version: 66.11
glider: 160
mission: 9
dive: 547
start: 8 15 113 6 37 43
data:
$ID,160
$MISSION,9
$DIVE,547
$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,-101504.96
$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,46
$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
$GPS1,150813,020141,2451.311,-3738.319,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-68.1
$GPS2,150813,020141,2451.311,-3738.319,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.197
$TGT_NAME,CTR
$TGT_LATLONG,2434.000,-3802.000
$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,201.1,51174,-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,-41.0,131,1973,216,168,0.0,0.0,0,116,0.00,0.00,-90.75,0.000,16386,0.000,0.000,131,1973,2384,2356,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.43,-92.7,132,1973,2356,2414,3.2,-1.2,6,148,13.57,2.42,-6.80,0.000,18948,0.372,0.073,2827,892,2678,2690,2666,0,0,0,0,0,0,13.97,14.56,14.87
$GC,383,-1.34,-92.7,2828,893,2690,2666,46.4,-17.5,22,391,0.15,2.33,0.00,0.000,3078,0.306,0.047,2857,1930,2677,2690,2665,0,0,0,0,0,0,14.04,14.42,28.83
$GC,687,-1.28,-92.7,2857,1930,2690,2664,88.4,-12.8,43,693,0.00,2.35,0.00,0.000,516,0.000,0.054,2857,889,2677,2690,2664,0,0,0,0,0,0,28.83,14.49,28.83
$GC,924,-1.22,-92.7,1808,888,2630,2652,117.9,-12.6,58,930,0.20,2.35,0.00,0.000,3078,0.278,0.047,2898,1928,2677,2691,2664,0,0,0,0,0,0,14.02,14.49,28.83
$GC,1240,-1.19,-92.7,2899,1928,2690,2660,156.4,-11.9,79,1246,0.00,2.55,0.00,0.000,260,0.000,0.081,2898,3004,2676,2690,2663,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1331,-1.17,-92.7,2898,3004,2690,2663,166.2,-12.4,84,1339,0.00,2.50,0.00,0.000,1030,0.000,0.047,2898,1907,2677,2691,2663,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1637,-1.15,-92.7,2898,1908,2690,2663,199.0,-9.7,105,1642,0.00,2.62,0.00,0.000,260,0.000,0.073,2898,3004,2675,2690,2661,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1827,-1.12,-92.7,1856,3001,2631,2653,217.7,-10.3,117,1833,0.15,2.60,0.00,0.000,3078,0.275,0.047,2928,1862,2675,2690,2661,0,0,0,0,0,0,14.05,14.50,28.83
$GC,2142,-1.12,-92.7,2928,1863,2690,2661,249.7,-10.8,138,2148,0.00,2.20,0.00,0.000,516,0.000,0.059,2931,889,2675,2690,2660,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2378,-1.12,-92.7,2931,890,2685,2659,274.1,-11.6,146,2383,0.00,2.15,0.00,0.000,1030,0.000,0.045,2931,1850,2674,2690,2658,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2692,-1.12,-92.7,2931,1850,2690,2657,314.5,-12.3,157,2698,0.00,2.72,0.00,0.000,260,0.000,0.078,2930,3000,2673,2689,2657,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2869,-1.12,-92.7,2930,2999,2690,2655,334.1,-12.5,162,2875,0.00,2.70,0.00,0.000,1030,0.000,0.043,2930,1809,2672,2690,2655,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3186,-1.12,-92.7,2930,1810,2690,2654,370.4,-10.3,173,3191,0.00,2.05,0.00,0.000,516,0.000,0.057,2930,893,2671,2690,2653,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3224,-1.12,-92.7,2930,893,2690,2653,373.9,-10.0,174,3230,0.00,2.00,0.00,0.000,1030,0.000,0.043,2931,1792,2671,2690,2653,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3557,-1.12,-92.7,2931,1793,2691,2650,405.7,-9.0,185,3563,0.00,2.88,0.00,0.000,260,0.000,0.076,2930,3002,2670,2690,2650,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3633,-1.12,-92.7,2931,3002,2691,2650,411.9,-9.0,187,3638,0