version: 66.11
glider: 160
mission: 9
dive: 514
start: 8 9 113 10 33 52
data:
$ID,160
$MISSION,9
$DIVE,514
$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,-84679.672
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,090813,030715,2451.311,-3753.542,0,10000.0,0,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.4
$GPS2,090813,103324,2500.451,-3750.859,210,99.0,219,-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,235.1,74251,-18.4,-8.333,-22.19,1794
$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,18,begin dive
$GC,22,-1.02,-97.3,144,1959,220,164,0.0,0.0,0,113,0.00,0.00,-88.78,0.000,16386,0.000,0.000,144,1959,2314,2290,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.02,-97.3,144,1960,2291,2339,3.5,-1.3,6,150,14.25,2.45,-9.15,0.000,18948,0.375,0.083,2960,902,2698,2720,2677,0,0,0,0,0,0,14.14,14.50,14.87
$GC,386,-0.93,-97.3,2960,902,2720,2676,37.4,-11.8,23,392,0.15,2.40,0.00,0.000,3078,0.265,0.056,2992,1949,2698,2720,2676,0,0,0,0,0,0,14.16,14.47,28.83
$GC,707,-0.89,-97.3,2992,1949,2720,2676,72.8,-11.1,44,713,0.00,2.42,0.00,0.000,516,0.000,0.062,2992,899,2698,2720,2676,0,0,0,0,0,0,28.83,14.43,28.83
$GC,946,-0.84,-97.3,1920,900,2659,2667,98.2,-10.3,59,952,0.12,2.40,0.00,0.000,3078,0.263,0.055,3021,1950,2697,2720,2675,0,0,0,0,0,0,14.19,14.48,28.83
$GC,1262,-0.84,-97.3,3020,1949,2719,2675,120.5,-6.1,80,1268,0.00,2.42,0.00,0.000,516,0.000,0.063,3020,903,2697,2720,2674,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1496,-0.82,-97.3,3020,903,2720,2675,135.8,-7.0,95,1501,0.00,2.38,0.00,0.000,1030,0.000,0.053,3020,1944,2697,2720,2674,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1816,-0.82,-97.3,3020,1944,2720,2674,160.0,-8.0,116,1822,0.00,2.42,0.00,0.000,516,0.000,0.063,3020,897,2697,2720,2674,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1935,-0.82,-97.3,1920,897,2657,2664,169.4,-8.9,123,1941,0.00,2.35,0.00,0.000,1030,0.000,0.052,3020,1932,2697,2720,2674,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2251,-0.82,-97.3,3020,1931,2720,2672,195.8,-7.9,144,2257,0.00,2.40,0.00,0.000,516,0.000,0.063,3020,895,2696,2721,2672,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2426,-0.82,-97.3,1984,894,2663,2663,209.2,-7.8,155,2431,0.00,2.30,0.00,0.000,1030,0.000,0.050,3020,1917,2695,2720,2671,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2741,-0.82,-97.3,3020,1911,2720,2670,231.1,-6.6,176,2747,0.00,2.35,0.00,0.000,516,0.000,0.062,3020,894,2694,2719,2670,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2977,-0.82,-97.3,3020,895,2720,2669,247.5,-7.5,191,2982,0.00,2.25,0.00,0.000,1030,0.000,0.049,3020,1891,2694,2720,2668,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3312,-0.82,-97.3,3020,1890,2724,2666,273.8,-7.9,203,3317,0.00,2.30,0.00,0.000,516,0.000,0.060,3020,895,2693,2720,2667,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3530,-0.82,-97.3,3020,892,2720,2665,291.0,-7.9,210,3535,0.00,2.22,0.00,0.000,1030,0.000,0.047,3020,1878,2692,2720,2665,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3868,-0.82,-97.3,3020,1878,2720,2663,313.7,-6.5,221,3873,0.00,2.25,0.00,0.000,516,0.000,0.058,3020,900,2691,2720,2663,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4049,-0.82,-97.3,3020,900,2720,2661,325.3,-7.4