version: 66.11
glider: 160
mission: 9
dive: 429
start: 7 18 113 21 26 53
data:
$ID,160
$MISSION,9
$DIVE,429
$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,-41868.359
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,180713,211236,2423.239,-3749.308,33,1.5,33,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.22
$_SM_ANGLEo,-71.2
$GPS2,180713,212621,2423.219,-3749.377,15,99.0,34,-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,311.0,29167,-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,-107.1,139,1969,220,163,0.0,0.0,0,43,0.00,0.00,-15.62,0.000,16386,0.000,0.000,138,1970,544,534,554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.88,-107.1,139,1970,534,554,4.1,0.0,1,184,13.15,2.45,-108.50,0.000,18692,0.334,0.090,3005,2999,2917,2912,2922,0,0,0,0,0,0,14.25,14.40,14.78
$GC,334,-0.80,-107.1,3005,2999,2913,2922,26.5,-14.7,19,342,0.12,2.38,0.00,0.000,3078,0.262,0.035,3032,1948,2917,2913,2922,0,0,0,0,0,0,14.14,14.47,28.83
$GC,641,-0.74,-107.1,3032,1949,2912,2922,65.8,-11.0,40,646,0.00,2.35,0.00,0.000,516,0.000,0.057,3032,895,2917,2912,2922,0,0,0,0,0,0,28.83,14.40,28.83
$GC,771,-0.69,-107.1,3032,895,2912,2922,78.5,-10.0,48,778,0.15,2.33,0.00,0.000,3078,0.235,0.048,3068,1937,2916,2912,2921,0,0,0,0,0,0,14.26,14.51,28.83
$GC,1087,-0.69,-107.1,3072,1936,2911,2921,99.2,-5.5,69,1092,0.00,2.35,0.00,0.000,516,0.000,0.054,3068,893,2916,2912,2921,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1194,-0.67,-107.1,3069,893,2912,2921,104.8,-6.4,75,1201,0.00,2.30,0.00,0.000,1030,0.000,0.046,3068,1931,2916,2912,2921,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1496,-0.67,-107.1,3068,1931,2912,2921,127.3,-8.2,96,1501,0.00,2.33,0.00,0.000,516,0.000,0.055,3068,894,2916,2912,2921,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1524,-0.67,-107.1,3068,894,2912,2921,128.7,-8.0,97,1532,0.00,2.30,0.00,0.000,1030,0.000,0.044,3068,1937,2916,2912,2921,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1831,-0.67,-107.1,3069,1937,2912,2920,156.4,-8.2,118,1836,0.00,2.33,0.00,0.000,516,0.000,0.054,3068,896,2916,2912,2921,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1919,-0.67,-107.1,3068,896,2912,2921,163.0,-8.9,123,1925,0.00,2.28,0.00,0.000,1030,0.000,0.044,3068,1929,2916,2912,2920,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2225,-0.67,-107.1,3068,1928,2912,2920,189.4,-8.2,144,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1929,2913,2907,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2526,-0.67,-107.1,3068,1929,2912,2919,215.8,-9.7,164,2531,0.00,2.30,0.00,0.000,516,0.000,0.054,3068,897,2915,2911,2919,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2641,-0.67,-107.1,3068,897,2912,2919,227.0,-10.6,171,2647,0.00,2.22,0.00,0.000,1030,0.000,0.044,3068,1915,2915,2912,2918,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2971,-0.67,-107.1,3068,1914,2912,2917,258.0,-8.7,190,2976,0.00,2.28,0.00,0.000,516,0.000,0.055,3069,894,2914,2912,2917,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3024,-0.67,-107.1,3069,894,2912,2916,260.9,-8.5,191,3029,0.00,2.22,0.00,0.000,1030,0.000,0.044,3074,1910,2914,2912,2916,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3342,-0.67,-107.1,3069,1910,2912,2915,285.2,-6.6,202,3347,0.00,2.28,0.00,0.000,516,0.000,0.054,3068,891,2914,2914,2915,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3400,-0.67,-107.1,3068,891,2912,2915,287.5,-6.4,203,3407,0.00,2.20,0.00,0.000,1030,0.000,0.044,3068,1896,2913,2912,2914,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