version: 66.11
glider: 160
mission: 9
dive: 518
start: 8 10 113 0 38 58
data:
$ID,160
$MISSION,9
$DIVE,518
$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,-87116.281
$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,27
$R_STBD_OVSHOOT,54
$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
$GPS1,090813,211039,2448.935,-3750.206,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-70.2
$GPS2,090813,211039,2448.935,-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,-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,17,begin dive
$GC,22,-1.02,-97.3,141,1977,219,165,0.0,0.0,0,39,0.00,0.00,-14.88,0.000,16386,0.000,0.000,137,1977,528,527,529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.02,-97.3,141,1978,527,529,3.1,0.0,1,170,13.00,2.58,-100.00,0.000,19204,0.332,0.086,2966,898,2697,2715,2679,0,0,0,0,0,0,14.27,14.47,14.83
$GC,402,-0.94,-97.3,2966,899,2716,2679,32.4,-13.1,24,408,0.00,2.33,0.00,0.000,1030,0.000,0.057,2965,1918,2697,2716,2678,0,0,0,0,0,0,28.83,14.45,28.83
$GC,707,-0.87,-97.3,2966,1918,2716,2678,67.1,-9.2,45,713,0.17,2.35,0.00,0.000,2564,0.256,0.055,3010,897,2697,2717,2678,0,0,0,0,0,0,13.98,14.40,28.83
$GC,944,-0.83,-97.3,1952,897,2656,2669,88.8,-9.9,60,950,0.00,2.38,0.00,0.000,1030,0.000,0.054,3011,1935,2696,2716,2677,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1261,-0.81,-97.3,3011,1934,2716,2677,118.5,-9.0,81,1267,0.00,2.40,0.00,0.000,516,0.000,0.060,3010,894,2696,2716,2677,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1498,-0.79,-97.3,1952,894,2656,2668,138.7,-8.4,96,1504,0.12,2.33,0.00,0.000,3078,0.248,0.054,3039,1918,2696,2716,2677,0,0,0,0,0,0,14.17,14.45,28.83
$GC,1814,-0.80,-97.3,3039,1916,2716,2677,162.3,-7.2,117,1819,0.00,2.38,0.00,0.000,516,0.000,0.060,3039,894,2696,2716,2677,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1959,-0.80,-97.3,2048,894,2658,2668,172.0,-6.8,126,1964,0.00,2.30,0.00,0.000,1030,0.000,0.052,3039,1907,2696,2716,2676,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2274,-0.83,-97.3,3040,1906,2716,2670,189.6,-5.6,147,2280,0.00,2.33,0.00,0.000,516,0.000,0.061,3040,898,2696,2716,2676,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2344,-0.83,-97.3,2000,897,2658,2667,193.5,-6.0,151,2349,0.00,2.28,0.00,0.000,1030,0.000,0.052,3040,1896,2695,2716,2674,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2659,-0.86,-97.3,3040,1895,2716,2674,218.6,-9.1,172,2664,0.00,2.33,0.00,0.000,516,0.000,0.067,3039,899,2695,2716,2674,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2725,-0.87,-97.3,3040,899,2716,2673,224.8,-9.5,176,2730,0.00,2.25,0.00,0.000,1030,0.000,0.054,3040,1881,2694,2716,2672,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3045,-0.91,-97.3,3040,1880,2716,2672,256.0,-9.7,195,3046,0.12,0.00,0.00,0.000,4102,0.121,0.000,2985,1881,2697,2723,2671,0,0,0,0,0,0,14.45,28.83,28.83
$GC,3346,-0.88,-97.3,2985,1881,2716,2670,288.0,-10.6,205,3351,0.00,2.30,0.00,0.000,516,0.000,0.067,2985,898,2693,2716,2670,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3516,-0.85,-97.3,2985,898,2715,2669,304.3,-10.5,210,3522,0.15,2.25,0.00,0.000,3078,0.244,0.054,3017,1881,2692,2716,2669,0,0,0,0,0,0,14.12,14.43,28.83
