version: 66.11
glider: 160
mission: 9
dive: 552
start: 8 16 113 4 50 5
data:
$ID,160
$MISSION,9
$DIVE,552
$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,-103961.27
$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,26
$R_STBD_OVSHOOT,39
$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
$GPS1,150813,234946,2448.935,-3734.985,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-68.6
$GPS2,150813,234946,2448.935,-3734.985,241,99.0,241,-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,208.6,53249,-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,23,-1.38,-41.0,128,1965,218,164,0.0,0.0,0,114,0.00,0.00,-88.80,0.000,16386,0.000,0.000,128,1966,2323,2298,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.43,-91.9,128,1966,2299,2349,3.4,-1.3,6,151,13.45,2.53,-8.27,0.000,18948,0.367,0.086,2827,900,2675,2689,2661,0,0,0,0,0,0,14.05,14.50,14.88
$GC,388,-1.34,-91.9,2827,900,2689,2661,47.8,-14.9,23,394,0.15,2.40,0.00,0.000,3078,0.307,0.057,2857,1936,2674,2689,2660,0,0,0,0,0,0,14.03,14.44,28.83
$GC,709,-1.28,-91.9,2857,1935,2689,2660,92.7,-13.6,44,714,0.00,2.40,0.00,0.000,516,0.000,0.056,2857,900,2674,2689,2660,0,0,0,0,0,0,28.83,14.40,28.83
$GC,948,-1.21,-91.9,2857,900,2689,2660,124.2,-13.4,59,954,0.20,2.38,0.00,0.000,3078,0.276,0.057,2899,1925,2674,2689,2659,0,0,0,0,0,0,14.00,14.45,28.83
$GC,1266,-1.19,-91.9,2899,1925,2689,2659,156.6,-9.8,80,1271,0.00,2.40,0.00,0.000,516,0.000,0.064,2899,901,2674,2689,2659,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1502,-1.16,-91.9,1840,901,2628,2649,179.3,-10.3,95,1507,0.00,2.35,0.00,0.000,1030,0.000,0.055,2898,1922,2673,2689,2658,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1818,-1.14,-91.9,2898,1921,2689,2658,212.4,-10.3,116,1824,0.12,2.40,0.00,0.000,2564,0.303,0.059,2927,897,2673,2689,2658,0,0,0,0,0,0,14.06,14.40,28.83
$GC,2054,-1.14,-91.9,1888,897,2628,2648,234.9,-9.4,131,2060,0.00,2.33,0.00,0.000,1030,0.000,0.056,2927,1895,2672,2689,2656,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2369,-1.14,-91.9,2927,1894,2689,2655,265.6,-9.7,147,2375,0.00,2.33,0.00,0.000,516,0.000,0.060,2926,898,2672,2689,2655,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2606,-1.14,-91.9,2927,898,2689,2654,286.1,-9.5,154,2611,0.00,2.30,0.00,0.000,1030,0.000,0.060,2927,1882,2671,2689,2654,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2921,-1.14,-91.9,2927,1881,2689,2652,314.5,-8.3,165,2926,0.00,2.30,0.00,0.000,516,0.000,0.063,2926,899,2670,2689,2652,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3157,-1.14,-91.9,2927,899,2689,2651,335.1,-10.1,172,3163,0.00,2.25,0.00,0.000,1030,0.000,0.058,2926,1868,2669,2689,2650,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3474,-1.14,-91.9,2927,1867,2689,2648,373.5,-11.7,183,3480,0.00,2.28,0.00,0.000,516,0.000,0.063,2926,897,2668,2689,2648,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3711,-1.14,-91.9,2926,896,2689,2647,399.6,-12.0,190,3716,0.00,2.20,0.00,0.000,1030,0.000,0.054,2927,1849,2667,2689,2646,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4027,-1.14,-91.9,2926,1848,2689,2645,436.2,-10.3,201,4032,0.00,2.22,0.00,0.000,516,0.000,0.060,2926,896,2667,2689,2645,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4263,-1.14,-91.9,2927,896,2689,2643,457.9,-9.8,208,4269,0.00,2.15,0.00,0.000,1030,0.000,0.050,2927,1831,2665,2689,2642,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4579,-1.14,-91.9,2927,1830,2689,2641,491.3,-10.0,219,4585,0.00,2.80,0.00,0.000,260,0.000,0.076,2926,3010,2665,2689,2641,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4767,-1.14,-91.9,2927,3010,2688,2641,510.5,-10.4,225,4773,0.00,2.75,0.00,0.000,1030,0.000,0.044,2927,1809,2664,2688,2641,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,5068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5068,begin apogee
