version: 66.11
glider: 160
mission: 9
dive: 507
start: 8 8 113 10 34 10
data:
$ID,160
$MISSION,9
$DIVE,507
$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,-80092.062
$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,68
$R_STBD_OVSHOOT,35
$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
$GPS1,080813,071301,2451.311,-3755.417,0,10000.0,0,-15.1
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-66.8
$GPS2,080813,071301,2451.311,-3755.417,301,99.0,301,-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,226.4,58739,-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,-40.3,144,1901,224,160,0.0,0.0,0,115,0.00,0.00,-90.80,0.000,16386,0.000,0.000,144,1901,2386,2354,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.43,-87.8,144,1901,2354,2416,3.5,-1.5,6,151,13.65,2.22,-6.18,0.000,18948,0.379,0.093,2824,946,2662,2667,2657,0,0,0,0,0,0,14.03,14.49,14.90
$GC,388,-1.33,-87.8,2824,947,2669,2654,53.5,-17.0,23,394,0.20,2.22,0.00,0.000,3078,0.295,0.053,2859,1933,2661,2669,2653,0,0,0,0,0,0,14.12,14.53,28.83
$GC,710,-1.28,-87.8,2859,1932,2669,2652,98.3,-13.0,44,715,0.00,2.30,0.00,0.000,516,0.000,0.067,2859,937,2660,2669,2652,0,0,0,0,0,0,28.83,14.49,28.83
$GC,729,-1.22,-87.8,2859,937,2670,2652,100.8,-12.4,45,736,0.17,2.25,0.00,0.000,3078,0.287,0.057,2896,1919,2660,2670,2651,0,0,0,0,0,0,14.14,14.52,28.83
$GC,1052,-1.20,-87.8,2895,1918,2670,2651,139.5,-10.5,66,1057,0.00,2.55,0.00,0.000,260,0.000,0.083,2886,3008,2660,2670,2651,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1169,-1.16,-87.8,1792,3003,2605,2641,151.0,-10.5,73,1175,0.15,2.38,0.00,0.000,3078,0.286,0.046,2915,1950,2660,2670,2651,0,0,0,0,0,0,14.15,14.54,28.83
$GC,1484,-1.16,-87.8,2916,1952,2671,2651,178.9,-9.0,94,1489,0.00,2.45,0.00,0.000,516,0.000,0.073,2917,888,2660,2670,2650,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1720,-1.16,-87.8,2917,888,2670,2649,203.2,-11.0,109,1726,0.00,2.25,0.00,0.000,1030,0.000,0.056,2918,1875,2659,2670,2648,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2036,-1.16,-87.8,2917,1873,2670,2648,238.0,-11.0,130,2041,0.00,2.28,0.00,0.000,516,0.000,0.063,2918,887,2659,2670,2648,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2273,-1.16,-87.8,2919,887,2670,2646,261.2,-10.6,141,2278,0.00,2.22,0.00,0.000,1030,0.000,0.054,2917,1863,2658,2671,2646,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2587,-1.16,-87.8,2918,1862,2670,2645,292.9,-9.0,152,2593,0.00,2.25,0.00,0.000,516,0.000,0.063,2918,889,2657,2670,2645,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,2678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2679,begin apogee
$GC,2690,-0.25,0.0,2915,1803,2670,2644,301.6,-9.0,155,2765,1.12,0.00,68.45,1.191,10244,0.225,0.000,3207,1803,2297,2349,2246,0,0,0,0,0,0,13.96,28.83,13.59
$STATE,2766,end apogee,CONTROL_FINISHED_OK
$STATE,2767,begin climb
$GC,2770,1.43,87.8,3207,1803,2347,2246,302.8,0.0,157,2847,1.67,2.50,69.35,1.187,10500,0.098,0.079,3749,2855,1944,2004,1885,0,0,0,0,0,0,14.32,14.42,13.62
$GC,3083,1.31,87.8,3749,2854,1991,1876,286.1,8.0,168,3089,0.17,2.42,0.00,0.000,5126,0.314,0.055,3718,1801,1934,1994,1875,0,0,0,0,0,0,14.15,14.56,28.83
$GC,3422,1.24,103.8,3718,1802,1991,1872,267.3,5.4,179,3441,0.00,2.45,13.12,1.065,8452,0.000,0.066,3716,2862,1874,1949,1799,0,0,0,0,0,0,28.83,14.69,13.83
