version: 66.11
glider: 160
mission: 9
dive: 479
start: 8 1 113 8 21 24
data:
$ID,160
$MISSION,9
$DIVE,479
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,6
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-55808.031
$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,3500
$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,26
$R_STBD_OVSHOOT,80
$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
$GPS1,010813,044443,2434.692,-3801.442,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-69.4
$GPS2,010813,044443,2434.692,-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,105.5,33754,-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,-39.9,146,995,213,178,0.0,0.0,0,38,0.00,0.00,-14.75,0.000,16386,0.000,0.000,146,995,533,523,543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,146,994,523,542,3.2,0.0,1,155,13.40,1.50,-89.35,0.000,18948,0.334,0.103,3052,340,2463,2457,2469,0,0,0,0,0,0,14.24,14.48,14.86
$GC,386,-1.38,-39.9,3052,338,2455,2468,7.2,-8.7,23,392,0.00,1.33,0.00,0.000,1030,0.000,0.041,3051,956,2461,2455,2468,0,0,0,0,0,0,28.83,14.49,28.83
$GC,693,-1.38,-39.9,3052,955,2455,2468,32.5,-7.8,44,699,0.00,2.42,0.00,0.000,260,0.000,0.055,3052,2050,2461,2455,2468,0,0,0,0,0,0,28.83,14.45,28.83
$GC,865,-1.38,-39.9,3052,2049,2455,2468,45.3,-7.9,55,871,0.00,2.35,0.00,0.000,1030,0.000,0.054,3051,1004,2461,2455,2468,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1185,-1.39,-53.3,3052,1005,2455,2468,68.0,-5.7,76,1192,0.00,2.33,-0.50,0.000,16644,0.000,0.066,3052,2050,2520,2512,2529,0,0,0,0,0,0,28.83,14.55,14.64
$GC,1419,-1.40,-63.1,3052,2048,2512,2528,80.5,-6.2,91,1425,0.00,2.35,-0.35,0.000,17414,0.000,0.054,3051,1000,2565,2558,2572,0,0,0,0,0,0,28.83,14.53,14.69
$GC,1739,-1.40,-63.1,3052,1000,2558,2571,108.7,-10.1,112,1745,0.00,2.33,0.00,0.000,260,0.000,0.048,3052,2050,2564,2557,2571,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1935,-1.40,-63.1,3051,2049,2558,2571,125.0,-8.1,124,1941,0.00,2.40,0.00,0.000,1030,0.000,0.057,3052,993,2564,2558,2571,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2240,-1.41,-75.5,3051,993,2558,2571,145.3,-5.8,145,2246,0.00,2.38,-0.25,0.000,16644,0.000,0.070,3052,2046,2609,2601,2617,0,0,0,0,0,0,28.83,14.46,14.52
$GC,2316,-1.44,-96.3,3052,2046,2601,2624,148.4,-4.8,149,2323,0.00,2.38,-0.52,0.000,17414,0.000,0.057,3052,996,2699,2705,2693,0,0,0,0,0,0,28.83,14.52,14.76
$GC,2621,-1.44,-96.3,3052,996,2706,2693,170.0,-8.2,170,2626,0.00,2.38,0.00,0.000,260,0.000,0.054,3051,2050,2699,2706,2693,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2857,-1.44,-96.3,3052,2049,2706,2693,188.6,-8.1,185,2863,0.00,2.40,0.00,0.000,1030,0.000,0.058,3051,994,2700,2706,2694,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3172,-1.44,-105.4,3052,995,2713,2693,211.0,-6.2,206,3177,0.00,1.50,0.00,0.000,516,0.000,0.077,3052,316,2699,2706,2692,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3407,-1.44,-105.4,3052,316,2706,2691,228.1,-7.8,221,3413,0.00,1.48,0.00,0.000,1030,0.000,0.036,3051,1009,2698,2706,2690,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3722,-1.44,-105.4,3052,1010,2706,2689,253.4,-8.4,241,3727,0.00,2.30,0.00,0.000,260,0.000,0.059,3052,2042,2697,2706,2688,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3957,-1.44,-105.4,3051,2040,2706,2687,271.1,-8.3,248,3962,0.00,2.38,0.00,0.000,1030,0.000,0.059,3052,998,2696,2706,2687,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4275,-1.45,-107.1,3051,998,2706,2686,295.9,