version: 66.11
glider: 160
mission: 9
dive: 495
start: 8 5 113 19 21 13
data:
$ID,160
$MISSION,9
$DIVE,495
$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,-65742.828
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,050813,115039,2451.311,-3726.432,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-69.3
$GPS2,050813,115039,2451.311,-3726.432,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-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,181.6,66928,-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,-39.9,145,1975,221,161,0.0,0.0,0,40,0.00,0.00,-15.82,0.000,16386,0.000,0.000,145,1975,548,551,546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.38,-39.9,145,1974,553,547,3.7,0.0,1,158,12.65,2.50,-87.32,0.000,18948,0.340,0.086,2845,898,2465,2457,2473,0,0,0,0,0,0,14.21,14.43,14.80
$GC,390,-1.28,-39.9,2845,898,2456,2473,34.2,-14.2,23,397,0.15,2.38,0.00,0.000,3078,0.296,0.053,2875,1934,2464,2456,2473,0,0,0,0,0,0,14.00,14.42,28.83
$GC,695,-1.22,-39.9,2875,1933,2456,2472,71.6,-10.5,44,700,0.00,2.40,0.00,0.000,516,0.000,0.058,2874,900,2462,2456,2469,0,0,0,0,0,0,28.83,14.32,28.83
$GC,928,-1.16,-39.9,2876,901,2456,2472,96.2,-10.7,59,934,0.20,2.38,0.00,0.000,3078,0.287,0.052,2917,1941,2463,2456,2471,0,0,0,0,0,0,13.96,14.44,28.83
$GC,1249,-1.14,-39.9,2918,1940,2456,2471,125.6,-8.9,80,1254,0.00,2.40,0.00,0.000,516,0.000,0.059,2918,898,2463,2456,2471,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1380,-1.11,-39.9,2918,899,2456,2471,137.9,-10.0,88,1386,0.00,2.33,0.00,0.000,1030,0.000,0.051,2917,1924,2463,2456,2470,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1695,-1.09,-39.9,2918,1923,2456,2470,171.2,-10.6,109,1701,0.00,2.38,0.00,0.000,516,0.000,0.059,2918,895,2463,2456,2470,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1921,-1.07,-39.9,2918,899,2456,2469,191.3,-8.1,123,1929,0.15,2.33,0.00,0.000,3078,0.278,0.050,2949,1922,2462,2456,2469,0,0,0,0,0,0,14.04,14.40,28.83
$GC,2227,-1.07,-42.1,2949,1921,2456,2469,213.2,-7.1,144,2233,0.00,2.35,0.00,0.000,516,0.000,0.057,2949,895,2463,2456,2470,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2463,-1.07,-42.1,2949,896,2456,2468,231.4,-7.9,159,2468,0.00,2.30,0.00,0.000,1030,0.000,0.047,2949,1916,2462,2456,2468,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2778,-1.07,-48.8,2950,1915,2455,2467,253.9,-6.5,178,2783,0.00,2.33,0.00,0.000,516,0.000,0.057,2949,905,2461,2456,2467,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3004,-1.09,-59.2,2949,901,2455,2466,266.9,-6.1,185,3009,0.00,2.28,0.00,0.000,1030,0.000,0.047,2949,1914,2460,2455,2465,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3332,-1.09,-66.3,2947,1913,2455,2464,287.3,-6.5,196,3337,0.00,2.33,0.00,0.000,516,0.000,0.056,2948,897,2459,2455,2464,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3427,-1.09,-66.3,2949,897,2455,2464,295.0,-7.6,199,3433,0.00,2.28,0.00,0.000,1030,0.000,0.045,2949,1909,2458,2454,2463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3765,-1.09,-66.3,2949,1907,2454,2463,324.6,-8.9,210,3770,0.00,2.30,0.00,0.000,516,0.000,0.055,2949,899,2458,2454,2463,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3814,-1.09,-66.3,2948,899,2453,2463,327.8,-8.7,211,3820,0.00,2.25,0.00,0.000,1030,0.000,0.044,2949,1904,2457,2452,2462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4136,-1.09,-66.3,2949,1903,2453,2461,358.2,-8.9,222,4141,0.00,2.30,0.00,0.000,516,0.000,0.055,2949,896,2457,2453,2462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4194,-1.09,-66.3,2949,896,