version: 66.11
glider: 160
mission: 9
dive: 566
start: 8 18 113 17 48 53
data:
$ID,160
$MISSION,9
$DIVE,566
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,600
$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,240
$T_MISSION,270
$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,120
$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,0.00269
$HD_B,0.031300001
$HD_C,1.8999999e-05
$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,465.08878
$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,4
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,10
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110823.07
$T_RSLEEP,3
$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,68
$R_STBD_OVSHOOT,46
$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,2086
$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
$GPS1,180813,130709,2448.935,-3731.652,0,10000.0,0,-14.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-67.5
$GPS2,180813,130709,2448.935,-3731.652,241,99.0,241,-14.9
$SPEED_LIMITS,0.130,0.140
$TGT_NAME,CTR
$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,211.5,58120,-17.0,-7.500,-30.00,2840
$D_GRID,540
$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,18,begin dive
$GC,22,-0.97,-116.8,139,1906,216,170,0.0,0.0,0,85,0.00,0.00,-60.45,0.000,16386,0.000,0.000,139,1906,1578,1551,1605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.97,-116.8,140,1906,1553,1605,3.1,-0.6,4,155,13.95,2.25,-42.88,0.000,18948,0.361,0.092,2977,941,2564,2562,2567,0,0,0,0,0,0,14.12,14.44,14.83
$GC,389,-0.87,-116.8,2977,942,2562,2567,25.5,-10.7,23,395,0.15,2.30,0.00,0.000,3078,0.265,0.057,3009,1923,2564,2562,2566,0,0,0,0,0,0,14.02,14.36,28.83
$GC,705,-0.80,-116.8,3008,1922,2562,2567,58.6,-10.3,44,710,0.00,2.33,0.00,0.000,516,0.000,0.061,3009,937,2564,2562,2567,0,0,0,0,0,0,28.83,14.34,28.83
$GC,944,-0.74,-116.8,3009,937,2562,2567,81.9,-9.9,59,950,0.17,2.35,0.00,0.000,3078,0.236,0.057,3050,1934,2567,2562,2573,0,0,0,0,0,0,14.03,14.32,28.83
$GC,1260,-0.74,-116.8,3050,1933,2561,2566,103.9,-5.6,80,1265,0.00,2.33,0.00,0.000,516,0.000,0.062,3050,940,2564,2562,2567,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1497,-0.72,-116.8,1984,940,2497,2557,119.5,-7.1,95,1502,0.00,2.28,0.00,0.000,1030,0.000,0.058,3051,1913,2564,2562,2567,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1813,-0.72,-116.8,3050,1916,2562,2566,140.4,-6.6,116,1818,0.00,2.30,0.00,0.000,516,0.000,0.063,3049,938,2564,2562,2566,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1944,-0.71,-116.8,3051,938,2562,2566,149.4,-7.0,124,1950,0.00,2.25,0.00,0.000,1030,0.000,0.054,3050,1912,2563,2561,2566,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2260,-0.71,-116.8,3051,1911,2561,2566,170.9,-6.7,145,2265,0.00,2.28,0.00,0.000,516,0.000,0.062,3050,937,2564,2562,2566,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2363,-0.71,-116.8,3051,938,2562,2565,177.1,-6.7,151,2368,0.00,2.20,0.00,0.000,1030,0.000,0.052,3050,1893,2563,2562,2565,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2678,-0.71,-116.8,3051,1892,2562,2564,197.8,-7.0,172,2683,0.00,2.22,0.00,0.000,516,0.000,0.061,3050,939,2562,2561,2564,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2810,-0.71,-116.8,3051,940,2562,2564,207.9,-8.3,180,2816,0.00,2.15,0.00,0.000,1030,0.000,0.051,3051,1874,2562,2561,2564,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3125,-0.71,-116.8,3051,1873,2561,2563,234.6,-8.6,201,3130,0.00,2.20,0.00,0.000,516,0.000,0.060,3050,933,2562,2562,2563,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3251,-0.71,-116.8,3050,933,2562,2562,245.3,-8.7,209,3256,0.00,2.15,0.00,0.000,1030,0.000,0.049,3050,1865,2561,2562,2561,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3590,-0.71,-116.8,3051,1863,2562,2560,270.1,-6.5,222,3596,0.00,2.15,0.00,0.000,516,0.000,0.059,3050,939,2560,2561,2560,