version: 66.11
glider: 160
mission: 9
dive: 279
start: 6 6 113 0 45 21
data:
$ID,160
$MISSION,9
$DIVE,279
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-41599.207
$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,20
$R_STBD_OVSHOOT,33
$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,48
$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
$GPS1,060613,003235,2420.388,-3748.661,33,1.2,33,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-71.6
$GPS2,060613,004451,2420.328,-3748.659,13,3.3,32,-15.0
$SPEED_LIMITS,0.136,0.224
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$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,339.7,33854,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,10546,-0.79,-126.5,3086,863,2965,2982,818.7,-7.8,445,10551,0.00,2.22,0.00,0.000,1030,0.000,0.041,3084,1909,2973,2965,2982,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10873,-0.81,-126.5,3084,1909,2964,2981,842.7,-7.1,456,10878,0.00,2.58,0.00,0.000,260,0.000,0.063,3084,2964,2972,2964,2981,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10988,-0.84,-126.5,3084,2964,2963,2981,849.8,-7.1,459,10994,0.15,2.42,0.00,0.000,5126,0.109,0.036,3031,1921,2972,2963,2981,0,0,0,0,0,0,14.65,14.70,28.83
$GC,11306,-0.82,-126.5,3031,1924,2963,2979,880.5,-9.7,470,11311,0.00,2.30,0.00,0.000,516,0.000,0.056,3030,861,2970,2962,2979,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11434,-0.79,-126.5,3030,861,2962,2979,893.1,-10.0,474,11441,0.12,2.22,0.00,0.000,3078,0.242,0.041,3058,1902,2970,2961,2979,0,0,0,0,0,0,14.37,14.66,28.83
$GC,11766,-0.79,-126.5,3058,1901,2961,2978,920.9,-8.2,485,11772,0.00,2.58,0.00,0.000,260,0.000,0.066,3057,2957,2969,2961,2978,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11803,-0.79,-126.5,2088,2953,2922,2972,923.9,-8.3,486,11808,0.00,2.47,0.00,0.000,1030,0.000,0.037,3058,1892,2969,2961,2978,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12135,-0.79,-126.5,3058,1897,2961,2977,952.7,-9.0,497,12140,0.00,2.22,0.00,0.000,516,0.000,0.056,3058,869,2968,2960,2976,0,0,0,0,0,0,28.83,14.58,28.83
$GC,12250,-0.79,-126.5,3058,870,2959,2976,962.1,-9.6,500,12256,0.00,2.20,0.00,0.000,1030,0.000,0.042,3058,1896,2967,2959,2976,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,12531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12531,begin apogee
$GC,12539,-0.23,0.0,3058,1787,2958,2975,992.2,-9.9,510,12658,0.60,0.00,113.12,2.095,10244,0.179,0.000,3229,1786,2478,2534,2423,0,0,0,0,0,0,14.31,28.83,13.32
$STATE,12662,end apogee,CONTROL_FINISHED_OK
$STATE,12662,begin climb
$GC,12665,0.81,126.5,3229,1786,2531,2420,999.8,0.0,514,12794,1.12,2.40,119.10,2.081,10756,0.111,0.059,3571,729,1962,2010,1915,0,0,0,0,0,0,14.19,14.21,13.22
$GC,12914,0.76,197.5,3571,729,2005,1898,999.6,4.9,522,12986,0.00,2.25,65.95,2.010,9222,0.000,0.038,3571,1775,1672,1734,1610,0,0,0,0,0,0,28.83,14.39,13.35
$GC,13316,0.67,197.5,3571,1774,1717,1604,958.4,10.7,536,13322,0.15,2.58,0.00,0.000,4356,0.256,0.057,3534,2832,1660,1717,1604,0,0,0,0,0,0,14.31,14.56,28.83
$GC,13440,0.58,197.5,3534,2830,1711,1604,945.0,10.7,540,13446,0.15,2.50,0.00,0.000,5126,0.257,0.043,3502,1783,1657,1711,1604,0,0,0,0,0,0,14.37,14.62,28.83
$GC,13775,0.54,197.5,3502,1785,1711,1602,912.7,10.3,551,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,1785,1657,1712,1602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14075,0.50,197.5,3503,1785,1712,1601,879.0,11.7,561,14081,0.00,2.58,0.00,0.000,260,0.000,0.059,3502,2836,1656,1711,1601,0,0,0,0,0,0,28.83,14.62,28.83
