version: 66.11
glider: 160
mission: 9
dive: 467
start: 7 29 113 8 4 0
data:
$ID,160
$MISSION,9
$DIVE,467
$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,-49578.383
$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,30
$R_STBD_OVSHOOT,37
$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
$GPS1,290713,010659,2433.133,-3812.185,301,99.0,301,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-67.5
$GPS2,290713,010659,2433.133,-3812.185,301,99.0,301,-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,144.8,17230,-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,18,begin dive
$GC,21,-1.38,-39.9,145,1966,217,165,0.0,0.0,0,39,0.00,0.00,-15.25,0.000,16386,0.000,0.000,145,1966,535,541,530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,145,1966,541,530,3.7,0.0,1,157,12.45,2.45,-89.07,0.000,18948,0.334,0.074,2848,902,2460,2456,2464,0,0,0,0,0,0,14.18,14.45,14.81
$GC,387,-1.28,-39.9,2848,902,2456,2464,35.1,-14.3,23,395,0.15,2.35,0.00,0.000,3078,0.306,0.048,2877,1942,2459,2455,2464,0,0,0,0,0,0,13.95,14.39,28.83
$GC,693,-1.23,-39.9,2877,1941,2455,2464,71.4,-10.8,44,699,0.00,2.40,0.00,0.000,516,0.000,0.053,2877,902,2459,2455,2464,0,0,0,0,0,0,28.83,14.27,28.83
$GC,930,-1.16,-39.9,2878,902,2454,2464,96.5,-10.8,59,937,0.17,2.33,0.00,0.000,3078,0.285,0.048,2914,1939,2459,2454,2464,0,0,0,0,0,0,13.94,14.47,28.83
$GC,1246,-1.14,-39.9,2914,1938,2455,2464,125.1,-9.2,80,1251,0.00,2.38,0.00,0.000,516,0.000,0.053,2914,893,2459,2454,2464,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1456,-1.11,-39.9,2914,893,2454,2464,144.8,-9.3,93,1464,0.00,2.35,0.00,0.000,1030,0.000,0.044,2914,1945,2459,2454,2464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1765,-1.09,-46.3,2914,1944,2454,2464,170.7,-6.6,114,1771,0.00,2.40,-0.17,0.000,16900,0.000,0.070,2915,893,2493,2483,2504,0,0,0,0,0,0,28.83,14.45,14.28
$GC,2004,-1.08,-53.2,2914,894,2483,2504,185.2,-6.5,129,2011,0.15,2.30,-0.20,0.000,19462,0.285,0.044,2946,1924,2526,2514,2538,0,0,0,0,0,0,14.07,14.49,14.45
$GC,2322,-1.08,-55.2,2945,1923,2515,2538,205.3,-7.1,150,2327,0.00,2.33,0.00,0.000,516,0.000,0.054,2946,898,2526,2514,2538,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2556,-1.08,-55.2,2946,901,2515,2537,225.9,-9.7,165,2561,0.00,2.25,0.00,0.000,1030,0.000,0.044,2946,1906,2525,2514,2537,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2885,-1.08,-55.2,2946,1905,2514,2535,259.2,-10.1,184,2890,0.00,2.28,0.00,0.000,516,0.000,0.053,2945,898,2525,2515,2535,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3121,-1.08,-55.2,2946,898,2514,2534,280.7,-10.0,191,3126,0.00,2.20,0.00,0.000,1030,0.000,0.044,2945,1890,2521,2514,2528,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3436,-1.08,-55.2,2946,1889,2514,2532,311.6,-8.9,202,3441,0.00,2.25,0.00,0.000,516,0.000,0.053,2946,897,2522,2513,2532,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3671,-1.08,-55.2,2946,897,2515,2530,331.4,-9.2,209,3676,0.00,2.17,0.00,0.000,1030,0.000,0.042,2948,1881,2522,2514,2530,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3986,-1.08,-55.2,2946,1880,2514,2528,361.1,-8.8,220,3991,0.00,2.58,0.00,0.000,260,0.000,0.062,2946,3003,2521,2514,2529,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4212,-1.08,-55.2,2946,3002,2514,2527,381.2,-9.2,227,4217,0.00,2.58,0.00,0.000,1030,0.000,0.034,2941,1839,2520,2514,2527,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4541,-1.10,-55.2,2946,1840,2514,2525,409.7,-8.0,238,4546,0.00,2.10,0.00,0.000,516,0.000,0.052,2945,898,2519,2514,2525,