3711,-0.67,-107.1,3068,1894,2912,2913,310.1,-7.1,214,3716,0.00,2.25,0.00,0.000,516,0.000,0.054,3068,895,2912,2912,2913,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3778,-0.67,-107.1,3068,895,2912,2912,315.3,-7.4,216,3784,0.00,2.17,0.00,0.000,1030,0.000,0.044,3068,1889,2911,2912,2911,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4112,-0.67,-107.1,3069,1888,2912,2910,346.3,-9.9,227,4117,0.00,2.22,0.00,0.000,516,0.000,0.054,3068,893,2911,2912,2910,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4146,-0.67,-107.1,3068,893,2911,2910,350.3,-10.2,228,4151,0.00,2.17,0.00,0.000,1030,0.000,0.043,3068,1878,2911,2912,2910,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4483,-0.67,-107.1,3068,1877,2912,2908,383.7,-9.9,239,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1877,2909,2911,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.67,-107.1,3069,1877,2910,2907,409.8,-8.2,249,4787,0.00,2.20,0.00,0.000,516,0.000,0.054,3068,894,2908,2910,2907,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4820,-0.67,-107.1,3068,894,2910,2907,412.5,-7.9,250,4826,0.00,2.12,0.00,0.000,1030,0.000,0.042,3068,1870,2908,2910,2907,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5155,-0.69,-107.1,3068,1869,2909,2906,434.5,-6.2,261,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1869,2908,2910,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5451,-0.73,-107.1,3068,1869,2909,2904,452.6,-6.1,271,5456,0.00,2.17,0.00,0.000,516,0.000,0.054,3068,896,2907,2909,2905,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5502,-0.77,-107.1,3065,896,2909,2905,454.9,-6.1,272,5507,0.00,2.10,0.00,0.000,1030,0.000,0.041,3068,1865,2906,2909,2904,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5824,-0.82,-107.1,3069,1865,2908,2903,473.6,-5.7,283,5826,0.12,0.00,0.00,0.000,4102,0.123,0.000,3016,1865,2905,2909,2902,0,0,0,0,0,0,14.54,28.83,28.83
$GC,6123,-0.79,-107.1,3016,1865,2908,2902,498.3,-9.2,293,6128,0.00,2.17,0.00,0.000,516,0.000,0.054,3016,894,2904,2907,2902,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6157,-0.76,-107.1,3015,894,2907,2902,501.9,-9.4,294,6163,0.15,2.12,0.00,0.000,3078,0.239,0.042,3050,1861,2904,2907,2902,0,0,0,0,0,0,14.25,14.57,28.83
$GC,6496,-0.76,-107.1,3050,1860,2907,2901,533.1,-9.6,305,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1860,2903,2906,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6793,-0.76,-107.1,3050,1860,2906,2900,563.0,-10.0,315,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1860,2903,2907,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.76,-107.1,3050,1860,2906,2899,590.6,-8.9,325,7097,0.00,2.62,0.00,0.000,260,0.000,0.064,3050,3001,2901,2905,2898,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7128,-0.76,-107.1,3050,3001,2905,2898,593.6,-8.8,326,7133,0.00,2.60,0.00,0.000,1030,0.000,0.034,3050,1829,2901,2905,2898,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7465,-0.76,-107.1,3050,1830,2905,2897,620.3,-7.6,337,7471,0.00,2.10,0.00,0.000,516,0.000,0.056,3050,893,2901,2905,2897,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7550,-0.76,-107.1,3050,893,2904,2897,625.5,-7.6,339,7555,0.00,2.10,0.00,0.000,1030,0.000,0.041,3050,1849,2900,2904,2896,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7868,-0.76,-107.1,3050,1849,2904,2896,649.7,-7.1,350,7873,0.00,2.15,0.00,0.000,516,0.000,0.054,3050,896,2899,2904,2895,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7935,-0.76,-107.1,3050,896,2904,2895,654.6,-7.2,352,7940,0.00,2.08,0.00,0.000,1030,0.000,0