version: 66.11
glider: 160
mission: 9
dive: 458
start: 7 26 113 21 0 12
data:
$ID,160
$MISSION,9
$DIVE,458
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1000
$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,430
$T_MISSION,480
$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,110
$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,300
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44399.32
$T_RSLEEP,2
$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,32
$R_STBD_OVSHOOT,36
$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,2479
$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
$GPS1,260713,142325,2425.212,-3818.877,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-67.0
$GPS2,260713,142325,2425.212,-3818.877,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,218.6,9379,-26.8,-7.364,-30.00,830
$D_GRID,950
$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,-1.38,-39.9,146,1939,224,163,0.0,0.0,0,39,0.00,0.00,-14.88,0.000,16386,0.000,0.000,146,1939,531,528,534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,152,1939,528,534,3.7,0.0,1,162,12.27,2.42,-96.18,0.000,19204,0.325,0.074,2843,899,2642,2641,2643,0,0,0,0,0,0,14.14,14.44,14.83
$GC,395,-1.29,-39.9,2843,900,2641,2643,43.9,-17.4,24,401,0.15,2.35,0.00,0.000,3078,0.295,0.046,2873,1941,2641,2641,2642,0,0,0,0,0,0,14.12,14.52,28.83
$GC,716,-1.25,-39.9,2873,1942,2641,2642,89.5,-12.4,45,721,0.00,2.38,0.00,0.000,516,0.000,0.050,2873,899,2641,2641,2642,0,0,0,0,0,0,28.83,14.52,28.83
$GC,952,-1.19,-39.9,1824,898,2580,2633,116.5,-11.5,60,958,0.15,2.35,0.00,0.000,3078,0.290,0.045,2904,1946,2641,2641,2642,0,0,0,0,0,0,14.00,14.40,28.83
$GC,1269,-1.17,-39.9,2904,1945,2641,2641,152.7,-11.6,81,1275,0.00,2.38,0.00,0.000,516,0.000,0.053,2904,900,2639,2641,2637,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1486,-1.15,-39.9,2904,900,2641,2641,179.6,-13.0,95,1491,0.00,2.35,0.00,0.000,1030,0.000,0.046,2904,1938,2641,2641,2641,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1806,-1.15,-39.9,2904,1937,2641,2640,217.7,-11.0,116,1811,0.00,2.35,0.00,0.000,516,0.000,0.054,2904,902,2640,2641,2640,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2041,-1.13,-39.9,2904,902,2641,2639,241.4,-10.0,131,2046,0.00,2.28,0.00,0.000,1030,0.000,0.046,2904,1919,2639,2641,2638,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2374,-1.13,-39.9,2905,1918,2641,2637,274.9,-10.1,145,2379,0.00,2.33,0.00,0.000,516,0.000,0.054,2904,900,2638,2641,2636,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2611,-1.11,-39.9,2904,900,2641,2635,298.1,-10.6,152,2618,0.12,2.22,0.00,0.000,3078,0.299,0.044,2932,1896,2637,2641,2634,0,0,0,0,0,0,14.17,14.54,28.83
$GC,2929,-1.11,-39.9,2929,1899,2641,2633,332.5,-10.6,163,2936,0.00,2.28,0.00,0.000,516,0.000,0.054,2929,898,2636,2641,2632,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3166,-1.11,-39.9,2929,898,2641,2631,358.2,-11.9,170,3171,0.00,2.20,0.00,0.000,1030,0.000,0.044,2929,1881,2636,2641,2631,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3481,-1.11,-39.9,2929,1881,2641,2628,396.1,-11.0,181,3487,0.00,2.22,0.00,0.000,516,0.000,0.054,2929,901,2634,2641,2628,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3715,-1.11,-39.9,2929,901,2640,2627,419.9,-10.9,188,3721,0.00,2.12,0.00,0.000,1030,0.000,0.044,2929,1857,2633,2640,2626,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4032,-1.11,-39.9,2929,1857,2639,2624,452.8,-9.7,199,4038,0.00