version: 66.11
glider: 160
mission: 9
dive: 556
start: 8 16 113 21 34 18
data:
$ID,160
$MISSION,9
$DIVE,556
$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,-105925.56
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,160813,164849,2451.311,-3738.319,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-68.0
$GPS2,160813,164849,2451.311,-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,291.1,51174,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-1.38,-41.0,143,1953,211,175,0.0,0.0,0,115,0.00,0.00,-90.57,0.000,16386,0.000,0.000,142,1953,2385,2352,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.43,-91.0,143,1953,2353,2419,3.4,-1.4,6,151,13.68,2.47,-6.78,0.000,18692,0.376,0.089,2819,2994,2673,2687,2659,0,0,0,0,0,0,14.06,14.42,14.86
$GC,298,-1.33,-91.0,2819,2993,2687,2659,32.5,-16.5,17,304,0.20,2.35,0.00,0.000,3078,0.298,0.038,2859,1953,2673,2687,2659,0,0,0,0,0,0,13.98,14.50,28.83
$GC,615,-1.27,-91.0,2859,1954,2687,2659,76.8,-13.1,38,620,0.00,2.53,0.00,0.000,260,0.000,0.072,2857,3004,2672,2687,2658,0,0,0,0,0,0,28.83,14.31,28.83
$GC,747,-1.20,-91.0,2857,3004,2687,2658,93.0,-12.8,46,753,0.22,2.50,0.00,0.000,3078,0.278,0.041,2904,1904,2673,2688,2658,0,0,0,0,0,0,13.95,14.47,28.83
$GC,1063,-1.18,-91.0,2904,1906,2687,2658,130.6,-11.9,67,1069,0.00,2.35,0.00,0.000,516,0.000,0.072,2905,892,2672,2687,2657,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1299,-1.15,-91.0,1856,892,2628,2648,157.0,-10.5,82,1304,0.00,2.28,0.00,0.000,1030,0.000,0.047,2900,1897,2672,2688,2656,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1614,-1.13,-91.0,2901,1896,2687,2656,191.0,-12.0,103,1621,0.12,2.33,0.00,0.000,2564,0.294,0.057,2930,893,2671,2687,2655,0,0,0,0,0,0,14.03,14.38,28.83
$GC,1852,-1.13,-91.0,1864,892,2627,2646,219.8,-12.8,118,1858,0.00,2.28,0.00,0.000,1030,0.000,0.054,2930,1885,2671,2688,2655,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2167,-1.13,-91.0,2930,1884,2687,2654,257.2,-11.0,137,2172,0.00,2.30,0.00,0.000,516,0.000,0.062,2930,891,2671,2688,2654,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2403,-1.13,-91.0,2930,892,2687,2653,280.0,-10.5,144,2409,0.00,2.25,0.00,0.000,1030,0.000,0.054,2930,1873,2670,2687,2653,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2718,-1.13,-91.0,2930,1872,2687,2651,312.4,-9.3,155,2724,0.00,2.28,0.00,0.000,516,0.000,0.060,2930,890,2669,2687,2651,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2955,-1.13,-91.0,2930,890,2687,2650,332.4,-9.1,162,2961,0.00,2.20,0.00,0.000,1030,0.000,0.051,2930,1855,2668,2687,2649,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3271,-1.13,-91.0,2930,1854,2687,2647,364.1,-10.0,173,3276,0.00,2.22,0.00,0.000,516,0.000,0.060,2930,892,2667,2687,2647,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3471,-1.13,-91.0,2930,892,2687,2646,383.5,-10.4,179,3477,0.00,2.15,0.00,0.000,1030,0.000,0.050,2930,1836,2666,2687,2645,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3795,-1.13,-91.0,2930,1836,2687,2644,417.7,-10.4,190,3800,0.00,2.17,0.00,0.000,516,0.000,0.059,2930,894,2665,2687,2644,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3970,-1.13,-91.0,2930,894,2687,2642,434.1,-10.3,195,3976,0.00,2.12,0.00,0.000,1030,0.000,0.050,2930,1826,2664,2687,2642,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4286,-1.13,-91.0,2930,1826,2687,2641,467.7,-10.1,206,4292,0.00,2.15,0.00,0.000,516,0.000,0.058,2929,893,2664,2687,2641,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4499,-1