version: 66.11
glider: 160
mission: 9
dive: 500
start: 8 7 113 8 55 47
data:
$ID,160
$MISSION,9
$DIVE,500
$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,-73064.508
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,070813,054546,2451.311,-3753.542,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-70.4
$GPS2,070813,054546,2451.311,-3753.542,301,99.0,301,-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,229.4,58070,-15.6,-7.407,-19.94,2197
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.89,-107.1,140,1978,221,165,0.0,0.0,0,115,0.00,0.00,-90.60,0.000,16386,0.000,0.000,140,1978,2382,2345,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.89,-107.1,140,1978,2347,2420,3.7,-1.6,6,151,14.85,2.47,-7.82,0.000,19204,0.389,0.080,2996,894,2737,2757,2718,0,0,0,0,0,0,14.10,14.57,14.90
$GC,387,-0.81,-107.1,2996,894,2757,2718,41.4,-12.5,23,394,0.15,2.35,0.00,0.000,3078,0.262,0.054,3030,1934,2737,2758,2717,0,0,0,0,0,0,14.26,14.50,28.83
$GC,709,-0.77,-107.1,3029,1933,2758,2717,73.1,-8.1,44,714,0.00,2.38,0.00,0.000,516,0.000,0.061,3030,898,2737,2757,2717,0,0,0,0,0,0,28.83,14.44,28.83
$GC,946,-0.72,-107.1,1984,898,2698,2708,92.4,-8.0,59,951,0.12,2.35,0.00,0.000,3078,0.234,0.053,3059,1940,2736,2757,2716,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1261,-0.72,-107.1,3059,1939,2757,2716,117.9,-9.3,80,1266,0.00,2.40,0.00,0.000,516,0.000,0.063,3059,894,2736,2757,2716,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1486,-0.72,-107.1,3059,894,2757,2716,138.6,-9.6,94,1493,0.00,2.33,0.00,0.000,1030,0.000,0.050,3059,1930,2736,2757,2715,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1793,-0.75,-107.1,3059,1929,2757,2716,166.1,-8.3,115,1799,0.00,2.38,0.00,0.000,516,0.000,0.063,3059,897,2736,2757,2716,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1919,-0.75,-107.1,3059,897,2757,2715,175.9,-7.6,123,1925,0.00,2.25,0.00,0.000,1030,0.000,0.051,3059,1904,2735,2757,2714,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2240,-0.77,-107.1,3059,1903,2757,2713,197.5,-6.7,144,2245,0.00,2.33,0.00,0.000,516,0.000,0.063,3059,894,2735,2757,2713,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2353,-0.77,-107.1,3059,894,2758,2713,205.3,-7.4,151,2359,0.00,2.25,0.00,0.000,1030,0.000,0.050,3059,1890,2735,2757,2713,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2673,-0.80,-107.1,3059,1889,2757,2712,229.0,-7.7,172,2678,0.00,2.30,0.00,0.000,516,0.000,0.063,3059,893,2734,2757,2712,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2755,-0.80,-107.1,3059,893,2757,2711,235.6,-8.6,177,2760,0.00,2.22,0.00,0.000,1030,0.000,0.049,3059,1876,2734,2757,2711,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3074,-0.83,-107.1,3059,1875,2757,2710,263.0,-8.4,193,3081,0.00,2.28,0.00,0.000,516,0.000,0.061,3059,893,2733,2757,2710,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3171,-0.85,-107.1,3059,893,2759,2709,270.9,-8.1,196,3177,0.12,2.15,0.00,0.000,5126,0.120,0.047,3007,1854,2732,2756,2708,0,0,0,0,0,0,14.57,14.56,28.83
$GC,3511,-0.82,-107.1,3007,1853,2757,2707,299.8,-8.4,207,3516,0.00,2.20,0.00,0.000,516,0.000,0.060,3006,894,2731,2757,2706,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,3541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3541,begin apogee
$GC,3552,-0.25,0.0,3008,1803,2760,2706,303.1,-8.5,208,3638,0.73,0.00,81.82,1.215,10244,0.190,0.000,3207,1803,2299,2356,2243,0,0,0,0,0,0,14.08,28.83,13.57
$STATE,3642,end apogee,CONTROL_FINISHED_OK
$STATE,3643,begin climb
$GC,3646,0.89,107.1,3207,1803,2352,2240,305.7,0.0,211,3746,1.17,2.47,84.05,1.211,10500,0.099,0.068,3583,2857,1858,1936,1780,0,0,0,0,0,0,14.42,14.43,13.61
$GC,3977,0.79,128.2,2760,2853,1873,1767,296.0,6.4,222,4004,0.17,2.40,16.83,1.134,13318,0.269,0.046,3550,1796,1773,1858,1688,0,0,0,0,0,0,14.28,14.60,13.80
