version: 66.11
glider: 160
mission: 9
dive: 27
start: 3 30 113 20 17 46
data:
$ID,160
$MISSION,9
$DIVE,27
$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,420
$T_MISSION,450
$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,130
$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,-41276.969
$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,3315
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1910
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$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,0.001
$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,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
$GPS1,300313,200836,2406.606,-3748.882,34,1.3,34,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-74.7
$GPS2,300313,201719,2406.657,-3748.838,14,1.7,14,-15.1
$SPEED_LIMITS,0.136,0.224
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,47.1,73842,-15.0,-7.857,-19.31,2445
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.81,-126.5,146,1930,1232,1268,0.0,0.0,0,42,0.00,0.00,-17.70,0.000,16386,0.000,0.000,147,1930,1631,1604,1659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-0.81,-126.5,147,1930,1605,1659,3.2,0.0,1,126,13.85,2.30,-59.95,0.000,18948,0.386,0.075,3046,849,2996,2988,3005,0,0,0,0,0,0,14.59,14.73,14.92
$GC,353,-0.72,-126.5,3046,849,2987,3007,36.6,-17.1,21,361,0.15,2.20,0.00,0.000,3078,0.263,0.040,3080,1897,2997,2987,3007,0,0,0,0,0,0,14.72,14.84,28.83
$GC,660,-0.66,-126.5,3080,1898,2988,3007,83.4,-14.5,42,665,0.00,2.20,0.00,0.000,516,0.000,0.051,3080,856,2997,2987,3007,0,0,0,0,0,0,28.83,14.89,28.83
$GC,716,-0.60,-126.5,3081,856,2987,3008,90.6,-14.9,45,724,0.15,2.22,0.00,0.000,3078,0.258,0.040,3116,1920,2997,2987,3007,0,0,0,0,0,0,14.81,14.91,28.83
$GC,1023,-0.59,-126.5,3117,1923,2988,3008,127.3,-11.1,66,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1923,2998,2988,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1322,-0.59,-126.5,3116,1923,2987,3009,159.3,-10.4,86,1328,0.00,2.30,0.00,0.000,260,0.000,0.063,3116,2969,2998,2987,3009,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1404,-0.59,-126.5,3116,2969,2987,3009,166.9,-9.7,91,1409,0.00,2.25,0.00,0.000,1030,0.000,0.034,3116,1904,2998,2987,3009,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1716,-0.59,-126.5,3116,1905,2987,3009,197.1,-9.1,112,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1905,2998,2987,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,-0.59,-126.5,3116,1905,2987,3009,224.2,-9.5,132,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1905,2998,2987,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,-0.59,-126.5,3116,1905,2987,3009,250.9,-8.5,152,2325,0.00,2.15,0.00,0.000,516,0.000,0.053,3116,862,2998,2987,3009,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2415,-0.59,-126.5,2176,862,2951,3004,259.1,-8.6,155,2420,0.00,2.20,0.00,0.000,1030,0.000,0.040,3116,1923,2998,2987,3009,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2743,-0.59,-126.5,3116,1923,2987,3009,286.6,-8.7,166,2749,0.00,2.25,0.00,0.000,260,0.000,0.064,3116,2958,2998,2987,3009,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2789,-0.59,-126.5,3116,2958,2987,3009,289.6,-8.8,167,2794,0.00,2.20,0.00,0.000,1030,0.000,0.035,3116,1912,2998,2987,3009,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3107,-0.59,-126.5,3116,1913,2987,3008,319.0,-9.0,178,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1913,2997,2987,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-0.59,-126.5,3116,1913,2987,3007,347.6,-9.7,188,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1913,2997,2987,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