version: 66.11
glider: 160
mission: 9
dive: 543
start: 8 14 113 13 5 15
data:
$ID,160
$MISSION,9
$DIVE,543
$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,-99544.859
$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,28
$R_STBD_OVSHOOT,50
$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
$GPS1,140813,082012,2448.935,-3743.535,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-69.3
$GPS2,140813,082012,2448.935,-3743.535,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.197
$TGT_NAME,CTR
$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,198.3,41621,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-1.38,-41.0,144,1968,214,171,0.0,0.0,0,39,0.00,0.00,-15.12,0.000,16386,0.000,0.000,144,1969,539,538,540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-41.0,144,1969,538,540,3.1,0.0,1,156,12.62,2.42,-88.75,0.000,18948,0.338,0.076,2848,896,2469,2462,2476,0,0,0,0,0,0,14.22,14.47,14.81
$GC,388,-1.28,-41.0,2848,897,2462,2476,35.1,-15.2,23,396,0.15,2.33,0.00,0.000,3078,0.304,0.047,2875,1928,2469,2462,2476,0,0,0,0,0,0,13.96,14.43,28.83
$GC,694,-1.22,-41.0,2874,1928,2462,2476,74.9,-9.9,44,700,0.00,2.38,0.00,0.000,516,0.000,0.056,2874,895,2469,2462,2476,0,0,0,0,0,0,28.83,14.40,28.83
$GC,932,-1.16,-41.0,2875,894,2462,2476,98.7,-10.3,59,939,0.20,2.33,0.00,0.000,3078,0.285,0.049,2915,1921,2469,2462,2476,0,0,0,0,0,0,13.90,14.33,28.83
$GC,1250,-1.13,-41.3,2916,1920,2462,2476,125.4,-7.5,80,1255,0.00,2.35,0.00,0.000,516,0.000,0.059,2916,897,2468,2462,2475,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1488,-1.10,-41.3,1824,897,2394,2465,142.4,-7.6,95,1493,0.00,2.30,0.00,0.000,1030,0.000,0.051,2915,1908,2468,2462,2475,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1803,-1.08,-41.3,2915,1907,2461,2475,168.4,-9.0,116,1808,0.12,2.35,0.00,0.000,2564,0.293,0.058,2944,893,2468,2462,2475,0,0,0,0,0,0,14.07,14.38,28.83
$GC,2040,-1.08,-41.3,2945,893,2462,2475,189.5,-9.4,131,2045,0.00,2.30,0.00,0.000,1030,0.000,0.052,2943,1899,2467,2462,2472,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2354,-1.08,-41.3,2943,1898,2462,2473,218.4,-8.6,152,2359,0.00,2.35,0.00,0.000,516,0.000,0.065,2943,899,2467,2462,2473,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2591,-1.08,-41.3,2943,899,2462,2472,237.0,-7.5,167,2596,0.00,2.22,0.00,0.000,1030,0.000,0.055,2943,1871,2466,2461,2472,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2922,-1.08,-41.3,2943,1871,2462,2470,263.0,-8.0,184,2927,0.00,2.70,0.00,0.000,260,0.000,0.079,2943,3003,2465,2461,2470,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3132,-1.08,-41.3,2943,3003,2459,2470,279.3,-8.8,190,3139,0.00,2.60,0.00,0.000,1030,0.000,0.043,2943,1868,2464,2460,2469,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3439,-1.08,-41.3,2943,1869,2459,2469,308.8,-8.8,201,3444,0.00,2.25,0.00,0.000,516,0.000,0.070,2942,899,2464,2459,2469,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3678,-1.08,-41.3,2943,899,2459,2469,327.5,-8.6,208,3683,0.00,2.15,0.00,0.000,1030,0.000,0.054,2943,1837,2462,2457,2468,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3996,-1.08,-41.5,2943,1836,2458,2468,353.1,-7.5,219,4001,0.00,2.20,0.00,0.000,516,0.000,0.063,2943,895,2463,2458,2468,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4233,-1.08,-41.5,2943,896,2457,2467,370.3,-8.2,226,4238,0.00,2.15,0.00,0.000,1030,0.000,0.054,2943,1831,2462,2457,2467,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4547,-1.08,-41.5,2943,1831,2457,2465,398.3,-8.7,237,4552,0.00,2.17,0.00,0.000,516,0.000,0.063,2943,897,2461