version: 66.11
glider: 160
mission: 9
dive: 555
start: 8 16 113 17 11 1
data:
$ID,160
$MISSION,9
$DIVE,555
$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,-105436.17
$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,28
$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
$GPS1,160813,124531,2448.935,-3736.868,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-71.1
$GPS2,160813,124531,2448.935,-3736.868,241,99.0,241,-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,206.7,50565,-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,-41.0,132,1958,224,163,0.0,0.0,0,114,0.00,0.00,-89.53,0.000,16386,0.000,0.000,132,1958,2353,2327,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.43,-91.4,132,1959,2327,2381,3.5,-1.3,6,150,13.60,2.45,-7.68,0.000,18948,0.373,0.084,2824,888,2675,2684,2666,0,0,0,0,0,0,14.07,14.52,14.86
$GC,388,-1.33,-91.4,2824,888,2686,2664,46.6,-16.4,23,394,0.22,2.38,0.00,0.000,3078,0.290,0.039,2864,1953,2674,2686,2663,0,0,0,0,0,0,13.99,14.51,28.83
$GC,709,-1.28,-91.4,2865,1951,2686,2662,89.5,-11.3,44,714,0.00,2.45,0.00,0.000,516,0.000,0.060,2865,891,2674,2686,2662,0,0,0,0,0,0,28.83,14.42,28.83
$GC,946,-1.22,-91.4,1824,891,2626,2653,116.6,-11.3,59,952,0.15,2.35,0.00,0.000,3078,0.285,0.046,2895,1931,2673,2686,2661,0,0,0,0,0,0,14.03,14.45,28.83
$GC,1263,-1.19,-91.4,2896,1930,2687,2661,153.4,-11.6,80,1268,0.00,2.38,0.00,0.000,516,0.000,0.053,2896,895,2674,2687,2661,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1498,-1.17,-91.4,1856,894,2627,2652,182.3,-12.5,95,1504,0.00,2.33,0.00,0.000,1030,0.000,0.053,2896,1910,2673,2686,2660,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1815,-1.14,-91.4,2896,1909,2686,2660,221.2,-11.7,116,1821,0.12,2.62,0.00,0.000,2308,0.301,0.082,2925,3004,2673,2686,2660,0,0,0,0,0,0,13.98,14.30,28.83
$GC,2022,-1.14,-91.4,2925,3004,2686,2659,243.9,-11.0,129,2027,0.00,2.55,0.00,0.000,1030,0.000,0.043,2925,1891,2672,2686,2659,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2355,-1.14,-91.4,2925,1892,2688,2658,276.8,-9.4,142,2360,0.00,2.30,0.00,0.000,516,0.000,0.067,2925,892,2672,2687,2657,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2592,-1.14,-91.4,2925,892,2686,2655,297.7,-9.5,149,2597,0.00,2.25,0.00,0.000,1030,0.000,0.053,2925,1871,2671,2687,2655,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2908,-1.14,-91.4,2925,1871,2686,2654,330.1,-9.9,160,2913,0.00,2.28,0.00,0.000,516,0.000,0.060,2925,890,2670,2687,2653,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3143,-1.14,-91.4,2925,890,2687,2652,351.7,-9.9,167,3148,0.00,2.20,0.00,0.000,1030,0.000,0.051,2925,1852,2669,2687,2651,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3459,-1.14,-91.4,2925,1851,2687,2650,383.0,-9.1,178,3464,0.00,2.75,0.00,0.000,260,0.000,0.080,2925,3006,2668,2686,2650,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3626,-1.14,-91.4,2925,3006,2686,2649,397.8,-9.4,183,3631,0.00,2.72,0.00,0.000,1030,0.000,0.045,2925,1821,2667,2686,2648,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3954,-1.14,-91.4,2925,1822,2686,2646,429.9,-9.8,194,3959,0.00,2.15,0.00,0.000,516,0.000,0.067,2925,889,2666,2686,2646,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4190,-1.14,-91.4,2925,889,2686,2645,453.2,-10.8,201,4195,0.00,2.10,0.00,0.000,1030,0.000,0.051,2925,1803,2665,2686,2644,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4505,-1.14,-91.4,2925,1802,2686,2642,488.5,