version: 66.11
glider: 160
mission: 9
dive: 471
start: 7 30 113 12 15 19
data:
$ID,160
$MISSION,9
$DIVE,471
$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,-50802.836
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,300713,050725,2429.950,-3806.638,0,10000.0,0,-15.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-71.3
$GPS2,300713,121450,2435.994,-3806.510,278,99.0,297,-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,176.0,8447,-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,-39.9,142,1949,227,159,0.0,0.0,0,39,0.00,0.00,-15.85,0.000,16386,0.000,0.000,142,1949,554,556,552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-39.9,142,1949,556,552,3.8,0.0,1,157,12.75,2.45,-87.22,0.000,18948,0.343,0.078,2844,889,2459,2456,2463,0,0,0,0,0,0,14.22,14.38,14.81
$GC,388,-1.28,-39.9,2845,889,2458,2469,35.7,-14.7,23,396,0.15,2.40,0.00,0.000,3078,0.300,0.050,2875,1945,2463,2458,2469,0,0,0,0,0,0,14.01,14.42,28.83
$GC,695,-1.22,-39.9,2875,1944,2458,2469,68.2,-8.9,44,700,0.00,2.40,0.00,0.000,516,0.000,0.054,2875,895,2463,2458,2469,0,0,0,0,0,0,28.83,14.38,28.83
$GC,930,-1.15,-39.9,1832,894,2394,2459,88.9,-9.5,59,936,0.20,2.35,0.00,0.000,3078,0.291,0.047,2920,1944,2462,2457,2467,0,0,0,0,0,0,14.02,14.50,28.83
$GC,1245,-1.13,-39.9,2918,1943,2457,2469,115.8,-9.0,80,1250,0.00,2.40,0.00,0.000,516,0.000,0.054,2918,895,2462,2457,2468,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1482,-1.10,-39.9,1856,894,2392,2458,136.9,-9.2,95,1487,0.00,2.30,0.00,0.000,1030,0.000,0.045,2918,1921,2462,2457,2468,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1797,-1.08,-39.9,2918,1920,2457,2467,161.9,-7.9,116,1802,0.00,2.50,0.00,0.000,260,0.000,0.067,2918,3007,2462,2457,2467,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2033,-1.06,-39.9,1856,3003,2394,2457,182.7,-9.2,131,2039,0.15,2.45,0.00,0.000,3078,0.267,0.034,2949,1902,2461,2455,2467,0,0,0,0,0,0,14.02,14.43,28.83
$GC,2349,-1.06,-39.9,2949,1903,2457,2466,209.4,-8.5,152,2354,0.00,2.25,0.00,0.000,516,0.000,0.057,2949,902,2460,2456,2465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2585,-1.06,-39.9,2949,902,2456,2465,230.2,-9.1,167,2590,0.00,2.22,0.00,0.000,1030,0.000,0.044,2950,1900,2460,2456,2464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2914,-1.06,-39.9,2950,1900,2456,2463,257.8,-7.8,186,2920,0.00,2.55,0.00,0.000,260,0.000,0.064,2950,3009,2459,2456,2463,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3149,-1.06,-39.9,2950,3008,2455,2463,276.1,-8.7,193,3155,0.00,2.53,0.00,0.000,1030,0.000,0.034,2950,1865,2459,2455,2463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3465,-1.06,-39.9,2950,1866,2455,2462,304.0,-8.4,204,3470,0.00,2.15,0.00,0.000,516,0.000,0.055,2950,902,2458,2456,2461,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3701,-1.06,-39.9,2950,902,2454,2461,322.8,-8.6,211,3706,0.00,2.12,0.00,0.000,1030,0.000,0.043,2950,1861,2456,2453,2460,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4020,-1.08,-39.9,2950,1860,2453,2458,353.1,-9.3,222,4025,0.00,2.17,0.00,0.000,516,0.000,0.054,2950,901,2455,2453,2458,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4255,-1.08,-39.9,2950,901,2452,2458,374.7,-10.0,229,4260,0.00,2.08,0.00,0.000,1030,0.000,0.042,2950,1839,2455,2452,2458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4573,-1.09,-39.9,2946,1838,2451,2456,404.4,-8.3,240,4578,0.00,2.67,0.00,0.000