,2457,2465,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4784,-1.08,-41.5,2943,897,2456,2465,419.2,-9.9,244,4790,0.00,2.10,0.00,0.000,1030,0.000,0.053,2943,1814,2459,2456,2463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5101,-1.08,-41.5,2943,1814,2456,2463,451.2,-9.3,255,5106,0.00,2.15,0.00,0.000,516,0.000,0.063,2943,900,2459,2456,2463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5338,-1.08,-41.5,2944,900,2455,2463,471.6,-9.2,262,5343,0.00,2.08,0.00,0.000,1030,0.000,0.051,2943,1808,2459,2455,2463,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5653,-1.08,-41.5,2943,1807,2455,2461,498.7,-7.7,273,5658,0.00,2.12,0.00,0.000,516,0.000,0.062,2943,897,2457,2454,2461,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5890,-1.08,-41.5,2943,897,2453,2461,515.8,-7.9,280,5895,0.00,2.03,0.00,0.000,1030,0.000,0.050,2943,1784,2457,2453,2461,0,0,0,0,0,0,28.83,14.36,28.83
$STATE,6201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6204,begin apogee
$GC,6214,-0.25,0.0,2943,1784,2452,2460,542.4,-8.0,291,6250,1.02,0.00,32.35,1.511,10244,0.216,0.000,3206,1784,2298,2307,2290,0,0,0,0,0,0,13.67,28.83,13.38
$STATE,6252,end apogee,CONTROL_FINISHED_OK
$STATE,6252,begin climb
$GC,6256,1.38,41.5,3206,1784,2307,2289,543.3,0.0,292,6300,1.67,2.53,35.83,1.535,10500,0.096,0.067,3746,2862,2130,2151,2110,0,0,0,0,0,0,14.48,14.50,13.32
$GC,6505,1.37,149.5,3746,2862,2146,2103,555.5,-5.7,300,6604,0.00,2.45,91.22,1.578,9222,0.000,0.046,3752,1800,1687,1758,1617,0,0,0,0,0,0,28.83,14.47,13.34
$GC,6916,1.27,149.5,3752,1800,1744,1613,521.8,11.4,314,6922,0.17,2.45,0.00,0.000,4612,0.324,0.067,3713,742,1678,1743,1613,0,0,0,0,0,0,13.93,14.45,28.83
$GC,7018,1.20,149.5,3714,742,1742,1613,511.1,11.1,317,7024,0.15,2.42,0.00,0.000,5126,0.278,0.046,3683,1818,1677,1742,1612,0,0,0,0,0,0,14.06,14.50,28.83
$GC,7353,1.15,149.5,3683,1818,1741,1611,477.7,9.6,328,7359,0.00,2.40,0.00,0.000,260,0.000,0.062,3683,2855,1675,1741,1610,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7590,1.07,149.5,3683,2854,1745,1610,455.4,10.0,335,7596,0.20,2.38,0.00,0.000,5126,0.299,0.047,3643,1816,1674,1739,1610,0,0,0,0,0,0,13.94,14.47,28.83
$GC,7909,1.05,149.5,3643,1817,1739,1610,428.7,8.0,346,7914,0.00,2.45,0.00,0.000,260,0.000,0.059,3643,2853,1674,1739,1610,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8146,1.01,149.5,3643,2853,1737,1609,408.6,9.3,353,8152,0.00,2.38,0.00,0.000,1030,0.000,0.046,3643,1821,1670,1737,1604,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8466,0.99,149.5,3643,1822,1737,1609,378.9,9.0,364,8472,0.12,2.45,0.00,0.000,4356,0.305,0.055,3616,2855,1672,1737,1608,0,0,0,0,0,0,13.95,14.36,28.83
$GC,8551,0.96,149.5,3616,2855,1737,1608,372.4,9.2,366,8557,0.00,2.35,0.00,0.000,1030,0.000,0.044,3616,1836,1672,1737,1608,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8871,0.96,149.5,3616,1837,1737,1607,345.0,8.1,377,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,1837,1672,1737,1607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9166,0.96,149.5,3616,1837,1736,1605,320.3,8.5,387,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1837,1671,1737,1606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9467,0.96,149.5,3616,1837,1737,1605,295.0,8.5,397,9473,0.00,2.42,0.00,0.000,260,0.000,0.059,3616,2852,1671,1737,1605,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9562,0.96,149.5,3616,2852,1735,1605,286.0,9.3,400,9567,0.00,2.38,0.00,0.000,1030,0.000,0.044,3616,1835,1670,1735,1606,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9901,0.96,149.5,3616,1836,1743,1605,258.9,7.8,411,9906,0.00,2.45,0.00,0.000,260,0.000,0.059,3621,2858,1670,1736,1605,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10088,0.95,151.7,3616,2858,1734,1605,244.3,7.2,419,10094,0.00,2.38,0.00,0.000,1030,0.000,0.044,3616,1843,1670,1734,1606,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10409,0.96,158.9,3616,1845,1734,1605,224.1,6.6,440,10419,0.00,2.53,5.00,0.993,8708,0.000,0.067,3616,745,1652,1718,1586,0,0,0,0,0,0,28.83,14.52,13.52
