version: 66.11
glider: 160
mission: 9
dive: 46
start: 4 4 113 19 14 53
data:
$ID,160
$MISSION,9
$DIVE,46
$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,-41300.848
$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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,040413,190324,2452.796,-3737.440,37,1.9,37,-14.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-72.1
$GPS2,040413,191425,2452.862,-3737.480,14,1.7,14,-14.9
$SPEED_LIMITS,0.136,0.224
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,318.0,53054,-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,-126.5,149,1931,1229,1265,0.0,0.0,0,42,0.00,0.00,-17.25,0.000,16386,0.000,0.000,148,1930,1623,1595,1651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-0.81,-126.5,149,1930,1596,1651,3.1,0.0,1,127,13.85,2.33,-60.83,0.000,18692,0.386,0.090,3047,2957,2999,2992,3006,0,0,0,0,0,0,14.60,14.76,14.94
$GC,353,-0.72,-126.5,3047,2958,2988,3004,34.7,-16.0,21,361,0.12,2.25,0.00,0.000,3078,0.265,0.037,3075,1903,2996,2988,3005,0,0,0,0,0,0,14.73,14.85,28.83
$GC,660,-0.67,-126.5,3074,1904,2988,3005,80.8,-14.0,42,665,0.00,2.33,0.00,0.000,260,0.000,0.061,3074,2950,2996,2987,3005,0,0,0,0,0,0,28.83,14.90,28.83
$GC,752,-0.61,-126.5,3075,2950,2988,3005,93.5,-13.5,48,758,0.15,2.20,0.00,0.000,3078,0.250,0.034,3110,1909,2996,2987,3005,0,0,0,0,0,0,14.81,14.91,28.83
$GC,1070,-0.59,-126.5,3110,1909,2988,3007,129.3,-10.6,69,1075,0.00,2.20,0.00,0.000,516,0.000,0.054,3111,854,2997,2987,3007,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1133,-0.56,-126.5,3111,855,2988,3006,136.0,-10.8,73,1138,0.00,2.20,0.00,0.000,1030,0.000,0.042,3117,1905,2997,2988,3006,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1451,-0.54,-126.5,3111,1905,2988,3006,167.2,-9.6,94,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1906,2996,2988,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.53,-126.5,3111,1905,2987,3007,194.4,-9.4,114,1753,0.12,0.00,0.00,0.000,2054,0.266,0.000,3141,1905,2997,2988,3007,0,0,0,0,0,0,14.91,28.83,28.83
$GC,2051,-0.53,-126.5,3141,1906,2983,3007,221.0,-8.6,134,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1905,2997,2988,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.55,-126.5,3141,1905,2988,3006,246.0,-7.7,154,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1905,2997,2988,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,-0.56,-126.5,3141,1906,2988,3007,268.7,-7.3,166,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1905,2997,2987,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.58,-126.5,3141,1906,2987,3007,290.8,-7.2,176,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1906,2997,2988,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3252,-0.60,-126.5,3141,1906,2986,3006,312.7,-7.4,186,3257,0.00,2.30,0.00,0.000,260,0.000,0.064,3141,2966,2996,2986,3006,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3364,-0.63,-126.5,3141,2966,2986,3006,319.4,-7.2,189,3370,0.00,2.22,0.00,0.000,1030,0.000,0.034,3141,1902,2993,2980,3006,0,0,0,0,0,0,28.83,15.08,28.83
$GC,3678,-0.65,-126.5,3141,1903,2985,3004,344.7,-8.1,200,3684,0.12,2.15,0.00,0.000,4612,0.131,0.050,3080,864,2994,2985,3004,0,0,0,0,0,0,15.09,15.06,28.83
$GC,3735,-0.65,-126.5,3082,863,2984,3004,348.5,-8.9,201,3742,0.00,2.17,0.00,0.000,1030,0.000,0.042,3080,1909,2994,2984,3004,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4043,-0.62,-126.5,3079,1909,2984,3004,389.5,-12.6,212,4044,0.15,0.00,0.00,0.000,2054,0.253,0.000,3115,1909,2993,2983,3004,0,0,0,0,0,0,14.99,28.83,28.83
