version: 66.11
glider: 160
mission: 9
dive: 505
start: 8 8 113 4 28 0
data:
$ID,160
$MISSION,9
$DIVE,505
$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,6
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-78869.328
$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
$GPS1,070813,201838,2448.935,-3752.082,301,99.0,301,-15.1
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-69.5
$GPS2,070813,201838,2448.935,-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,231.1,53312,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.89,-107.1,142,1962,218,164,0.0,0.0,0,129,0.00,0.00,-103.38,0.000,16390,0.000,0.000,142,1960,2738,2726,2750,0,0,0,0,0,0,28.83,28.83,14.95
$GC,135,-0.89,-107.1,142,1962,2726,2750,4.4,-3.4,7,156,14.95,2.47,0.00,0.000,2564,0.386,0.063,3002,889,2740,2735,2746,0,0,0,0,0,0,14.07,14.57,28.83
$GC,387,-0.81,-107.1,1952,888,2682,2728,44.7,-12.7,23,393,0.12,2.35,0.00,0.000,3078,0.265,0.049,3030,1942,2740,2743,2737,0,0,0,0,0,0,14.35,14.60,28.83
$GC,704,-0.77,-107.1,3030,1941,2744,2736,75.8,-8.9,44,709,0.00,2.42,0.00,0.000,516,0.000,0.063,3030,888,2740,2744,2736,0,0,0,0,0,0,28.83,14.41,28.83
$GC,941,-0.73,-107.1,3029,888,2743,2735,95.8,-8.1,59,947,0.00,2.38,0.00,0.000,1030,0.000,0.057,3030,1930,2739,2744,2734,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1259,-0.70,-107.1,3030,1929,2744,2734,116.7,-7.1,80,1265,0.12,2.40,0.00,0.000,2564,0.246,0.063,3065,887,2739,2744,2734,0,0,0,0,0,0,14.33,14.52,28.83
$GC,1496,-0.70,-107.1,3065,887,2744,2735,134.9,-8.2,95,1501,0.00,2.35,0.00,0.000,1030,0.000,0.057,3065,1920,2738,2744,2733,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1811,-0.72,-107.1,3065,1919,2744,2732,158.8,-6.7,116,1817,0.00,2.38,0.00,0.000,516,0.000,0.067,3065,891,2738,2744,2732,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2044,-0.73,-107.1,3065,891,2744,2731,174.7,-6.9,131,2049,0.00,2.30,0.00,0.000,1030,0.000,0.057,3065,1895,2737,2744,2730,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2365,-0.76,-107.1,3065,1894,2744,2730,199.1,-8.2,152,2370,0.00,2.33,0.00,0.000,516,0.000,0.069,3065,892,2736,2744,2729,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2492,-0.79,-107.1,3065,893,2744,2729,209.8,-8.6,160,2497,0.00,2.28,0.00,0.000,1030,0.000,0.059,3065,1883,2736,2744,2728,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2813,-0.82,-107.1,3065,1882,2744,2726,234.6,-7.5,181,2819,0.00,2.30,0.00,0.000,516,0.000,0.067,3065,888,2735,2744,2726,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2973,-0.84,-107.1,3065,889,2744,2725,246.5,-7.8,191,2979,0.12,2.20,0.00,0.000,5126,0.116,0.056,3015,1857,2734,2744,2725,0,0,0,0,0,0,14.57,14.54,28.83
$GC,3293,-0.82,-107.1,3015,1856,2745,2724,272.7,-8.1,203,3299,0.00,2.22,0.00,0.000,516,0.000,0.063,3014,890,2734,2744,2724,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3373,-0.80,-107.1,3015,890,2744,2723,278.6,-8.2,205,3378,0.00,2.17,0.00,0.000,1030,0.000,0.054,3014,1850,2733,2744,2723,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,3599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3599,begin apogee
$GC,3609,-0.25,0.0,3014,1754,2745,2721,300.2,-8.9,213,3701,0.70,0.10,83.03,1.199,10244,0.184,0.048,3211,1840,2296,2330,2262,0,0,0,0,0,0,14.14,14.45,13.57
$STATE,3706,end apogee,CONTROL_FINISHED_OK
$STATE,3706,begin climb
$GC,3710,0.89,107.1,3210,1838,2327,2262,303.4,0.0,216,3809,1.15,2.35,84.25,1.199,10500,0.099,0.080,3579,2826,1860,1940,1780,0,0,0,0,0,0,14.43,14.43,13.64
$GC,4040,0.78,118.3,3578,2826,1931,1773,292.0,6.9,227,4054,0.00,2.25,8.68,1.047,9222,0.000,0.054,3579,1838,1819,1901,1738,0,0,0,0,0,0,28.83,14.60,13.85
$GC,4367,0.69,118.3,3578,1839,1893,1733,268.0,7.5,238,4373,0.22,2.30,0.00,0.000,4356,0.245,0.067,3521,2822,1813,1893,1733,0,0,0,0,0,0,14.20,14.58,28.83
