version: 66.11
glider: 160
mission: 9
dive: 428
start: 7 18 113 15 56 2
data:
$ID,160
$MISSION,9
$DIVE,428
$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,-41867.098
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,180713,154136,2421.619,-3748.289,40,1.5,40,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.00
$_SM_ANGLEo,-69.1
$GPS2,180713,155531,2421.568,-3748.320,11,1.8,11,-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,330.0,32575,-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,25,-0.88,-107.1,144,1940,225,156,0.0,0.0,0,42,0.00,0.00,-14.93,0.000,16386,0.000,0.000,144,1939,529,529,529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-0.88,-107.1,144,1939,528,529,4.0,0.0,1,182,13.10,2.50,-109.88,0.000,18692,0.332,0.083,3009,3003,2916,2912,2921,0,0,0,0,0,0,14.24,14.48,14.78
$GC,309,-0.80,-107.1,3009,3004,2912,2921,23.8,-13.7,18,315,0.00,2.35,0.00,0.000,1030,0.000,0.034,3009,1950,2916,2912,2921,0,0,0,0,0,0,28.83,14.52,28.83
$GC,629,-0.73,-107.1,3008,1952,2912,2921,65.4,-12.0,39,636,0.15,2.35,0.00,0.000,2564,0.249,0.053,3049,891,2916,2912,2921,0,0,0,0,0,0,14.09,14.48,28.83
$GC,744,-0.69,-107.1,3048,894,2912,2921,76.4,-9.7,46,749,0.00,2.33,0.00,0.000,1030,0.000,0.043,3049,1941,2916,2912,2921,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1064,-0.66,-107.1,3049,1941,2912,2921,105.2,-9.1,67,1070,0.12,2.35,0.00,0.000,2564,0.251,0.050,3082,896,2916,2912,2921,0,0,0,0,0,0,14.14,14.51,28.83
$GC,1157,-0.66,-107.1,3083,896,2911,2921,112.4,-9.3,72,1164,0.00,2.28,0.00,0.000,1030,0.000,0.041,3082,1930,2916,2912,2920,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1460,-0.66,-107.1,3082,1931,2912,2920,138.9,-7.7,93,1465,0.00,2.33,0.00,0.000,516,0.000,0.052,3082,894,2916,2912,2921,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1578,-0.66,-107.1,2048,893,2863,2913,147.7,-7.9,100,1585,0.00,2.20,0.00,0.000,1030,0.000,0.041,3082,1901,2915,2911,2920,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1885,-0.66,-107.1,3082,1900,2918,2920,170.9,-7.6,121,1890,0.00,2.25,0.00,0.000,516,0.000,0.052,3082,897,2916,2912,2920,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1937,-0.66,-107.1,2080,896,2865,2913,174.6,-7.4,124,1943,0.00,2.20,0.00,0.000,1030,0.000,0.040,3079,1898,2915,2912,2919,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2252,-0.66,-107.1,3082,1897,2912,2919,198.1,-7.0,145,2258,0.00,2.25,0.00,0.000,516,0.000,0.050,3081,895,2915,2911,2919,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2318,-0.66,-107.1,3081,894,2911,2918,202.7,-7.3,149,2323,0.00,2.17,0.00,0.000,1030,0.000,0.039,3083,1887,2914,2911,2918,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2638,-0.68,-107.1,3082,1887,2912,2917,225.3,-7.4,170,2643,0.00,2.20,0.00,0.000,516,0.000,0.050,3082,900,2914,2912,2917,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2683,-0.70,-107.1,3082,900,2911,2916,227.9,-7.3,172,2690,0.00,2.15,0.00,0.000,1030,0.000,0.038,3082,1885,2914,2912,2916,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3004,-0.73,-107.1,3082,1884,2912,2915,252.3,-7.2,193,3009,0.00,2.20,0.00,0.000,516,0.000,0.050,3082,898,2913,2912,2915,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3053,-0.75,-107.1,3082,899,2912,2915,254.8,-7.1,194,3058,0.00,2.12,0.00,0.000,1030,0.000,0.037,3082,1875,2912,2911,2914,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3375,-0.75,-107.1,3082,1873,2912,2912,278.6,-6.9,205,3381,0.00,2.20,0.00,0.000,516,0.000,0.050,3081,899,2912,2912