version: 66.11
glider: 169
mission: 8
dive: 65
start: 3 28 113 13 36 4
data:
$ID,169
$MISSION,8
$DIVE,65
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20938.637
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,48
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2575
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280313,132130,1754.292,12349.576,40,1.1,40,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-73.1
$GPS2,280313,133536,1754.559,12349.457,11,1.2,16,-2.0
$SPEED_LIMITS,0.147,0.249
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$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,299.9,177174,-2.9,-8.462,-18.75,3180
$D_GRID,4574
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.50,-175.2,122,2555,1355,1095,0.0,0.0,0,99,0.00,0.00,-73.85,0.000,16386,0.000,0.000,127,2556,3196,3099,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.50,-175.2,122,2556,3098,3294,5.0,-12.8,10,128,8.23,2.70,-6.00,0.000,18948,0.231,0.044,2219,1115,3571,3431,3711,0,0,0,0,0,0,25.98,26.20,26.48
$GC,138,-0.50,-175.2,2219,1116,3432,3711,27.6,-58.7,14,144,0.00,2.80,0.00,0.000,1030,0.000,0.039,2207,2584,3571,3432,3711,0,0,0,0,0,0,28.83,26.22,28.83
$GC,464,-0.50,-175.2,2206,2581,3433,3711,139.9,-31.9,33,469,0.00,1.85,0.00,0.000,260,0.000,0.052,2198,3827,3572,3433,3711,0,0,0,0,0,0,28.83,26.43,28.83
$GC,592,-0.50,-175.2,1312,3826,3424,3709,174.6,-25.0,39,597,0.00,1.88,0.00,0.000,1030,0.000,0.030,2202,2541,3572,3434,3711,0,0,0,0,0,0,28.83,26.54,28.83
$GC,919,-0.50,-175.2,2201,2541,3434,3709,239.6,-17.2,55,925,0.00,2.58,0.00,0.000,516,0.000,0.031,2201,1118,3573,3435,3711,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1116,-0.50,-175.2,2202,1118,3435,3711,269.4,-15.0,64,1122,0.10,2.65,0.00,0.000,3078,0.163,0.036,2225,2558,3573,3435,3711,0,0,0,0,0,0,26.53,26.61,28.83
$GC,1439,-0.50,-175.2,2225,2555,3435,3708,314.0,-12.2,80,1445,0.00,2.62,0.00,0.000,516,0.000,0.031,2226,1118,3573,3435,3711,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1528,-0.50,-175.2,2225,1118,3435,3711,324.3,-11.3,84,1535,0.00,2.62,0.00,0.000,1030,0.000,0.034,2223,2549,3573,3435,3711,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1856,-0.50,-175.2,2226,2546,3435,3707,365.2,-12.7,100,1862,0.00,2.58,0.00,0.000,516,0.000,0.029,2223,1118,3570,3435,3706,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1906,-0.50,-175.2,2223,1118,3434,3706,370.8,-12.3,102,1913,0.00,2.62,0.00,0.000,1030,0.000,0.033,2222,2550,3570,3435,3706,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2230,-0.50,-175.2,2222,2547,3435,3702,407.2,-10.2,118,2236,0.00,2.60,0.00,0.000,516,0.000,0.030,2223,1109,3568,3435,3702,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2280,-0.50,-175.2,1344,1109,3424,3700,411.8,-9.9,120,2286,0.00,2.60,0.00,0.000,1030,0.000,0.032,2222,2549,3568,3435,3702,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2603,-0.50,-175.2,2222,2546,3435,3697,444.5,-10.7,136,2609,0.00,2.58,0.00,0.000,516,0.000,0.029,2219,1120,3566,3435,3697,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2644,-0.50,-175.2,2222,1119,3434,3697,447.6,-10.6,137,2653,0.00,2.60,0.00,0.000,1030,0.000,0.033,2221,2548,3565,3435,3696,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2950,-0.50,-175.2,2221,2545,3434,3691,480.3,-10.1,153,2956,0.00,2.60,0.00,0.000,516,0.000,0.030,2221,1111,3562,3435,3690,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3011,-0.50,-175.2,2222,1111,3435,3689,485.2,-10.4,155,3019,0.00,2.58,0.00