version: 66.11
glider: 160
mission: 9
dive: 47
start: 4 5 113 1 24 58
data:
$ID,160
$MISSION,9
$DIVE,47
$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,-41302.105
$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,30
$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
$GPS1,050413,011554,2455.657,-3739.858,39,1.3,39,-14.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-69.8
$GPS2,050413,012430,2455.695,-3739.876,13,1.6,30,-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,308.6,46519,-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,22,begin dive
$GC,24,-0.81,-126.5,147,1916,1236,1263,0.0,0.0,0,43,0.00,0.00,-17.20,0.000,16386,0.000,0.000,147,1916,1625,1604,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-0.81,-126.5,146,1916,1604,1646,3.1,0.0,1,126,13.82,2.40,-58.30,0.000,19204,0.386,0.090,3046,2963,2996,2988,3004,0,0,0,0,0,0,14.59,14.76,14.95
$GC,353,-0.73,-126.5,3046,2963,2988,3006,37.4,-17.0,21,361,0.12,2.28,0.00,0.000,3078,0.261,0.036,3073,1899,2997,2988,3006,0,0,0,0,0,0,14.74,14.85,28.83
$GC,660,-0.67,-126.5,3073,1900,2987,3006,83.0,-14.1,42,665,0.00,2.17,0.00,0.000,516,0.000,0.053,3073,859,2997,2988,3007,0,0,0,0,0,0,28.83,14.90,28.83
$GC,723,-0.60,-126.5,3074,859,2997,3007,92.1,-14.4,46,729,0.17,2.22,0.00,0.000,3078,0.249,0.040,3117,1915,2997,2988,3006,0,0,0,0,0,0,14.83,14.96,28.83
$GC,1041,-0.59,-126.5,3117,1916,2988,3007,127.7,-11.4,67,1047,0.00,2.28,0.00,0.000,260,0.000,0.062,3117,2961,2997,2988,3007,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1108,-0.59,-126.5,2144,2957,2949,3001,134.4,-10.4,71,1114,0.00,2.22,0.00,0.000,1030,0.000,0.034,3117,1903,2997,2988,3007,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1421,-0.59,-126.5,3117,1908,2988,3008,162.3,-9.0,92,1426,0.00,2.15,0.00,0.000,516,0.000,0.051,3119,867,2998,2988,3008,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1522,-0.59,-126.5,3117,867,2988,3008,171.3,-9.8,98,1529,0.00,2.15,0.00,0.000,1030,0.000,0.038,3118,1900,2998,2988,3008,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1828,-0.59,-126.5,3117,1900,2988,3008,203.7,-10.7,119,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1900,2998,2988,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,-0.59,-126.5,3117,1899,2988,3008,235.1,-10.1,139,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1900,2998,2988,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,-0.59,-126.5,3117,1900,2988,3008,265.1,-9.1,155,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1900,2998,2988,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,-0.59,-126.5,3117,1900,2988,3008,291.2,-8.7,165,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1900,2998,2988,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3043,-0.59,-126.5,3117,1900,2988,3007,317.9,-8.8,175,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1900,2998,2988,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3343,-0.59,-126.5,3117,1900,2988,3007,345.3,-9.3,185,3348,0.00,2.30,0.00,0.000,260,0.000,0.063,3117,2964,2997,2988,3007,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3384,-0.59,-126.5,3117,2963,2987,3007,348.3,-9.3,186,3389,0.00,2.25,0.00,0.000,1030,0.000,0.034,3117,1887,2999,2987,3012,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3707,-0.59,-126.5,3116,1887,2987,3007,379.3,-9.5,197,3713,0.00,2.12,0.00,0.000,516,0.000,0.054,3117,859,2996,2986,3007,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3735,-0.59,-126.5,3117,859,2986,3006,379.3,-9.5,197,3741,0.00,2.12,0.00,0.000,1030,0.000,0.041,3117,1887,2994,2986,3002,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