$GC,4342,-0.62,-126.5,3115,1909,2984,3002,420.6,-10.0,222,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1909,2993,2984,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4642,-0.62,-126.5,3114,1909,2983,3002,449.6,-9.4,232,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1909,2992,2983,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4941,-0.62,-126.5,3116,1910,2982,3000,475.7,-8.4,242,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1910,2991,2982,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5242,-0.62,-126.5,3115,1910,2980,2999,498.4,-7.3,252,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1910,2990,2980,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5541,-0.62,-126.5,3115,1909,2979,3000,521.0,-7.7,262,5547,0.00,2.28,0.00,0.000,260,0.000,0.066,3115,2959,2988,2978,2999,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5604,-0.62,-126.5,3115,2959,2978,2999,526.0,-8.0,264,5609,0.00,2.22,0.00,0.000,1030,0.000,0.035,3115,1902,2987,2977,2998,0,0,0,0,0,0,28.83,15.10,28.83
$GC,5937,-0.62,-126.5,3116,1902,2977,2998,552.8,-8.1,275,5942,0.00,2.15,0.00,0.000,516,0.000,0.055,3116,865,2987,2977,2998,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6029,-0.62,-126.5,3116,865,2977,2997,560.4,-8.2,278,6035,0.00,2.17,0.00,0.000,1030,0.000,0.043,3115,1902,2987,2977,2997,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6363,-0.62,-126.5,3115,1903,2976,2994,585.9,-7.7,289,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1903,2985,2976,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,-0.62,-126.5,3116,1903,2975,2993,609.4,-8.1,299,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1903,2984,2975,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6962,-0.64,-126.5,3115,1903,2975,2992,635.2,-8.7,309,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1903,2983,2974,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7262,-0.65,-126.5,3116,1903,2974,2992,662.9,-9.3,319,7267,0.00,2.30,0.00,0.000,260,0.000,0.067,3115,2959,2982,2973,2992,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7364,-0.68,-126.5,3116,2959,2972,2992,671.4,-9.2,322,7370,0.00,2.25,0.00,0.000,1030,0.000,0.036,3115,1893,2978,2965,2992,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7689,-0.70,-126.5,3116,1894,2971,2991,701.3,-9.1,333,7694,0.00,2.15,0.00,0.000,516,0.000,0.060,3115,865,2980,2971,2990,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7755,-0.72,-126.5,2176,864,2932,2985,707.3,-9.2,335,7760,0.00,2.15,0.00,0.000,1030,0.000,0.046,3115,1892,2980,2971,2990,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8084,-0.74,-126.5,3116,1892,2971,2989,736.1,-8.4,346,8090,0.12,2.35,0.00,0.000,4356,0.127,0.066,3056,2967,2979,2970,2988,0,0,0,0,0,0,15.09,15.05,28.83
$GC,8177,-0.74,-126.5,3056,2967,2970,2989,746.3,-10.2,349,8182,0.00,2.28,0.00,0.000,1030,0.000,0.037,3056,1893,2979,2970,2989,0,0,0,0,0,0,28.83,15.08,28.83
$GC,8510,-0.71,-126.5,3056,1893,2969,2988,783.4,-10.9,360,8516,0.00,2.15,0.00,0.000,516,0.000,0.057,3056,864,2978,2968,2988,0,0,0,0,0,0,28.83,15.05,28.83
$GC,8587,-0.68,-126.5,3056,864,2969,2988,790.2,-11.0,362,8593,0.15,2.15,0.00,0.000,3078,0.248,0.046,3091,1888,2977,2968,2987,0,0,0,0,0,0,14.97,15.07,28.83
$GC,8906,-0.68,-126.5,3091,1888,2968,2986,816.3,-7.1,373,8911,0.00,2.35,0.00,0.000,260,0.000,0.069,3090,2960,2976,2968,2985,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9023,-0.68,-126.5,3091,2960,2967,2986,822.5,-6.7,376,9030,0.00,2.25,0.00,0.000,1030,0.000,0.038,3087,1899,2976,2967,2986,0,0,0,0,0,0,28.83,15.10,28.83