,0.000,1030,0.000,0.031,2220,2538,3562,3435,3689,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3318,-0.50,-175.2,2220,2536,3434,3684,518.1,-10.1,171,3324,0.00,2.55,0.00,0.000,516,0.000,0.029,2220,1121,3559,3435,3684,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3359,-0.50,-175.2,1344,1120,3424,3681,520.7,-10.1,172,3367,0.00,2.55,0.00,0.000,1030,0.000,0.033,2219,2528,3559,3435,3683,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3664,-0.50,-175.2,2220,2526,3434,3676,548.8,-8.2,188,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2525,3556,3435,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3964,-0.50,-175.2,2220,2525,3434,3672,572.3,-7.9,203,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2525,3553,3434,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4264,-0.50,-175.2,2220,2526,3433,3666,597.9,-9.3,218,4271,0.00,2.55,0.00,0.000,516,0.000,0.031,2220,1117,3549,3433,3666,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4305,-0.50,-175.2,2220,1117,3433,3666,601.6,-9.6,220,4311,0.00,2.55,0.00,0.000,1030,0.000,0.033,2220,2528,3549,3433,3666,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4636,-0.50,-175.2,2220,2524,3433,3661,632.5,-8.9,231,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2524,3547,3433,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4936,-0.50,-175.2,2220,2524,3433,3657,661.2,-9.9,241,4943,0.00,2.55,0.00,0.000,516,0.000,0.032,2220,1111,3545,3433,3657,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4960,-0.50,-175.2,2220,1111,3433,3657,661.2,-9.9,241,4967,0.00,2.53,0.00,0.000,1030,0.000,0.032,2220,2521,3545,3433,3657,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5279,-0.50,-175.2,2219,2519,3432,3651,693.8,-9.5,252,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2518,3542,3433,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5577,-0.50,-175.2,2220,2518,3432,3648,719.9,-8.7,262,5583,0.00,2.03,0.00,0.000,260,0.000,0.046,2210,3838,3540,3433,3648,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5627,-0.50,-175.2,2208,3838,3431,3647,723.0,-8.6,263,5632,0.00,2.03,0.00,0.000,1030,0.000,0.028,2210,2489,3539,3431,3648,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5949,-0.50,-175.2,2209,2489,3430,3646,753.5,-8.7,274,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2489,3538,3430,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6247,-0.50,-175.2,2209,2489,3428,3644,780.8,-9.2,284,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2489,3536,3428,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6547,-0.50,-175.2,2209,2489,3426,3641,809.6,-9.6,294,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2488,3533,3426,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6847,-0.50,-175.2,2209,2489,3426,3638,838.5,-9.3,304,6853,0.00,2.42,0.00,0.000,516,0.000,0.036,2210,1125,3531,3425,3638,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6870,-0.50,-175.2,1376,1125,3415,3636,838.5,-9.3,304,6876,0.00,2.50,0.00,0.000,1030,0.000,0.034,2207,2519,3531,3425,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7189,-0.50,-175.2,2206,2513,3425,3635,869.7,-8.8,315,7195,0.00,2.05,0.00,0.000,260,0.000,0.052,2206,3820,3529,3425,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7235,-0.50,-175.2,2206,3820,3424,3635,873.0,-8.7,316,7240,0.00,2.00,0.00,0.000,1030,0.000,0.028,2206,2493,3529,3425,3634,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7560,-0.50,-175.2,2206,2493,3424,3632,901.5,-8.5,327,