version: 66.11
glider: 160
mission: 9
dive: 477
start: 8 1 113 1 36 30
data:
$ID,160
$MISSION,9
$DIVE,477
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,6
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54340.219
$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,24
$R_STBD_OVSHOOT,39
$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
$GPS1,310713,222914,2429.950,-3801.442,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-65.7
$GPS2,310713,222914,2429.950,-3801.442,361,99.0,361,-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,96.6,40410,-26.8,-7.364,-30.00,830
$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,-1.38,-39.9,149,1007,220,176,0.0,0.0,0,39,0.00,0.00,-15.50,0.000,16386,0.000,0.000,149,1007,551,537,565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,149,1008,537,565,3.4,0.0,1,138,8.62,1.50,-78.55,0.000,18948,0.347,0.094,1950,341,2464,2436,2493,0,0,0,0,0,0,14.09,14.47,14.85
$GC,150,-1.38,-39.9,1949,341,2436,2493,9.0,-8.6,8,156,0.00,1.42,0.00,0.000,1030,0.000,0.039,1945,997,2464,2436,2493,0,0,0,0,0,0,28.83,14.47,28.83
$GC,469,-1.38,-39.9,1945,997,2436,2493,90.5,-23.7,29,475,0.00,2.35,0.00,0.000,260,0.000,0.050,1935,2058,2464,2436,2493,0,0,0,0,0,0,28.83,14.55,28.83
$GC,706,-1.38,-39.9,1935,2056,2436,2493,141.9,-20.8,44,712,0.00,2.40,0.00,0.000,1030,0.000,0.050,1935,996,2464,2436,2493,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1021,-1.38,-39.9,1936,996,2438,2493,201.7,-16.8,65,1026,0.00,2.38,0.00,0.000,260,0.000,0.050,1927,2052,2464,2436,2492,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1257,-1.38,-39.9,1168,2047,2375,2483,241.4,-17.7,80,1264,0.15,2.40,0.00,0.000,3078,0.376,0.052,1949,998,2461,2436,2487,0,0,0,0,0,0,13.92,14.52,28.83
$GC,1577,-1.38,-39.9,1949,998,2436,2492,300.8,-19.1,92,1583,0.00,2.35,0.00,0.000,260,0.000,0.047,1938,2053,2463,2436,2491,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1812,-1.38,-39.9,1941,2053,2436,2491,344.2,-19.8,99,1817,0.00,2.40,0.00,0.000,1030,0.000,0.052,1941,999,2463,2436,2490,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2127,-1.38,-39.9,1941,1000,2436,2489,410.6,-19.8,110,2132,0.00,2.35,0.00,0.000,260,0.000,0.047,1931,2059,2462,2436,2488,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2365,-1.38,-39.9,1931,2058,2436,2486,453.8,-20.0,117,2371,0.00,2.40,0.00,0.000,1030,0.000,0.051,1931,998,2461,2436,2486,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,2466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2466,begin apogee
$GC,2474,-0.25,0.0,1931,998,2436,2485,479.6,-20.7,121,2511,1.85,0.00,32.25,1.411,10246,0.351,0.000,2314,998,2297,2282,2313,0,0,0,0,0,0,13.66,28.83,13.55
$STATE,2513,end apogee,CONTROL_FINISHED_OK
$STATE,2513,begin climb
$GC,2517,1.38,39.9,2314,998,2280,2312,483.2,0.0,122,2561,2.38,1.52,33.80,1.438,10756,0.354,0.074,2831,335,2133,2144,2122,0,0,0,0,0,0,14.16,14.41,13.51
$GC,2795,1.46,116.2,2831,335,2140,2116,498.2,-2.1,131,2863,0.08,1.45,62.78,1.477,11270,0.265,0.037,2858,1010,1825,1898,1752,0,0,0,0,0,0,14.12,14.50,13.53