$GC,3842,-0.85,-97.3,3018,1880,2716,2667,329.1,-6.2,221,3848,0.00,2.30,0.00,0.000,516,0.000,0.065,3018,895,2691,2716,2667,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3988,-0.85,-97.3,3018,895,2715,2666,336.5,-5.8,225,3994,0.00,2.20,0.00,0.000,1030,0.000,0.052,3018,1865,2691,2716,2666,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4306,-0.85,-97.3,3018,1864,2716,2664,353.6,-5.2,236,4313,0.00,2.25,0.00,0.000,516,0.000,0.063,3018,896,2690,2716,2664,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4357,-0.85,-97.3,3018,898,2716,2664,355.5,-5.3,237,4362,0.00,2.20,0.00,0.000,1030,0.000,0.050,3018,1863,2690,2716,2664,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4680,-0.87,-97.3,3018,1862,2716,2662,380.6,-8.6,248,4686,0.00,2.25,0.00,0.000,516,0.000,0.063,3018,896,2689,2716,2662,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4740,-0.88,-97.3,3018,896,2716,2661,384.1,-8.8,249,4746,0.00,2.17,0.00,0.000,1030,0.000,0.050,3018,1854,2688,2716,2661,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5049,-0.90,-97.3,3018,1853,2716,2660,415.8,-9.3,260,5056,0.00,2.22,0.00,0.000,516,0.000,0.063,3018,899,2688,2716,2660,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5145,-0.90,-97.3,3018,899,2716,2659,424.5,-8.8,263,5151,0.00,2.15,0.00,0.000,1030,0.000,0.048,3018,1843,2690,2721,2659,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5484,-0.93,-97.3,3018,1842,2716,2657,448.5,-6.4,274,5490,0.00,2.20,0.00,0.000,516,0.000,0.061,3018,897,2686,2715,2657,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,5515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5515,begin apogee
$GC,5526,-0.25,0.0,3018,1803,2716,2657,450.6,-6.1,275,5608,0.68,0.00,76.35,1.424,10244,0.186,0.000,3204,1803,2297,2341,2253,0,0,0,0,0,0,13.90,28.83,13.40
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5614,begin climb
$GC,5617,1.02,97.3,3204,1803,2339,2253,452.0,0.0,278,5711,1.33,2.47,80.28,1.413,10500,0.100,0.064,3622,2855,1901,1973,1829,0,0,0,0,0,0,14.35,14.38,13.44
$GC,5943,0.89,97.3,3621,2855,1964,1824,435.2,8.7,288,5950,0.20,2.40,0.00,0.000,5126,0.282,0.042,3588,1797,1893,1964,1823,0,0,0,0,0,0,14.13,14.54,28.83
$GC,6254,0.85,141.4,3588,1798,1964,1821,414.1,5.8,299,6295,0.00,2.42,35.12,1.352,8708,0.000,0.069,3588,745,1720,1801,1639,0,0,0,0,0,0,28.83,14.51,13.65
$GC,6451,0.80,154.6,3588,746,1792,1639,400.5,7.6,305,6472,0.15,2.40,11.73,1.252,13318,0.238,0.043,3555,1805,1666,1744,1588,0,0,0,0,0,0,14.23,14.54,13.68
$GC,6801,0.79,182.1,3562,1805,1733,1588,375.4,6.8,317,6831,0.00,2.47,22.65,1.300,8452,0.000,0.060,3555,2864,1553,1626,1481,0,0,0,0,0,0,28.83,14.61,13.72
$GC,6967,0.74,188.6,3555,2864,1617,1481,362.0,8.0,322,6978,0.00,2.40,4.65,1.037,9222,0.000,0.041,3561,1808,1531,1593,1469,0,0,0,0,0,0,28.83,14.54,13.53
$GC,7297,0.72,202.9,3561,1809,1592,1470,336.1,7.5,333,7320,0.12,2.47,14.35,1.206,12548,0.271,0.057,3530,2863,1470,1530,1410,0,0,0,0,0,0,14.19,14.61,13.74
$GC,7354,0.69,211.4,3530,2863,1526,1410,332.8,7.8,334,7371,0.00,2.38,8.32,1.151,9222,0.000,0.041,3534,1812,1434,1482,1386,0,0,0,0,0,0,28.83,14.59,13.72
$GC,7695,0.69,211.4,3534,1812,1473,1386,303.7,8.4,346,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1812,1429,1473,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,0.69,215.9,3534,1811,1471,1385,278.8,8.1,356,8001,0.00,2.47,0.00,0.000,516,0.000,0.070,3535,744,1428,1471,1386,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8045,0.69,218.0,3537,744,1470,1386,275.8,8.2,357,8056,0.00,2.42,4.70,0.987,9222,0.000,0.043,3534,1824,1410,1451,1370,0,0,0,0,0,0,28.83,14.50,13.58
$GC,8369,0.71,229.6,3534,1823,1451,1372,250.1,7.7,368,8387,0.00,2.40,12.88,1.095,8452,0.000,0.060,3534,2855,1360,1396,1324,0,0,0,0,0,0,28.83,14.66,13.78
