version: 66.11
glider: 160
mission: 9
dive: 554
start: 8 16 113 12 58 24
data:
$ID,160
$MISSION,9
$DIVE,554
$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,-104942.78
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,160813,084054,2451.311,-3736.436,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-70.6
$GPS2,160813,084054,2451.311,-3736.436,241,99.0,241,-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,293.2,53684,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-1.38,-41.0,144,1960,216,167,0.0,0.0,0,99,0.00,0.00,-74.90,0.000,16386,0.000,0.000,144,1960,1949,1951,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.44,-97.3,144,1960,1951,1947,3.0,-0.5,5,151,13.60,2.47,-23.67,0.000,18692,0.377,0.097,2817,2994,2698,2719,2678,0,0,0,0,0,0,14.06,14.45,14.85
$GC,310,-1.33,-97.3,2817,2994,2720,2677,34.7,-19.0,18,316,0.22,2.35,0.00,0.000,3078,0.293,0.038,2863,1954,2698,2719,2678,0,0,0,0,0,0,13.93,14.47,28.83
$GC,632,-1.28,-97.3,2862,1955,2719,2678,82.1,-13.9,39,638,0.00,2.47,0.00,0.000,516,0.000,0.069,2863,888,2698,2719,2678,0,0,0,0,0,0,28.83,14.35,28.83
$GC,870,-1.22,-97.3,2863,888,2719,2678,116.0,-14.9,54,876,0.20,2.33,0.00,0.000,3078,0.280,0.042,2901,1922,2698,2719,2677,0,0,0,0,0,0,13.95,14.45,28.83
$GC,1185,-1.20,-97.3,2900,1921,2719,2677,148.8,-9.0,75,1191,0.00,2.58,0.00,0.000,260,0.000,0.080,2898,3003,2697,2718,2676,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1389,-1.18,-97.3,2898,3002,2719,2677,169.4,-11.0,88,1394,0.00,2.53,0.00,0.000,1030,0.000,0.040,2898,1894,2698,2719,2677,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1709,-1.16,-97.3,2898,1895,2719,2677,206.5,-12.6,109,1714,0.00,2.65,0.00,0.000,260,0.000,0.070,2898,3004,2698,2719,2677,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1876,-1.14,-97.3,2898,3004,2719,2677,226.0,-12.3,119,1883,0.00,2.62,0.00,0.000,1030,0.000,0.045,2898,1861,2698,2719,2677,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2180,-1.14,-97.3,2898,1862,2719,2676,261.1,-10.7,137,2186,0.00,2.22,0.00,0.000,516,0.000,0.066,2899,890,2697,2719,2675,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2419,-1.12,-97.3,2898,890,2718,2674,285.2,-11.2,144,2425,0.12,2.15,0.00,0.000,3078,0.289,0.047,2927,1838,2696,2719,2673,0,0,0,0,0,0,14.02,14.44,28.83
$GC,2740,-1.12,-97.3,2927,1837,2720,2671,321.4,-10.7,155,2745,0.00,2.78,0.00,0.000,260,0.000,0.076,2927,3003,2694,2718,2671,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2839,-1.12,-97.3,2927,3003,2717,2672,332.3,-10.8,158,2844,0.00,2.75,0.00,0.000,1030,0.000,0.043,2927,1793,2694,2717,2672,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3171,-1.12,-97.3,2927,1794,2718,2670,366.6,-9.9,169,3177,0.00,2.92,0.00,0.000,260,0.000,0.073,2927,3008,2693,2717,2669,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3318,-1.12,-97.3,2927,3008,2716,2669,378.8,-9.5,173,3324,0.00,2.83,0.00,0.000,1030,0.000,0.042,2926,1768,2692,2716,2669,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3635,-1.12,-97.3,2927,1770,2716,2668,410.8,-10.0,184,3641,0.00,2.00,0.00,0.000,516,0.000,0.059,2926,890,2691,2716,2666,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3872,-1.12,-97.3,2927,890,2715,2666,435.5,-11.7,191,3877,0.00,1.95,0.00,0.000,1030,0.000,0.044,2926,1756,2690,2716,2665,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4187,-1.12,-97.3,2927,1755,2714,2664,475.0,-11.9,202,4192,0.00,2.97,0.00,0.000,260,0.000,0.