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3689,-0.71,-116.8,2048,938,2500,2551,275.9,-5.9,225,3694,0.00,2.10,0.00,0.000,1030,0.000,0.049,3050,1855,2560,2561,2560,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4023,-0.71,-116.8,3051,1854,2561,2557,294.9,-5.9,236,4028,0.00,2.15,0.00,0.000,516,0.000,0.060,3050,936,2559,2562,2557,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4088,-0.71,-116.8,3050,936,2561,2557,299.0,-5.9,238,4093,0.00,2.10,0.00,0.000,1030,0.000,0.048,3050,1847,2559,2561,2557,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4427,-0.72,-116.8,3051,1846,2560,2556,319.1,-5.9,249,4433,0.00,2.12,0.00,0.000,516,0.000,0.059,3050,934,2557,2559,2556,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4569,-0.72,-116.8,3051,934,2556,2556,326.7,-5.9,253,4574,0.00,2.08,0.00,0.000,1030,0.000,0.047,3051,1837,2557,2558,2556,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4892,-0.74,-116.8,3045,1836,2559,2554,347.8,-6.6,264,4897,0.00,2.10,0.00,0.000,516,0.000,0.060,3050,938,2556,2559,2554,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5023,-0.74,-116.8,3051,938,2558,2554,357.1,-7.3,268,5028,0.00,2.03,0.00,0.000,1030,0.000,0.047,3050,1817,2556,2558,2554,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5361,-0.75,-116.8,3051,1816,2558,2554,382.9,-7.7,279,5366,0.00,2.05,0.00,0.000,516,0.000,0.057,3050,937,2555,2558,2553,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5431,-0.75,-116.8,3051,937,2557,2553,388.0,-7.4,281,5437,0.00,2.00,0.00,0.000,1030,0.000,0.046,3051,1812,2555,2557,2553,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5765,-0.77,-116.8,3050,1810,2557,2552,412.1,-7.0,292,5770,0.00,2.05,0.00,0.000,516,0.000,0.057,3050,934,2555,2558,2552,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5861,-0.77,-116.8,3051,934,2557,2552,418.8,-6.9,295,5866,0.00,1.98,0.00,0.000,1030,0.000,0.045,3051,1794,2554,2557,2552,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6201,-0.79,-116.8,3050,1793,2556,2551,440.5,-6.1,306,6206,0.00,2.00,0.00,0.000,516,0.000,0.057,3050,937,2554,2557,2551,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6251,-0.81,-116.8,3050,938,2556,2551,442.7,-6.0,307,6256,0.00,1.95,0.00,0.000,1030,0.000,0.046,3050,1790,2553,2556,2551,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6575,-0.82,-116.8,3051,1789,2557,2549,461.8,-5.8,318,6580,0.00,2.00,0.00,0.000,516,0.000,0.057,3051,935,2552,2555,2549,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6630,-0.84,-116.8,3051,936,2556,2549,464.0,-5.8,319,6635,0.00,1.95,0.00,0.000,1030,0.000,0.045,3051,1790,2551,2554,2549,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6949,-0.86,-116.8,3051,1788,2554,2548,486.1,-7.0,330,6954,0.00,2.00,0.00,0.000,516,0.000,0.057,3050,938,2551,2554,2548,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7040,-0.88,-116.8,3051,938,2554,2548,491.3,-7.2,332,7047,0.12,1.90,0.00,0.000,5126,0.131,0.044,3003,1771,2550,2554,2547,0,0,0,0,0,0,14.32,14.37,28.83
$GC,7348,-0.86,-116.8,3003,1770,2553,2546,517.7,-8.0,343,7353,0.00,2.95,0.00,0.000,260,0.000,0.075,3002,3011,2550,2553,2547,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7378,-0.84,-116.8,3002,3011,2552,2546,517.7,-8.0,343,7385,0.00,2.78,0.00,0.000,1030,0.000,0.044,3002,1802,2549,2552,2547,0,0,0,0,0,0,28.83,14.36,28.83
$STATE,7649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7649,begin apogee
$GC,7657,-0.25,0.0,3002,1802,2552,2546,540.8,-7.2,353,7759,0.75,0.00,96.05,1.554,10244,0.185,0.000,3206,1802,2082,2131,2033,0,0,0,0,0,0,13.74,28.83,13.25
$STATE,7765,end apogee,CONTROL_FINISHED_OK
$STATE,7765,begin climb
$GC,7769,0.97,116.8,3206,1802,2127,2030,543.7,0.0,356,7878,1.27,2.53,97.40,1.551,10500,0.107,0.067,3603,2857,1605,1664,1546,0,0,0,0,0,0,14.28,14.31,13.33
$GC,8112,0.85,116.8,3603,2857,1643,1542,513.4,10.7,368,8118,0.15,2.33,0.00,0.000,5126,0.257,0.047,3572,1837,1592,1643,1541,0,0,0,0,0,0,14.19,14.50,28.83