,260,0.000,0.062,2950,3009,2453,2451,2456,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4730,-1.09,-39.9,2950,3009,2450,2456,416.4,-7.6,245,4735,0.00,2.65,0.00,0.000,1030,0.000,0.033,2950,1814,2453,2450,2456,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5069,-1.12,-49.8,2950,1815,2450,2454,437.5,-6.1,256,5074,0.00,2.05,0.00,0.000,516,0.000,0.054,2950,897,2452,2450,2454,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5305,-1.12,-52.6,2950,897,2449,2454,452.6,-7.0,263,5310,0.00,2.03,0.00,0.000,1030,0.000,0.042,2949,1812,2451,2449,2454,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5623,-1.14,-52.6,2950,1812,2449,2453,477.3,-7.9,274,5628,0.00,2.08,0.00,0.000,516,0.000,0.053,2950,900,2450,2449,2452,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5859,-1.14,-52.6,2949,900,2448,2452,498.1,-9.7,281,5865,0.00,2.03,0.00,0.000,1030,0.000,0.041,2950,1811,2450,2448,2453,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6177,-1.16,-52.6,2950,1805,2448,2450,530.8,-9.5,292,6182,0.00,2.08,0.00,0.000,516,0.000,0.053,2950,895,2453,2456,2451,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6412,-1.16,-52.6,2950,895,2447,2450,551.0,-9.1,299,6417,0.00,2.00,0.00,0.000,1030,0.000,0.041,2950,1799,2448,2447,2450,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6731,-1.18,-52.6,2950,1798,2447,2448,577.3,-7.5,310,6737,0.12,2.80,0.00,0.000,4356,0.138,0.060,2897,3005,2447,2447,2448,0,0,0,0,0,0,14.47,14.40,28.83
$GC,6968,-1.16,-52.6,2897,3004,2445,2448,596.4,-9.0,317,6973,0.00,2.78,0.00,0.000,1030,0.000,0.034,2897,1771,2446,2444,2448,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7284,-1.16,-52.6,2897,1771,2444,2446,627.4,-9.4,328,7289,0.00,1.95,0.00,0.000,516,0.000,0.055,2897,901,2445,2444,2446,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7519,-1.13,-52.6,2897,901,2444,2445,650.3,-10.8,335,7525,0.15,1.92,0.00,0.000,3078,0.293,0.041,2926,1770,2444,2443,2446,0,0,0,0,0,0,14.00,14.48,28.83
$GC,7837,-1.13,-52.6,2927,1770,2443,2445,685.9,-10.6,346,7842,0.00,1.98,0.00,0.000,516,0.000,0.053,2926,902,2443,2442,2444,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8074,-1.13,-52.6,2927,901,2442,2444,708.7,-10.4,353,8079,0.00,1.90,0.00,0.000,1030,0.000,0.041,2927,1759,2443,2442,2444,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8390,-1.13,-52.6,2927,1758,2442,2443,739.1,-8.5,364,8395,0.00,1.98,0.00,0.000,516,0.000,0.054,2927,896,2442,2442,2443,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8625,-1.13,-52.6,2926,896,2441,2443,757.2,-8.4,371,8630,0.00,1.90,0.00,0.000,1030,0.000,0.040,2927,1752,2441,2441,2442,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8940,-1.13,-52.6,2927,1751,2441,2441,785.3,-8.4,382,8945,0.00,1.95,0.00,0.000,516,0.000,0.053,2927,899,2440,2441,2440,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9176,-1.13,-52.6,2927,899,2440,2440,804.9,-9.2,389,9181,0.00,1.88,0.00,0.000,1030,0.000,0.041,2927,1743,2440,2440,2440,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9490,-1.13,-52.6,2927,1742,2439,2438,832.1,-7.8,400,9495,0.00,1.92,0.00,0.000,516,0.000,0.054,2927,902,2438,2439,2438,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9726,-1.13,-52.6,2927,900,2438,2438,849.1,-7.9,407,9731,0.00,1.85,0.00,0.000,1030,0.000,0.041,2927,1733,2438,2438,2438,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10041,-1.13,-52.6,2927,1732,2438