$GC,4304,0.74,152.1,3550,1796,1853,1683,275.8,6.3,233,4333,0.00,2.50,19.08,1.125,8452,0.000,0.061,3550,2857,1673,1751,1596,0,0,0,0,0,0,28.83,14.62,13.83
$GC,4490,0.66,152.1,3550,2857,1742,1595,260.4,8.3,239,4496,0.15,2.38,0.00,0.000,5126,0.243,0.045,3513,1809,1668,1742,1595,0,0,0,0,0,0,14.34,14.62,28.83
$GC,4811,0.63,161.6,3512,1810,1740,1595,237.6,7.0,255,4829,0.00,2.40,8.18,1.007,8452,0.000,0.060,3512,2857,1635,1709,1562,0,0,0,0,0,0,28.83,14.70,13.84
$GC,4898,0.63,203.5,3513,2857,1707,1562,231.1,5.4,260,4937,0.00,2.38,33.05,1.115,9222,0.000,0.044,3513,1811,1466,1529,1404,0,0,0,0,0,0,28.83,14.63,13.81
$GC,5248,0.63,222.9,3513,1812,1513,1404,207.1,6.5,283,5268,0.00,2.40,15.35,1.050,8452,0.000,0.057,3512,2860,1387,1431,1343,0,0,0,0,0,0,28.83,14.66,13.85
$GC,5334,0.64,267.4,2592,2856,1392,1340,200.9,5.3,288,5380,0.00,2.35,36.08,1.085,9222,0.000,0.044,3513,1822,1203,1249,1158,0,0,0,0,0,0,28.83,14.54,13.81
$GC,5694,0.64,267.4,3513,1822,1246,1151,170.6,8.5,312,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1822,1198,1246,1151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5994,0.65,277.4,3512,1823,1245,1150,148.2,6.9,332,6010,0.00,2.38,8.38,0.929,8452,0.000,0.057,3513,2859,1164,1215,1114,0,0,0,0,0,0,28.83,14.69,13.88
$GC,6048,0.65,277.4,2624,2855,1191,1112,144.0,8.0,335,6054,0.00,2.33,0.00,0.000,1030,0.000,0.043,3513,1826,1162,1210,1114,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6363,0.65,277.4,3513,1827,1210,1112,118.1,8.8,356,6368,0.00,2.50,0.00,0.000,516,0.000,0.067,3513,740,1161,1210,1112,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6398,0.65,277.4,3513,740,1209,1112,115.0,9.3,358,6403,0.00,2.42,0.00,0.000,1030,0.000,0.039,3513,1816,1160,1209,1112,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6718,0.68,277.4,3513,1816,1209,1111,88.7,7.8,379,6724,0.00,2.40,0.00,0.000,260,0.000,0.060,3513,2861,1160,1209,1111,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6739,0.71,277.4,3513,2861,1208,1111,86.6,8.5,380,6744,0.00,2.40,0.00,0.000,1030,0.000,0.041,3513,1800,1159,1208,1110,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7059,0.75,277.4,3514,1802,1209,1111,61.4,7.8,401,7064,0.00,2.42,0.00,0.000,516,0.000,0.063,3512,746,1159,1208,1111,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7177,0.81,290.6,3513,746,1202,1110,53.3,6.8,408,7194,0.15,2.33,11.75,0.845,11270,0.117,0.039,3576,1786,1114,1170,1058,0,0,0,0,0,0,14.45,14.50,13.90
$GC,7511,0.79,290.6,3576,1785,1169,1048,29.4,8.3,430,7516,0.00,2.45,0.00,0.000,260,0.000,0.059,3576,2860,1108,1168,1048,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7716,0.74,290.6,3576,2860,1165,1048,9.3,10.5,443,7722,0.17,2.42,0.00,0.000,5126,0.222,0.044,3535,1797,1106,1165,1048,0,0,0,0,0,0,14.23,14.51,28.83
$FREEZE,5.44,25.829,-0.252,0,23,0
$STATE,7954,end climb,NO_VERTICAL_VELOCITY
$STATE,7954,begin surface
$SM_CCo,7959,119.50,0.077,0,0,189,517.58
$SM_CCo,8352,0.05,0.270,0,0,189,517.58
$SM_GC,5.32,9.82,0.35,0.05,0.047,0.075,0.270,144,1942,189,-9.77,-0.96,517.58,0,0,0,0,0,0,14.65,14.51,14.43
$IRIDIUM_FIX,2451.31,-3750.21,070813,080850
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.07
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,23.20
$XPDR_PINGS,2
$SC_FREEKB,3828640
$24V_AH,13.6,192.826
$10V_AH,12.9,0.000
$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,27.625,80.375,314.550,119.550,0.000,0.000,0.000,790.175,0.500,0.000,302.595,1656.510,4933.586,519.010,2369.095,747.500,0.000,2023.672,0.000,1278.966,0.000,0.545,0.000
$DEVICE_MAMPS,388.620,80.325,1214.820,270.045,0.000,0.000,0.000,203.490,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7966.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.532,0.000,0.000,0.000
$MEM,344904
$DATA_FILE_SIZE,16705,459
$CAP_FILE_SIZE,120415,0
$CFSIZE,260034560,185860096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,4.243,260.9,1
$GPS,070813,083350,2451.311,-3750.206,0,10000.0,0,-15.1