version: 66.11
glider: 160
mission: 9
dive: 54
start: 4 6 113 20 47 44
data:
$ID,160
$MISSION,9
$DIVE,54
$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,-41310.902
$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,39
$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
$GPS1,060413,203824,2510.691,-3757.866,38,1.2,38,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-70.7
$GPS2,060413,204701,2510.709,-3757.923,10,1.9,10,-15.0
$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,339.5,5487,-20.3,-7.857,-23.97,1449
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.00,-74.6,148,1927,1148,1121,0.0,0.0,0,43,0.00,0.00,-16.98,0.000,16386,0.000,0.000,149,1927,1498,1477,1520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.00,-74.6,149,1928,1474,1523,3.0,0.0,1,124,12.93,2.28,-57.25,0.000,18692,0.364,0.088,2986,2951,2784,2811,2757,0,0,0,0,0,0,14.64,14.76,14.95
$GC,350,-0.91,-74.6,2986,2953,2813,2758,27.2,-16.9,21,356,0.15,2.25,0.00,0.000,3078,0.299,0.036,3018,1898,2785,2813,2758,0,0,0,0,0,0,14.71,14.87,28.83
$GC,664,-0.86,-74.6,3018,1899,2813,2758,74.2,-15.0,42,670,0.00,2.35,0.00,0.000,260,0.000,0.060,3018,2958,2785,2813,2758,0,0,0,0,0,0,28.83,14.89,28.83
$GC,742,-0.80,-74.6,3015,2958,2812,2758,86.2,-15.3,47,749,0.15,2.28,0.00,0.000,3078,0.265,0.037,3053,1893,2785,2813,2758,0,0,0,0,0,0,14.81,14.93,28.83
$GC,1062,-0.78,-74.6,3053,1894,2813,2759,128.0,-12.8,68,1067,0.00,2.35,0.00,0.000,260,0.000,0.061,3053,2954,2785,2812,2759,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1134,-0.76,-74.6,3054,2954,2813,2758,136.5,-13.5,72,1141,0.00,2.22,0.00,0.000,1030,0.000,0.037,3053,1907,2785,2812,2759,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1441,-0.74,-74.6,3053,1907,2812,2759,179.2,-13.8,93,1446,0.00,2.20,0.00,0.000,516,0.000,0.055,3053,853,2786,2813,2759,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1492,-0.73,-74.6,2064,852,2766,2752,186.1,-14.0,96,1499,0.00,2.20,0.00,0.000,1030,0.000,0.040,3053,1905,2786,2813,2759,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1806,-0.73,-74.6,3053,1905,2813,2759,228.0,-12.4,117,1811,0.00,2.22,0.00,0.000,516,0.000,0.056,3053,860,2786,2813,2759,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1853,-0.73,-74.6,3053,860,2813,2759,234.1,-12.7,120,1858,0.00,2.17,0.00,0.000,1030,0.000,0.041,3053,1900,2786,2813,2759,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2170,-0.73,-74.6,3053,1900,2813,2759,268.4,-10.0,135,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1900,2785,2811,2759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.73,-74.6,3053,1901,2813,2759,298.2,-9.8,145,2476,0.00,2.30,0.00,0.000,260,0.000,0.062,3053,2966,2786,2813,2759,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2577,-0.73,-74.6,3053,2966,2813,2759,306.9,-9.6,148,2582,0.00,2.25,0.00,0.000,1030,0.000,0.034,3054,1890,2786,2813,2759,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2895,-0.73,-74.6,3053,1891,2812,2758,336.6,-9.2,159,2901,0.00,2.12,0.00,0.000,516,0.000,0.055,3053,865,2785,2812,2758,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2997,-0.73,-74.6,3054,865,2813,2757,346.1,-9.9,162,3003,0.00,2.15,0.00,0.000,1030,0.000,0.041,3053,1899,2784,2812,2757,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3321,-0.73,-74.6,3053,1899,2812,2756,378.5,-10.2,173,3327,0.10,2.30,0.00,0.000,2308,0.295,0.059,3074,2968,2784,2812,2756,0,0,0,0,0,0,14.97,15.05,28.83
$GC,3434,-0.73,-74.6,3074,2968,2812,2756,387.4,-9.5,176,3440,0.00,2.25,0.00,0.000,1030,0.000,0.035,3075,1893,2784,2813,2756,0,0,0,0,0,0,28.83,15.08,28.83
