2.30,13.55,0.871,10500,0.129,0.057,3670,2869,1511,1570,1453,0,0,0,0,0,0,14.35,14.62,13.82
$GC,12897,1.08,197.1,3670,2869,1567,1452,57.2,6.9,592,12906,0.00,2.28,4.05,0.754,9222,0.000,0.042,3671,1869,1496,1552,1441,0,0,0,0,0,0,28.83,14.52,13.62
$GC,13203,1.08,197.1,3672,1869,1552,1440,34.8,7.8,613,13208,0.00,2.60,0.00,0.000,516,0.000,0.067,3672,749,1496,1552,1440,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13256,1.08,197.1,3672,749,1552,1440,30.4,8.6,616,13262,0.00,2.58,0.00,0.000,1030,0.000,0.044,3672,1886,1496,1552,1440,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13572,1.05,197.1,3672,1886,1550,1441,4.7,9.1,637,13578,0.12,2.30,0.00,0.000,4356,0.113,0.066,3607,2861,1494,1549,1440,0,0,0,0,0,0,14.35,14.29,28.83
$FREEZE,4.35,25.962,-1.185,0,51,0
$STATE,13758,end climb,NO_VERTICAL_VELOCITY
$STATE,13758,begin surface
$SM_CCo,13763,163.85,0.076,0,0,188,517.58
$SM_CCo,14203,0.65,0.065,0,0,189,517.58
$SM_GC,4.66,9.98,2.12,0.65,0.035,0.040,0.065,134,1952,189,-9.77,0.74,517.58,0,0,0,0,0,0,14.62,14.42,14.45
$IRIDIUM_FIX,2451.31,-3746.87,110813,191943
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.61
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3817856
$24V_AH,13.3,199.633
$10V_AH,12.2,0.000
$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,26.350,121.775,212.525,164.500,0.000,0.000,0.000,784.150,0.000,0.000,247.522,2892.294,8296.112,532.217,3322.134,777.102,0.000,2472.201,0.000,2281.395,0.000,0.543,0.000
$DEVICE_MAMPS,331.245,175.185,1554.480,75.735,0.000,0.000,0.000,198.135,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13788.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.123,0.000,0.000,0.000
$MEM,344844
$DATA_FILE_SIZE,23418,649
$CAP_FILE_SIZE,182096,0
$CFSIZE,260034560,183877632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,5.973,172.2,1
$GPS,110813,190543,2451.311,-3746.870,0,10000.0,0,-14.9