version: 66.11
glider: 160
mission: 9
dive: 475
start: 7 31 113 16 3 3
data:
$ID,160
$MISSION,9
$DIVE,475
$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,-52935.602
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,310713,090622,2439.266,-3803.466,301,99.0,301,-15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.78
$_SM_ANGLEo,-70.7
$GPS2,310713,090622,2439.266,-3803.466,301,99.0,301,-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,31.0,31372,-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,-39.9,139,1954,222,164,0.0,0.0,0,39,0.00,0.00,-15.55,0.000,16386,0.000,0.000,139,1955,547,547,547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.38,-39.9,139,1955,547,547,3.8,0.0,1,157,12.70,2.55,-87.40,0.000,18692,0.340,0.092,2844,2999,2464,2461,2467,0,0,0,0,0,0,14.14,14.28,14.80
$GC,307,-1.28,-39.9,2845,2998,2460,2467,23.7,-15.9,18,313,0.17,2.35,0.00,0.000,3078,0.293,0.033,2880,1948,2463,2460,2467,0,0,0,0,0,0,14.00,14.48,28.83
$GC,623,-1.22,-39.9,2880,1950,2460,2467,68.0,-12.3,39,629,0.00,2.40,0.00,0.000,516,0.000,0.060,2880,892,2463,2459,2467,0,0,0,0,0,0,28.83,14.35,28.83
$GC,707,-1.16,-39.9,1824,891,2395,2457,77.9,-13.1,44,714,0.20,2.40,0.00,0.000,3078,0.285,0.050,2919,1951,2463,2459,2467,0,0,0,0,0,0,13.99,14.45,28.83
$GC,1024,-1.13,-39.9,2919,1950,2459,2467,109.7,-9.4,65,1029,0.00,2.40,0.00,0.000,516,0.000,0.055,2919,895,2463,2459,2467,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1260,-1.10,-39.9,2919,895,2459,2467,129.5,-7.8,80,1266,0.00,2.35,0.00,0.000,1030,0.000,0.050,2919,1933,2462,2458,2466,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1576,-1.09,-46.8,2919,1932,2458,2466,151.2,-6.5,101,1582,0.00,2.42,-0.17,0.000,16900,0.000,0.076,2919,894,2495,2487,2503,0,0,0,0,0,0,28.83,14.42,14.23
$GC,1815,-1.07,-46.8,2919,894,2487,2503,169.6,-8.2,116,1822,0.12,2.33,0.00,0.000,3078,0.287,0.051,2944,1915,2494,2486,2503,0,0,0,0,0,0,14.05,14.39,28.83
$GC,2131,-1.07,-46.8,2944,1914,2487,2503,197.1,-8.9,137,2137,0.00,2.35,0.00,0.000,516,0.000,0.063,2944,896,2495,2487,2503,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2367,-1.07,-46.8,2944,896,2487,2502,219.1,-8.9,152,2373,0.00,2.28,0.00,0.000,1030,0.000,0.054,2944,1896,2494,2487,2501,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2683,-1.07,-46.8,2944,1895,2487,2500,246.3,-8.1,173,2688,0.00,2.33,0.00,0.000,516,0.000,0.062,2944,896,2493,2486,2500,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2921,-1.07,-46.8,2944,896,2487,2499,263.3,-7.8,182,2927,0.00,2.25,0.00,0.000,1030,0.000,0.053,2944,1888,2492,2486,2499,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3236,-1.07,-46.8,2944,1887,2487,2497,289.1,-7.9,193,3242,0.00,2.28,0.00,0.000,516,0.000,0.060,2943,896,2496,2495,2497,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3249,-1.07,-46.8,2944,897,2487,2497,289.1,-7.9,193,3254,0.00,2.20,0.00,0.000,1030,0.000,0.052,2944,1869,2492,2487,2497,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3577,-1.07,-46.8,2944,1868,2487,2495,318.8,-9.3,204,3583,0.00,2.65,0.00,0.000,260,0.000,0.070,2943,3005,2491,2487,2495,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3753,-1.07,-46.8,2944,3004,2486,2494,334.9,-10.3,209,3758,0.00,2.60,0.00,0.000,1030,0.000,0.038,2943,1844,2491,2488,2494,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4067,-