$GC,3748,-0.74,-74.6,3074,1893,2812,2754,421.6,-10.6,187,3754,0.00,2.15,0.00,0.000,516,0.000,0.055,3074,859,2782,2812,2753,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3820,-0.74,-74.6,3074,859,2812,2753,428.9,-10.9,189,3825,0.00,2.17,0.00,0.000,1030,0.000,0.041,3074,1904,2782,2812,2753,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4144,-0.76,-74.6,3076,1904,2812,2750,465.4,-11.3,200,4149,0.00,2.28,0.00,0.000,260,0.000,0.062,3074,2960,2781,2812,2751,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4237,-0.78,-74.6,3074,2960,2813,2750,476.1,-11.3,203,4242,0.00,2.22,0.00,0.000,1030,0.000,0.034,3074,1898,2781,2812,2750,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4572,-0.80,-74.6,3075,1898,2812,2749,509.4,-9.3,214,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1898,2781,2813,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.82,-74.6,3074,1898,2813,2747,534.9,-8.4,224,4876,0.00,2.15,0.00,0.000,516,0.000,0.054,3074,862,2779,2812,2746,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4979,-0.84,-74.6,3074,862,2812,2746,543.5,-9.1,227,4984,0.00,2.15,0.00,0.000,1030,0.000,0.042,3074,1894,2778,2811,2746,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5297,-0.87,-74.6,3074,1894,2812,2740,573.6,-9.0,238,5299,0.12,0.00,0.00,0.000,4102,0.133,0.000,3029,1895,2777,2811,2743,0,0,0,0,0,0,15.07,28.83,28.83
$GC,5596,-0.87,-74.6,3030,1895,2811,2743,609.0,-11.9,248,5602,0.00,2.30,0.00,0.000,260,0.000,0.064,3029,2960,2776,2810,2743,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5729,-0.87,-74.6,3029,2960,2808,2743,624.3,-12.3,252,5735,0.00,2.22,0.00,0.000,1030,0.000,0.037,3029,1904,2776,2809,2743,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6053,-0.87,-74.6,3029,1904,2808,2742,663.8,-12.2,263,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1904,2775,2808,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6352,-0.87,-74.6,3029,1904,2807,2741,699.3,-11.8,273,6357,0.00,2.20,0.00,0.000,516,0.000,0.057,3029,857,2774,2807,2741,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6403,-0.87,-74.6,3029,857,2806,2740,703.1,-11.7,274,6409,0.00,2.20,0.00,0.000,1030,0.000,0.044,3029,1908,2774,2807,2741,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6716,-0.87,-74.6,3029,1908,2806,2739,742.1,-11.9,285,6722,0.00,2.30,0.00,0.000,260,0.000,0.067,3029,2967,2772,2806,2739,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6752,-0.87,-74.6,2080,2963,2761,2732,746.0,-11.8,286,6758,0.00,2.25,0.00,0.000,1030,0.000,0.038,3029,1903,2771,2805,2738,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7082,-0.87,-74.6,3029,1905,2805,2738,785.9,-12.1,297,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1904,2771,2805,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7380,-0.87,-74.6,3029,1904,2804,2736,821.8,-11.8,307,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1904,2770,2804,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7680,-0.87,-74.6,3029,1904,2802,2736,855.3,-10.9,317,7685,0.00,2.20,0.00,0.000,516,0.000,0.059,3029,855,2767,2802,2733,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7772,-0.87,-74.6,3029,855,2801,2736,865.8,-11.2,320,7778,0.00,2.22,0.00,0.000,1030,0.000,0.046,3029,1907,2768,2801,2736,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8106,-0.87,-74.6,3030,1907,2801,2734,899.5,-9.8,331,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1907,2767,2801,2734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8405,-0.87,-74.6,3029,1907,2800,2733,930.2,-10.7,341,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1907,2766,2800,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8706,-0.87,-74.6,3029,1907,2799,2732,964.0,-11.4,351,8712,0.00,2.33,0.00,0.000,260,0.000,0.069,3029,2962,2765,2799,2731,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8838,-0.87,-74.6,3029,2962,2798,2731,978.0,-11.4,355,8844,0.00,2.22,0.00,0.000,1030,0.000,0.039,3030,1910,2764,2797,2731,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,8950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8950,begin apogee
