version: 66.11
glider: 160
mission: 9
dive: 501
start: 8 7 113 11 49 25
data:
$ID,160
$MISSION,9
$DIVE,501
$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,-73673.664
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,070813,083350,2451.311,-3750.206,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-68.7
$GPS2,070813,083350,2451.311,-3750.206,301,99.0,301,-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,145.0,57293,-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,-107.1,144,1950,222,165,0.0,0.0,0,39,0.00,0.00,-15.02,0.000,16386,0.000,0.000,143,1951,532,533,532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-0.89,-107.1,144,1951,533,532,3.1,0.0,1,170,13.00,2.47,-101.07,0.000,18948,0.326,0.083,3003,891,2737,2757,2718,0,0,0,0,0,0,14.28,14.42,14.85
$GC,264,-0.79,-107.1,3003,891,2757,2718,16.3,-13.7,15,271,0.15,2.40,0.00,0.000,3078,0.261,0.051,3037,1954,2737,2756,2718,0,0,0,0,0,0,14.24,14.55,28.83
$GC,570,-0.74,-107.1,3037,1953,2757,2718,48.3,-9.8,36,575,0.00,2.45,0.00,0.000,516,0.000,0.058,3038,888,2737,2757,2718,0,0,0,0,0,0,28.83,14.47,28.83
$GC,807,-0.70,-107.1,1984,887,2698,2709,69.1,-8.5,51,813,0.12,2.35,0.00,0.000,3078,0.242,0.049,3066,1931,2736,2756,2717,0,0,0,0,0,0,14.23,14.47,28.83
$GC,1123,-0.70,-107.1,3067,1931,2757,2717,90.7,-6.2,72,1128,0.00,2.38,0.00,0.000,516,0.000,0.059,3066,893,2737,2757,2717,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1360,-0.70,-107.1,3067,893,2757,2717,105.3,-6.4,87,1365,0.00,2.30,0.00,0.000,1030,0.000,0.047,3067,1917,2736,2757,2716,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1677,-0.72,-107.1,3067,1916,2757,2716,126.6,-6.9,108,1682,0.00,2.35,0.00,0.000,516,0.000,0.058,3067,889,2733,2751,2716,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1852,-0.72,-107.1,3067,889,2757,2716,140.2,-8.1,119,1857,0.00,2.25,0.00,0.000,1030,0.000,0.046,3067,1899,2736,2757,2716,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2167,-0.75,-107.1,3067,1898,2757,2716,166.5,-8.6,140,2172,0.00,2.33,0.00,0.000,516,0.000,0.057,3062,886,2734,2757,2711,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2327,-0.75,-107.1,2048,885,2700,2706,180.7,-9.3,150,2332,0.00,2.22,0.00,0.000,1030,0.000,0.046,3067,1880,2735,2757,2714,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2643,-0.78,-107.1,3066,1879,2757,2713,208.6,-8.7,171,2649,0.00,2.28,0.00,0.000,516,0.000,0.058,3067,884,2735,2757,2713,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2766,-0.81,-107.1,3067,884,2757,2713,218.5,-8.9,178,2772,0.00,2.17,0.00,0.000,1030,0.000,0.045,3066,1858,2734,2756,2712,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3069,-0.84,-107.1,3067,1856,2753,2711,246.9,-9.2,199,3076,0.12,2.22,0.00,0.000,4612,0.121,0.056,3006,885,2734,2757,2711,0,0,0,0,0,0,14.50,14.49,28.83
$GC,3212,-0.81,-107.1,3006,885,2757,2710,260.2,-10.7,204,3217,0.00,2.15,0.00,0.000,1030,0.000,0.047,3006,1837,2733,2757,2710,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3535,-0.77,-107.1,3006,1836,2757,2708,292.2,-9.0,215,3541,0.15,2.20,0.00,0.000,2564,0.252,0.057,3046,884,2732,2757,2708,0,0,0,0,0,0,14.18,14.48,28.83
$STATE,3658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3658,begin apogee
$GC,3669,-0.25,0.0,3046,1797,2757,2707,302.2,-7.7,219,3755,0.57,0.00,81.57,1.202,10244,0.178,0.000,3208,1797,2299,2345,2253,0,0,0,0,0,0,14.08,28.83,13.57
$STATE,3760,end apogee,CONTROL_FINISHED_OK
$STATE,3760,begin climb
$GC,3763,0.89,107.1,3208,1797,2340,2253,304.0,0.0,222,3856,1.17,2.50,84.15,1.203,10500,0.101,0.076,3582,2852,1866,1945,1787,0,0,0,0,0,0,14.41,14.41,13.62
$GC,3924,0.89,242.9,3582,2852,1934,1777,302.8,1.1,227,4037,0.00,2.42,102.43,1.181,9222,0.000,0.052,3587,1800,1304,1337,1272,0,0,0,0,0,0,28.83,14.52,13.64