074,2926,3004,2689,2714,2664,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4324,-1.12,-97.3,2926,3003,2712,2664,489.8,-11.9,206,4331,0.00,2.95,0.00,0.000,1030,0.000,0.041,2927,1719,2688,2713,2664,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4653,-1.12,-97.3,2926,1720,2713,2662,528.8,-11.1,217,4658,0.00,1.90,0.00,0.000,516,0.000,0.060,2927,884,2687,2713,2661,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4707,-1.12,-97.3,2927,884,2713,2661,532.9,-10.9,218,4713,0.00,1.85,0.00,0.000,1030,0.000,0.043,2926,1705,2687,2713,2661,0,0,0,0,0,0,28.83,14.44,28.83
$STATE,4779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4779,begin apogee
$GC,4788,-0.25,0.0,2927,1814,2713,2661,543.0,-10.7,221,4871,1.08,0.00,78.20,1.553,10244,0.215,0.000,3204,1813,2297,2341,2253,0,0,0,0,0,0,13.71,28.83,13.31
$STATE,4873,end apogee,CONTROL_FINISHED_OK
$STATE,4876,begin climb
$GC,4880,1.44,97.3,3204,1814,2335,2253,546.4,0.0,224,4971,1.77,2.55,82.68,1.544,10756,0.108,0.057,3755,732,1903,1978,1829,0,0,0,0,0,0,14.30,14.35,13.33
$GC,5206,1.33,97.3,3755,732,1965,1818,530.0,9.3,234,5214,0.15,2.38,0.00,0.000,5126,0.300,0.039,3726,1791,1894,1965,1823,0,0,0,0,0,0,14.09,14.54,28.83
$GC,5515,1.25,97.3,3727,1790,1961,1815,501.4,8.5,245,5521,0.12,2.47,0.00,0.000,4356,0.321,0.060,3699,2857,1887,1960,1815,0,0,0,0,0,0,14.07,14.47,28.83
$GC,5615,1.15,97.3,3699,2857,1958,1815,492.4,8.9,248,5621,0.15,2.45,0.00,0.000,5126,0.323,0.045,3672,1794,1886,1958,1815,0,0,0,0,0,0,14.03,14.55,28.83
$GC,5952,1.11,103.0,3672,1795,1958,1814,468.2,6.8,259,5958,0.00,2.50,0.00,0.000,260,0.000,0.058,3671,2854,1886,1958,1814,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6190,1.04,108.6,3672,2853,1956,1814,453.0,6.8,266,6206,0.20,2.38,7.75,1.252,13318,0.287,0.044,3631,1818,1856,1932,1781,0,0,0,0,0,0,13.97,14.52,13.58
$GC,6536,1.04,127.6,3632,1819,1928,1780,432.1,5.2,278,6565,0.00,2.47,18.00,1.353,8452,0.000,0.060,3631,2855,1775,1854,1697,0,0,0,0,0,0,28.83,14.59,13.64
$GC,6797,1.00,136.3,3631,2854,1846,1697,416.4,6.4,286,6813,0.00,2.35,8.45,1.244,9222,0.000,0.044,3631,1830,1740,1815,1665,0,0,0,0,0,0,28.83,14.51,13.66
$GC,7117,0.99,136.4,3631,1830,1808,1665,394.1,7.5,297,7122,0.00,2.42,0.00,0.000,260,0.000,0.057,3631,2859,1736,1808,1665,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7356,0.95,136.4,3631,2858,1805,1665,373.8,9.5,304,7361,0.00,2.30,0.00,0.000,1030,0.000,0.043,3631,1853,1735,1805,1665,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7675,0.94,136.4,3631,1854,1804,1665,342.5,9.3,315,7681,0.12,2.40,0.00,0.000,4356,0.281,0.054,3601,2857,1734,1803,1665,0,0,0,0,0,0,14.01,14.40,28.83
$GC,7912,0.94,136.4,3602,2857,1802,1665,323.1,8.4,322,7917,0.00,2.30,0.00,0.000,1030,0.000,0.041,3602,1856,1733,1801,1665,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8231,0.94,145.8,3603,1857,1802,1665,300.8,6.3,333,8245,0.00,2.33,8.82,1.138,8452,0.000,0.054,3602,2858,1700,1772,1629,0,0,0,0,0,0,28.83,14.64,13.61
$GC,8436,0.95,146.9,3602,2858,1766,1629,287.0,7.4,339,8441,0.00,2.28,0.00,0.000,1030,0.000,0.042,3603,1865,1697,1765,1629,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8755,0.95,156.0,3603,1867,1766,1629,265.4,6.4,350,8769,0.00,2.30,9.18,1.100,8452,0.000,0.055,3603,2853,1663,1731,1595,0,0,0,0,0,0,28.83,14.64,13.64
