version: 66.11
glider: 160
mission: 9
dive: 462
start: 7 27 113 22 47 7
data:
$ID,160
$MISSION,9
$DIVE,462
$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,-46835.621
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,270713,161800,2425.212,-3813.691,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-68.4
$GPS2,270713,161800,2425.212,-3813.691,301,99.0,301,-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,181.4,10216,-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,-39.9,137,1957,213,168,0.0,0.0,0,38,0.00,0.00,-15.20,0.000,16386,0.000,0.000,137,1958,537,533,541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,137,1957,534,541,4.0,0.0,1,166,12.62,2.45,-97.18,0.000,18948,0.340,0.070,2848,898,2643,2658,2628,0,0,0,0,0,0,14.24,14.36,14.81
$GC,395,-1.30,-39.9,1824,893,2602,2615,37.5,-15.8,24,401,0.00,2.38,0.00,0.000,1030,0.000,0.044,2849,1951,2641,2662,2620,0,0,0,0,0,0,28.83,14.46,28.83
$GC,710,-1.23,-39.9,2848,1950,2662,2623,82.9,-12.8,45,716,0.17,2.42,0.00,0.000,2564,0.297,0.050,2890,893,2642,2661,2623,0,0,0,0,0,0,13.93,14.45,28.83
$GC,947,-1.19,-39.9,1856,893,2602,2614,109.0,-11.4,60,953,0.00,2.33,0.00,0.000,1030,0.000,0.044,2888,1935,2642,2662,2622,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1262,-1.16,-39.9,2888,1933,2661,2622,146.9,-12.8,81,1268,0.12,2.35,0.00,0.000,2564,0.306,0.049,2916,898,2641,2661,2622,0,0,0,0,0,0,14.06,14.40,28.83
$GC,1384,-1.14,-39.9,2916,898,2662,2621,160.1,-11.8,88,1391,0.00,2.33,0.00,0.000,1030,0.000,0.044,2915,1940,2641,2661,2621,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1689,-1.14,-39.9,2915,1940,2662,2621,196.6,-11.1,109,1694,0.00,2.38,0.00,0.000,516,0.000,0.054,2915,898,2641,2661,2621,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1924,-1.14,-39.9,2915,897,2661,2621,221.1,-9.6,124,1930,0.00,2.30,0.00,0.000,1030,0.000,0.044,2915,1927,2640,2661,2620,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2239,-1.14,-39.9,2915,1926,2662,2618,249.6,-9.2,145,2244,0.00,2.35,0.00,0.000,516,0.000,0.054,2915,899,2639,2661,2618,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2474,-1.14,-39.9,2915,899,2661,2617,270.8,-10.0,153,2480,0.00,2.28,0.00,0.000,1030,0.000,0.044,2915,1910,2639,2661,2617,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2791,-1.14,-39.9,2915,1910,2661,2615,307.7,-11.7,164,2797,0.00,2.30,0.00,0.000,516,0.000,0.054,2915,899,2638,2661,2616,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3028,-1.14,-39.9,2915,899,2661,2614,335.3,-12.9,171,3033,0.00,2.22,0.00,0.000,1030,0.000,0.044,2917,1896,2637,2661,2614,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3343,-1.14,-39.9,2915,1896,2661,2612,376.2,-12.3,182,3348,0.00,2.28,0.00,0.000,516,0.000,0.054,2915,898,2636,2661,2612,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3381,-1.14,-39.9,1888,898,2603,2603,380.3,-12.1,183,3386,0.00,2.17,0.00,0.000,1030,0.000,0.044,2915,1875,2637,2662,2613,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3713,-1.14,-39.9,2915,1874,2661,2608,416.5,-10.1,194,3719,0.00,2.58,0.00,0.000,260,0.000,0.063,2915,3005,2635,2661,2609,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3879,-1.14,-39.9,2915,3004,2660,2608,432.9,-10.4,199,3885,0.00,2.53,0.00,0.000,1030,0.000,0.032,2915,1856,2634,2660,2608,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