version: 66.11
glider: 160
mission: 9
dive: 497
start: 8 6 113 9 28 40
data:
$ID,160
$MISSION,9
$DIVE,497
$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,-66964.664
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,060813,022157,2451.311,-3753.542,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.64
$_SM_ANGLEo,-63.1
$GPS2,060813,022157,2451.311,-3753.542,301,99.0,301,-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,229.4,58070,-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,-39.9,135,1980,216,167,0.0,0.0,0,39,0.00,0.00,-14.98,0.000,16386,0.000,0.000,135,1980,532,539,525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,136,1981,538,526,3.5,0.0,1,157,12.48,2.50,-88.45,0.000,19204,0.332,0.083,2845,895,2464,2461,2467,0,0,0,0,0,0,14.18,14.44,14.80
$GC,389,-1.28,-39.9,2845,895,2459,2469,38.9,-15.7,23,396,0.15,2.40,0.00,0.000,3078,0.294,0.052,2874,1944,2463,2458,2468,0,0,0,0,0,0,13.93,14.33,28.83
$GC,694,-1.23,-39.9,2874,1944,2460,2469,80.6,-11.3,44,700,0.00,2.53,0.00,0.000,260,0.000,0.073,2874,3008,2464,2459,2469,0,0,0,0,0,0,28.83,14.33,28.83
$GC,882,-1.17,-39.9,2874,3008,2458,2469,102.5,-11.8,56,888,0.20,2.42,0.00,0.000,3078,0.282,0.035,2916,1929,2463,2458,2469,0,0,0,0,0,0,13.93,14.47,28.83
$GC,1203,-1.15,-39.9,2916,1930,2458,2468,132.5,-7.9,77,1208,0.00,2.35,0.00,0.000,516,0.000,0.063,2915,901,2463,2458,2468,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1439,-1.12,-39.9,1856,901,2393,2458,150.8,-8.2,92,1445,0.00,2.33,0.00,0.000,1030,0.000,0.049,2915,1926,2463,2457,2469,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1756,-1.10,-39.9,2915,1926,2457,2468,175.4,-8.8,113,1761,0.00,2.38,0.00,0.000,516,0.000,0.057,2915,899,2462,2457,2468,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1897,-1.07,-39.9,2915,899,2457,2468,189.4,-10.0,122,1903,0.15,2.33,0.00,0.000,3078,0.283,0.050,2946,1916,2462,2456,2468,0,0,0,0,0,0,14.03,14.44,28.83
$GC,2217,-1.07,-39.9,2946,1915,2456,2468,221.0,-10.2,143,2223,0.00,2.38,0.00,0.000,516,0.000,0.059,2946,893,2461,2456,2467,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2453,-1.07,-39.9,2946,894,2456,2467,242.6,-8.8,158,2458,0.00,2.28,0.00,0.000,1030,0.000,0.047,2946,1898,2461,2456,2466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2772,-1.08,-49.3,2946,1897,2457,2464,264.4,-6.2,172,2777,0.00,2.33,0.00,0.000,516,0.000,0.060,2946,895,2460,2456,2464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3008,-1.09,-55.3,2946,895,2455,2464,278.9,-6.6,179,3013,0.00,2.25,0.00,0.000,1030,0.000,0.048,2946,1887,2459,2454,2464,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3326,-1.09,-57.1,2946,1886,2454,2462,301.1,-7.1,190,3331,0.00,2.30,0.00,0.000,516,0.000,0.059,2946,890,2458,2454,2463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3563,-1.09,-57.1,2946,894,2453,2462,319.1,-8.4,197,3568,0.00,2.22,0.00,0.000,1030,0.000,0.048,2945,1871,2457,2453,2462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3878,-1.09,-57.1,2946,1870,2452,2461,348.3,-8.8,208,3883,0.00,2.25,0.00,0.000,516,0.000,0.057,2946,897,2456,2452,2461,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4113,-1.09,-57.1,2946,897,2451,2461,367.2,-8.8,215,4118,0.00,2.15,0.00,0.000,1030,0.000,0.047,2946,1848,2455,2451,2460,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4432,-1.10,-63.5,2946,1847,2453,2458,391.1,-6.6,226,4437,0.00,2.20,0.00,0.000,516,0.000,0.057,2946,896,2452,2447,2458,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4668,-1.10,-65.1,2946,896