version: 66.11
glider: 160
mission: 9
dive: 549
start: 8 15 113 15 29 48
data:
$ID,160
$MISSION,9
$DIVE,549
$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,-102486.5
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,150813,103456,2451.311,-3740.201,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-67.5
$GPS2,150813,103456,2451.311,-3740.201,241,99.0,241,-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,198.8,48744,-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,-41.0,131,1944,222,163,0.0,0.0,0,116,0.00,0.00,-91.00,0.000,16386,0.000,0.000,132,1945,2392,2358,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.43,-92.1,131,1945,2359,2426,3.6,-1.2,6,147,13.65,2.38,-6.60,0.000,18948,0.375,0.077,2829,884,2676,2688,2665,0,0,0,0,0,0,13.97,14.51,14.87
$GC,382,-1.33,-92.1,2829,884,2688,2665,49.8,-18.3,22,390,0.15,2.40,0.00,0.000,3078,0.307,0.044,2858,1960,2676,2688,2665,0,0,0,0,0,0,13.93,14.50,28.83
$GC,686,-1.27,-92.1,2858,1960,2688,2665,93.5,-11.1,43,692,0.00,2.42,0.00,0.000,516,0.000,0.047,2857,886,2676,2688,2665,0,0,0,0,0,0,28.83,14.41,28.83
$GC,854,-1.21,-92.1,2857,886,2688,2665,111.3,-11.2,53,862,0.20,2.42,0.00,0.000,3078,0.275,0.054,2898,1941,2676,2688,2664,0,0,0,0,0,0,13.88,14.33,28.83
$GC,1162,-1.18,-92.1,2898,1940,2688,2664,146.2,-11.6,74,1167,0.00,2.38,0.00,0.000,516,0.000,0.050,2898,893,2676,2688,2664,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1398,-1.16,-92.1,1840,893,2627,2655,175.9,-12.9,89,1403,0.00,2.33,0.00,0.000,1030,0.000,0.057,2898,1903,2676,2688,2664,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1713,-1.13,-92.1,2898,1902,2688,2663,213.0,-10.6,110,1719,0.12,2.38,0.00,0.000,2564,0.290,0.058,2928,887,2675,2688,2663,0,0,0,0,0,0,14.07,14.35,28.83
$GC,1950,-1.13,-92.1,1896,887,2629,2653,233.9,-8.5,125,1955,0.00,2.33,0.00,0.000,1030,0.000,0.055,2928,1906,2674,2687,2661,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2265,-1.13,-92.1,2928,1905,2688,2660,260.8,-8.5,142,2271,0.00,2.38,0.00,0.000,516,0.000,0.063,2927,891,2674,2688,2660,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2502,-1.13,-92.1,2928,891,2688,2659,281.1,-9.5,149,2507,0.00,2.25,0.00,0.000,1030,0.000,0.055,2928,1877,2673,2688,2659,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2816,-1.13,-92.1,2928,1874,2688,2657,317.0,-11.3,160,2821,0.00,2.28,0.00,0.000,516,0.000,0.062,2928,892,2672,2688,2657,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3053,-1.13,-92.1,2928,893,2688,2655,344.0,-12.7,167,3059,0.00,2.20,0.00,0.000,1030,0.000,0.054,2928,1854,2671,2688,2655,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3370,-1.13,-92.1,2928,1853,2688,2653,387.4,-13.2,178,3375,0.00,2.25,0.00,0.000,516,0.000,0.061,2922,892,2670,2688,2653,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3607,-1.13,-92.1,2928,892,2688,2651,415.9,-13.0,185,3612,0.00,2.17,0.00,0.000,1030,0.000,0.054,2928,1844,2670,2689,2651,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3921,-1.13,-92.1,2928,1847,2688,2649,454.2,-10.7,196,3926,0.00,2.20,0.00,0.000,516,0.000,0.061,2928,892,2668,2688,2649,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4123,-1.13,-92.1,2928,892,2688,2647,473.7,-10.4,202,4128,0.00,2.15,0.00,0.000,1030,0.000,0.053,2928,1832,2667,2688,2647,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4445,-1.13,-92.1,2928,1831,2688,2640,508.6,-10.7,213,4450,0.00,2.20,0.00,0.000,516,0.000,0.061,2928,886,2666,2688,2645,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4574,-1.13,-92.1,2928,885,2688,2645,522.2,-10.7,217,4579,0.00,2.15,0.00,0.000,1030,0.000,0.051,2927,1823,2666,2688,2644,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,4754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4755,begin apogee
