version: 66.11
glider: 160
mission: 9
dive: 515
start: 8 9 113 14 22 54
data:
$ID,160
$MISSION,9
$DIVE,515
$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,-85287.805
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,090813,103324,2500.451,-3750.859,301,99.0,301,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-66.6
$GPS2,090813,103324,2500.451,-3750.859,301,99.0,301,-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,145.1,74251,-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,-48.0,140,1914,219,164,0.0,0.0,0,116,0.00,0.00,-91.25,0.000,16386,0.000,0.000,140,1915,2387,2358,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.45,-97.3,140,1915,2358,2417,3.5,-1.2,6,152,13.57,2.38,-7.00,0.000,18948,0.374,0.086,2822,897,2698,2711,2686,0,0,0,0,0,0,14.02,14.42,14.87
$GC,319,-1.35,-97.3,2822,897,2712,2686,41.1,-19.9,18,327,0.17,2.38,0.00,0.000,3078,0.295,0.055,2852,1937,2699,2712,2686,0,0,0,0,0,0,14.04,14.47,28.83
$GC,626,-1.30,-97.3,2852,1936,2712,2685,89.9,-12.0,39,632,0.00,2.40,0.00,0.000,516,0.000,0.062,2852,903,2698,2712,2685,0,0,0,0,0,0,28.83,14.44,28.83
$GC,819,-1.24,-97.3,2853,903,2712,2685,113.0,-12.8,51,825,0.17,2.35,0.00,0.000,3078,0.277,0.054,2890,1936,2698,2712,2684,0,0,0,0,0,0,14.07,14.49,28.83
$GC,1135,-1.21,-97.3,2889,1935,2712,2684,150.8,-12.5,72,1140,0.00,2.40,0.00,0.000,516,0.000,0.061,2890,901,2697,2711,2684,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1340,-1.19,-97.3,1856,901,2651,2675,176.3,-12.5,85,1346,0.00,2.28,0.00,0.000,1030,0.000,0.050,2886,1909,2698,2712,2684,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1656,-1.17,-97.3,2886,1908,2712,2683,213.4,-10.6,106,1662,0.12,2.33,0.00,0.000,2564,0.303,0.055,2915,897,2697,2712,2683,0,0,0,0,0,0,14.08,14.44,28.83
$GC,1868,-1.17,-97.3,2915,897,2712,2683,233.4,-9.3,119,1875,0.00,2.22,0.00,0.000,1030,0.000,0.048,2914,1887,2696,2712,2681,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2175,-1.17,-97.3,2913,1886,2712,2680,261.8,-9.2,136,2180,0.00,2.28,0.00,0.000,516,0.000,0.056,2914,898,2696,2712,2680,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2395,-1.17,-97.3,1888,898,2655,2670,283.9,-10.7,143,2400,0.00,2.20,0.00,0.000,1030,0.000,0.046,2914,1877,2695,2712,2679,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2728,-1.17,-97.3,2914,1876,2712,2677,320.0,-11.0,154,2733,0.00,2.22,0.00,0.000,516,0.000,0.055,2914,899,2694,2711,2677,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2945,-1.17,-97.3,2914,900,2712,2676,344.0,-10.9,161,2950,0.00,2.17,0.00,0.000,1030,0.000,0.044,2914,1863,2693,2711,2675,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3283,-1.17,-97.3,2914,1863,2711,2672,380.0,-10.7,172,3288,0.00,2.20,0.00,0.000,516,0.000,0.055,2914,898,2692,2711,2673,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3515,-1.17,-97.3,2914,898,2712,2671,405.0,-11.9,179,3521,0.00,2.12,0.00,0.000,1030,0.000,0.044,2914,1845,2691,2712,2671,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3840,-1.17,-97.3,2914,1843,2712,2669,445.7,-12.3,190,3845,0.00,2.20,0.00,0.000,516,0.000,0.055,2914,891,2689,2711,2668,0,0,0,0,0,0,28.83,14.44,28.83
$STATE,3871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3871,begin apogee
$GC,3881,-0.25,0.0,2914,1798,2712,2668,450.4,-12.2,191,3965,1.10,0.00,77.55,1.406,10244,0.215,0.000,3202,1798,2295,2335,2256,0,0,0,0,0,0,13.84,28.83,13.43
$STATE,3966,end apogee,CONTROL_FINISHED_OK
$STATE,3966,begin climb
$GC,3974,1.45,97.3,3202,1797,2331,2256,454.6,0.0,194,4065,1.75,2.53,80.30,1.406,10500,0.098,0.073,3760,2860,1898,1962,1834,0,0,0,0,0,0,14.37,14.37,13.47
$GC,4299,1.32,97.3,3760,2859,1950,1826,440.0,9.1,204,4306,0.22,2.42,0.00,0.000,5126,0.332,0.049,3722,1797,1888,1950,1826,0,0,0,0,0,0,14.06,14.56,28.83
$GC,4608,1.24,103.5,3722,1798,1950,1823,414.4,7.6,215,4615,0.00,2.47,0.80,0.080,8452,0.000,0.062,3722,2856,1880,1946,1814,0,0,0,0,0,0,28.83,14.50,14.33
$GC,4845,1.14,103.5,3722,2856,1946,1819,395.8,8.4,222,4851,0.28,2.40,0.00,0.000,5126,0.295,0.047,3667,1801,1882,1946,1819,0,0,0,0,0,0,14.02,14.57,28.83
$GC,5166,1.10,109.0,3667,1802,1947,1815,370.7,7.7,233,5180,0.00,2.45,8.62,1.157,8452,0.000,0.061,3667,2862,1851,1927,1776,0,0,0,0,0,0,28.83,14.69,13.66
