version: 66.11
glider: 160
mission: 9
dive: 492
start: 8 4 113 22 18 32
data:
$ID,160
$MISSION,9
$DIVE,492
$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,-63915.082
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,040813,145615,2448.935,-3758.753,0,10000.0,0,-15.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-65.9
$GPS2,040813,145615,2448.935,-3758.753,301,99.0,301,-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,67.9,19672,-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,-39.9,139,1966,216,167,0.0,0.0,0,39,0.00,0.00,-15.32,0.000,16386,0.000,0.000,139,1963,543,549,537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,139,1967,549,537,3.6,0.0,1,156,12.32,2.47,-88.18,0.000,18692,0.326,0.099,2846,2999,2463,2456,2471,0,0,0,0,0,0,14.14,14.42,14.82
$GC,205,-1.45,-61.5,2846,2999,2456,2471,5.3,-4.7,11,213,0.00,2.33,-2.75,0.000,17414,0.000,0.030,2846,1947,2557,2550,2564,0,0,0,0,0,0,28.83,14.47,14.79
$GC,511,-1.37,-61.5,2846,1948,2541,2564,53.4,-15.1,32,516,0.00,2.38,0.00,0.000,516,0.000,0.060,2846,903,2552,2540,2564,0,0,0,0,0,0,28.83,14.32,28.83
$GC,748,-1.29,-61.5,2846,903,2539,2564,83.2,-12.2,47,754,0.15,2.28,0.00,0.000,3078,0.295,0.051,2876,1900,2552,2540,2564,0,0,0,0,0,0,14.02,14.44,28.83
$GC,1064,-1.25,-61.5,2877,1899,2540,2564,119.4,-11.6,68,1069,0.00,2.30,0.00,0.000,516,0.000,0.058,2876,902,2552,2540,2564,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1300,-1.19,-61.5,2876,902,2540,2564,149.3,-13.7,83,1306,0.15,2.28,0.00,0.000,3078,0.292,0.051,2907,1906,2551,2540,2563,0,0,0,0,0,0,14.03,14.45,28.83
$GC,1617,-1.18,-61.5,2907,1900,2540,2563,188.0,-11.4,104,1622,0.00,2.33,0.00,0.000,516,0.000,0.061,2907,903,2551,2540,2562,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1853,-1.15,-61.5,1856,903,2475,2552,212.2,-9.8,119,1858,0.00,2.25,0.00,0.000,1030,0.000,0.050,2907,1891,2550,2540,2561,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2168,-1.14,-61.5,2907,1890,2540,2560,238.3,-8.6,140,2173,0.00,2.30,0.00,0.000,516,0.000,0.060,2906,898,2550,2540,2560,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2406,-1.12,-61.5,2907,898,2540,2559,257.8,-9.1,152,2411,0.00,2.20,0.00,0.000,1030,0.000,0.048,2907,1871,2549,2540,2559,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2722,-1.12,-61.5,2907,1870,2540,2557,290.3,-9.8,163,2727,0.00,2.28,0.00,0.000,516,0.000,0.058,2907,894,2548,2540,2557,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2959,-1.10,-61.5,2907,894,2540,2555,311.8,-10.0,170,2964,0.15,2.20,0.00,0.000,3078,0.281,0.047,2938,1871,2547,2539,2555,0,0,0,0,0,0,14.07,14.48,28.83
$GC,3276,-1.10,-61.5,2938,1870,2540,2553,341.4,-8.5,181,3282,0.00,2.22,0.00,0.000,516,0.000,0.057,2938,901,2546,2540,2553,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3513,-1.10,-61.5,2938,901,2540,2552,360.6,-8.8,188,3518,0.00,2.12,0.00,0.000,1030,0.000,0.044,2938,1849,2546,2540,2552,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3829,-1.10,-61.5,2938,1848,2540,2550,387.4,-7.7,199,3834,0.00,2.17,0.00,0.000,516,0.000,0.055,2938,900,2545,2540,2550,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4064,-1.10,-61.5,2938,900,2539,2549,405.3,-8.3,206,4069,0.00,2.12,0.00,0.000,1030,0.000,0.044,2938,1847,2544,2539,2549,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4379,-1.10,-61.5,2938,1845,2539,2547,434.7,-9.2,