version: 66.11
glider: 160
mission: 9
dive: 510
start: 8 8 113 20 18 59
data:
$ID,160
$MISSION,9
$DIVE,510
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,180
$T_MISSION,220
$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,100
$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,4
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-82538.609
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,080813,161228,2451.311,-3750.206,301,99.0,301,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-68.4
$GPS2,080813,161228,2451.311,-3750.206,301,99.0,301,-15.1
$SPEED_LIMITS,0.144,0.204
$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,145.0,57293,-27.0,-8.333,-30.00,882
$D_GRID,450
$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,-1.40,-48.0,142,1967,221,160,0.0,0.0,0,121,0.00,0.00,-95.40,0.000,16390,0.000,0.000,142,1967,2498,2462,2534,0,0,0,0,0,0,28.83,28.83,14.91
$GC,127,-1.45,-97.3,142,1967,2462,2533,2.9,-0.9,6,155,13.90,2.45,-4.30,0.000,18948,0.382,0.076,2824,904,2700,2707,2693,0,0,0,0,0,0,14.04,14.57,14.89
$GC,226,-1.33,-97.3,1760,904,2645,2684,22.1,-19.5,12,234,0.20,2.30,0.00,0.000,3078,0.291,0.049,2859,1934,2700,2708,2693,0,0,0,0,0,0,14.16,14.59,28.83
$GC,534,-1.28,-97.3,2859,1933,2708,2691,71.0,-13.6,33,539,0.00,2.38,0.00,0.000,516,0.000,0.057,2859,894,2700,2709,2691,0,0,0,0,0,0,28.83,14.55,28.83
$GC,770,-1.22,-97.3,2860,895,2708,2690,105.3,-15.1,48,776,0.20,2.33,0.00,0.000,3078,0.278,0.051,2900,1929,2699,2708,2690,0,0,0,0,0,0,14.14,14.57,28.83
$GC,1086,-1.20,-97.3,2900,1929,2708,2689,144.7,-10.8,69,1091,0.00,2.35,0.00,0.000,516,0.000,0.059,2900,895,2698,2708,2689,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1323,-1.17,-97.3,2900,895,2709,2689,168.2,-9.8,84,1329,0.00,2.33,0.00,0.000,1030,0.000,0.050,2898,1922,2698,2709,2688,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1638,-1.17,-97.3,2898,1921,2709,2688,200.3,-10.5,105,1643,0.00,2.33,0.00,0.000,516,0.000,0.060,2898,901,2698,2709,2688,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1875,-1.15,-97.3,2898,901,2708,2687,228.7,-12.6,120,1880,0.00,2.28,0.00,0.000,1030,0.000,0.052,2898,1904,2698,2709,2687,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2190,-1.15,-97.3,2897,1903,2710,2686,268.9,-12.1,136,2195,0.00,2.60,0.00,0.000,260,0.000,0.086,2898,3003,2697,2708,2686,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2330,-1.15,-97.3,2898,3003,2708,2685,283.9,-12.0,140,2336,0.00,2.55,0.00,0.000,1030,0.000,0.049,2898,1883,2696,2708,2685,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2654,-1.15,-97.3,2898,1884,2709,2683,323.3,-11.7,151,2659,0.00,2.25,0.00,0.000,516,0.000,0.069,2898,896,2695,2708,2682,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2889,-1.13,-97.3,2898,896,2709,2680,350.1,-12.4,158,2895,0.15,2.20,0.00,0.000,3078,0.285,0.054,2928,1863,2693,2708,2679,0,0,0,0,0,0,14.16,14.52,28.83
$GC,3209,-1.13,-97.3,2928,1863,2708,2678,390.0,-12.0,169,3215,0.00,2.22,0.00,0.000,516,0.000,0.060,2928,892,2692,2708,2677,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3446,-1.13,-97.3,2929,892,2708,2676,416.9,-12.1,176,3451,0.00,2.15,0.00,0.000,1030,0.000,0.050,2928,1842,2691,2708,2675,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,3727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3727,begin apogee
$GC,3736,-0.25,0.0,2929,1767,2708,2673,450.6,-10.6,186,3820,1.05,0.08,77.82,1.408,10244,0.213,0.142,3207,1832,2298,2353,2243,0,0,0,0,0,0,13.95,14.37,13.45
$STATE,3826,end apogee,CONTROL_FINISHED_OK
$STATE,3826,begin climb
$GC,3829,1.45,97.3,3207,1831,2350,2240,453.4,0.0,189,3923,1.73,2.38,79.72,1.409,10500,0.093,0.076,3763,2828,1899,1963,1835,0,0,0,0,0,0,14.42,14.40,13.48
$GC,4156,1.32,97.3,3763,2828,1954,1829,434.9,10.3,199,4163,0.22,2.28,0.00,0.000,5126,0.325,0.053,3720,1835,1891,1953,1829,0,0,0,0,0,0,14.13,14.59,28.83
$GC,4467,1.25,106.6,3721,1836,1953,1825,407.6,7.3,210,4480,0.00,2.47,5.20,1.078,8708,0.000,0.061,3725,740,1869,1935,1804,0,0,0,0,0,0,28.83,14.69,13.66
$GC,4713,1.18,125.8,3726,740,1935,1804,391.6,6.1,218,4741,0.22,2.33,18.45,1.278,13318,0.275,0.041,3677,1783,1786,1863,1710,0,0,0,0,0,0,14.18,14.60,13.77
$GC,5042,1.14,137.1,3677,1781,1857,1706,370.0,7.0,229,5060,0.00,2.45,10.40,1.200,8452,0.000,0.070,3677,2855,1737,1812,1663,0,0,0,0,0,0,28.83,14.67,13.76
