version: 66.11
glider: 160
mission: 9
dive: 508
start: 8 8 113 13 32 10
data:
$ID,160
$MISSION,9
$DIVE,508
$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,-80702.375
$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,39
$R_STBD_OVSHOOT,59
$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
$GPS1,080813,102207,2451.311,-3751.665,0,10000.0,0,-15.1
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-69.5
$GPS2,080813,102207,2451.311,-3751.665,301,99.0,301,-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,142.5,57566,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.38,-40.3,139,1931,224,165,0.0,0.0,0,113,0.00,0.00,-88.95,0.000,16386,0.000,0.000,139,1931,2314,2284,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.43,-89.3,139,1932,2285,2345,3.1,-1.4,6,149,14.05,2.38,-8.77,0.000,18948,0.390,0.086,2824,911,2667,2662,2672,0,0,0,0,0,0,14.07,14.57,14.90
$GC,278,-1.35,-89.3,2824,911,2663,2672,29.8,-16.6,16,285,0.20,2.28,0.00,0.000,3078,0.284,0.058,2860,1912,2667,2662,2672,0,0,0,0,0,0,14.19,14.56,28.83
$GC,599,-1.30,-89.3,2860,1911,2662,2672,77.8,-13.7,37,605,0.00,2.30,0.00,0.000,516,0.000,0.067,2861,912,2667,2662,2672,0,0,0,0,0,0,28.83,14.49,28.83
$GC,644,-1.25,-89.3,2861,911,2662,2678,82.5,-12.8,39,652,0.15,2.35,0.00,0.000,3078,0.287,0.060,2890,1935,2667,2662,2672,0,0,0,0,0,0,14.16,14.44,28.83
$GC,951,-1.22,-89.3,2890,1934,2662,2672,117.0,-10.6,60,956,0.00,2.38,0.00,0.000,516,0.000,0.067,2890,908,2667,2662,2672,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1188,-1.19,-89.3,2890,907,2662,2672,140.3,-9.9,75,1194,0.00,2.30,0.00,0.000,1030,0.000,0.057,2885,1916,2666,2662,2671,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1504,-1.17,-89.3,2886,1915,2662,2671,170.7,-9.2,96,1510,0.12,2.33,0.00,0.000,2564,0.304,0.063,2915,912,2666,2662,2671,0,0,0,0,0,0,14.17,14.48,28.83
$GC,1741,-1.17,-89.3,2915,912,2662,2671,192.1,-9.1,111,1746,0.00,2.25,0.00,0.000,1030,0.000,0.057,2915,1902,2666,2662,2670,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2057,-1.17,-89.3,2915,1901,2662,2670,221.1,-9.3,132,2062,0.00,2.30,0.00,0.000,516,0.000,0.064,2915,908,2665,2662,2669,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2155,-1.17,-89.3,1888,907,2602,2660,230.6,-10.1,138,2161,0.00,2.22,0.00,0.000,1030,0.000,0.055,2915,1892,2665,2662,2668,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2486,-1.17,-89.3,2915,1890,2662,2667,261.9,-9.1,156,2491,0.00,2.28,0.00,0.000,516,0.000,0.064,2914,906,2664,2662,2667,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2540,-1.17,-89.3,2915,906,2662,2668,265.0,-8.9,157,2545,0.00,2.22,0.00,0.000,1030,0.000,0.054,2915,1890,2664,2662,2666,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2856,-1.17,-89.3,2915,1889,2662,2664,296.7,-9.8,168,2861,0.00,2.28,0.00,0.000,516,0.000,0.063,2915,907,2663,2662,2665,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,2887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2887,begin apogee
$GC,2897,-0.25,0.0,2915,1805,2662,2664,300.3,-9.8,169,3003,1.10,0.00,100.22,1.053,10244,0.218,0.000,3203,1804,2301,2326,2276,0,0,0,0,0,0,13.97,28.83,13.64
$STATE,3007,end apogee,CONTROL_FINISHED_OK
$STATE,3008,begin climb
$GC,3011,1.43,89.3,3204,1804,2322,2272,304.0,0.0,172,3092,1.70,2.45,72.00,1.179,10500,0.102,0.067,3749,2857,1934,1993,1876,0,0,0,0,0,0,14.30,14.43,13.62
$GC,3306,1.31,94.2,3749,2857,1979,1863,297.0,6.8,182,3313,0.15,2.35,0.00,0.000,5126,0.322,0.046,3724,1814,1921,1979,1863,0,0,0,0,0,0,14.18,14.60,28.83
$GC,3632,1.24,102.5,3724,1815,1979,1860,276.9,6.4,193,3645,0.12,0.00,10.18,1.029,12294,0.316,0.000,3700,1814,1881,1949,1814,0,0,0,0,0,0,14.21,28.83,13.81