1.07,-46.8,2944,1845,2487,2493,369.9,-10.5,220,4072,0.00,2.15,0.00,0.000,516,0.000,0.062,2944,896,2489,2486,2492,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4302,-1.07,-46.8,2944,896,2487,2491,393.1,-10.8,227,4308,0.00,2.15,0.00,0.000,1030,0.000,0.050,2944,1842,2488,2487,2490,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4617,-1.07,-46.8,2944,1841,2487,2489,424.7,-9.0,238,4624,0.00,2.17,0.00,0.000,516,0.000,0.060,2944,895,2488,2487,2489,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4854,-1.07,-46.8,2944,892,2486,2489,443.4,-8.4,245,4859,0.00,2.10,0.00,0.000,1030,0.000,0.049,2944,1828,2486,2485,2488,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5172,-1.08,-48.2,2944,1827,2485,2487,468.3,-7.2,256,5178,0.00,2.15,0.00,0.000,516,0.000,0.059,2944,895,2486,2485,2487,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5392,-1.08,-48.2,1920,894,2423,2477,485.9,-8.4,263,5397,0.00,2.10,0.00,0.000,1030,0.000,0.048,2944,1826,2485,2485,2486,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5725,-1.10,-48.2,2944,1825,2484,2485,514.6,-8.8,274,5732,0.00,2.15,0.00,0.000,516,0.000,0.059,2944,893,2484,2484,2485,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5882,-1.10,-48.2,2944,893,2483,2485,529.4,-9.3,279,5888,0.00,2.10,0.00,0.000,1030,0.000,0.047,2944,1820,2483,2483,2484,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6220,-1.12,-48.2,2944,1820,2483,2483,559.3,-9.0,290,6225,0.00,2.12,0.00,0.000,516,0.000,0.057,2944,894,2483,2483,2483,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6390,-1.12,-48.2,2944,894,2482,2482,573.6,-9.1,295,6395,0.00,2.05,0.00,0.000,1030,0.000,0.046,2944,1809,2482,2482,2482,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6713,-1.14,-48.2,2944,1809,2482,2481,600.4,-7.6,306,6720,0.00,2.10,0.00,0.000,516,0.000,0.057,2944,894,2481,2482,2480,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6901,-1.14,-48.2,2944,893,2481,2480,615.2,-7.9,312,6907,0.00,2.05,0.00,0.000,1030,0.000,0.045,2944,1795,2480,2481,2480,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7240,-1.15,-48.2,2944,1794,2480,2479,642.8,-8.8,323,7246,0.00,2.10,0.00,0.000,516,0.000,0.057,2944,890,2479,2480,2479,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7472,-1.15,-48.2,2944,890,2487,2479,666.1,-11.1,330,7478,0.00,2.00,0.00,0.000,1030,0.000,0.044,2944,1780,2478,2479,2478,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7795,-1.18,-48.2,2944,1780,2478,2477,705.4,-11.8,341,7800,0.00,2.05,0.00,0.000,516,0.000,0.057,2944,890,2478,2479,2477,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8011,-1.18,-48.2,2944,890,2477,2477,730.3,-11.2,348,8018,0.00,2.00,0.00,0.000,1030,0.000,0.044,2944,1768,2477,2477,2477,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8350,-1.20,-48.2,2944,1766,2477,2474,761.0,-8.3,359,8357,0.12,2.03,0.00,0.000,4612,0.137,0.055,2889,893,2475,2477,2474,0,0,0,0,0,0,14.49,14.38,28.83
$GC,8436,-1.20,-48.2,2890,893,2477,2474,767.5,-8.8,361,8441,0.00,1.95,0.00,0.000,1030,0.000,0.044,2889,1760,2475,2476,2474,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8754,-1.18,-48.2,2889,1760,2475,2474,800.3,-10.0,372,8760,0.00,2.00,0.00,0.000,516,0.000,0.056,2888,892,2474,2475,2473,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8892,-1.16,-48.2,2888,893,2474,2473,814.4,-11.0,376,8898,0.15,1.92,0.00,0.000,3078,0.298,0.045,2917,1747,2477,2482,2473,0,0,0,0,0,0,13.90,14.41,28.83
