version: 66.11
glider: 160
mission: 9
dive: 463
start: 7 28 113 5 20 59
data:
$ID,160
$MISSION,9
$DIVE,463
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1000
$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,430
$T_MISSION,480
$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,561.4917
$N_FILEKB,4
$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,-47444.707
$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,23
$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,1
$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
$GPS1,270713,223818,2425.212,-3815.158,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-69.5
$GPS2,270713,223818,2425.212,-3815.158,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,258.1,9176,-26.8,-7.364,-30.00,830
$D_GRID,950
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.38,-39.9,144,1953,216,171,0.0,0.0,0,39,0.00,0.00,-15.65,0.000,16386,0.000,0.000,143,1953,543,530,557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,144,1953,531,557,3.6,0.0,1,163,12.52,2.50,-95.10,0.000,18692,0.334,0.092,2849,3000,2639,2630,2649,0,0,0,0,0,0,14.17,14.37,14.85
$GC,369,-1.30,-39.9,1792,2996,2568,2640,39.7,-16.9,22,375,0.00,2.35,0.00,0.000,1030,0.000,0.035,2849,1946,2640,2631,2649,0,0,0,0,0,0,28.83,14.53,28.83
$GC,685,-1.23,-39.9,2849,1947,2630,2649,83.5,-12.3,43,691,0.17,2.38,0.00,0.000,2564,0.283,0.056,2891,893,2640,2631,2649,0,0,0,0,0,0,14.04,14.49,28.83
$GC,922,-1.19,-39.9,2891,893,2630,2648,111.5,-12.6,58,927,0.00,2.33,0.00,0.000,1030,0.000,0.048,2891,1925,2639,2630,2648,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1237,-1.17,-39.9,2891,1925,2630,2647,149.2,-11.6,79,1242,0.00,2.47,0.00,0.000,260,0.000,0.067,2891,3006,2639,2630,2648,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1469,-1.14,-39.9,2891,3006,2631,2647,175.2,-10.7,94,1475,0.15,2.45,0.00,0.000,3078,0.277,0.031,2922,1894,2638,2630,2647,0,0,0,0,0,0,14.14,14.59,28.83
$GC,1789,-1.14,-39.9,2922,1894,2630,2646,206.5,-9.3,115,1795,0.00,2.25,0.00,0.000,516,0.000,0.057,2923,896,2638,2630,2646,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2025,-1.14,-39.9,2922,896,2631,2645,229.5,-10.0,130,2030,0.00,2.22,0.00,0.000,1030,0.000,0.044,2922,1893,2637,2630,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2355,-1.14,-39.9,2923,1893,2630,2643,262.5,-9.9,148,2361,0.00,2.60,0.00,0.000,260,0.000,0.074,2922,3003,2636,2630,2643,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2560,-1.14,-39.9,2922,3003,2630,2642,282.2,-10.8,154,2565,0.00,2.55,0.00,0.000,1030,0.000,0.036,2922,1854,2636,2630,2642,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2875,-1.14,-39.9,2922,1854,2630,2641,317.7,-10.7,165,2880,0.00,2.17,0.00,0.000,516,0.000,0.061,2922,893,2635,2630,2640,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3111,-1.14,-39.9,2922,893,2630,2638,341.4,-11.1,172,3117,0.00,2.12,0.00,0.000,1030,0.000,0.047,2922,1841,2634,2630,2638,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3426,-1.14,-39.9,2923,1840,2630,2636,379.6,-11.4,183,3432,0.00,2.70,0.00,0.000,260,0.000,0.076,2922,3002,2633,2630,2636,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3652,-1.14,-39.9,2923,3007,2630,2634,404.4,-11.3,190,3658,0.00,2.65,0.00,0.000,1030,0.000,0.041,2922,1820,2632,2630,2634,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3982,-1.14,-39.9,2923,1821,2630,2632,437.5,-9.3,201,3987,0.00,2.10,0.00,0.000,516,0.000,0.063,2922,894,2630,2630,2631,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4217,-1.14,-39.9,2923,894,2629,2631,456.7,-8.5,208,4223,0.00,2.05,0.00,0.000,1030,0.000