$GC,5081,-0.25,0.0,2927,1810,2688,2639,541.9,-10.3,235,5163,1.08,0.00,73.68,1.544,10244,0.217,0.000,3202,1810,2295,2333,2258,0,0,0,0,0,0,13.71,28.83,13.33
$STATE,5164,end apogee,CONTROL_FINISHED_OK
$STATE,5165,begin climb
$GC,5171,1.43,91.9,3203,1809,2328,2257,545.5,0.0,238,5258,1.73,2.55,77.93,1.551,10500,0.093,0.069,3755,2863,1924,1984,1864,0,0,0,0,0,0,14.36,14.35,13.35
$GC,5322,1.35,137.2,3756,2864,1972,1854,543.6,1.9,243,5369,0.17,2.45,36.78,1.514,13318,0.315,0.047,3731,1796,1736,1808,1664,0,0,0,0,0,0,14.09,14.46,13.43
$GC,5685,1.27,137.2,3731,1797,1796,1662,503.2,11.5,255,5690,0.00,2.42,0.00,0.000,516,0.000,0.062,3740,745,1729,1796,1662,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5780,1.18,137.2,3740,745,1795,1662,491.8,12.0,258,5786,0.28,2.45,0.00,0.000,5126,0.269,0.041,3678,1827,1728,1796,1661,0,0,0,0,0,0,14.09,14.57,28.83
$GC,6115,1.13,137.2,3678,1826,1794,1659,456.5,10.2,269,6121,0.00,2.40,0.00,0.000,260,0.000,0.067,3678,2860,1727,1795,1659,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6353,1.06,137.2,3678,2859,1791,1659,434.0,10.2,276,6359,0.20,2.35,0.00,0.000,5126,0.280,0.046,3642,1829,1725,1791,1659,0,0,0,0,0,0,14.04,14.50,28.83
$GC,6674,1.05,145.6,3643,1830,1790,1658,409.6,6.5,287,6684,0.00,2.40,5.15,1.137,8452,0.000,0.061,3643,2862,1706,1778,1635,0,0,0,0,0,0,28.83,14.64,13.61
$GC,6916,1.01,149.7,3644,2862,1776,1636,394.1,7.0,294,6928,0.00,2.35,4.80,1.102,9222,0.000,0.049,3643,1840,1688,1758,1619,0,0,0,0,0,0,28.83,14.49,13.50
$GC,7259,0.99,149.7,3644,1840,1758,1620,366.2,8.4,306,7261,0.12,0.00,0.00,0.000,4102,0.297,0.000,3620,1840,1689,1758,1620,0,0,0,0,0,0,14.13,28.83,28.83
$GC,7558,0.99,149.7,3620,1841,1757,1621,340.3,8.8,316,7563,0.00,2.40,0.00,0.000,260,0.000,0.060,3620,2857,1688,1757,1620,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7797,0.97,149.7,3621,2857,1755,1620,320.5,8.8,323,7802,0.00,2.35,0.00,0.000,1030,0.000,0.046,3620,1839,1688,1755,1621,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8116,0.98,162.5,3620,1840,1755,1619,298.9,5.9,334,8134,0.00,0.00,13.70,1.164,8710,0.000,0.000,3620,1840,1633,1702,1564,0,0,0,0,0,0,28.83,28.83,13.64
$GC,8452,0.98,162.5,3620,1840,1695,1564,273.1,8.3,345,8457,0.00,2.40,0.00,0.000,260,0.000,0.060,3620,2855,1629,1694,1564,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8628,0.96,162.5,3620,2854,1692,1564,256.8,10.3,350,8633,0.00,2.33,0.00,0.000,1030,0.000,0.047,3620,1852,1628,1692,1564,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8944,0.96,162.5,3620,1853,1691,1564,227.0,8.3,369,8949,0.00,2.42,0.00,0.000,260,0.000,0.062,3620,2856,1627,1691,1564,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9074,0.96,162.5,3620,2856,1690,1563,216.6,7.9,377,9080,0.00,2.33,0.00,0.000,1030,0.000,0.047,3620,1859,1626,1689,1564,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9390,0.97,169.7,3620,1860,1690,1564,195.2,6.6,398,9406,0.00,2.60,5.60,0.982,8708,0.000,0.065,3620,746,1609,1673,1545,0,0,0,0,0,0,28.83,14.54,13.65