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4776,-1.10,-55.3,2946,898,2514,2529,426.0,-7.4,245,4781,0.00,2.08,0.00,0.000,1030,0.000,0.040,2946,1836,2518,2514,2523,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5095,-1.12,-56.4,2946,1835,2514,2521,449.6,-7.2,256,5100,0.00,2.12,0.00,0.000,516,0.000,0.050,2946,897,2517,2514,2521,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5331,-1.12,-56.4,2946,898,2514,2520,467.4,-8.5,263,5336,0.00,2.05,0.00,0.000,1030,0.000,0.039,2946,1826,2516,2514,2519,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5650,-1.13,-56.4,2946,1826,2514,2518,500.2,-10.3,274,5655,0.00,2.12,0.00,0.000,516,0.000,0.051,2945,895,2516,2514,2519,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5885,-1.13,-56.4,2946,895,2514,2517,524.2,-11.0,281,5890,0.00,2.05,0.00,0.000,1030,0.000,0.039,2946,1823,2515,2514,2517,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6202,-1.16,-56.4,2946,1822,2514,2516,561.0,-10.8,292,6208,0.00,2.10,0.00,0.000,516,0.000,0.051,2946,896,2515,2514,2516,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6439,-1.17,-56.4,2946,896,2513,2515,583.0,-9.7,299,6444,0.00,2.03,0.00,0.000,1030,0.000,0.039,2946,1816,2514,2513,2515,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6758,-1.19,-56.4,2945,1815,2512,2514,610.1,-7.4,310,6764,0.12,2.10,0.00,0.000,4612,0.137,0.049,2893,898,2513,2513,2514,0,0,0,0,0,0,14.48,14.45,28.83
$GC,6994,-1.17,-56.4,2893,898,2512,2514,629.5,-8.8,317,7000,0.00,2.00,0.00,0.000,1030,0.000,0.039,2892,1802,2512,2511,2514,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7313,-1.16,-56.4,2893,1801,2511,2513,660.5,-9.8,328,7318,0.12,2.08,0.00,0.000,2564,0.304,0.048,2922,892,2512,2511,2513,0,0,0,0,0,0,14.05,14.44,28.83
$GC,7439,-1.16,-56.4,2919,892,2510,2512,673.6,-10.2,332,7444,0.00,2.05,0.00,0.000,1030,0.000,0.039,2921,1812,2511,2510,2512,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7775,-1.16,-56.4,2922,1811,2510,2510,708.9,-10.5,343,7780,0.00,2.10,0.00,0.000,516,0.000,0.052,2922,892,2509,2510,2509,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8012,-1.16,-56.4,2922,892,2508,2509,731.4,-10.2,350,8017,0.00,2.00,0.00,0.000,1030,0.000,0.039,2922,1795,2508,2508,2509,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8328,-1.16,-56.4,2922,1794,2508,2507,762.2,-9.0,361,8333,0.00,2.05,0.00,0.000,516,0.000,0.052,2922,897,2507,2508,2506,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8562,-1.16,-56.4,2922,897,2507,2507,781.1,-8.7,368,8567,0.00,1.95,0.00,0.000,1030,0.000,0.039,2922,1778,2507,2507,2507,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8877,-1.16,-56.4,2922,1777,2507,2506,807.7,-7.7,379,8882,0.00,2.03,0.00,0.000,516,0.000,0.053,2922,894,2506,2507,2505,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9087,-1.16,-56.4,2922,894,2504,2505,823.4,-8.6,385,9095,0.00,1.95,0.00,0.000,1030,0.000,0.039,2921,1771,2505,2505,2505,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9393,-1.16,-56.4,2922,1770,2505,2503,852.4,-9.1,396,9398,0.00,2.00,0.00,0.000,516,0.000,0.052,2920,897,2504,2505,2503,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9553,-1.16,-56.4,1920,897,2447,2494,868.3,-10.4,401,9558,0.00,1.92,0.00,0.000,1030,0.000,0.040,2922,1763,2503,2504,2503,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9885,-1.16,-56.4,2922,1762,2504,2501,902.1,-9.9,412,9890,0.00,2.00,0.00,0.000,516,0.000,0.054,2921,893,2502,2504,2501,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9969,-1.16,-56.4,2922,893,2504,2501,908