$GC,4605,0.62,118.7,3521,2822,1890,1732,251.3,7.4,245,4610,0.00,2.28,0.00,0.000,1030,0.000,0.052,3521,1821,1811,1890,1732,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4920,0.60,145.9,3521,1820,1890,1731,230.0,6.1,266,4951,0.12,2.33,22.50,1.090,12548,0.236,0.067,3486,2822,1701,1788,1614,0,0,0,0,0,0,14.31,14.66,13.82
$GC,5000,0.61,186.9,3486,2822,1776,1614,225.8,5.5,270,5040,0.00,2.28,32.17,1.107,9222,0.000,0.051,3490,1821,1533,1604,1463,0,0,0,0,0,0,28.83,14.60,13.81
$GC,5355,0.64,207.5,3490,1822,1591,1462,202.1,6.4,294,5374,0.00,0.00,16.23,1.045,8198,0.000,0.000,3490,1822,1451,1513,1390,0,0,0,0,0,0,28.83,28.83,13.85
$GC,5670,0.67,237.1,3490,1823,1500,1389,181.3,6.0,315,5700,0.00,2.45,23.50,1.050,8708,0.000,0.066,3490,741,1329,1374,1285,0,0,0,0,0,0,28.83,14.64,13.86
$GC,5744,0.72,269.5,3490,741,1372,1282,176.9,5.9,319,5778,0.12,2.35,26.48,1.048,11270,0.128,0.043,3535,1797,1199,1252,1146,0,0,0,0,0,0,14.58,14.61,13.85
$GC,6089,0.72,270.4,3535,1796,1248,1138,151.8,7.4,342,6095,0.00,2.45,0.00,0.000,260,0.000,0.071,3535,2854,1192,1246,1139,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6129,0.72,270.4,3534,2858,1244,1139,148.5,8.2,344,6135,0.00,2.35,0.00,0.000,1030,0.000,0.051,3536,1828,1191,1244,1139,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6444,0.72,270.4,3535,1829,1243,1139,121.9,8.5,365,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1828,1191,1243,1139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,0.72,274.0,3535,1828,1243,1138,98.0,7.2,385,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1829,1190,1242,1138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7044,0.72,274.0,3535,1829,1243,1137,76.8,7.9,405,7050,0.00,2.50,0.00,0.000,516,0.000,0.069,3535,738,1189,1242,1137,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7080,0.72,274.0,3535,738,1242,1137,73.7,8.5,407,7087,0.00,2.50,0.00,0.000,1030,0.000,0.042,3535,1833,1189,1242,1137,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7401,0.74,288.5,3535,1832,1242,1136,48.1,6.7,428,7422,0.00,2.35,15.20,0.852,8452,0.000,0.072,3535,2859,1121,1180,1062,0,0,0,0,0,0,28.83,14.62,13.79
$GC,7579,0.74,294.8,3535,2859,1173,1062,35.0,7.1,439,7591,0.00,2.35,4.95,0.788,9222,0.000,0.050,3535,1830,1098,1157,1040,0,0,0,0,0,0,28.83,14.53,13.71
$GC,7890,0.78,330.8,3535,1831,1158,1040,8.7,5.7,460,7920,0.00,2.55,20.15,0.118,8708,0.000,0.072,3535,739,950,1031,870,0,0,0,0,0,0,28.83,14.44,14.51
$GC,7977,0.96,440.6,3535,743,1031,867,4.4,2.3,465,7991,0.22,2.45,7.53,0.073,11266,0.096,0.045,3614,1836,889,982,796,0,0,0,0,0,0,14.54,14.54,28.83
$STATE,7992,end climb,SURFACE_DEPTH_REACHED
$STATE,7992,begin surface coast
$FINISH,4.3,1.023392
$STATE,8087,end surface coast,CONTROL_FINISHED_OK
$STATE,8087,begin surface
$SM_CCo,8092,90.82,0.073,0,0,190,517.58
$SM_GC,5.53,10.12,0.22,0.00,0.051,0.080,0.000,149,1956,190,-9.78,-0.79,517.58,0,0,0,0,0,0,14.60,14.57,28.83
$IRIDIUM_FIX,2451.31,-3750.21,080813,040427
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.43
$INTERNAL_PRESSURE,9.58431
$TCM_TEMP,23.30
$XPDR_PINGS,2
$SC_FREEKB,3826720
$24V_AH,13.6,194.387
$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,28.000,71.100,344.650,90.825,0.000,0.000,0.000,0.000,0.500,0.000,303.684,1687.817,4777.632,507.033,1635.288,272.883,0.000,1231.210,0.000,1319.336,0.000,0.545,0.000
$DEVICE_MAMPS,386.325,82.620,1198.755,73.440,0.000,0.000,0.000,0.000,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8055.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.207,0.000,0.000,0.000
$MEM,345076
$DATA_FILE_SIZE,16784,472
$CAP_FILE_SIZE,214324,0
$CFSIZE,260034560,185643008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,5.928,209.5,1
$GPS,080813,041027,2451.311,-3750.206,0,10000.0,0,-15.1