,0.050,2922,1801,2629,2629,2630,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4533,-1.14,-39.9,2922,1800,2629,2627,484.5,-8.6,219,4539,0.00,2.80,0.00,0.000,260,0.000,0.072,2922,3008,2628,2629,2627,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4759,-1.14,-39.9,2923,3008,2627,2627,505.6,-9.9,226,4765,0.00,2.78,0.00,0.000,1030,0.000,0.041,2923,1775,2626,2625,2627,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5088,-1.14,-39.9,2922,1776,2627,2625,542.8,-11.4,237,5093,0.00,2.00,0.00,0.000,516,0.000,0.061,2922,889,2626,2627,2625,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5323,-1.14,-39.9,2922,889,2626,2624,569.2,-12.2,244,5329,0.00,1.95,0.00,0.000,1030,0.000,0.047,2922,1757,2625,2626,2624,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5638,-1.14,-39.9,2923,1756,2626,2621,609.8,-11.9,255,5644,0.00,2.00,0.00,0.000,516,0.000,0.057,2922,886,2624,2626,2622,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5874,-1.14,-39.9,2922,887,2625,2622,636.8,-12.6,262,5880,0.00,1.92,0.00,0.000,1030,0.000,0.047,2922,1743,2623,2625,2621,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6193,-1.15,-39.9,2923,1742,2625,2619,678.4,-12.7,273,6198,0.00,1.98,0.00,0.000,516,0.000,0.057,2922,886,2622,2625,2619,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6428,-1.15,-39.9,2922,886,2624,2619,705.5,-12.2,280,6434,0.00,1.92,0.00,0.000,1030,0.000,0.046,2922,1741,2621,2624,2619,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6746,-1.17,-39.9,2922,1740,2624,2618,739.6,-9.4,291,6752,0.00,1.95,0.00,0.000,516,0.000,0.057,2923,894,2620,2624,2617,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6982,-1.17,-39.9,2922,893,2622,2616,759.9,-9.1,298,6987,0.00,1.90,0.00,0.000,1030,0.000,0.046,2922,1733,2619,2621,2617,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7300,-1.18,-39.9,2922,1732,2621,2614,789.1,-9.0,309,7306,0.00,2.97,0.00,0.000,260,0.000,0.067,2923,3010,2617,2621,2614,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7502,-1.20,-39.9,2922,3009,2620,2614,807.4,-9.8,315,7507,0.00,2.95,0.00,0.000,1030,0.000,0.040,2929,1704,2617,2620,2614,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7825,-1.22,-39.9,2922,1705,2620,2612,841.5,-10.5,326,7830,0.00,1.85,0.00,0.000,516,0.000,0.060,2923,892,2616,2620,2612,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8060,-1.22,-39.9,2923,893,2618,2612,866.6,-11.6,333,8066,0.00,1.83,0.00,0.000,1030,0.000,0.045,2923,1701,2615,2618,2612,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8379,-1.24,-39.9,2923,1701,2618,2609,902.8,-10.5,344,8384,0.00,1.88,0.00,0.000,516,0.000,0.058,2922,894,2613,2618,2609,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8614,-1.24,-39.9,2923,894,2618,2608,926.4,-10.7,351,8619,0.00,1.80,0.00,0.000,1030,0.000,0.045,2922,1688,2613,2618,2608,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,8835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8835,begin apogee
$GC,8844,-0.25,0.0,2922,1811,2617,2607,951.6,-10.2,359,8881,1.10,0.00,31.73,2.059,10244,0.223,0.000,3203,1811,2479,2492,2466,0,0,0,0,0,0,13.68,28.83,13.12
$STATE,8883,end apogee,CONTROL_FINISHED_OK
$STATE,8883,begin climb
$GC,8886,1.38,39.9,3203,1811,2491,2464,951.7,0.0,360,8936,1.67,2.40,38.92,2.138,10500,0.092,0.067,3742,2848,2312,2327,2298,0,0,0,0,0,0,14.46,14.46,13.07
$GC,8954,1.38,39.9,3742,2847,2324,2297,953.8,-5.4,362,8960,0.00,2.42,0.00,0.000,1030,0.000,0.043,3752,1800,2310,2324,2297,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9280,1.41,173.0,3752,1801,2320,2293,986.1,-9.1,373,9420,0.00,2.55,126.18,2.202,8964,0.000,0.057,3752,2848,1769,1841,1697,0,0,0,0,0,0,28.83,14.16,13.06
