version: 66.11
glider: 160
mission: 9
dive: 466
start: 7 29 113 1 7 31
data:
$ID,160
$MISSION,9
$DIVE,466
$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,517.58301
$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,-48969.188
$T_RSLEEP,-4
$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,31
$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,2300
$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
$GPS1,280713,180729,2422.843,-3813.691,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.36
$_SM_ANGLEo,-69.8
$GPS2,290713,010659,2433.133,-3812.185,122,99.0,141,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,C_NE
$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,54.8,17230,-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,-39.9,136,1947,216,169,0.0,0.0,0,38,0.00,0.00,-15.30,0.000,16386,0.000,0.000,136,1947,537,526,548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,136,1947,526,548,3.4,0.0,1,153,12.62,2.47,-88.95,0.000,18692,0.339,0.090,2847,2995,2463,2458,2469,0,0,0,0,0,0,14.21,14.48,14.85
$GC,211,-1.32,-39.9,2846,2994,2457,2469,10.2,-12.0,12,216,0.00,2.33,0.00,0.000,1030,0.000,0.034,2847,1947,2463,2458,2469,0,0,0,0,0,0,28.83,14.54,28.83
$GC,532,-1.25,-39.9,2846,1947,2457,2469,51.5,-11.7,33,538,0.17,2.38,0.00,0.000,2564,0.280,0.056,2890,893,2463,2457,2469,0,0,0,0,0,0,14.07,14.54,28.83
$GC,770,-1.19,-39.9,1808,892,2390,2457,78.3,-11.8,48,776,0.00,2.33,0.00,0.000,1030,0.000,0.047,2888,1928,2463,2457,2469,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1085,-1.15,-39.9,2888,1928,2457,2469,111.7,-9.6,69,1091,0.12,2.35,0.00,0.000,2564,0.309,0.049,2916,892,2463,2457,2469,0,0,0,0,0,0,14.14,14.47,28.83
$GC,1261,-1.12,-41.7,1872,891,2393,2458,125.3,-7.1,80,1268,0.00,2.33,-0.10,0.000,17414,0.000,0.049,2916,1922,2477,2467,2487,0,0,0,0,0,0,28.83,14.53,13.96
$GC,1578,-1.12,-56.4,2916,1921,2467,2487,145.2,-5.5,101,1584,0.00,2.35,-0.32,0.000,16900,0.000,0.073,2916,895,2534,2523,2545,0,0,0,0,0,0,28.83,14.53,14.52
$GC,1815,-1.09,-56.4,2916,895,2523,2545,161.2,-7.6,116,1821,0.00,2.28,0.00,0.000,1030,0.000,0.050,2916,1898,2533,2522,2545,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2130,-1.09,-56.4,2916,1898,2523,2545,194.5,-11.8,137,2135,0.00,2.30,0.00,0.000,516,0.000,0.057,2916,894,2534,2523,2545,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2365,-1.08,-56.4,2916,894,2523,2544,224.6,-13.6,152,2372,0.12,2.22,0.00,0.000,3078,0.295,0.053,2941,1876,2533,2523,2544,0,0,0,0,0,0,14.18,14.52,28.83
$GC,2696,-1.08,-56.4,2941,1875,2523,2542,262.9,-10.4,170,2701,0.00,2.28,0.00,0.000,516,0.000,0.062,2941,891,2531,2523,2539,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2931,-1.08,-56.4,2942,891,2523,2541,284.7,-10.1,177,2937,0.00,2.20,0.00,0.000,1030,0.000,0.052,2941,1862,2531,2523,2540,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3248,-1.08,-56.4,2941,1861,2523,2538,318.0,-10.0,188,3253,0.00,2.22,0.00,0.000,516,0.000,0.061,2941,898,2530,2523,2538,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3483,-1.08,-56.4,2942,898,2523,2537,339.3,-10.0,195,3488,0.00,2.15,0.00,0.000,1030,0.000,0.051,2941,1849,2530,2523,2537,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3797,-1.08,-56.4,2941,1848,2523,2534,369.8,-8.9,206,3802,0.00,2.67,0.00,0.000,260,0.000,0.073,2941,3005,2528,2523,2534,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4033,-1.08,-56.4,2941,3004,2523,2534,388.1,-8.3,213,4038,0.00,2.62,0.00,0.000,1030,0.000,0.039,2941,1825,2528,2523,2533,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4351,-1.09,-56.4,2941,1827,2523