version: 66.11
glider: 160
mission: 9
dive: 11
start: 3 26 113 18 59 57
data:
$ID,160
$MISSION,9
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,400
$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,150
$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,300
$N_FILEKB,8
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41256.656
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3900
$C_PITCH,3330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,30
$C_ROLL_DIVE,1930
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,34
$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,2479
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$GPS1,260313,185314,2420.908,-3759.494,42,2.3,61,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-72.8
$GPS2,260313,185931,2420.899,-3759.550,9,1.1,9,-15.1
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,196.1,44268,-16.1,-9.167,-19.98,2424
$D_GRID,990
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.0,144,1940,1185,1170,0.0,0.0,0,40,0.00,0.00,-17.33,0.000,16386,0.000,0.000,144,1940,1550,1528,1573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.85,-146.0,144,1940,1532,1571,3.2,0.0,1,131,13.93,2.38,-66.45,0.000,18692,0.390,0.086,3054,2980,3074,3053,3095,0,0,0,0,0,0,14.58,14.75,14.95
$GC,359,-0.71,-146.0,3055,2980,3051,3100,37.3,-16.5,22,365,0.20,2.30,0.00,0.000,3078,0.246,0.037,3097,1926,3075,3051,3100,0,0,0,0,0,0,14.73,14.84,28.83
$GC,678,-0.64,-146.0,3097,1926,3051,3107,80.9,-13.3,43,684,0.00,2.40,0.00,0.000,260,0.000,0.065,3097,2981,3075,3051,3100,0,0,0,0,0,0,28.83,14.86,28.83
$GC,861,-0.61,-146.0,3097,2981,3051,3101,103.8,-11.3,55,868,0.12,2.28,0.00,0.000,3078,0.252,0.035,3127,1931,3075,3051,3100,0,0,0,0,0,0,14.82,14.92,28.83
$GC,1179,-0.61,-146.0,3127,1931,3050,3102,137.6,-10.3,76,1185,0.00,2.17,0.00,0.000,516,0.000,0.053,3127,874,3076,3051,3102,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1295,-0.61,-146.0,3127,874,3051,3102,148.7,-10.0,83,1302,0.00,2.17,0.00,0.000,1030,0.000,0.044,3127,1920,3076,3051,3102,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1601,-0.61,-146.0,3127,1920,3051,3102,179.3,-9.8,104,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1921,3076,3051,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.61,-146.0,3127,1921,3051,3102,209.2,-9.7,124,1907,0.00,2.38,0.00,0.000,260,0.000,0.067,3126,2990,3076,3050,3102,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1989,-0.65,-146.0,3127,2994,3051,3102,216.5,-9.6,129,1997,0.00,2.28,0.00,0.000,1030,0.000,0.037,3124,1928,3073,3045,3102,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2294,-0.68,-146.0,3127,1929,3051,3102,246.1,-9.4,150,2299,0.00,2.17,0.00,0.000,516,0.000,0.056,3127,878,3076,3050,3102,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2381,-0.68,-146.0,3127,878,3050,3102,252.4,-10.0,154,2388,0.00,2.15,0.00,0.000,1030,0.000,0.044,3127,1916,3076,3051,3102,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2689,-0.71,-146.0,3128,1916,3050,3102,281.5,-8.4,165,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1917,3076,3051,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.75,-146.0,3127,1916,3049,3102,306.7,-8.9,175,2994,0.12,2.38,0.00,0.000,4356,0.132,0.067,3067,2987,3075,3049,3101,0,0,0,0,0,0,15.04,15.02,28.83
$GC,3070,-0.75,-146.0,3067,2987,3047,3101,314.5,-10.6,177,3076,0.00,2.28,0.00,0.000,1030,0.000,0.037,3067,1922,3074,3048,3101,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3384,-0.69,-146.0,3067,1923,3047,3101,360.8,-14.0,188,3389,0.12,2.15,0.00,0.000,2564,0.265,0.054,3100,878,3074,3047,3101,0,0,0,0,0,0,14.95,15.02,28.83