4040,-0.59,-126.5,3118,1887,2986,3005,410.2,-9.1,208,4046,0.00,2.33,0.00,0.000,260,0.000,0.063,3117,2964,2995,2985,3005,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4112,-0.59,-126.5,3117,2964,2985,3005,415.8,-8.9,210,4118,0.00,2.25,0.00,0.000,1030,0.000,0.035,3117,1890,2995,2985,3005,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4435,-0.59,-126.5,3117,1891,2982,3003,443.4,-8.1,221,4441,0.00,2.12,0.00,0.000,516,0.000,0.054,3118,863,2993,2984,3003,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4483,-0.59,-126.5,3117,863,2984,3003,446.4,-8.2,222,4488,0.00,2.12,0.00,0.000,1030,0.000,0.041,3117,1889,2993,2984,3003,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4801,-0.59,-126.5,3117,1889,2984,3002,477.2,-9.9,233,4806,0.00,2.33,0.00,0.000,260,0.000,0.063,3117,2962,2993,2984,3002,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4933,-0.60,-126.5,3117,2962,2983,3002,489.7,-10.1,237,4939,0.00,2.25,0.00,0.000,1030,0.000,0.036,3117,1890,2992,2983,3002,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5257,-0.60,-126.5,3122,1891,2982,3001,522.9,-9.8,248,5262,0.00,2.12,0.00,0.000,516,0.000,0.055,3117,863,2991,2982,3000,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5319,-0.60,-126.5,3117,863,2981,3000,529.1,-9.7,250,5325,0.00,2.15,0.00,0.000,1030,0.000,0.041,3117,1893,2991,2982,3000,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5653,-0.60,-126.5,3117,1894,2980,2999,556.6,-7.7,261,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1894,2989,2980,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5952,-0.60,-126.5,3117,1890,2979,2998,578.2,-6.9,271,5958,0.00,2.33,0.00,0.000,260,0.000,0.066,3117,2964,2988,2978,2998,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5995,-0.62,-126.5,3117,2964,2978,2998,580.6,-7.0,272,6001,0.00,2.25,0.00,0.000,1030,0.000,0.037,3118,1894,2988,2978,2998,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6320,-0.63,-126.5,3117,1894,2978,2997,605.0,-7.5,283,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1893,2986,2976,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6619,-0.65,-126.5,3117,1894,2976,2995,628.8,-8.0,293,6625,0.00,2.15,0.00,0.000,516,0.000,0.058,3117,862,2986,2977,2995,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6667,-0.67,-126.5,3117,862,2976,2995,631.6,-7.9,294,6672,0.00,2.15,0.00,0.000,1030,0.000,0.043,3117,1896,2985,2976,2995,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6986,-0.69,-126.5,3116,1892,2976,2993,657.3,-7.8,305,6991,0.00,2.33,0.00,0.000,260,0.000,0.067,3118,2965,2984,2976,2993,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7123,-0.71,-126.5,3117,2965,2975,2993,667.0,-7.8,309,7128,0.00,2.25,0.00,0.000,1030,0.000,0.038,3117,1904,2984,2975,2994,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7442,-0.73,-126.5,3117,1904,2975,2992,694.7,-8.8,320,7448,0.12,2.17,0.00,0.000,4612,0.132,0.054,3057,861,2984,2975,2993,0,0,0,0,0,0,15.08,15.06,28.83
$GC,7565,-0.71,-126.5,2080,856,2935,2986,710.0,-12.4,324,7570,0.00,2.17,0.00,0.000,1030,0.000,0.045,3057,1894,2983,2974,2992,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7898,-0.68,-126.5,3057,1895,2972,2985,751.6,-12.1,335,7904,0.12,2.33,0.00,0.000,2308,0.265,0.065,3090,2961,2981,2971,2991,0,0,0,0,0,0,14.97,15.05,28.83