.041,3050,1837,2899,2903,2895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8272,-0.76,-107.1,3050,1836,2902,2893,681.3,-8.3,363,8277,0.00,2.12,0.00,0.000,516,0.000,0.054,3050,896,2897,2902,2893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8326,-0.76,-107.1,3050,896,2901,2893,684.5,-8.4,364,8331,0.00,2.05,0.00,0.000,1030,0.000,0.041,3050,1833,2897,2901,2893,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8640,-0.76,-107.1,3050,1832,2901,2892,714.2,-9.0,375,8645,0.00,2.70,0.00,0.000,260,0.000,0.066,3050,3005,2896,2900,2892,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8675,-0.76,-107.1,3050,3005,2900,2892,717.4,-9.0,376,8680,0.00,2.62,0.00,0.000,1030,0.000,0.034,3050,1816,2896,2900,2892,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,9010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9010,begin apogee
$GC,9017,-0.25,0.0,3050,1817,2900,2891,750.9,-10.4,387,9111,0.55,0.00,88.60,1.899,10244,0.178,0.000,3204,1817,2475,2534,2416,0,0,0,0,0,0,14.02,28.83,13.21
$STATE,9115,end apogee,CONTROL_FINISHED_OK
$STATE,9116,begin climb
$GC,9120,0.88,107.1,3204,1817,2536,2415,756.2,0.0,390,9226,1.20,2.47,93.35,1.895,10500,0.102,0.061,3579,2854,2038,2083,1994,0,0,0,0,0,0,14.26,14.28,13.22
$GC,9238,0.88,107.1,3579,2854,2080,1990,763.8,-6.6,394,9244,0.00,2.42,0.00,0.000,1030,0.000,0.040,3579,1785,2034,2078,1990,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9564,0.84,175.7,3579,1786,2077,1981,758.1,4.2,405,9631,0.00,2.40,59.47,1.841,8708,0.000,0.062,3579,752,1759,1837,1682,0,0,0,0,0,0,28.83,14.33,13.38
$GC,9859,0.76,175.7,3579,752,1827,1677,734.3,9.9,414,9867,0.17,2.33,0.00,0.000,5126,0.239,0.036,3540,1818,1752,1828,1676,0,0,0,0,0,0,14.26,14.54,28.83
$GC,10164,0.70,175.7,3540,1817,1826,1673,703.5,9.5,425,10169,0.00,2.35,0.00,0.000,260,0.000,0.060,3540,2851,1749,1825,1673,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10209,0.63,175.7,3540,2851,1824,1673,699.7,9.7,426,10215,0.17,2.33,0.00,0.000,5126,0.233,0.044,3498,1810,1748,1823,1673,0,0,0,0,0,0,14.31,14.60,28.83
$GC,10535,0.61,175.7,3498,1812,1823,1671,671.9,7.9,437,10540,0.00,2.40,0.00,0.000,516,0.000,0.062,3498,750,1747,1822,1672,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10589,0.58,175.7,3498,750,1823,1672,669.2,7.8,438,10595,0.00,2.30,0.00,0.000,1030,0.000,0.037,3498,1804,1747,1823,1671,0,0,0,0,0,0,28.83,14.62,28.83
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$FREEZE,4.86,25.245,-2.078,0,1,0
$STATE,18828,end climb,NO_VERTICAL_VELOCITY
$STATE,18828,begin surface
$SM_CCo,18834,115.70,0.086,0,0,189,561.49
$SM_GC,6.17,10.00,0.50,0.00,0.051,0.053,0.000,145,1972,190,-9.77,-0.76,561.49,0,0,0,0,0,0,14.62,14.51,28.83
$IRIDIUM_FIX,2413.38,-3742.33,180713,151555
$TT8_MAMPS,0.023219,0.023219
$HUMID,86.10
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,3855648
$TM_FREEKB,4535984
$24V_AH,13.2,168.357
$10V_AH,12.6,0.000
$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,26.325,192.250,404.100,115.700,0.000,0.000,0.000,434.050,0.250,0.000,38.056,2879.093,13075.674,711.210,2684.206,743.417,0.000,2359.849,0.000,2139.176,0.000,0.543,0.000
$DEVICE_MAMPS,334.305,90.270,1898.730,86.445,0.000,0.000,0.000,221.085,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18857.000,5856.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.458,9.453,0.000,0.000
$MEM,345176
$DATA_FILE_SIZE,30057,802
$CAP_FILE_SIZE,219589,0
$CFSIZE,260034560,194252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,110.2,1
$GPS,190713,024936,2423.865,-3750.898,34,1.0,34,-15.0