version: 66.11
glider: 160
mission: 9
dive: 499
start: 8 7 113 6 10 24
data:
$ID,160
$MISSION,9
$DIVE,499
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,135
$T_MISSION,200
$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,110
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-72456.297
$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,35
$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
$GPS1,060813,162905,2448.935,-3752.082,301,99.0,301,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-68.9
$GPS2,060813,162905,2448.935,-3752.082,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,141.1,53312,-26.8,-7.407,-30.00,832
$D_GRID,300
$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,-40.3,143,1953,221,160,0.0,0.0,0,116,0.00,0.00,-90.85,0.000,16386,0.000,0.000,143,1954,2392,2357,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.42,-85.1,143,1954,2357,2428,3.4,-1.9,6,148,13.98,2.42,-5.57,0.000,18948,0.386,0.083,2826,894,2649,2638,2660,0,0,0,0,0,0,13.92,14.54,14.92
$GC,254,-1.32,-85.1,1760,893,2572,2650,32.4,-19.6,14,260,0.17,2.33,0.00,0.000,3078,0.313,0.047,2862,1940,2648,2637,2660,0,0,0,0,0,0,14.14,14.54,28.83
$GC,570,-1.26,-85.1,2861,1939,2637,2660,84.3,-14.0,35,576,0.00,2.38,0.00,0.000,516,0.000,0.060,2862,893,2648,2637,2660,0,0,0,0,0,0,28.83,14.54,28.83
$GC,739,-1.20,-85.1,2862,893,2637,2659,105.8,-13.2,45,747,0.20,2.35,0.00,0.000,3078,0.294,0.056,2904,1933,2648,2637,2659,0,0,0,0,0,0,14.19,14.58,28.83
$GC,1044,-1.17,-85.1,2904,1933,2637,2658,137.1,-9.7,66,1050,0.00,2.38,0.00,0.000,516,0.000,0.065,2904,894,2647,2637,2658,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1064,-1.15,-85.1,2905,894,2637,2658,138.6,-9.4,67,1070,0.00,2.38,0.00,0.000,1030,0.000,0.057,2905,1939,2647,2637,2658,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1385,-1.13,-85.1,2905,1938,2637,2657,174.7,-11.7,88,1390,0.00,2.40,0.00,0.000,516,0.000,0.067,2905,896,2647,2637,2658,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1621,-1.10,-85.1,1832,896,2572,2647,201.7,-11.4,103,1627,0.15,2.30,0.00,0.000,3078,0.288,0.056,2936,1915,2647,2638,2656,0,0,0,0,0,0,14.27,14.59,28.83
$GC,1938,-1.10,-85.1,2935,1915,2637,2655,235.1,-10.8,124,1943,0.00,2.38,0.00,0.000,516,0.000,0.067,2936,890,2646,2637,2655,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2063,-1.10,-85.1,2936,890,2638,2655,249.3,-11.5,132,2068,0.00,2.33,0.00,0.000,1030,0.000,0.056,2936,1916,2645,2637,2654,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2386,-1.10,-85.1,2936,1916,2637,2653,288.2,-12.4,143,2392,0.00,2.38,0.00,0.000,516,0.000,0.067,2935,893,2645,2637,2653,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,2478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2478,begin apogee
$GC,2488,-0.25,0.0,2936,1807,2637,2652,300.8,-12.5,146,2559,1.02,0.00,66.62,1.176,10244,0.222,0.000,3208,1807,2299,2318,2281,0,0,0,0,0,0,14.08,28.83,13.62
$STATE,2561,end apogee,CONTROL_FINISHED_OK
$STATE,2561,begin climb
$GC,2566,1.42,85.1,3208,1807,2312,2276,303.5,0.0,148,2645,1.70,2.45,67.57,1.194,10500,0.096,0.067,3758,2859,1948,2002,1894,0,0,0,0,0,0,14.48,14.50,13.65
$GC,2881,1.30,86.5,3758,2858,1994,1885,294.8,7.2,159,2887,0.22,2.40,0.00,0.000,5126,0.316,0.047,3720,1794,1939,1993,1885,0,0,0,0,0,0,14.21,14.60,28.83
$GC,3219,1.22,95.4,3724,1795,1994,1882,273.4,6.3,170,3233,0.00,2.47,8.05,1.007,8452,0.000,0.059,3719,2865,1907,1971,1843,0,0,0,0,0,0,28.83,14.73,13.83
$GC,3254,1.14,102.2,3720,2865,1969,1843,270.6,6.6,171,3268,0.28,2.42,7.03,1.001,13318,0.297,0.046,3665,1789,1880,1952,1808,0,0,0,0,0,0,14.34,14.68,13.88
$GC,3588,1.10,110.4,3666,1790,1951,1801,250.0,6.4,182,3602,0.00,2.45,7.68,1.005,8452,0.000,0.057,3665,2861,1845,1921,1769,0,0,0,0,0,0,28.83,14.73,13.85
