version: 66.11
glider: 160
mission: 9
dive: 485
start: 8 2 113 21 2 29
data:
$ID,160
$MISSION,9
$DIVE,485
$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,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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59647.91
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,020813,133426,2437.064,-3802.904,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.46
$_SM_ANGLEo,-67.9
$GPS2,020813,133426,2437.064,-3802.904,301,99.0,301,-15.1
$SPEED_LIMITS,0.128,0.204
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-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,114.0,32776,-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,-39.9,143,1973,218,167,0.0,0.0,0,39,0.00,0.00,-15.45,0.000,16386,0.000,0.000,143,1973,543,548,538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,143,1973,548,538,3.3,0.0,1,157,12.00,2.50,-87.93,0.000,18948,0.314,0.080,2850,903,2463,2459,2468,0,0,0,0,0,0,14.17,14.35,14.83
$GC,320,-1.29,-39.9,2850,904,2458,2469,24.1,-13.3,19,327,0.12,2.35,0.00,0.000,3078,0.314,0.050,2874,1947,2463,2458,2468,0,0,0,0,0,0,14.09,14.47,28.83
$GC,641,-1.23,-39.9,2874,1946,2458,2468,63.4,-10.6,40,646,0.00,2.40,0.00,0.000,516,0.000,0.055,2874,899,2463,2458,2469,0,0,0,0,0,0,28.83,14.42,28.83
$GC,769,-1.16,-39.9,2874,899,2458,2468,77.1,-11.8,48,775,0.20,2.35,0.00,0.000,3078,0.287,0.050,2915,1936,2462,2457,2468,0,0,0,0,0,0,14.02,14.49,28.83
$GC,1090,-1.13,-39.9,2916,1935,2457,2468,105.9,-8.9,69,1095,0.00,2.38,0.00,0.000,516,0.000,0.056,2915,898,2463,2458,2468,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1327,-1.10,-39.9,2915,898,2457,2468,127.8,-9.6,84,1333,0.00,2.30,0.00,0.000,1030,0.000,0.047,2915,1929,2462,2457,2467,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1643,-1.08,-39.9,2916,1928,2457,2467,157.5,-8.8,105,1649,0.12,2.35,0.00,0.000,2564,0.298,0.052,2946,896,2462,2457,2467,0,0,0,0,0,0,14.10,14.46,28.83
$GC,1878,-1.08,-39.9,1920,895,2395,2457,176.2,-8.1,120,1884,0.00,2.28,0.00,0.000,1030,0.000,0.045,2945,1913,2461,2457,2466,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2193,-1.08,-40.0,2946,1912,2457,2465,199.0,-7.4,141,2198,0.00,2.33,0.00,0.000,516,0.000,0.055,2945,892,2461,2457,2465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2429,-1.08,-40.0,2946,892,2456,2465,218.1,-9.0,156,2435,0.00,2.25,0.00,0.000,1030,0.000,0.046,2946,1896,2460,2456,2464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2744,-1.08,-40.0,2946,1895,2456,2463,247.9,-9.7,177,2749,0.00,2.28,0.00,0.000,516,0.000,0.057,2946,894,2459,2456,2463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2979,-1.08,-40.0,2946,894,2455,2463,268.6,-9.6,185,2985,0.00,2.20,0.00,0.000,1030,0.000,0.046,2945,1879,2459,2455,2463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3294,-1.08,-40.0,2946,1878,2455,2461,297.0,-8.0,196,3300,0.00,2.25,0.00,0.000,516,0.000,0.057,2946,895,2458,2455,2461,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3530,-1.08,-40.0,2946,895,2453,2461,314.8,-8.2,203,3535,0.00,2.17,0.00,0.000,1030,0.000,0.046,2946,1866,2457,2453,2461,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3845,-1.08,-40.0,2946,1866,2453,2459,343.6,-9.0,214,3851,0.00,2.22,0.00,0.000,516,0.000,0.059,2946,893,2456,2453,2459,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4080,-1.08,-40.0,2946,892,2452,2459,364.4,-9.8,221,4085,0.00,2.15,0.00,0.000,1030,0.000,0.044,2946,1858,2455,2452