,2450,2458,406.4,-7.2,233,4674,0.00,2.15,0.00,0.000,1030,0.000,0.047,2946,1840,2453,2450,2457,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4983,-1.10,-65.1,2946,1839,2443,2456,434.7,-8.8,244,4989,0.00,2.17,0.00,0.000,516,0.000,0.057,2946,898,2453,2450,2456,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5219,-1.10,-65.1,2946,898,2449,2456,455.4,-9.9,251,5224,0.00,2.10,0.00,0.000,1030,0.000,0.045,2946,1828,2452,2449,2455,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5536,-1.12,-65.1,2946,1827,2449,2454,485.9,-8.6,262,5541,0.00,2.15,0.00,0.000,516,0.000,0.058,2945,898,2450,2447,2454,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5773,-1.12,-65.1,2946,898,2448,2454,503.7,-8.1,269,5778,0.00,2.05,0.00,0.000,1030,0.000,0.045,2946,1809,2450,2448,2453,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6092,-1.14,-71.8,2946,1805,2448,2452,526.9,-6.5,280,6098,0.00,2.12,0.00,0.000,516,0.000,0.057,2946,894,2450,2448,2453,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6329,-1.14,-75.3,2946,894,2446,2452,542.2,-6.9,287,6334,0.00,2.05,0.00,0.000,1030,0.000,0.045,2946,1804,2449,2446,2452,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6646,-1.16,-75.3,2946,1802,2446,2450,568.9,-8.8,298,6651,0.00,2.10,0.00,0.000,516,0.000,0.057,2946,896,2448,2446,2450,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6883,-1.16,-75.3,2946,896,2445,2450,589.5,-9.5,305,6888,0.00,2.03,0.00,0.000,1030,0.000,0.044,2946,1795,2447,2445,2450,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7203,-1.18,-75.3,2946,1794,2445,2448,618.9,-8.4,316,7208,0.00,2.10,0.00,0.000,516,0.000,0.056,2946,895,2446,2445,2448,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7438,-1.18,-75.3,2946,896,2444,2448,636.4,-7.7,323,7443,0.00,2.03,0.00,0.000,1030,0.000,0.044,2946,1793,2445,2444,2447,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7757,-1.20,-80.3,2946,1792,2444,2445,659.3,-6.7,334,7762,0.12,2.08,0.00,0.000,4612,0.133,0.054,2894,895,2444,2443,2445,0,0,0,0,0,0,14.46,14.36,28.83
$GC,7995,-1.17,-80.3,2894,898,2442,2445,677.3,-8.4,341,8000,0.00,2.00,0.00,0.000,1030,0.000,0.044,2893,1783,2443,2442,2445,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8313,-1.15,-80.3,2893,1782,2442,2444,706.7,-9.1,352,8319,0.12,2.08,0.00,0.000,2564,0.301,0.054,2922,894,2443,2442,2444,0,0,0,0,0,0,13.99,14.35,28.83
$GC,8550,-1.15,-80.3,2921,894,2441,2444,727.0,-9.3,359,8555,0.00,1.98,0.00,0.000,1030,0.000,0.041,2915,1771,2442,2441,2444,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8865,-1.15,-80.3,2916,1769,2441,2443,758.0,-9.6,370,8870,0.00,2.03,0.00,0.000,516,0.000,0.056,2915,897,2442,2441,2443,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9021,-1.15,-80.3,2915,897,2440,2442,773.1,-9.7,375,9027,0.00,1.98,0.00,0.000,1030,0.000,0.044,2915,1762,2441,2440,2442,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9360,-1.15,-80.3,2915,1762,2440,2441,802.7,-8.3,386,9366,0.00,2.03,0.00,0.000,516,0.000,0.056,2914,894,2440,2440,2440,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9596,-1.15,-80.3,2914,894,2438,2440,820.2,-7.8,393,9601,0.00,1.92,0.00,0.000,1030,0.000,0.043,2915,1746,2439,2438,2440,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9910,-1.15,-80.3,2915,1745,2438,2439,847.9,-8.6,404,9916,0.00,1.98,0.00,0.000,516,0.000,0.056,2915,896,2438,2438,2439,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10006,-1.15,-80.3,2915,896,2437,2438,856.2,-8.8,407,10012,0.00,1.95,0.00,0.000,1030,0.000,0.044,2914