3706,-0.59,-126.5,3116,1913,2987,3005,374.9,-8.7,198,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1913,2996,2987,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4007,-0.59,-126.5,3116,1913,2987,3003,399.7,-8.1,208,4012,0.00,2.17,0.00,0.000,516,0.000,0.053,3116,858,2994,2986,3003,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4088,-0.59,-126.5,3116,855,2986,3003,404.8,-8.1,210,4093,0.00,2.20,0.00,0.000,1030,0.000,0.041,3116,1921,2994,2986,3003,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4401,-0.59,-126.5,3116,1922,2985,3002,431.1,-8.1,221,4406,0.00,2.28,0.00,0.000,260,0.000,0.065,3115,2965,2993,2985,3001,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4493,-0.59,-126.5,3112,2966,2984,3002,438.4,-7.9,224,4498,0.00,2.20,0.00,0.000,1030,0.000,0.036,3116,1924,2993,2984,3002,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4826,-0.59,-126.5,3117,1926,2984,3000,466.2,-8.6,235,4831,0.00,2.20,0.00,0.000,516,0.000,0.055,3116,859,2991,2984,2999,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4907,-0.59,-126.5,3116,859,2983,3000,471.9,-8.9,237,4912,0.00,2.20,0.00,0.000,1030,0.000,0.041,3116,1922,2991,2983,3000,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5219,-0.59,-126.5,3116,1919,2983,2998,501.0,-8.8,248,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1922,2991,2983,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5520,-0.59,-126.5,3116,1922,2982,2998,525.9,-8.3,258,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1922,2992,2981,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5819,-0.59,-126.5,3117,1922,2980,2997,551.1,-8.3,268,5825,0.00,2.28,0.00,0.000,260,0.000,0.067,3116,2964,2988,2980,2996,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5856,-0.59,-126.5,3117,2964,2979,2997,553.8,-8.3,269,5861,0.00,2.20,0.00,0.000,1030,0.000,0.037,3117,1919,2987,2979,2996,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6184,-0.59,-126.5,3116,1919,2978,2995,581.2,-8.3,280,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1920,2986,2978,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6484,-0.60,-126.5,3116,1919,2978,2994,606.4,-8.3,290,6489,0.00,2.20,0.00,0.000,516,0.000,0.057,3116,859,2985,2978,2993,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6535,-0.60,-126.5,3124,859,2978,2993,609.1,-8.2,291,6540,0.00,2.20,0.00,0.000,1030,0.000,0.044,3116,1919,2985,2978,2993,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6849,-0.62,-126.5,3116,1919,2977,2992,634.9,-7.5,302,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1919,2984,2976,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7148,-0.63,-126.5,3116,1920,2976,2992,656.1,-6.9,312,7153,0.00,2.28,0.00,0.000,260,0.000,0.069,3116,2958,2983,2976,2991,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7190,-0.65,-126.5,3116,2957,2975,2992,658.3,-6.8,313,7195,0.00,2.20,0.00,0.000,1030,0.000,0.037,3116,1916,2983,2975,2992,0,0,0,0,0,0,28.83,15.10,28.83
$GC,7514,-0.67,-126.5,3116,1917,2975,2991,681.0,-6.8,324,7519,0.00,2.20,0.00,0.000,516,0.000,0.056,3116,855,2983,2975,2991,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7611,-0.69,-126.5,2144,854,2931,2984,688.3,-7.5,327,7617,0.00,2.20,0.00,0.000,1030,0.000,0.044,3116,1912,2982,2974,2990,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7940,-0.71,-126.5,3116,1913,2974,2989,714.6,-8.6,338,7945,0.00,2.30,0.00,0.000,260,0.000,0.068,3116,2962,2981,2974,2989,0,0,0,0,0,0,28.83,15.06,28.83
$GC,8047,-0.74,-126.5,3116,2962,2972,2989,723.1,-9.0,341,8054,0.12,2.22,0.00,0.000,5126,0.134,0.039,3064,1914,2980,2972,2989,0,0,0,0,0,0,15.07,15.09,28.83
