version: 66.11
glider: 160
mission: 9
dive: 469
start: 7 29 113 22 37 33
data:
$ID,160
$MISSION,9
$DIVE,469
$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,-50192.48
$T_RSLEEP,-4
$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,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,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
$GPS1,290713,150413,2427.581,-3808.502,0,10000.0,0,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.83
$_SM_ANGLEo,-72.9
$GPS2,290713,223702,2435.516,-3809.106,163,99.0,183,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,163.3,12293,-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,-39.9,145,1961,222,156,0.0,0.0,0,39,0.00,0.00,-15.45,0.000,16386,0.000,0.000,145,1960,541,540,543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,145,1960,541,543,3.9,0.0,1,157,12.85,2.45,-86.12,0.000,18948,0.348,0.073,2844,901,2463,2456,2471,0,0,0,0,0,0,14.17,14.42,14.79
$GC,205,-1.32,-39.9,2844,901,2455,2472,11.2,-13.1,11,212,0.00,2.35,0.00,0.000,1030,0.000,0.045,2844,1950,2463,2455,2471,0,0,0,0,0,0,28.83,14.44,28.83
$GC,511,-1.23,-39.9,2844,1949,2456,2471,54.1,-13.9,32,517,0.20,2.45,0.00,0.000,2308,0.281,0.061,2882,3015,2464,2456,2472,0,0,0,0,0,0,13.92,14.44,28.83
$GC,614,-1.17,-39.9,1800,3011,2389,2461,66.3,-13.1,38,620,0.15,2.38,0.00,0.000,3078,0.291,0.033,2911,1955,2463,2455,2471,0,0,0,0,0,0,13.97,14.41,28.83
$GC,929,-1.14,-39.9,2911,1956,2455,2472,106.5,-11.2,59,935,0.00,2.38,0.00,0.000,516,0.000,0.057,2911,897,2463,2455,2471,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1166,-1.10,-39.9,1888,893,2393,2462,130.0,-8.4,74,1171,0.00,2.30,0.00,0.000,1030,0.000,0.044,2911,1931,2462,2455,2470,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1481,-1.10,-63.4,2911,1930,2455,2470,148.0,-4.5,95,1488,0.00,2.47,-0.60,0.000,16644,0.000,0.081,2911,3001,2562,2554,2571,0,0,0,0,0,0,28.83,14.42,14.59
$GC,1688,-1.08,-68.6,2911,3000,2554,2576,160.1,-6.7,108,1695,0.15,2.45,-0.15,0.000,19462,0.263,0.034,2944,1898,2588,2579,2598,0,0,0,0,0,0,14.13,14.54,14.33
$GC,2004,-1.08,-68.6,2944,1898,2579,2598,182.8,-8.1,129,2010,0.00,2.25,0.00,0.000,516,0.000,0.057,2944,899,2588,2579,2598,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2230,-1.08,-68.6,2939,900,2579,2598,202.8,-9.9,143,2237,0.00,2.22,0.00,0.000,1030,0.000,0.044,2944,1901,2588,2579,2598,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2537,-1.08,-68.6,2944,1900,2579,2597,235.7,-10.7,164,2542,0.00,2.28,0.00,0.000,516,0.000,0.053,2944,896,2588,2579,2597,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2773,-1.08,-68.6,2944,896,2579,2596,257.7,-9.7,176,2778,0.00,2.20,0.00,0.000,1030,0.000,0.043,2944,1885,2587,2579,2595,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3092,-1.10,-68.6,2944,1885,2579,2594,285.0,-8.0,187,3097,0.00,2.25,0.00,0.000,516,0.000,0.054,2944,891,2586,2579,2594,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3327,-1.10,-68.6,2944,891,2579,2593,304.6,-9.4,194,3332,0.00,2.17,0.00,0.000,1030,0.000,0.043,2944,1871,2586,2579,2593,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3644,-1.12,-68.6,2944,1871,2579,2590,337.3,-10.0,205,3649,0.00,2.22,0.00,0.000,516,0.000,0.054,2944,893,2584,2579,2590,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3881,-1.12,-68.6,2944,894,2579,2589,360.4,-10.7,212,3886,0.00,2.12,0.00,0.000,1030,0.000,0.042,2944,1855,2583,2579,2588,