4207,-1.14,-39.9,2915,1857,2660,2606,466.4,-10.1,210,4212,0.00,2.15,0.00,0.000,516,0.000,0.055,2915,899,2633,2660,2606,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4442,-1.14,-39.9,2915,897,2660,2605,489.5,-10.9,217,4448,0.00,2.15,0.00,0.000,1030,0.000,0.042,2915,1863,2632,2660,2605,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4758,-1.14,-39.9,2915,1862,2658,2603,528.1,-11.8,228,4765,0.00,2.22,0.00,0.000,516,0.000,0.053,2915,895,2631,2660,2602,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4995,-1.14,-39.9,2915,894,2658,2603,554.6,-12.4,235,5000,0.00,2.10,0.00,0.000,1030,0.000,0.041,2915,1840,2630,2658,2602,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5309,-1.14,-39.9,2915,1840,2658,2599,592.4,-10.7,246,5314,0.00,2.15,0.00,0.000,516,0.000,0.054,2915,898,2629,2658,2600,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5544,-1.14,-39.9,2915,898,2656,2599,613.6,-9.7,253,5550,0.00,2.08,0.00,0.000,1030,0.000,0.041,2915,1830,2631,2663,2599,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5860,-1.14,-39.9,2915,1830,2656,2597,642.3,-8.2,264,5866,0.00,2.15,0.00,0.000,516,0.000,0.053,2915,893,2626,2656,2597,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6050,-1.14,-39.9,1888,892,2598,2588,659.5,-9.5,270,6055,0.00,2.08,0.00,0.000,1030,0.000,0.041,2915,1819,2626,2655,2597,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6383,-1.14,-39.9,2915,1818,2655,2595,697.3,-12.2,281,6389,0.00,2.12,0.00,0.000,516,0.000,0.053,2915,895,2625,2655,2595,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6505,-1.14,-39.9,2915,896,2654,2595,710.2,-12.9,284,6512,0.00,2.05,0.00,0.000,1030,0.000,0.041,2915,1811,2623,2653,2594,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6809,-1.14,-39.9,2915,1811,2654,2593,751.3,-11.6,295,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1810,2623,2654,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,-1.14,-39.9,2915,1810,2653,2591,780.2,-9.0,305,7114,0.00,2.10,0.00,0.000,516,0.000,0.053,2915,898,2622,2653,2591,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7299,-1.14,-39.9,1920,897,2596,2582,796.8,-8.8,311,7304,0.00,2.03,0.00,0.000,1030,0.000,0.041,2915,1806,2622,2652,2592,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7632,-1.14,-39.9,2915,1805,2651,2589,825.3,-9.0,322,7638,0.00,2.10,0.00,0.000,516,0.000,0.054,2915,893,2620,2651,2589,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7788,-1.14,-39.9,2915,893,2650,2589,841.2,-10.2,327,7793,0.00,2.03,0.00,0.000,1030,0.000,0.041,2915,1795,2619,2649,2589,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8126,-1.14,-39.9,2915,1794,2649,2587,875.5,-10.0,338,8131,0.00,2.08,0.00,0.000,516,0.000,0.054,2915,895,2618,2649,2587,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8281,-1.14,-39.9,2915,895,2648,2586,893.5,-11.5,343,8287,0.00,2.00,0.00,0.000,1030,0.000,0.041,2915,1784,2617,2649,2586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8620,-1.14,-39.9,2915,1783,2648,2585,933.5,-12.4,354,8626,0.00,2.05,0.00,0.000,516,0.000,0.054,2916,897,2615,2647,2584,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8733,-1.14,-39.9,2915,897,2647,2584,945.7,-12.3,357,8739,0.00,2.00,0.00,0.000,1030,0.000,0.041,2915,1788,2615,2647,2584,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,8774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8775,begin apogee
