version: 66.11
glider: 160
mission: 9
dive: 491
start: 8 4 113 15 5 50
data:
$ID,160
$MISSION,9
$DIVE,491
$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,-63306.801
$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,29
$R_STBD_OVSHOOT,66
$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
$GPS1,040813,075834,2446.559,-3800.626,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,-67.5
$GPS2,040813,075834,2446.559,-3800.626,301,99.0,301,-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,145.7,22708,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.38,-39.9,137,1985,219,164,0.0,0.0,0,39,0.00,0.00,-15.00,0.000,16386,0.000,0.000,136,1986,534,540,529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,137,1985,541,529,3.6,0.0,1,156,12.73,2.53,-87.07,0.000,18948,0.343,0.077,2844,894,2464,2457,2471,0,0,0,0,0,0,14.23,14.45,14.82
$GC,333,-1.28,-39.9,2844,894,2457,2472,30.9,-14.3,20,339,0.15,2.33,0.00,0.000,3078,0.299,0.050,2873,1907,2464,2456,2472,0,0,0,0,0,0,13.87,14.44,28.83
$GC,654,-1.23,-39.9,2874,1906,2456,2472,71.8,-11.4,41,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1903,2464,2457,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,953,-1.18,-39.9,2874,1906,2456,2471,99.8,-7.9,61,959,0.15,2.35,0.00,0.000,2564,0.288,0.054,2909,895,2463,2456,2471,0,0,0,0,0,0,13.93,14.31,28.83
$GC,1065,-1.14,-39.9,2910,895,2456,2471,108.6,-8.1,68,1070,0.00,2.45,0.00,0.000,1030,0.000,0.050,2909,1958,2462,2456,2469,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1386,-1.12,-39.9,2910,1958,2456,2470,139.2,-10.1,89,1391,0.00,2.45,0.00,0.000,516,0.000,0.055,2910,899,2463,2457,2470,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1567,-1.08,-39.9,2910,899,2456,2469,156.6,-10.6,100,1574,0.15,2.40,0.00,0.000,3078,0.282,0.049,2940,1947,2462,2456,2469,0,0,0,0,0,0,14.04,14.44,28.83
$GC,1872,-1.08,-39.9,2940,1946,2456,2470,184.6,-8.0,121,1877,0.00,2.42,0.00,0.000,516,0.000,0.054,2940,895,2462,2456,2469,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2014,-1.08,-39.9,2941,895,2456,2469,196.0,-8.2,130,2019,0.00,2.40,0.00,0.000,1030,0.000,0.050,2940,1929,2462,2456,2468,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2335,-1.09,-46.7,2937,1929,2463,2468,218.1,-6.5,151,2341,0.00,2.38,0.00,0.000,516,0.000,0.053,2940,899,2462,2456,2468,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2571,-1.09,-47.6,1888,898,2392,2458,234.4,-7.2,166,2576,0.00,2.33,0.00,0.000,1030,0.000,0.050,2940,1915,2461,2455,2467,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2901,-1.09,-47.6,2940,1913,2455,2465,260.2,-7.9,184,2906,0.00,2.35,0.00,0.000,516,0.000,0.057,2940,900,2460,2455,2465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3137,-1.09,-47.6,2940,901,2454,2464,278.3,-8.4,191,3142,0.00,2.30,0.00,0.000,1030,0.000,0.050,2940,1902,2459,2454,2464,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3452,-1.09,-47.6,2940,1901,2454,2463,306.7,-8.7,202,3457,0.00,2.33,0.00,0.000,516,0.000,0.060,2940,899,2458,2454,2463,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3582,-1.09,-47.6,1872,898,2388,2453,318.3,-9.2,206,3588,0.00,2.28,0.00,0.000,1030,0.000,0.051,2940,1890,2458,2453,2463,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3916,-1.09,-47.6,2940,1890,2452,2462,350.7,-9.5,217,3922,0.00,2.30,0.00,0.000,516,0.000,0.059,2940,898,2457,2452,2462,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