version: 66.11
glider: 160
mission: 9
dive: 478
start: 8 1 113 5 4 25
data:
$ID,160
$MISSION,9
$DIVE,478
$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,-55075.164
$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,37
$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
$GPS1,010813,012213,2437.064,-3802.904,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-68.8
$GPS2,010813,012213,2437.064,-3802.904,361,99.0,361,-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,24.0,32776,-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,-39.9,140,1015,211,177,0.0,0.0,0,39,0.00,0.00,-15.88,0.000,16386,0.000,0.000,140,1009,558,549,567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,140,1009,549,567,3.1,0.0,1,139,8.85,2.35,-78.55,0.000,18692,0.362,0.066,1941,2046,2464,2437,2492,0,0,0,0,0,0,14.06,14.57,14.88
$GC,260,-1.38,-39.9,1160,2041,2371,2482,35.9,-26.3,15,266,0.00,2.38,0.00,0.000,1030,0.000,0.050,1941,998,2464,2437,2492,0,0,0,0,0,0,28.83,14.51,28.83
$GC,574,-1.38,-39.9,1941,998,2436,2492,109.0,-21.2,36,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,998,2464,2436,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,876,-1.38,-39.9,1941,998,2436,2492,173.9,-21.5,56,877,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,998,2464,2436,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1174,-1.38,-39.9,1941,995,2436,2492,231.4,-18.0,76,1180,0.00,2.38,0.00,0.000,260,0.000,0.053,1947,2049,2463,2436,2490,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1225,-1.38,-39.9,1941,2048,2435,2492,239.8,-17.0,79,1231,0.00,2.38,0.00,0.000,1030,0.000,0.050,1941,995,2463,2436,2491,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1562,-1.38,-39.9,1941,995,2436,2491,298.6,-17.5,92,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,995,2463,2436,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1860,-1.38,-39.9,1941,995,2436,2489,354.7,-19.2,102,1865,0.00,1.48,0.00,0.000,516,0.000,0.066,1941,330,2460,2436,2485,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2096,-1.38,-39.9,1941,330,2434,2489,399.6,-20.9,109,2101,0.00,1.45,0.00,0.000,1030,0.000,0.041,1941,999,2461,2434,2489,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2411,-1.38,-39.9,1941,998,2434,2486,469.0,-20.8,120,2416,0.00,1.50,0.00,0.000,516,0.000,0.059,1941,335,2460,2434,2486,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,2442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2442,begin apogee
$GC,2452,-0.25,0.0,1936,1008,2432,2486,476.0,-20.4,121,2489,1.75,0.00,32.22,1.411,10246,0.338,0.000,2309,1009,2298,2282,2315,0,0,0,0,0,0,13.79,28.83,13.57
$STATE,2490,end apogee,CONTROL_FINISHED_OK
$STATE,2490,begin climb
$GC,2495,1.38,39.9,2309,1009,2279,2314,480.5,0.0,122,2534,2.40,0.00,33.58,1.434,10502,0.353,0.000,2831,1009,2136,2147,2125,0,0,0,0,0,0,14.18,28.83,13.54
$GC,2848,1.45,115.6,2831,1008,2141,2114,497.0,-2.0,134,2917,0.12,1.60,62.05,1.488,10756,0.324,0.067,2858,330,1822,1897,1748,0,0,0,0,0,0,14.16,14.44,13.55
$GC,2968,1.50,161.8,2859,330,1887,1749,494.8,1.6,137,3012,0.00,1.42,37.53,1.456,9222,0.000,0.037,2858,989,1636,1711,1562,0,0,0,0,0,0,28.83,14.46,13.55
$GC,3337,1.51,166.4,2858,989,1694,1562,465.7,6.8,150,3343,0.00,2.35,0.00,0.000,260,0.000,0.054,2857,2056,1628,1694,1562,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3381,1.51,170.3,2858,2054,1693,1562,463.4,6.9,151,3391,0.00,2.38,4.70,1.102,9222,0.000,0.051,2858,998,1605,1669,1541,0,0,0,0,0,0,28.83,14.60,13.53
$GC,3709,1.51,170.3,2858,998,1669,1548,439.2,8.1,162,3714,0.00,2.33,0.00,0.000,260,0.000,0.049,2858,2051,1609,1670,1548,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3773,1.51,170.3,2858,2052,1669,1547,433.2,8.8,164,3778,0.00,2.38,0.00,0.000,1030,0.000,0.050,2858,994,1608,1668,1548,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4109,1.51,170.3,2858,994,1666,1548,399.3,11.0,175,4115,0.00,2.35,0.00,0.000,260,0.000,0.047,2858,2055,1606,1665,1548,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4219,1.51,170.3,2858,2056,1664,1548,388.1,11.7,178,4224,0.00,2.38,0.00,0.000,1030,0.000,0.052,2857,1001,1606,1664,1548,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4541,1.51,170.3,2858,1001,1663,1548,350.5,10.9,189,4546,0.00,1.50,0.00,0.000,516,0.000,0.069,2857,317,1605,1663,1548,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4560,1.51,170.3,2858,317,1662,1548,350.5,10.9,189,4566,0.00,1.48,0.00,0.000,1030,0.000,0.037,2858,1004,1605,1662,1548,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4883,1.51,170.3,2858,1005,1661,1548,320.3,7.7,200,4888,0.00,2.28,0.00,0.000,260,0.000,0.050,2857,2045,1605,1661,1549,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4948,1.51,170.6,2858,2046,1661,1547,315.8,7.3,202,4954,0.00,2.35,0.00,0.000,1030,0.000,0.051,2858,998,1604,1661,1547,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5286,1.52,180.6,2858,999,1660,1547,295.5,6.1,213,5304,0.00,1.42,11.90,1.147,8964,0.000,0.065,2857,335,1557,1619,1496,0,0,0,0,0,0,28.83,14.69,13.68
