version: 66.11
glider: 160
mission: 9
dive: 516
start: 8 9 113 17 45 38
data:
$ID,160
$MISSION,9
$DIVE,516
$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,-85897.922
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,090813,140452,2448.935,-3750.206,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-68.4
$GPS2,090813,140452,2448.935,-3750.206,301,99.0,301,-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,234.3,52911,-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,18,begin dive
$GC,22,-1.40,-48.0,143,1963,216,168,0.0,0.0,0,39,0.00,0.00,-15.07,0.000,16386,0.000,0.000,143,1963,532,518,546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.40,-48.0,143,1963,525,546,3.1,0.0,1,164,12.45,2.53,-90.25,0.000,19204,0.331,0.084,2847,900,2496,2490,2502,0,0,0,0,0,0,14.33,14.49,14.85
$GC,395,-1.30,-48.0,2847,897,2490,2502,37.5,-15.6,24,401,0.00,2.40,0.00,0.000,1030,0.000,0.058,2847,1940,2496,2490,2502,0,0,0,0,0,0,28.83,14.46,28.83
$GC,716,-1.24,-48.0,2847,1940,2490,2502,76.6,-8.8,45,722,0.17,2.42,0.00,0.000,2564,0.285,0.057,2889,893,2496,2490,2502,0,0,0,0,0,0,14.00,14.42,28.83
$GC,953,-1.18,-48.0,1856,893,2430,2492,97.8,-9.5,60,959,0.00,2.40,0.00,0.000,1030,0.000,0.057,2887,1936,2496,2490,2502,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1269,-1.14,-48.0,2888,1935,2490,2501,127.1,-9.3,81,1275,0.15,2.40,0.00,0.000,2564,0.290,0.058,2923,897,2496,2491,2501,0,0,0,0,0,0,14.02,14.42,28.83
$GC,1505,-1.12,-48.0,1856,897,2424,2492,149.9,-10.5,96,1511,0.00,2.35,0.00,0.000,1030,0.000,0.054,2923,1930,2495,2490,2501,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1822,-1.12,-48.0,2923,1929,2490,2500,182.2,-9.9,117,1827,0.00,2.38,0.00,0.000,516,0.000,0.059,2923,896,2495,2490,2501,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2057,-1.10,-48.0,1856,896,2424,2490,204.4,-9.2,132,2063,0.00,2.30,0.00,0.000,1030,0.000,0.052,2923,1909,2495,2490,2500,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2372,-1.10,-48.0,2923,1908,2490,2499,231.4,-8.8,153,2377,0.00,2.35,0.00,0.000,516,0.000,0.060,2922,891,2494,2490,2499,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2609,-1.10,-48.0,2923,891,2490,2498,251.8,-9.8,167,2614,0.00,2.30,0.00,0.000,1030,0.000,0.053,2923,1900,2493,2489,2497,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2923,-1.10,-48.0,2923,1899,2490,2496,284.0,-9.4,178,2929,0.00,2.35,0.00,0.000,516,0.000,0.060,2923,894,2493,2490,2496,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3160,-1.10,-48.0,2923,894,2490,2495,303.9,-9.2,185,3165,0.00,2.25,0.00,0.000,1030,0.000,0.054,2923,1877,2491,2489,2494,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3478,-1.11,-50.0,2923,1876,2490,2492,332.0,-8.1,196,3483,0.00,2.67,0.00,0.000,260,0.000,0.083,2923,3002,2491,2490,2492,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3659,-1.11,-50.0,2923,3002,2489,2492,345.4,-8.5,201,3666,0.00,2.60,0.00,0.000,1030,0.000,0.047,2923,1865,2490,2488,2492,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