,2912,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3406,-0.75,-107.1,3082,899,2911,2913,278.6,-6.9,205,3412,0.00,2.12,0.00,0.000,1030,0.000,0.038,3082,1874,2912,2912,2912,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3713,-0.76,-107.1,3082,1874,2912,2910,299.7,-6.1,216,3719,0.00,2.60,0.00,0.000,260,0.000,0.065,3082,2997,2911,2911,2911,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3753,-0.78,-107.1,2048,2994,2863,2903,301.9,-5.9,217,3759,0.12,2.53,0.00,0.000,5126,0.114,0.034,3032,1860,2911,2911,2911,0,0,0,0,0,0,14.49,14.51,28.83
$GC,4086,-0.75,-107.1,3032,1862,2911,2908,330.0,-9.1,228,4092,0.00,2.12,0.00,0.000,516,0.000,0.054,3032,899,2909,2911,2908,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4171,-0.72,-107.1,3032,898,2911,2908,336.8,-9.8,230,4176,0.00,2.10,0.00,0.000,1030,0.000,0.040,3031,1859,2909,2911,2907,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4488,-0.70,-107.1,3032,1858,2910,2906,371.3,-10.1,241,4494,0.12,2.62,0.00,0.000,2308,0.248,0.064,3065,2997,2908,2910,2906,0,0,0,0,0,0,14.26,14.50,28.83
$GC,4548,-0.68,-107.1,3066,2997,2910,2906,374.7,-9.8,242,4555,0.00,2.53,0.00,0.000,1030,0.000,0.034,3066,1857,2908,2910,2906,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4853,-0.68,-107.1,3066,1858,2910,2905,401.5,-7.4,253,4859,0.00,2.12,0.00,0.000,516,0.000,0.054,3065,897,2907,2910,2905,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4958,-0.68,-107.1,3065,896,2909,2905,408.1,-7.0,256,4964,0.00,2.12,0.00,0.000,1030,0.000,0.040,3065,1861,2907,2909,2905,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5287,-0.68,-107.1,3066,1860,2909,2904,430.2,-6.6,267,5292,0.00,2.17,0.00,0.000,516,0.000,0.052,3066,896,2906,2909,2904,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5347,-0.68,-107.1,3065,897,2909,2903,432.7,-6.6,268,5354,0.00,2.12,0.00,0.000,1030,0.000,0.039,3065,1861,2905,2908,2903,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5652,-0.68,-107.1,3065,1861,2909,2902,455.2,-7.0,279,5658,0.00,2.62,0.00,0.000,260,0.000,0.069,3065,2997,2905,2908,2902,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5682,-0.68,-107.1,3065,2997,2908,2902,455.2,-7.0,279,5688,0.00,2.58,0.00,0.000,1030,0.000,0.035,3065,1838,2905,2908,2902,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5991,-0.68,-107.1,3066,1840,2908,2901,479.1,-7.2,290,5997,0.00,2.10,0.00,0.000,516,0.000,0.055,3065,898,2904,2908,2901,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6095,-0.68,-107.1,3066,899,2908,2901,486.7,-7.7,293,6101,0.00,2.08,0.00,0.000,1030,0.000,0.040,3065,1844,2903,2907,2900,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6424,-0.71,-107.1,3066,1843,2907,2899,511.0,-7.3,304,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1842,2903,2907,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6720,-0.75,-107.1,3066,1843,2906,2898,533.6,-7.7,314,6726,0.00,2.15,0.00,0.000,516,0.000,0.052,3065,895,2902,2906,2898,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6781,-0.79,-107.1,3065,895,2906,2898,536.3,-7.6,315,6788,0.00,2.10,0.00,0.000,1030,0.000,0.038,3065,1845,2902,2906,2898,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7088,-0.83,-107.1,3066,1844,2906,2896,563.2,-8.4,326,7090,0.12,0.00,0.00,0.000,4102,0.124,0.000,3017,1844,2901,2906,2896,0,0,0,0,0,0,14.55,28.83,28.83