.6,-9.8,414,9974,0.00,1.92,0.00,0.000,1030,0.000,0.040,2922,1758,2502,2504,2501,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10287,-1.16,-56.4,2922,1757,2503,2499,938.7,-8.5,425,10292,0.00,2.00,0.00,0.000,516,0.000,0.054,2921,894,2501,2503,2500,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10366,-1.16,-56.4,2922,894,2503,2499,944.5,-8.4,427,10372,0.00,1.92,0.00,0.000,1030,0.000,0.040,2927,1755,2501,2503,2499,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,10444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10445,begin apogee
$GC,10453,-0.25,0.0,2922,1817,2503,2499,952.2,-8.2,430,10508,1.12,0.00,48.35,2.111,10244,0.226,0.000,3206,1817,2296,2311,2282,0,0,0,0,0,0,13.62,28.83,13.07
$STATE,10509,end apogee,CONTROL_FINISHED_OK
$STATE,10510,begin climb
$GC,10513,1.40,56.4,3206,1817,2310,2281,952.0,0.0,432,10577,1.67,0.00,55.95,2.154,11270,0.099,0.000,3738,1817,2066,2102,2030,0,0,0,0,0,0,14.28,28.83,13.02
$GC,10903,1.31,86.3,3738,1817,2093,2024,946.3,3.7,445,10939,0.00,2.40,29.48,2.053,8452,0.000,0.059,3738,2854,1942,1997,1888,0,0,0,0,0,0,28.83,14.44,13.31
$GC,11173,1.18,86.3,3738,2853,1993,1885,925.4,9.4,453,11180,0.30,2.40,0.00,0.000,5126,0.320,0.044,3678,1800,1936,1988,1885,0,0,0,0,0,0,14.01,14.51,28.83
$GC,11481,1.11,93.3,3679,1801,1993,1882,902.2,6.5,464,11495,0.00,2.47,5.50,1.683,8452,0.000,0.057,3678,2848,1921,1980,1863,0,0,0,0,0,0,28.83,14.62,13.33
$GC,11727,1.02,97.0,3679,2851,1978,1861,885.1,6.9,472,11738,0.28,2.38,4.75,1.583,13318,0.302,0.038,3627,1799,1905,1968,1843,0,0,0,0,0,0,14.04,14.55,13.25
$GC,12064,0.99,105.0,3628,1800,1968,1843,863.2,6.4,483,12082,0.00,2.42,11.38,1.818,8452,0.000,0.057,3628,2847,1869,1939,1799,0,0,0,0,0,0,28.83,14.64,13.52
$GC,12218,0.93,105.0,3627,2847,1935,1797,850.5,8.3,488,12224,0.17,2.38,0.00,0.000,5126,0.301,0.040,3595,1805,1866,1935,1797,0,0,0,0,0,0,14.12,14.53,28.83
$GC,12553,0.93,106.0,3595,1806,1935,1794,824.8,7.2,499,12558,0.00,2.45,0.00,0.000,260,0.000,0.055,3595,2854,1864,1935,1794,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12720,0.90,108.0,3595,2854,1935,1794,813.5,7.1,504,12725,0.00,2.38,0.00,0.000,1030,0.000,0.038,3602,1805,1864,1935,1794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13048,0.89,119.5,3602,1806,1935,1793,792.9,5.9,515,13070,0.00,2.40,16.48,1.795,8452,0.000,0.054,3602,2847,1809,1882,1736,0,0,0,0,0,0,28.83,14.62,13.51
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$FREEZE,5.84,25.652,-0.503,0,10,0
$STATE,23053,end climb,NO_VERTICAL_VELOCITY
$STATE,23053,begin surface
$SM_CCo,23059,164.40,0.079,0,0,189,517.58
$SM_GC,6.79,10.20,0.00,0.00,0.046,0.000,0.000,145,1929,189,-9.78,-0.59,517.83,0,0,0,0,0,0,14.55,28.83,28.83
$IRIDIUM_FIX,2425.21,-3813.69,290713,070750
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.24
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3841312
$24V_AH,13.0,182.765
$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,27.200,192.950,251.550,164.400,0.000,0.000,0.000,295.000,0.000,0.000,303.600,4199.961,15074.511,645.764,3999.710,744.147,0.000,2611.727,0.000,3267.380,0.000,0.541,0.000
$DEVICE_MAMPS,333.540,138.465,2154.240,78.795,0.000,0.000,0.000,162.180,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23081.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.876,0.000,0.000,0.000
$MEM,345352
$DATA_FILE_SIZE,33311,940
$CAP_FILE_SIZE,265236,0
$CFSIZE,260034560,189730816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,  4.9,1
$GPS,290713,144221,2435.330,-3810.521,293,99.0,301,-15.1