.13,-91.0,2930,893,2686,2641,486.8,-10.3,212,4505,0.00,2.10,0.00,0.000,1030,0.000,0.048,2930,1817,2663,2686,2640,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4806,-1.14,-91.0,2930,1816,2685,2639,519.1,-9.7,223,4813,0.00,2.15,0.00,0.000,516,0.000,0.058,2930,889,2661,2685,2638,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4930,-1.14,-91.0,2930,889,2684,2638,528.4,-9.4,226,4936,0.00,2.08,0.00,0.000,1030,0.000,0.047,2929,1806,2661,2684,2638,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,5048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5048,begin apogee
$GC,5056,-0.25,0.0,2929,1805,2684,2638,542.4,-9.4,231,5135,1.05,0.00,72.62,1.554,10244,0.213,0.000,3204,1805,2296,2340,2252,0,0,0,0,0,0,13.73,28.83,13.31
$STATE,5136,end apogee,CONTROL_FINISHED_OK
$STATE,5136,begin climb
$GC,5141,1.43,91.0,3204,1805,2335,2253,544.6,0.0,233,5235,1.73,2.53,77.12,1.548,10500,0.096,0.072,3756,2859,1925,1985,1865,0,0,0,0,0,0,14.23,14.35,13.32
$GC,5466,1.30,91.0,3756,2858,1976,1861,531.4,8.0,244,5472,0.20,2.42,0.00,0.000,5126,0.317,0.047,3724,1798,1918,1976,1861,0,0,0,0,0,0,14.02,14.52,28.83
$GC,5791,1.23,105.6,3722,1799,1976,1858,510.4,5.7,255,5810,0.12,2.40,12.43,1.381,12804,0.305,0.063,3699,736,1867,1941,1793,0,0,0,0,0,0,14.07,14.66,13.62
$GC,5862,1.16,120.2,2944,735,1885,1783,506.5,5.7,257,5881,0.00,2.42,13.02,1.398,9222,0.000,0.042,3699,1819,1811,1887,1735,0,0,0,0,0,0,28.83,14.57,13.61
$GC,6192,1.11,135.5,3699,1819,1880,1730,486.1,5.6,268,6215,0.17,2.42,14.38,1.391,12548,0.273,0.067,3658,2855,1743,1819,1667,0,0,0,0,0,0,14.02,14.60,13.64
$GC,6452,1.06,137.2,3658,2855,1810,1666,468.7,7.3,276,6457,0.00,2.35,0.00,0.000,1030,0.000,0.048,3659,1831,1738,1810,1667,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6780,1.02,137.2,3659,1831,1809,1667,444.2,7.6,287,6786,0.12,2.42,0.00,0.000,4356,0.301,0.058,3630,2859,1737,1809,1666,0,0,0,0,0,0,14.07,14.45,28.83
$GC,6992,0.98,137.2,3631,2859,1807,1666,428.5,8.2,293,7000,0.00,2.38,0.00,0.000,1030,0.000,0.048,3630,1827,1736,1807,1666,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7302,0.96,137.2,3630,1828,1807,1666,402.7,8.1,304,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1828,1736,1807,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7599,0.96,137.2,3627,1828,1807,1664,377.0,8.7,314,7604,0.00,2.42,0.00,0.000,260,0.000,0.061,3630,2854,1735,1806,1665,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7775,0.93,137.2,3630,2853,1805,1664,362.5,9.3,319,7781,0.15,2.35,0.00,0.000,5126,0.282,0.048,3600,1842,1734,1805,1664,0,0,0,0,0,0,13.97,14.33,28.83
$GC,8094,0.94,145.7,3601,1843,1805,1664,338.9,6.5,330,8109,0.00,2.38,8.65,1.169,8452,0.000,0.061,3600,2855,1702,1774,1630,0,0,0,0,0,0,28.83,14.63,13.57
$GC,8207,0.94,148.1,3600,2855,1770,1630,331.6,7.2,333,8213,0.00,2.30,0.00,0.000,1030,0.000,0.047,3603,1856,1699,1769,1629,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8531,0.95,161.3,3603,1857,1768,1630,310.4,5.9,344,8553,0.00,2.38,14.32,1.193,8452,0.000,0.061,3603,2851,1639,1710,1569,0,0,0,0,0,0,28.83,14.59,13.65
$GC,8594,0.96,169.4,3603,2851,1706,1569,305.8,6.5,346,8608,0.00,2.28,8.48,1.145,9222,0.000,0.047,3604,1868,1608,1676,1541,0,0,0,0,0,0,28.83,14.54,13.68
$GC,8929,0.98,184.4,3603,1869,1666,1538,285.8,5.7,357,8952,0.00,2.60,14.00,1.162,8708,0.000,0.070,3603,753,1543,1605,1481,0,0,0,0,0,0,28.83,14.57,13.70
$GC,8976,1.01,197.7,3603,753,1604,1482,283.5,5.9,358,8996,0.00,2.50,12.40,1.159,9222,0.000,0.040,3603,1870,1492,1551,1433,0,0,0,0,0,0,28.83,14.55,13.66
