version: 66.11
glider: 160
mission: 9
dive: 545
start: 8 14 113 21 55 48
data:
$ID,160
$MISSION,9
$DIVE,545
$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,-100523.2
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,140813,171844,2451.311,-3702.656,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.5
$GPS2,140813,171844,2451.311,-3702.656,241,99.0,241,-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,222.1,104972,-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,23,-1.38,-41.0,133,1959,209,177,0.0,0.0,0,114,0.00,0.00,-89.20,0.000,16386,0.000,0.000,133,1960,2339,2311,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.43,-92.8,133,1960,2312,2368,3.3,-1.1,6,151,13.70,2.47,-7.90,0.000,19204,0.377,0.089,2816,3006,2680,2696,2665,0,0,0,0,0,0,14.06,14.39,14.87
$GC,160,-1.01,-92.8,2816,3006,2696,2665,8.7,-9.5,8,166,0.62,2.38,0.00,0.000,3078,0.259,0.038,2964,1952,2681,2697,2665,0,0,0,0,0,0,14.10,14.54,28.83
$GC,476,-1.01,-92.8,2965,1954,2698,2665,49.0,-11.2,29,482,0.00,2.42,0.00,0.000,516,0.000,0.067,2965,889,2680,2696,2665,0,0,0,0,0,0,28.83,14.42,28.83
$GC,567,-1.01,-92.8,2965,889,2698,2664,56.9,-10.3,34,573,0.00,2.33,0.00,0.000,1030,0.000,0.052,2965,1914,2680,2698,2663,0,0,0,0,0,0,28.83,14.50,28.83
$GC,872,-1.01,-92.8,2965,1914,2698,2663,86.5,-9.8,55,878,0.00,2.33,0.00,0.000,516,0.000,0.054,2965,891,2680,2697,2663,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1109,-1.02,-92.8,2965,892,2698,2663,110.2,-10.3,70,1115,0.00,2.30,0.00,0.000,1030,0.000,0.053,2965,1902,2680,2698,2662,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1424,-1.05,-92.8,2965,1901,2697,2662,139.4,-8.6,91,1430,0.00,2.35,0.00,0.000,516,0.000,0.060,2965,890,2680,2698,2662,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1663,-1.07,-92.8,2965,890,2698,2661,159.1,-8.5,106,1669,0.00,2.28,0.00,0.000,1030,0.000,0.056,2965,1881,2679,2697,2661,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1978,-1.10,-92.8,2965,1880,2698,2661,189.0,-10.1,127,1984,0.00,2.30,0.00,0.000,516,0.000,0.066,2965,892,2679,2697,2661,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2215,-1.12,-92.8,1920,892,2644,2651,212.6,-10.0,142,2221,0.00,2.22,0.00,0.000,1030,0.000,0.055,2965,1867,2678,2697,2660,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2532,-1.15,-92.8,2965,1866,2697,2659,242.4,-9.0,163,2538,0.12,2.28,0.00,0.000,4612,0.124,0.064,2910,894,2678,2697,2659,0,0,0,0,0,0,14.53,14.36,28.83
$GC,2769,-1.15,-92.8,2910,894,2697,2658,267.1,-11.5,173,2775,0.00,2.17,0.00,0.000,1030,0.000,0.051,2910,1852,2677,2698,2657,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3084,-1.15,-92.8,2910,1852,2697,2655,303.1,-10.4,184,3090,0.00,2.22,0.00,0.000,516,0.000,0.061,2909,892,2676,2697,2655,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3321,-1.15,-92.8,2910,887,2697,2654,324.9,-10.1,191,3326,0.00,2.12,0.00,0.000,1030,0.000,0.047,2910,1835,2675,2697,2654,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3636,-1.15,-92.8,2909,1834,2697,2652,359.0,-10.5,202,3641,0.00,2.17,0.00,0.000,516,0.000,0.060,2910,891,2674,2697,2652,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3872,-1.15,-92.8,2910,892,2697,2651,382.9,-11.0,209,3878,0.00,2.08,0.00,0.000,1030,0.000,0.046,2910,1818,2673,2697,2650,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4188,-1.15,-92.8,2910,1817,2696,2649,419.3,-10.9,220,4194,0.00,2.12,0.