version: 66.11
glider: 160
mission: 9
dive: 427
start: 7 18 113 10 25 49
data:
$ID,160
$MISSION,9
$DIVE,427
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,825
$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,340
$T_MISSION,400
$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,110
$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,-41865.84
$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,3295
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1950
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,180713,101236,2420.706,-3746.657,29,1.1,29,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.02
$_SM_ANGLEo,-72.6
$GPS2,180713,102519,2420.729,-3746.678,13,1.9,13,-15.0
$SPEED_LIMITS,0.127,0.204
$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,321.9,35638,-15.5,-7.353,-19.85,2212
$D_GRID,750
$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,26,-0.88,-107.1,139,1970,208,168,0.0,0.0,0,43,0.00,0.00,-15.55,0.000,16386,0.000,0.000,139,1970,543,533,553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.88,-107.1,139,1970,533,553,4.0,0.0,1,184,13.30,2.42,-107.93,0.000,18692,0.339,0.092,3008,2995,2915,2905,2925,0,0,0,0,0,0,14.21,14.42,14.76
$GC,305,-0.80,-107.1,3008,2995,2908,2924,23.8,-15.2,17,312,0.00,2.35,0.00,0.000,1030,0.000,0.035,3008,1950,2916,2908,2924,0,0,0,0,0,0,28.83,14.46,28.83
$GC,609,-0.72,-107.1,3008,1950,2907,2925,73.6,-15.2,38,615,0.17,2.33,0.00,0.000,2564,0.246,0.051,3054,898,2916,2907,2925,0,0,0,0,0,0,14.02,14.46,28.83
$GC,757,-0.69,-107.1,3054,898,2908,2924,89.6,-10.0,47,762,0.00,2.28,0.00,0.000,1030,0.000,0.045,3055,1924,2915,2907,2924,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1072,-0.66,-107.1,3055,1924,2907,2924,110.6,-5.9,68,1077,0.00,2.53,0.00,0.000,260,0.000,0.073,3055,3002,2916,2908,2924,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1122,-0.64,-107.1,3055,3002,2907,2924,113.6,-6.0,71,1129,0.12,2.40,0.00,0.000,3078,0.226,0.034,3083,1930,2916,2908,2924,0,0,0,0,0,0,14.31,14.56,28.83
$GC,1444,-0.64,-107.1,3083,1930,2907,2924,135.5,-7.4,92,1450,0.00,2.30,0.00,0.000,516,0.000,0.058,3084,900,2915,2907,2924,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1539,-0.64,-107.1,3084,900,2907,2924,143.4,-8.7,98,1544,0.00,2.28,0.00,0.000,1030,0.000,0.045,3084,1924,2914,2905,2924,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1859,-0.64,-107.1,3084,1925,2907,2924,169.3,-8.0,119,1865,0.00,2.30,0.00,0.000,516,0.000,0.055,3084,900,2915,2907,2924,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1909,-0.64,-107.1,3084,900,2907,2923,173.3,-7.8,122,1914,0.00,2.25,0.00,0.000,1030,0.000,0.045,3084,1914,2915,2907,2923,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2228,-0.64,-107.1,3084,1914,2907,2923,197.2,-7.5,143,2234,0.00,2.28,0.00,0.000,516,0.000,0.054,3083,901,2915,2907,2923,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2323,-0.64,-107.1,3084,901,2907,2922,204.8,-8.3,149,2328,0.00,2.22,0.00,0.000,1030,0.000,0.045,3083,1906,2914,2907,2922,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2643,-0.68,-107.1,3084,1905,2909,2921,231.4,-8.6,170,2648,0.00,2.25,0.00,0.000,516,0.000,0.055,3083,903,2914,2907,2921,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2677,-0.73,-107.1,3084,903,2907,2921,234.2,-8.2,172,2682,0.00,2.20,0.00,0.000,1030,0.000,0.044,3083,1900,2914,2907,2921,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2997,-0.78,-107.1,3083,1899,2907,2919,260.3,-8.0,189,3003,0.12,2.60,0.00,0.000,4356,0.116,0.074,3024,3005,2913,2907,2919,0,0,0,0,0,0,14.49,14.45,28.83