,2436,874.7,-7.8,418,10046,0.00,1.90,0.00,0.000,516,0.000,0.054,2927,904,2436,2437,2435,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10277,-1.13,-52.6,2927,904,2437,2436,893.8,-9.2,425,10282,0.00,1.83,0.00,0.000,1030,0.000,0.041,2927,1724,2435,2436,2435,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10594,-1.13,-52.6,2927,1723,2437,2434,925.3,-9.7,436,10599,0.00,1.90,0.00,0.000,516,0.000,0.054,2927,898,2435,2437,2434,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10830,-1.13,-52.6,2927,898,2436,2434,948.1,-10.5,443,10835,0.00,1.83,0.00,0.000,1030,0.000,0.040,2927,1715,2435,2436,2434,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,10840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10840,begin apogee
$GC,10849,-0.25,0.0,2926,1816,2435,2434,951.0,-10.2,444,10904,1.10,0.00,47.17,1.681,10244,0.222,0.000,3206,1816,2296,2306,2286,0,0,0,0,0,0,13.62,28.83,13.33
$STATE,10906,end apogee,CONTROL_FINISHED_OK
$STATE,10906,begin climb
$GC,10911,1.39,52.6,3206,1816,2305,2284,953.0,0.0,446,10972,1.70,2.40,52.92,2.134,10500,0.095,0.063,3749,2838,2083,2112,2055,0,0,0,0,0,0,14.38,14.39,13.07
$GC,11026,1.39,52.6,3749,2838,2103,2042,958.8,-7.8,449,11033,0.00,2.38,0.00,0.000,1030,0.000,0.039,3759,1798,2072,2103,2042,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11337,1.34,130.2,3759,1799,2102,2038,969.0,-2.2,460,11423,0.12,2.47,74.97,2.139,12804,0.348,0.062,3739,748,1764,1836,1692,0,0,0,0,0,0,13.95,14.19,13.10
$GC,11657,1.24,130.2,3739,749,1827,1685,936.7,13.8,470,11663,0.20,2.28,0.00,0.000,5126,0.289,0.037,3698,1769,1756,1828,1685,0,0,0,0,0,0,14.07,14.52,28.83
$GC,11982,1.17,130.2,3698,1768,1827,1682,895.1,12.3,481,11987,0.00,2.50,0.00,0.000,260,0.000,0.059,3698,2852,1754,1827,1682,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12218,1.07,130.2,3698,2851,1822,1682,868.1,12.0,488,12224,0.28,2.42,0.00,0.000,5126,0.303,0.044,3642,1790,1751,1822,1681,0,0,0,0,0,0,13.96,14.50,28.83
$GC,12536,1.03,130.2,3642,1792,1822,1679,835.1,9.3,499,12542,0.00,2.47,0.00,0.000,260,0.000,0.055,3642,2846,1750,1822,1679,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12772,0.97,130.2,3642,2845,1820,1679,813.6,9.3,506,12778,0.17,2.40,0.00,0.000,5126,0.303,0.043,3608,1794,1749,1820,1679,0,0,0,0,0,0,13.95,14.47,28.83
$GC,13093,0.95,133.7,3608,1795,1820,1678,789.0,6.9,517,13098,0.00,2.47,0.00,0.000,260,0.000,0.056,3608,2847,1749,1820,1678,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13329,0.92,133.7,3608,2846,1819,1681,772.1,7.6,524,13334,0.00,2.40,0.00,0.000,1030,0.000,0.041,3616,1798,1748,1819,1678,0,0,0,0,0,0,28.83,14.45,28.83
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$FREEZE,5.64,25.922,-2.085,0,1,0
$STATE,23088,end climb,NO_VERTICAL_VELOCITY
$STATE,23088,begin surface
$SM_CCo,23093,167.82,0.075,0,0,189,517.58
$SM_GC,6.66,10.30,0.00,0.00,0.046,0.000,0.000,150,1961,189,-9.78,0.31,517.58,0,0,0,0,0,0,14.52,28.83,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,84.69
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3839776
$24V_AH,13.1,184.264
$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,0.000,0.000,0.000,0.000,0.000,0.000,5.932,0.000,0.000,0.000
$MEM,345172
$DATA_FILE_SIZE,36639,941
$CAP_FILE_SIZE,275115,0
$CFSIZE,260034560,189329408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,36.128, 90.0,1
$GPS,300713,121450,2435.994,-3806.510,301,99.0,301,-15.1