$GC,10511,0.96,162.6,3617,746,1718,1589,217.2,7.0,446,10522,0.00,2.45,4.93,0.979,9222,0.000,0.043,3617,1831,1636,1703,1569,0,0,0,0,0,0,28.83,14.43,13.52
$GC,10823,0.96,164.5,3615,1831,1704,1570,193.8,7.3,467,10829,0.00,2.42,0.00,0.000,260,0.000,0.063,3616,2864,1636,1703,1570,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11061,0.96,164.5,3616,2864,1703,1570,174.8,8.0,482,11066,0.00,2.35,0.00,0.000,1030,0.000,0.045,3616,1850,1636,1703,1570,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11376,0.96,165.6,3616,1851,1703,1570,151.3,7.4,503,11386,0.00,2.38,3.90,0.831,8452,0.000,0.057,3616,2863,1625,1692,1558,0,0,0,0,0,0,28.83,14.56,13.49
$GC,11603,0.96,165.6,3616,2863,1692,1559,133.6,8.3,517,11610,0.00,2.33,0.00,0.000,1030,0.000,0.044,3616,1855,1625,1692,1559,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11910,0.98,165.6,3616,1856,1692,1559,109.0,7.7,538,11916,0.00,2.60,0.00,0.000,516,0.000,0.067,3616,741,1625,1692,1559,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12014,1.00,165.6,3616,741,1692,1560,101.3,7.8,544,12019,0.00,2.55,0.00,0.000,1030,0.000,0.041,3616,1875,1625,1692,1559,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12331,1.03,170.3,3616,1875,1693,1560,78.6,6.9,565,12346,0.00,2.28,6.93,0.872,8452,0.000,0.062,3616,2863,1601,1669,1533,0,0,0,0,0,0,28.83,14.55,13.69
$GC,12583,1.03,171.3,3616,2863,1666,1533,59.2,7.4,581,12588,0.00,2.30,0.00,0.000,1030,0.000,0.043,3616,1870,1599,1666,1533,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12903,1.08,189.7,3616,1871,1666,1533,41.7,5.2,602,12928,0.00,2.35,16.40,0.822,8452,0.000,0.060,3616,2859,1521,1585,1457,0,0,0,0,0,0,28.83,14.53,13.80
$GC,13031,1.11,195.5,3616,2858,1581,1457,33.0,6.8,610,13043,0.12,2.28,3.53,0.659,11270,0.125,0.044,3673,1876,1501,1560,1443,0,0,0,0,0,0,14.41,14.44,13.57
$GC,13352,1.11,195.5,3673,1877,1559,1444,6.7,8.9,631,13357,0.00,2.62,0.00,0.000,516,0.000,0.064,3674,741,1501,1559,1444,0,0,0,0,0,0,28.83,14.28,28.83
$FREEZE,4.22,26.024,-1.954,0,66,0
$STATE,13553,end climb,NO_VERTICAL_VELOCITY
$STATE,13553,begin surface
$SM_CCo,13559,164.68,0.076,0,0,189,517.58
$SM_GC,4.84,10.20,2.83,0.00,0.037,0.057,0.000,138,1947,190,-9.78,-0.79,517.58,0,0,0,0,0,0,14.48,14.37,28.83
$IRIDIUM_FIX,2446.56,-3740.20,140813,121227
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.23
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.30
$XPDR_PINGS,1
$SC_FREEKB,3812096
$24V_AH,13.3,202.841
$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,26.775,118.150,200.075,164.675,0.000,0.000,0.000,454.525,0.250,0.000,246.486,2755.940,8451.540,518.194,2890.141,933.892,0.000,2066.805,0.000,2147.181,0.000,0.542,0.000
$DEVICE_MAMPS,338.130,78.795,1578.195,75.735,0.000,0.000,0.000,182.835,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13574.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.106,0.000,0.000,0.000
$MEM,344772
$DATA_FILE_SIZE,23391,644
$CAP_FILE_SIZE,172730,0
$CFSIZE,260034560,182329344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,6.656,308.9,1
$GPS,140813,125027,2446.559,-3740.201,0,10000.0,0,-14.9