$GC,14175,0.45,197.5,2624,2831,1668,1596,867.2,12.2,564,14182,0.17,2.50,0.00,0.000,5126,0.233,0.043,3463,1783,1655,1710,1601,0,0,0,0,0,0,14.38,14.61,28.83
$GC,14505,0.45,197.5,3463,1785,1709,1599,833.3,9.8,575,14511,0.00,2.35,0.00,0.000,516,0.000,0.066,3464,729,1655,1710,1600,0,0,0,0,0,0,28.83,14.59,28.83
$GC,14533,0.45,197.5,3460,729,1710,1600,833.3,9.8,575,14541,0.00,2.28,0.00,0.000,1030,0.000,0.041,3463,1795,1655,1710,1600,0,0,0,0,0,0,28.83,14.69,28.83
$GC,14841,0.45,197.5,3464,1794,1710,1599,803.8,8.4,586,14846,0.00,2.53,0.00,0.000,260,0.000,0.062,3464,2831,1654,1710,1599,0,0,0,0,0,0,28.83,14.61,28.83
$GC,14970,0.43,197.5,3464,2831,1709,1598,793.5,8.2,590,14976,0.00,2.45,0.00,0.000,1030,0.000,0.044,3464,1799,1654,1709,1599,0,0,0,0,0,0,28.83,14.66,28.83
$GC,15301,0.53,294.1,3464,1801,1709,1598,776.9,3.8,601,15407,0.00,2.50,95.97,1.724,8708,0.000,0.067,3464,729,1278,1316,1241,0,0,0,0,0,0,28.83,14.28,13.55
$GC,15433,0.64,405.0,3464,730,1315,1241,772.9,3.2,605,15560,0.17,2.38,116.85,1.695,11270,0.109,0.041,3523,1808,830,896,765,0,0,0,0,0,0,14.32,14.35,13.41
$GC,15878,0.71,476.6,3523,1807,891,749,750.2,4.8,620,15961,0.00,2.55,76.18,1.648,8452,0.000,0.060,3523,2829,532,594,470,0,0,0,0,0,0,28.83,14.23,13.54
$GC,16060,0.71,476.6,3523,2829,593,464,736.5,8.3,626,16065,0.00,2.47,0.00,0.000,1030,0.000,0.045,3523,1809,528,593,463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,16395,0.71,476.6,3523,1811,593,460,702.2,11.7,637,16401,0.00,2.42,0.00,0.000,516,0.000,0.068,3523,724,526,593,459,0,0,0,0,0,0,28.83,14.55,28.83
$GC,16501,0.73,476.6,3522,724,592,458,689.6,13.0,640,16506,0.00,2.33,0.00,0.000,1030,0.000,0.041,3523,1810,525,591,459,0,0,0,0,0,0,28.83,14.63,28.83
$GC,16827,0.75,476.6,3523,1809,592,458,640.4,15.0,651,16833,0.00,2.47,0.00,0.000,260,0.000,0.061,3523,2824,525,592,458,0,0,0,0,0,0,28.83,14.62,28.83
$GC,16915,0.75,476.6,3523,2824,592,458,629.4,15.7,653,16922,0.00,2.40,0.00,0.000,1030,0.000,0.045,3523,1812,525,592,458,0,0,0,0,0,0,28.83,14.64,28.83
$GC,17225,0.77,476.6,3524,1813,592,458,581.8,13.9,664,17231,0.12,2.40,0.00,0.000,2564,0.123,0.065,3577,727,525,592,458,0,0,0,0,0,0,14.69,14.61,28.83
$GC,17313,0.77,476.6,3577,727,592,457,571.2,14.8,666,17320,0.00,2.30,0.00,0.000,1030,0.000,0.041,3577,1794,525,592,458,0,0,0,0,0,0,28.83,14.68,28.83
$GC,17623,0.75,476.6,3577,1793,591,458,523.7,13.3,677,17628,0.00,2.50,0.00,0.000,260,0.000,0.060,3577,2827,524,591,458,0,0,0,0,0,0,28.83,14.62,28.83
$GC,17680,0.72,476.6,3577,2828,591,458,518.6,13.2,678,17688,0.00,2.42,0.00,0.000,1030,0.000,0.044,3577,1808,525,592,458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,17988,0.70,476.6,3577,1809,593,458,476.4,12.7,689,17994,0.12,2.40,0.00,0.000,4612,0.246,0.065,3547,724,524,591,458,0,0,0,0,0,0,14.42,14.60,28.83
$GC,18072,0.70,476.6,3547,725,591,458,469.2,11.8,691,18077,0.00,2.28,0.00,0.000,1030,0.000,0.041,3547,1789,524,591,458,0,0,0,0,0,0,28.83,14.68,28.83
$GC,18387,0.70,476.6,3547,1788,592,458,436.1,9.6,702,18392,0.00,2.53,0.00,0.000,260,0.000,0.060,3547,2827,525,592,458,0,0,0,0,0,0,28.83,14.61,28.83
$GC,18470,0.70,476.6,3547,2827,591,458,429.3,10.1,704,18475,0.00,2.45,0.00,0.000,1030,0.000,0.044,3548,1797,525,592,458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,18785,0.70,476.6,3547,1799,592,458,396.3,10.0,715,18790,0.00,2.40,0.00,0.000,516,0.000,0.066,3548,720,525,592,458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,18859,0.70,476.6,3548,721,591,458,389.8,10.1,717,18864,0.00,2.30,0.00,0.000,1030,0.000,0.040,3547,1797,524,591,458,0,0,0,0,0,0,28.83,14.67,28.83
$GC,19184,0.70,476.6,3548,1796,592,458,355.1,10.6,728,19189,0.00,2.53,0.00,0.000,260,0.000,0.060,3548,2833,524,591,458,0,0,0,0,0,0,28.83,14.59,28.83