$GC,7387,-0.80,-107.1,3016,1844,2904,2896,594.2,-10.9,336,7393,0.00,2.15,0.00,0.000,516,0.000,0.054,3017,894,2900,2904,2896,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7442,-0.77,-107.1,3017,894,2905,2896,598.2,-10.9,337,7447,0.00,2.08,0.00,0.000,1030,0.000,0.041,3016,1834,2899,2904,2895,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7760,-0.74,-107.1,3016,1833,2901,2894,634.6,-11.0,348,7766,0.12,2.75,0.00,0.000,2308,0.262,0.067,3049,3004,2898,2903,2894,0,0,0,0,0,0,14.21,14.43,28.83
$GC,7795,-0.72,-107.1,3049,3004,2903,2894,638.5,-10.7,349,7802,0.00,2.65,0.00,0.000,1030,0.000,0.037,3049,1824,2898,2903,2894,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8134,-0.72,-107.1,3049,1825,2903,2892,669.5,-8.8,360,8140,0.00,2.08,0.00,0.000,516,0.000,0.057,3049,895,2897,2903,2891,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8273,-0.72,-107.1,3049,895,2901,2891,680.4,-8.5,364,8279,0.00,2.05,0.00,0.000,1030,0.000,0.041,3049,1820,2896,2901,2891,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8596,-0.72,-107.1,3049,1822,2901,2890,704.9,-6.9,375,8602,0.00,2.75,0.00,0.000,260,0.000,0.070,3049,2995,2898,2900,2897,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8632,-0.72,-107.1,3049,2996,2900,2890,707.5,-6.9,376,8637,0.00,2.67,0.00,0.000,1030,0.000,0.041,3049,1814,2895,2900,2890,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8970,-0.72,-107.1,3049,1815,2900,2889,730.2,-6.6,387,8975,0.00,2.05,0.00,0.000,516,0.000,0.058,3049,899,2894,2900,2888,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9073,-0.72,-107.1,3049,899,2899,2888,737.1,-7.0,390,9078,0.00,2.03,0.00,0.000,1030,0.000,0.043,3049,1812,2893,2899,2888,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,9244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9244,begin apogee
$GC,9252,-0.25,0.0,3049,1811,2899,2887,750.5,-7.4,396,9349,0.57,0.00,91.07,1.860,10244,0.182,0.000,3210,1812,2475,2536,2414,0,0,0,0,0,0,14.03,28.83,13.20
$STATE,9353,end apogee,CONTROL_FINISHED_OK
$STATE,9354,begin climb
$GC,9357,0.88,107.1,3210,1812,2534,2411,753.2,0.0,399,9465,1.20,2.53,94.03,1.884,10756,0.106,0.058,3580,746,2040,2109,1972,0,0,0,0,0,0,14.25,14.28,13.21
$GC,9665,0.89,224.9,3580,746,2098,1964,758.0,1.9,409,9773,0.00,2.35,100.68,1.851,9222,0.000,0.038,3581,1805,1559,1634,1484,0,0,0,0,0,0,28.83,14.54,13.30
$GC,10101,0.81,224.9,3581,1805,1613,1483,723.0,9.4,424,10106,0.00,2.45,0.00,0.000,516,0.000,0.061,3581,746,1545,1613,1477,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10319,0.74,224.9,3580,746,1606,1483,702.4,9.4,431,10325,0.20,2.35,0.00,0.000,5126,0.231,0.039,3534,1809,1544,1606,1483,0,0,0,0,0,0,14.28,14.61,28.83
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$FREEZE,4.60,25.520,-2.037,0,1,0
$STATE,18483,end climb,NO_VERTICAL_VELOCITY
$STATE,18483,begin surface
$SM_CCo,18489,93.38,0.090,0,0,188,561.49
$SM_GC,5.83,9.95,0.52,0.00,0.040,0.050,0.000,139,1959,189,-9.78,-0.68,561.74,0,0,0,0,0,0,14.62,14.48,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,88.47
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3856032
$TM_FREEKB,4544932
$24V_AH,13.2,168.021
$10V_AH,12.4,0.000
$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
$DEVICE_SECS,26.300,197.625,451.775,93.375,0.000,0.000,0.000,459.925,0.000,0.000,14.643,2951.318,12480.561,742.400,2806.721,753.683,0.000,2474.270,0.000,2263.850,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.341,9.352,0.000,0.000
$MEM,345188
$DATA_FILE_SIZE,30052,780
$CAP_FILE_SIZE,223319,0
$CFSIZE,260034560,194375680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 28.3,1
$GPS,180713,211236,2423.239,-3749.308,33,1.5,33,-15.0