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4199,-1.14,-68.6,2944,1854,2579,2587,393.4,-9.7,223,4205,0.00,2.17,0.00,0.000,516,0.000,0.054,2944,895,2583,2579,2587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4433,-1.14,-68.6,2944,895,2579,2585,415.0,-9.9,230,4439,0.00,2.10,0.00,0.000,1030,0.000,0.042,2943,1845,2582,2579,2585,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4752,-1.16,-68.6,2944,1844,2579,2583,445.5,-8.9,241,4757,0.00,2.67,0.00,0.000,260,0.000,0.061,2944,3003,2584,2579,2590,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4949,-1.18,-68.6,2944,3003,2579,2582,462.8,-9.0,247,4954,0.00,2.65,0.00,0.000,1030,0.000,0.035,2944,1811,2580,2578,2582,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5278,-1.20,-68.6,2943,1811,2578,2580,492.4,-8.8,258,5284,0.12,2.05,0.00,0.000,4612,0.141,0.050,2893,897,2579,2579,2579,0,0,0,0,0,0,14.45,14.45,28.83
$GC,5516,-1.18,-68.6,2894,897,2578,2579,516.0,-10.7,265,5522,0.00,2.00,0.00,0.000,1030,0.000,0.041,2893,1802,2578,2578,2578,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5832,-1.18,-68.6,2893,1801,2577,2577,550.4,-10.0,276,5837,0.00,2.05,0.00,0.000,516,0.000,0.050,2893,896,2577,2578,2576,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6069,-1.16,-68.6,2893,897,2576,2576,573.7,-11.1,283,6074,0.00,1.98,0.00,0.000,1030,0.000,0.041,2893,1784,2575,2576,2575,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6383,-1.16,-68.6,2893,1783,2575,2583,609.3,-10.3,294,6388,0.00,2.00,0.00,0.000,516,0.000,0.051,2893,898,2575,2576,2574,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6620,-1.15,-68.6,2893,898,2574,2574,632.8,-11.1,301,6626,0.15,1.95,0.00,0.000,3078,0.287,0.040,2923,1777,2574,2574,2574,0,0,0,0,0,0,14.02,14.50,28.83
$GC,6939,-1.15,-68.6,2923,1780,2575,2572,665.5,-9.3,312,6944,0.00,2.00,0.00,0.000,516,0.000,0.051,2923,899,2573,2574,2572,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7174,-1.15,-68.6,2923,898,2573,2571,685.4,-9.0,319,7179,0.00,1.90,0.00,0.000,1030,0.000,0.039,2923,1760,2572,2573,2571,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7489,-1.15,-68.6,2923,1758,2573,2570,713.6,-8.2,330,7495,0.00,1.98,0.00,0.000,516,0.000,0.053,2923,890,2571,2573,2570,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7727,-1.15,-68.6,2923,890,2571,2575,732.9,-9.0,337,7732,0.00,1.88,0.00,0.000,1030,0.000,0.038,2923,1740,2570,2572,2569,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8042,-1.15,-68.6,2924,1740,2573,2567,764.4,-9.7,348,8047,0.00,1.95,0.00,0.000,516,0.000,0.053,2923,891,2569,2572,2567,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8278,-1.15,-68.6,2923,892,2570,2567,788.5,-11.3,355,8283,0.00,1.85,0.00,0.000,1030,0.000,0.038,2923,1727,2568,2570,2566,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8592,-1.15,-68.6,2923,1727,2570,2564,826.0,-11.5,366,8597,0.00,1.90,0.00,0.000,516,0.000,0.053,2923,894,2567,2570,2565,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8606,-1.15,-68.6,2923,894,2569,2565,826.0,-11.5,366,8611,0.00,1.83,0.00,0.000,1030,0.000,0.039,2923,1722,2567,2570,2564,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8933,-1.16,-68.6,2923,1721,2568,2564,863.5,-10.8,377,8938,0.00,3.00,0.00,0.000,260,0.000,0.064,2923,3002,2566,2568,2564,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9120,-1.16,-68.6,2923,3002,2567,2564,883.0,-10.1,383,9125,0.00,2.95,0.00