$GC,4365,0.81,242.9,3588,1800,1327,1269,253.4,10.8,242,4371,0.12,2.47,0.00,0.000,4356,0.285,0.065,3557,2856,1297,1325,1269,0,0,0,0,0,0,14.23,14.55,28.83
$GC,4512,0.74,242.9,2736,2852,1300,1266,237.9,10.6,250,4517,0.00,2.40,0.00,0.000,1030,0.000,0.051,3560,1811,1297,1325,1269,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4829,0.69,242.9,3560,1811,1324,1267,206.1,10.2,271,4835,0.15,2.45,0.00,0.000,4356,0.251,0.066,3521,2856,1295,1324,1266,0,0,0,0,0,0,14.23,14.54,28.83
$GC,4903,0.65,242.9,3521,2855,1323,1266,199.3,10.1,275,4910,0.00,2.38,0.00,0.000,1030,0.000,0.050,3521,1817,1294,1323,1266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5209,0.63,242.9,3521,1818,1323,1265,173.9,7.7,296,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,1818,1290,1316,1265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5510,0.62,242.9,3521,1817,1322,1264,151.2,7.8,316,5516,0.00,2.45,0.00,0.000,260,0.000,0.067,3521,2854,1293,1323,1264,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5594,0.59,242.9,2640,2850,1298,1261,143.9,8.5,321,5601,0.15,2.38,0.00,0.000,5126,0.213,0.049,3483,1816,1293,1322,1264,0,0,0,0,0,0,14.33,14.55,28.83
$GC,5912,0.63,248.7,3484,1817,1322,1263,120.4,7.1,342,5918,0.00,2.47,0.00,0.000,516,0.000,0.064,3484,739,1292,1322,1263,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6028,0.72,276.6,3484,738,1322,1264,112.8,6.1,349,6064,0.15,2.38,26.70,0.942,11270,0.108,0.041,3538,1797,1167,1213,1122,0,0,0,0,0,0,14.52,14.54,13.85
$GC,6379,0.72,276.6,3538,1796,1210,1116,84.8,8.0,372,6385,0.00,2.47,0.00,0.000,260,0.000,0.072,3538,2857,1162,1209,1116,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6596,0.70,276.6,3538,2857,1205,1116,66.9,7.8,386,6602,0.00,2.42,0.00,0.000,1030,0.000,0.049,3538,1809,1161,1206,1116,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6917,0.72,303.4,3538,1809,1206,1116,47.6,6.2,407,6947,0.00,2.42,22.10,0.848,8708,0.000,0.067,3538,741,1059,1121,997,0,0,0,0,0,0,28.83,14.62,13.90
$GC,6983,0.76,335.3,3538,741,1121,996,42.9,5.9,411,7016,0.00,2.40,27.17,0.856,9222,0.000,0.042,3538,1809,930,1011,849,0,0,0,0,0,0,28.83,14.57,13.86
$GC,7332,0.78,335.3,3538,1804,1009,839,13.6,8.4,434,7337,0.00,2.45,0.00,0.000,260,0.000,0.070,3538,2858,924,1010,839,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7569,1.11,500.7,2688,2858,988,842,4.9,-0.3,449,7582,0.38,2.42,6.95,0.103,11266,0.119,0.061,3654,1819,870,962,779,0,0,0,0,0,0,14.40,14.47,28.83
$STATE,7583,end climb,SURFACE_DEPTH_REACHED
$STATE,7583,begin surface coast
$FINISH,4.6,1.008079
$STATE,7751,end surface coast,CONTROL_FINISHED_OK
$STATE,7752,begin surface
$SM_CCo,7757,90.12,0.076,0,0,190,517.58
$SM_CCo,8121,0.15,0.123,0,0,189,517.58
$SM_GC,5.05,10.02,0.32,0.15,0.036,0.061,0.123,144,1961,189,-9.78,-0.59,517.58,0,0,0,0,0,0,14.66,14.58,14.50
$IRIDIUM_FIX,2448.93,-3707.88,070813,111130
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.54
$INTERNAL_PRESSURE,9.58431
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3828256
$24V_AH,13.6,193.040
$10V_AH,11.4,0.000
$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,26.275,75.850,351.075,90.275,0.000,0.000,0.000,601.050,0.000,0.000,303.577,1691.264,4620.282,517.667,2266.181,723.675,0.000,1861.328,0.000,1346.209,0.000,0.544,0.000
$DEVICE_MAMPS,325.890,83.385,1202.580,123.165,0.000,0.000,0.000,194.310,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7766.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.101,0.000,0.000,0.000
$MEM,345056
$DATA_FILE_SIZE,16793,461
$CAP_FILE_SIZE,117661,0
$CFSIZE,260034560,185769984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,142.089,273.6,1
$GPS,070813,114130,2448.935,-3707.883,0,10000.0,0,-15.1