$GC,9327,1.03,197.7,3603,1870,1539,1433,256.2,8.6,370,9333,0.00,2.30,0.00,0.000,260,0.000,0.066,3603,2855,1486,1540,1433,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9449,1.03,197.7,3603,2855,1537,1433,244.7,10.4,375,9456,0.00,2.28,0.00,0.000,1030,0.000,0.047,3603,1876,1485,1537,1433,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9753,1.05,197.7,3603,1877,1537,1433,215.9,8.6,396,9758,0.00,2.62,0.00,0.000,516,0.000,0.067,3603,744,1488,1537,1440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9807,1.08,197.7,3603,745,1537,1433,211.6,8.6,399,9813,0.12,2.55,0.00,0.000,3078,0.132,0.040,3651,1871,1485,1537,1433,0,0,0,0,0,0,14.39,14.45,28.83
$GC,10124,1.08,197.7,3652,1870,1536,1433,180.4,10.8,420,10130,0.00,2.33,0.00,0.000,260,0.000,0.066,3651,2855,1484,1536,1433,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10362,1.05,197.7,3652,2856,1534,1433,154.1,10.7,435,10368,0.00,2.25,0.00,0.000,1030,0.000,0.044,3656,1883,1483,1534,1433,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10677,1.05,197.7,3655,1884,1534,1433,120.5,10.9,456,10683,0.00,2.30,0.00,0.000,260,0.000,0.061,3656,2852,1483,1534,1433,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10860,1.03,197.7,3656,2851,1533,1433,100.6,11.3,467,10868,0.15,2.20,0.00,0.000,5126,0.278,0.047,3625,1909,1483,1534,1433,0,0,0,0,0,0,13.90,14.36,28.83
$GC,11166,1.05,200.4,3626,1910,1533,1433,74.4,7.2,488,11171,0.00,2.70,0.00,0.000,516,0.000,0.064,3629,750,1484,1534,1434,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11236,1.08,206.5,3629,750,1533,1433,69.9,6.7,492,11252,0.00,2.60,7.40,0.860,9222,0.000,0.041,3629,1894,1455,1503,1408,0,0,0,0,0,0,28.83,14.38,13.71
$GC,11568,1.13,225.7,3629,1893,1499,1408,51.9,5.2,514,11592,0.00,2.25,16.80,0.867,8452,0.000,0.068,3629,2851,1374,1410,1338,0,0,0,0,0,0,28.83,14.54,13.79
$GC,11705,1.13,225.7,3629,2850,1402,1339,42.8,7.6,522,11712,0.00,2.20,0.00,0.000,1030,0.000,0.047,3630,1898,1370,1402,1339,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12011,1.16,227.4,3630,1899,1401,1339,16.3,7.3,543,12017,0.12,2.67,0.00,0.000,2564,0.118,0.065,3697,750,1370,1401,1339,0,0,0,0,0,0,14.34,14.31,28.83
$GC,12128,1.16,227.4,3697,750,1400,1341,6.1,8.1,550,12134,0.00,2.58,0.00,0.000,1030,0.000,0.044,3697,1880,1370,1399,1342,0,0,0,0,0,0,28.83,14.26,28.83
$FREEZE,3.36,25.790,-2.047,0,79,0
$STATE,12325,end climb,NO_VERTICAL_VELOCITY
$STATE,12325,begin surface
$SM_CCo,12330,152.07,0.075,0,0,188,517.58
$SM_CCo,12756,0.17,0.107,0,0,190,517.58
$SM_GC,3.89,10.32,0.12,0.17,0.041,0.092,0.107,139,1995,190,-9.78,-0.76,517.58,0,0,0,0,0,0,14.57,14.62,14.45
$IRIDIUM_FIX,2448.93,-3738.32,160813,212118
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.70
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3807104
$24V_AH,13.3,205.909
$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,28.500,117.750,271.625,152.250,0.000,0.000,0.000,1089.475,0.000,0.000,243.722,2376.107,7782.491,569.351,3099.884,1026.516,0.000,2650.370,0.000,1859.714,0.000,0.543,0.000
$DEVICE_MAMPS,376.380,91.800,1554.480,107.100,0.000,0.000,0.000,221.850,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12359.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.015,0.000,0.000,0.000
$MEM,344820
$DATA_FILE_SIZE,20052,563
$CAP_FILE_SIZE,167354,0
$CFSIZE,260034560,181452800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.746,345.0,1
$GPS,160813,211718,2448.935,-3738.319,0,10000.0,0,-14.9