version: 66.11
glider: 160
mission: 9
dive: 461
start: 7 27 113 16 36 10
data:
$ID,160
$MISSION,9
$DIVE,461
$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,561.4917
$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,-46226.562
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,270713,094329,2427.581,-3815.158,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-69.6
$GPS2,270713,094329,2427.581,-3815.158,301,99.0,301,-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,252.3,13417,-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,21,-1.38,-39.9,140,1959,208,178,0.0,0.0,0,39,0.00,0.00,-15.60,0.000,16386,0.000,0.000,140,1959,549,537,561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,140,1959,538,561,3.6,0.0,1,162,12.65,2.50,-95.60,0.000,19204,0.339,0.088,2847,3008,2642,2635,2650,0,0,0,0,0,0,14.28,14.39,14.83
$GC,395,-1.29,-39.9,2848,3008,2636,2650,46.5,-19.4,24,401,0.12,2.35,0.00,0.000,3078,0.299,0.034,2871,1945,2643,2637,2650,0,0,0,0,0,0,14.08,14.49,28.83
$GC,716,-1.24,-39.9,2871,1946,2631,2650,97.6,-12.5,45,723,0.00,2.38,0.00,0.000,516,0.000,0.057,2871,892,2642,2636,2649,0,0,0,0,0,0,28.83,14.43,28.83
$GC,845,-1.19,-39.9,2871,892,2637,2648,113.7,-13.2,53,852,0.17,2.33,0.00,0.000,3078,0.285,0.045,2908,1931,2642,2636,2648,0,0,0,0,0,0,14.09,14.53,28.83
$GC,1166,-1.17,-39.9,2908,1930,2636,2648,154.0,-11.9,74,1171,0.00,2.33,0.00,0.000,516,0.000,0.053,2908,899,2642,2636,2648,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1402,-1.14,-39.9,1864,899,2575,2637,178.7,-9.9,89,1407,0.00,2.25,0.00,0.000,1030,0.000,0.045,2907,1907,2641,2636,2646,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1716,-1.14,-39.9,2907,1907,2636,2646,205.2,-8.1,110,1721,0.00,2.30,0.00,0.000,516,0.000,0.055,2906,896,2641,2636,2646,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1952,-1.12,-39.9,1856,895,2574,2636,226.5,-9.7,125,1957,0.00,2.28,0.00,0.000,1030,0.000,0.047,2906,1911,2640,2636,2645,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2266,-1.12,-39.9,2906,1913,2636,2644,259.8,-10.8,143,2272,0.00,2.58,0.00,0.000,260,0.000,0.076,2906,3009,2640,2636,2644,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2462,-1.12,-39.9,2907,3007,2636,2643,281.6,-11.9,149,2467,0.00,2.47,0.00,0.000,1030,0.000,0.038,2907,1891,2639,2636,2643,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2790,-1.12,-39.9,2906,1892,2636,2641,319.1,-10.9,160,2796,0.00,2.25,0.00,0.000,516,0.000,0.060,2906,896,2638,2636,2641,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3026,-1.10,-39.9,2907,896,2636,2639,343.8,-11.5,167,3032,0.15,2.20,0.00,0.000,3078,0.281,0.047,2937,1869,2640,2636,2645,0,0,0,0,0,0,14.14,14.52,28.83
$GC,3344,-1.12,-39.9,2937,1868,2636,2636,379.1,-10.7,178,3350,0.00,2.20,0.00,0.000,516,0.000,0.054,2937,898,2636,2636,2636,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3579,-1.12,-39.9,2937,898,2636,2634,403.6,-11.3,185,3585,0.00,2.12,0.00,0.000,1030,0.000,0.045,2937,1852,2635,2636,2634,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3899,-1.14,-39.9,2937,1851,2636,2632,437.7,-9.7,196,3905,0.00,2.67,0.00,0.000,260,0.000,0.076,2937,3003,2634,2636,2632,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4044,-1.15,-39.9,2938,3003,2635,2631,449.9,-9.4,200,4050,0.00,2.65,0.00,0.000,1030,0.000,0.041,2937,1819,2633,2635,2631,