$GC,7936,-0.66,-126.5,3089,2961,2971,2991,755.1,-11.7,336,7941,0.00,2.28,0.00,0.000,1030,0.000,0.041,3089,1887,2981,2971,2991,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8265,-0.66,-126.5,3089,1888,2971,2989,786.6,-9.2,347,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1888,2980,2971,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8563,-0.66,-126.5,3089,1888,2971,2989,812.4,-8.1,357,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1888,2979,2971,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8864,-0.66,-126.5,3090,1888,2970,2988,834.6,-7.2,367,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1888,2978,2970,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9164,-0.66,-126.5,3089,1888,2969,2986,855.8,-7.0,377,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1888,2977,2969,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9464,-0.66,-126.5,3089,1888,2968,2985,877.8,-7.5,387,9470,0.00,2.15,0.00,0.000,516,0.000,0.060,3089,862,2976,2968,2985,0,0,0,0,0,0,28.83,15.06,28.83
$GC,9557,-0.66,-126.5,3089,862,2967,2985,885.7,-8.2,390,9562,0.00,2.17,0.00,0.000,1030,0.000,0.047,3089,1893,2976,2968,2985,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9890,-0.66,-126.5,3089,1893,2966,2983,914.4,-9.1,401,9896,0.00,2.35,0.00,0.000,260,0.000,0.070,3089,2966,2974,2966,2983,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9977,-0.66,-126.5,3089,2966,2966,2983,920.4,-9.3,403,9983,0.00,2.28,0.00,0.000,1030,0.000,0.039,3089,1894,2974,2966,2983,0,0,0,0,0,0,28.83,15.07,28.83
$GC,10283,-0.66,-126.5,3086,1895,2966,2982,953.2,-10.3,414,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1895,2974,2966,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10583,-0.66,-126.5,3090,1895,2964,2981,983.3,-10.0,424,10589,0.00,2.17,0.00,0.000,516,0.000,0.060,3089,860,2973,2964,2982,0,0,0,0,0,0,28.83,15.04,28.83
$GC,10616,-0.66,-126.5,3089,860,2970,2982,986.7,-10.0,425,10621,0.00,2.20,0.00,0.000,1030,0.000,0.048,3089,1897,2973,2964,2982,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,10677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10677,begin apogee
$GC,10682,-0.23,0.0,3089,1773,2964,2982,992.7,-9.8,427,10805,0.50,0.00,116.68,2.028,10244,0.191,0.000,3235,1773,2477,2528,2426,0,0,0,0,0,0,14.95,28.83,13.54
$STATE,10807,end apogee,CONTROL_FINISHED_OK
$STATE,10807,begin climb
$GC,10808,0.81,126.5,3235,1774,2527,2423,997.4,0.0,431,10944,1.12,2.35,123.32,2.074,10756,0.125,0.063,3574,733,1958,1993,1924,0,0,0,0,0,0,14.28,14.30,13.45
$GC,11017,0.69,126.5,3574,734,1993,1913,987.0,8.2,438,11024,0.15,2.30,0.00,0.000,5126,0.270,0.044,3543,1786,1952,1993,1912,0,0,0,0,0,0,14.35,14.47,28.83
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$STATE,21906,end climb,SURFACE_DEPTH_REACHED
$STATE,21906,begin surface coast
$FINISH,2.2,1.012098
$STATE,21923,end surface coast,CONTROL_FINISHED_OK
$STATE,21923,begin surface
$SM_CCo,21943,7.65,0.124,0,0,1256,300.00
$SM_GC,4.37,9.88,0.30,7.65,0.060,0.076,0.124,152,1923,1256,-9.83,-0.93,300.00,0,0,0,0,0,0,14.93,14.97,14.89
$IRIDIUM_FIX,2441.81,-3738.75,040413,191912
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.17
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,4002112
$TM_FREEKB,7561924
$24V_AH,13.5,19.778
$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,27.000,176.100,398.525,7.650,0.000,0.000,0.000,301.875,0.000,0.000,32.734,3086.620,15886.114,600.890,2668.546,219.565,0.000,2124.771,0.000,2189.228,0.000,0.541,0.000
$DEVICE_MAMPS,386.325,89.505,2073.915,123.930,0.000,0.000,0.000,231.795,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21927.000,4826.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.629,12.969,0.000,0.000
$MEM,345596
$DATA_FILE_SIZE,33394,881
$CAP_FILE_SIZE,232483,0
$CFSIZE,260034560,245174272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,  6.6,1
$GPS,050413,073205,2457.646,-3742.676,33,1.0,33,-14.9