$GC,19242,0.70,476.6,3548,2833,591,458,351.1,10.9,729,19248,0.00,2.47,0.00,0.000,1030,0.000,0.043,3548,1791,525,592,458,0,0,0,0,0,0,28.83,14.65,28.83
$GC,19548,0.70,476.6,3549,1792,592,458,312.7,11.5,740,19553,0.00,2.38,0.00,0.000,516,0.000,0.066,3548,723,524,591,458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,19653,0.71,476.6,3548,723,592,458,301.9,11.5,743,19659,0.00,2.25,0.00,0.000,1030,0.000,0.037,3548,1776,525,592,458,0,0,0,0,0,0,28.83,14.68,28.83
$GC,19979,0.73,476.6,3548,1776,591,457,264.3,10.8,754,19984,0.00,2.55,0.00,0.000,260,0.000,0.059,3548,2827,524,591,458,0,0,0,0,0,0,28.83,14.59,28.83
$GC,20062,0.73,476.6,3548,2827,591,458,256.2,11.5,756,20068,0.00,2.45,0.00,0.000,1030,0.000,0.042,3548,1790,524,591,458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,20376,0.73,476.6,3548,1791,592,458,219.6,10.6,776,20382,0.00,2.38,0.00,0.000,516,0.000,0.064,3548,722,525,592,458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,20441,0.75,476.6,3548,725,591,458,212.7,10.9,780,20447,0.00,2.28,0.00,0.000,1030,0.000,0.037,3548,1782,525,592,458,0,0,0,0,0,0,28.83,14.63,28.83
$GC,20761,0.78,476.6,3548,1781,591,458,180.2,9.8,801,20767,0.00,2.55,0.00,0.000,260,0.000,0.057,3548,2830,524,591,458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,20829,0.78,476.6,3551,2829,592,458,173.1,10.8,805,20835,0.00,2.47,0.00,0.000,1030,0.000,0.041,3548,1786,525,592,458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,21144,0.80,477.0,3548,1787,592,457,144.7,7.8,826,21149,0.00,2.38,0.00,0.000,516,0.000,0.063,3548,719,525,592,458,0,0,0,0,0,0,28.83,14.44,28.83
$GC,21240,0.86,500.4,3548,719,592,458,138.2,6.9,832,21272,0.15,2.30,21.10,0.995,11270,0.111,0.035,3602,1792,436,509,364,0,0,0,0,0,0,14.57,14.61,14.11
$GC,21568,0.86,500.4,3602,1792,510,359,101.9,12.3,854,21573,0.00,2.50,0.00,0.000,260,0.000,0.055,3602,2828,434,510,359,0,0,0,0,0,0,28.83,14.54,28.83
$GC,21647,0.84,500.4,3608,2827,510,359,90.5,14.8,859,21653,0.00,2.47,0.00,0.000,1030,0.000,0.040,3598,1779,434,510,359,0,0,0,0,0,0,28.83,14.58,28.83
$GC,21967,0.84,500.4,3602,1780,509,359,46.1,13.8,880,21973,0.00,2.33,0.00,0.000,516,0.000,0.060,3602,724,434,509,359,0,0,0,0,0,0,28.83,14.47,28.83
$GC,22040,0.84,500.4,3602,724,510,359,37.1,13.9,884,22046,0.00,2.25,0.00,0.000,1030,0.000,0.034,3602,1787,434,509,359,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,22298,end climb,SURFACE_DEPTH_REACHED
$STATE,22298,begin surface coast
$FINISH,3.0,1.010939
$STATE,22315,end surface coast,CONTROL_FINISHED_OK
$STATE,22315,begin surface
$SM_CCo,22399,0.00,0.000,0,0,434,501.64
$SM_GC,3.82,10.23,0.25,0.00,0.053,0.074,0.000,141,1928,434,-9.85,-0.85,501.64,0,0,0,0,0,0,14.68,14.68,28.83
$IRIDIUM_FIX,2411.01,-3744.21,050613,171726
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.07
$INTERNAL_PRESSURE,9.28157
$TCM_TEMP,22.30
$XPDR_PINGS,1
$SC_FREEKB,3912992
$TM_FREEKB,5815260
$24V_AH,13.2,106.438
$10V_AH,12.9,0.000
$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,26.675,229.450,608.275,0.000,0.000,0.000,0.000,411.625,0.250,0.000,36.117,3323.224,15340.874,769.066,3107.149,577.276,0.000,2629.996,0.000,2544.893,0.000,0.539,0.000
$DEVICE_MAMPS,340.425,81.855,2095.335,0.000,0.000,0.000,0.000,224.910,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22331.000,5326.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.734,12.990,0.000,0.000
$MEM,345200
$DATA_FILE_SIZE,33361,903
$CAP_FILE_SIZE,252776,0
$CFSIZE,260034560,215076864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,163.5,1
$GPS,060613,070006,2421.256,-3749.792,41,1.2,41,-15.0