version: 66.11
glider: 160
mission: 9
dive: 521
start: 8 10 113 12 7 19
data:
$ID,160
$MISSION,9
$DIVE,521
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,240
$T_MISSION,270
$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,100
$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,4
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-88766.891
$T_RSLEEP,3
$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,27
$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
$GPS1,100813,074859,2451.311,-3746.870,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-69.3
$GPS2,100813,074859,2451.311,-3746.870,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.197
$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,150.4,57065,-26.8,-7.500,-30.00,838
$D_GRID,540
$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,-41.0,146,1964,221,166,0.0,0.0,0,101,0.00,0.00,-76.12,0.000,16386,0.000,0.000,145,1964,1996,1993,1999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.44,-97.2,146,1964,1994,2000,3.3,-0.6,5,147,13.65,2.45,-20.73,0.000,18948,0.379,0.083,2825,898,2694,2715,2674,0,0,0,0,0,0,14.08,14.49,14.85
$GC,379,-1.34,-97.2,1792,898,2655,2665,46.3,-18.6,22,386,0.20,2.38,0.00,0.000,3078,0.288,0.047,2858,1950,2694,2714,2674,0,0,0,0,0,0,13.99,14.46,28.83
$GC,687,-1.29,-97.2,2858,1949,2714,2673,89.3,-11.9,43,693,0.00,2.42,0.00,0.000,516,0.000,0.054,2858,897,2693,2714,2673,0,0,0,0,0,0,28.83,14.38,28.83
$GC,924,-1.24,-97.2,1800,896,2655,2664,118.4,-12.7,58,930,0.17,2.35,0.00,0.000,3078,0.278,0.055,2893,1921,2693,2714,2673,0,0,0,0,0,0,14.00,14.44,28.83
$GC,1240,-1.21,-97.2,2893,1920,2714,2673,158.2,-12.4,79,1246,0.00,2.35,0.00,0.000,516,0.000,0.057,2893,896,2693,2714,2673,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1478,-1.19,-97.2,1824,895,2655,2664,187.0,-12.1,94,1483,0.00,2.30,0.00,0.000,1030,0.000,0.054,2893,1905,2693,2714,2672,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1793,-1.17,-97.2,2893,1905,2713,2672,220.3,-9.9,115,1798,0.00,2.33,0.00,0.000,516,0.000,0.059,2893,896,2693,2714,2673,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2029,-1.14,-97.2,1856,895,2657,2659,243.9,-10.6,130,2035,0.15,2.25,0.00,0.000,3078,0.278,0.051,2924,1885,2692,2714,2671,0,0,0,0,0,0,14.04,14.45,28.83
$GC,2363,-1.14,-97.2,2925,1884,2714,2670,278.5,-10.8,143,2369,0.00,2.28,0.00,0.000,516,0.000,0.059,2925,899,2692,2714,2670,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2377,-1.14,-97.2,2924,899,2714,2670,278.5,-10.8,143,2382,0.00,2.17,0.00,0.000,1030,0.000,0.050,2925,1863,2691,2714,2669,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2705,-1.14,-97.2,2925,1863,2714,2667,319.0,-12.5,154,2711,0.00,2.70,0.00,0.000,260,0.000,0.079,2925,3002,2691,2714,2668,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2811,-1.14,-97.2,2925,2997,2714,2667,331.6,-12.6,157,2817,0.00,2.65,0.00,0.000,1030,0.000,0.045,2925,1839,2688,2709,2667,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3139,-1.14,-97.2,2925,1840,2714,2665,372.1,-11.6,168,3144,0.00,2.15,0.00,0.000,516,0.000,0.060,2925,894,2689,2714,2664,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3376,-1.14,-97.2,2925,895,2714,2663,397.0,-11.0,175,3382,0.00,2.10,0.00,0.000,1030,0.000,0.047,2925,1820,2688,2714,2662,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3692,-1.14,-97.2,2925,1819,2714,2660,429.9,-9.6