$GC,3042,-0.82,-107.1,3025,3006,2902,2919,263.2,-8.1,190,3047,0.00,2.47,0.00,0.000,1030,0.000,0.038,3024,1903,2913,2907,2919,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3369,-0.78,-107.1,3025,1904,2907,2917,296.9,-10.2,201,3375,0.00,2.22,0.00,0.000,516,0.000,0.059,3025,900,2909,2903,2916,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3560,-0.74,-107.1,3025,900,2907,2915,317.0,-10.6,207,3566,0.00,2.17,0.00,0.000,1030,0.000,0.046,3025,1888,2911,2907,2915,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3892,-0.71,-107.1,3025,1887,2908,2914,350.7,-9.9,218,3899,0.12,2.22,0.00,0.000,2564,0.257,0.052,3057,900,2910,2906,2914,0,0,0,0,0,0,14.21,14.52,28.83
$GC,3944,-0.68,-107.1,3058,900,2907,2913,354.3,-9.7,219,3949,0.00,2.17,0.00,0.000,1030,0.000,0.046,3057,1885,2910,2907,2913,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4263,-0.68,-107.1,3058,1885,2907,2911,381.9,-7.8,230,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1885,2909,2907,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4564,-0.68,-107.1,3057,1885,2907,2910,403.3,-7.2,240,4571,0.00,2.62,0.00,0.000,260,0.000,0.076,3058,3004,2908,2907,2910,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4600,-0.68,-107.1,3058,3005,2907,2910,406.0,-7.3,241,4605,0.00,2.55,0.00,0.000,1030,0.000,0.038,3057,1875,2908,2907,2910,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4937,-0.68,-107.1,3058,1875,2907,2908,431.0,-7.6,252,4943,0.00,2.17,0.00,0.000,516,0.000,0.058,3058,896,2907,2907,2907,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5080,-0.68,-107.1,3057,895,2907,2906,441.6,-8.4,256,5086,0.00,2.17,0.00,0.000,1030,0.000,0.047,3057,1875,2906,2907,2906,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5396,-0.68,-107.1,3058,1875,2907,2905,469.3,-8.5,267,5401,0.00,2.65,0.00,0.000,260,0.000,0.074,3062,3007,2906,2907,2905,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5431,-0.68,-107.1,3058,3008,2907,2905,472.4,-8.5,268,5437,0.00,2.60,0.00,0.000,1030,0.000,0.040,3057,1862,2906,2907,2905,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5769,-0.68,-107.1,3058,1862,2907,2903,502.1,-9.1,279,5775,0.00,2.15,0.00,0.000,516,0.000,0.060,3058,895,2904,2907,2902,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5864,-0.68,-107.1,3057,895,2906,2901,511.7,-9.6,282,5869,0.00,2.15,0.00,0.000,1030,0.000,0.046,3057,1861,2904,2906,2902,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6202,-0.68,-107.1,3057,1861,2906,2901,546.1,-10.6,293,6207,0.00,2.67,0.00,0.000,260,0.000,0.071,3057,3006,2903,2905,2901,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6236,-0.68,-107.1,3058,3006,2905,2901,550.4,-10.9,294,6243,0.00,2.62,0.00,0.000,1030,0.000,0.039,3058,1855,2903,2905,2901,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6575,-0.68,-107.1,3058,1855,2905,2900,588.7,-11.6,305,6581,0.00,2.12,0.00,0.000,516,0.000,0.060,3057,900,2902,2905,2899,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6611,-0.68,-107.1,3058,900,2904,2899,593.1,-11.6,306,6616,0.00,2.15,0.00,0.000,1030,0.000,0.044,3058,1869,2901,2904,2899,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6947,-0.68,-107.1,3057,1868,2904,2898,630.2,-10.4,317,6953,0.00,2.20,0.00,0.000,516,0.000,0.057,3057,899,2901,2904,2898,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7012,-0.68,-107.1,3058,898,2908,2898,637.0,-10.2,319,7018,0.00,2.12,0.00,0.000,1030,0.000,0.044,3057,1856,2903,2903,2903,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7349,-0.68,-107.1,3057,1855,2902,2896,666.0,-7.9,330,7354,0.00,2.67,0.00,0.000,260,0.000,0.065,3058,3010,2896,2897,2896,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7403,-0.68,-107.1,3058,3010,2902,2896,668.7,-7.7,331,7409,0.00,2.60,0.00,0.000,1030,