$GC,9441,0.97,171.7,3620,746,1667,1545,191.4,7.3,401,9446,0.00,2.47,0.00,0.000,1030,0.000,0.037,3620,1858,1607,1672,1543,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9760,0.97,171.7,3620,1856,1671,1544,167.8,7.9,422,9765,0.00,2.33,0.00,0.000,260,0.000,0.064,3620,2855,1607,1671,1544,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9929,0.97,171.7,3620,2854,1669,1544,153.5,9.0,432,9936,0.00,2.30,0.00,0.000,1030,0.000,0.045,3619,1859,1606,1669,1544,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10235,0.97,171.7,3620,1860,1669,1544,127.6,8.7,453,10240,0.00,2.40,0.00,0.000,260,0.000,0.062,3620,2860,1606,1669,1544,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10401,0.97,171.7,3620,2859,1668,1544,114.2,7.5,463,10408,0.00,2.30,0.00,0.000,1030,0.000,0.045,3620,1867,1605,1667,1544,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10708,0.99,175.0,3620,1868,1669,1544,94.1,7.1,484,10719,0.00,2.60,5.75,0.874,8708,0.000,0.062,3620,738,1586,1647,1526,0,0,0,0,0,0,28.83,14.52,13.68
$GC,10794,1.02,175.9,3620,738,1645,1526,87.6,7.4,489,10799,0.00,2.55,0.00,0.000,1030,0.000,0.037,3620,1864,1585,1645,1526,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11114,1.05,184.0,3619,1864,1644,1526,63.5,6.5,510,11130,0.00,2.35,9.80,0.849,8452,0.000,0.066,3620,2857,1545,1605,1485,0,0,0,0,0,0,28.83,14.57,13.79
$GC,11367,1.05,184.2,3620,2857,1598,1484,45.3,7.5,526,11372,0.00,2.25,0.00,0.000,1030,0.000,0.045,3620,1878,1541,1598,1484,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11688,1.10,200.4,3619,1879,1598,1484,26.3,5.5,547,11708,0.00,2.30,12.70,0.790,8452,0.000,0.065,3620,2858,1480,1535,1425,0,0,0,0,0,0,28.83,14.61,13.85
$GC,11801,1.10,200.4,3620,2858,1530,1425,16.0,9.6,554,11806,0.00,2.25,0.00,0.000,1030,0.000,0.046,3620,1880,1478,1530,1426,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12123,1.38,260.9,3620,1880,1527,1425,3.8,0.1,575,12139,0.35,0.00,13.18,0.095,10498,0.098,0.000,3738,1880,1367,1407,1328,0,0,0,0,0,0,14.16,28.83,28.83
$STATE,12140,end climb,SURFACE_DEPTH_REACHED
$STATE,12140,begin surface coast
$FINISH,3.8,1.025183
$STATE,12328,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12328,begin surface
$SM_CCo,12333,148.82,0.071,0,0,189,517.58
$SM_GC,4.38,10.48,0.17,0.00,0.044,0.069,0.000,150,1974,189,-9.77,-0.65,517.83,0,0,0,0,0,0,14.57,14.62,28.83
$IRIDIUM_FIX,2448.93,-3738.32,160813,040430
$TT8_MAMPS,0.023968,0.023968
$HUMID,82.13
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.30
$XPDR_PINGS,2
$SC_FREEKB,3808640
$24V_AH,13.3,204.985
$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,28.325,105.225,259.050,148.825,0.000,0.000,0.000,1178.125,0.500,0.000,246.575,2447.908,7759.409,533.422,3290.122,1005.426,0.000,2711.639,0.000,1915.006,0.000,0.544,0.000
$DEVICE_MAMPS,367.200,85.680,1551.420,71.145,0.000,0.000,0.000,202.725,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12344.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.193,0.000,0.000,0.000
$MEM,344800
$DATA_FILE_SIZE,20105,589
$CAP_FILE_SIZE,162319,0
$CFSIZE,260034560,181678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,7.747, 95.0,1
$GPS,160813,043630,2448.935,-3738.319,0,10000.0,0,-14.9