,186,3698,0.00,2.12,0.00,0.000,516,0.000,0.057,2924,895,2686,2713,2660,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3928,-1.14,-97.2,2925,895,2712,2660,451.2,-9.9,193,3933,0.00,2.05,0.00,0.000,1030,0.000,0.047,2925,1802,2685,2712,2659,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4243,-1.14,-97.2,2925,1802,2712,2654,485.5,-10.9,204,4249,0.00,2.10,0.00,0.000,516,0.000,0.056,2925,896,2685,2712,2658,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4479,-1.14,-97.2,2925,896,2711,2657,511.5,-12.3,211,4485,0.00,2.03,0.00,0.000,1030,0.000,0.046,2925,1793,2683,2711,2656,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4709,-0.25,0.0,2925,1792,2711,2655,542.0,-12.5,219,4825,1.05,0.00,108.78,1.325,10244,0.209,0.000,3200,1793,2297,2344,2251,0,0,0,0,0,0,13.76,28.83,13.44
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4834,1.44,97.2,3201,1793,2340,2252,548.6,0.0,223,4932,1.75,2.55,82.70,1.541,10500,0.099,0.073,3755,2855,1899,1963,1835,0,0,0,0,0,0,14.34,14.33,13.38
$GC,5165,1.31,97.2,3755,2855,1951,1828,535.0,8.6,234,5171,0.17,2.42,0.00,0.000,5126,0.323,0.050,3722,1797,1889,1951,1828,0,0,0,0,0,0,14.08,14.52,28.83
$GC,5505,1.22,97.2,3723,1797,1951,1825,508.7,7.9,245,5510,0.12,2.50,0.00,0.000,4356,0.313,0.062,3694,2858,1888,1951,1825,0,0,0,0,0,0,14.07,14.48,28.83
$GC,5742,1.13,97.2,3694,2857,1949,1825,491.2,7.8,252,5748,0.20,2.40,0.00,0.000,5126,0.298,0.047,3658,1811,1886,1949,1824,0,0,0,0,0,0,14.04,14.56,28.83
$GC,6061,1.09,105.2,3658,1812,1950,1821,469.4,6.5,263,6071,0.00,2.42,4.18,1.043,8708,0.000,0.062,3658,740,1871,1941,1802,0,0,0,0,0,0,28.83,14.64,13.45
$GC,6302,1.04,105.2,3658,740,1941,1802,452.8,7.5,270,6309,0.00,2.42,0.00,0.000,1030,0.000,0.037,3658,1833,1872,1941,1803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6613,1.00,105.7,3658,1833,1941,1803,428.3,7.4,281,6619,0.15,2.38,0.00,0.000,4356,0.276,0.063,3623,2854,1872,1941,1803,0,0,0,0,0,0,14.00,14.42,28.83
$GC,6731,0.95,105.8,3623,2854,1941,1802,420.7,7.5,284,6736,0.00,2.33,0.00,0.000,1030,0.000,0.045,3630,1834,1871,1941,1802,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7051,0.94,120.1,3630,1835,1941,1801,400.1,5.8,295,7073,0.12,2.38,15.50,1.300,12548,0.299,0.064,3601,2851,1806,1884,1729,0,0,0,0,0,0,14.01,14.64,13.66
$GC,7308,0.93,130.6,3602,2851,1878,1728,384.3,6.2,303,7328,0.00,2.28,10.00,1.242,9222,0.000,0.046,3602,1861,1763,1841,1686,0,0,0,0,0,0,28.83,14.50,13.66
$GC,7630,0.94,136.4,3602,1862,1835,1686,363.0,6.8,314,7640,0.00,2.33,4.65,1.060,8452,0.000,0.061,3602,2859,1744,1820,1669,0,0,0,0,0,0,28.83,14.64,13.50
$GC,7869,0.92,136.4,3602,2859,1819,1669,344.9,8.3,321,7877,0.00,2.28,0.00,0.000,1030,0.000,0.047,3603,1870,1743,1818,1669,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8177,0.92,136.9,3603,1871,1819,1669,320.5,7.4,332,8182,0.00,2.35,0.00,0.000,260,0.000,0.064,3603,2853,1744,1819,1669,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8415,0.90,136.9,3603,2852,1816,1669,302.3,8.3,339,8420,0.00,2.25,0.00,0.000,1030,0.000,0.047,3603,1877,1742,1816,1669,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8730,0.90,136.9,3603,1878,1816,1669,275.6,8.1,350,8735,0.00,2.33,0.00,0.000,260,0.000,0.063,3603,2853,1742,1816,1669,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8966,0.88,136.9,3603,2853,1814,1669,256.5,8.6,357,8971,0.00,2.22,0.00,0.000,1030,0.000,0.046,3603,1890