$GC,3420,-0.64,-146.0,2144,878,3014,3096,365.2,-13.7,189,3425,0.00,2.15,0.00,0.000,1030,0.000,0.045,3100,1917,3074,3047,3101,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3748,-0.64,-146.0,3100,1918,3047,3100,401.7,-10.9,200,3753,0.00,2.38,0.00,0.000,260,0.000,0.071,3099,2987,3073,3046,3101,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3794,-0.64,-146.0,3100,2988,3046,3100,405.4,-11.0,201,3799,0.00,2.28,0.00,0.000,1030,0.000,0.038,3100,1922,3073,3046,3100,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4111,-0.64,-146.0,3100,1923,3046,3098,438.9,-10.2,212,4116,0.00,2.15,0.00,0.000,516,0.000,0.057,3100,877,3072,3045,3099,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4207,-0.64,-146.0,2176,878,3012,3094,448.8,-10.5,215,4212,0.00,2.15,0.00,0.000,1030,0.000,0.044,3101,1914,3071,3045,3098,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4535,-0.64,-146.0,3100,1914,3044,3097,481.8,-9.7,226,4540,0.00,2.38,0.00,0.000,260,0.000,0.071,3100,2986,3070,3044,3097,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4611,-0.64,-146.0,3100,2985,3044,3097,487.6,-9.3,228,4617,0.00,2.30,0.00,0.000,1030,0.000,0.040,3100,1912,3070,3044,3097,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4930,-0.64,-146.0,3100,1913,3051,3096,517.7,-9.1,239,4935,0.00,2.12,0.00,0.000,516,0.000,0.058,3101,880,3069,3043,3096,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5006,-0.64,-146.0,3100,881,3043,3095,523.9,-9.4,241,5012,0.00,2.15,0.00,0.000,1030,0.000,0.047,3100,1920,3069,3043,3095,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5325,-0.64,-146.0,3100,1921,3041,3094,555.4,-9.8,252,5330,0.00,2.35,0.00,0.000,260,0.000,0.071,3100,2981,3067,3041,3094,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5391,-0.64,-146.0,2176,2977,3007,3089,562.0,-10.3,254,5396,0.00,2.30,0.00,0.000,1030,0.000,0.042,3100,1915,3067,3040,3094,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5719,-0.64,-146.0,3107,1915,3040,3092,596.1,-9.9,265,5724,0.00,2.15,0.00,0.000,516,0.000,0.061,3100,874,3065,3039,3092,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5821,-0.64,-146.0,3100,876,3039,3092,605.6,-10.2,268,5826,0.00,2.15,0.00,0.000,1030,0.000,0.047,3100,1917,3065,3039,3091,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6144,-0.64,-146.0,3100,1917,3039,3091,635.9,-8.9,279,6149,0.00,2.38,0.00,0.000,260,0.000,0.073,3100,2984,3064,3038,3091,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6190,-0.64,-146.0,3100,2984,3038,3091,638.9,-8.9,280,6196,0.00,2.28,0.00,0.000,1030,0.000,0.041,3100,1923,3064,3037,3091,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6510,-0.67,-146.0,3100,1923,3038,3090,669.1,-9.4,291,6515,0.00,2.15,0.00,0.000,516,0.000,0.058,3100,878,3063,3037,3089,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6602,-0.67,-146.0,3100,878,3037,3090,678.2,-9.8,294,6607,0.00,2.15,0.00,0.000,1030,0.000,0.047,3100,1913,3063,3037,3089,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6935,-0.70,-146.0,3100,1914,3037,3089,709.8,-9.4,305,6940,0.00,2.40,0.00,0.000,260,0.000,0.074,3100,2990,3062,3036,3089,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7029,-0.75,-146.0,3100,2990,3035,3089,718.3,-9.1,308,7034,0.00,2.33,0.00,0.000,1030,0.000,0.041,3100,1911,3061,3035,3088,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7363,-0.79,-146.0,3100,1912,3035,3086,747.3,-8.8,319,7368,0.00,2.12,0.00,0.000,516,0.000,0.059,3100,881,3060,3034,3086,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7440,-0.82,-146.0,3100,881,3034,3086,753.3,-9.0,321,7446,0.12,2.12,0.00,0.000,5126,0.130,0.048,3052,1908,3060,3034,3086,0,0,0,0,0,0,15.07,15.07,28.83