,2458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4395,-1.08,-40.0,2946,1857,2451,2457,395.5,-9.0,232,4401,0.00,2.20,0.00,0.000,516,0.000,0.054,2946,893,2454,2451,2457,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4632,-1.08,-40.0,2946,893,2450,2457,415.0,-9.2,239,4637,0.00,2.12,0.00,0.000,1030,0.000,0.043,2946,1853,2453,2450,2457,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4949,-1.10,-40.4,2946,1852,2449,2454,441.6,-7.3,250,4955,0.00,2.17,0.00,0.000,516,0.000,0.053,2945,894,2452,2450,2455,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5185,-1.10,-40.4,2946,894,2449,2455,458.2,-7.6,257,5190,0.00,2.10,0.00,0.000,1030,0.000,0.041,2946,1844,2451,2449,2454,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5504,-1.12,-40.4,2946,1843,2449,2452,482.8,-7.4,268,5510,0.00,2.15,0.00,0.000,516,0.000,0.053,2945,894,2450,2448,2453,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5739,-1.12,-40.4,2946,894,2448,2453,499.5,-7.7,275,5744,0.00,2.08,0.00,0.000,1030,0.000,0.041,2946,1831,2450,2448,2453,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6057,-1.13,-40.4,2946,1830,2448,2451,526.3,-8.1,286,6062,0.00,2.75,0.00,0.000,260,0.000,0.067,2945,3008,2449,2448,2451,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6293,-1.13,-40.4,2946,3007,2446,2451,546.0,-9.3,293,6299,0.00,2.70,0.00,0.000,1030,0.000,0.040,2946,1808,2448,2447,2450,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6611,-1.15,-40.4,2946,1809,2447,2450,576.4,-8.9,304,6617,0.00,2.08,0.00,0.000,516,0.000,0.056,2946,890,2448,2447,2449,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6823,-1.15,-40.4,2946,889,2445,2449,593.5,-9.0,310,6829,0.00,2.05,0.00,0.000,1030,0.000,0.041,2946,1808,2446,2445,2448,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7133,-1.17,-41.0,2946,1807,2445,2446,619.2,-7.3,321,7139,0.00,2.12,0.00,0.000,516,0.000,0.054,2946,888,2445,2445,2446,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7368,-1.17,-41.0,2945,889,2444,2446,635.6,-7.4,328,7373,0.00,2.05,0.00,0.000,1030,0.000,0.041,2946,1804,2444,2444,2445,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7687,-1.20,-46.5,2946,1803,2444,2444,658.6,-6.7,339,7693,0.12,2.10,0.00,0.000,4612,0.134,0.051,2893,889,2444,2444,2444,0,0,0,0,0,0,14.47,14.41,28.83
$GC,7914,-1.18,-46.5,2899,889,2443,2444,676.5,-8.2,346,7919,0.00,2.03,0.00,0.000,1030,0.000,0.042,2892,1789,2443,2443,2444,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8241,-1.16,-46.5,2893,1786,2442,2443,706.2,-9.4,357,8247,0.00,2.05,0.00,0.000,516,0.000,0.054,2892,892,2443,2442,2444,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8478,-1.14,-46.5,2893,892,2441,2444,729.9,-11.2,364,8484,0.15,2.00,0.00,0.000,3078,0.290,0.041,2921,1783,2442,2441,2443,0,0,0,0,0,0,13.86,14.35,28.83
$GC,8797,-1.14,-46.5,2922,1782,2441,2441,766.9,-11.0,375,8802,0.00,2.05,0.00,0.000,516,0.000,0.054,2922,890,2441,2441,2441,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8855,-1.14,-46.5,2922,890,2441,2441,771.0,-11.0,376,8862,0.00,2.00,0.00,0.000,1030,0.000,0.041,2922,1781,2441,2441,2441,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9162,-1.14,-46.5,2922,1780,2440,2440,803.2,-8.8,387,9168,0.00,2.05,0.00,0.000,516,0.000,0.054,2922,894,2439,2438,2440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9398,-1.14,-46.5,2922,893,2439,2439,820.6,-7.7,394,9403,0.00,1.98,0.00,0.000,1030,0.000,0.041,2921,1773,2439,2439,2439,