.00,2.83,0.00,0.000,1030,0.000,0.041,2931,1759,2670,2690,2650,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3960,-1.12,-92.7,2931,1760,2690,2647,441.3,-8.7,198,3965,0.00,1.92,0.00,0.000,516,0.000,0.057,2930,893,2668,2690,2647,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4197,-1.12,-92.7,2930,894,2690,2646,462.4,-9.8,205,4202,0.00,1.90,0.00,0.000,1030,0.000,0.043,2930,1751,2665,2690,2641,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4514,-1.12,-92.7,2930,1750,2690,2643,496.6,-10.2,216,4519,0.00,1.95,0.00,0.000,516,0.000,0.053,2931,892,2666,2690,2643,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4750,-1.12,-92.7,2927,892,2690,2641,519.5,-10.7,223,4755,0.00,1.88,0.00,0.000,1030,0.000,0.041,2930,1737,2665,2690,2641,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,4940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4940,begin apogee
$GC,4949,-0.25,0.0,2930,1817,2690,2641,541.2,-10.0,230,5051,1.05,0.00,95.30,1.372,10244,0.216,0.000,3203,1816,2297,2336,2258,0,0,0,0,0,0,13.71,28.83,13.41
$STATE,5057,end apogee,CONTROL_FINISHED_OK
$STATE,5057,begin climb
$GC,5061,1.43,92.7,3203,1817,2331,2258,544.4,0.0,233,5156,1.77,2.50,79.03,1.545,10756,0.107,0.057,3756,741,1920,1986,1854,0,0,0,0,0,0,14.31,14.37,13.33
$GC,5184,1.43,92.7,3756,741,1982,1844,547.1,-1.4,237,5191,0.00,2.35,0.00,0.000,1030,0.000,0.037,3756,1794,1912,1982,1843,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5496,1.33,93.2,3756,1793,1976,1838,523.1,7.4,248,5502,0.12,2.42,0.00,0.000,4612,0.314,0.055,3730,743,1906,1975,1838,0,0,0,0,0,0,14.08,14.51,28.83
$GC,5735,1.24,93.2,3729,743,1974,1838,506.4,7.5,255,5741,0.15,2.38,0.00,0.000,5126,0.295,0.038,3699,1829,1906,1974,1838,0,0,0,0,0,0,14.07,14.56,28.83
$GC,6055,1.18,98.5,3699,1827,1974,1834,483.1,6.9,266,6060,0.00,2.35,0.00,0.000,260,0.000,0.063,3699,2841,1903,1972,1834,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6293,1.09,105.0,3699,2840,1971,1833,467.8,6.7,273,6309,0.25,2.30,9.27,1.288,13318,0.310,0.044,3648,1838,1868,1946,1791,0,0,0,0,0,0,13.88,14.51,13.63
$GC,6639,1.07,117.0,3649,1838,1944,1787,445.4,6.0,285,6657,0.00,2.38,11.45,1.325,8452,0.000,0.060,3645,2838,1819,1898,1740,0,0,0,0,0,0,28.83,14.64,13.64
$GC,6889,1.02,118.1,3649,2838,1889,1739,427.7,7.4,293,6896,0.15,2.28,0.00,0.000,5126,0.295,0.042,3626,1842,1814,1889,1739,0,0,0,0,0,0,14.10,14.54,28.83
$GC,7225,1.01,129.2,3625,1838,1888,1739,407.0,6.1,304,7243,0.00,2.38,11.23,1.283,8452,0.000,0.059,3626,2836,1769,1848,1691,0,0,0,0,0,0,28.83,14.62,13.64
$GC,7474,0.99,133.3,3626,2836,1842,1690,389.5,7.0,312,7485,0.00,2.25,3.45,0.899,9222,0.000,0.041,3629,1848,1755,1831,1680,0,0,0,0,0,0,28.83,14.54,13.47
$GC,7804,1.00,144.2,3629,1849,1831,1680,368.6,6.2,323,7823,0.00,2.33,12.12,1.246,8452,0.000,0.056,3629,2847,1709,1787,1631,0,0,0,0,0,0,28.83,14.66,13.71
$GC,8054,0.97,144.2,2848,2841,1734,1625,349.0,8.2,331,8060,0.00,2.25,0.00,0.000,1030,0.000,0.042,3630,1860,1705,1779,1631,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8388,0.97,149.4,3630,1860,1779,1631,325.5,6.9,342,8399,0.00,2.28,4.30,1.006,8452,0.000,0.055,3630,2839,1689,1761,1617,0,0,0,0,0,0,28.83,14.64,13.51
$GC,8630,0.95,149.4,3630,2839,1760,1618,308.0,8.0,349,8638,0.15,2.20,0.00,0.000,5126,0.282,0.043,3600,1877,1689,1760,1618,0,0,0,0,0,0,14.06,14.51,28.83