$GC,8544,0.68,229.6,3534,2854,1388,1323,234.1,9.6,378,8549,0.00,2.33,0.00,0.000,1030,0.000,0.041,3534,1825,1355,1388,1323,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8859,0.69,234.7,3535,1826,1386,1323,207.3,8.0,399,8869,0.00,2.47,3.70,0.823,8708,0.000,0.070,3535,749,1343,1374,1312,0,0,0,0,0,0,28.83,14.62,13.54
$GC,8897,0.69,234.7,3535,749,1374,1313,204.2,8.7,401,8903,0.00,2.40,0.00,0.000,1030,0.000,0.042,3535,1819,1343,1374,1313,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9213,0.71,253.1,3534,1818,1374,1313,180.9,7.3,422,9237,0.00,2.38,18.15,1.050,8452,0.000,0.059,3534,2867,1265,1299,1231,0,0,0,0,0,0,28.83,14.64,13.81
$GC,9355,0.71,253.1,3535,2867,1292,1230,168.1,9.2,431,9360,0.00,2.38,0.00,0.000,1030,0.000,0.042,3535,1824,1261,1293,1230,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9676,0.72,265.2,3535,1825,1292,1230,142.6,7.6,452,9692,0.00,2.53,11.00,0.978,8708,0.000,0.068,3535,749,1216,1251,1181,0,0,0,0,0,0,28.83,14.63,13.82
$GC,9742,0.75,280.6,3535,749,1250,1180,137.2,7.4,456,9763,0.00,2.45,14.57,0.988,9222,0.000,0.042,3535,1830,1153,1200,1106,0,0,0,0,0,0,28.83,14.54,13.81
$GC,10078,0.80,285.5,3535,1829,1198,1098,110.2,8.1,478,10087,0.00,2.35,3.75,0.754,8452,0.000,0.063,3535,2857,1135,1188,1083,0,0,0,0,0,0,28.83,14.60,13.58
$GC,10154,0.82,285.5,3534,2853,1188,1085,104.2,9.2,482,10162,0.00,2.38,0.00,0.000,1030,0.000,0.043,3535,1814,1136,1188,1085,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10458,0.85,285.5,3535,1815,1188,1085,75.0,10.0,503,10464,0.12,2.45,0.00,0.000,2308,0.123,0.056,3593,2861,1137,1189,1085,0,0,0,0,0,0,14.49,14.43,28.83
$GC,10485,0.88,285.5,2752,2857,1170,1084,72.2,11.2,504,10490,0.00,2.35,0.00,0.000,1030,0.000,0.042,3592,1828,1136,1188,1085,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10799,0.88,285.5,3593,1830,1188,1085,37.6,10.1,525,10804,0.00,2.40,0.00,0.000,260,0.000,0.057,3593,2857,1137,1189,1085,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10838,0.88,285.5,2784,2853,1170,1083,34.3,10.2,527,10843,0.00,2.33,0.00,0.000,1030,0.000,0.042,3593,1841,1136,1187,1085,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11153,0.89,304.2,3593,1842,1187,1085,7.0,7.3,548,11169,0.00,2.60,10.55,0.116,8708,0.000,0.066,3593,747,1059,1122,996,0,0,0,0,0,0,28.83,14.38,14.23
$GC,11253,1.21,456.5,3593,746,1122,996,4.3,-0.4,554,11271,0.28,2.50,10.80,0.095,11266,0.097,0.045,3688,1848,977,1054,900,0,0,0,0,0,0,14.41,14.45,28.83
$STATE,11273,end climb,SURFACE_DEPTH_REACHED
$STATE,11273,begin surface coast
$FINISH,4.2,1.023922
$STATE,11450,end surface coast,CONTROL_FINISHED_OK
$STATE,11450,begin surface
$SM_CCo,11455,102.47,0.075,0,0,188,517.58
$SM_GC,5.02,10.30,0.20,0.00,0.044,0.089,0.000,148,1948,189,-9.77,-0.85,517.83,0,0,0,0,0,0,14.62,14.49,28.83
$IRIDIUM_FIX,2453.69,-3748.33,100813,000055
$TT8_MAMPS,0.023968,0.023968
$HUMID,85.44
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,3821696
$24V_AH,13.4,197.382
$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,26.750,118.000,343.550,102.475,0.000,0.000,0.000,259.675,0.500,0.000,302.599,2141.278,7395.604,568.189,2270.275,529.921,0.000,1745.100,0.000,1659.709,0.000,0.542,0.000
$DEVICE_MAMPS,332.010,88.740,1423.665,74.970,0.000,0.000,0.000,162.180,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11455.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.436,0.000,0.000,0.000
$MEM,345280
$DATA_FILE_SIZE,20126,566
$CAP_FILE_SIZE,152492,0
$CFSIZE,260034560,184881152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,17.535,199.6,1
$GPS,100813,002855,2453.688,-3748.327,0,10000.0,0,-14.9