,2531,414.4,-7.8,224,4356,0.00,2.12,0.00,0.000,516,0.000,0.063,2941,894,2527,2523,2531,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4587,-1.09,-56.4,2941,894,2523,2530,432.6,-8.6,231,4592,0.00,2.10,0.00,0.000,1030,0.000,0.053,2941,1818,2526,2523,2529,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4905,-1.11,-56.4,2941,1817,2523,2527,461.8,-8.6,242,4910,0.00,2.15,0.00,0.000,516,0.000,0.061,2941,888,2525,2524,2527,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5106,-1.11,-56.4,2942,888,2523,2526,479.8,-9.7,248,5111,0.00,2.08,0.00,0.000,1030,0.000,0.050,2941,1809,2525,2525,2526,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5428,-1.12,-56.4,2942,1808,2523,2525,509.8,-8.7,259,5433,0.00,2.12,0.00,0.000,516,0.000,0.060,2941,890,2523,2522,2525,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5665,-1.12,-56.4,2941,890,2522,2524,529.8,-9.2,266,5670,0.00,2.05,0.00,0.000,1030,0.000,0.048,2941,1801,2522,2522,2523,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5983,-1.14,-56.4,2942,1800,2522,2521,557.5,-8.1,277,5988,0.00,2.10,0.00,0.000,516,0.000,0.058,2942,891,2521,2522,2521,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6143,-1.14,-56.4,2941,890,2521,2521,570.2,-8.1,282,6149,0.00,2.03,0.00,0.000,1030,0.000,0.047,2941,1788,2521,2521,2521,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6478,-1.16,-57.2,2941,1788,2521,2520,595.3,-7.3,293,6483,0.00,2.08,0.00,0.000,516,0.000,0.058,2941,891,2520,2521,2520,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6667,-1.16,-57.2,2941,891,2517,2520,609.9,-7.9,299,6673,0.00,2.00,0.00,0.000,1030,0.000,0.047,2942,1779,2519,2520,2519,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7002,-1.18,-57.2,2942,1778,2520,2518,636.5,-8.1,310,7007,0.00,2.05,0.00,0.000,516,0.000,0.058,2941,891,2518,2520,2517,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7133,-1.20,-57.2,2941,892,2519,2517,648.7,-9.5,314,7139,0.00,2.00,0.00,0.000,1030,0.000,0.047,2941,1780,2518,2519,2517,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7467,-1.22,-57.2,2941,1780,2518,2516,681.8,-10.0,325,7473,0.12,2.05,0.00,0.000,4612,0.147,0.055,2887,895,2517,2518,2516,0,0,0,0,0,0,14.46,14.42,28.83
$GC,7557,-1.22,-57.2,2887,896,2517,2516,689.3,-10.4,327,7565,0.00,1.98,0.00,0.000,1030,0.000,0.048,2886,1768,2516,2517,2516,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7865,-1.20,-57.2,2886,1767,2516,2515,728.2,-11.8,338,7871,0.00,2.03,0.00,0.000,516,0.000,0.057,2886,896,2515,2516,2515,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8102,-1.18,-57.2,2886,896,2514,2515,753.1,-11.1,345,8107,0.00,1.92,0.00,0.000,1030,0.000,0.047,2886,1749,2514,2514,2515,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8420,-1.17,-57.2,2886,1748,2514,2513,787.7,-10.0,356,8426,0.12,1.98,0.00,0.000,2564,0.310,0.054,2914,896,2513,2514,2513,0,0,0,0,0,0,14.04,14.39,28.83
$GC,8601,-1.17,-57.2,2915,896,2513,2513,802.8,-9.4,361,8608,0.00,1.90,0.00,0.000,1030,0.000,0.046,2915,1739,2513,2513,2513,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8908,-1.17,-57.2,2914,1739,2513,2511,832.6,-8.9,372,8913,0.00,1.95,0.00,0.000,516,0.000,0.058,2915,896,2511,2513,2510,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9073,-1.17,-57.2,2915,896,2512,2510,847.2,-9.4,377,9078,0.00,1.88,0.00,0.000,1030,0.000,0.046,2914,1725,2511,2512,2510,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9401,-1.17,-57.2,2915,1725,2512,2515,878.0,-9.4,388,9406,0.00,1.92,0.00,0.000,516,0.000,0.058,2914,895,2509,2511,2508,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9489,