-6.7,259,4280,0.00,1.50,0.00,0.000,516,0.000,0.075,3052,319,2696,2706,2687,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4511,-1.45,-107.1,3052,319,2706,2684,312.3,-7.6,266,4517,0.00,1.45,0.00,0.000,1030,0.000,0.035,3052,998,2695,2707,2684,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4827,-1.45,-107.1,3046,998,2706,2682,338.2,-8.1,277,4832,0.00,2.33,0.00,0.000,260,0.000,0.059,3051,2044,2693,2706,2681,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5061,-1.45,-107.1,3052,2043,2706,2676,355.3,-7.7,284,5066,0.00,2.40,0.00,0.000,1030,0.000,0.060,3055,993,2692,2706,2679,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5380,-1.45,-107.1,3052,994,2706,2678,379.8,-7.0,295,5385,0.00,2.35,0.00,0.000,260,0.000,0.054,3051,2041,2691,2705,2678,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5616,-1.45,-107.1,3052,2041,2706,2677,393.9,-6.5,302,5622,0.00,2.40,0.00,0.000,1030,0.000,0.060,3052,996,2691,2706,2677,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5934,-1.45,-107.1,3052,996,2706,2675,415.5,-6.5,313,5939,0.00,1.50,0.00,0.000,516,0.000,0.074,3052,317,2690,2706,2674,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6100,-1.45,-107.1,3051,317,2706,2674,426.3,-7.0,318,6105,0.00,1.48,0.00,0.000,1030,0.000,0.034,3050,1005,2690,2706,2674,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6428,-1.45,-107.1,3052,1006,2706,2671,449.0,-7.0,329,6433,0.00,1.50,0.00,0.000,516,0.000,0.069,3052,332,2689,2706,2672,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6664,-1.45,-107.1,3052,332,2706,2671,465.8,-7.9,336,6669,0.00,1.42,0.00,0.000,1030,0.000,0.033,3052,1004,2687,2705,2670,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,6766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6766,begin apogee
$GC,6774,-0.25,0.0,3051,1004,2705,2670,475.7,-8.0,340,6858,1.30,0.00,77.78,1.472,10246,0.185,0.000,3412,1004,2296,2350,2243,0,0,0,0,0,0,14.02,28.83,13.43
$STATE,6860,end apogee,CONTROL_FINISHED_OK
$STATE,6860,begin climb
$GC,6866,1.45,107.1,3412,1004,2349,2242,477.7,0.0,343,6966,1.48,1.52,87.40,1.482,10756,0.074,0.070,3895,332,1859,1932,1787,0,0,0,0,0,0,14.30,14.33,13.45
$GC,7151,1.45,107.1,3894,332,1921,1783,465.2,11.9,352,7156,0.00,1.42,0.00,0.000,3078,0.000,0.041,3894,987,1852,1921,1783,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7474,1.45,107.1,3895,990,1918,1780,425.7,12.0,363,7479,0.00,2.33,0.00,0.000,2308,0.000,0.063,3894,2041,1850,1920,1780,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7650,1.45,107.1,3894,2040,1919,1778,407.2,11.5,368,7655,0.00,2.40,0.00,0.000,3078,0.000,0.067,3894,998,1848,1919,1777,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7965,1.45,107.1,3894,998,1918,1777,370.4,10.6,379,7970,0.00,1.48,0.00,0.000,2564,0.000,0.076,3895,321,1847,1918,1777,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7999,1.45,107.1,3894,321,1917,1777,366.3,10.7,380,8004,0.00,1.48,0.00,0.000,3078,0.000,0.040,3894,1000,1847,1918,1777,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8336,1.45,107.1,3894,1000,1918,1776,332.4,10.1,391,8342,0.00,2.33,0.00,0.000,2308,0.000,0.059,3894,2047,1846,1917,1776,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8538,1.45,107.1,3894,2045,1916,1775,313.4,9.8,397,8543,0.00,2.40,0.00,0.000,3078,0.000,0.065,3894,999,1845,1917,1774,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8857,1.45,107.1,3895,999,1917,1774,279.2,10.5,408,8862,0.00,1.48,0.00,0.000,2564,0.000,0.076,3895,343,1845,1917,1774,