$GC,8368,-0.72,-126.5,3064,1914,2971,2987,764.4,-12.8,352,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1914,2979,2971,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.70,-126.5,3064,1914,2971,2986,801.3,-12.1,362,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1914,2979,2971,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8967,-0.68,-126.5,3065,1914,2970,2986,835.8,-11.3,372,8973,0.12,2.22,0.00,0.000,2564,0.256,0.057,3097,856,2978,2970,2986,0,0,0,0,0,0,14.99,15.07,28.83
$GC,9070,-0.68,-126.5,3098,856,2970,2985,845.4,-10.4,375,9075,0.00,2.22,0.00,0.000,1030,0.000,0.047,3098,1921,2977,2970,2985,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9393,-0.68,-126.5,3098,1921,2969,2983,876.1,-9.0,386,9398,0.00,2.30,0.00,0.000,260,0.000,0.072,3098,2965,2976,2969,2983,0,0,0,0,0,0,28.83,15.05,28.83
$GC,9465,-0.70,-126.5,3098,2965,2968,2983,882.0,-9.2,388,9470,0.00,2.25,0.00,0.000,1030,0.000,0.040,3098,1907,2975,2968,2983,0,0,0,0,0,0,28.83,15.08,28.83
$GC,9789,-0.71,-126.5,3098,1908,2967,2982,909.2,-7.8,399,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1907,2975,2968,2983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10088,-0.71,-126.5,3098,1908,2966,2982,930.5,-6.8,409,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1908,2974,2966,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10388,-0.73,-126.5,3098,1907,2966,2980,950.0,-6.4,419,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1908,2973,2966,2981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10688,-0.74,-126.5,3098,1908,2965,2980,968.3,-5.9,429,10693,0.00,2.17,0.00,0.000,516,0.000,0.058,3098,858,2972,2965,2979,0,0,0,0,0,0,28.83,15.06,28.83
$GC,10791,-0.74,-126.5,3098,861,2964,2979,974.1,-6.2,432,10796,0.00,2.20,0.00,0.000,1030,0.000,0.047,3098,1911,2971,2964,2979,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,11052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11052,begin apogee
$GC,11056,-0.23,0.0,3098,1775,2964,2978,991.4,-6.4,441,11179,0.47,0.00,117.32,2.049,10244,0.190,0.000,3238,1774,2477,2527,2427,0,0,0,0,0,0,14.97,28.83,13.50
$STATE,11181,end apogee,CONTROL_FINISHED_OK
$STATE,11181,begin climb
$GC,11183,0.81,126.5,3238,1775,2526,2424,993.8,0.0,445,11319,1.12,2.35,123.95,2.075,10756,0.129,0.059,3573,730,1959,1995,1924,0,0,0,0,0,0,14.21,14.24,13.37
$GC,11405,0.70,126.5,3573,730,1994,1913,982.0,8.4,452,11411,0.15,2.30,0.00,0.000,5126,0.269,0.043,3543,1790,1953,1994,1912,0,0,0,0,0,0,14.35,14.45,28.83
$GC,11721,0.63,126.5,3543,1790,1994,1903,952.1,8.6,463,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1790,1948,1994,1903,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21926,end climb,SURFACE_DEPTH_REACHED
$STATE,21927,begin surface coast
$FINISH,2.3,1.011708
$STATE,21943,end surface coast,CONTROL_FINISHED_OK
$STATE,21943,begin surface
$SM_CCo,21962,1.25,0.098,0,0,1256,300.00
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$TT8_MAMPS,0.023968,0.023968
$HUMID,40.31
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,4009792
$TM_FREEKB,7712236
$24V_AH,13.4,13.171
$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
$DEVICE_SECS,26.675,181.350,413.200,1.250,0.000,0.000,0.000,329.450,0.000,0.000,17.302,3123.990,15827.419,579.147,2747.002,202.915,0.000,2179.403,0.000,2265.404,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21948.000,4782.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.600,12.955,0.000,0.000
$MEM,345724
$DATA_FILE_SIZE,33427,881
$CAP_FILE_SIZE,231462,0
$CFSIZE,260034560,247676928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 45.1,1
$GPS,310313,022506,2409.805,-3746.371,33,1.0,33,-15.0