$GC,5181,1.08,137.1,3677,2855,1806,1663,358.4,9.2,233,5188,0.17,2.35,0.00,0.000,5126,0.287,0.048,3649,1819,1734,1806,1662,0,0,0,0,0,0,14.23,14.61,28.83
$GC,5507,1.05,137.1,3648,1820,1805,1662,329.2,8.8,244,5512,0.00,2.42,0.00,0.000,260,0.000,0.064,3649,2860,1733,1805,1662,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5743,1.01,137.1,3650,2860,1801,1662,307.4,9.8,251,5749,0.15,2.33,0.00,0.000,5126,0.291,0.047,3626,1838,1732,1802,1662,0,0,0,0,0,0,14.14,14.55,28.83
$GC,6061,1.01,137.3,3626,1839,1803,1656,278.8,8.3,262,6067,0.00,2.40,0.00,0.000,260,0.000,0.063,3626,2862,1730,1799,1661,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6299,0.98,137.3,3626,2858,1800,1662,259.2,8.6,269,6304,0.00,2.33,0.00,0.000,1030,0.000,0.047,3629,1844,1729,1799,1660,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6615,0.99,147.5,3629,1844,1800,1660,234.1,7.1,287,6631,0.00,2.35,8.95,1.050,8452,0.000,0.061,3629,2856,1695,1768,1622,0,0,0,0,0,0,28.83,14.65,13.65
$GC,6832,0.96,147.5,3629,2856,1764,1621,216.1,8.6,301,6838,0.00,2.35,0.00,0.000,1030,0.000,0.049,3630,1840,1692,1763,1622,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7152,0.96,147.5,3630,1842,1763,1621,189.3,9.2,322,7158,0.00,2.38,0.00,0.000,260,0.000,0.063,3630,2855,1692,1763,1621,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7273,0.94,147.5,3630,2855,1761,1620,177.8,10.5,329,7280,0.00,2.25,0.00,0.000,1030,0.000,0.048,3630,1876,1691,1761,1621,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7580,0.94,147.5,3630,1877,1761,1621,146.5,8.9,350,7582,0.15,0.00,0.00,0.000,4102,0.274,0.000,3598,1877,1691,1761,1621,0,0,0,0,0,0,14.07,28.83,28.83
$GC,7882,0.97,163.7,3598,1877,1761,1620,125.9,6.4,370,7902,0.00,2.28,13.82,0.964,8452,0.000,0.062,3599,2858,1630,1699,1561,0,0,0,0,0,0,28.83,14.62,13.73
$GC,8052,0.98,173.0,3599,2857,1690,1561,113.6,7.2,381,8069,0.00,2.25,8.70,0.930,9222,0.000,0.047,3599,1882,1591,1659,1524,0,0,0,0,0,0,28.83,14.44,13.83
$GC,8369,1.02,180.6,3599,1881,1652,1524,90.6,7.4,402,8384,0.00,2.58,7.28,0.889,8708,0.000,0.064,3599,745,1559,1621,1497,0,0,0,0,0,0,28.83,14.64,13.85
$GC,8414,1.04,180.6,3599,745,1620,1496,87.3,8.9,404,8421,0.00,2.50,0.00,0.000,1030,0.000,0.040,3599,1875,1558,1619,1497,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8719,1.09,190.9,3599,1874,1616,1497,63.5,7.1,425,8736,0.12,2.30,9.57,0.867,10500,0.140,0.068,3656,2855,1516,1574,1458,0,0,0,0,0,0,14.42,14.64,13.88
$GC,8879,1.07,190.9,3656,2854,1569,1458,48.6,9.3,435,8885,0.00,2.28,0.00,0.000,1030,0.000,0.047,3659,1870,1513,1569,1458,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9200,1.08,196.0,3659,1871,1567,1458,26.8,7.7,456,9210,0.00,2.62,1.73,0.178,8708,0.000,0.063,3658,749,1501,1553,1450,0,0,0,0,0,0,28.83,14.24,13.93
$GC,9238,1.08,196.0,2944,749,1518,1447,23.6,9.1,458,9243,0.00,2.53,0.00,0.000,1030,0.000,0.041,3659,1878,1502,1553,1451,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9554,1.34,267.5,3659,1880,1550,1452,4.5,0.0,479,9570,0.17,0.00,13.23,0.103,10498,0.105,0.000,3730,1880,1394,1439,1350,0,0,0,0,0,0,14.35,28.83,28.83
$STATE,9571,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,4.4,1.025206
$STATE,9689,end surface coast,CONTROL_FINISHED_OK
$STATE,9689,begin surface
$SM_CCo,9694,150.23,0.073,0,0,189,517.58
$SM_GC,4.95,10.40,0.15,0.00,0.044,0.080,0.000,147,2001,189,-9.78,-0.59,517.83,0,0,0,0,0,0,14.54,14.62,28.83
$IRIDIUM_FIX,2448.93,-3723.10,080813,202001
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.61
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,3824800
$24V_AH,13.5,195.630
$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,28.850,85.400,254.875,150.225,0.000,0.000,0.000,0.000,0.250,0.000,303.490,1960.958,5870.416,520.944,1876.955,310.207,0.000,1344.664,0.000,1551.407,0.000,0.545,0.000
$DEVICE_MAMPS,381.735,141.525,1409.130,72.675,0.000,0.000,0.000,0.000,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9650.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.490,0.000,0.000,0.000
$MEM,345024
$DATA_FILE_SIZE,16793,488
$CAP_FILE_SIZE,159152,0
$CFSIZE,260034560,185487360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,46.355,276.0,1
$GPS,080813,200301,2448.935,-3723.099,0,10000.0,0,-15.1