version: 66.11
glider: 160
mission: 9
dive: 489
start: 8 4 113 1 11 25
data:
$ID,160
$MISSION,9
$DIVE,489
$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,25
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-62087.344
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,030813,180418,2441.810,-3759.164,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-68.4
$GPS2,030813,180418,2441.810,-3759.164,301,99.0,301,-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,122.5,22768,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.38,-39.9,139,1932,217,168,0.0,0.0,0,39,0.00,0.00,-14.98,0.000,16386,0.000,0.000,139,1932,536,540,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,139,1931,540,533,4.0,0.0,1,153,12.45,2.38,-87.47,0.000,18948,0.332,0.080,2846,910,2462,2454,2470,0,0,0,0,0,0,14.23,14.33,14.81
$GC,225,-1.28,-39.9,2846,911,2453,2471,16.4,-16.8,13,232,0.15,2.35,0.00,0.000,3078,0.297,0.044,2876,1949,2462,2454,2470,0,0,0,0,0,0,13.97,14.39,28.83
$GC,547,-1.22,-39.9,2876,1949,2454,2470,63.7,-11.2,34,552,0.00,2.40,0.00,0.000,516,0.000,0.057,2876,904,2462,2454,2470,0,0,0,0,0,0,28.83,14.33,28.83
$GC,784,-1.16,-39.9,2876,904,2454,2470,91.5,-11.4,49,790,0.17,2.33,0.00,0.000,3078,0.286,0.044,2913,1936,2462,2454,2470,0,0,0,0,0,0,13.97,14.42,28.83
$GC,1099,-1.14,-39.9,2913,1935,2453,2470,121.3,-8.8,70,1105,0.00,2.38,0.00,0.000,516,0.000,0.053,2913,907,2461,2453,2469,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1335,-1.11,-39.9,1856,906,2388,2459,140.1,-7.9,85,1340,0.00,2.30,0.00,0.000,1030,0.000,0.046,2913,1918,2461,2453,2469,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1651,-1.09,-41.3,2913,1917,2453,2469,164.7,-7.2,106,1657,0.12,2.35,0.00,0.000,2564,0.293,0.054,2943,896,2461,2453,2469,0,0,0,0,0,0,14.03,14.41,28.83
$GC,1888,-1.10,-43.8,2944,897,2453,2469,181.6,-7.1,121,1894,0.00,2.28,-0.15,0.000,17414,0.000,0.046,2943,1895,2488,2475,2502,0,0,0,0,0,0,28.83,14.35,14.16
$GC,2203,-1.10,-43.8,2944,1894,2475,2502,206.8,-8.3,142,2208,0.00,2.62,0.00,0.000,260,0.000,0.076,2944,3008,2488,2475,2502,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2439,-1.10,-43.8,2943,3008,2475,2502,227.5,-9.2,157,2444,0.00,2.55,0.00,0.000,1030,0.000,0.039,2944,1872,2488,2475,2501,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2754,-1.10,-43.8,2950,1873,2475,2500,256.4,-8.6,176,2759,0.00,2.22,0.00,0.000,516,0.000,0.060,2944,898,2487,2475,2499,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2989,-1.10,-43.8,2944,898,2475,2499,275.0,-8.7,183,2994,0.00,2.15,0.00,0.000,1030,0.000,0.045,2944,1845,2486,2475,2498,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3303,-1.10,-43.8,2943,1845,2482,2497,300.9,-7.4,194,3309,0.00,2.17,0.00,0.000,516,0.000,0.054,2943,901,2486,2475,2497,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3540,-1.10,-43.8,2943,902,2475,2495,316.9,-7.4,201,3545,0.00,2.10,0.00,0.000,1030,0.000,0.047,2943,1829,2485,2475,2495,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3855,-1.10,-43.8,2944,1828,2475,2493,342.5,-8.0,212,3860,0.00,2.15,0.00,0.000,516,0.000,0.057,2943,895,2484,2475,2493,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4091,-1.10,-43.8,2943,896,2475,2492,362.3,-9.6,219,4096,0.00,2.08,0.00,0.000,1030,0.000,0.045,2943,1812,2483,2475,2492,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4406,-1.10,-43.8,2944,1811,2475,2490,393.4,-9.1,230,4411,0.00,2.10,0.00,0.000,516,0.000,0.056,2944,897,2482,2475,2490,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4642