,0.000,1030,0.000,0.037,2923,1706,2565,2567,2564,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9459,-1.18,-68.6,2923,1706,2567,2561,913.0,-8.7,394,9464,0.00,1.83,0.00,0.000,516,0.000,0.057,2922,899,2564,2567,2561,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9688,-1.18,-68.6,2923,899,2566,2561,931.9,-8.4,401,9694,0.00,1.80,0.00,0.000,1030,0.000,0.040,2923,1706,2563,2566,2560,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,9914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9915,begin apogee
$GC,9924,-0.25,0.0,2923,1816,2566,2559,951.6,-8.0,409,9996,1.12,0.00,64.00,2.096,10244,0.222,0.000,3210,1816,2295,2315,2275,0,0,0,0,0,0,13.66,28.83,13.07
$STATE,9998,end apogee,CONTROL_FINISHED_OK
$STATE,9998,begin climb
$GC,10001,1.41,68.6,3210,1816,2313,2273,952.0,0.0,411,10078,1.70,2.42,66.93,2.155,10500,0.088,0.063,3753,2841,2014,2056,1973,0,0,0,0,0,0,14.29,14.29,13.06
$GC,10254,1.27,78.2,3753,2841,2046,1964,946.1,6.2,419,10271,0.28,2.38,8.40,1.838,13318,0.336,0.040,3708,1793,1979,2029,1929,0,0,0,0,0,0,14.02,14.49,13.35
$GC,10595,1.18,78.2,3708,1793,2026,1922,917.4,7.7,431,10597,0.15,0.00,0.00,0.000,4102,0.318,0.000,3679,1794,1973,2026,1921,0,0,0,0,0,0,14.07,28.83,28.83
$GC,10900,1.11,87.1,3679,1794,2026,1919,897.7,6.3,441,10918,0.00,2.42,9.15,1.813,8708,0.000,0.062,3685,751,1943,2003,1884,0,0,0,0,0,0,28.83,14.66,13.49
$GC,10952,1.04,95.6,3686,749,2002,1883,895.1,6.3,442,10969,0.22,2.30,10.35,1.839,13318,0.278,0.037,3637,1794,1909,1976,1842,0,0,0,0,0,0,14.23,14.61,13.49
$GC,11299,1.01,108.8,3637,1793,1971,1837,873.3,5.7,454,11321,0.00,2.45,14.90,1.864,8452,0.000,0.061,3637,2844,1852,1923,1781,0,0,0,0,0,0,28.83,14.56,13.51
$GC,11555,0.95,111.3,3637,2843,1917,1780,856.4,7.1,462,11561,0.20,2.35,0.00,0.000,5126,0.295,0.041,3602,1816,1848,1917,1780,0,0,0,0,0,0,14.09,14.52,28.83
$GC,11885,0.94,122.6,3602,1817,1918,1780,836.3,6.0,473,11907,0.00,2.45,15.07,1.837,8452,0.000,0.059,3602,2844,1797,1872,1722,0,0,0,0,0,0,28.83,14.59,13.52
$GC,12137,0.90,122.6,3602,2843,1866,1720,816.7,8.4,481,12142,0.00,2.35,0.00,0.000,1030,0.000,0.043,3603,1820,1793,1865,1721,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12465,0.89,122.6,3603,1821,1866,1718,789.8,8.1,492,12470,0.00,2.42,0.00,0.000,260,0.000,0.057,3603,2846,1792,1866,1718,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12700,0.85,122.6,3603,2846,1865,1718,770.2,8.7,499,12706,0.15,2.35,0.00,0.000,5126,0.276,0.043,3573,1823,1791,1864,1718,0,0,0,0,0,0,14.08,14.47,28.83
$GC,13019,0.85,128.1,3573,1824,1864,1717,747.0,6.7,510,13030,0.00,2.38,4.12,1.391,8452,0.000,0.057,3573,2846,1779,1853,1705,0,0,0,0,0,0,28.83,14.64,13.26
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$FREEZE,5.62,25.731,-0.744,0,1,0
$STATE,22442,end climb,NO_VERTICAL_VELOCITY
$STATE,22442,begin surface
$SM_CCo,22447,120.60,0.264,1,0,189,517.58
$SM_GC,6.51,10.90,0.00,0.00,0.054,0.000,0.000,145,1979,188,-9.78,0.82,518.07,0,0,0,0,0,0,14.56,28.83,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,82.80
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3840544
$24V_AH,13.1,183.581
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.110,0.000,0.000,0.000
$MEM,345112
$DATA_FILE_SIZE,33356,923
$CAP_FILE_SIZE,267881,0
$CFSIZE,260034560,189571072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.043, 17.4,1
$GPS,300713,050250,2436.348,-3807.872,146,99.0,165,-15.1