$GC,8783,-0.25,0.0,2915,1787,2648,2584,953.5,-12.3,359,8824,1.15,0.00,33.55,2.072,10244,0.226,0.000,3205,1787,2476,2524,2428,0,0,0,0,0,0,13.67,28.83,13.11
$STATE,8825,end apogee,CONTROL_FINISHED_OK
$STATE,8825,begin climb
$GC,8829,1.38,39.9,3205,1787,2523,2425,954.6,0.0,360,8874,1.65,0.00,38.58,2.138,11270,0.093,0.000,3738,1788,2313,2357,2269,0,0,0,0,0,0,14.39,28.83,13.07
$GC,9168,1.44,180.2,3737,1788,2348,2266,988.6,-10.0,372,9312,0.00,2.55,132.55,2.208,8964,0.000,0.059,3737,2853,1738,1814,1662,0,0,0,0,0,0,28.83,14.16,13.05
$GC,9544,1.31,180.2,3738,2852,1796,1662,960.3,14.6,384,9549,0.00,2.65,0.00,0.000,1030,0.000,0.045,3740,1689,1727,1792,1662,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9872,1.21,180.2,3740,1690,1795,1658,913.9,13.8,395,9878,0.22,2.70,0.00,0.000,4356,0.318,0.053,3691,2858,1726,1795,1658,0,0,0,0,0,0,13.97,14.51,28.83
$GC,10109,1.11,180.2,3691,2857,1793,1658,883.6,13.5,402,10115,0.20,2.62,0.00,0.000,5126,0.314,0.042,3659,1696,1725,1792,1658,0,0,0,0,0,0,14.05,14.55,28.83
$GC,10428,1.06,180.2,3659,1697,1793,1656,844.9,11.0,413,10433,0.00,2.70,0.00,0.000,260,0.000,0.056,3658,2862,1724,1793,1655,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10660,0.99,180.2,3659,2862,1791,1655,818.7,11.8,420,10666,0.20,2.62,0.00,0.000,5126,0.295,0.044,3618,1707,1723,1791,1655,0,0,0,0,0,0,14.00,14.50,28.83
$GC,10984,0.97,180.2,3617,1708,1791,1654,784.2,10.0,431,10989,0.00,2.70,0.00,0.000,260,0.000,0.056,3617,2863,1722,1791,1653,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11196,0.93,180.2,3617,2863,1790,1653,763.8,10.7,437,11203,0.00,2.62,0.00,0.000,1030,0.000,0.042,3617,1715,1721,1790,1653,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11503,0.91,180.2,3617,1716,1790,1652,735.2,8.0,448,11509,0.12,2.67,0.00,0.000,4356,0.291,0.053,3589,2859,1720,1789,1652,0,0,0,0,0,0,14.02,14.41,28.83
$GC,11602,0.88,180.2,3589,2859,1790,1651,727.8,7.7,451,11608,0.00,2.60,0.00,0.000,1030,0.000,0.041,3588,1718,1721,1790,1652,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11940,0.89,183.7,3589,1719,1790,1651,705.0,6.9,462,11945,0.00,2.65,0.00,0.000,260,0.000,0.054,3588,2856,1720,1789,1651,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12036,0.89,183.7,3589,2856,1790,1651,696.8,8.2,465,12041,0.00,2.60,0.00,0.000,1030,0.000,0.040,3588,1716,1720,1790,1651,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12373,0.89,183.7,3589,1717,1790,1650,668.0,8.8,476,12378,0.00,2.67,0.00,0.000,260,0.000,0.054,3589,2856,1720,1790,1650,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12503,0.89,183.7,3588,2856,1789,1650,655.6,9.8,480,12509,0.00,2.58,0.00,0.000,1030,0.000,0.041,3588,1726,1719,1789,1650,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,20646,begin surface
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$HUMID,84.17
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$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,3843232
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$10V_AH,11.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345268
$DATA_FILE_SIZE,30061,847
$CAP_FILE_SIZE,232812,0
$CFSIZE,260034560,190316544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,8.338,113.7,1
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