$GC,5363,1.52,181.2,2857,335,1612,1496,290.1,7.3,215,5369,0.00,1.42,0.00,0.000,1030,0.000,0.034,2858,1009,1554,1613,1496,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5687,1.52,181.2,2857,1009,1610,1496,258.8,10.4,226,5692,0.00,1.52,0.00,0.000,516,0.000,0.069,2857,330,1553,1610,1496,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5725,1.52,181.2,2857,330,1609,1496,254.4,10.8,227,5730,0.00,1.42,0.00,0.000,1030,0.000,0.037,2857,997,1552,1609,1496,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6039,1.52,181.2,2858,998,1608,1496,219.7,10.5,246,6045,0.00,1.52,0.00,0.000,516,0.000,0.063,2857,332,1551,1607,1496,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6090,1.52,181.2,2857,332,1606,1497,214.2,11.1,249,6095,0.00,1.42,0.00,0.000,1030,0.000,0.037,2857,998,1551,1606,1497,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6409,1.52,181.2,2857,999,1601,1499,185.9,8.3,270,6414,0.00,1.50,0.00,0.000,516,0.000,0.062,2857,320,1550,1601,1500,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6438,1.52,181.2,2859,319,1600,1499,184.0,8.7,271,6445,0.00,1.48,0.00,0.000,1030,0.000,0.037,2857,1007,1550,1600,1500,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6743,1.52,181.2,2857,1007,1599,1500,157.1,9.1,292,6748,0.00,1.52,0.00,0.000,516,0.000,0.065,2857,327,1549,1599,1500,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6763,1.52,181.2,2857,327,1599,1500,155.3,9.4,293,6769,0.00,1.42,0.00,0.000,1030,0.000,0.033,2857,1003,1549,1599,1500,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7083,1.52,181.2,2857,1003,1598,1501,123.7,10.0,314,7088,0.00,1.50,0.00,0.000,516,0.000,0.067,2857,333,1549,1597,1501,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7133,1.52,181.2,2857,333,1597,1501,118.0,11.1,317,7139,0.00,1.42,0.00,0.000,1030,0.000,0.034,2856,1005,1549,1597,1501,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7453,1.52,181.2,2857,1005,1597,1502,86.8,8.9,338,7458,0.00,1.50,0.00,0.000,516,0.000,0.067,2857,333,1549,1597,1502,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7466,1.52,181.2,2857,333,1597,1501,86.8,8.9,338,7473,0.00,1.42,0.00,0.000,1030,0.000,0.035,2857,997,1549,1597,1502,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7772,1.52,181.2,2857,997,1597,1502,61.1,7.9,359,7777,0.00,2.33,0.00,0.000,260,0.000,0.050,2857,2046,1549,1597,1501,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7852,1.52,181.2,2857,2046,1596,1501,54.7,7.6,364,7858,0.00,2.38,0.00,0.000,1030,0.000,0.051,2857,998,1549,1596,1502,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8173,1.52,181.2,2857,998,1596,1502,32.6,7.9,385,8178,0.00,1.50,0.00,0.000,516,0.000,0.068,2857,341,1546,1591,1502,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8226,1.52,181.2,1856,341,1558,1498,28.4,8.2,388,8231,0.00,1.42,0.00,0.000,1030,0.000,0.037,2857,1001,1548,1595,1502,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8541,1.55,214.3,2857,1011,1601,1501,4.6,3.3,409,8566,0.12,1.58,16.00,0.104,10756,0.249,0.073,2889,335,1425,1486,1365,0,0,0,0,0,0,14.08,14.24,14.21
$FREEZE,5.28,25.749,-2.078,0,1,0
$STATE,8770,end climb,NO_VERTICAL_VELOCITY
$STATE,8770,begin surface
$SM_CCo,8778,154.73,0.074,0,0,189,517.58
$SM_GC,6.47,7.97,1.42,0.00,0.045,0.030,0.000,149,1046,192,-6.98,-1.05,517.09,0,0,0,0,0,0,14.56,14.61,28.83
$IRIDIUM_FIX,2434.69,-3801.44,010813,040443
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.78
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3837088
$24V_AH,13.5,186.044
$10V_AH,12.3,0.000
$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,21.225,71.275,197.975,154.725,0.000,0.000,0.000,1443.275,0.000,0.000,365.692,1456.627,6292.134,465.866,2754.002,619.372,0.000,2535.079,0.000,1080.641,0.000,0.543,0.000
$DEVICE_MAMPS,361.845,73.440,1487.925,74.205,0.000,0.000,0.000,227.970,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.258,0.000,0.000,0.000
$MEM,345052
$DATA_FILE_SIZE,16783,424
$CAP_FILE_SIZE,147015,0
$CFSIZE,260034560,188751872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.366,332.0,1
$GPS,010813,044443,2434.692,-3801.442,0,10000.0,0,-15.1