2452,2461,361.4,-8.9,223,4201,0.00,2.22,0.00,0.000,1030,0.000,0.044,2949,1890,2456,2452,2461,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4506,-1.11,-66.3,2949,1889,2451,2460,392.5,-9.5,234,4511,0.00,2.28,0.00,0.000,516,0.000,0.055,2949,895,2455,2451,2460,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4682,-1.11,-66.3,2949,895,2449,2460,407.5,-9.4,239,4688,0.00,2.22,0.00,0.000,1030,0.000,0.044,2955,1882,2454,2450,2459,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5000,-1.13,-67.7,2949,1881,2450,2459,434.1,-7.2,250,5006,0.00,2.28,0.00,0.000,516,0.000,0.056,2949,894,2454,2450,2458,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5139,-1.13,-70.9,2949,894,2444,2458,443.0,-7.0,254,5144,0.00,2.20,0.00,0.000,1030,0.000,0.044,2949,1872,2453,2450,2457,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5466,-1.15,-70.9,2949,1871,2449,2456,467.3,-7.6,265,5471,0.00,2.22,0.00,0.000,516,0.000,0.055,2949,897,2453,2450,2456,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5703,-1.15,-70.9,2949,897,2448,2457,487.1,-9.3,272,5708,0.00,2.15,0.00,0.000,1030,0.000,0.044,2949,1852,2452,2449,2456,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6022,-1.17,-70.9,2949,1852,2448,2453,519.4,-9.6,283,6027,0.00,2.20,0.00,0.000,516,0.000,0.057,2949,899,2451,2449,2453,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6257,-1.17,-70.9,2949,900,2448,2454,540.9,-9.7,290,6262,0.00,2.10,0.00,0.000,1030,0.000,0.044,2950,1835,2450,2448,2453,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6576,-1.19,-70.9,2950,1834,2448,2453,568.3,-7.5,301,6582,0.12,2.15,0.00,0.000,4612,0.127,0.054,2895,900,2450,2448,2452,0,0,0,0,0,0,14.47,14.40,28.83
$GC,6814,-1.17,-70.9,2895,900,2445,2452,587.0,-8.8,308,6820,0.15,2.08,0.00,0.000,3078,0.285,0.043,2916,1828,2448,2445,2452,0,0,0,0,0,0,13.98,14.46,28.83
$GC,7133,-1.17,-70.9,2916,1827,2445,2451,616.0,-8.8,319,7139,0.00,2.12,0.00,0.000,516,0.000,0.055,2916,900,2448,2445,2451,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7309,-1.17,-70.9,2917,901,2444,2451,631.0,-9.5,324,7314,0.00,2.08,0.00,0.000,1030,0.000,0.044,2916,1820,2447,2444,2450,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7624,-1.17,-70.9,2916,1820,2444,2449,664.7,-10.2,335,7630,0.00,2.12,0.00,0.000,516,0.000,0.054,2917,895,2446,2444,2449,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7728,-1.17,-70.9,2917,895,2444,2448,674.5,-10.1,338,7733,0.00,2.05,0.00,0.000,1030,0.000,0.043,2915,1810,2446,2444,2448,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8056,-1.17,-70.9,2915,1809,2443,2447,704.8,-8.5,349,8061,0.00,2.10,0.00,0.000,516,0.000,0.054,2915,895,2448,2450,2447,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8276,-1.17,-70.9,1888,895,2381,2437,722.3,-8.0,356,8282,0.00,2.03,0.00,0.000,1030,0.000,0.043,2915,1799,2444,2442,2446,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8611,-1.17,-70.9,2916,1798,2442,2445,749.1,-8.3,367,8616,0.00,2.08,0.00,0.000,516,0.000,0.054,2915,895,2443,2442,2444,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8689,-1.17,-70.9,2915,895,2442,2444,755.5,-8.7,369,8695,0.00,2.03,0.00,0.000,1030,0.000,0.042,2915,1799,2442,2441,2444,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9012,-1.17,-70.9,2915,1798,2441,2444,788.5,-10.3,380,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1798,2442,2441,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9309,-1.17,-70.9,2915,1798,2440,2438,819.7,-10.3,390,9314,0.00,2.08,0.00,0.000,516,0.000,0.054,2915,896,2441,2440,2443,