,2.20,0.00,0.000,516,0.000,0.054,2929,899,2632,2640,2624,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4268,-1.11,-39.9,2929,899,2638,2624,475.5,-10.7,206,4273,0.00,2.10,0.00,0.000,1030,0.000,0.043,2929,1845,2631,2638,2624,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4582,-1.11,-39.9,2929,1844,2640,2621,512.9,-11.2,217,4587,0.00,2.15,0.00,0.000,516,0.000,0.054,2929,900,2629,2638,2621,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4818,-1.11,-39.9,2929,900,2637,2621,537.1,-11.0,224,4824,0.00,2.05,0.00,0.000,1030,0.000,0.042,2929,1823,2629,2637,2621,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5137,-1.13,-39.9,2929,1822,2637,2619,569.9,-9.4,235,5143,0.00,2.12,0.00,0.000,516,0.000,0.054,2929,895,2628,2637,2619,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5372,-1.13,-39.9,2929,895,2635,2619,590.8,-9.4,242,5378,0.00,2.03,0.00,0.000,1030,0.000,0.041,2929,1809,2626,2635,2618,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5691,-1.15,-39.9,2929,1809,2635,2616,621.9,-9.4,253,5696,0.00,2.75,0.00,0.000,260,0.000,0.063,2929,3005,2626,2635,2617,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5927,-1.17,-39.9,2929,3004,2633,2616,644.8,-10.7,260,5933,0.00,2.70,0.00,0.000,1030,0.000,0.035,2929,1789,2624,2633,2616,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6245,-1.18,-39.9,2929,1790,2633,2614,682.9,-11.6,271,6251,0.00,2.03,0.00,0.000,516,0.000,0.054,2929,897,2624,2634,2614,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6446,-1.18,-39.9,2929,897,2633,2614,705.2,-11.8,277,6451,0.00,1.98,0.00,0.000,1030,0.000,0.040,2929,1787,2622,2632,2613,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6770,-1.20,-39.9,2929,1786,2633,2612,738.8,-9.4,288,6776,0.00,2.05,0.00,0.000,516,0.000,0.052,2929,899,2622,2632,2612,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7006,-1.20,-39.9,2929,900,2630,2612,759.1,-9.1,295,7012,0.00,1.95,0.00,0.000,1030,0.000,0.040,2929,1777,2621,2630,2612,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7325,-1.22,-39.9,2929,1776,2633,2608,787.5,-8.3,306,7330,0.00,2.00,0.00,0.000,516,0.000,0.053,2929,900,2618,2629,2608,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7462,-1.24,-39.9,2929,900,2624,2608,798.8,-8.8,310,7468,0.00,1.92,0.00,0.000,1030,0.000,0.039,2929,1766,2618,2628,2608,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7790,-1.26,-39.9,2929,1765,2627,2606,831.3,-10.2,321,7796,0.12,2.00,0.00,0.000,4612,0.135,0.050,2873,896,2616,2627,2606,0,0,0,0,0,0,14.50,14.42,28.83
$GC,7937,-1.25,-39.9,2874,896,2626,2605,847.4,-12.5,325,7942,0.00,1.92,0.00,0.000,1030,0.000,0.041,2873,1752,2616,2626,2606,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8254,-1.23,-39.9,2873,1751,2626,2605,892.0,-13.2,336,8259,0.00,1.95,0.00,0.000,516,0.000,0.053,2873,900,2615,2626,2605,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8361,-1.20,-39.9,2873,900,2626,2605,905.0,-13.4,339,8367,0.00,1.88,0.00,0.000,1030,0.000,0.041,2873,1735,2615,2625,2605,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8689,-1.19,-39.9,2873,1738,2625,2598,944.9,-11.3,350,8695,0.12,1.95,0.00,0.000,2564,0.299,0.050,2901,896,2614,2625,2604,0,0,0,0,0,0,14.06,14.39,28.83
$STATE,8751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8751,begin apogee
$GC,8762,-0.25,0.0,2902,1806,2625,2603,952.1,-10.8,352,8811,1.20,0.00,44.80,1.722,10244,0.231,0.000,3204,1806,2478,2499,2457,0,0,0,0,0,0,13.70,28.83,13.31