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4363,-1.17,-39.9,2938,1820,2635,2628,483.2,-10.4,211,4369,0.00,2.08,0.00,0.000,516,0.000,0.061,2937,900,2631,2635,2627,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4598,-1.17,-39.9,2937,900,2636,2626,508.0,-11.8,218,4603,0.00,2.03,0.00,0.000,1030,0.000,0.050,2937,1801,2630,2636,2625,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4916,-1.19,-39.9,2937,1800,2636,2623,545.9,-10.7,229,4922,0.00,2.08,0.00,0.000,516,0.000,0.059,2937,898,2629,2635,2623,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5152,-1.19,-39.9,2937,898,2634,2622,568.7,-10.1,236,5158,0.00,2.00,0.00,0.000,1030,0.000,0.048,2937,1787,2628,2633,2623,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5470,-1.21,-39.9,2937,1788,2634,2620,599.1,-8.8,247,5476,0.00,2.83,0.00,0.000,260,0.000,0.069,2937,3012,2629,2638,2620,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5676,-1.23,-39.9,2937,3012,2633,2620,616.4,-9.2,253,5683,0.12,2.78,0.00,0.000,5126,0.140,0.039,2896,1769,2626,2632,2620,0,0,0,0,0,0,14.45,14.53,28.83
$GC,5996,-1.23,-39.9,2896,1769,2632,2618,653.6,-11.7,264,6002,0.00,1.98,0.00,0.000,516,0.000,0.059,2896,895,2624,2632,2617,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6232,-1.22,-39.9,2896,896,2631,2617,681.4,-12.9,271,6237,0.00,1.92,0.00,0.000,1030,0.000,0.047,2895,1754,2624,2631,2617,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6546,-1.22,-39.9,2896,1754,2630,2615,722.8,-12.6,282,6552,0.00,1.98,0.00,0.000,516,0.000,0.057,2895,895,2622,2630,2615,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6782,-1.22,-39.9,2895,895,2628,2615,749.6,-12.2,289,6788,0.00,1.88,0.00,0.000,1030,0.000,0.047,2895,1731,2621,2628,2614,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7098,-1.22,-39.9,2895,1730,2628,2613,785.4,-10.2,300,7104,0.00,1.92,0.00,0.000,516,0.000,0.057,2895,893,2620,2627,2613,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7334,-1.22,-39.9,2895,893,2627,2613,806.5,-9.7,307,7339,0.00,1.85,0.00,0.000,1030,0.000,0.046,2895,1717,2619,2627,2612,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7649,-1.22,-39.9,2895,1717,2626,2610,840.3,-10.6,318,7655,0.00,3.00,0.00,0.000,260,0.000,0.066,2895,3011,2618,2626,2610,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7870,-1.22,-39.9,2895,3011,2626,2610,865.1,-11.7,325,7875,0.00,2.97,0.00,0.000,1030,0.000,0.038,2895,1690,2617,2625,2610,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8202,-1.22,-39.9,2895,1691,2625,2607,904.1,-11.7,336,8208,0.00,1.80,0.00,0.000,516,0.000,0.059,2895,898,2616,2625,2607,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8439,-1.22,-39.9,2895,898,2625,2607,930.6,-12.1,343,8444,0.00,1.80,0.00,0.000,1030,0.000,0.044,2894,1678,2616,2626,2607,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,8600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8600,begin apogee
$GC,8609,-0.25,0.0,2895,1815,2625,2606,951.6,-11.5,349,8645,1.25,0.00,32.60,2.083,10244,0.236,0.000,3206,1815,2478,2498,2458,0,0,0,0,0,0,13.68,28.83,13.13
$STATE,8647,end apogee,CONTROL_FINISHED_OK
$STATE,8647,begin climb
$GC,8652,1.38,39.9,3205,1815,2496,2456,951.8,0.0,350,8701,1.65,2.40,38.30,2.138,10500,0.091,0.063,3737,2851,2313,2329,2297,0,0,0,0,0,0,14.45,14.45,13.09