3965,-1.11,-50.0,2923,1866,2488,2491,373.6,-8.9,212,3970,0.00,2.25,0.00,0.000,516,0.000,0.070,2923,892,2489,2488,2491,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4203,-1.11,-50.0,2923,892,2487,2490,394.8,-9.9,219,4208,0.00,2.17,0.00,0.000,1030,0.000,0.054,2923,1841,2488,2488,2489,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4519,-1.11,-50.0,2923,1837,2487,2488,425.5,-8.8,230,4524,0.00,2.22,0.00,0.000,516,0.000,0.062,2923,890,2487,2487,2488,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4754,-1.11,-50.0,2923,890,2486,2488,444.5,-8.7,237,4759,0.00,2.15,0.00,0.000,1030,0.000,0.052,2923,1822,2486,2486,2487,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,4794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4794,begin apogee
$GC,4804,-0.25,0.0,2922,1822,2486,2487,450.0,-8.7,239,4848,1.10,0.00,37.85,1.391,10244,0.218,0.000,3207,1822,2298,2310,2286,0,0,0,0,0,0,13.73,28.83,13.50
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4849,begin climb
$GC,4853,1.40,50.0,3208,1822,2308,2285,450.4,0.0,240,4904,1.67,2.45,42.28,1.398,10500,0.093,0.076,3751,2862,2094,2125,2064,0,0,0,0,0,0,14.47,14.47,13.47
$GC,5137,1.34,119.2,3751,2862,2119,2056,452.1,0.3,249,5203,0.17,2.42,57.30,1.411,13318,0.328,0.050,3727,1804,1811,1886,1736,0,0,0,0,0,0,14.02,14.50,13.52
$GC,5503,1.25,119.2,3728,1805,1875,1733,419.9,10.3,262,5508,0.00,2.47,0.00,0.000,260,0.000,0.066,3728,2858,1803,1874,1733,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5740,1.15,119.2,3728,2858,1871,1733,396.0,10.9,269,5746,0.28,2.40,0.00,0.000,5126,0.295,0.050,3668,1814,1802,1871,1733,0,0,0,0,0,0,14.02,14.47,28.83
$GC,6061,1.11,122.5,3668,1814,1871,1731,367.6,7.9,280,6066,0.00,2.45,0.00,0.000,260,0.000,0.064,3668,2859,1801,1871,1731,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6296,1.04,122.5,3669,2858,1868,1731,347.4,9.1,287,6302,0.17,2.40,0.00,0.000,5126,0.288,0.047,3633,1825,1799,1868,1731,0,0,0,0,0,0,14.04,14.50,28.83
$GC,6617,1.03,130.9,3634,1825,1868,1729,322.5,7.4,298,6632,0.00,2.40,9.32,1.141,8452,0.000,0.061,3633,2864,1763,1840,1686,0,0,0,0,0,0,28.83,14.68,13.67
$GC,6795,0.99,133.1,3634,2864,1834,1686,309.2,8.1,303,6800,0.00,2.38,0.00,0.000,1030,0.000,0.047,3633,1830,1760,1834,1686,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7113,0.99,143.8,3633,1831,1832,1686,285.0,7.1,314,7131,0.00,2.38,12.10,1.141,8452,0.000,0.060,3633,2859,1709,1788,1631,0,0,0,0,0,0,28.83,14.66,13.72
$GC,7323,0.96,147.3,3634,2859,1780,1630,270.0,7.9,320,7330,0.00,2.38,0.00,0.000,1030,0.000,0.044,3634,1831,1705,1780,1631,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7632,0.97,159.4,3634,1832,1780,1630,247.0,6.9,332,7653,0.00,2.40,13.65,1.118,8452,0.000,0.062,3634,2866,1646,1719,1574,0,0,0,0,0,0,28.83,14.65,13.77
$GC,7748,0.94,159.4,3634,2866,1712,1573,237.1,8.7,339,7755,0.15,2.33,0.00,0.000,5126,0.275,0.044,3602,1846,1643,1712,1574,0,0,0,0,0,0,14.17,14.53,28.83