217,4384,0.00,2.17,0.00,0.000,516,0.000,0.057,2938,899,2542,2538,2547,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4616,-1.10,-61.5,2938,899,2538,2546,455.8,-9.9,224,4621,0.00,2.08,0.00,0.000,1030,0.000,0.043,2938,1825,2541,2538,2545,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4933,-1.11,-61.5,2938,1825,2537,2545,490.7,-10.8,235,4939,0.00,2.15,0.00,0.000,516,0.000,0.055,2938,893,2541,2537,2545,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5170,-1.11,-61.5,2938,892,2536,2551,514.8,-11.0,242,5175,0.00,2.08,0.00,0.000,1030,0.000,0.042,2938,1818,2540,2536,2544,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5488,-1.13,-61.5,2938,1817,2536,2542,546.2,-8.9,253,5494,0.00,2.12,0.00,0.000,516,0.000,0.056,2938,892,2539,2536,2542,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5726,-1.13,-61.5,2938,892,2541,2542,565.0,-8.4,260,5731,0.00,2.05,0.00,0.000,1030,0.000,0.041,2938,1804,2538,2535,2542,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6044,-1.15,-61.5,2938,1806,2534,2539,592.3,-8.2,271,6049,0.00,2.10,0.00,0.000,516,0.000,0.056,2938,897,2537,2534,2540,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6280,-1.15,-61.5,2938,897,2532,2539,611.9,-9.1,278,6285,0.00,2.00,0.00,0.000,1030,0.000,0.042,2938,1791,2536,2534,2539,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6597,-1.17,-61.5,2938,1790,2533,2538,642.0,-8.9,289,6602,0.00,2.05,0.00,0.000,516,0.000,0.055,2938,897,2535,2533,2537,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6726,-1.19,-61.5,2938,897,2532,2538,654.2,-9.5,293,6731,0.00,2.00,0.00,0.000,1030,0.000,0.041,2938,1786,2534,2531,2537,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7065,-1.21,-61.5,2938,1784,2531,2535,685.1,-9.0,304,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1784,2532,2530,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,-1.23,-61.5,2938,1784,2530,2534,711.8,-8.8,314,7367,0.12,2.05,0.00,0.000,4612,0.139,0.053,2882,898,2532,2530,2534,0,0,0,0,0,0,14.47,14.29,28.83
$GC,7598,-1.20,-61.5,2882,898,2529,2534,734.2,-10.6,321,7604,0.00,2.00,0.00,0.000,1030,0.000,0.042,2882,1778,2531,2529,2533,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7916,-1.19,-61.5,2882,1777,2528,2533,768.6,-10.2,332,7922,0.12,2.05,0.00,0.000,2564,0.305,0.053,2911,894,2530,2528,2533,0,0,0,0,0,0,14.00,14.35,28.83
$GC,8012,-1.19,-61.5,2910,893,2528,2533,778.3,-9.9,335,8018,0.00,1.98,0.00,0.000,1030,0.000,0.042,2910,1768,2532,2532,2532,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8351,-1.19,-61.5,2910,1767,2528,2530,810.4,-9.4,346,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1767,2529,2528,2530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8648,-1.19,-61.5,2910,1767,2527,2529,838.6,-9.4,356,8653,0.00,2.03,0.00,0.000,516,0.000,0.055,2910,893,2528,2527,2529,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8807,-1.19,-61.5,1920,893,2468,2520,854.2,-10.1,361,8812,0.00,1.98,0.00,0.000,1030,0.000,0.042,2910,1773,2527,2526,2529,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9141,-1.19,-61.5,2917,1768,2526,2527,885.7,-9.5,372,9146,0.00,2.03,0.00,0.000,516,0.000,0.056,2910,895,2526,2526,2526,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9251,-1.19,-61.5,2910,895,2525,2527,895.8,-10.1,375,9257,0.00,1.95,0.00,0.000,1030,0.000,0.042,2910,1760,2526,2525,2527,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9573,-1.19,-61.5,2910,1759,2524,2526,931.8,-10.8,386,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1759,2524,2524,2525,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9747,begin apogee
