version: 66.11
glider: 160
mission: 9
dive: 464
start: 7 28 113 11 52 2
data:
$ID,160
$MISSION,9
$DIVE,464
$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,-48053.836
$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,24
$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
$GPS1,280713,045937,2425.212,-3810.365,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-67.2
$GPS2,280713,045937,2425.212,-3810.365,301,99.0,301,-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,201.5,13983,-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,-39.9,144,1957,216,170,0.0,0.0,0,38,0.00,0.00,-15.20,0.000,16386,0.000,0.000,145,1958,536,523,550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,144,1957,527,550,3.7,0.0,1,166,12.77,2.45,-97.03,0.000,18948,0.343,0.072,2848,899,2644,2655,2634,0,0,0,0,0,0,14.19,14.40,14.83
$GC,395,-1.29,-39.9,2848,901,2656,2632,44.6,-18.1,24,401,0.12,2.38,0.00,0.000,3078,0.315,0.048,2871,1954,2643,2656,2631,0,0,0,0,0,0,14.12,14.50,28.83
$GC,711,-1.25,-39.9,2871,1954,2656,2631,87.6,-12.1,45,717,0.00,2.40,0.00,0.000,516,0.000,0.053,2871,894,2643,2656,2631,0,0,0,0,0,0,28.83,14.47,28.83
$GC,732,-1.20,-39.9,2871,894,2656,2630,89.5,-11.4,46,738,0.15,2.40,0.00,0.000,3078,0.285,0.050,2902,1951,2643,2656,2630,0,0,0,0,0,0,14.04,14.42,28.83
$GC,1052,-1.17,-39.9,2902,1954,2656,2629,122.5,-11.0,67,1058,0.00,2.45,0.00,0.000,516,0.000,0.057,2902,892,2643,2656,2630,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1288,-1.15,-39.9,1864,892,2596,2620,146.3,-10.5,82,1294,0.00,2.35,0.00,0.000,1030,0.000,0.050,2902,1934,2642,2656,2628,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1604,-1.13,-39.9,2903,1931,2656,2627,179.3,-10.5,103,1609,0.00,2.38,0.00,0.000,516,0.000,0.057,2902,892,2640,2656,2625,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1840,-1.11,-39.9,1856,889,2595,2618,206.0,-12.0,118,1847,0.15,2.30,0.00,0.000,3078,0.286,0.049,2933,1917,2644,2663,2626,0,0,0,0,0,0,14.12,14.51,28.83
$GC,2156,-1.11,-39.9,2933,1917,2656,2625,238.2,-9.3,139,2161,0.00,2.33,0.00,0.000,516,0.000,0.056,2933,896,2640,2656,2625,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2392,-1.11,-39.9,2933,896,2650,2624,260.0,-10.3,150,2398,0.00,2.25,0.00,0.000,1030,0.000,0.047,2933,1899,2639,2656,2623,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2707,-1.11,-39.9,2934,1898,2655,2621,296.1,-11.1,161,2713,0.00,2.28,0.00,0.000,516,0.000,0.055,2934,897,2638,2656,2621,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2943,-1.11,-39.9,2934,898,2656,2619,321.1,-11.7,168,2948,0.00,2.22,0.00,0.000,1030,0.000,0.046,2934,1892,2637,2656,2619,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3258,-1.11,-39.9,2934,1891,2656,2618,355.8,-10.2,179,3263,0.00,2.28,0.00,0.000,516,0.000,0.055,2934,890,2636,2656,2617,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3473,-1.11,-39.9,2934,890,2656,2616,379.4,-11.3,186,3479,0.00,2.22,0.00,0.000,1030,0.000,0.045,2934,1877,2638,2656,2621,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3812,-1.11,-39.9,2933,1876,2656,2613,413.7,-10.0,197,3818,0.00,2.25,0.00,0.000,516,0.000,0.054,2933,892,2634,2656,2613,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3865,-1.11,-39.9,2933,892,2656,2613,417.5,-9.9,198,3871,0.00,2.20,0.00,0.000,1030,0.000,0.044,2933,1873,2634,2656,2613,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