$GC,3932,1.18,106.2,3700,1813,1946,1803,256.3,7.0,203,3937,0.00,2.40,0.00,0.000,260,0.000,0.057,3700,2861,1874,1945,1803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4078,1.09,106.2,3700,2860,1943,1803,244.8,7.8,209,4084,0.22,2.40,0.00,0.000,5126,0.290,0.046,3651,1793,1873,1943,1803,0,0,0,0,0,0,14.13,14.60,28.83
$GC,4394,1.07,116.6,3651,1793,1943,1802,224.3,6.1,230,4414,0.00,2.47,11.82,1.024,8452,0.000,0.057,3651,2854,1820,1897,1744,0,0,0,0,0,0,28.83,14.63,13.82
$GC,4569,1.02,116.6,3651,2853,1891,1743,210.0,8.8,241,4575,0.15,2.38,0.00,0.000,5126,0.286,0.044,3625,1801,1817,1891,1743,0,0,0,0,0,0,14.21,14.58,28.83
$GC,4885,1.02,116.6,3625,1802,1890,1742,183.9,8.3,262,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1802,1816,1891,1742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,1.02,119.5,3625,1802,1891,1741,160.7,7.1,282,5191,0.00,2.45,0.00,0.000,260,0.000,0.057,3626,2862,1815,1890,1740,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5254,1.00,121.5,2848,2858,1838,1732,156.0,7.2,286,5265,0.00,2.40,3.00,0.635,9222,0.000,0.044,3629,1803,1806,1882,1730,0,0,0,0,0,0,28.83,14.55,13.58
$GC,5565,1.02,140.0,3629,1804,1882,1730,137.0,5.1,307,5590,0.00,2.42,17.35,0.973,8452,0.000,0.057,3629,2859,1724,1803,1646,0,0,0,0,0,0,28.83,14.66,13.85
$GC,5660,1.01,158.6,3629,2859,1798,1646,131.6,5.1,312,5682,0.00,2.42,15.48,0.970,9222,0.000,0.044,3629,1786,1650,1726,1575,0,0,0,0,0,0,28.83,14.55,13.85
$GC,5977,1.01,158.6,3628,1786,1716,1575,108.1,7.8,334,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1786,1645,1716,1575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6277,1.01,158.6,3630,1787,1714,1575,84.1,7.5,354,6282,0.00,2.38,0.00,0.000,516,0.000,0.067,3629,751,1644,1714,1575,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6428,1.02,165.1,3630,751,1712,1575,74.1,6.6,363,6439,0.00,2.40,4.47,0.786,9222,0.000,0.040,3629,1826,1628,1699,1557,0,0,0,0,0,0,28.83,14.54,13.66
$GC,6755,1.03,179.3,3629,1825,1699,1557,53.2,5.7,385,6770,0.00,0.00,13.43,0.848,8198,0.000,0.000,3629,1825,1567,1636,1499,0,0,0,0,0,0,28.83,28.83,13.91
$GC,7070,1.08,197.4,3630,1825,1626,1498,39.1,5.2,406,7090,0.00,2.33,14.50,0.838,8452,0.000,0.059,3629,2858,1492,1552,1433,0,0,0,0,0,0,28.83,14.62,13.90
$GC,7241,1.08,197.4,3629,2858,1542,1433,26.1,8.0,417,7248,0.00,2.35,0.00,0.000,1030,0.000,0.044,3630,1826,1492,1551,1433,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7563,1.26,236.9,3630,1827,1537,1435,4.2,2.5,438,7580,0.17,0.00,14.50,0.100,10754,0.095,0.000,3706,1827,1366,1410,1323,0,0,0,0,0,0,14.43,28.83,28.83
$STATE,7581,end climb,SURFACE_DEPTH_REACHED
$STATE,7581,begin surface coast
$FINISH,4.1,1.024988
$STATE,7664,end surface coast,CONTROL_FINISHED_OK
$STATE,7664,begin surface
$SM_CCo,7673,146.05,0.070,0,0,188,517.58
$SM_GC,4.76,10.30,0.28,0.00,0.045,0.063,0.000,151,1952,188,-9.77,-0.96,518.07,0,0,0,0,0,0,14.60,14.57,28.83
$IRIDIUM_FIX,2448.93,-3753.54,080813,131328
$TT8_MAMPS,0.023968,0.023968
$HUMID,81.30
$INTERNAL_PRESSURE,9.58431
$TCM_TEMP,23.40
$XPDR_PINGS,4
$SC_FREEKB,3825568
$24V_AH,13.6,195.066
$10V_AH,12.2,0.000
$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,28.450,65.925,276.950,146.050,0.000,0.000,0.000,1561.225,1.000,0.000,303.527,1542.289,5055.377,507.405,2894.805,704.042,0.000,2712.359,0.000,1155.180,0.000,0.545,0.000
$DEVICE_MAMPS,390.150,95.625,1178.865,70.380,0.000,0.000,0.000,214.965,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7694.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.209,0.000,0.000,0.000
$MEM,345016
$DATA_FILE_SIZE,16772,445
$CAP_FILE_SIZE,121960,0
$CFSIZE,260034560,185573376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,5.572, 43.5,1
$GPS,080813,131528,2448.935,-3753.542,0,10000.0,0,-15.1