$GC,9220,-1.16,-48.2,2917,1747,2475,2471,849.0,-10.5,387,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1747,2472,2474,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9517,-1.16,-48.2,2917,1747,2474,2470,880.6,-10.6,397,9522,0.00,1.98,0.00,0.000,516,0.000,0.057,2917,894,2473,2477,2469,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9667,-1.16,-48.2,2917,894,2474,2469,893.5,-10.4,401,9674,0.00,1.90,0.00,0.000,1030,0.000,0.044,2917,1739,2471,2474,2469,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9972,-1.16,-48.2,2917,1738,2473,2469,924.8,-8.9,412,9977,0.00,1.95,0.00,0.000,516,0.000,0.057,2917,894,2471,2473,2469,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10052,-1.16,-48.2,2917,893,2473,2469,930.6,-8.9,414,10057,0.00,1.92,0.00,0.000,1030,0.000,0.044,2917,1742,2474,2473,2475,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,10247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10247,begin apogee
$GC,10257,-0.25,0.0,2917,1816,2472,2468,950.9,-9.4,421,10305,1.15,0.00,42.42,2.003,10244,0.226,0.000,3206,1816,2296,2309,2283,0,0,0,0,0,0,13.59,28.83,13.11
$STATE,10307,end apogee,CONTROL_FINISHED_OK
$STATE,10307,begin climb
$GC,10311,1.39,48.2,3206,1816,2307,2282,951.1,0.0,422,10369,1.65,2.42,47.42,2.139,10500,0.096,0.064,3735,2844,2097,2126,2069,0,0,0,0,0,0,14.28,14.39,13.05
$GC,10576,1.34,142.0,3735,2843,2119,2061,963.2,-4.3,431,10673,0.00,2.40,89.28,2.155,9222,0.000,0.042,3739,1793,1717,1789,1646,0,0,0,0,0,0,28.83,14.45,13.08
$GC,10986,1.24,142.0,3739,1794,1773,1641,923.9,12.5,445,10992,0.17,2.42,0.00,0.000,4612,0.335,0.063,3703,745,1707,1774,1641,0,0,0,0,0,0,13.96,14.45,28.83
$GC,11213,1.16,142.0,3703,746,1771,1640,897.6,11.9,452,11219,0.15,2.38,0.00,0.000,5126,0.291,0.039,3673,1810,1705,1771,1639,0,0,0,0,0,0,14.09,14.54,28.83
$GC,11543,1.10,142.0,3673,1810,1771,1637,859.7,11.4,463,11548,0.00,2.40,0.00,0.000,260,0.000,0.060,3673,2851,1704,1771,1637,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11780,1.02,142.0,3673,2851,1768,1637,832.5,12.2,470,11786,0.22,2.33,0.00,0.000,5126,0.302,0.043,3627,1832,1702,1768,1636,0,0,0,0,0,0,13.93,14.50,28.83
$GC,12099,0.99,142.0,3627,1833,1769,1635,799.8,9.2,481,12104,0.00,2.40,0.00,0.000,260,0.000,0.056,3627,2853,1701,1767,1635,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12336,0.94,142.0,3627,2853,1767,1635,778.2,9.3,488,12342,0.15,2.35,0.00,0.000,5126,0.303,0.041,3601,1827,1701,1767,1635,0,0,0,0,0,0,13.97,14.47,28.83
$GC,12656,0.94,142.0,3601,1827,1766,1634,750.9,8.0,499,12662,0.00,2.42,0.00,0.000,260,0.000,0.057,3601,2853,1700,1767,1634,0,0,0,0,0,0,28.83,14.40,28.83
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$FREEZE,5.54,25.847,-2.070,0,1,0
$STATE,21407,end climb,NO_VERTICAL_VELOCITY
$STATE,21407,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,85.20
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$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3838240
$24V_AH,13.0,185.412
$10V_AH,11.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345164
$DATA_FILE_SIZE,33351,879
$CAP_FILE_SIZE,247656,0
$CFSIZE,260034560,188882944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,346.1,1
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