$GC,3178,1.46,117.5,2858,1010,1883,1745,474.7,7.2,144,3183,0.00,1.50,0.00,0.000,516,0.000,0.065,2858,334,1813,1883,1744,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3232,1.46,117.5,2858,334,1882,1744,471.8,7.4,145,3237,0.00,1.42,0.00,0.000,1030,0.000,0.036,2858,999,1813,1882,1744,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3549,1.46,119.6,2857,998,1880,1744,448.2,7.1,156,3554,0.00,1.50,0.00,0.000,516,0.000,0.063,2857,320,1812,1880,1744,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3563,1.46,121.8,2857,320,1879,1744,448.2,7.1,156,3568,0.00,1.45,0.00,0.000,1030,0.000,0.036,2857,999,1812,1880,1745,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3890,1.46,121.8,2857,999,1878,1742,422.7,7.9,167,3895,0.00,1.50,0.00,0.000,516,0.000,0.063,2856,319,1810,1879,1742,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3924,1.46,121.8,2857,319,1876,1742,419.4,8.3,168,3929,0.00,1.48,0.00,0.000,1030,0.000,0.035,2857,1004,1808,1875,1742,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4261,1.46,121.8,2857,1004,1876,1740,390.0,9.1,179,4266,0.00,1.50,0.00,0.000,516,0.000,0.063,2857,329,1808,1876,1741,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4279,1.46,121.8,2857,329,1875,1741,390.0,9.1,179,4284,0.00,1.42,0.00,0.000,1030,0.000,0.034,2856,1000,1808,1875,1741,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4599,1.46,121.8,2857,1000,1874,1740,361.1,7.9,190,4604,0.00,1.48,0.00,0.000,516,0.000,0.064,2857,328,1808,1876,1740,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4647,1.46,121.8,2856,328,1873,1740,358.3,7.7,191,4652,0.00,1.42,0.00,0.000,1030,0.000,0.034,2857,1000,1807,1874,1740,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4969,1.48,138.3,2857,999,1873,1739,339.1,5.3,202,4991,0.00,1.52,17.42,1.234,8708,0.000,0.065,2857,338,1732,1805,1659,0,0,0,0,0,0,28.83,14.68,13.68
$GC,5006,1.49,150.5,2857,338,1800,1659,336.4,5.9,203,5024,0.00,1.40,11.52,1.212,9222,0.000,0.034,2856,997,1682,1752,1612,0,0,0,0,0,0,28.83,14.59,13.69
$GC,5333,1.49,155.0,2857,998,1740,1611,316.0,6.8,214,5338,0.00,2.33,0.00,0.000,260,0.000,0.050,2856,2052,1675,1740,1611,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5555,1.49,155.0,1824,2047,1693,1606,299.2,7.8,221,5560,0.00,2.38,0.00,0.000,1030,0.000,0.053,2856,1001,1674,1736,1612,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5890,1.49,155.0,2857,1002,1734,1611,267.5,9.9,232,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1001,1671,1730,1612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6187,1.49,155.0,2857,1001,1734,1611,236.3,10.2,246,6192,0.00,2.35,0.00,0.000,260,0.000,0.047,2857,2051,1673,1734,1612,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6201,1.49,155.0,2857,2051,1734,1612,236.3,10.2,246,6208,0.00,2.38,0.00,0.000,1030,0.000,0.049,2856,998,1673,1734,1612,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6506,1.50,157.2,2857,999,1734,1612,208.9,7.1,267,6512,0.00,0.00,3.42,0.771,8454,0.000,0.000,2857,999,1659,1720,1598,0,0,0,0,0,0,28.83,28.83,13.49
$GC,6826,1.50,163.7,2857,999,1724,1604,187.5,6.6,288,6842,0.00,2.40,10.07,1.008,8452,0.000,0.047,2855,2061,1625,1685,1566,0,0,0,0,0,0,28.83,14.69,13.77