-1.17,-57.2,2915,896,2511,2508,884.6,-9.4,390,9496,0.00,1.88,0.00,0.000,1030,0.000,0.045,2915,1725,2510,2512,2508,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9797,-1.17,-57.2,2915,1723,2511,2507,916.9,-9.9,401,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1724,2509,2511,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10095,-1.17,-57.2,2915,1723,2511,2505,945.2,-9.1,411,10100,0.00,1.92,0.00,0.000,516,0.000,0.058,2914,896,2507,2510,2505,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,10156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10156,begin apogee
$GC,10167,-0.25,0.0,2915,1808,2510,2505,951.0,-9.0,413,10221,1.15,0.00,49.45,2.112,10244,0.230,0.000,3202,1809,2298,2315,2281,0,0,0,0,0,0,13.62,28.83,13.07
$STATE,10223,end apogee,CONTROL_FINISHED_OK
$STATE,10223,begin climb
$GC,10227,1.40,57.2,3202,1808,2313,2280,952.0,0.0,415,10291,1.67,0.00,56.47,2.153,11270,0.099,0.000,3736,1809,2063,2101,2025,0,0,0,0,0,0,14.28,28.83,13.04
$GC,10616,1.31,87.8,3736,1809,2092,2021,947.0,3.6,428,10653,0.00,2.42,30.02,2.063,8452,0.000,0.059,3736,2858,1939,1998,1880,0,0,0,0,0,0,28.83,14.44,13.29
$GC,10887,1.18,87.8,3736,2858,1990,1878,926.1,9.8,436,10895,0.30,2.40,0.00,0.000,5126,0.327,0.044,3679,1801,1934,1990,1878,0,0,0,0,0,0,14.00,14.50,28.83
$GC,11194,1.10,90.5,3679,1803,1990,1875,901.6,7.0,447,11199,0.00,2.45,0.00,0.000,260,0.000,0.057,3679,2860,1932,1990,1875,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11430,1.01,93.9,3679,2860,1989,1874,885.9,6.9,454,11443,0.30,2.38,4.82,1.595,13318,0.301,0.042,3622,1811,1916,1978,1855,0,0,0,0,0,0,13.95,14.51,13.26
$GC,11739,0.99,108.9,3622,1812,1978,1856,866.3,5.5,465,11768,0.00,2.45,18.88,1.869,8452,0.000,0.059,3622,2855,1851,1920,1782,0,0,0,0,0,0,28.83,14.57,13.50
$GC,12000,0.93,109.0,3622,2855,1916,1781,848.5,7.3,473,12006,0.15,2.35,0.00,0.000,5126,0.297,0.041,3595,1814,1848,1916,1780,0,0,0,0,0,0,14.11,14.50,28.83
$GC,12324,0.91,109.0,3601,1814,1916,1780,824.3,7.6,484,12329,0.00,2.42,0.00,0.000,260,0.000,0.057,3601,2857,1848,1916,1780,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12372,0.89,109.0,3600,2857,1914,1779,821.0,8.0,485,12378,0.00,2.38,0.00,0.000,1030,0.000,0.041,3603,1812,1846,1914,1779,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12697,0.87,109.0,3601,1813,1914,1778,792.5,8.7,496,12702,0.00,2.45,0.00,0.000,260,0.000,0.055,3602,2859,1846,1914,1778,0,0,0,0,0,0,28.83,14.43,28.83
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$FREEZE,5.74,25.632,-0.618,0,9,0
$STATE,23055,end climb,NO_VERTICAL_VELOCITY
$STATE,23055,begin surface
$SM_CCo,23061,101.60,0.076,0,0,188,517.58
$SM_GC,6.36,10.80,0.17,0.00,0.045,0.073,0.000,146,1963,189,-9.77,-0.74,517.83,0,0,0,0,0,0,14.55,14.56,28.83
$IRIDIUM_FIX,2425.21,-3810.36,290713,000050
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.31
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3841696
$24V_AH,13.0,182.502
$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,28.725,200.375,304.175,101.600,0.000,0.000,0.000,1700.575,0.000,0.000,145.483,4189.384,15013.246,642.313,5081.124,967.510,0.000,4020.045,0.000,3270.007,0.000,0.542,0.000
$DEVICE_MAMPS,338.895,90.270,2152.710,75.735,0.000,0.000,0.000,231.795,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23082.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.170,0.000,0.000,0.000
$MEM,345088
$DATA_FILE_SIZE,36671,947
$CAP_FILE_SIZE,278446,0
$CFSIZE,260034560,189890560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,38.886, 12.7,1
$GPS,290713,010659,2433.133,-3812.185,301,99.0,301,-15.1