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9544,-1.17,-70.9,2915,896,2439,2443,841.5,-9.9,397,9549,0.00,2.00,0.00,0.000,1030,0.000,0.041,2915,1790,2440,2439,2442,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9860,-1.17,-70.9,2915,1789,2439,2441,870.7,-8.2,408,9865,0.00,2.05,0.00,0.000,516,0.000,0.054,2915,898,2440,2439,2441,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10035,-1.17,-70.9,2915,898,2438,2440,883.9,-8.6,413,10041,0.00,2.00,0.00,0.000,1030,0.000,0.041,2915,1783,2438,2437,2440,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10354,-1.17,-70.9,2915,1782,2437,2439,910.4,-7.9,424,10359,0.00,2.05,0.00,0.000,516,0.000,0.054,2915,895,2437,2437,2438,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10452,-1.17,-70.9,2915,895,2437,2439,918.2,-7.8,427,10458,0.00,2.00,0.00,0.000,1030,0.000,0.041,2915,1784,2438,2437,2439,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10786,-1.17,-70.9,2915,1784,2437,2437,946.4,-8.7,438,10791,0.00,2.05,0.00,0.000,516,0.000,0.055,2915,897,2436,2436,2437,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,10847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10847,begin apogee
$GC,10857,-0.25,0.0,2915,1806,2436,2437,952.5,-8.9,440,10897,1.15,0.00,33.05,2.067,10244,0.227,0.000,3203,1806,2297,2307,2288,0,0,0,0,0,0,13.58,28.83,13.12
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10899,begin climb
$GC,10904,1.41,70.9,3202,1806,2306,2288,953.0,0.0,441,10983,1.73,2.47,70.03,2.164,10500,0.097,0.065,3752,2854,2007,2047,1967,0,0,0,0,0,0,14.43,14.43,13.02
$GC,10999,1.41,70.9,3753,2854,2044,1965,955.9,-3.6,444,11004,0.00,2.42,0.00,0.000,1030,0.000,0.040,3761,1797,2004,2044,1964,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11318,1.31,98.2,3762,1798,2042,1958,950.1,4.0,455,11352,0.20,2.47,27.20,2.045,12548,0.329,0.057,3719,2859,1896,1959,1833,0,0,0,0,0,0,13.88,14.44,13.29
$GC,11529,1.19,98.2,3714,2859,1952,1830,936.6,7.9,461,11538,0.22,2.40,0.00,0.000,5126,0.311,0.041,3682,1803,1891,1952,1830,0,0,0,0,0,0,14.02,14.45,28.83
$GC,11837,1.11,98.5,3682,1804,1952,1827,912.8,7.3,472,11842,0.00,2.45,0.00,0.000,516,0.000,0.062,3685,746,1890,1953,1827,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11887,1.03,98.5,3686,746,1953,1826,909.8,7.5,473,11894,0.25,2.38,0.00,0.000,5126,0.273,0.037,3632,1809,1889,1953,1826,0,0,0,0,0,0,13.99,14.52,28.83
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$FREEZE,5.39,25.837,-1.046,0,18,0
$STATE,23417,end climb,NO_VERTICAL_VELOCITY
$STATE,23418,begin surface
$SM_CCo,23422,165.18,0.078,0,0,189,517.58
$SM_GC,6.47,10.15,0.08,0.00,0.042,0.142,0.000,143,1980,189,-9.78,-1.13,517.83,0,0,0,0,0,0,14.52,14.58,28.83
$IRIDIUM_FIX,2448.93,-3753.54,050813,191912
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.81
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3830560
$24V_AH,13.0,190.951
$10V_AH,12.9,0.000
$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,27.575,205.425,237.000,165.175,0.000,0.000,0.000,278.550,0.000,0.000,303.522,4188.646,15458.229,647.512,3930.980,1087.114,0.000,2574.823,0.000,3226.345,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,141.525,2164.185,78.030,0.000,0.000,0.000,161.415,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23459.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.888,0.000,0.000,0.000
$MEM,345248
$DATA_FILE_SIZE,36703,950
$CAP_FILE_SIZE,267070,0
$CFSIZE,260034560,186175488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,76.615, 87.4,1
$GPS,050813,191112,2448.935,-3753.542,0,10000.0,0,-15.1