$GC,3673,1.14,103.8,3718,2861,1941,1798,246.1,9.1,188,3679,0.28,2.42,0.00,0.000,5126,0.287,0.049,3666,1802,1869,1941,1798,0,0,0,0,0,0,14.07,14.50,28.83
$GC,3989,1.10,103.8,3666,1799,1941,1795,220.1,8.4,209,3994,0.00,2.47,0.00,0.000,260,0.000,0.065,3666,2861,1868,1941,1795,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4221,1.04,103.8,3667,2861,1939,1795,200.4,8.1,224,4227,0.17,2.40,0.00,0.000,5126,0.286,0.048,3634,1810,1867,1940,1795,0,0,0,0,0,0,14.13,14.55,28.83
$GC,4543,1.03,116.9,3633,1811,1939,1793,181.2,5.8,245,4559,0.00,2.47,11.00,0.978,8452,0.000,0.063,3633,2857,1820,1900,1741,0,0,0,0,0,0,28.83,14.65,13.81
$GC,4755,1.01,128.0,3633,2857,1891,1740,168.2,6.0,258,4772,0.00,2.40,10.02,0.968,9222,0.000,0.048,3634,1818,1775,1856,1694,0,0,0,0,0,0,28.83,14.55,13.85
$GC,5082,1.02,139.1,3633,1819,1848,1693,147.1,6.0,280,5098,0.00,2.40,9.55,0.947,8452,0.000,0.060,3633,2863,1734,1818,1650,0,0,0,0,0,0,28.83,14.67,13.84
$GC,5332,0.99,139.1,3633,2862,1804,1649,126.9,8.5,296,5337,0.00,2.38,0.00,0.000,1030,0.000,0.048,3634,1820,1726,1803,1649,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5652,1.00,143.6,3632,1821,1803,1648,103.8,6.8,317,5662,0.00,2.40,3.58,0.709,8452,0.000,0.061,3633,2858,1714,1792,1636,0,0,0,0,0,0,28.83,14.63,13.60
$GC,5855,0.98,151.6,3633,2858,1789,1638,89.7,6.4,330,5871,0.00,2.33,9.02,0.868,9222,0.000,0.051,3633,1848,1675,1747,1604,0,0,0,0,0,0,28.83,14.53,13.91
$GC,6169,0.99,160.3,3633,1849,1746,1604,69.6,6.3,351,6180,0.00,0.00,8.12,0.848,8710,0.000,0.000,3633,1849,1644,1717,1571,0,0,0,0,0,0,28.83,28.83,13.90
$GC,6491,0.99,160.3,3633,1850,1709,1569,48.6,7.5,372,6496,0.00,2.35,0.00,0.000,260,0.000,0.063,3633,2858,1638,1709,1568,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6711,0.99,160.3,2848,2853,1663,1562,30.8,7.6,386,6716,0.00,2.30,0.00,0.000,1030,0.000,0.050,3633,1854,1637,1707,1568,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7026,1.00,164.9,3633,1855,1707,1568,10.7,6.8,407,7033,0.00,2.58,1.25,0.119,8708,0.000,0.068,3633,740,1628,1696,1560,0,0,0,0,0,0,28.83,14.41,14.11
$GC,7059,1.02,168.7,3633,740,1696,1561,8.9,6.9,408,7067,0.00,2.50,2.25,0.116,9222,0.000,0.044,3633,1857,1614,1684,1545,0,0,0,0,0,0,28.83,14.49,14.30
$FREEZE,4.14,25.974,-2.072,0,30,0
$STATE,7299,end climb,NO_VERTICAL_VELOCITY
$STATE,7299,begin surface
$SM_CCo,7304,174.38,0.072,0,0,189,517.58
$SM_CCo,7752,0.82,0.062,0,0,189,517.58
$SM_GC,4.07,10.18,0.17,0.82,0.051,0.072,0.062,140,1993,189,-9.77,-0.57,517.58,0,0,0,0,0,0,14.64,14.64,14.56
$IRIDIUM_FIX,2451.31,-3751.66,080813,101007
$TT8_MAMPS,0.023968,0.023968
$HUMID,80.47
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,23.50
$XPDR_PINGS,1
$SC_FREEKB,3825952
$24V_AH,13.6,194.822
$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,27.775,66.500,205.725,175.200,0.000,0.000,0.000,1345.400,0.250,0.000,303.680,1648.865,4484.124,474.116,2854.985,654.307,0.000,2493.097,0.000,1254.129,0.000,0.545,0.000
$DEVICE_MAMPS,378.675,204.255,1191.105,71.910,0.000,0.000,0.000,214.965,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7329.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.247,0.000,0.000,0.000
$MEM,345056
$DATA_FILE_SIZE,13443,425
$CAP_FILE_SIZE,117925,0
$CFSIZE,260034560,185589760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,8.202,265.2,1
$GPS,080813,102207,2451.311,-3751.665,0,10000.0,0,-15.1