version: 66.11
glider: 160
mission: 9
dive: 502
start: 8 7 113 14 33 50
data:
$ID,160
$MISSION,9
$DIVE,502
$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,-74284.016
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,070813,114130,2448.935,-3707.883,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-67.2
$GPS2,070813,114130,2448.935,-3707.883,301,99.0,301,-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,201.6,84650,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.38,-40.3,144,1964,222,163,0.0,0.0,0,38,0.00,0.00,-14.95,0.000,16386,0.000,0.000,144,1964,532,537,527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-40.3,144,1964,537,527,3.1,0.0,1,156,12.57,2.50,-89.82,0.000,18948,0.337,0.083,2855,887,2465,2463,2467,0,0,0,0,0,0,14.16,14.43,14.86
$GC,388,-1.29,-40.3,2849,887,2460,2469,35.4,-15.0,23,395,0.12,2.42,0.00,0.000,3078,0.317,0.059,2872,1944,2464,2459,2469,0,0,0,0,0,0,14.07,14.49,28.83
$GC,694,-1.23,-40.3,2872,1943,2460,2469,74.7,-10.8,44,700,0.00,2.45,0.00,0.000,516,0.000,0.061,2872,890,2464,2460,2469,0,0,0,0,0,0,28.83,14.38,28.83
$GC,932,-1.16,-40.3,2873,890,2459,2469,102.0,-12.3,59,938,0.20,2.42,0.00,0.000,3078,0.285,0.058,2917,1947,2464,2459,2469,0,0,0,0,0,0,14.06,14.42,28.83
$GC,1249,-1.15,-47.2,2915,1947,2459,2469,129.4,-6.6,80,1254,0.00,2.47,-0.20,0.000,16900,0.000,0.080,2916,886,2499,2489,2509,0,0,0,0,0,0,28.83,14.45,14.35
$GC,1491,-1.12,-50.8,2916,886,2489,2509,145.3,-7.0,95,1497,0.00,2.38,-0.10,0.000,17414,0.000,0.059,2916,1922,2515,2505,2526,0,0,0,0,0,0,28.83,14.49,13.93
$GC,1807,-1.12,-50.8,2913,1921,2499,2526,169.3,-8.0,116,1812,0.00,2.38,0.00,0.000,516,0.000,0.065,2916,893,2515,2505,2526,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1820,-1.12,-50.8,2915,893,2505,2525,169.3,-8.0,116,1827,0.00,2.33,0.00,0.000,1030,0.000,0.061,2915,1903,2515,2505,2526,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2127,-1.12,-50.8,2915,1902,2505,2526,200.0,-10.1,137,2133,0.00,2.58,0.00,0.000,260,0.000,0.079,2915,3006,2515,2505,2525,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2234,-1.11,-50.8,2915,3005,2505,2525,209.5,-10.2,143,2241,0.00,2.58,0.00,0.000,1030,0.000,0.044,2915,1867,2515,2505,2525,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2537,-1.11,-50.8,2915,1868,2505,2525,239.9,-9.3,164,2542,0.00,2.25,0.00,0.000,516,0.000,0.069,2914,887,2514,2505,2524,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2774,-1.09,-50.8,2915,887,2505,2523,260.1,-9.2,175,2780,0.12,2.25,0.00,0.000,3078,0.292,0.059,2939,1860,2513,2505,2522,0,0,0,0,0,0,14.16,14.47,28.83
$GC,3093,-1.09,-50.8,2939,1859,2505,2521,286.9,-7.6,186,3098,0.00,2.25,0.00,0.000,516,0.000,0.064,2939,893,2513,2505,2521,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,3276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3276,begin apogee
$GC,3286,-0.25,0.0,2939,1803,2505,2519,302.4,-8.3,192,3334,1.00,0.00,41.65,1.183,10244,0.218,0.000,3202,1803,2297,2307,2287,0,0,0,0,0,0,13.95,28.83,13.59
$STATE,3336,end apogee,CONTROL_FINISHED_OK
$STATE,3336,begin climb
$GC,3341,1.39,50.8,3202,1803,2306,2286,302.2,0.0,193,3391,1.67,2.47,41.25,1.187,10500,0.101,0.072,3742,2860,2090,2120,2060,0,0,0,0,0,0,14.35,14.50,13.62
$GC,3625,1.33,111.0,3742,2859,2115,2053,305.4,-0.0,203,3684,0.15,2.42,48.08,1.189,13318,0.317,0.048,3724,1791,1844,1919,1769,0,0,0,0,0,0,14.13,14.55,13.68
$GC,3985,1.25,111.0,3724,1792,1917,1762,281.1,7.7,215,3991,0.00,2.47,0.00,0.000,260,0.000,0.063,3724,2856,1839,1916,1762,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4222,1.15,111.0,3724,2856,1911,1761,261.5,9.2,222,4228,0.28,2.38,0.00,0.000,5126,0.293,0.048,3666,1812,1836,1911,1762,0,0,0,0,0,0,14.09,14.58,28.83