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9716,-1.14,-47.3,2922,1773,2439,2437,844.9,-7.3,405,9721,0.00,2.03,0.00,0.000,516,0.000,0.054,2922,892,2438,2439,2437,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9953,-1.14,-47.3,2922,892,2437,2436,861.1,-7.5,412,9958,0.00,1.95,0.00,0.000,1030,0.000,0.041,2922,1763,2437,2437,2437,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10270,-1.14,-47.3,2922,1762,2437,2435,886.2,-7.8,423,10276,0.00,2.00,0.00,0.000,516,0.000,0.054,2922,894,2436,2437,2435,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10432,-1.14,-47.3,2924,896,2437,2431,900.0,-8.8,428,10437,0.00,1.92,0.00,0.000,1030,0.000,0.041,2921,1752,2435,2436,2434,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10765,-1.14,-47.3,2922,1750,2436,2434,930.4,-9.5,439,10770,0.00,1.98,0.00,0.000,516,0.000,0.054,2921,894,2435,2436,2434,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,10976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10976,begin apogee
$GC,10986,-0.25,0.0,2922,1801,2436,2433,952.7,-10.5,446,11027,1.12,0.00,33.22,2.060,10244,0.226,0.000,3205,1800,2296,2307,2286,0,0,0,0,0,0,13.57,28.83,13.13
$STATE,11029,end apogee,CONTROL_FINISHED_OK
$STATE,11029,begin climb
$GC,11034,1.39,47.3,3205,1801,2306,2284,953.5,0.0,447,11091,1.67,2.50,47.30,2.136,10500,0.094,0.067,3741,2860,2103,2128,2078,0,0,0,0,0,0,14.42,14.43,13.05
$GC,11131,1.39,47.3,3741,2859,2123,2070,958.9,-6.9,450,11136,0.00,2.45,0.00,0.000,1030,0.000,0.041,3752,1792,2096,2123,2070,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11449,1.36,148.4,3752,1793,2123,2067,978.5,-5.1,461,11553,0.00,2.55,97.50,2.162,8708,0.000,0.064,3752,742,1694,1765,1624,0,0,0,0,0,0,28.83,14.19,13.07
$GC,11724,1.26,148.4,3752,741,1753,1620,956.6,12.7,470,11730,0.22,2.55,0.00,0.000,5126,0.295,0.039,3705,1867,1686,1753,1620,0,0,0,0,0,0,14.06,14.47,28.83
$GC,12060,1.18,148.4,3706,1866,1749,1616,917.6,12.0,481,12066,0.12,2.28,0.00,0.000,4356,0.310,0.060,3678,2855,1682,1749,1616,0,0,0,0,0,0,14.06,14.46,28.83
$GC,12297,1.10,148.4,3677,2854,1745,1616,891.0,12.1,488,12303,0.17,2.25,0.00,0.000,5126,0.304,0.043,3651,1866,1680,1744,1616,0,0,0,0,0,0,14.03,14.50,28.83
$GC,12615,1.05,148.4,3651,1867,1744,1615,854.9,10.6,499,12620,0.00,2.35,0.00,0.000,260,0.000,0.060,3651,2861,1679,1745,1614,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12851,0.98,148.4,3651,2860,1742,1614,829.9,11.3,506,12857,0.20,2.22,0.00,0.000,5126,0.294,0.042,3615,1885,1678,1742,1614,0,0,0,0,0,0,13.97,14.49,28.83
$GC,13173,0.96,148.4,3615,1886,1742,1613,796.5,10.2,517,13178,0.00,2.30,0.00,0.000,260,0.000,0.059,3615,2855,1677,1742,1613,0,0,0,0,0,0,28.83,14.38,28.83
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$FREEZE,5.50,25.603,-2.086,0,8,0
$STATE,22650,end climb,NO_VERTICAL_VELOCITY
$STATE,22650,begin surface
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$SM_GC,6.32,10.35,0.00,0.00,0.052,0.000,0.000,146,1943,190,-9.77,-0.23,517.58,0,0,0,0,0,0,14.54,28.83,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,85.16
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3834400
$24V_AH,13.1,188.119
$10V_AH,13.3,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.032,0.000,0.000,0.000
$MEM,345128
$DATA_FILE_SIZE,33404,931
$CAP_FILE_SIZE,265379,0
$CFSIZE,260034560,187760640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,6.256,171.6,1
$GPS,020813,204243,2441.810,-3802.497,0,10000.0,0,-15.1