version: 66.11
glider: 160
mission: 9
dive: 503
start: 8 7 113 17 21 42
data:
$ID,160
$MISSION,9
$DIVE,503
$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,-74893.297
$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,19
$R_STBD_OVSHOOT,27
$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
$GPS1,070813,142219,2448.935,-3750.206,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-67.3
$GPS2,070813,142219,2448.935,-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,234.5,52911,-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,22,-1.38,-40.3,140,1963,217,167,0.0,0.0,0,39,0.00,0.00,-15.18,0.000,16386,0.000,0.000,139,1962,537,533,541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-40.3,140,1963,533,541,3.1,0.0,1,158,12.80,2.47,-89.40,0.000,19204,0.345,0.079,2849,892,2464,2459,2469,0,0,0,0,0,0,14.28,14.44,14.85
$GC,390,-1.29,-40.3,2850,893,2459,2469,34.5,-13.7,23,397,0.12,2.42,0.00,0.000,3078,0.312,0.057,2873,1947,2464,2459,2469,0,0,0,0,0,0,14.13,14.45,28.83
$GC,696,-1.23,-40.3,2873,1947,2459,2470,71.9,-10.1,44,701,0.00,2.53,0.00,0.000,260,0.000,0.086,2874,3010,2464,2459,2469,0,0,0,0,0,0,28.83,14.33,28.83
$GC,899,-1.16,-40.3,2874,3010,2458,2469,92.0,-9.3,57,905,0.20,2.45,0.00,0.000,3078,0.276,0.043,2916,1924,2463,2458,2469,0,0,0,0,0,0,14.09,14.50,28.83
$GC,1222,-1.14,-40.3,2916,1924,2458,2469,116.2,-7.5,78,1227,0.00,2.38,0.00,0.000,516,0.000,0.072,2917,890,2463,2458,2469,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1457,-1.11,-40.3,1856,890,2391,2459,136.0,-9.1,93,1463,0.00,2.30,0.00,0.000,1030,0.000,0.051,2916,1908,2463,2457,2469,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1773,-1.09,-40.3,2917,1904,2457,2469,165.4,-8.8,114,1778,0.00,2.33,0.00,0.000,516,0.000,0.061,2916,898,2463,2458,2469,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2010,-1.07,-40.3,2916,898,2457,2469,187.7,-9.6,129,2016,0.15,2.28,0.00,0.000,3078,0.277,0.055,2948,1894,2463,2457,2469,0,0,0,0,0,0,14.14,14.46,28.83
$GC,2326,-1.07,-40.3,2948,1893,2457,2469,217.9,-9.6,150,2331,0.00,2.30,0.00,0.000,516,0.000,0.064,2950,896,2463,2457,2469,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2561,-1.07,-40.3,2949,896,2457,2468,241.5,-9.8,165,2566,0.00,2.28,0.00,0.000,1030,0.000,0.056,2949,1890,2462,2456,2469,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2894,-1.08,-45.7,2948,1889,2456,2467,267.5,-6.7,179,2900,0.00,2.33,0.00,0.000,516,0.000,0.063,2948,889,2461,2456,2466,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3130,-1.08,-51.3,2949,889,2456,2466,282.0,-6.7,186,3136,0.00,2.25,0.00,0.000,1030,0.000,0.055,2948,1875,2460,2455,2465,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,3352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3352,begin apogee
$GC,3361,-0.25,0.0,2948,1764,2455,2464,300.0,-7.7,194,3398,0.98,0.10,31.60,1.174,10244,0.216,0.111,3204,1844,2298,2305,2291,0,0,0,0,0,0,13.95,14.57,13.61
$STATE,3400,end apogee,CONTROL_FINISHED_OK
$STATE,3400,begin climb
$GC,3404,1.39,51.3,3205,1844,2304,2290,299.6,0.0,195,3454,1.67,2.33,41.65,1.195,10500,0.102,0.081,3743,2821,2089,2117,2062,0,0,0,0,0,0,14.51,14.51,13.62
$GC,3687,1.33,114.1,3742,2821,2111,2054,303.6,-0.3,204,3745,0.00,2.28,50.38,1.187,9222,0.000,0.053,3752,1831,1832,1904,1760,0,0,0,0,0,0,28.83,14.52,13.66
$GC,4065,1.23,114.1,3752,1831,1900,1752,273.4,9.7,217,4071,0.25,2.53,0.00,0.000,4612,0.303,0.074,3699,744,1826,1900,1752,0,0,0,0,0,0,14.00,14.45,28.83
$GC,4283,1.17,114.1,3698,744,1899,1751,252.3,9.7,224,4289,0.00,2.35,0.00,0.000,1030,0.000,0.052,3699,1776,1824,1898,1751,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4603,1.11,114.1,3699,1775,1899,1749,219.5,10.0,244,4609,0.17,2.50,0.00,0.000,4356,0.282,0.069,3657,2857,1824,1899,1749,0,0,0,0,0,0,14.05,14.50,28.83