,1741,1814,1669,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9280,0.88,136.9,3603,1891,1814,1669,231.0,7.6,376,9285,0.00,2.30,0.00,0.000,260,0.000,0.065,3603,2851,1741,1814,1669,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9516,0.88,136.9,3603,2851,1813,1669,211.9,8.4,391,9522,0.00,2.20,0.00,0.000,1030,0.000,0.047,3603,1903,1741,1813,1669,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9832,0.90,153.3,3603,1904,1813,1669,192.1,5.5,412,9856,0.00,2.28,16.27,1.054,8452,0.000,0.065,3603,2849,1671,1743,1599,0,0,0,0,0,0,28.83,14.54,13.68
$GC,10091,0.91,165.8,3603,2849,1735,1599,176.7,6.0,428,10113,0.00,2.17,11.15,1.026,9222,0.000,0.047,3603,1909,1621,1688,1554,0,0,0,0,0,0,28.83,14.42,13.73
$GC,10410,0.93,171.6,3603,1910,1683,1554,156.5,6.8,450,10420,0.00,2.62,4.68,0.903,8708,0.000,0.062,3603,753,1601,1666,1537,0,0,0,0,0,0,28.83,14.60,13.56
$GC,10487,0.96,178.4,3603,748,1666,1537,151.9,6.7,454,10503,0.00,2.55,8.50,0.958,9222,0.000,0.037,3603,1893,1570,1636,1504,0,0,0,0,0,0,28.83,14.44,13.80
$GC,10813,0.99,178.4,3603,1893,1631,1504,122.6,9.4,476,10819,0.00,2.25,0.00,0.000,260,0.000,0.067,3603,2854,1566,1630,1503,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11049,0.99,178.4,3603,2854,1628,1503,100.6,9.0,491,11055,0.00,2.22,0.00,0.000,1030,0.000,0.047,3603,1892,1565,1627,1503,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11365,1.01,178.4,3603,1892,1628,1503,74.4,8.2,512,11371,0.00,2.65,0.00,0.000,516,0.000,0.064,3603,742,1566,1627,1505,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11457,1.05,181.9,3603,742,1628,1503,68.1,7.1,517,11465,0.00,2.58,0.00,0.000,1030,0.000,0.038,3603,1885,1565,1628,1503,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11761,1.10,202.7,3603,1884,1628,1503,49.1,5.0,538,11792,0.12,2.28,19.85,0.874,10500,0.136,0.067,3668,2850,1468,1521,1416,0,0,0,0,0,0,14.38,14.55,13.84
$GC,12027,1.08,202.7,3668,2850,1512,1418,26.9,8.9,555,12033,0.00,2.22,0.00,0.000,1030,0.000,0.047,3670,1890,1464,1511,1417,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12348,1.36,264.8,3670,1890,1507,1418,4.3,-0.1,576,12378,0.17,0.00,27.12,0.087,10754,0.122,0.000,3732,1890,1236,1273,1199,0,0,0,0,0,0,14.21,28.83,28.83
$STATE,12379,end climb,SURFACE_DEPTH_REACHED
$STATE,12379,begin surface coast
$FINISH,4.5,1.024823
$STATE,12467,end surface coast,CONTROL_FINISHED_OK
$STATE,12468,begin surface
$SM_CCo,12474,132.60,0.073,0,0,188,517.58
$SM_GC,5.08,10.48,0.15,0.00,0.044,0.080,0.000,130,1988,189,-9.79,-0.74,517.83,0,0,0,0,0,0,14.56,14.59,28.83
$IRIDIUM_FIX,2451.31,-3746.87,100813,111117
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.45
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,3820544
$24V_AH,13.4,198.006
$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,28.525,107.475,313.375,132.600,0.000,0.000,0.000,608.225,0.250,0.000,243.661,2536.851,7632.780,567.362,2926.203,618.010,0.000,2240.537,0.000,2033.132,0.000,0.543,0.000
$DEVICE_MAMPS,378.675,83.385,1540.710,73.440,0.000,0.000,0.000,206.550,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12477.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.102,0.000,0.000,0.000
$MEM,345068
$DATA_FILE_SIZE,20046,584
$CAP_FILE_SIZE,162970,0
$CFSIZE,260034560,184606720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.078, 60.8,1
$GPS,100813,115217,2451.311,-3746.870,0,10000.0,0,-14.9