$GC,4763,-0.25,0.0,2927,1822,2688,2642,541.2,-9.9,223,4846,1.08,0.00,74.68,1.537,10244,0.207,0.000,3209,1823,2295,2348,2242,0,0,0,0,0,0,13.71,28.83,13.31
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4852,begin climb
$GC,4856,1.43,92.1,3209,1823,2346,2239,543.9,0.0,226,4943,1.70,2.47,77.75,1.538,10500,0.087,0.068,3761,2859,1920,1979,1862,0,0,0,0,0,0,14.36,14.35,13.35
$GC,5179,1.30,92.1,3761,2859,1967,1853,528.0,9.2,236,5185,0.25,2.45,0.00,0.000,5126,0.310,0.045,3717,1790,1909,1966,1852,0,0,0,0,0,0,13.99,14.46,28.83
$GC,5500,1.23,98.5,3717,1791,1966,1848,503.4,6.7,247,5506,0.00,2.40,1.08,0.082,8708,0.000,0.064,3725,745,1898,1959,1837,0,0,0,0,0,0,28.83,14.45,14.30
$GC,5723,1.15,112.5,3726,745,1960,1845,489.9,5.8,254,5748,0.25,2.40,16.33,1.374,13318,0.272,0.045,3671,1817,1836,1909,1764,0,0,0,0,0,0,13.97,14.51,13.64
$GC,6048,1.11,126.0,3671,1816,1905,1759,470.7,5.8,265,6067,0.00,2.38,11.70,1.336,8452,0.000,0.063,3671,2856,1785,1861,1709,0,0,0,0,0,0,28.83,14.66,13.64
$GC,6194,1.06,132.5,3671,2856,1854,1708,462.3,6.7,269,6207,0.17,2.42,5.72,1.216,13318,0.291,0.046,3637,1797,1763,1839,1687,0,0,0,0,0,0,14.13,14.53,13.62
$GC,6506,1.04,139.9,3637,1797,1837,1685,440.8,6.6,280,6520,0.00,2.45,9.15,1.279,8452,0.000,0.056,3637,2853,1726,1803,1649,0,0,0,0,0,0,28.83,14.68,13.68
$GC,6641,1.00,139.9,3637,2853,1796,1648,430.4,8.1,284,6647,0.00,2.40,0.00,0.000,1030,0.000,0.045,3642,1805,1722,1795,1649,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6971,0.98,139.9,3642,1805,1795,1648,403.2,8.2,295,6973,0.15,0.00,0.00,0.000,4102,0.293,0.000,3613,1805,1721,1794,1648,0,0,0,0,0,0,14.05,28.83,28.83
$GC,7267,0.98,144.8,3613,1806,1794,1646,381.2,6.9,305,7277,0.00,2.45,3.75,0.945,8452,0.000,0.059,3612,2847,1708,1783,1634,0,0,0,0,0,0,28.83,14.63,13.49
$GC,7403,0.97,146.4,3613,2847,1783,1636,371.8,7.3,309,7409,0.00,2.38,0.00,0.000,1030,0.000,0.045,3615,1810,1710,1784,1636,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7733,0.97,149.4,3615,1810,1783,1636,349.0,7.1,320,7743,0.00,2.42,4.90,1.091,8708,0.000,0.066,3615,745,1692,1766,1619,0,0,0,0,0,0,28.83,14.64,13.51
$GC,7761,0.97,152.3,3615,746,1765,1620,349.0,7.1,320,7773,0.00,2.38,4.35,1.020,9222,0.000,0.042,3615,1817,1680,1754,1607,0,0,0,0,0,0,28.83,14.62,13.54
$GC,8102,0.97,152.3,3615,1817,1754,1608,320.9,7.9,332,8107,0.00,2.40,0.00,0.000,260,0.000,0.062,3614,2851,1681,1754,1608,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8341,0.96,152.3,3615,2851,1751,1608,301.9,8.5,339,8346,0.00,2.35,0.00,0.000,1030,0.000,0.045,3612,1837,1679,1751,1608,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8660,0.96,152.3,3616,1838,1751,1608,276.5,7.5,350,8665,0.00,2.42,0.00,0.000,260,0.000,0.058,3617,2856,1679,1750,1608,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8749,0.96,152.3,3616,2855,1750,1608,270.6,8.1,352,8756,0.00,2.40,0.00,0.000,1030,0.000,0.045,3616,1822,1679,1750,1608,