-10.5,212,4510,0.00,2.88,0.00,0.000,260,0.000,0.076,2925,3013,2664,2686,2642,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4652,-1.14,-91.4,2925,3013,2686,2642,502.1,-10.9,216,4657,0.00,2.85,0.00,0.000,1030,0.000,0.044,2925,1772,2667,2692,2642,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4966,-1.14,-91.4,2925,1773,2686,2640,539.7,-11.4,227,4972,0.00,2.03,0.00,0.000,516,0.000,0.065,2925,889,2662,2685,2640,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,4998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4998,begin apogee
$GC,5010,-0.25,0.0,2925,1804,2686,2639,543.7,-11.4,228,5124,1.08,0.00,107.80,1.295,10244,0.213,0.000,3204,1804,2297,2349,2245,0,0,0,0,0,0,13.74,28.83,13.40
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5129,begin climb
$GC,5134,1.43,91.4,3204,1804,2346,2243,550.1,0.0,232,5222,1.73,2.50,77.78,1.540,10500,0.093,0.071,3757,2858,1923,1983,1863,0,0,0,0,0,0,14.35,14.35,13.35
$GC,5457,1.30,91.4,3757,2858,1971,1853,539.7,7.9,242,5464,0.22,2.45,0.00,0.000,5126,0.308,0.046,3721,1789,1912,1971,1853,0,0,0,0,0,0,14.04,14.49,28.83
$GC,5767,1.22,94.4,3722,1790,1971,1850,515.7,7.1,253,5772,0.12,2.53,0.00,0.000,4356,0.319,0.059,3692,2859,1910,1971,1849,0,0,0,0,0,0,14.05,14.49,28.83
$GC,6004,1.14,102.1,3693,2858,1970,1848,499.6,6.6,260,6021,0.17,2.40,7.90,1.284,13318,0.302,0.044,3665,1815,1881,1947,1815,0,0,0,0,0,0,14.02,14.52,13.59
$GC,6352,1.10,121.2,3665,1816,1945,1811,479.9,5.2,272,6374,0.00,2.42,17.10,1.395,8452,0.000,0.057,3665,2860,1804,1882,1727,0,0,0,0,0,0,28.83,14.66,13.61
$GC,6607,1.04,121.2,3665,2860,1872,1726,462.3,7.5,280,6613,0.17,2.35,0.00,0.000,5126,0.285,0.041,3635,1836,1799,1872,1726,0,0,0,0,0,0,14.10,14.54,28.83
$GC,6938,1.02,128.1,3635,1838,1871,1724,439.4,6.6,291,6951,0.00,2.38,7.03,1.250,8452,0.000,0.059,3634,2861,1773,1849,1698,0,0,0,0,0,0,28.83,14.68,13.61
$GC,7184,0.98,133.9,3635,2861,1843,1697,421.9,6.8,299,7195,0.15,2.38,4.60,1.108,13318,0.285,0.040,3613,1828,1754,1830,1679,0,0,0,0,0,0,14.12,14.53,13.51
$GC,7520,1.00,150.1,3613,1829,1830,1680,403.0,5.5,310,7543,0.00,2.40,16.92,1.319,8452,0.000,0.057,3613,2864,1684,1760,1609,0,0,0,0,0,0,28.83,14.65,13.64
$GC,7638,1.01,159.8,3613,2864,1753,1608,396.9,6.3,313,7655,0.00,2.35,9.65,1.263,9222,0.000,0.041,3616,1831,1644,1715,1574,0,0,0,0,0,0,28.83,14.53,13.66
$GC,7979,1.01,159.8,3616,1832,1707,1573,368.9,7.9,325,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1832,1640,1707,1574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8281,1.01,159.8,3616,1832,1706,1574,344.9,8.0,335,8286,0.00,2.42,0.00,0.000,260,0.000,0.057,3616,2860,1639,1705,1574,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8355,1.01,159.8,3616,2859,1703,1574,339.2,8.4,337,8360,0.00,2.33,0.00,0.000,1030,0.000,0.042,3616,1843,1638,1703,1574,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8683,1.01,159.8,3616,1844,1703,1574,312.3,8.1,348,8689,0.00,2.42,0.00,0.000,260,0.000,0.057,3616,2862,1638,1702,1574,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8829,1.01,159.8,3616,2862,1700,1574,301.1,8.6,352,8834,0.00,2.33,0.00,0.000,1030,0.000,0.042,3616,1851,1637,1700,1574,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9148,1.02,167.2,3616,1852,1700,1574,277.5,6.6,363,9155,0.00,0.00,4.90,1.021,8198,0.000,0.000,3616,1853,1620,1685,1555,0,0,0,0,0,0,28.83,28.83,13.52
