version: 66.11
glider: 160
mission: 9
dive: 511
start: 8 8 113 23 59 19
data:
$ID,160
$MISSION,9
$DIVE,511
$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,-83151.414
$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,57
$R_STBD_OVSHOOT,25
$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
$GPS1,080813,200301,2448.935,-3723.099,0,10000.0,0,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-70.8
$GPS2,080813,200301,2448.935,-3723.099,301,99.0,301,-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,187.7,66494,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.40,-48.0,144,1921,217,166,0.0,0.0,0,114,0.00,0.00,-89.32,0.000,16386,0.000,0.000,144,1921,2326,2300,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.45,-97.3,144,1921,2301,2354,3.2,-1.0,6,151,13.70,2.28,-9.00,0.000,18948,0.379,0.087,2821,923,2699,2714,2684,0,0,0,0,0,0,14.07,14.54,14.90
$GC,387,-1.34,-97.3,2821,923,2713,2684,49.9,-17.8,23,393,0.20,2.33,0.00,0.000,3078,0.291,0.058,2859,1941,2698,2713,2684,0,0,0,0,0,0,14.11,14.50,28.83
$GC,708,-1.30,-97.3,2859,1941,2713,2684,91.4,-12.4,44,714,0.00,2.33,0.00,0.000,516,0.000,0.064,2857,931,2698,2713,2684,0,0,0,0,0,0,28.83,14.47,28.83
$GC,722,-1.25,-97.3,2858,931,2713,2684,91.4,-12.4,44,729,0.15,2.33,0.00,0.000,3078,0.291,0.062,2888,1939,2698,2713,2684,0,0,0,0,0,0,14.16,14.50,28.83
$GC,1029,-1.22,-97.3,2888,1938,2713,2684,132.5,-13.1,65,1034,0.00,2.53,0.00,0.000,260,0.000,0.084,2887,3011,2698,2713,2683,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1131,-1.19,-97.3,1792,3008,2650,2674,145.1,-13.8,71,1137,0.00,2.40,0.00,0.000,1030,0.000,0.042,2887,1954,2698,2713,2684,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1446,-1.17,-97.3,2887,1954,2713,2683,189.1,-12.8,92,1453,0.12,2.50,0.00,0.000,2308,0.291,0.069,2914,3012,2697,2713,2682,0,0,0,0,0,0,14.14,14.44,28.83
$GC,1628,-1.17,-97.3,2914,3012,2713,2682,210.2,-12.0,103,1635,0.00,2.58,0.00,0.000,1030,0.000,0.050,2914,1886,2697,2713,2682,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1935,-1.17,-97.3,2914,1887,2713,2680,243.1,-9.9,124,1941,0.00,2.30,0.00,0.000,516,0.000,0.069,2914,884,2696,2713,2679,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2172,-1.17,-97.3,2914,883,2713,2678,264.8,-10.0,134,2177,0.00,2.25,0.00,0.000,1030,0.000,0.054,2914,1873,2696,2714,2678,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2487,-1.17,-97.3,2914,1872,2713,2677,299.3,-10.5,145,2492,0.00,2.28,0.00,0.000,516,0.000,0.061,2913,882,2695,2713,2677,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2722,-1.17,-97.3,2914,882,2713,2676,323.8,-11.7,152,2728,0.00,2.20,0.00,0.000,1030,0.000,0.052,2914,1852,2694,2713,2675,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3038,-1.17,-97.3,2914,1851,2713,2672,363.8,-11.8,163,3045,0.00,2.22,0.00,0.000,516,0.000,0.061,2914,885,2692,2713,2672,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3275,-1.17,-97.3,2914,885,2713,2671,389.0,-11.5,170,3280,0.00,2.17,0.00,0.000,1030,0.000,0.050,2914,1842,2691,2713,2670,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3590,-1.17,-97.3,2914,1841,2713,2668,422.1,-9.6,181,3595,0.00,2.20,0.00,0.000,516,0.000,0.059,2914,883,2690,2713,2668,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3786,-1.17,-97.3,2914,884,2713,2667,442.3,-11.2,187,3792,0.00,2.15,0.00,0.000,1030,0.000,0.050,2914,1829,2689,2713,2666,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,3867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3867,begin apogee
$GC,3876,-0.25,0.0,2914,1745,2713,2666,453.4,-11.7,190,3960,1.10,0.15,77.05,1.424,10244,0.216,0.080,3203,1832,2298,2354,2243,0,0,0,0,0,0,13.89,14.40,13.42
$STATE,3966,end apogee,CONTROL_FINISHED_OK
$STATE,3966,begin climb
$GC,3969,1.45,97.3,3202,1832,2351,2242,457.3,0.0,193,4063,1.75,2.40,79.82,1.416,10500,0.099,0.074,3761,2837,1900,1965,1836,0,0,0,0,0,0,14.39,14.38,13.47
$GC,4226,1.32,98.7,3761,2837,1957,1832,449.2,8.2,201,4233,0.20,2.40,0.00,0.000,5126,0.330,0.050,3727,1793,1894,1956,1832,0,0,0,0,0,0,14.10,14.55,28.83
$GC,4551,1.24,108.1,3727,1794,1957,1828,425.4,7.2,212,4566,0.12,2.40,8.73,1.215,12548,0.328,0.064,3699,2832,1858,1928,1788,0,0,0,0,0,0,14.12,14.70,13.73