4184,-1.12,-39.9,2934,1873,2656,2612,449.1,-9.1,209,4189,0.00,2.22,0.00,0.000,516,0.000,0.054,2934,898,2632,2656,2608,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4311,-1.12,-39.9,2934,898,2656,2611,461.6,-9.8,213,4316,0.00,2.17,0.00,0.000,1030,0.000,0.044,2934,1866,2632,2656,2609,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4649,-1.14,-39.9,2934,1866,2656,2607,495.3,-10.2,224,4654,0.00,2.20,0.00,0.000,516,0.000,0.054,2934,897,2631,2656,2607,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4814,-1.14,-39.9,2934,897,2664,2606,513.2,-11.6,229,4819,0.00,2.12,0.00,0.000,1030,0.000,0.044,2934,1849,2631,2656,2606,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5141,-1.16,-39.9,2934,1848,2656,2605,551.4,-11.2,240,5147,0.00,2.17,0.00,0.000,516,0.000,0.054,2934,896,2630,2656,2604,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5322,-1.16,-39.9,2934,896,2655,2604,568.3,-10.5,245,5329,0.00,2.10,0.00,0.000,1030,0.000,0.044,2933,1839,2629,2656,2603,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5631,-1.18,-39.9,2934,1839,2655,2601,595.9,-7.9,256,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1840,2628,2655,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5930,-1.20,-39.9,2934,1839,2655,2600,619.3,-8.0,266,5936,0.00,2.15,0.00,0.000,516,0.000,0.054,2934,898,2627,2655,2599,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6085,-1.20,-39.9,2934,898,2654,2599,633.1,-9.0,271,6091,0.00,2.10,0.00,0.000,1030,0.000,0.043,2934,1833,2626,2654,2599,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6424,-1.22,-39.9,2934,1832,2654,2597,664.2,-9.4,282,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1832,2625,2653,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6720,-1.24,-39.9,2933,1833,2653,2596,693.9,-10.0,292,6726,0.12,2.15,0.00,0.000,4612,0.135,0.050,2878,897,2624,2653,2596,0,0,0,0,0,0,14.50,14.44,28.83
$GC,6881,-1.22,-39.9,1856,892,2595,2587,713.3,-12.6,297,6886,0.00,2.08,0.00,0.000,1030,0.000,0.044,2877,1823,2624,2652,2596,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7214,-1.20,-39.9,2878,1823,2651,2594,755.5,-12.6,308,7220,0.12,2.15,0.00,0.000,2564,0.309,0.051,2906,891,2622,2651,2594,0,0,0,0,0,0,14.04,14.42,28.83
$GC,7340,-1.20,-39.9,2906,890,2650,2594,770.7,-11.7,312,7345,0.00,2.10,0.00,0.000,1030,0.000,0.044,2905,1821,2622,2650,2594,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7678,-1.20,-39.9,2906,1821,2649,2592,803.5,-9.2,323,7683,0.00,2.12,0.00,0.000,516,0.000,0.054,2905,895,2620,2649,2592,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7731,-1.20,-39.9,2905,895,2650,2592,806.9,-9.1,324,7737,0.00,2.08,0.00,0.000,1030,0.000,0.044,2905,1819,2620,2648,2592,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8047,-1.20,-39.9,2906,1819,2649,2591,836.6,-9.0,335,8053,0.00,2.12,0.00,0.000,516,0.000,0.054,2906,896,2619,2648,2590,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8126,-1.20,-39.9,2906,897,2647,2590,843.0,-9.5,337,8131,0.00,2.05,0.00,0.000,1030,0.000,0.044,2905,1810,2619,2648,2590,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8447,-1.20,-39.9,2906,1809,2648,2589,879.6,-11.7,348,8453,0.00,2.10,0.00,0.000,516,0.000,0.054,2905,898,2618,2648,2588,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8516,-1.20,-39.9,1888,897,2590,2579,888.2,-12.3,350,8521,0.00,2.03,0.00,0.000,1030,0.000,0.044,2905,1803,2617,2647,2588,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8849,-1.20,-39.9,2905,1802,2646,2587,932.4,-13.2,361,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1801,2616,2646,2587,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8992,begin apogee