$GC,4537,1.10,111.0,3667,1813,1911,1761,233.0,9.2,239,4543,0.00,2.45,0.00,0.000,260,0.000,0.062,3666,2857,1835,1911,1760,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4774,1.04,111.0,3666,2856,1909,1760,210.4,9.4,254,4780,0.17,2.38,0.00,0.000,5126,0.288,0.047,3633,1812,1834,1909,1760,0,0,0,0,0,0,14.14,14.56,28.83
$GC,5090,1.04,131.2,3633,1814,1909,1759,190.5,4.9,275,5113,0.00,2.45,15.80,1.027,8452,0.000,0.062,3633,2854,1760,1840,1680,0,0,0,0,0,0,28.83,14.61,13.81
$GC,5347,1.01,135.1,3633,2853,1832,1680,174.4,6.9,291,5354,0.00,2.35,0.00,0.000,1030,0.000,0.047,3633,1819,1756,1833,1680,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5650,1.02,141.7,3633,1820,1832,1680,151.7,6.6,312,5666,0.00,2.40,9.18,0.952,8452,0.000,0.060,3633,2862,1717,1795,1640,0,0,0,0,0,0,28.83,14.64,13.83
$GC,5781,0.99,146.1,2864,2858,1743,1635,142.5,6.9,320,5793,0.00,2.38,3.78,0.771,9222,0.000,0.048,3633,1825,1704,1781,1627,0,0,0,0,0,0,28.83,14.57,13.65
$GC,6092,1.01,160.3,3633,1825,1781,1627,123.1,5.7,341,6114,0.00,2.42,13.82,0.942,8452,0.000,0.063,3633,2854,1641,1714,1568,0,0,0,0,0,0,28.83,14.61,13.88
$GC,6165,1.03,178.1,3633,2854,1710,1567,119.2,5.2,345,6187,0.00,2.38,14.98,0.955,9222,0.000,0.049,3633,1814,1570,1641,1500,0,0,0,0,0,0,28.83,14.57,13.87
$GC,6487,1.03,178.1,3633,1815,1633,1499,92.4,11.5,367,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,1815,1565,1632,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6785,1.03,178.1,3633,1815,1631,1498,58.7,9.3,387,6790,0.00,2.47,0.00,0.000,516,0.000,0.068,3633,745,1565,1631,1499,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6840,1.04,178.1,2848,745,1587,1494,54.5,8.7,390,6845,0.00,2.40,0.00,0.000,1030,0.000,0.043,3633,1814,1563,1627,1500,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7155,1.09,203.5,3633,1813,1625,1500,40.1,4.3,411,7185,0.00,2.42,19.52,0.850,8452,0.000,0.067,3633,2852,1466,1523,1409,0,0,0,0,0,0,28.83,14.54,13.90
$GC,7243,1.12,238.6,3633,2852,1518,1409,34.7,3.1,416,7277,0.00,2.40,26.23,0.852,9222,0.000,0.053,3633,1814,1323,1361,1286,0,0,0,0,0,0,28.83,14.46,13.88
$GC,7588,1.25,245.8,3633,1814,1349,1282,5.1,6.5,439,7599,0.17,2.53,2.28,0.099,10756,0.097,0.067,3710,739,1297,1331,1264,0,0,0,0,0,0,14.40,14.31,14.34
$GC,7735,1.55,303.6,2976,738,1304,1265,4.6,0.3,448,7762,0.25,2.47,20.17,0.092,11266,0.098,0.052,3797,1816,1137,1193,1082,0,0,0,0,0,0,14.39,14.33,28.83
$STATE,7763,end climb,SURFACE_DEPTH_REACHED
$STATE,7763,begin surface coast
$FINISH,4.6,1.012414
$STATE,7826,end surface coast,CONTROL_FINISHED_OK
$STATE,7826,begin surface
$SM_CCo,7831,121.25,0.073,0,0,189,517.58
$SM_GC,5.67,10.62,0.30,0.00,0.049,0.058,0.000,140,1962,190,-9.78,-0.48,517.58,0,0,0,0,0,0,14.69,14.57,28.83
$IRIDIUM_FIX,2448.93,-3750.21,070813,141419
$TT8_MAMPS,0.024717,0.024717
$HUMID,82.76
$INTERNAL_PRESSURE,9.58431
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3827872
$24V_AH,13.6,193.193
$10V_AH,12.5,0.000
$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,27.350,77.325,256.725,121.250,0.000,0.000,0.000,264.225,0.000,0.000,303.593,1738.571,4745.826,484.279,1968.269,718.223,0.000,1477.503,0.000,1351.746,0.000,0.543,0.000
$DEVICE_MAMPS,336.600,83.385,1188.810,72.675,0.000,0.000,0.000,143.820,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7860.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.651,0.000,0.000,0.000
$MEM,345320
$DATA_FILE_SIZE,16790,454
$CAP_FILE_SIZE,116727,0
$CFSIZE,260034560,185663488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,100.954, 90.2,1
$GPS,070813,142219,2448.935,-3750.206,0,10000.0,0,-15.1