$GC,8065,0.96,165.5,3602,1847,1711,1574,213.3,7.6,360,8075,0.00,2.35,4.70,0.946,8452,0.000,0.059,3601,2864,1625,1694,1557,0,0,0,0,0,0,28.83,14.64,13.57
$GC,8291,0.96,165.5,3601,2864,1693,1557,193.0,9.3,374,8297,0.00,2.30,0.00,0.000,1030,0.000,0.044,3602,1858,1625,1693,1557,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8597,0.98,165.5,3603,1859,1692,1557,167.0,8.6,395,8603,0.00,2.35,0.00,0.000,260,0.000,0.061,3602,2859,1624,1692,1557,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8773,0.98,165.5,3602,2858,1690,1560,151.0,8.9,406,8779,0.00,2.25,0.00,0.000,1030,0.000,0.043,3602,1875,1623,1690,1557,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9090,1.01,171.3,3603,1876,1690,1565,125.7,7.7,427,9106,0.00,2.33,7.20,0.925,8452,0.000,0.061,3602,2857,1597,1664,1531,0,0,0,0,0,0,28.83,14.59,13.75
$GC,9196,1.01,172.3,3602,2856,1661,1532,117.7,8.2,433,9202,0.00,2.22,0.00,0.000,1030,0.000,0.043,3602,1880,1596,1661,1531,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9503,1.04,181.1,3602,1882,1660,1532,93.9,7.3,454,9519,0.00,2.60,9.35,0.898,8708,0.000,0.066,3603,735,1557,1621,1494,0,0,0,0,0,0,28.83,14.64,13.82
$GC,9620,1.10,195.4,3602,735,1618,1494,86.5,6.7,461,9640,0.15,2.58,12.55,0.901,11270,0.121,0.043,3669,1880,1499,1555,1443,0,0,0,0,0,0,14.34,14.41,13.83
$GC,9950,1.10,195.4,3669,1880,1551,1442,56.6,9.1,483,9955,0.00,2.28,0.00,0.000,260,0.000,0.066,3668,2861,1497,1551,1443,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10187,1.07,195.4,2944,2857,1512,1438,33.1,10.2,498,10192,0.00,2.20,0.00,0.000,1030,0.000,0.045,3670,1901,1495,1548,1442,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10501,1.07,195.4,3670,1902,1555,1442,5.6,9.8,519,10506,0.00,2.28,0.00,0.000,260,0.000,0.062,3670,2859,1494,1547,1442,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10514,1.07,195.4,3670,2859,1546,1442,5.6,9.8,519,10521,0.00,2.20,0.00,0.000,1030,0.000,0.046,3670,1910,1494,1546,1442,0,0,0,0,0,0,28.83,14.39,28.83
$FREEZE,4.31,25.534,-2.055,0,39,0
$STATE,10701,end climb,NO_VERTICAL_VELOCITY
$STATE,10701,begin surface
$SM_CCo,10707,163.32,0.075,0,0,189,517.58
$SM_GC,5.13,10.23,0.10,0.00,0.042,0.111,0.000,142,1975,190,-9.78,-0.65,517.58,0,0,0,0,0,0,14.60,14.62,28.83
$IRIDIUM_FIX,2451.31,-3750.21,090813,171724
$TT8_MAMPS,0.023968,0.023968
$HUMID,84.88
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,3822464
$24V_AH,13.5,196.967
$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,26.700,99.375,206.300,163.325,0.000,0.000,0.000,681.950,0.250,0.000,303.553,2268.632,6523.343,511.771,2782.779,559.226,0.000,2121.862,0.000,1790.202,0.000,0.543,0.000
$DEVICE_MAMPS,331.245,110.925,1411.425,74.970,0.000,0.000,0.000,209.610,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10728.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.509,0.000,0.000,0.000
$MEM,345024
$DATA_FILE_SIZE,20113,532
$CAP_FILE_SIZE,148033,0
$CFSIZE,260034560,185061376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,7.421,174.9,1
$GPS,090813,173424,2451.311,-3750.206,0,10000.0,0,-14.9