4037,-1.09,-47.6,2940,898,2451,2462,359.5,-9.0,220,4044,0.00,2.25,0.00,0.000,1030,0.000,0.050,2940,1881,2456,2451,2461,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4345,-1.10,-58.8,2940,1879,2451,2460,381.7,-6.0,231,4351,0.00,2.28,0.00,0.000,516,0.000,0.057,2940,897,2455,2451,2460,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4582,-1.11,-67.6,2940,898,2450,2460,395.2,-6.3,238,4588,0.00,2.22,0.00,0.000,1030,0.000,0.049,2940,1871,2455,2450,2460,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4897,-1.11,-67.6,2940,1870,2450,2457,420.1,-8.0,249,4902,0.00,2.25,0.00,0.000,516,0.000,0.058,2940,898,2454,2450,2458,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5043,-1.11,-67.6,2941,899,2449,2452,431.2,-9.0,253,5048,0.00,2.20,0.00,0.000,1030,0.000,0.048,2941,1862,2453,2450,2457,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5357,-1.11,-67.6,2940,1861,2449,2456,462.6,-9.2,264,5363,0.00,2.25,0.00,0.000,516,0.000,0.058,2940,897,2453,2449,2457,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5594,-1.11,-67.6,2940,897,2448,2456,482.8,-9.3,271,5599,0.00,2.17,0.00,0.000,1030,0.000,0.047,2940,1849,2451,2448,2455,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5909,-1.11,-67.6,2940,1848,2449,2454,511.9,-8.3,282,5914,0.00,2.20,0.00,0.000,516,0.000,0.057,2940,896,2450,2448,2453,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6125,-1.11,-67.6,2940,897,2448,2454,528.9,-7.7,289,6130,0.00,2.17,0.00,0.000,1030,0.000,0.047,2940,1844,2451,2449,2453,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6464,-1.12,-73.6,2940,1843,2447,2452,551.6,-6.6,300,6469,0.00,2.20,0.00,0.000,516,0.000,0.058,2940,895,2449,2447,2452,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6621,-1.12,-77.8,2940,895,2446,2453,562.7,-6.8,305,6626,0.00,2.12,0.00,0.000,1030,0.000,0.047,2940,1824,2449,2446,2452,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6961,-1.14,-80.9,2940,1823,2445,2450,585.5,-7.0,316,6966,0.00,2.15,0.00,0.000,516,0.000,0.058,2940,897,2447,2445,2450,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7020,-1.16,-83.7,2940,897,2445,2450,588.4,-7.0,317,7027,0.00,2.12,0.00,0.000,1030,0.000,0.047,2940,1829,2447,2445,2450,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7330,-1.18,-83.7,2940,1829,2444,2449,614.6,-8.2,328,7335,0.00,2.17,0.00,0.000,516,0.000,0.058,2940,897,2447,2444,2450,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7532,-1.18,-83.7,2941,897,2443,2449,630.8,-8.6,334,7537,0.00,2.10,0.00,0.000,1030,0.000,0.047,2940,1818,2446,2444,2449,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7855,-1.19,-83.7,2940,1817,2443,2446,659.4,-8.5,345,7861,0.00,2.15,0.00,0.000,516,0.000,0.057,2940,897,2445,2444,2446,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8047,-1.19,-83.7,2940,898,2443,2446,676.8,-9.3,351,8053,0.00,2.10,0.00,0.000,1030,0.000,0.047,2940,1809,2448,2443,2454,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8380,-1.21,-83.7,2940,1809,2443,2445,708.3,-9.5,362,8386,0.12,2.12,0.00,0.000,4612,0.139,0.056,2883,897,2446,2444,2449,0,0,0,0,0,0,14.43,14.33,28.83
$GC,8493,-1.21,-83.7,2883,897,2442,2444,718.9,-10.5,365,8499,0.00,2.08,0.00,0.000,1030,0.000,0.047,2882,1804,2443,2442,2444,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8818,-1.19,-83.7,2883,1803,2441,2444,755.7,-10.8,376,8823,0.00,2.12,0.00,0.000,516,0.000,0.058,2882,892,2442,2441,2444,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8907,-1.17,-83.7,2883,892,2440,2444,763.1,-10.7,378,8914,0.15,2.05,0.00,0.000,3078,0.288,0.047,2912,1794,2442,2441,2444,0,0,0,0,0,0,13.88,14.38,28.83