$STATE,8813,end apogee,CONTROL_FINISHED_OK
$STATE,8813,begin climb
$GC,8817,1.38,39.9,3204,1806,2497,2453,952.6,0.0,353,8863,1.62,0.00,38.60,2.119,11270,0.086,0.000,3733,1806,2312,2332,2292,0,0,0,0,0,0,14.35,28.83,13.09
$GC,9188,1.41,160.8,3734,1806,2323,2288,981.2,-7.6,366,9310,0.00,2.47,114.18,2.186,8964,0.000,0.059,3733,2860,1821,1901,1741,0,0,0,0,0,0,28.83,14.19,13.06
$GC,9541,1.28,160.8,3733,2860,1885,1737,959.0,12.5,377,9547,0.15,2.70,0.00,0.000,5126,0.345,0.043,3713,1666,1811,1885,1737,0,0,0,0,0,0,14.09,14.51,28.83
$GC,9860,1.19,160.8,3712,1667,1885,1733,925.4,9.5,388,9866,0.12,2.12,0.00,0.000,4612,0.318,0.061,3686,746,1809,1885,1733,0,0,0,0,0,0,14.09,14.49,28.83
$GC,10098,1.12,160.8,3686,746,1885,1732,905.7,8.8,395,10104,0.15,2.10,0.00,0.000,5126,0.287,0.036,3656,1696,1808,1885,1731,0,0,0,0,0,0,14.11,14.57,28.83
$GC,10417,1.06,160.8,3657,1695,1885,1729,877.7,8.6,406,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,3657,1695,1807,1885,1729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10713,1.01,160.8,3657,1695,1884,1727,851.7,8.7,416,10719,0.12,2.65,0.00,0.000,4356,0.311,0.051,3628,2856,1805,1884,1727,0,0,0,0,0,0,14.04,14.47,28.83
$GC,10950,0.95,160.8,3628,2856,1882,1727,831.9,9.0,423,10957,0.00,2.67,0.00,0.000,1030,0.000,0.041,3630,1687,1804,1882,1727,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11269,0.92,160.8,3630,1688,1882,1725,805.4,7.4,434,11276,0.15,2.72,0.00,0.000,4356,0.296,0.051,3596,2858,1803,1882,1725,0,0,0,0,0,0,13.96,14.45,28.83
$GC,11507,0.89,166.8,3596,2859,1881,1725,790.4,6.6,441,11512,0.00,2.62,0.00,0.000,1030,0.000,0.039,3605,1696,1803,1881,1725,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11825,0.90,172.3,3603,1697,1881,1724,770.2,6.7,452,11840,0.00,2.72,9.30,1.709,8452,0.000,0.054,3603,2858,1773,1848,1698,0,0,0,0,0,0,28.83,14.66,13.41
$GC,12072,0.86,172.3,3603,2858,1840,1697,747.7,9.3,460,12078,0.15,2.58,0.00,0.000,5126,0.281,0.039,3573,1722,1769,1841,1697,0,0,0,0,0,0,14.13,14.52,28.83
$GC,12408,0.86,172.3,3573,1723,1840,1697,720.2,8.0,471,12413,0.00,2.62,0.00,0.000,260,0.000,0.054,3573,2852,1767,1839,1696,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12642,0.86,172.3,3573,2852,1839,1697,703.3,7.5,478,12648,0.00,2.55,0.00,0.000,1030,0.000,0.039,3574,1732,1767,1838,1697,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12961,0.87,189.4,3575,1734,1838,1696,684.4,5.2,489,12990,0.00,2.62,19.08,1.689,8452,0.000,0.055,3574,2848,1701,1776,1626,0,0,0,0,0,0,28.83,14.57,13.50
$GC,13221,0.88,192.1,3575,2848,1768,1625,667.7,7.0,497,13227,0.00,2.50,0.00,0.000,1030,0.000,0.038,3575,1748,1698,1768,1628,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13544,0.88,192.1,3575,1749,1768,1625,640.9,8.7,508,13550,0.00,2.58,0.00,0.000,260,0.000,0.054,3575,2851,1696,1767,1625,0,0,0,0,0,0,28.83,14.39,28.83
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$FREEZE,6.20,25.546,-2.078,0,1,0
$STATE,21182,end climb,NO_VERTICAL_VELOCITY
$STATE,21182,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,84.65
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$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3844768
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$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345016
$DATA_FILE_SIZE,33406,857
$CAP_FILE_SIZE,254903,0
$CFSIZE,260034560,190812160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,5.152,199.8,1
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