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9059,0.96,152.3,3616,1823,1750,1608,243.7,8.5,365,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1822,1679,1750,1608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9355,0.96,152.3,3616,1823,1750,1608,218.2,8.5,385,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1823,1679,1750,1608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9655,0.96,152.3,3616,1823,1750,1608,191.7,9.0,405,9660,0.00,2.45,0.00,0.000,260,0.000,0.057,3616,2851,1679,1750,1608,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9866,0.96,152.3,3616,2850,1748,1608,174.0,8.0,418,9874,0.00,2.35,0.00,0.000,1030,0.000,0.044,3616,1838,1678,1749,1608,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10173,0.97,163.7,3616,1839,1749,1608,154.2,6.1,439,10188,0.00,0.00,12.32,0.981,8198,0.000,0.000,3617,1839,1631,1701,1562,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10489,0.97,165.9,3616,1839,1690,1559,132.7,7.2,460,10495,0.00,2.53,0.00,0.000,516,0.000,0.064,3616,745,1625,1692,1559,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10617,1.00,172.8,3616,745,1692,1558,123.8,6.7,468,10633,0.00,2.42,8.90,0.930,9222,0.000,0.040,3616,1830,1590,1659,1522,0,0,0,0,0,0,28.83,14.43,13.71
$GC,10933,1.03,183.8,3616,1830,1654,1522,105.5,6.1,489,10948,0.00,2.42,9.77,0.912,8452,0.000,0.063,3616,2855,1546,1609,1483,0,0,0,0,0,0,28.83,14.62,13.78
$GC,11185,1.03,183.8,3616,2855,1601,1483,84.2,9.1,505,11190,0.00,2.33,0.00,0.000,1030,0.000,0.044,3616,1851,1542,1601,1483,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11505,1.08,200.1,3616,1851,1602,1483,61.3,5.5,526,11521,0.00,0.00,13.85,0.865,8198,0.000,0.000,3616,1852,1482,1538,1427,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11822,1.12,208.0,3612,1852,1528,1426,41.4,6.5,547,11833,0.12,0.00,7.18,0.806,10246,0.123,0.000,3677,1851,1448,1493,1404,0,0,0,0,0,0,14.41,28.83,13.83
$GC,12136,1.12,208.0,3677,1851,1485,1404,14.0,9.0,568,12141,0.00,2.53,0.00,0.000,516,0.000,0.063,3683,750,1444,1485,1404,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12185,1.12,208.0,3683,750,1482,1406,8.6,10.2,571,12191,0.00,2.50,0.00,0.000,1030,0.000,0.041,3683,1860,1443,1481,1406,0,0,0,0,0,0,28.83,14.35,28.83
$FREEZE,4.05,25.940,-2.078,0,72,0
$STATE,12401,end climb,NO_VERTICAL_VELOCITY
$STATE,12401,begin surface
$SM_CCo,12407,158.93,0.073,0,0,189,517.58
$SM_GC,4.60,10.27,0.17,0.00,0.041,0.088,0.000,132,1968,190,-9.78,-0.71,517.58,0,0,0,0,0,0,14.58,14.54,28.83
$IRIDIUM_FIX,2451.31,-3738.32,150813,151543
$TT8_MAMPS,0.023219,0.023219
$HUMID,82.72
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.20
$XPDR_PINGS,3
$SC_FREEKB,3809792
$24V_AH,13.3,204.253
$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,28.125,99.525,261.425,158.925,0.000,0.000,0.000,812.050,0.750,0.000,242.620,2376.894,7987.665,545.443,2893.585,892.433,0.000,2315.290,0.000,1843.830,0.000,0.543,0.000
$DEVICE_MAMPS,374.850,87.975,1538.415,73.440,0.000,0.000,0.000,197.370,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12415.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.187,0.000,0.000,0.000
$MEM,344780
$DATA_FILE_SIZE,20129,585
$CAP_FILE_SIZE,158717,0
$CFSIZE,260034560,181956608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.215,247.4,1
$GPS,150813,151643,2451.311,-3738.319,0,10000.0,0,-14.9