$GC,4799,1.16,108.1,3699,2832,1921,1787,401.5,10.0,220,4805,0.15,2.35,0.00,0.000,5126,0.311,0.050,3670,1805,1854,1921,1787,0,0,0,0,0,0,14.16,14.57,28.83
$GC,5139,1.11,108.1,3670,1799,1921,1784,370.3,9.4,231,5144,0.00,2.42,0.00,0.000,260,0.000,0.063,3671,2835,1852,1921,1784,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5375,1.04,108.1,3671,2835,1919,1784,349.1,9.4,238,5381,0.17,2.33,0.00,0.000,5126,0.288,0.048,3636,1819,1851,1919,1784,0,0,0,0,0,0,14.11,14.56,28.83
$GC,5694,1.03,123.3,3636,1820,1919,1782,324.9,6.6,249,5712,0.00,2.35,13.35,1.187,8452,0.000,0.061,3636,2839,1795,1873,1718,0,0,0,0,0,0,28.83,14.67,13.71
$GC,5945,1.00,130.2,3636,2839,1864,1717,306.2,7.5,257,5959,0.00,2.33,6.82,1.096,9222,0.000,0.046,3643,1822,1767,1845,1690,0,0,0,0,0,0,28.83,14.54,13.76
$GC,6279,0.98,131.8,3643,1822,1839,1687,280.3,8.2,268,6285,0.12,2.38,0.00,0.000,4356,0.301,0.058,3615,2837,1763,1839,1688,0,0,0,0,0,0,14.11,14.48,28.83
$GC,6516,0.96,131.8,3615,2837,1837,1686,261.0,8.4,275,6521,0.00,2.33,0.00,0.000,1030,0.000,0.047,3615,1825,1761,1837,1686,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6832,0.97,144.9,3616,1825,1837,1687,236.0,6.8,292,6847,0.00,0.00,13.20,1.101,8198,0.000,0.000,3616,1826,1709,1788,1630,0,0,0,0,0,0,28.83,28.83,13.74
$GC,7146,0.98,152.9,3616,1826,1779,1628,212.7,7.4,313,7162,0.00,2.35,7.88,1.028,8452,0.000,0.061,3616,2839,1673,1748,1598,0,0,0,0,0,0,28.83,14.65,13.78
$GC,7273,0.96,152.9,3616,2839,1744,1597,200.8,9.9,321,7279,0.00,2.35,0.00,0.000,1030,0.000,0.050,3616,1829,1670,1743,1598,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7595,0.96,152.9,3616,1830,1743,1597,171.1,9.4,342,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1830,1670,1743,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,0.97,158.6,3616,1830,1742,1596,146.5,7.7,362,7900,0.00,0.00,4.55,0.876,8198,0.000,0.000,3616,1830,1653,1723,1583,0,0,0,0,0,0,28.83,28.83,13.57
$GC,8195,0.97,158.6,3616,1830,1723,1583,123.0,8.5,382,8200,0.00,2.35,0.00,0.000,260,0.000,0.057,3616,2838,1653,1723,1583,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8376,0.97,158.6,3616,2837,1720,1583,106.0,10.1,393,8383,0.00,2.33,0.00,0.000,1030,0.000,0.044,3616,1822,1651,1720,1583,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8684,0.99,169.4,3617,1824,1720,1583,80.9,7.1,414,8700,0.00,2.40,11.18,0.903,8452,0.000,0.057,3615,2837,1606,1674,1538,0,0,0,0,0,0,28.83,14.59,13.83
$GC,8841,1.01,184.3,3616,2837,1667,1537,69.9,6.6,424,8863,0.00,2.25,12.43,0.894,9222,0.000,0.043,3616,1844,1545,1607,1484,0,0,0,0,0,0,28.83,14.52,13.85
$GC,9178,1.07,216.2,3616,1845,1601,1491,48.9,4.6,446,9209,0.00,2.58,24.95,0.893,8708,0.000,0.063,3616,742,1415,1459,1371,0,0,0,0,0,0,28.83,14.60,13.90
$GC,9299,1.14,238.9,3616,742,1451,1370,42.8,5.7,453,9326,0.15,2.40,18.55,0.864,11270,0.122,0.041,3684,1823,1323,1361,1285,0,0,0,0,0,0,14.47,14.48,13.87
$GC,9642,1.14,238.9,3684,1823,1349,1283,8.3,10.6,476,9647,0.00,2.38,0.00,0.000,260,0.000,0.062,3684,2852,1316,1349,1283,0,0,0,0,0,0,28.83,14.32,28.83
$FREEZE,4.03,25.814,-1.685,0,34,0
$STATE,9856,end climb,NO_VERTICAL_VELOCITY
$STATE,9856,begin surface
$SM_CCo,9862,142.68,0.075,0,0,188,517.58
$SM_GC,4.91,10.32,2.10,0.00,0.047,0.046,0.000,145,1953,190,-9.78,0.88,517.58,0,0,0,0,0,0,14.56,14.44,28.83
$IRIDIUM_FIX,2451.31,-3750.21,080813,232348
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.61
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,3824384
$24V_AH,13.4,195.926
$10V_AH,12.8,0.000
$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,28.275,84.575,278.500,142.675,0.000,0.000,0.000,1885.775,0.250,0.000,306.237,2016.797,6122.476,526.177,3666.673,677.919,0.000,3258.662,0.000,1603.452,0.000,0.544,0.000
$DEVICE_MAMPS,379.440,96.390,1424.430,74.970,0.000,0.000,0.000,211.140,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9868.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.489,0.000,0.000,0.000
$MEM,345076
$DATA_FILE_SIZE,16749,490
$CAP_FILE_SIZE,143450,0
$CFSIZE,260034560,185503744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,65.564, 95.9,1
$GPS,080813,234748,2451.311,-3750.206,0,10000.0,0,-15.1