$GC,8940,0.95,150.0,3600,1878,1760,1618,283.8,7.4,360,8945,0.00,2.28,0.00,0.000,260,0.000,0.057,3600,2838,1688,1758,1618,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9176,0.95,150.0,3600,2839,1758,1618,264.6,8.7,367,9181,0.00,2.17,0.00,0.000,1030,0.000,0.041,3601,1888,1688,1758,1618,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9492,0.96,150.0,3601,1889,1758,1618,236.6,8.4,383,9498,0.00,2.28,0.00,0.000,260,0.000,0.058,3601,2839,1688,1758,1618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9727,0.96,150.0,2816,2834,1714,1613,216.5,8.1,398,9732,0.00,2.17,0.00,0.000,1030,0.000,0.042,3603,1892,1687,1757,1618,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10042,0.98,154.3,3603,1893,1756,1618,194.5,7.0,419,10053,0.00,2.22,5.28,0.977,8452,0.000,0.056,3603,2840,1671,1739,1603,0,0,0,0,0,0,28.83,14.56,13.62
$GC,10261,0.98,154.3,3603,2838,1739,1602,176.3,8.5,433,10266,0.00,2.17,0.00,0.000,1030,0.000,0.041,3603,1893,1672,1739,1605,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10582,1.00,154.3,3603,1894,1739,1603,151.5,7.6,454,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1894,1671,1739,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10882,1.03,161.9,3603,1895,1739,1603,131.6,6.6,474,10898,0.00,2.25,9.05,0.942,8452,0.000,0.058,3603,2834,1636,1705,1567,0,0,0,0,0,0,28.83,14.54,13.68
$GC,11089,1.03,161.9,3603,2834,1700,1567,115.4,8.7,487,11097,0.00,2.15,0.00,0.000,1030,0.000,0.041,3602,1902,1633,1699,1567,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11396,1.07,174.7,3603,1903,1700,1567,93.1,5.9,508,11410,0.12,0.00,11.73,0.909,10246,0.125,0.000,3660,1903,1585,1650,1521,0,0,0,0,0,0,14.45,28.83,13.76
$GC,11709,1.07,174.7,3660,1903,1642,1519,69.6,8.2,529,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,3660,1903,1580,1642,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12010,1.08,186.4,3660,1904,1641,1519,48.4,6.1,549,12026,0.00,2.28,9.95,0.837,8452,0.000,0.060,3660,2845,1536,1594,1479,0,0,0,0,0,0,28.83,14.61,13.81
$GC,12261,1.06,188.0,3660,2845,1588,1479,30.1,7.3,565,12267,0.15,2.20,0.00,0.000,5126,0.277,0.043,3638,1888,1533,1588,1479,0,0,0,0,0,0,14.00,14.42,28.83
$GC,12582,1.06,188.0,3638,1890,1588,1480,7.1,7.6,586,12587,0.00,2.28,0.00,0.000,260,0.000,0.060,3639,2844,1533,1587,1479,0,0,0,0,0,0,28.83,14.28,28.83
$FREEZE,3.97,25.755,-1.095,0,70,0
$STATE,12781,end climb,NO_VERTICAL_VELOCITY
$STATE,12781,begin surface
$SM_CCo,12788,168.35,0.074,0,0,188,517.58
$SM_CCo,13231,0.70,0.065,0,0,188,517.58
$SM_GC,4.24,10.23,2.10,0.70,0.047,0.043,0.065,146,1953,188,-9.77,0.79,517.58,0,0,0,0,0,0,14.51,14.41,14.45
$IRIDIUM_FIX,2451.31,-3741.65,150813,060614
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.94
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,3810560
$24V_AH,13.3,203.836
$10V_AH,12.2,0.000
$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,28.225,106.200,262.150,169.050,0.000,0.000,0.000,1406.425,0.500,0.000,243.610,2583.925,7881.037,565.949,3602.918,1013.128,0.000,3022.331,0.000,2029.983,0.000,0.544,0.000
$DEVICE_MAMPS,371.790,122.400,1544.535,74.205,0.000,0.000,0.000,224.910,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.111,0.000,0.000,0.000
$MEM,344800
$DATA_FILE_SIZE,23451,599
$CAP_FILE_SIZE,172359,0
$CFSIZE,260034560,182149120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,7.201, 88.5,1
$GPS,150813,062314,2451.311,-3741.655,0,10000.0,0,-14.9