,-1.10,-43.8,2944,901,2475,2487,412.8,-8.9,237,4647,0.00,2.05,0.00,0.000,1030,0.000,0.045,2943,1806,2481,2475,2488,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4957,-1.10,-43.8,2944,1805,2475,2487,441.2,-8.4,248,4962,0.00,2.10,0.00,0.000,516,0.000,0.056,2943,897,2481,2475,2487,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5192,-1.10,-43.8,2943,897,2475,2485,460.8,-9.4,255,5197,0.00,2.03,0.00,0.000,1030,0.000,0.044,2944,1793,2480,2475,2486,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5511,-1.11,-43.8,2944,1791,2475,2484,493.3,-10.1,266,5516,0.00,2.08,0.00,0.000,516,0.000,0.056,2944,895,2479,2475,2483,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5680,-1.11,-43.8,2943,895,2475,2483,510.2,-10.7,271,5686,0.00,2.03,0.00,0.000,1030,0.000,0.044,2944,1789,2478,2475,2482,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6005,-1.13,-43.8,2943,1789,2475,2480,542.2,-9.1,282,6010,0.00,2.08,0.00,0.000,516,0.000,0.056,2943,900,2478,2475,2481,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6240,-1.13,-43.8,2943,894,2474,2481,562.8,-9.4,289,6245,0.00,1.98,0.00,0.000,1030,0.000,0.044,2943,1763,2477,2474,2480,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6558,-1.15,-43.8,2944,1762,2474,2479,594.0,-9.5,300,6563,0.00,2.00,0.00,0.000,516,0.000,0.055,2943,897,2476,2474,2479,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6794,-1.15,-43.8,2944,898,2472,2479,616.0,-10.1,307,6799,0.00,1.95,0.00,0.000,1030,0.000,0.043,2944,1759,2475,2472,2479,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7114,-1.17,-43.8,2944,1758,2472,2477,647.8,-9.0,318,7119,0.00,2.00,0.00,0.000,516,0.000,0.056,2943,898,2474,2472,2477,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7235,-1.18,-43.8,2943,898,2471,2477,656.2,-8.6,321,7242,0.00,1.95,0.00,0.000,1030,0.000,0.043,2944,1758,2474,2472,2477,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7542,-1.21,-43.8,2943,1757,2471,2476,682.9,-7.7,332,7548,0.12,2.00,0.00,0.000,4612,0.139,0.054,2891,903,2473,2470,2476,0,0,0,0,0,0,14.42,14.35,28.83
$GC,7779,-1.18,-43.8,2892,903,2469,2476,701.9,-8.7,339,7784,0.00,1.90,0.00,0.000,1030,0.000,0.044,2887,1739,2472,2469,2475,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8097,-1.16,-43.8,2888,1737,2468,2474,731.2,-8.8,350,8102,0.12,1.95,0.00,0.000,2564,0.309,0.054,2916,903,2471,2468,2474,0,0,0,0,0,0,14.00,14.36,28.83
$GC,8273,-1.16,-43.8,2916,903,2468,2474,745.6,-9.1,355,8278,0.00,1.90,0.00,0.000,1030,0.000,0.044,2915,1737,2470,2468,2473,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8587,-1.16,-43.8,2915,1735,2468,2472,778.0,-9.8,366,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1735,2470,2468,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,-1.16,-43.8,2915,1735,2467,2470,808.7,-10.4,376,8893,0.00,1.95,0.00,0.000,516,0.000,0.057,2915,902,2469,2468,2470,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9122,-1.16,-43.8,2915,902,2466,2470,831.8,-10.8,383,9127,0.00,1.88,0.00,0.000,1030,0.000,0.044,2915,1723,2466,2466,2467,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9438,-1.16,-43.8,2915,1723,2466,2469,866.0,-9.9,394,9443,0.00,1.95,0.00,0.000,516,0.000,0.057,2915,896,2467,2466,2468,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9674,-1.16,-43.8,2915,896,2465,2469,887.4,-9.7,401,9679,0.00,1.88,0.00,0.000,1030,0.000,0.042,2915,1717,2466,2465,2468,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9989,-1.16,-43.8,2915,1717,2465,2467,917.7,-8.7,412,9994,0.00,1.90,0.00,0.000,516,0.000,0.056,2915,904,2465,2465,2466,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10224,-1.16,-43.8,2915,904,2464,2466,937.1,-9.1,419,10229,0.00,1.85,0.00,0.000,1030,0.000,0.044,2915,1713,2465,2464,2466,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,10355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10355,begin apogee