$GC,7760,-0.79,-146.0,3052,1909,3032,3085,789.8,-11.3,332,7765,0.00,2.40,0.00,0.000,260,0.000,0.073,3052,2984,3059,3033,3085,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7836,-0.76,-146.0,3052,2984,3032,3085,797.2,-11.5,334,7843,0.12,2.30,0.00,0.000,3078,0.246,0.044,3080,1922,3058,3032,3085,0,0,0,0,0,0,14.97,15.07,28.83
$GC,8156,-0.76,-146.0,3080,1923,3032,3084,829.4,-9.5,345,8161,0.00,2.17,0.00,0.000,516,0.000,0.062,3080,875,3057,3031,3084,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8242,-0.76,-146.0,3080,876,3031,3084,835.7,-9.7,347,8249,0.00,2.17,0.00,0.000,1030,0.000,0.050,3080,1912,3057,3031,3084,0,0,0,0,0,0,28.83,15.06,28.83
$GC,8548,-0.76,-146.0,3080,1916,3030,3081,867.9,-10.2,358,8554,0.00,2.40,0.00,0.000,260,0.000,0.076,3080,2984,3056,3030,3083,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8660,-0.76,-146.0,3080,2984,3030,3082,877.3,-10.3,361,8665,0.00,2.33,0.00,0.000,1030,0.000,0.044,3080,1910,3055,3029,3082,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8972,-0.76,-146.0,3081,1910,3029,3081,910.7,-10.0,372,8977,0.00,2.15,0.00,0.000,516,0.000,0.061,3080,875,3054,3028,3081,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9064,-0.76,-146.0,3080,875,3028,3079,920.7,-10.7,375,9069,0.00,2.17,0.00,0.000,1030,0.000,0.050,3080,1910,3054,3028,3080,0,0,0,0,0,0,28.83,15.05,28.83
$GC,9397,-0.76,-146.0,3080,1910,3024,3079,954.9,-10.1,386,9402,0.00,2.40,0.00,0.000,260,0.000,0.076,3080,2980,3052,3027,3078,0,0,0,0,0,0,28.83,15.02,28.83
$GC,9460,-0.76,-146.0,3080,2981,3027,3079,961.2,-10.2,388,9465,0.00,2.35,0.00,0.000,1030,0.000,0.044,3080,1903,3053,3027,3080,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,9760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9761,begin apogee
$GC,9765,-0.21,0.0,3080,1790,3027,3077,991.8,-10.2,398,9914,0.60,0.00,138.15,2.050,10244,0.202,0.000,3255,1790,2474,2529,2419,0,0,0,0,0,0,14.95,28.83,13.43
$STATE,9915,end apogee,CONTROL_FINISHED_OK
$STATE,9916,begin climb
$GC,9917,0.85,146.0,3255,1790,2529,2417,997.7,0.0,403,10073,1.15,2.58,142.57,2.064,10500,0.127,0.069,3597,2850,1877,1917,1838,0,0,0,0,0,0,14.18,14.20,13.36
$GC,10300,0.63,146.0,3597,2850,1913,1822,967.0,13.0,415,10307,0.30,2.33,0.00,0.000,5126,0.282,0.047,3534,1817,1867,1913,1822,0,0,0,0,0,0,14.50,14.62,28.83
$GC,10608,0.54,146.0,3532,1817,1907,1817,933.9,9.9,426,10613,0.00,2.33,0.00,0.000,516,0.000,0.069,3533,738,1865,1913,1818,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10840,0.46,146.0,3533,738,1912,1815,911.0,10.8,433,10846,0.22,2.25,0.00,0.000,5126,0.233,0.047,3476,1802,1864,1913,1815,0,0,0,0,0,0,14.76,14.85,28.83
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$STATE,19575,end climb,SURFACE_DEPTH_REACHED
$STATE,19576,begin surface coast
$FINISH,2.3,1.024071
$STATE,19606,end surface coast,CONTROL_FINISHED_OK
$STATE,19606,begin surface
$SM_CCo,19625,14.12,0.128,0,0,1255,300.00
$SM_GC,3.40,9.88,0.25,14.12,0.067,0.080,0.128,146,1937,1255,-9.89,-0.88,300.00,0,0,0,0,0,0,14.93,14.97,14.88
$IRIDIUM_FIX,2413.38,-3800.80,260313,131314
$TT8_MAMPS,0.024717,0.024717
$HUMID,40.78
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,4015936
$TM_FREEKB,7831528
$24V_AH,13.4,7.753
$10V_AH,13.6,0.000
$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,27.025,195.925,409.075,14.125,0.000,0.000,0.000,221.850,0.000,0.000,12.231,3049.947,13567.658,624.933,2628.312,142.413,0.000,2105.195,0.000,2263.282,0.000,0.540,0.000
$DEVICE_MAMPS,390.150,92.565,2063.970,127.755,0.000,0.000,0.000,244.035,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19589.000,4751.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.843,12.966,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,30076,802
$CAP_FILE_SIZE,220566,0
$CFSIZE,260034560,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,309.9,1
$GPS,270313,002856,2418.913,-3800.108,37,99.0,56,-15.1