version: 66.11
glider: 160
mission: 9
dive: 509
start: 8 8 113 16 27 44
data:
$ID,160
$MISSION,9
$DIVE,509
$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,-81315.102
$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,27
$R_STBD_OVSHOOT,32
$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
$GPS1,080813,131528,2448.935,-3753.542,0,10000.0,0,-15.1
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-69.0
$GPS2,080813,131528,2448.935,-3753.542,301,99.0,301,-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,228.5,53750,-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,-107.1,145,1959,220,163,0.0,0.0,0,114,0.00,0.00,-88.97,0.000,16386,0.000,0.000,146,1960,2306,2283,2330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.89,-107.1,146,1960,2283,2331,3.3,-1.3,6,151,14.70,2.50,-10.18,0.000,19204,0.384,0.083,2992,893,2738,2759,2718,0,0,0,0,0,0,14.12,14.57,14.90
$GC,387,-0.80,-107.1,2993,893,2759,2718,37.8,-12.5,23,393,0.17,2.38,0.00,0.000,3078,0.249,0.053,3034,1943,2738,2759,2718,0,0,0,0,0,0,14.23,14.54,28.83
$GC,709,-0.77,-107.1,3034,1942,2759,2718,70.0,-7.7,44,714,0.00,2.40,0.00,0.000,516,0.000,0.062,3034,896,2738,2759,2717,0,0,0,0,0,0,28.83,14.49,28.83
$GC,947,-0.73,-107.1,1952,895,2696,2708,89.1,-8.0,59,952,0.00,2.35,0.00,0.000,1030,0.000,0.054,3034,1935,2738,2759,2717,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1263,-0.70,-107.1,3034,1935,2758,2716,113.4,-7.5,80,1269,0.12,2.47,0.00,0.000,2308,0.236,0.067,3066,3011,2737,2759,2716,0,0,0,0,0,0,14.28,14.41,28.83
$GC,1420,-0.70,-107.1,3066,3011,2759,2716,124.2,-6.8,90,1425,0.00,2.47,0.00,0.000,1030,0.000,0.037,3066,1895,2737,2759,2716,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1740,-0.72,-107.1,3067,1896,2759,2716,146.0,-6.8,111,1746,0.00,2.25,0.00,0.000,516,0.000,0.063,3066,899,2737,2759,2716,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1967,-0.72,-107.1,3066,899,2759,2715,162.3,-7.8,125,1973,0.00,2.22,0.00,0.000,1030,0.000,0.049,3066,1892,2736,2758,2714,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2275,-0.75,-107.1,3067,1892,2759,2713,186.1,-7.5,146,2280,0.00,2.30,0.00,0.000,516,0.000,0.062,3066,900,2736,2759,2714,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2463,-0.77,-107.1,3066,900,2759,2713,199.8,-7.1,158,2468,0.00,2.20,0.00,0.000,1030,0.000,0.049,3066,1873,2735,2759,2712,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2783,-0.80,-107.1,3066,1871,2759,2711,220.9,-6.8,179,2788,0.00,2.22,0.00,0.000,516,0.000,0.060,3066,899,2735,2759,2711,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2897,-0.82,-107.1,3066,899,2759,2711,229.4,-8.1,186,2903,0.12,2.15,0.00,0.000,5126,0.119,0.047,3015,1857,2735,2759,2711,0,0,0,0,0,0,14.53,14.54,28.83
$GC,3219,-0.81,-107.1,3016,1856,2759,2708,258.7,-8.7,204,3224,0.00,2.22,0.00,0.000,516,0.000,0.060,3016,895,2734,2759,2709,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3356,-0.78,-107.1,3015,894,2758,2708,269.0,-8.2,208,3362,0.00,2.12,0.00,0.000,1030,0.000,0.049,3015,1843,2732,2758,2707,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3687,-0.75,-107.1,3015,1842,2758,2706,295.5,-7.8,219,3693,0.12,2.17,0.00,0.000,2564,0.252,0.055,3050,896,2732,2758,2706,0,0,0,0,0,0,14.26,14.46,28.83
$STATE,3748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3748,begin apogee
$GC,3759,-0.25,0.0,3049,1813,2758,2705,300.9,-7.8,221,3847,0.55,0.00,82.28,1.206,10244,0.177,0.000,3205,1813,2296,2341,2251,0,0,0,0,0,0,14.07,28.83,13.56
$STATE,3852,end apogee,CONTROL_FINISHED_OK
$STATE,3852,begin climb
$GC,3856,0.89,107.1,3205,1812,2338,2251,303.7,0.0,224,3954,1.17,2.45,84.50,1.201,10500,0.103,0.067,3578,2850,1860,1939,1781,0,0,0,0,0,0,14.40,14.40,13.59
$GC,4070,0.81,150.8,3578,2850,1932,1776,298.7,5.4,231,4111,0.00,2.38,33.97,1.171,9222,0.000,0.045,3578,1801,1682,1758,1606,0,0,0,0,0,0,28.83,14.57,13.72