$GC,9444,1.02,167.2,3616,1852,1684,1556,255.7,7.7,373,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1852,1620,1685,1556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9744,1.02,167.2,3616,1852,1685,1556,229.3,9.4,390,9749,0.00,2.40,0.00,0.000,260,0.000,0.057,3616,2861,1620,1685,1556,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9838,1.02,167.2,3612,2861,1684,1556,220.2,9.5,396,9844,0.00,2.33,0.00,0.000,1030,0.000,0.041,3616,1857,1620,1684,1556,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10159,1.02,172.8,3616,1858,1684,1556,195.7,6.8,417,10172,0.00,2.40,8.05,1.021,8452,0.000,0.057,3616,2859,1590,1655,1526,0,0,0,0,0,0,28.83,14.60,13.64
$GC,10271,1.02,172.8,3616,2858,1651,1526,186.8,7.9,424,10276,0.00,2.28,0.00,0.000,1030,0.000,0.041,3616,1869,1588,1650,1526,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10592,1.02,172.8,3616,1870,1651,1526,163.4,7.8,445,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1870,1588,1650,1526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10891,1.03,175.2,3616,1866,1651,1526,140.8,7.2,465,10896,0.00,2.35,0.00,0.000,260,0.000,0.057,3616,2858,1588,1650,1526,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11068,1.03,175.2,3616,2858,1649,1525,126.1,8.6,476,11073,0.00,2.30,0.00,0.000,1030,0.000,0.041,3616,1864,1587,1649,1526,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11384,1.04,184.4,3616,1866,1649,1526,104.1,6.4,497,11399,0.00,2.62,10.43,0.913,8708,0.000,0.064,3616,750,1544,1605,1484,0,0,0,0,0,0,28.83,14.60,13.71
$GC,11485,1.07,194.7,3616,745,1601,1485,98.0,6.2,503,11502,0.00,2.47,9.95,0.905,9222,0.000,0.038,3616,1854,1502,1560,1445,0,0,0,0,0,0,28.83,14.50,13.78
$GC,11817,1.11,194.7,3616,1853,1552,1445,72.8,8.4,525,11823,0.10,2.35,0.00,0.000,2308,0.159,0.060,3662,2859,1498,1551,1445,0,0,0,0,0,0,14.41,14.35,28.83
$GC,11960,1.08,194.7,3662,2858,1549,1445,59.0,9.5,534,11966,0.00,2.30,0.00,0.000,1030,0.000,0.040,3671,1859,1497,1549,1445,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12281,1.09,195.2,3671,1861,1549,1445,34.8,7.4,555,12286,0.00,2.38,0.00,0.000,260,0.000,0.057,3670,2861,1497,1549,1445,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12350,1.06,195.2,3671,2860,1548,1445,29.0,8.8,559,12357,0.15,2.30,0.00,0.000,5126,0.275,0.042,3642,1864,1497,1548,1446,0,0,0,0,0,0,13.93,14.37,28.83
$GC,12667,1.08,199.2,3642,1865,1549,1446,6.8,7.0,580,12676,0.00,2.60,1.38,0.106,8708,0.000,0.065,3642,745,1487,1537,1437,0,0,0,0,0,0,28.83,14.28,13.96
$FREEZE,3.57,25.900,-1.198,0,78,0
$STATE,12881,end climb,NO_VERTICAL_VELOCITY
$STATE,12881,begin surface
$SM_CCo,12887,162.65,0.073,0,0,189,517.58
$SM_GC,3.95,10.23,2.83,0.00,0.044,0.053,0.000,143,1952,190,-9.78,-0.65,517.58,0,0,0,0,0,0,14.54,14.38,28.83
$IRIDIUM_FIX,2451.31,-3738.32,160813,161649
$TT8_MAMPS,0.024717,0.024717
$HUMID,82.91
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3807488
$24V_AH,13.3,205.651
$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,28.225,115.700,283.475,162.650,0.000,0.000,0.000,906.700,0.000,0.000,247.707,2492.889,8206.220,567.718,3069.694,984.925,0.000,2494.454,0.000,1948.878,0.000,0.543,0.000
$DEVICE_MAMPS,373.320,84.150,1539.945,72.675,0.000,0.000,0.000,224.145,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.064,0.000,0.000,0.000
$MEM,344864
$DATA_FILE_SIZE,20079,594
$CAP_FILE_SIZE,165551,0
$CFSIZE,260034560,181456896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.271,147.7,1
$GPS,160813,164849,2451.311,-3738.319,0,10000.0,0,-14.9