$GC,9217,-1.17,-83.7,2913,1793,2440,2443,792.4,-8.3,389,9222,0.00,2.12,0.00,0.000,516,0.000,0.059,2913,893,2441,2440,2442,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9270,-1.17,-83.7,2913,894,2440,2442,795.5,-8.1,390,9276,0.00,2.08,0.00,0.000,1030,0.000,0.047,2913,1796,2440,2439,2442,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9585,-1.17,-83.7,2912,1796,2439,2441,822.1,-7.8,401,9590,0.00,2.10,0.00,0.000,516,0.000,0.059,2912,897,2440,2439,2441,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9670,-1.17,-83.7,2912,897,2439,2441,827.4,-8.0,403,9675,0.00,2.05,0.00,0.000,1030,0.000,0.046,2911,1791,2439,2439,2440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9984,-1.17,-83.7,2911,1791,2438,2440,858.0,-9.5,414,9989,0.00,2.10,0.00,0.000,516,0.000,0.058,2911,893,2439,2439,2439,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10112,-1.17,-83.7,2911,893,2438,2439,870.5,-10.0,418,10117,0.00,2.05,0.00,0.000,1030,0.000,0.046,2911,1783,2438,2437,2439,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10449,-1.17,-83.7,2911,1777,2437,2438,903.5,-9.7,429,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1777,2437,2437,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10748,-1.17,-83.7,2911,1778,2437,2436,931.7,-9.4,439,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1777,2436,2437,2436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10952,begin apogee
$GC,10960,-0.25,0.0,2911,1777,2436,2436,951.4,-9.4,446,11001,1.17,0.00,33.20,2.061,10244,0.229,0.000,3204,1777,2297,2307,2288,0,0,0,0,0,0,13.52,28.83,13.07
$STATE,11003,end apogee,CONTROL_FINISHED_OK
$STATE,11003,begin climb
$GC,11007,1.42,83.7,3204,1777,2306,2287,951.5,0.0,447,11102,1.73,2.55,83.00,2.162,10500,0.096,0.067,3755,2856,1958,2006,1910,0,0,0,0,0,0,14.42,14.43,12.99
$GC,11334,1.28,85.9,3755,2856,1995,1896,943.2,7.1,458,11340,0.28,2.42,0.00,0.000,5126,0.334,0.044,3711,1797,1945,1995,1896,0,0,0,0,0,0,13.93,14.47,28.83
$GC,11660,1.19,93.5,3711,1798,1995,1891,921.2,6.4,469,11675,0.12,2.42,9.02,1.816,12804,0.328,0.064,3686,742,1916,1975,1857,0,0,0,0,0,0,13.99,14.62,13.40
$GC,11792,1.11,98.8,2944,742,1920,1846,912.6,6.7,473,11807,0.15,2.40,6.15,1.728,13318,0.288,0.041,3657,1807,1894,1959,1830,0,0,0,0,0,0,14.13,14.54,13.33
$GC,12122,1.07,116.9,3657,1806,1955,1830,893.9,5.1,484,12151,0.00,2.40,21.00,1.901,8452,0.000,0.062,3657,2856,1819,1893,1746,0,0,0,0,0,0,28.83,14.55,13.41
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$FREEZE,5.53,25.880,-0.958,0,14,0
$STATE,23487,end climb,NO_VERTICAL_VELOCITY
$STATE,23487,begin surface
$SM_CCo,23492,141.07,0.076,0,0,188,517.58
$SM_GC,6.31,10.52,0.17,0.00,0.045,0.076,0.000,139,1957,189,-9.79,-0.85,517.83,0,0,0,0,0,0,14.52,14.52,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,84.37
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3832096
$24V_AH,13.0,189.755
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345080
$DATA_FILE_SIZE,36687,960
$CAP_FILE_SIZE,271460,0
$CFSIZE,260034560,186806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,9.183,184.9,1
$GPS,040813,145615,2448.935,-3758.753,0,10000.0,0,-15.1