,226,4057,0.00,2.15,0.00,0.000,1030,0.000,0.046,3020,1861,2690,2720,2661,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4355,-0.82,-97.3,3020,1860,2720,2660,353.1,-9.0,237,4360,0.00,2.20,0.00,0.000,516,0.000,0.057,3020,899,2690,2720,2660,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4501,-0.82,-97.3,3020,899,2720,2658,364.9,-9.5,241,4506,0.00,2.12,0.00,0.000,1030,0.000,0.044,3020,1848,2689,2720,2659,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4816,-0.82,-97.3,3020,1847,2720,2657,397.0,-9.4,252,4821,0.00,2.17,0.00,0.000,516,0.000,0.057,3020,898,2688,2720,2656,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4931,-0.82,-97.3,3020,898,2719,2656,405.7,-9.2,255,4936,0.00,2.10,0.00,0.000,1030,0.000,0.044,3019,1837,2687,2719,2655,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5249,-0.84,-97.3,3020,1836,2719,2654,435.3,-8.6,266,5254,0.00,2.15,0.00,0.000,516,0.000,0.056,3020,897,2687,2720,2655,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5345,-0.84,-97.3,3020,898,2719,2654,443.7,-8.5,269,5350,0.00,2.10,0.00,0.000,1030,0.000,0.042,3020,1830,2688,2723,2654,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,5435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5435,begin apogee
$GC,5443,-0.25,0.0,3020,1829,2719,2653,451.8,-8.6,272,5529,0.68,0.00,76.50,1.426,10244,0.179,0.000,3209,1828,2297,2355,2239,0,0,0,0,0,0,13.95,28.83,13.40
$STATE,5531,end apogee,CONTROL_FINISHED_OK
$STATE,5535,begin climb
$GC,5539,1.02,97.3,3209,1828,2353,2239,455.0,0.0,275,5625,1.27,0.00,80.40,1.424,11270,0.093,0.000,3620,1827,1899,1976,1823,0,0,0,0,0,0,14.27,28.83,13.46
$GC,5957,0.96,137.9,3620,1828,1969,1815,438.8,6.0,289,5998,0.00,2.40,32.25,1.376,8452,0.000,0.062,3619,2849,1733,1811,1655,0,0,0,0,0,0,28.83,14.50,13.66
$GC,6235,0.84,137.9,3620,2849,1800,1654,415.7,8.7,298,6241,0.28,2.38,0.00,0.000,5126,0.272,0.042,3569,1803,1727,1800,1654,0,0,0,0,0,0,14.13,14.56,28.83
$GC,6574,0.82,179.7,3569,1804,1799,1652,395.1,5.9,309,6614,0.00,2.45,33.33,1.340,8452,0.000,0.059,3568,2857,1563,1632,1494,0,0,0,0,0,0,28.83,14.56,13.69
$GC,6849,0.76,187.9,3569,2856,1621,1494,373.4,7.9,318,6864,0.15,2.35,6.90,1.160,13318,0.262,0.041,3542,1822,1532,1592,1473,0,0,0,0,0,0,14.21,14.54,13.69
$GC,7184,0.77,225.2,3543,1823,1584,1473,352.3,6.2,329,7221,0.00,2.38,30.52,1.287,8452,0.000,0.056,3542,2853,1382,1421,1343,0,0,0,0,0,0,28.83,14.57,13.71
$GC,7358,0.75,234.7,3542,2853,1410,1343,339.7,7.8,334,7374,0.00,2.33,9.10,1.170,9222,0.000,0.042,3548,1828,1342,1374,1310,0,0,0,0,0,0,28.83,14.53,13.72
$GC,7705,0.73,234.7,3548,1829,1366,1310,308.3,8.7,346,7710,0.00,2.40,0.00,0.000,260,0.000,0.057,3548,2858,1337,1365,1309,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7734,0.72,234.7,3548,2858,1364,1309,308.3,8.7,346,7741,0.00,2.33,0.00,0.000,1030,0.000,0.043,3548,1831,1337,1364,1310,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8043,0.71,245.6,3548,1832,1363,1310,281.0,7.7,357,8061,0.00,2.40,10.10,1.113,8452,0.000,0.057,3548,2852,1297,1325,1269,0,0,0,0,0,0,28.83,14.64,13.74
$GC,8111,0.69,245.6,2688,2847,1298,1265,275.2,8.3,359,8117,0.12,2.30,0.00,0.000,5126,0.247,0.042,3521,1833,1294,1321,1268,0,0,0,0,0,0,14.33,14.59,28.83