$GC,8449,0.79,116.8,3572,1838,1643,1537,485.1,7.7,379,8454,0.00,2.40,0.00,0.000,260,0.000,0.063,3572,2861,1590,1643,1538,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8619,0.70,116.8,3572,2861,1642,1538,472.2,8.2,384,8625,0.22,2.40,0.00,0.000,5126,0.246,0.047,3524,1812,1589,1642,1537,0,0,0,0,0,0,14.05,14.50,28.83
$GC,8945,0.73,170.1,3524,1814,1642,1536,452.6,5.6,395,8989,0.00,0.00,42.83,1.427,8198,0.000,0.000,3524,1814,1392,1435,1350,0,0,0,0,0,0,28.83,28.83,13.52
$GC,9271,0.73,170.1,3524,1814,1415,1347,428.7,7.7,406,9276,0.00,2.53,0.00,0.000,516,0.000,0.067,3523,740,1381,1415,1347,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9329,0.73,170.1,3524,740,1415,1348,425.7,8.0,407,9336,0.00,2.47,0.00,0.000,1030,0.000,0.040,3523,1832,1380,1414,1347,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9636,0.73,170.1,3523,1831,1413,1348,397.1,9.0,418,9641,0.00,2.38,0.00,0.000,260,0.000,0.067,3524,2853,1380,1412,1348,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9774,0.70,170.1,3524,2852,1410,1347,385.0,9.5,422,9780,0.00,2.35,0.00,0.000,1030,0.000,0.048,3524,1827,1379,1410,1348,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10102,0.70,170.1,3523,1828,1410,1347,357.3,7.8,433,10108,0.00,2.55,0.00,0.000,516,0.000,0.066,3523,743,1378,1410,1347,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10161,0.70,170.1,3524,744,1410,1348,354.3,7.8,434,10168,0.00,2.45,0.00,0.000,1030,0.000,0.039,3523,1815,1378,1410,1347,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10470,0.70,170.1,3523,1814,1409,1348,329.6,7.7,445,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,1813,1378,1409,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10768,0.70,170.1,3524,1813,1409,1346,304.4,8.6,455,10774,0.00,2.55,0.00,0.000,516,0.000,0.062,3524,745,1377,1408,1347,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10812,0.70,170.1,3524,745,1409,1347,301.3,8.5,456,10818,0.00,2.45,0.00,0.000,1030,0.000,0.038,3531,1820,1378,1409,1347,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11142,0.72,189.1,3523,1818,1408,1347,276.6,6.8,467,11164,0.00,2.53,15.75,1.151,8708,0.000,0.063,3524,742,1312,1347,1277,0,0,0,0,0,0,28.83,14.57,13.61
$GC,11204,0.74,206.4,3524,742,1345,1277,272.0,6.9,469,11226,0.00,2.40,16.45,1.172,9222,0.000,0.038,3524,1794,1242,1281,1203,0,0,0,0,0,0,28.83,14.54,13.64
$GC,11536,0.79,236.5,3524,1793,1276,1198,250.2,6.4,480,11569,0.00,2.53,27.48,1.170,8708,0.000,0.062,3524,745,1116,1170,1063,0,0,0,0,0,0,28.83,14.53,13.66
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$GC,12225,0.79,271.6,3597,2852,1043,894,176.7,13.9,523,12231,0.20,2.40,0.00,0.000,5126,0.227,0.047,3554,1808,968,1042,894,0,0,0,0,0,0,14.06,14.42,28.83
$GC,12541,0.79,271.6,3554,1809,1043,892,143.0,9.4,544,12546,0.00,2.53,0.00,0.000,516,0.000,0.067,3553,741,967,1043,892,0,0,0,0,0,0,28.83,14.32,28.83
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$GC,13743,0.90,280.9,3600,1777,1017,859,30.6,8.2,622,13748,0.00,2.45,0.00,0.000,516,0.000,0.067,3600,736,937,1016,859,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13809,0.90,280.9,3601,736,1016,859,24.9,8.7,626,13814,0.00,2.38,0.00,0.000,1030,0.000,0.038,3600,1763,937,1016,859,0,0,0,0,0,0,28.83,14.40,28.83
$GC,14129,1.21,485.6,3600,1771,1016,855,3.6,0.1,647,14159,0.22,0.00,26.40,0.093,10498,0.092,0.000,3693,1776,732,820,645,0,0,0,0,0,0,14.28,28.83,28.83
$STATE,14160,end climb,SURFACE_DEPTH_REACHED
$STATE,14160,begin surface coast
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$STATE,14336,end surface coast,CONTROL_FINISHED_OK
$STATE,14336,begin surface
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$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345148
$DATA_FILE_SIZE,23421,661
$CAP_FILE_SIZE,177540,1
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