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9033,1.45,107.1,3894,343,1917,1774,262.2,10.6,413,9039,0.00,1.42,0.00,0.000,3078,0.000,0.039,3895,1004,1845,1917,1774,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9347,1.45,107.1,3895,1004,1917,1774,229.6,8.7,431,9354,0.00,2.30,0.00,0.000,2308,0.000,0.057,3895,2040,1845,1917,1774,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9467,1.45,107.1,3456,2035,1862,1766,219.4,9.1,438,9474,0.00,2.42,0.00,0.000,3078,0.000,0.064,3894,991,1843,1917,1769,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9774,1.45,107.1,3895,991,1917,1773,192.2,8.2,459,9780,0.00,1.48,0.00,0.000,2564,0.000,0.076,3894,322,1844,1916,1773,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9908,1.45,107.1,3894,322,1924,1773,182.1,7.5,467,9915,0.00,1.48,0.00,0.000,3078,0.000,0.039,3894,1001,1844,1916,1773,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10214,1.45,107.1,3895,1001,1916,1773,157.9,8.6,488,10220,0.00,2.30,0.00,0.000,2308,0.000,0.055,3895,2041,1844,1916,1773,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10451,1.45,107.1,3895,2040,1916,1772,137.3,10.0,503,10456,0.00,2.42,0.00,0.000,3078,0.000,0.063,3895,995,1844,1916,1772,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10765,1.46,123.9,3895,996,1916,1772,114.1,5.3,524,10781,0.00,1.52,12.12,0.951,10756,0.000,0.079,3895,330,1791,1868,1715,0,0,0,0,0,0,28.83,14.62,13.74
$GC,10978,1.46,123.9,3894,331,1862,1714,100.9,7.5,537,10986,0.00,1.45,0.00,0.000,3078,0.000,0.038,3894,1001,1789,1863,1715,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11284,1.46,123.9,3895,1000,1863,1714,77.5,8.5,558,11289,0.00,2.33,0.00,0.000,2308,0.000,0.056,3894,2047,1789,1865,1714,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11350,1.46,125.0,3894,2047,1863,1713,72.7,7.2,562,11355,0.00,2.42,0.00,0.000,3078,0.000,0.063,3895,1002,1788,1863,1713,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11671,1.47,131.6,3894,1002,1863,1713,52.4,6.5,583,11683,0.00,0.00,7.38,0.845,10246,0.000,0.000,3895,1002,1759,1833,1685,0,0,0,0,0,0,28.83,28.83,13.81
$GC,11985,1.47,131.6,3895,1002,1829,1684,28.9,7.6,604,11990,0.00,2.38,0.00,0.000,2308,0.000,0.055,3894,2047,1756,1829,1684,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12221,1.47,131.6,3894,2047,1827,1684,9.7,8.8,619,12226,0.00,2.42,0.00,0.000,3078,0.000,0.061,3890,993,1755,1827,1684,0,0,0,0,0,0,28.83,14.33,28.83
$FREEZE,5.70,25.755,-2.079,0,2,0
$STATE,12488,end climb,NO_VERTICAL_VELOCITY
$STATE,12488,begin surface
$SM_CCo,12493,191.52,0.075,0,0,189,517.58
$SM_CCo,12958,0.08,0.200,0,0,188,517.58
$SM_GC,5.82,10.90,0.00,0.08,0.046,0.000,0.200,139,991,188,-10.42,-0.25,517.58,0,0,0,0,0,0,14.58,28.83,14.39
$IRIDIUM_FIX,2434.69,-3802.90,010813,080802
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.21
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,3836704
$24V_AH,13.4,186.288
$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,27.075,95.800,184.675,191.600,0.000,0.000,0.000,1231.075,0.500,0.000,363.507,2620.493,7689.873,536.324,3569.660,637.211,0.000,2809.958,0.000,2042.231,0.000,0.543,0.000
$DEVICE_MAMPS,334.305,118.575,1481.805,199.665,0.000,0.000,0.000,197.370,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.830,0.000,0.000,0.000
$MEM,345416
$DATA_FILE_SIZE,23425,637
$CAP_FILE_SIZE,169606,0
$CFSIZE,260034560,188624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,2.952, 98.0,1
$GPS,010813,080702,2434.692,-3802.904,0,10000.0,0,-15.1