version: 66.11
glider: 160
mission: 9
dive: 519
start: 8 10 113 4 21 11
data:
$ID,160
$MISSION,9
$DIVE,519
$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,-87728.484
$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,23
$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
$GPS1,100813,002855,2453.688,-3748.327,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-67.9
$GPS2,100813,002855,2453.688,-3748.327,301,99.0,301,-14.9
$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,148.1,61496,-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,-48.0,146,1948,216,167,0.0,0.0,0,29,0.00,0.00,-5.32,0.000,16386,0.000,0.000,146,1948,317,352,283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-1.40,-48.0,146,1948,352,283,4.0,0.0,1,160,11.98,2.47,-101.35,0.000,18948,0.314,0.086,2840,904,2496,2495,2498,0,0,0,0,0,0,14.23,14.33,14.83
$GC,325,-1.30,-48.0,1800,904,2428,2488,24.9,-14.2,20,332,0.15,2.40,0.00,0.000,3078,0.298,0.056,2869,1950,2496,2495,2498,0,0,0,0,0,0,14.03,14.45,28.83
$GC,643,-1.25,-48.0,2870,1951,2495,2498,65.4,-11.4,41,648,0.00,2.45,0.00,0.000,516,0.000,0.061,2870,901,2496,2495,2498,0,0,0,0,0,0,28.83,14.28,28.83
$GC,881,-1.18,-48.0,1792,900,2424,2488,93.2,-12.0,56,887,0.20,2.35,0.00,0.000,3078,0.285,0.054,2912,1931,2496,2494,2498,0,0,0,0,0,0,13.96,14.45,28.83
$GC,1197,-1.16,-48.0,2912,1931,2494,2498,129.9,-10.3,77,1202,0.00,2.50,0.00,0.000,260,0.000,0.071,2911,3003,2496,2495,2497,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1379,-1.13,-48.7,2911,3007,2495,2498,145.0,-8.3,88,1385,0.00,2.42,0.00,0.000,1030,0.000,0.040,2911,1926,2495,2494,2497,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1685,-1.13,-63.4,2911,1926,2494,2498,166.5,-6.6,109,1690,0.00,2.35,-0.38,0.000,16900,0.000,0.081,2911,901,2564,2558,2571,0,0,0,0,0,0,28.83,14.42,14.49
$GC,1922,-1.11,-63.4,1856,901,2492,2562,185.3,-8.9,124,1928,0.00,2.30,0.00,0.000,1030,0.000,0.052,2911,1913,2565,2558,2572,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2237,-1.11,-63.4,2910,1912,2558,2571,221.5,-12.0,145,2242,0.00,2.35,0.00,0.000,516,0.000,0.060,2910,895,2564,2558,2571,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2474,-1.09,-63.4,2911,895,2558,2571,247.8,-10.5,160,2480,0.15,2.28,0.00,0.000,3078,0.276,0.050,2942,1889,2564,2558,2570,0,0,0,0,0,0,14.03,14.44,28.83
$GC,2810,-1.11,-70.8,2942,1888,2558,2578,275.3,-7.5,172,2815,0.00,2.60,0.00,0.000,260,0.000,0.073,2940,3004,2563,2558,2569,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3011,-1.12,-73.4,2942,3003,2558,2569,290.2,-8.0,178,3017,0.00,2.58,0.00,0.000,1030,0.000,0.041,2941,1859,2563,2557,2569,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3335,-1.13,-73.4,2942,1859,2557,2567,319.9,-9.4,189,3341,0.00,2.17,0.00,0.000,516,0.000,0.061,2941,900,2562,2558,2566,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3570,-1.13,-73.4,2942,900,2558,2565,341.9,-10.2,196,3575,0.00,2.12,0.00,0.000,1030,0.000,0.047,2941,1844,2561,2557,2565,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3889,-1.15,-73.4,2942,1844,2558,2564,375.0,-9.6,207,3894,0.00,2.20,0.00,0.000,516,0.000,0.058,2941,892,2560,2557