$GC,8906,0.96,156.9,3603,2854,1723,1595,255.8,7.4,354,8914,0.00,2.25,0.00,0.000,1030,0.000,0.042,3604,1878,1659,1724,1595,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9211,0.96,156.9,3603,1879,1724,1595,231.1,8.4,373,9216,0.00,2.33,0.00,0.000,260,0.000,0.057,3603,2858,1659,1723,1595,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9286,0.96,156.9,3603,2857,1722,1595,224.6,10.0,377,9292,0.00,2.25,0.00,0.000,1030,0.000,0.042,3603,1880,1658,1722,1595,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9590,0.96,156.9,3603,1882,1722,1595,197.5,7.8,398,9596,0.00,2.33,0.00,0.000,260,0.000,0.057,3603,2858,1658,1722,1595,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9691,0.96,156.9,3603,2857,1720,1595,189.6,8.4,404,9696,0.00,2.22,0.00,0.000,1030,0.000,0.041,3603,1896,1658,1721,1595,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10007,0.98,164.0,3603,1897,1720,1595,166.7,6.6,425,10023,0.00,2.62,8.25,0.975,8708,0.000,0.061,3603,743,1627,1692,1563,0,0,0,0,0,0,28.83,14.62,13.67
$GC,10067,1.00,168.3,3603,743,1691,1563,163.1,7.0,428,10079,0.00,2.58,4.10,0.845,9222,0.000,0.035,3603,1904,1613,1678,1549,0,0,0,0,0,0,28.83,14.57,13.55
$GC,10394,1.03,171.7,3603,1903,1677,1549,138.9,7.1,450,10403,0.00,2.20,3.92,0.813,8452,0.000,0.060,3603,2860,1601,1664,1539,0,0,0,0,0,0,28.83,14.60,13.54
$GC,10590,1.03,171.7,3603,2860,1663,1539,123.5,7.9,462,10598,0.00,2.15,0.00,0.000,1030,0.000,0.041,3603,1924,1601,1663,1539,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10899,1.06,173.4,3603,1925,1663,1539,100.1,7.3,483,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1925,1601,1663,1539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11197,1.09,173.4,3603,1925,1663,1539,78.6,7.7,503,11203,0.12,2.75,0.00,0.000,2564,0.122,0.057,3669,742,1601,1663,1539,0,0,0,0,0,0,14.40,14.29,28.83
$GC,11264,1.09,173.4,3669,742,1662,1539,73.1,8.2,507,11270,0.00,2.67,0.00,0.000,1030,0.000,0.036,3669,1927,1600,1662,1539,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11586,1.09,177.0,3669,1928,1662,1539,50.4,7.1,528,11602,0.00,2.20,6.55,0.829,8452,0.000,0.063,3669,2851,1576,1634,1518,0,0,0,0,0,0,28.83,14.53,13.74
$GC,11838,1.06,177.0,3669,2851,1630,1517,30.3,7.9,544,11845,0.15,2.10,0.00,0.000,5126,0.273,0.041,3639,1937,1574,1631,1517,0,0,0,0,0,0,14.02,14.44,28.83
$GC,12161,1.09,188.3,3639,1938,1631,1518,8.4,6.1,565,12172,0.00,2.25,5.57,0.117,8452,0.000,0.060,3638,2855,1532,1587,1477,0,0,0,0,0,0,28.83,14.38,14.22
$FREEZE,3.46,25.878,-1.451,0,77,0
$STATE,12389,end climb,NO_VERTICAL_VELOCITY
$STATE,12390,begin surface
$SM_CCo,12399,168.60,0.073,0,0,190,517.58
$SM_GC,4.14,10.25,2.12,0.00,0.046,0.048,0.000,132,1958,190,-9.78,0.93,517.58,0,0,0,0,0,0,14.56,14.42,28.83
$IRIDIUM_FIX,2448.93,-3736.87,160813,121231
$TT8_MAMPS,0.023219,0.023219
$HUMID,83.11
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3807872
$24V_AH,13.3,205.405
$10V_AH,12.3,0.000
$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,28.275,120.375,241.475,168.600,0.000,0.000,0.000,557.075,0.000,0.000,243.656,2487.375,7740.884,562.949,2775.798,915.914,0.000,2135.780,0.000,1940.871,0.000,0.542,0.000
$DEVICE_MAMPS,377.145,97.155,1552.950,72.675,0.000,0.000,0.000,205.020,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12402.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.158,0.000,0.000,0.000
$MEM,344792
$DATA_FILE_SIZE,20094,580
$CAP_FILE_SIZE,163322,0
$CFSIZE,260034560,181501952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.897,  4.2,1
$GPS,160813,124531,2448.935,-3736.868,0,10000.0,0,-14.9