$GC,3838,1.04,110.4,3666,2861,1915,1769,229.8,8.4,197,3844,0.17,2.38,0.00,0.000,5126,0.288,0.045,3633,1817,1842,1916,1768,0,0,0,0,0,0,14.26,14.64,28.83
$GC,4160,1.02,113.8,3633,1818,1915,1767,206.4,7.0,218,4166,0.00,2.40,0.00,0.000,260,0.000,0.057,3633,2861,1841,1915,1767,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4398,0.99,123.6,2816,2857,1856,1759,191.2,6.2,233,4414,0.00,2.40,10.68,0.985,9222,0.000,0.047,3633,1802,1795,1874,1717,0,0,0,0,0,0,28.83,14.55,13.86
$GC,4731,0.98,133.7,3633,1803,1869,1715,170.9,6.2,255,4747,0.00,2.42,9.48,0.964,8452,0.000,0.054,3633,2864,1751,1830,1672,0,0,0,0,0,0,28.83,14.71,13.85
$GC,4918,0.95,133.7,3631,2863,1823,1671,155.7,8.3,267,4924,0.12,2.42,0.00,0.000,5126,0.287,0.045,3608,1795,1747,1823,1671,0,0,0,0,0,0,14.24,14.54,28.83
$GC,5239,0.96,144.0,3608,1796,1822,1671,133.4,6.1,288,5255,0.00,2.50,9.32,0.926,8452,0.000,0.057,3607,2860,1708,1787,1630,0,0,0,0,0,0,28.83,14.71,13.89
$GC,5355,0.97,146.4,2816,2855,1734,1623,125.5,7.1,295,5361,0.00,2.38,0.00,0.000,1030,0.000,0.045,3608,1812,1705,1782,1629,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5672,0.97,151.8,3608,1813,1780,1629,105.5,6.7,316,5688,0.00,2.42,7.12,0.883,8452,0.000,0.058,3606,2870,1677,1754,1601,0,0,0,0,0,0,28.83,14.69,13.88
$GC,5785,0.97,152.7,3608,2876,1749,1601,96.6,7.3,323,5790,0.00,2.38,0.00,0.000,1030,0.000,0.044,3608,1825,1675,1749,1601,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6108,1.00,161.8,3608,1826,1750,1601,77.6,6.3,344,6124,0.00,2.55,9.00,0.861,8708,0.000,0.071,3607,739,1637,1711,1564,0,0,0,0,0,0,28.83,14.66,13.93
$GC,6225,1.04,177.5,3608,740,1705,1564,70.5,5.5,351,6246,0.00,2.45,13.35,0.878,9222,0.000,0.045,3607,1840,1573,1642,1505,0,0,0,0,0,0,28.83,14.58,13.92
$GC,6558,1.10,198.6,3607,1840,1633,1503,53.3,4.8,373,6582,0.12,2.30,16.75,0.868,10500,0.138,0.063,3662,2854,1486,1545,1428,0,0,0,0,0,0,14.44,14.65,13.93
$GC,6728,1.07,198.6,3664,2854,1536,1428,39.3,9.7,384,6734,0.00,2.35,0.00,0.000,1030,0.000,0.044,3669,1824,1482,1537,1428,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7049,1.07,198.6,3669,1825,1534,1428,12.5,9.3,405,7054,0.00,2.47,0.00,0.000,516,0.000,0.070,3669,748,1481,1534,1428,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7163,1.22,231.3,3673,747,1531,1429,5.1,3.4,412,7181,0.00,2.42,12.70,0.068,9218,0.000,0.050,3669,1821,1369,1412,1326,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,7182,end climb,SURFACE_DEPTH_REACHED
$STATE,7182,begin surface coast
$FINISH,5.0,1.025010
$STATE,7246,end surface coast,CONTROL_FINISHED_OK
$STATE,7246,begin surface
$SM_CCo,7251,147.40,0.071,0,0,189,517.58
$SM_CCo,7673,0.15,0.122,0,0,189,517.58
$SM_GC,5.12,10.27,0.25,0.15,0.051,0.057,0.122,140,1968,189,-9.79,-0.90,517.58,0,0,0,0,0,0,14.66,14.66,14.52
$IRIDIUM_FIX,2451.31,-3753.54,070813,050546
$TT8_MAMPS,0.023968,0.023968
$HUMID,82.13
$INTERNAL_PRESSURE,9.58431
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3829024
$24V_AH,13.6,192.604
$10V_AH,12.1,0.000
$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,28.425,76.825,245.350,147.550,0.000,0.000,0.000,0.000,0.000,0.000,303.578,1576.745,4182.272,489.318,1535.785,259.657,0.000,1153.446,0.000,1225.850,0.000,0.545,0.000
$DEVICE_MAMPS,385.560,83.385,1194.165,121.635,0.000,0.000,0.000,0.000,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7220.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.542,0.000,0.000,0.000
$MEM,344976
$DATA_FILE_SIZE,13469,417
$CAP_FILE_SIZE,223993,0
$CFSIZE,260034560,185851904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.688,144.4,1
$GPS,070813,054546,2451.311,-3753.542,0,10000.0,0,-15.1