$GC,5337,1.03,109.0,3667,2861,1923,1774,356.8,8.6,238,5343,0.20,2.42,0.00,0.000,5126,0.287,0.047,3630,1791,1849,1924,1774,0,0,0,0,0,0,14.07,14.47,28.83
$GC,5662,1.03,124.8,3630,1792,1924,1772,333.6,6.5,249,5684,0.00,2.50,13.80,1.200,8452,0.000,0.062,3630,2851,1788,1866,1710,0,0,0,0,0,0,28.83,14.63,13.74
$GC,5788,1.00,133.1,3630,2851,1861,1709,324.1,7.4,253,5802,0.00,2.40,8.45,1.138,9222,0.000,0.046,3630,1805,1756,1835,1677,0,0,0,0,0,0,28.83,14.55,13.74
$GC,6123,1.01,141.0,3630,1805,1827,1672,299.6,7.4,264,6136,0.00,2.42,7.78,1.099,8452,0.000,0.059,3631,2856,1720,1801,1640,0,0,0,0,0,0,28.83,14.67,13.74
$GC,6309,0.98,141.0,3630,2856,1795,1639,282.2,9.3,270,6314,0.00,2.40,0.00,0.000,1030,0.000,0.047,3630,1806,1717,1795,1639,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6648,0.98,141.0,3630,1807,1794,1639,251.2,9.1,281,6653,0.00,2.47,0.00,0.000,260,0.000,0.061,3630,2857,1716,1794,1638,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6692,0.98,141.0,3630,2857,1793,1638,247.4,9.1,282,6699,0.00,2.35,0.00,0.000,1030,0.000,0.046,3630,1827,1715,1793,1638,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6998,0.99,150.1,3630,1828,1793,1638,223.3,7.3,303,7014,0.00,2.38,8.10,1.035,8452,0.000,0.060,3630,2858,1683,1756,1610,0,0,0,0,0,0,28.83,14.66,13.73
$GC,7249,0.96,150.1,3630,2857,1749,1611,202.0,9.3,319,7254,0.00,2.35,0.00,0.000,1030,0.000,0.047,3630,1833,1678,1749,1608,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7570,0.96,150.1,3630,1834,1748,1610,174.3,8.4,340,7575,0.00,2.42,0.00,0.000,260,0.000,0.061,3631,2859,1679,1748,1611,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7807,0.94,150.1,2832,2855,1700,1605,153.9,8.6,355,7813,0.15,2.30,0.00,0.000,5126,0.276,0.046,3599,1859,1679,1748,1611,0,0,0,0,0,0,14.02,14.41,28.83
$GC,8125,0.98,172.0,3599,1859,1747,1611,134.1,5.8,376,8149,0.00,2.53,18.23,0.991,8708,0.000,0.061,3600,746,1596,1664,1529,0,0,0,0,0,0,28.83,14.63,13.77
$GC,8229,1.03,195.9,3600,746,1659,1529,128.2,5.6,382,8255,0.00,2.45,20.10,1.001,9222,0.000,0.038,3600,1841,1498,1562,1435,0,0,0,0,0,0,28.83,14.50,13.81
$GC,8570,1.07,195.9,3599,1841,1551,1434,99.6,9.0,405,8576,0.12,2.38,0.00,0.000,2308,0.140,0.064,3655,2862,1492,1550,1434,0,0,0,0,0,0,14.38,14.39,28.83
$GC,8699,1.04,195.9,3655,2861,1548,1434,85.2,11.1,413,8705,0.00,2.35,0.00,0.000,1030,0.000,0.047,3656,1843,1490,1547,1434,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9019,1.04,195.9,3656,1844,1547,1441,55.4,8.4,434,9024,0.00,2.55,0.00,0.000,516,0.000,0.063,3656,738,1490,1547,1434,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9074,1.05,196.8,3656,739,1547,1435,51.4,8.2,437,9080,0.00,2.50,0.00,0.000,1030,0.000,0.039,3656,1858,1491,1547,1435,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9390,1.06,210.9,3656,1852,1546,1436,31.6,6.7,458,9407,0.00,2.38,11.55,0.822,8452,0.000,0.067,3656,2862,1435,1481,1390,0,0,0,0,0,0,28.83,14.62,13.86
$GC,9642,1.04,210.9,3656,2861,1467,1396,8.6,10.2,474,9647,0.00,2.30,0.00,0.000,1030,0.000,0.046,3658,1852,1431,1467,1396,0,0,0,0,0,0,28.83,14.40,28.83
$FREEZE,4.29,26.157,-2.073,0,38,0
$STATE,9856,end climb,NO_VERTICAL_VELOCITY
$STATE,9856,begin surface
$SM_CCo,9861,155.93,0.073,0,0,189,517.58
$SM_GC,4.92,10.25,0.25,0.00,0.046,0.070,0.000,143,1961,189,-9.79,-0.62,517.83,0,0,0,0,0,0,14.57,14.51,28.83
$IRIDIUM_FIX,2448.93,-3750.21,090813,141452
$TT8_MAMPS,0.023968,0.023968
$HUMID,83.66
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3822848
$24V_AH,13.4,196.776
$10V_AH,12.9,0.000
$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,28.125,94.600,255.275,155.925,0.000,0.000,0.000,732.875,0.000,0.000,302.571,2037.545,6080.854,522.797,2640.735,570.933,0.000,2111.205,0.000,1615.099,0.000,0.543,0.000
$DEVICE_MAMPS,374.085,85.680,1406.070,73.440,0.000,0.000,0.000,219.555,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9866.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.544,0.000,0.000,0.000
$MEM,345060
$DATA_FILE_SIZE,16778,488
$CAP_FILE_SIZE,137206,0
$CFSIZE,260034560,185163776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,19.280,  0.4,1
$GPS,090813,140452,2448.935,-3750.206,0,10000.0,0,-14.9