$GC,4422,0.73,150.8,3578,1801,1744,1605,269.1,8.3,243,4428,0.17,2.45,0.00,0.000,4356,0.259,0.060,3535,2856,1674,1744,1605,0,0,0,0,0,0,14.21,14.53,28.83
$GC,4659,0.65,150.8,3535,2856,1740,1605,252.2,7.4,250,4664,0.00,2.33,0.00,0.000,1030,0.000,0.045,3534,1819,1672,1740,1605,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4974,0.64,189.0,3535,1819,1740,1605,232.9,5.6,271,5013,0.12,2.42,29.12,1.112,12548,0.249,0.061,3502,2844,1525,1590,1460,0,0,0,0,0,0,14.26,14.57,13.82
$GC,5249,0.61,189.0,3502,2844,1579,1460,213.0,8.5,288,5255,0.00,2.25,0.00,0.000,1030,0.000,0.044,3505,1844,1520,1580,1460,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5553,0.61,189.0,3499,1845,1578,1461,184.0,9.3,309,5559,0.00,2.35,0.00,0.000,260,0.000,0.061,3504,2854,1518,1577,1460,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5661,0.58,189.0,3504,2854,1576,1460,175.1,8.9,315,5668,0.00,2.25,0.00,0.000,1030,0.000,0.043,3506,1854,1518,1576,1460,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5964,0.63,243.7,3502,1855,1576,1460,155.5,4.9,336,6013,0.00,2.33,41.92,1.031,8452,0.000,0.061,3506,2851,1302,1343,1261,0,0,0,0,0,0,28.83,14.55,13.80
$GC,6090,0.68,289.2,3506,2851,1335,1265,148.9,5.3,344,6135,0.00,2.22,36.78,1.017,9222,0.000,0.042,3506,1868,1117,1176,1059,0,0,0,0,0,0,28.83,14.47,13.78
$GC,6436,0.72,299.5,3505,1868,1176,1049,129.7,6.9,367,6452,0.00,2.53,8.68,0.909,8708,0.000,0.060,3505,749,1078,1143,1014,0,0,0,0,0,0,28.83,14.63,13.86
$GC,6567,0.79,299.5,2624,749,1127,1011,118.9,8.7,375,6573,0.15,2.42,0.00,0.000,3078,0.124,0.040,3567,1845,1077,1143,1012,0,0,0,0,0,0,14.54,14.58,28.83
$GC,6884,0.77,299.5,3566,1844,1143,1010,82.5,10.7,396,6890,0.00,2.30,0.00,0.000,260,0.000,0.063,3566,2850,1076,1143,1010,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6988,0.73,299.5,3566,2850,1141,1010,71.6,10.9,402,6994,0.15,2.25,0.00,0.000,5126,0.223,0.043,3531,1853,1075,1141,1010,0,0,0,0,0,0,14.26,14.55,28.83
$GC,7304,0.76,314.1,3531,1853,1141,1012,48.8,6.7,423,7325,0.00,2.50,13.43,0.842,8708,0.000,0.061,3533,744,1016,1091,942,0,0,0,0,0,0,28.83,14.64,13.89
$GC,7363,0.78,314.1,3533,744,1091,942,44.5,8.4,426,7373,0.00,2.47,0.00,0.000,1030,0.000,0.039,3533,1868,1015,1090,941,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7671,0.82,314.1,3533,1868,1091,938,20.0,8.0,447,7676,0.00,2.58,0.00,0.000,516,0.000,0.060,3533,750,1014,1091,938,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7740,0.86,314.1,2688,750,1078,936,14.4,8.2,451,7746,0.12,2.42,0.00,0.000,3078,0.125,0.041,3589,1837,1014,1091,938,0,0,0,0,0,0,14.41,14.45,28.83
$FREEZE,4.35,26.155,-1.045,0,32,0
$STATE,8037,end climb,NO_VERTICAL_VELOCITY
$STATE,8037,begin surface
$SM_CCo,8042,105.95,0.074,0,0,189,517.58
$SM_GC,5.06,10.00,0.22,0.00,0.047,0.063,0.000,141,1964,190,-9.79,-0.76,517.58,0,0,0,0,0,0,14.64,14.64,28.83
$IRIDIUM_FIX,2451.31,-3750.21,080813,161628
$TT8_MAMPS,0.024717,0.024717
$HUMID,83.54
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,23.20
$XPDR_PINGS,4
$SC_FREEKB,3825184
$24V_AH,13.6,195.302
$10V_AH,12.7,0.000
$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,27.700,79.675,330.675,105.950,0.000,0.000,0.000,1054.075,1.000,0.000,306.278,1736.965,4958.162,510.950,2667.810,619.616,0.000,2314.190,0.000,1361.325,0.000,0.545,0.000
$DEVICE_MAMPS,384.030,83.385,1206.405,74.205,0.000,0.000,0.000,221.850,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8044.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.224,0.000,0.000,0.000
$MEM,345028
$DATA_FILE_SIZE,16805,471
$CAP_FILE_SIZE,125578,0
$CFSIZE,260034560,185532416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,8.245,226.6,1
$GPS,080813,161228,2451.311,-3750.206,0,10000.0,0,-15.1