$GC,9330,-0.68,-126.5,3090,1899,2966,2985,846.0,-7.5,387,9336,0.00,2.17,0.00,0.000,516,0.000,0.059,3091,861,2975,2966,2985,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9447,-0.68,-126.5,3090,861,2966,2984,853.9,-8.2,390,9455,0.00,2.17,0.00,0.000,1030,0.000,0.047,3091,1894,2975,2966,2984,0,0,0,0,0,0,28.83,15.06,28.83
$GC,9753,-0.68,-126.5,3090,1894,2965,2983,882.1,-8.6,401,9758,0.00,2.35,0.00,0.000,260,0.000,0.072,3090,2962,2974,2965,2983,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9861,-0.68,-126.5,3090,2962,2964,2983,890.1,-8.6,404,9867,0.00,2.28,0.00,0.000,1030,0.000,0.042,3090,1896,2973,2964,2983,0,0,0,0,0,0,28.83,15.06,28.83
$GC,10180,-0.68,-126.5,3090,1897,2963,2982,920.2,-9.1,415,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1896,2972,2963,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10479,-0.68,-126.5,3090,1896,2962,2981,947.3,-8.9,425,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1896,2971,2962,2981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10779,-0.68,-126.5,3090,1898,2961,2979,975.5,-9.4,435,10785,0.00,2.17,0.00,0.000,516,0.000,0.060,3090,861,2970,2961,2979,0,0,0,0,0,0,28.83,15.04,28.83
$GC,10881,-0.68,-126.5,3090,865,2961,2985,984.6,-9.7,438,10886,0.00,2.20,0.00,0.000,1030,0.000,0.050,3090,1903,2970,2961,2979,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,10932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10932,begin apogee
$GC,10937,-0.23,0.0,3091,1783,2961,2978,990.6,-9.7,440,11060,0.50,0.00,117.32,2.036,10244,0.193,0.000,3236,1783,2477,2532,2423,0,0,0,0,0,0,14.95,28.83,13.54
$STATE,11061,end apogee,CONTROL_FINISHED_OK
$STATE,11061,begin climb
$GC,11063,0.81,126.5,3237,1783,2531,2418,995.2,0.0,444,11195,1.12,2.40,123.30,2.066,10756,0.126,0.064,3574,727,1963,1996,1931,0,0,0,0,0,0,14.26,14.28,13.45
$GC,11212,0.77,246.2,2816,726,1943,1912,991.7,2.8,449,11339,0.00,2.35,116.20,2.032,9222,0.000,0.044,3573,1778,1469,1496,1443,0,0,0,0,0,0,28.83,14.28,13.43
$GC,11661,0.69,246.2,3575,1778,1481,1438,926.9,15.8,464,11667,0.12,2.35,0.00,0.000,4612,0.274,0.067,3549,726,1459,1481,1438,0,0,0,0,0,0,14.62,14.71,28.83
$GC,11689,0.62,246.2,3548,726,1481,1438,926.9,15.8,464,11697,0.15,2.28,0.00,0.000,5126,0.238,0.046,3514,1785,1459,1481,1437,0,0,0,0,0,0,14.63,14.74,28.83
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$STATE,21530,end climb,SURFACE_DEPTH_REACHED
$STATE,21530,begin surface coast
$FINISH,2.3,1.025687
$STATE,21546,end surface coast,CONTROL_FINISHED_OK
$STATE,21546,begin surface
$SM_CCo,21567,10.93,0.086,0,0,1256,300.00
$SM_GC,3.95,9.82,0.35,10.93,0.060,0.073,0.086,147,1910,1256,-9.84,-0.93,300.00,0,0,0,0,0,0,14.95,14.97,14.93
$IRIDIUM_FIX,2446.56,-3736.87,040413,191941
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.54
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,4002496
$TM_FREEKB,7569308
$24V_AH,13.4,19.448
$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,27.050,167.525,385.000,10.925,0.000,0.000,0.000,397.425,0.000,0.000,17.096,3054.358,15661.589,565.273,2744.784,208.512,0.000,2178.960,0.000,2181.285,0.000,0.542,0.000
$DEVICE_MAMPS,386.325,89.505,2065.500,85.680,0.000,0.000,0.000,232.560,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21553.000,4990.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.648,12.964,0.000,0.000
$MEM,345568
$DATA_FILE_SIZE,30005,874
$CAP_FILE_SIZE,229707,0
$CFSIZE,260034560,245297152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,  8.7,1
$GPS,050413,011554,2455.657,-3739.858,39,1.3,39,-14.9