$GC,9651,1.27,173.0,3752,2847,1826,1694,957.8,14.3,385,9657,0.28,2.78,0.00,0.000,5126,0.336,0.044,3707,1629,1760,1826,1694,0,0,0,0,0,0,14.04,14.47,28.83
$GC,9981,1.19,173.0,3707,1630,1826,1691,917.5,11.5,396,9987,0.12,2.83,0.00,0.000,4356,0.311,0.052,3679,2849,1757,1826,1689,0,0,0,0,0,0,14.11,14.47,28.83
$GC,10217,1.09,173.0,3679,2849,1824,1688,891.5,11.8,403,10223,0.17,2.72,0.00,0.000,5126,0.309,0.045,3651,1653,1756,1824,1689,0,0,0,0,0,0,14.07,14.53,28.83
$GC,10536,1.05,173.0,3652,1654,1824,1686,857.9,9.9,414,10541,0.00,2.12,0.00,0.000,516,0.000,0.067,3656,740,1755,1824,1686,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10772,1.00,173.0,3656,740,1823,1686,835.4,10.1,421,10779,0.17,2.12,0.00,0.000,5126,0.274,0.039,3619,1684,1754,1823,1685,0,0,0,0,0,0,14.04,14.53,28.83
$GC,11092,0.98,173.0,3620,1683,1823,1684,803.6,9.3,432,11098,0.00,2.67,0.00,0.000,260,0.000,0.057,3619,2846,1754,1824,1684,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11330,0.93,173.0,3620,2846,1822,1683,781.7,9.9,439,11335,0.00,2.65,0.00,0.000,1030,0.000,0.044,3619,1690,1752,1822,1683,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11647,0.90,173.0,3619,1691,1822,1683,753.7,8.0,450,11653,0.12,2.70,0.00,0.000,4356,0.288,0.053,3589,2850,1752,1822,1682,0,0,0,0,0,0,14.04,14.43,28.83
$GC,11884,0.88,173.0,3590,2849,1822,1682,736.0,7.9,457,11890,0.00,2.62,0.00,0.000,1030,0.000,0.043,3590,1705,1751,1821,1682,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12203,0.88,173.0,3591,1706,1822,1681,711.5,7.6,468,12208,0.00,2.70,0.00,0.000,260,0.000,0.055,3590,2850,1751,1822,1680,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12440,0.85,173.0,3591,2851,1821,1680,692.2,8.9,475,12445,0.00,2.60,0.00,0.000,1030,0.000,0.041,3596,1715,1750,1821,1680,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12757,0.86,176.2,3591,1715,1821,1680,667.3,7.0,486,12763,0.00,2.70,0.00,0.000,260,0.000,0.054,3591,2854,1750,1821,1679,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12995,0.84,181.0,3591,2854,1820,1679,652.0,6.8,493,13000,0.00,2.55,0.00,0.000,1030,0.000,0.040,3590,1740,1750,1821,1679,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13314,0.85,195.2,3590,1741,1820,1680,633.0,5.6,504,13341,0.00,2.35,19.20,1.655,8708,0.000,0.066,3590,717,1679,1750,1609,0,0,0,0,0,0,28.83,14.57,13.43
$GC,13457,0.86,201.6,3590,717,1746,1609,624.1,6.6,508,13468,0.00,2.38,5.25,1.451,9222,0.000,0.037,3590,1773,1660,1731,1590,0,0,0,0,0,0,28.83,14.51,13.35
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$FREEZE,6.05,25.453,-1.362,0,6,0
$STATE,20613,end climb,NO_VERTICAL_VELOCITY
$STATE,20613,begin surface
$SM_CCo,20618,172.05,0.077,0,0,189,561.49
$SM_GC,6.89,10.18,0.20,0.00,0.037,0.093,0.000,145,1954,189,-9.78,-0.65,561.74,0,0,0,0,0,0,14.54,14.42,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,85.59
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,3842848
$24V_AH,13.1,181.545
$10V_AH,12.8,0.000
$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,26.800,175.125,245.075,172.050,0.000,0.000,0.000,1255.800,0.250,0.000,303.559,3960.529,13078.574,629.937,4711.290,836.510,0.000,3474.870,0.000,3152.344,0.000,0.543,0.000
$DEVICE_MAMPS,335.835,92.565,2201.670,77.265,0.000,0.000,0.000,211.140,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.938,0.000,0.000,0.000
$MEM,345028
$DATA_FILE_SIZE,30077,840
$CAP_FILE_SIZE,248582,0
$CFSIZE,260034560,190214144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,5.749,259.0,1
$GPS,280713,045937,2425.212,-3810.365,0,10000.0,0,-15.1