version: 66.11
glider: 160
mission: 9
dive: 476
start: 7 31 113 22 48 45
data:
$ID,160
$MISSION,9
$DIVE,476
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,475
$D_ABORT,600
$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,215
$T_MISSION,250
$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,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,6
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-53607.297
$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,2400
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,30
$C_ROLL_DIVE,1000
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,310713,090622,2439.266,-3803.466,301,99.0,301,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.35
$_SM_ANGLEo,-68.9
$GPS2,310713,090622,2439.266,-3803.466,364,99.0,364,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$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,105.0,31372,-15.5,-7.364,-19.87,2208
$D_GRID,475
$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,-0.88,-107.1,146,998,226,163,0.0,0.0,0,37,0.00,0.00,-14.75,0.000,16386,0.000,0.000,145,998,529,545,514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.88,-107.1,146,998,545,515,3.4,0.0,1,148,9.48,1.52,-88.50,0.000,19204,0.354,0.101,2107,326,2737,2737,2738,0,0,0,0,0,0,14.09,14.40,14.83
$GC,184,-0.88,-107.1,1280,326,2682,2730,17.8,-22.3,10,189,0.00,1.48,0.00,0.000,1030,0.000,0.037,2102,998,2737,2737,2738,0,0,0,0,0,0,28.83,14.45,28.83
$GC,498,-0.88,-107.1,2103,999,2737,2738,112.6,-26.2,31,504,0.00,2.35,0.00,0.000,260,0.000,0.051,2104,2057,2737,2737,2738,0,0,0,0,0,0,28.83,14.54,28.83
$GC,735,-0.88,-107.1,1264,2052,2685,2729,168.5,-24.4,46,740,0.00,2.45,0.00,0.000,1030,0.000,0.050,2102,991,2737,2737,2738,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1049,-0.88,-107.1,2102,992,2736,2738,244.7,-23.4,67,1055,0.00,2.42,0.00,0.000,260,0.000,0.050,2102,2054,2737,2737,2737,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1286,-0.88,-107.1,2102,2053,2737,2736,295.1,-23.4,75,1291,0.00,2.40,0.00,0.000,1030,0.000,0.050,2102,1000,2737,2737,2737,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1601,-0.88,-107.1,2099,1000,2737,2736,378.4,-25.7,86,1607,0.00,2.40,0.00,0.000,260,0.000,0.051,2102,2053,2736,2737,2735,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1837,-0.88,-107.1,2102,2052,2737,2734,434.7,-26.2,93,1843,0.00,2.42,0.00,0.000,1030,0.000,0.052,2102,999,2735,2737,2734,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,1968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1968,begin apogee
$GC,1976,-0.25,0.0,2102,999,2737,2733,475.7,-26.8,98,2066,1.00,0.00,84.47,1.436,10246,0.340,0.000,2310,998,2296,2306,2286,0,0,0,0,0,0,13.61,28.83,13.45
$STATE,2072,end apogee,CONTROL_FINISHED_OK
$STATE,2072,begin climb
$GC,2075,0.88,107.1,2310,998,2302,2285,493.2,0.0,101,2174,1.70,1.48,87.03,1.458,10756,0.345,0.069,2671,337,1858,1930,1787,0,0,0,0,0,0,14.02,14.31,13.45
$GC,2202,0.88,107.1,2671,337,1922,1784,500.2,-2.3,105,2208,0.00,1.48,0.00,0.000,1030,0.000,0.041,2667,1001,1853,1922,1784,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2523,0.88,107.1,2667,1005,1917,1780,460.5,12.0,116,2529,0.00,2.35,0.00,0.000,260,0.000,0.053,2665,2056,1848,1916,1780,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2621,0.88,107.1,1672,2052,1863,1771,449.0,12.2,119,2627,0.00,2.40,0.00,0.000,1030,0.000,0.051,2664,999,1847,1916,1778,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2954,0.88,107.1,2664,999,1915,1776,411.8,10.8,130,2959,0.00,2.40,0.00,0.000,260,0.000,0.051,2663,2059,1845,1915,1776,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3049,0.88,107.1,2664,2058,1915,1774,401.6,10.6,133,3054,0.00,2.40,0.00,0.000,1030,0.000,0.049,2664,1000,1844,1915,1774,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3387,0.88,107.1,2664,1000,1914,1773,369.0,9.6,144,3392,0.00,1.50,0.00,0.000,516,0.000,0.066,2664,314,1843,1914,1773,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3405,0.88,107.1,2664,314,1913,1773,369.0,9.6,144,3410,0.00,1.50,0.00,0.000,1030,0.000,0.038,2664,1006,1842,1912,1773,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3727,0.88,107.1,2664,1005,1911,1772,336.7,8.9,155,3732,0.00,1.52,0.00,0.000,516,0.000,0.060,2664,336,1841,1911,1772,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3748,0.88,107.1,2664,336,1911,1772,336.7,8.9,155,3753,0.00,1.42,0.00,0.000,1030,0.000,0.038,2