$GC,4841,1.05,114.1,3657,2857,1895,1748,197.8,8.1,259,4847,0.00,2.38,0.00,0.000,1030,0.000,0.050,3657,1825,1821,1895,1747,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5157,1.03,123.2,3657,1826,1895,1747,176.4,6.3,280,5174,0.12,2.40,7.55,0.942,12548,0.305,0.064,3628,2861,1792,1872,1713,0,0,0,0,0,0,14.11,14.67,13.76
$GC,5403,1.00,126.3,3628,2861,1868,1712,160.1,7.0,295,5409,0.00,2.35,0.00,0.000,1030,0.000,0.050,3629,1836,1790,1868,1712,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5705,1.02,147.3,3629,1837,1868,1712,142.8,4.8,316,5732,0.00,0.00,20.02,0.988,8198,0.000,0.000,3629,1836,1694,1775,1614,0,0,0,0,0,0,28.83,28.83,13.83
$GC,6035,1.03,158.7,3629,1836,1768,1612,123.9,6.0,338,6052,0.00,2.38,9.70,0.923,8452,0.000,0.063,3629,2863,1649,1723,1576,0,0,0,0,0,0,28.83,14.64,13.85
$GC,6095,1.03,158.7,3629,2863,1718,1575,119.9,7.6,341,6102,0.00,2.35,0.00,0.000,1030,0.000,0.050,3629,1840,1647,1718,1576,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6402,1.03,158.7,3629,1841,1716,1575,93.8,9.5,362,6408,0.00,2.40,0.00,0.000,260,0.000,0.064,3629,2860,1645,1715,1575,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6529,1.01,158.7,3629,2859,1714,1575,81.7,9.0,370,6535,0.00,2.35,0.00,0.000,1030,0.000,0.050,3629,1840,1645,1714,1576,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6850,1.03,172.0,3629,1841,1713,1575,62.1,5.8,391,6867,0.00,2.42,11.40,0.856,8452,0.000,0.064,3629,2858,1595,1665,1525,0,0,0,0,0,0,28.83,14.64,13.88
$GC,6895,1.03,172.0,3629,2858,1659,1525,59.2,8.0,393,6901,0.00,2.30,0.00,0.000,1030,0.000,0.049,3629,1856,1591,1658,1525,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7202,1.05,176.0,3629,1857,1655,1525,34.7,6.9,414,7208,0.00,2.60,0.00,0.000,516,0.000,0.070,3629,735,1590,1655,1525,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7257,1.07,176.0,2848,735,1614,1520,30.5,8.2,417,7263,0.00,2.58,0.00,0.000,1030,0.000,0.047,3629,1868,1590,1655,1525,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7573,1.09,183.4,3630,1868,1653,1525,10.9,6.5,438,7583,0.00,2.62,4.75,0.094,8708,0.000,0.064,3629,742,1550,1619,1482,0,0,0,0,0,0,28.83,14.44,14.31
$GC,7643,1.13,183.4,3629,742,1618,1484,5.5,7.8,442,7649,0.00,2.55,0.00,0.000,1030,0.000,0.050,3630,1864,1551,1618,1484,0,0,0,0,0,0,28.83,14.45,28.83
$FREEZE,4.93,25.924,-0.991,0,26,0
$STATE,7853,end climb,NO_VERTICAL_VELOCITY
$STATE,7853,begin surface
$SM_CCo,7858,169.18,0.071,0,0,188,517.58
$SM_CCo,8301,0.30,0.084,0,0,190,517.58
$SM_GC,5.22,10.15,0.17,0.30,0.049,0.073,0.084,149,1981,190,-9.77,-0.68,517.58,0,0,0,0,0,0,14.64,14.63,14.53
$IRIDIUM_FIX,2448.93,-3750.21,070813,171716
$TT8_MAMPS,0.023968,0.023968
$HUMID,82.88
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,23.40
$XPDR_PINGS,2
$SC_FREEKB,3827488
$24V_AH,13.6,193.333
$10V_AH,12.6,0.000
$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,26.625,72.425,177.050,169.475,0.000,0.000,0.000,294.300,0.500,0.000,303.648,1746.319,4805.716,476.375,1975.975,719.662,0.000,1468.786,0.000,1328.671,0.000,0.544,0.000
$DEVICE_MAMPS,345.015,110.925,1194.930,84.150,0.000,0.000,0.000,166.770,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7873.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.787,0.000,0.000,0.000
$MEM,345320
$DATA_FILE_SIZE,16787,456
$CAP_FILE_SIZE,113949,0
$CFSIZE,260034560,185565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.690,139.1,1
$GPS,070813,171316,2448.935,-3750.206,0,10000.0,0,-15.1