version: 66.11
glider: 160
mission: 9
dive: 12
start: 3 27 113 0 37 34
data:
$ID,160
$MISSION,9
$DIVE,12
$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,-41257.918
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,270313,002856,2418.913,-3800.108,37,99.0,56,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-74.7
$GPS2,270313,003707,2418.973,-3800.151,14,1.7,14,-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,185.1,40694,-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,-146.0,146,1944,1237,1265,0.0,0.0,0,40,0.00,0.00,-17.58,0.000,16386,0.000,0.000,146,1943,1632,1603,1662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.85,-146.0,146,1944,1606,1660,3.2,0.0,1,124,13.80,2.38,-60.42,0.000,18692,0.384,0.093,3046,2975,3073,3055,3092,0,0,0,0,0,0,14.57,14.72,14.91
$GC,351,-0.70,-146.0,3046,2975,3053,3102,39.2,-16.7,21,359,0.20,2.30,0.00,0.000,3078,0.244,0.036,3095,1921,3077,3053,3102,0,0,0,0,0,0,14.71,14.81,28.83
$GC,657,-0.63,-146.0,3094,1922,3053,3103,79.6,-11.9,42,663,0.12,2.40,0.00,0.000,2308,0.268,0.063,3129,2978,3077,3053,3102,0,0,0,0,0,0,14.78,14.86,28.83
$GC,754,-0.63,-146.0,2176,2975,3018,3098,88.9,-9.6,48,760,0.00,2.30,0.00,0.000,1030,0.000,0.034,3129,1914,3078,3053,3103,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1067,-0.63,-146.0,3129,1914,3053,3104,115.5,-7.7,69,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1915,3078,3053,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1367,-0.63,-146.0,3129,1915,3052,3105,142.1,-9.0,89,1372,0.00,2.12,0.00,0.000,516,0.000,0.054,3129,881,3079,3053,3105,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1414,-0.63,-146.0,3131,881,3053,3104,146.5,-9.4,92,1419,0.00,2.12,0.00,0.000,1030,0.000,0.044,3129,1904,3079,3053,3105,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1731,-0.63,-146.0,3129,1904,3053,3105,177.2,-9.2,113,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1904,3079,3053,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,-0.63,-146.0,3128,1904,3053,3104,202.7,-8.3,133,2037,0.00,2.40,0.00,0.000,260,0.000,0.067,3129,2987,3079,3053,3106,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2094,-0.67,-146.0,3129,2987,3053,3105,207.8,-8.2,137,2100,0.00,2.35,0.00,0.000,1030,0.000,0.034,3129,1891,3081,3053,3110,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2413,-0.71,-146.0,3134,1892,3053,3104,234.8,-8.6,158,2418,0.00,2.08,0.00,0.000,516,0.000,0.054,3129,883,3078,3052,3105,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2445,-0.74,-146.0,3129,883,3062,3105,237.7,-8.8,160,2451,0.12,2.10,0.00,0.000,5126,0.132,0.042,3075,1898,3078,3053,3104,0,0,0,0,0,0,14.99,15.00,28.83
$GC,2764,-0.68,-146.0,3075,1899,3052,3104,277.3,-12.6,174,2769,0.12,2.40,0.00,0.000,2308,0.269,0.066,3105,2980,3078,3052,3104,0,0,0,0,0,0,14.90,15.00,28.83
$GC,2800,-0.64,-146.0,2160,2977,3018,3100,281.3,-12.4,175,2806,0.00,2.33,0.00,0.000,1030,0.000,0.037,3105,1895,3082,3052,3113,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3128,-0.64,-146.0,3106,1896,3051,3104,320.9,-12.4,186,3133,0.00,2.08,0.00,0.000,516,0.000,0.054,3105,883,3077,3051,3104,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3199,-0.64,-146.0,3105,883,3051,3104,328.6,-12.3,188,3204,0.00,2.05,0.00,0.000,1030,0.000,0.041,3105,1886,3077,3051,3103,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3522,-0.64,-146.0,3105,1886,3050,3103,366.7,-11.2,199,3527,0.00,2.42,0.00,0.000,260,0.000,0.069,3105,2981,3076,3050,3103,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3564,-0.64,-146.0,3105,2981,3049,3103,370.4,-11.3,200,3569