$GC,10364,-0.25,0.0,2915,1816,2464,2465,951.2,-9.6,424,10409,1.15,0.00,39.22,2.073,10244,0.226,0.000,3203,1814,2298,2309,2288,0,0,0,0,0,0,13.57,28.83,13.09
$STATE,10410,end apogee,CONTROL_FINISHED_OK
$STATE,10410,begin climb
$GC,10414,1.38,43.8,3203,1816,2307,2287,951.5,0.0,425,10469,1.70,2.45,43.53,2.134,10500,0.098,0.068,3743,2851,2117,2141,2094,0,0,0,0,0,0,14.38,14.39,13.04
$GC,10493,1.38,43.8,3743,2851,2139,2092,955.4,-4.9,428,10498,0.00,2.42,0.00,0.000,1030,0.000,0.047,3753,1802,2115,2139,2091,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10830,1.36,143.8,3753,1803,2142,2088,973.3,-5.0,439,10935,0.00,2.53,97.82,2.160,8708,0.000,0.066,3753,744,1709,1780,1638,0,0,0,0,0,0,28.83,14.18,13.07
$GC,11115,1.25,143.8,3753,744,1768,1635,950.8,13.2,448,11121,0.25,2.25,0.00,0.000,5126,0.297,0.040,3701,1739,1701,1768,1635,0,0,0,0,0,0,14.04,14.46,28.83
$GC,11445,1.17,143.8,3701,1737,1766,1631,913.1,10.9,459,11450,0.00,2.55,0.00,0.000,260,0.000,0.062,3701,2846,1698,1766,1631,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11680,1.07,143.8,3701,2846,1761,1630,887.0,12.1,466,11686,0.28,2.53,0.00,0.000,5126,0.296,0.050,3641,1739,1693,1761,1626,0,0,0,0,0,0,13.99,14.48,28.83
$GC,11998,1.03,143.8,3641,1740,1761,1629,855.1,9.2,477,12004,0.00,2.60,0.00,0.000,260,0.000,0.060,3641,2848,1695,1761,1629,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12234,0.97,143.8,3641,2847,1759,1628,832.6,10.2,484,12240,0.17,2.47,0.00,0.000,5126,0.301,0.046,3609,1759,1694,1759,1629,0,0,0,0,0,0,13.95,14.43,28.83
$GC,12554,0.95,143.8,3607,1760,1759,1627,803.3,8.8,495,12560,0.00,2.58,0.00,0.000,260,0.000,0.059,3609,2847,1693,1759,1627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12790,0.92,143.8,3609,2847,1758,1627,781.6,9.8,502,12796,0.00,2.42,0.00,0.000,1030,0.000,0.043,3616,1784,1692,1758,1626,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13108,0.89,143.8,3616,1785,1758,1625,751.0,9.2,513,13114,0.12,2.50,0.00,0.000,4356,0.292,0.055,3588,2848,1691,1758,1625,0,0,0,0,0,0,13.98,14.37,28.83
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$FREEZE,5.49,25.513,-0.705,0,12,0
$STATE,22368,end climb,NO_VERTICAL_VELOCITY
$STATE,22368,begin surface
$SM_CCo,22373,161.62,0.079,0,0,190,517.58
$SM_GC,6.17,10.20,0.20,0.00,0.046,0.079,0.000,142,1948,190,-9.78,-1.07,517.58,0,0,0,0,0,0,14.56,14.47,28.83
$IRIDIUM_FIX,2446.56,-3800.63,040813,000024
$TT8_MAMPS,0.024717,0.024717
$HUMID,84.25
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3832864
$24V_AH,13.0,189.197
$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,27.300,197.300,235.150,161.625,0.000,0.000,0.000,340.575,0.000,0.000,303.605,4177.122,14432.446,629.262,4034.443,887.205,0.000,2630.246,0.000,3261.484,0.000,0.541,0.000
$DEVICE_MAMPS,332.010,94.860,2160.360,78.795,0.000,0.000,0.000,172.890,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22409.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.037,0.000,0.000,0.000
$MEM,345040
$DATA_FILE_SIZE,33335,916
$CAP_FILE_SIZE,261152,0
$CFSIZE,260034560,187125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,9.777,148.1,1
$GPS,040813,005624,2446.559,-3800.626,0,10000.0,0,-15.1