664,1000,1841,1911,1772,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4067,0.88,107.1,2664,1000,1910,1770,309.0,7.8,166,4073,0.00,1.50,0.00,0.000,516,0.000,0.060,2664,336,1839,1911,1767,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4127,0.88,107.1,2665,336,1904,1772,306.0,8.0,167,4134,0.00,1.42,0.00,0.000,1030,0.000,0.037,2663,1000,1838,1904,1772,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4432,0.88,107.1,2664,999,1903,1772,277.5,9.1,178,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1000,1837,1902,1772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,0.88,107.1,2664,1000,1901,1772,249.6,9.2,188,4737,0.00,2.35,0.00,0.000,260,0.000,0.051,2664,2048,1836,1901,1772,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4831,0.88,107.1,1664,2043,1849,1765,241.4,8.2,194,4837,0.00,2.40,0.00,0.000,1030,0.000,0.047,2664,992,1836,1900,1772,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5147,0.88,107.1,2664,992,1900,1772,214.8,8.4,215,5152,0.00,2.40,0.00,0.000,260,0.000,0.048,2664,2051,1836,1900,1772,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5205,0.88,107.1,2658,2050,1899,1772,210.5,8.7,218,5212,0.00,2.42,0.00,0.000,1030,0.000,0.047,2664,994,1837,1899,1776,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5511,0.89,113.8,2663,995,1898,1772,187.3,7.1,239,5516,0.00,1.48,0.00,0.000,516,0.000,0.063,2664,337,1835,1898,1772,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5524,0.90,120.5,2663,337,1897,1772,187.3,7.1,239,5534,0.00,1.42,5.22,0.940,9222,0.000,0.037,2664,996,1809,1875,1743,0,0,0,0,0,0,28.83,14.41,13.64
$GC,5831,0.90,120.5,2664,996,1875,1753,163.8,8.0,260,5836,0.00,1.50,0.00,0.000,516,0.000,0.060,2663,322,1814,1875,1754,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5854,0.90,120.5,2664,322,1875,1754,161.9,8.6,261,5859,0.00,1.45,0.00,0.000,1030,0.000,0.034,2658,1004,1814,1875,1754,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6168,0.92,143.5,2658,1003,1875,1754,140.3,6.3,282,6199,0.12,2.35,23.52,0.991,10500,0.378,0.047,2677,2046,1709,1773,1645,0,0,0,0,0,0,13.83,14.65,13.78
$GC,6240,0.93,157.3,2676,2046,1765,1643,135.0,6.7,286,6260,0.00,2.35,12.18,0.974,9222,0.000,0.047,2677,1003,1653,1708,1598,0,0,0,0,0,0,28.83,14.52,13.76
$GC,6569,0.93,157.3,2677,1003,1695,1598,101.5,11.1,308,6574,0.00,1.50,0.00,0.000,516,0.000,0.068,2677,321,1646,1695,1598,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6682,0.93,157.3,2677,320,1691,1599,87.8,12.7,315,6687,0.00,1.45,0.00,0.000,1030,0.000,0.039,2677,986,1645,1692,1599,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7002,0.93,157.3,2677,986,1692,1599,49.0,9.2,336,7007,0.00,1.50,0.00,0.000,516,0.000,0.064,2677,338,1645,1692,1599,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7139,0.93,157.3,2677,337,1692,1599,36.2,10.8,344,7146,0.00,1.45,0.00,0.000,1030,0.000,0.035,2671,1012,1645,1692,1599,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7444,0.93,157.3,2671,1013,1690,1599,7.2,10.7,365,7450,0.00,1.55,0.00,0.000,516,0.000,0.057,2671,321,1645,1690,1600,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7681,1.09,311.0,2671,324,1697,1599,5.2,0.2,380,7707,0.25,1.45,20.85,0.099,11266,0.239,0.032,2744,998,1479,1543,1416,0,0,0,0,0,0,13.99,14.38,28.83
$STATE,7708,end climb,SURFACE_DEPTH_REACHED
$STATE,7708,begin surface coast
$FINISH,5.3,1.025078
$STATE,7772,end surface coast,CONTROL_FINISHED_OK
$STATE,7772,begin surface
$SM_CCo,7777,159.60,0.074,0,0,189,517.58
$SM_GC,6.49,7.53,0.00,0.00,0.042,0.000,0.000,150,1007,193,-6.97,0.20,516.85,0,0,0,0,0,0,14.57,28.83,28.83
$IRIDIUM_FIX,2429.95,-3801.44,310713,222214
$TT8_MAMPS,0.023968,0.023968
$HUMID,82.32
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3837856
$24V_AH,13.4,185.638
$10V_AH,13.3,0.000
$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,20.075,70.100,233.275,159.600,0.000,0.000,0.000,1266.500,0.000,0.000,366.223,1423.711,5237.433,499.880,2634.333,523.300,0.000,2401.464,0.000,1121.516,0.000,0.542,0.000
$DEVICE_MAMPS,377.910,100.980,1458.090,74.205,0.000,0.000,0.000,201.195,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7796.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.515,0.000,0.000,0.000
$MEM,345140
$DATA_FILE_SIZE,13493,386
$CAP_FILE_SIZE,137475,0
$CFSIZE,260034560,188911616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,14.663,348.4,1
$GPS,310713,222914,2429.950,-3801.442,0,10000.0,0,-15.1