$GC,8954,-0.23,0.0,3029,1768,2798,2731,991.4,-10.9,359,9031,0.73,0.00,68.30,1.987,10244,0.217,0.000,3234,1768,2476,2535,2418,0,0,0,0,0,0,14.93,28.83,13.75
$STATE,9032,end apogee,CONTROL_FINISHED_OK
$STATE,9033,begin climb
$GC,9034,1.00,74.6,3234,1768,2535,2417,993.9,0.0,361,9116,1.30,2.47,72.30,2.077,10500,0.122,0.064,3632,2828,2171,2187,2156,0,0,0,0,0,0,14.45,14.49,13.52
$GC,9122,1.00,74.6,3631,2832,2185,2153,993.7,1.8,364,9128,0.00,2.35,0.00,0.000,1030,0.000,0.042,3631,1795,2168,2184,2152,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9436,0.90,78.0,3631,1796,2182,2142,971.5,7.6,375,9441,0.00,2.33,0.00,0.000,516,0.000,0.063,3631,726,2162,2183,2142,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9515,0.80,81.9,3631,733,2182,2142,966.7,7.6,377,9525,0.25,2.25,4.97,1.649,13318,0.285,0.041,3576,1783,2145,2167,2124,0,0,0,0,0,0,14.68,14.82,13.93
$GC,9833,0.75,101.0,3576,1783,2167,2123,945.8,6.5,388,9864,0.00,2.35,22.15,1.893,8452,0.000,0.063,3576,2834,2063,2092,2035,0,0,0,0,0,0,28.83,14.68,14.00
$GC,9917,0.71,118.5,3576,2834,2091,2032,941.3,6.6,390,9942,0.15,2.33,19.00,1.864,13318,0.307,0.044,3545,1777,1995,2032,1958,0,0,0,0,0,0,14.60,14.73,13.90
$GC,10260,0.68,118.5,3545,1777,2029,1944,909.0,9.4,402,10265,0.00,2.30,0.00,0.000,516,0.000,0.067,3548,726,1986,2029,1944,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10332,0.65,118.5,3549,726,2029,1943,902.9,9.6,404,10337,0.00,2.25,0.00,0.000,1030,0.000,0.045,3549,1778,1986,2029,1943,0,0,0,0,0,0,28.83,14.84,28.83
$GC,10656,0.61,118.5,3549,1778,2029,1940,872.8,8.7,415,10662,0.12,2.33,0.00,0.000,4356,0.271,0.062,3517,2834,1984,2029,1939,0,0,0,0,0,0,14.80,14.90,28.83
$GC,10728,0.59,118.5,3517,2834,2028,1939,867.6,8.2,417,10733,0.00,2.30,0.00,0.000,1030,0.000,0.044,3520,1772,1983,2028,1939,0,0,0,0,0,0,28.83,14.93,28.83
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$STATE,20134,end climb,SURFACE_DEPTH_REACHED
$STATE,20135,begin surface coast
$FINISH,2.3,1.025810
$STATE,20166,end surface coast,CONTROL_FINISHED_OK
$STATE,20166,begin surface
$SM_CCo,20185,60.47,0.082,0,0,1255,300.00
$SM_GC,3.52,9.85,0.30,60.47,0.059,0.086,0.082,138,1913,1255,-9.85,-0.85,300.00,0,0,0,0,0,0,14.96,14.96,14.91
$IRIDIUM_FIX,2500.82,-3753.13,060413,141422
$TT8_MAMPS,0.024717,0.024717
$HUMID,39.68
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3999424
$TM_FREEKB,7509804
$24V_AH,13.5,22.080
$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,26.100,163.050,236.350,60.475,0.000,0.000,0.000,321.900,0.000,0.000,13.074,2934.079,14593.639,494.133,2544.186,208.438,0.000,1950.307,0.000,2070.231,0.000,0.541,0.000
$DEVICE_MAMPS,364.140,87.975,2076.975,81.855,0.000,0.000,0.000,230.265,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20181.000,4569.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.749,12.968,0.000,0.000
$MEM,345640
$DATA_FILE_SIZE,30056,814
$CAP_FILE_SIZE,213471,0
$CFSIZE,260034560,244338688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021, 51.8,1
$GPS,070413,022650,2512.777,-3759.141,36,3.2,55,-15.0