$GC,8446,0.70,259.2,3521,1834,1321,1265,250.8,7.6,370,8460,0.00,0.00,12.32,1.108,8198,0.000,0.000,3521,1834,1245,1276,1214,0,0,0,0,0,0,28.83,28.83,13.78
$GC,8742,0.71,265.8,3521,1834,1273,1208,227.3,8.0,389,8758,0.00,2.47,7.82,1.047,8708,0.000,0.065,3520,750,1213,1251,1176,0,0,0,0,0,0,28.83,14.65,13.78
$GC,8816,0.74,272.5,3521,750,1248,1175,221.7,7.9,393,8829,0.00,2.42,7.05,1.021,9222,0.000,0.037,3521,1848,1188,1231,1146,0,0,0,0,0,0,28.83,14.55,13.81
$GC,9125,0.77,272.5,3521,1848,1230,1140,193.2,9.8,414,9131,0.00,2.33,0.00,0.000,260,0.000,0.060,3524,2851,1185,1230,1140,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9361,0.77,272.5,2688,2847,1208,1138,167.0,10.8,429,9366,0.00,2.25,0.00,0.000,1030,0.000,0.042,3521,1863,1183,1227,1140,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9677,0.82,296.6,3521,1864,1226,1140,141.0,7.0,450,9707,0.12,2.53,22.12,1.011,10756,0.128,0.061,3579,747,1086,1144,1029,0,0,0,0,0,0,14.46,14.61,13.81
$GC,9743,0.82,296.6,3579,748,1144,1027,135.1,8.4,454,9748,0.00,2.47,0.00,0.000,1030,0.000,0.037,3579,1858,1085,1144,1027,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10064,0.82,296.6,3579,1857,1144,1024,106.3,9.8,475,10070,0.00,2.28,0.00,0.000,260,0.000,0.060,3579,2850,1084,1144,1024,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10222,0.79,296.6,3579,2850,1145,1024,87.9,11.6,485,10228,0.00,2.22,0.00,0.000,1030,0.000,0.041,3579,1879,1083,1143,1024,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10542,0.79,296.6,3579,1880,1143,1023,59.6,8.7,506,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1880,1083,1143,1023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10842,0.79,296.6,3579,1880,1143,1022,30.7,9.5,526,10847,0.00,2.62,0.00,0.000,516,0.000,0.062,3579,745,1082,1143,1022,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10954,0.79,296.6,3579,745,1145,1022,20.8,8.7,533,10960,0.00,2.60,0.00,0.000,1030,0.000,0.038,3579,1903,1082,1143,1022,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11275,1.09,436.5,3579,1914,1138,1023,4.0,0.3,554,11291,0.17,0.00,12.62,0.104,10498,0.096,0.000,3660,1915,987,1061,914,0,0,0,0,0,0,14.34,28.83,28.83
$STATE,11292,end climb,SURFACE_DEPTH_REACHED
$STATE,11292,begin surface coast
$FINISH,4.4,1.025044
$STATE,11427,end surface coast,CONTROL_FINISHED_OK
$STATE,11427,begin surface
$SM_CCo,11432,103.75,0.074,0,0,190,517.58
$SM_GC,5.03,10.12,0.00,0.00,0.036,0.000,0.000,140,1916,190,-9.79,-0.96,517.58,0,0,0,0,0,0,14.54,28.83,28.83
$IRIDIUM_FIX,2451.31,-3750.21,090813,101017
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.47
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3823232
$24V_AH,13.4,196.567
$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,27.450,98.225,341.050,103.750,0.000,0.000,0.000,1021.375,0.000,0.000,223.755,2219.553,7234.171,545.727,3001.315,621.035,0.000,2500.465,0.000,1743.296,0.000,0.542,0.000
$DEVICE_MAMPS,374.850,83.385,1425.960,74.205,0.000,0.000,0.000,211.905,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11437.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.508,0.000,0.000,0.000
$MEM,345076
$DATA_FILE_SIZE,20047,564
$CAP_FILE_SIZE,154962,0
$CFSIZE,260034560,185208832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,17.736,187.0,1
$GPS,090813,103324,2500.451,-3750.859,301,99.0,301,-14.9