$GC,8740,1.38,39.9,3738,2851,2328,2295,958.7,-10.3,353,8746,0.00,2.40,0.00,0.000,1030,0.000,0.042,3740,1804,2310,2325,2296,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9075,1.42,174.8,3740,1804,2322,2293,989.5,-9.3,364,9215,0.00,2.53,127.78,2.209,8964,0.000,0.056,3740,2845,1760,1833,1688,0,0,0,0,0,0,28.83,14.17,13.06
$GC,9447,1.29,174.8,3740,2844,1817,1686,963.0,13.6,376,9453,0.15,2.70,0.00,0.000,5126,0.336,0.044,3713,1656,1752,1818,1686,0,0,0,0,0,0,14.10,14.47,28.83
$GC,9776,1.20,174.8,3713,1657,1818,1683,922.4,12.4,387,9782,0.12,2.75,0.00,0.000,4356,0.321,0.053,3685,2850,1750,1817,1683,0,0,0,0,0,0,14.09,14.45,28.83
$GC,10013,1.11,174.8,3684,2850,1814,1682,894.3,12.8,394,10019,0.15,2.67,0.00,0.000,5126,0.311,0.044,3657,1668,1748,1814,1682,0,0,0,0,0,0,14.12,14.54,28.83
$GC,10333,1.06,174.8,3658,1669,1814,1679,856.0,10.9,405,10338,0.00,2.15,0.00,0.000,516,0.000,0.067,3658,744,1746,1814,1679,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10568,1.01,174.8,3657,745,1812,1679,832.1,10.7,412,10574,0.15,2.12,0.00,0.000,5126,0.265,0.039,3625,1698,1746,1812,1680,0,0,0,0,0,0,14.11,14.54,28.83
$GC,10887,0.98,174.8,3626,1698,1813,1678,804.8,7.4,423,10892,0.00,2.65,0.00,0.000,260,0.000,0.057,3626,2857,1744,1813,1676,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10967,0.94,174.8,3626,2857,1812,1677,799.7,7.4,425,10973,0.12,2.62,0.00,0.000,5126,0.301,0.042,3606,1700,1744,1812,1677,0,0,0,0,0,0,14.08,14.49,28.83
$GC,11292,0.96,189.6,3606,1700,1811,1677,780.3,5.5,436,11310,0.00,2.62,12.00,1.749,8452,0.000,0.056,3606,2852,1704,1774,1635,0,0,0,0,0,0,28.83,14.66,13.48
$GC,11541,0.92,189.6,3606,2851,1767,1634,762.9,7.7,444,11547,0.00,2.55,0.00,0.000,1030,0.000,0.041,3606,1728,1700,1766,1634,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11874,0.92,189.6,3606,1729,1766,1637,731.9,10.4,455,11879,0.00,2.60,0.00,0.000,260,0.000,0.054,3606,2855,1697,1766,1628,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12111,0.89,189.6,3606,2855,1764,1634,704.8,12.7,462,12116,0.00,2.53,0.00,0.000,1030,0.000,0.043,3606,1743,1699,1764,1634,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12430,0.89,189.6,3606,1743,1764,1634,665.6,11.4,473,12435,0.00,2.60,0.00,0.000,260,0.000,0.054,3606,2855,1700,1766,1634,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12665,0.86,189.6,3606,2856,1762,1633,641.4,10.8,480,12671,0.15,2.53,0.00,0.000,5126,0.278,0.042,3575,1753,1698,1762,1634,0,0,0,0,0,0,14.01,14.42,28.83
$GC,12984,0.88,198.9,3575,1754,1762,1633,617.4,6.2,491,13002,0.00,2.58,10.32,1.584,8452,0.000,0.054,3575,2849,1664,1732,1597,0,0,0,0,0,0,28.83,14.62,13.48
$GC,13233,0.89,202.0,3575,2848,1726,1596,600.4,7.0,499,13239,0.00,2.47,0.00,0.000,1030,0.000,0.040,3575,1761,1661,1726,1596,0,0,0,0,0,0,28.83,14.48,28.83
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$FREEZE,5.99,25.705,-2.082,0,4,0
$STATE,20189,end climb,NO_VERTICAL_VELOCITY
$STATE,20189,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,84.37
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$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,3843616
$24V_AH,13.1,180.940
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345028
$DATA_FILE_SIZE,30038,827
$CAP_FILE_SIZE,246175,0
$CFSIZE,260034560,190459904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.063,329.1,1
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