,2564,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4125,-1.15,-73.4,2942,892,2558,2562,394.9,-8.9,214,4131,0.00,2.15,0.00,0.000,1030,0.000,0.047,2941,1836,2559,2557,2561,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4444,-1.17,-75.7,2942,1835,2558,2560,423.0,-8.1,225,4449,0.00,2.17,0.00,0.000,516,0.000,0.056,2941,893,2558,2558,2558,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4679,-1.17,-75.7,2942,893,2558,2558,442.1,-8.9,232,4685,0.00,2.10,0.00,0.000,1030,0.000,0.046,2941,1825,2557,2557,2558,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,4750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4750,begin apogee
$GC,4760,-0.25,0.0,2941,1824,2557,2557,450.6,-9.1,235,4818,1.02,0.00,51.25,1.404,10244,0.214,0.000,3208,1824,2299,2315,2283,0,0,0,0,0,0,13.80,28.83,13.47
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4823,1.42,75.7,3208,1824,2314,2283,452.1,0.0,237,4897,1.70,2.42,64.20,1.408,10500,0.092,0.063,3758,2859,1987,2035,1940,0,0,0,0,0,0,14.43,14.44,13.45
$GC,5015,1.35,126.3,3758,2859,2027,1934,450.7,2.4,243,5065,0.17,2.40,41.10,1.387,13318,0.335,0.041,3734,1801,1782,1859,1706,0,0,0,0,0,0,14.06,14.52,13.53
$GC,5395,1.26,126.3,3734,1801,1851,1696,415.3,9.7,256,5401,0.12,2.45,0.00,0.000,4356,0.307,0.054,3704,2860,1776,1852,1700,0,0,0,0,0,0,14.10,14.52,28.83
$GC,5632,1.17,126.3,3705,2859,1848,1699,393.8,9.9,263,5638,0.17,2.40,0.00,0.000,5126,0.313,0.040,3678,1794,1773,1848,1699,0,0,0,0,0,0,14.00,14.48,28.83
$GC,5950,1.12,126.3,3678,1795,1847,1698,363.5,8.7,274,5956,0.00,2.47,0.00,0.000,260,0.000,0.055,3678,2860,1773,1848,1698,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6188,1.05,126.3,3679,2859,1846,1697,343.5,8.9,281,6194,0.22,2.35,0.00,0.000,5126,0.285,0.038,3638,1821,1772,1847,1697,0,0,0,0,0,0,14.00,14.53,28.83
$GC,6509,1.04,138.0,3638,1822,1846,1696,319.2,7.0,292,6528,0.00,2.45,9.27,1.131,8452,0.000,0.054,3638,2865,1733,1810,1657,0,0,0,0,0,0,28.83,14.69,13.65
$GC,6657,1.01,139.7,3638,2865,1806,1657,308.7,8.1,296,6665,0.00,2.38,0.00,0.000,1030,0.000,0.038,3643,1818,1731,1806,1657,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6968,0.99,139.7,3643,1819,1805,1656,281.3,8.3,307,6973,0.00,2.42,0.00,0.000,260,0.000,0.054,3643,2866,1730,1804,1656,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7048,0.96,139.7,3643,2866,1803,1656,274.6,9.2,309,7055,0.17,2.38,0.00,0.000,5126,0.291,0.041,3608,1815,1729,1803,1656,0,0,0,0,0,0,14.03,14.50,28.83
$GC,7369,0.96,139.7,3608,1816,1803,1655,246.8,8.5,321,7374,0.00,2.42,0.00,0.000,260,0.000,0.054,3608,2861,1729,1803,1655,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7403,0.96,139.7,3608,2861,1802,1655,243.4,9.5,323,7409,0.00,2.35,0.00,0.000,1030,0.000,0.039,3608,1830,1729,1803,1655,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7724,0.96,143.6,3608,1830,1804,1655,216.9,7.9,344,7734,0.00,2.47,4.18,0.890,8708,0.000,0.062,3608,743,1714,1790,1639,0,0,0,0,0,0,28.83,14.59,13.51
$GC,7783,0.97,145.6,3608,743,1789,1640,212.9,8.1,347,7794,0.00,2.42,3.15,0.719,9222,0.000,0.039,3608,1836,1708,1785,1631,0,0,0,0,0,0,28.83,14.58,13.51