,0.00,2.35,0.00,0.000,1030,0.000,0.039,3105,1885,3076,3049,3103,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3886,-0.64,-146.0,3105,1885,3047,3102,406.6,-10.8,211,3891,0.00,2.08,0.00,0.000,516,0.000,0.056,3105,873,3075,3049,3102,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3932,-0.64,-146.0,3105,873,3048,3102,410.1,-10.8,212,3938,0.00,2.08,0.00,0.000,1030,0.000,0.042,3105,1884,3075,3049,3102,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4251,-0.64,-146.0,3106,1885,3047,3101,444.1,-10.1,223,4256,0.00,2.42,0.00,0.000,260,0.000,0.070,3105,2981,3074,3048,3101,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4292,-0.64,-146.0,3105,2981,3047,3101,447.3,-10.0,224,4298,0.00,2.35,0.00,0.000,1030,0.000,0.039,3105,1883,3074,3047,3101,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4616,-0.64,-146.0,3105,1884,3047,3100,478.9,-9.4,235,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1884,3073,3046,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.64,-146.0,3105,1884,3046,3099,506.9,-9.4,245,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1884,3072,3046,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5214,-0.64,-146.0,3105,1884,3045,3098,536.7,-10.1,255,5220,0.00,2.08,0.00,0.000,516,0.000,0.057,3105,872,3071,3045,3098,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5320,-0.64,-146.0,3105,873,3044,3097,546.7,-10.7,258,5326,0.00,2.10,0.00,0.000,1030,0.000,0.044,3105,1893,3070,3044,3097,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5639,-0.64,-146.0,3104,1893,3043,3096,582.3,-10.3,269,5645,0.00,2.40,0.00,0.000,260,0.000,0.070,3105,2981,3069,3043,3096,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5726,-0.67,-146.0,3105,2981,3043,3096,588.1,-9.6,271,5732,0.00,2.33,0.00,0.000,1030,0.000,0.040,3105,1898,3069,3042,3096,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6034,-0.70,-146.0,3105,1898,3042,3094,613.4,-7.0,282,6039,0.00,2.10,0.00,0.000,516,0.000,0.059,3105,879,3067,3041,3094,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6076,-0.73,-146.0,3105,879,3041,3094,615.7,-6.9,283,6081,0.00,2.10,0.00,0.000,1030,0.000,0.046,3105,1895,3067,3041,3094,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6399,-0.77,-146.0,3105,1895,3040,3093,637.1,-6.5,294,6405,0.00,2.42,0.00,0.000,260,0.000,0.072,3105,2988,3066,3039,3093,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6446,-0.80,-146.0,3105,2988,3039,3093,639.4,-6.6,295,6452,0.00,2.35,0.00,0.000,1030,0.000,0.040,3105,1891,3066,3039,3093,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6766,-0.84,-146.0,3105,1891,3039,3092,666.6,-9.0,306,6772,0.12,2.08,0.00,0.000,4612,0.138,0.056,3048,881,3065,3038,3092,0,0,0,0,0,0,15.05,15.07,28.83
$GC,6853,-0.84,-146.0,3048,881,3038,3091,674.3,-10.7,308,6859,0.00,2.08,0.00,0.000,1030,0.000,0.047,3048,1885,3064,3038,3091,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7160,-0.78,-146.0,3047,1886,3037,3091,716.6,-12.8,319,7166,0.12,2.45,0.00,0.000,2308,0.283,0.070,3078,2988,3064,3037,3091,0,0,0,0,0,0,14.98,15.05,28.83