$GC,9000,-0.25,0.0,2906,1801,2647,2586,951.2,-12.5,366,9040,1.20,0.00,32.97,2.085,10244,0.232,0.000,3206,1801,2477,2525,2429,0,0,0,0,0,0,13.64,28.83,13.12
$STATE,9042,end apogee,CONTROL_FINISHED_OK
$STATE,9042,begin climb
$GC,9045,1.38,39.9,3206,1801,2524,2428,951.7,0.0,367,9091,1.65,2.47,37.97,2.141,10500,0.089,0.063,3740,2863,2314,2343,2286,0,0,0,0,0,0,14.45,14.45,13.07
$GC,9105,1.38,39.9,3740,2862,2339,2285,954.4,-5.2,369,9111,0.00,2.45,0.00,0.000,1030,0.000,0.043,3739,1802,2312,2339,2285,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9434,1.42,172.9,3740,1802,2332,2284,988.2,-9.1,380,9572,0.00,2.53,126.72,2.210,8964,0.000,0.054,3740,2864,1770,1844,1696,0,0,0,0,0,0,28.83,14.18,13.05
$GC,9803,1.29,172.9,3088,2860,1777,1687,959.4,14.0,392,9809,0.15,2.75,0.00,0.000,5126,0.350,0.044,3714,1657,1759,1825,1693,0,0,0,0,0,0,14.07,14.51,28.83
$GC,10136,1.20,172.9,3715,1658,1825,1689,919.5,11.4,403,10142,0.12,2.78,0.00,0.000,4356,0.326,0.053,3687,2861,1760,1825,1695,0,0,0,0,0,0,14.08,14.49,28.83
$GC,10373,1.11,172.9,3686,2861,1822,1688,893.6,11.7,410,10379,0.15,2.72,0.00,0.000,5126,0.311,0.044,3658,1661,1755,1822,1688,0,0,0,0,0,0,14.08,14.53,28.83
$GC,10693,1.06,172.9,3658,1662,1822,1686,860.2,9.7,421,10698,0.00,2.78,0.00,0.000,260,0.000,0.055,3658,2860,1754,1822,1686,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10899,0.98,172.9,3658,2859,1821,1685,838.8,11.3,427,10905,0.20,2.70,0.00,0.000,5126,0.300,0.044,3618,1669,1753,1820,1686,0,0,0,0,0,0,13.99,14.51,28.83
$GC,11217,0.96,172.9,3618,1670,1821,1684,803.5,10.3,438,11222,0.00,2.80,0.00,0.000,260,0.000,0.055,3618,2865,1752,1821,1684,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11359,0.92,172.9,3618,2865,1820,1684,789.8,10.7,442,11364,0.00,2.75,0.00,0.000,1030,0.000,0.044,3618,1662,1751,1820,1683,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11681,0.90,172.9,3618,1660,1820,1683,759.9,8.1,453,11687,0.12,2.80,0.00,0.000,4356,0.288,0.053,3588,2862,1750,1819,1682,0,0,0,0,0,0,14.04,14.40,28.83
$GC,11798,0.88,173.3,3588,2862,1819,1682,752.9,7.3,456,11803,0.00,2.70,0.00,0.000,1030,0.000,0.042,3588,1681,1751,1819,1683,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12116,0.89,187.0,3588,1682,1819,1682,733.8,5.7,467,12134,0.00,2.72,11.60,1.707,8452,0.000,0.054,3588,2860,1712,1783,1642,0,0,0,0,0,0,28.83,14.65,13.43
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$FREEZE,5.87,25.858,-1.950,0,7,0
$STATE,21083,end climb,NO_VERTICAL_VELOCITY
$STATE,21083,begin surface
$SM_CCo,21088,107.60,0.076,0,0,189,561.49
$SM_GC,6.61,10.82,0.32,0.00,0.054,0.063,0.000,144,1957,190,-9.79,-0.82,561.74,0,0,0,0,0,0,14.50,14.45,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,83.74
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3842464
$24V_AH,13.1,181.873
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.134,0.000,0.000,0.000
$MEM,345072
$DATA_FILE_SIZE,33361,870
$CAP_FILE_SIZE,250637,0
$CFSIZE,260034560,190107648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,6.427, 34.6,1
$GPS,280713,113300,2420.476,-3812.226,0,10000.0,0,-15.1