00,0.000,516,0.000,0.058,2910,892,2672,2696,2649,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4425,-1.15,-92.8,2910,893,2695,2649,444.2,-11.6,227,4430,0.00,2.05,0.00,0.000,1030,0.000,0.045,2910,1805,2671,2695,2648,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4739,-1.15,-92.8,2910,1805,2695,2646,482.1,-11.1,238,4745,0.00,2.10,0.00,0.000,516,0.000,0.057,2909,891,2670,2695,2646,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4976,-1.15,-92.8,2910,891,2694,2645,507.1,-11.8,245,4982,0.00,2.05,0.00,0.000,1030,0.000,0.044,2910,1804,2670,2694,2646,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,5257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5257,begin apogee
$GC,5266,-0.25,0.0,2910,1803,2695,2644,542.8,-11.7,255,5352,1.15,0.00,74.45,1.552,10244,0.223,0.000,3203,1804,2293,2337,2250,0,0,0,0,0,0,13.73,28.83,13.32
$STATE,5354,end apogee,CONTROL_FINISHED_OK
$STATE,5354,begin climb
$GC,5361,1.43,92.8,3204,1804,2335,2251,546.9,0.0,258,5448,1.73,2.50,78.18,1.554,10500,0.096,0.063,3754,2861,1919,1981,1858,0,0,0,0,0,0,14.36,14.38,13.35
$GC,5684,1.31,93.6,3754,2861,1971,1850,536.4,7.4,268,5690,0.20,2.42,0.00,0.000,5126,0.321,0.043,3716,1797,1910,1971,1850,0,0,0,0,0,0,14.04,14.54,28.83
$GC,6005,1.23,99.6,3716,1798,1971,1848,514.4,6.8,279,6015,0.00,2.45,4.22,1.086,8452,0.000,0.051,3716,2866,1894,1958,1831,0,0,0,0,0,0,28.83,14.69,13.47
$GC,6246,1.12,99.6,3716,2866,1957,1831,496.8,8.1,286,6255,0.30,2.42,0.00,0.000,5126,0.295,0.041,3658,1796,1894,1957,1831,0,0,0,0,0,0,14.01,14.57,28.83
$GC,6555,1.08,100.4,3658,1797,1957,1831,472.2,7.4,297,6560,0.00,2.50,0.00,0.000,260,0.000,0.054,3658,2869,1894,1957,1831,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6793,1.01,103.0,3658,2869,1955,1831,455.9,7.2,304,6805,0.15,2.40,3.95,1.028,13318,0.292,0.041,3627,1821,1880,1946,1815,0,0,0,0,0,0,14.03,14.52,13.49
$GC,7104,1.01,118.9,3628,1821,1947,1815,436.8,5.5,315,7126,0.00,2.40,16.62,1.349,8452,0.000,0.051,3628,2866,1812,1889,1735,0,0,0,0,0,0,28.83,14.67,13.64
$GC,7358,0.97,120.5,3628,2866,1881,1734,419.3,7.3,323,7363,0.00,2.38,0.00,0.000,1030,0.000,0.041,3630,1821,1807,1881,1734,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7687,0.96,126.2,3629,1822,1881,1732,396.2,6.8,334,7700,0.00,2.40,7.15,1.207,8452,0.000,0.054,3629,2866,1781,1860,1703,0,0,0,0,0,0,28.83,14.69,13.64
$GC,7934,0.92,126.2,3629,2866,1856,1702,375.8,8.2,342,7940,0.17,2.35,0.00,0.000,5126,0.272,0.040,3593,1838,1778,1856,1701,0,0,0,0,0,0,14.09,14.52,28.83
$GC,8270,0.93,132.0,3593,1839,1856,1701,352.5,6.8,353,8280,0.00,2.35,4.72,1.081,8452,0.000,0.050,3593,2863,1762,1839,1685,0,0,0,0,0,0,28.83,14.66,13.50
$GC,8511,0.93,132.0,3593,2863,1838,1685,335.1,8.0,360,8519,0.00,2.33,0.00,0.000,1030,0.000,0.038,3593,1838,1761,1838,1685,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8821,0.94,145.8,3593,1839,1834,1685,314.0,5.8,371,8843,0.00,2.40,14.23,1.190,8452,0.000,0.053,3593,2858,1703,1783,1624,0,0,0,0,0,0,28.83,14.62,13.67
$GC,9030,0.95,152.0,3594,2857,1776,1623,301.5,6.7,377,9043,0.00,2.28,6.62,1.112,9222,0.000,0.038,3593,1854,1677,1751,1604,0,0,0,0,0,0,28.83,14.51,13.68
$GC,9373,0.97,157.7,3601,1854,1745,1604,277.3,6.8,389,9380,0.00,0.00,5.12,1.035,8198,0.000,0.000,3593,1859,1657,1728,1586,0,0,0,0,0,0,28.83,28.83,13.66