$GC,6860,1.50,163.7,2855,2056,1683,1565,184.9,7.9,290,6866,0.00,2.38,0.00,0.000,1030,0.000,0.048,2855,990,1623,1682,1565,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7180,1.50,163.7,2855,991,1678,1566,159.7,9.2,311,7185,0.00,2.38,0.00,0.000,260,0.000,0.049,2855,2044,1622,1678,1566,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7249,1.50,163.7,2855,2047,1678,1566,153.8,9.0,315,7255,0.00,2.38,0.00,0.000,1030,0.000,0.049,2855,1003,1622,1678,1566,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7564,1.50,163.7,2855,1003,1677,1566,121.3,10.6,336,7569,0.00,1.52,0.00,0.000,516,0.000,0.067,2855,321,1621,1677,1566,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7584,1.50,163.7,2855,321,1676,1566,119.1,10.9,337,7590,0.00,1.48,0.00,0.000,1030,0.000,0.034,2855,1005,1621,1676,1566,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7904,1.50,163.7,2855,1005,1676,1566,91.0,8.1,358,7909,0.00,1.52,0.00,0.000,516,0.000,0.063,2855,331,1620,1676,1565,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7973,1.50,163.7,2855,331,1675,1566,86.1,7.6,362,7978,0.00,1.42,0.00,0.000,1030,0.000,0.034,2855,997,1620,1675,1566,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8287,1.50,165.7,2855,997,1675,1566,64.9,7.1,383,8293,0.00,2.33,0.00,0.000,260,0.000,0.049,2855,2048,1620,1675,1566,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8317,1.50,165.7,2855,2047,1675,1566,63.0,7.9,384,8324,0.00,2.40,0.00,0.000,1030,0.000,0.049,2855,995,1620,1675,1566,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8622,1.51,175.9,2855,995,1675,1566,41.5,6.1,405,8638,0.00,1.50,10.75,0.838,8708,0.000,0.067,2855,330,1576,1631,1522,0,0,0,0,0,0,28.83,14.64,13.82
$GC,8697,1.52,185.9,2855,329,1626,1522,36.9,6.1,409,8714,0.10,1.45,8.38,0.824,11270,0.337,0.037,2875,1005,1536,1590,1482,0,0,0,0,0,0,14.02,14.47,13.85
$GC,9024,1.52,185.9,2875,1005,1579,1487,9.9,7.4,431,9029,0.00,1.52,0.00,0.000,516,0.000,0.066,2875,333,1533,1579,1487,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9036,1.52,185.9,2875,333,1579,1487,9.9,7.4,431,9043,0.00,1.42,0.00,0.000,1030,0.000,0.036,2871,998,1532,1577,1487,0,0,0,0,0,0,28.83,14.38,28.83
$FREEZE,5.39,25.872,-2.077,0,2,0
$STATE,9239,end climb,NO_VERTICAL_VELOCITY
$STATE,9239,begin surface
$SM_CCo,9244,168.30,0.076,0,0,188,517.58
$SM_CCo,9681,0.28,0.091,0,0,188,517.58
$SM_GC,5.80,7.90,0.00,0.28,0.043,0.000,0.091,140,1008,188,-6.98,0.23,517.58,0,0,0,0,0,0,14.57,28.83,14.49
$IRIDIUM_FIX,2437.06,-3802.90,010813,010113
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.04
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3837472
$24V_AH,13.5,185.804
$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,21.075,78.050,190.400,168.575,0.000,0.000,0.000,475.075,0.000,0.000,363.603,1625.920,6370.711,483.359,2044.444,497.168,0.000,1643.100,0.000,1215.932,0.000,0.541,0.000
$DEVICE_MAMPS,376.380,94.095,1477.215,91.035,0.000,0.000,0.000,197.370,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.100,0.000,0.000,0.000
$MEM,345148
$DATA_FILE_SIZE,16735,445
$CAP_FILE_SIZE,147222,0
$CFSIZE,260034560,188776448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,15.566,169.5,1
$GPS,010813,012213,2437.064,-3802.904,0,10000.0,0,-15.1