,1751,2438,2437,2439,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10344,-1.15,-80.3,2914,1750,2437,2437,885.6,-8.7,418,10349,0.00,2.00,0.00,0.000,516,0.000,0.056,2914,895,2437,2437,2437,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10444,-1.15,-80.3,2914,895,2436,2437,894.3,-8.8,421,10450,0.00,1.92,0.00,0.000,1030,0.000,0.043,2914,1743,2436,2436,2436,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10777,-1.15,-80.3,2914,1742,2437,2435,922.6,-8.1,432,10782,0.00,1.98,0.00,0.000,516,0.000,0.055,2917,895,2435,2436,2435,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10826,-1.15,-80.3,2914,894,2436,2435,925.6,-8.0,433,10832,0.00,1.92,0.00,0.000,1030,0.000,0.043,2913,1741,2435,2436,2435,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,11112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11112,begin apogee
$GC,11121,-0.25,0.0,2914,1815,2436,2434,950.3,-7.9,443,11162,1.17,0.00,32.75,2.071,10244,0.228,0.000,3205,1815,2297,2307,2287,0,0,0,0,0,0,13.57,28.83,13.09
$STATE,11164,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11169,1.42,80.3,3206,1816,2306,2287,950.2,0.0,444,11259,1.70,2.42,78.88,2.163,10500,0.095,0.065,3750,2844,1972,2019,1926,0,0,0,0,0,0,14.43,14.43,12.99
$GC,11379,1.32,125.8,3750,2843,2011,1918,949.9,1.7,451,11432,0.20,2.40,45.08,2.100,13318,0.339,0.042,3723,1797,1784,1858,1710,0,0,0,0,0,0,13.97,14.42,13.11
$GC,11757,1.23,125.8,3723,1797,1848,1703,911.5,10.1,464,11763,0.12,2.47,0.00,0.000,4356,0.327,0.054,3695,2850,1773,1848,1698,0,0,0,0,0,0,14.02,14.45,28.83
$GC,11994,1.13,125.8,3695,2851,1842,1703,889.9,9.7,471,12000,0.20,2.38,0.00,0.000,5126,0.304,0.043,3659,1814,1772,1842,1703,0,0,0,0,0,0,14.00,14.48,28.83
$GC,12315,1.07,125.8,3659,1812,1841,1702,863.1,7.5,482,12320,0.00,2.42,0.00,0.000,260,0.000,0.056,3659,2846,1771,1840,1702,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12552,1.00,125.8,3659,2846,1838,1702,845.5,7.8,489,12558,0.20,2.38,0.00,0.000,5126,0.296,0.042,3619,1814,1770,1839,1702,0,0,0,0,0,0,13.92,14.45,28.83
$GC,12871,0.97,126.5,3619,1821,1839,1701,822.0,7.3,500,12876,0.00,2.42,0.00,0.000,260,0.000,0.055,3618,2845,1769,1838,1701,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12961,0.93,126.5,3619,2845,1839,1701,816.1,8.1,502,12968,0.00,2.35,0.00,0.000,1030,0.000,0.041,3619,1818,1769,1838,1701,0,0,0,0,0,0,28.83,14.45,28.83
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$FREEZE,5.28,25.925,-1.208,0,20,0
$STATE,23374,end climb,NO_VERTICAL_VELOCITY
$STATE,23374,begin surface
$SM_CCo,23379,144.23,0.075,0,0,188,517.58
$SM_GC,6.08,10.62,2.12,0.00,0.053,0.039,0.000,143,1964,189,-9.78,0.88,517.83,0,0,0,0,0,0,14.47,14.35,28.83
$IRIDIUM_FIX,2448.93,-3755.42,060813,090913
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.24
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3829792
$24V_AH,13.0,191.487
$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,28.325,214.675,243.325,144.225,0.000,0.000,0.000,303.550,0.000,0.000,307.363,4295.777,15181.911,637.587,4075.766,1148.410,0.000,2647.160,0.000,3338.552,0.000,0.541,0.000
$DEVICE_MAMPS,338.895,122.400,2162.655,74.970,0.000,0.000,0.000,158.355,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23412.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.943,0.000,0.000,0.000
$MEM,345248
$DATA_FILE_SIZE,36653,950
$CAP_FILE_SIZE,272663,0
$CFSIZE,260034560,185843712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,5.957, 57.4,1
$GPS,060813,091813,2448.935,-3755.417,0,10000.0,0,-15.1