$GC,9756,-0.25,0.0,2910,1804,2524,2525,951.7,-11.1,392,9815,1.17,0.00,52.78,2.137,10244,0.226,0.000,3205,1804,2297,2311,2283,0,0,0,0,0,0,13.57,28.83,13.05
$STATE,9816,end apogee,CONTROL_FINISHED_OK
$STATE,9816,begin climb
$GC,9821,1.40,61.5,3206,1803,2310,2282,953.1,0.0,394,9890,1.73,2.50,60.50,2.160,10756,0.099,0.060,3744,747,2047,2086,2009,0,0,0,0,0,0,14.30,14.33,13.02
$GC,9901,1.40,61.5,3744,747,2084,2006,955.6,-5.0,396,9908,0.00,2.40,0.00,0.000,1030,0.000,0.037,3744,1808,2044,2083,2005,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10210,1.33,108.2,3744,1807,2077,2000,959.5,1.6,407,10265,0.00,2.45,45.80,2.103,8452,0.000,0.058,3744,2848,1853,1920,1786,0,0,0,0,0,0,28.83,14.33,13.19
$GC,10499,1.19,108.2,3744,2848,1913,1781,934.2,10.9,416,10505,0.32,2.35,0.00,0.000,5126,0.319,0.039,3686,1813,1847,1913,1781,0,0,0,0,0,0,13.98,14.50,28.83
$GC,10823,1.12,108.2,3686,1814,1913,1778,901.6,9.8,427,10829,0.12,2.40,0.00,0.000,4356,0.322,0.051,3658,2847,1846,1913,1779,0,0,0,0,0,0,14.02,14.47,28.83
$GC,11062,1.03,108.2,3657,2846,1912,1776,879.6,10.0,434,11068,0.15,2.35,0.00,0.000,5126,0.305,0.041,3630,1812,1844,1912,1777,0,0,0,0,0,0,14.04,14.52,28.83
$GC,11381,1.00,108.2,3630,1813,1912,1774,850.7,8.4,445,11386,0.00,2.42,0.00,0.000,260,0.000,0.053,3630,2850,1843,1912,1774,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11592,0.93,108.2,3630,2850,1910,1774,834.3,8.5,451,11599,0.15,2.35,0.00,0.000,5126,0.295,0.039,3601,1814,1842,1911,1774,0,0,0,0,0,0,14.00,14.49,28.83
$GC,11902,0.92,108.2,3601,1815,1910,1773,809.0,7.5,462,11907,0.00,2.42,0.00,0.000,260,0.000,0.054,3601,2849,1841,1910,1773,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11946,0.89,109.9,3601,2849,1911,1772,806.1,7.2,463,11952,0.00,2.33,0.00,0.000,1030,0.000,0.036,3602,1818,1841,1910,1772,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12276,0.89,122.2,3603,1818,1910,1771,785.1,5.8,474,12294,0.00,2.38,12.90,1.763,8452,0.000,0.051,3602,2852,1798,1873,1724,0,0,0,0,0,0,28.83,14.64,13.44
$GC,12506,0.85,127.7,3602,2852,1866,1723,770.5,6.7,481,12517,0.15,2.30,4.50,1.462,13318,0.282,0.037,3573,1828,1780,1856,1705,0,0,0,0,0,0,14.09,14.51,13.24
$GC,12827,0.86,138.7,3573,1829,1856,1706,750.8,6.0,492,12849,0.00,2.35,15.32,1.744,8452,0.000,0.054,3573,2846,1730,1806,1654,0,0,0,0,0,0,28.83,14.60,13.50
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$FREEZE,5.43,25.748,-1.316,0,15,0
$STATE,22590,end climb,NO_VERTICAL_VELOCITY
$STATE,22590,begin surface
$SM_CCo,22596,109.35,0.076,0,0,189,517.58
$SM_GC,6.12,10.90,0.00,0.00,0.051,0.000,0.000,143,1927,189,-9.77,-0.65,517.83,0,0,0,0,0,0,14.53,28.83,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,84.69
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3831712
$24V_AH,13.0,190.040
$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,0.000,0.000,0.000,0.000,0.000,0.000,5.929,0.000,0.000,0.000
$MEM,345052
$DATA_FILE_SIZE,33368,920
$CAP_FILE_SIZE,257110,0
$CFSIZE,260034560,186667008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,14.873, 30.1,1
$GPS,040813,221014,2446.559,-3800.626,0,10000.0,0,-15.1