0.000,0.035,3058,1849,2898,2901,2896,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7721,-0.68,-107.1,3058,1850,2901,2894,691.0,-6.3,342,7727,0.00,2.12,0.00,0.000,516,0.000,0.058,3057,899,2897,2901,2894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7826,-0.68,-107.1,3058,899,2900,2894,697.5,-6.6,345,7832,0.00,2.10,0.00,0.000,1030,0.000,0.043,3057,1852,2896,2900,2893,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8154,-0.68,-107.1,3057,1852,2900,2892,719.4,-6.7,356,8159,0.00,2.67,0.00,0.000,260,0.000,0.065,3058,3003,2895,2899,2892,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8182,-0.68,-107.1,3058,3004,2899,2892,719.4,-6.7,356,8189,0.00,2.62,0.00,0.000,1030,0.000,0.035,3058,1835,2895,2899,2892,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8489,-0.68,-107.1,3058,1836,2899,2891,743.8,-7.6,367,8494,0.00,2.10,0.00,0.000,516,0.000,0.057,3058,896,2894,2899,2890,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,8580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8580,begin apogee
$GC,8590,-0.25,0.0,3058,1803,2898,2890,751.8,-8.2,370,8686,0.52,0.00,88.00,1.906,10244,0.182,0.000,3205,1805,2477,2537,2418,0,0,0,0,0,0,14.04,28.83,13.19
$STATE,8690,end apogee,CONTROL_FINISHED_OK
$STATE,8690,begin climb
$GC,8693,0.88,107.1,3205,1805,2535,2418,755.4,0.0,373,8793,1.17,0.00,94.12,1.901,11270,0.103,0.000,3577,1806,2040,2098,1982,0,0,0,0,0,0,14.20,28.83,13.23
$GC,9094,0.87,197.1,3577,1806,2086,1972,757.2,3.2,387,9183,0.00,2.53,77.20,1.854,8452,0.000,0.060,3577,2853,1669,1744,1595,0,0,0,0,0,0,28.83,14.27,13.32
$GC,9239,0.77,207.6,3578,2853,1734,1591,748.6,6.9,391,9256,0.15,2.45,10.05,1.665,13318,0.262,0.041,3546,1789,1630,1697,1563,0,0,0,0,0,0,14.20,14.43,13.42
$GC,9586,0.71,207.6,3546,1790,1683,1562,714.5,9.5,403,9591,0.00,2.40,0.00,0.000,516,0.000,0.065,3548,739,1620,1683,1558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9671,0.66,207.6,3548,739,1683,1562,707.9,9.8,405,9677,0.15,2.30,0.00,0.000,5126,0.219,0.038,3512,1785,1622,1683,1561,0,0,0,0,0,0,14.35,14.61,28.83
$GC,9989,0.63,207.6,3512,1784,1682,1561,678.2,8.7,416,9995,0.00,2.47,0.00,0.000,260,0.000,0.058,3512,2856,1621,1682,1560,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10120,0.59,207.6,3512,2855,1678,1560,667.1,8.7,420,10125,0.00,2.42,0.00,0.000,1030,0.000,0.041,3512,1789,1619,1678,1560,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10460,0.59,237.1,3512,1791,1678,1559,645.0,6.0,431,10497,0.00,2.42,27.58,1.672,8708,0.000,0.066,3512,745,1509,1569,1450,0,0,0,0,0,0,28.83,14.56,13.59
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$FREEZE,4.62,25.565,-0.840,0,1,0
$STATE,18420,end climb,NO_VERTICAL_VELOCITY
$STATE,18420,begin surface
$SM_CCo,18428,97.90,0.079,0,0,187,561.49
$SM_GC,5.98,10.07,2.10,0.00,0.048,0.043,0.000,144,1944,189,-9.77,0.79,561.74,0,0,0,0,0,0,14.65,14.53,28.83
$IRIDIUM_FIX,2415.74,-3745.65,180713,050559
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.79
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3856416
$TM_FREEKB,4553376
$24V_AH,13.2,167.666
$10V_AH,12.2,0.000
$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
$DEVICE_SECS,26.325,198.750,445.600,97.900,0.000,0.000,0.000,403.200,0.000,0.000,15.996,2957.224,12435.797,735.084,2747.748,733.074,0.000,2404.889,0.000,2252.798,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18445.000,5694.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.363,9.337,0.000,0.000
$MEM,345164
$DATA_FILE_SIZE,30049,781
$CAP_FILE_SIZE,221661,0
$CFSIZE,260034560,194506752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,130.1,1
$GPS,180713,154136,2421.619,-3748.289,40,1.5,40,-15.0