$GC,9676,0.99,159.3,3593,1854,1729,1586,255.5,7.3,399,9681,0.00,2.38,0.00,0.000,260,0.000,0.052,3593,2868,1656,1728,1585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9879,0.99,159.3,3594,2868,1726,1585,238.9,7.9,410,9884,0.00,2.30,0.00,0.000,1030,0.000,0.038,3593,1860,1656,1726,1586,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10200,1.03,173.9,3597,1860,1726,1585,218.9,5.7,431,10218,0.00,0.00,16.30,1.092,8198,0.000,0.000,3593,1861,1590,1660,1520,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10515,1.07,185.7,3593,1861,1651,1517,199.3,6.1,452,10532,0.12,2.40,10.80,1.049,10500,0.123,0.053,3650,2869,1538,1599,1478,0,0,0,0,0,0,14.42,14.64,13.74
$GC,10758,1.04,185.7,3654,2869,1592,1478,180.6,7.7,467,10764,0.00,2.28,0.00,0.000,1030,0.000,0.037,3656,1868,1534,1591,1478,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11074,1.04,185.7,3656,1869,1592,1478,156.1,9.0,488,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,3656,1869,1535,1592,1478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11373,1.04,185.7,3656,1869,1591,1478,127.6,9.2,508,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,3656,1870,1534,1591,1478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11673,1.04,185.7,3655,1870,1591,1479,103.9,7.7,528,11678,0.00,2.33,0.00,0.000,260,0.000,0.052,3655,2862,1534,1590,1478,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11910,1.01,185.7,3656,2860,1589,1478,83.8,8.6,543,11916,0.15,2.30,0.00,0.000,5126,0.273,0.038,3626,1868,1533,1589,1478,0,0,0,0,0,0,13.81,14.26,28.83
$GC,12226,1.04,187.8,3626,1869,1589,1478,60.7,7.2,564,12232,0.00,2.35,0.00,0.000,260,0.000,0.051,3626,2866,1533,1589,1478,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12247,1.06,187.8,3626,2866,1589,1477,58.8,7.7,565,12252,0.00,2.30,0.00,0.000,1030,0.000,0.037,3628,1858,1533,1589,1478,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12568,1.09,191.3,3628,1859,1589,1478,37.8,7.1,586,12580,0.00,0.00,4.15,0.744,8198,0.000,0.000,3629,1859,1520,1574,1466,0,0,0,0,0,0,28.83,28.83,13.56
$GC,12882,1.12,191.3,3628,1859,1575,1466,12.9,8.2,607,12888,0.00,2.35,0.00,0.000,260,0.000,0.052,3628,2864,1520,1574,1467,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12948,1.15,191.3,3628,2864,1574,1467,6.9,9.2,611,12954,0.12,2.30,0.00,0.000,3078,0.116,0.042,3678,1863,1520,1574,1467,0,0,0,0,0,0,14.40,14.43,28.83
$FREEZE,4.38,25.778,-1.315,0,68,0
$STATE,13160,end climb,NO_VERTICAL_VELOCITY
$STATE,13160,begin surface
$SM_CCo,13166,167.27,0.075,0,0,188,517.58
$SM_GC,4.83,10.30,0.22,0.00,0.042,0.079,0.000,135,1958,189,-9.79,-0.57,517.83,0,0,0,0,0,0,14.58,14.50,28.83
$IRIDIUM_FIX,2448.93,-3802.09,140813,212104
$TT8_MAMPS,0.023219,0.023219
$HUMID,83.98
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3811328
$24V_AH,13.3,203.365
$10V_AH,12.3,0.000
$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,28.850,101.825,246.525,167.275,0.000,0.000,0.000,1277.100,0.000,0.000,243.577,2617.624,8279.743,557.723,3496.530,1018.090,0.000,2881.311,0.000,2035.791,0.000,0.543,0.000
$DEVICE_MAMPS,377.145,88.740,1554.480,74.970,0.000,0.000,0.000,219.555,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13172.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.137,0.000,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,23405,625
$CAP_FILE_SIZE,172713,0
$CFSIZE,260034560,182276096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,98.648, 87.9,1
$GPS,140813,213904,2448.935,-3802.090,0,10000.0,0,-14.9