$GC,8108,0.99,166.5,3608,1837,1785,1633,191.5,5.9,369,8138,0.00,2.35,20.02,1.063,8452,0.000,0.059,3608,2852,1616,1691,1542,0,0,0,0,0,0,28.83,14.57,13.77
$GC,8314,0.99,168.0,3607,2851,1684,1542,175.6,8.2,382,8319,0.00,2.30,0.00,0.000,1030,0.000,0.041,3608,1837,1613,1684,1543,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8629,1.02,179.3,3608,1838,1683,1542,152.8,7.0,403,8646,0.00,2.40,10.98,0.980,8452,0.000,0.054,3608,2858,1566,1633,1499,0,0,0,0,0,0,28.83,14.64,13.78
$GC,8757,1.02,179.3,3608,2854,1626,1498,142.5,8.4,411,8763,0.00,2.30,0.00,0.000,1030,0.000,0.040,3608,1847,1562,1626,1498,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9078,1.05,180.0,3608,1848,1625,1498,117.5,8.2,432,9083,0.00,2.35,0.00,0.000,260,0.000,0.054,3608,2856,1561,1624,1498,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9108,1.07,180.0,3608,2856,1624,1498,115.3,9.1,433,9115,0.00,2.28,0.00,0.000,1030,0.000,0.040,3608,1858,1560,1623,1498,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9414,1.09,180.0,3608,1859,1624,1498,84.6,9.1,454,9416,0.12,0.00,0.00,0.000,2054,0.127,0.000,3661,1858,1561,1624,1498,0,0,0,0,0,0,14.40,28.83,28.83
$GC,9713,1.09,180.0,3662,1858,1622,1498,57.3,8.4,474,9718,0.00,2.35,0.00,0.000,260,0.000,0.055,3661,2861,1561,1623,1499,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9830,1.08,192.5,3662,2860,1622,1498,48.7,6.9,481,9847,0.00,2.30,11.12,0.840,9222,0.000,0.037,3670,1849,1513,1572,1455,0,0,0,0,0,0,28.83,14.43,13.85
$GC,10163,1.10,209.0,3670,1850,1564,1454,26.0,6.4,503,10179,0.00,2.38,10.98,0.800,8452,0.000,0.053,3670,2856,1445,1495,1395,0,0,0,0,0,0,28.83,14.63,13.87
$GC,10285,1.08,210.7,3670,2856,1488,1395,17.4,8.1,510,10293,0.12,2.30,0.00,0.000,5126,0.280,0.041,3647,1852,1441,1488,1395,0,0,0,0,0,0,14.04,14.38,28.83
$GC,10592,1.38,283.9,3646,1847,1487,1391,4.4,-0.2,531,10608,0.25,0.00,13.15,0.102,10498,0.095,0.000,3736,1847,1334,1373,1295,0,0,0,0,0,0,14.26,28.83,28.83
$STATE,10609,end climb,SURFACE_DEPTH_REACHED
$STATE,10609,begin surface coast
$FINISH,4.3,1.007746
$STATE,10783,end surface coast,CONTROL_FINISHED_OK
$STATE,10783,begin surface
$SM_CCo,10788,144.00,0.072,0,0,189,517.58
$SM_CCo,11206,0.28,0.088,0,0,189,517.58
$SM_GC,4.39,10.48,0.22,0.28,0.046,0.076,0.088,144,1948,189,-9.79,-0.93,517.58,0,0,0,0,0,0,14.62,14.53,14.47
$IRIDIUM_FIX,2451.31,-3750.21,100813,040418
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.17
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3821312
$24V_AH,13.5,197.550
$10V_AH,12.4,0.000
$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,27.050,99.300,239.400,144.275,0.000,0.000,0.000,287.900,0.000,0.000,306.597,2172.262,6712.107,520.362,2341.219,532.746,0.000,1704.425,0.000,1686.842,0.000,0.542,0.000
$DEVICE_MAMPS,335.070,85.680,1407.600,87.975,0.000,0.000,0.000,170.595,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10797.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.561,0.000,0.000,0.000
$MEM,345352
$DATA_FILE_SIZE,20090,544
$CAP_FILE_SIZE,144349,0
$CFSIZE,260034560,184778752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,11.003, 42.2,1
$GPS,100813,041218,2451.311,-3750.206,0,10000.0,0,-14.9