$GC,7193,-0.74,-146.0,3078,2988,3037,3090,720.7,-12.5,320,7199,0.00,2.42,0.00,0.000,1030,0.000,0.041,3078,1874,3064,3037,3091,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7526,-0.74,-146.0,3078,1875,3037,3090,755.7,-10.3,331,7531,0.00,2.50,0.00,0.000,260,0.000,0.069,3078,2988,3063,3036,3090,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7567,-0.74,-146.0,3078,2988,3036,3090,759.0,-10.2,332,7572,0.00,2.38,0.00,0.000,1030,0.000,0.041,3078,1881,3063,3036,3090,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7890,-0.74,-146.0,3078,1882,3035,3089,791.9,-9.7,343,7895,0.00,2.08,0.00,0.000,516,0.000,0.060,3077,878,3062,3035,3089,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7936,-0.74,-146.0,3078,878,3035,3089,795.3,-9.9,344,7942,0.00,2.08,0.00,0.000,1030,0.000,0.047,3078,1879,3062,3035,3089,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8254,-0.74,-146.0,3078,1880,3034,3087,828.6,-10.0,355,8259,0.00,2.45,0.00,0.000,260,0.000,0.074,3078,2979,3060,3034,3087,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8305,-0.74,-146.0,3078,2978,3033,3087,832.0,-10.0,356,8311,0.00,2.38,0.00,0.000,1030,0.000,0.043,3078,1879,3060,3033,3087,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8618,-0.74,-146.0,3078,1879,3032,3086,865.8,-10.3,367,8623,0.00,2.08,0.00,0.000,516,0.000,0.063,3078,878,3058,3032,3085,0,0,0,0,0,0,28.83,15.06,28.83
$GC,8680,-0.74,-146.0,3077,878,3032,3085,872.2,-10.3,369,8685,0.00,2.08,0.00,0.000,1030,0.000,0.048,3078,1872,3058,3032,3085,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9013,-0.74,-146.0,3078,1872,3031,3084,904.6,-9.5,380,9019,0.00,2.47,0.00,0.000,260,0.000,0.073,3078,2983,3057,3031,3084,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9095,-0.74,-146.0,3078,2983,3030,3084,910.3,-9.3,382,9100,0.00,2.40,0.00,0.000,1030,0.000,0.044,3078,1874,3057,3030,3084,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9408,-0.74,-146.0,3078,1874,3030,3083,940.8,-9.1,393,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1874,3056,3030,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-0.74,-146.0,3078,1874,3029,3081,967.7,-8.9,403,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1875,3055,3029,3082,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9976,begin apogee
$GC,9980,-0.21,0.0,3076,1794,3027,3080,990.5,-8.1,412,10122,0.60,0.00,136.38,2.059,10244,0.204,0.000,3252,1793,2476,2529,2424,0,0,0,0,0,0,14.96,28.83,13.44
$STATE,10124,end apogee,CONTROL_FINISHED_OK
$STATE,10124,begin climb
$GC,10125,0.85,146.0,3252,1793,2528,2420,991.8,0.0,416,10280,1.17,2.33,143.65,2.061,10756,0.129,0.063,3599,760,1877,1922,1833,0,0,0,0,0,0,14.15,14.18,13.37
$GC,10506,0.67,146.0,3599,760,1918,1816,950.8,15.2,429,10512,0.22,2.22,0.00,0.000,5126,0.262,0.046,3549,1802,1866,1917,1815,0,0,0,0,0,0,14.51,14.62,28.83
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$STATE,18904,end climb,SURFACE_DEPTH_REACHED
$STATE,18904,begin surface coast
$FINISH,2.3,1.009420
$STATE,18936,end surface coast,CONTROL_FINISHED_OK
$STATE,18936,begin surface
$SM_CCo,18955,8.90,0.087,0,0,1255,300.00
$SM_GC,3.83,10.02,0.38,8.90,0.076,0.062,0.087,144,1945,1255,-9.90,-0.85,300.00,0,0,0,0,0,0,14.93,14.96,14.92
$IRIDIUM_FIX,2411.01,-3757.48,260313,181845
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.25
$INTERNAL_PRESSURE,9.3304
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,4015552
$TM_FREEKB,7824088
$24V_AH,13.4,8.102
$10V_AH,13.3,0.000
$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,27.050,186.850,414.200,8.900,0.000,0.000,0.000,309.850,0.000,0.000,17.416,2816.954,13380.862,589.966,2521.184,141.899,0.000,2068.497,0.000,2051.629,0.000,0.540,0.000
$DEVICE_MAMPS,384.030,127.755,2060.910,87.210,0.000,0.000,0.000,239.445,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18954.000,4858.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.860,13.040,0.000,0.000
$MEM,345612
$DATA_FILE_SIZE,26681,783
$CAP_FILE_SIZE,211665,0
$CFSIZE,260034560,249569280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,272.0,1
$GPS,270313,055518,2416.674,-3759.935,40,2.0,58,-15.1