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2493,3529,3426,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7860,-0.50,-175.2,2206,2492,3423,3630,927.9,-8.8,337,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2493,3526,3423,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8160,-0.50,-175.2,2206,2493,3422,3628,953.1,-8.4,347,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2493,3524,3421,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8460,-0.50,-175.2,2206,2492,3421,3626,978.3,-8.3,357,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2492,3523,3421,3626,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8609,begin apogee
$GC,8616,-0.10,0.0,2206,2354,3420,3626,990.4,-8.0,362,8775,0.40,0.08,151.55,0.990,10244,0.094,0.104,2353,2391,2843,2858,2829,0,0,0,0,0,0,26.65,24.91,24.30
$STATE,8779,end apogee,CONTROL_FINISHED_OK
$STATE,8779,begin climb
$GC,8782,0.50,175.2,2353,2391,2854,2819,996.5,0.0,366,8954,0.50,2.58,163.98,1.008,10756,0.039,0.029,2569,916,2137,2261,2014,0,0,0,0,0,0,25.19,25.17,24.20
$GC,8985,0.61,219.0,2568,916,2240,1987,988.3,7.0,372,9035,0.00,2.53,41.65,0.966,9222,0.000,0.025,2558,2391,1955,2088,1822,0,0,0,0,0,0,28.83,25.20,24.20
$GC,9345,0.61,219.0,2557,2389,2059,1799,946.9,11.4,384,9351,0.00,2.47,0.00,0.000,516,0.000,0.028,2569,898,1929,2059,1799,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9364,0.61,219.0,2569,898,2056,1799,946.9,11.4,384,9371,0.00,2.50,0.00,0.000,1030,0.000,0.024,2567,2407,1927,2056,1799,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9686,0.61,219.0,2566,2404,2055,1799,908.1,11.3,395,9692,0.00,2.35,0.00,0.000,260,0.000,0.041,2556,3821,1926,2053,1799,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9860,0.61,219.0,2556,3821,2053,1798,887.9,12.9,400,9866,0.00,2.28,0.00,0.000,1030,0.000,0.017,2566,2367,1926,2053,1799,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10180,0.61,219.0,2568,2365,2051,1798,848.9,11.6,411,10186,0.00,2.47,0.00,0.000,260,0.000,0.041,2556,3833,1924,2051,1798,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10371,0.61,219.0,2556,3833,2050,1798,824.0,13.6,417,10376,0.00,2.25,0.00,0.000,1030,0.000,0.018,2567,2383,1924,2050,1798,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10706,0.61,219.0,2568,2382,2050,1798,785.1,11.2,428,10712,0.00,2.40,0.00,0.000,260,0.000,0.041,2556,3831,1924,2050,1798,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10812,0.61,219.0,2556,3831,2049,1798,772.7,12.4,431,10818,0.00,2.20,0.00,0.000,1030,0.000,0.018,2567,2393,1924,2050,1798,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11138,0.61,219.0,2568,2391,2048,1797,734.1,11.5,442,11144,0.00,2.38,0.00,0.000,260,0.000,0.041,2557,3827,1922,2048,1797,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11237,0.61,219.0,2552,3827,2048,1797,721.5,12.5,445,11243,0.00,2.17,0.00,0.000,1030,0.000,0.017,2567,2398,1922,2048,1797,0,0,0,0,0,0,28.83,26.62,28.83
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$STATE,18468,end climb,SURFACE_DEPTH_REACHED
$STATE,18468,begin surface coast
$FINISH,-0.3,1.021767
$STATE,18487,end surface coast,CONTROL_FINISHED_OK
$STATE,18487,begin surface
$SM_CCo,18565,0.00,0.000,0,0,1192,407.20
$SM_GC,0.48,6.62,0.00,0.00,0.028,0.000,0.000,137,2563,1192,-6.96,-0.34,407.20,0,0,0,0,0,0,26.52,28.83,28.83
$IRIDIUM_FIX,1745.10,12354.59,280313,070754
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.16
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3988864
$24V_AH,24.2,8.620
$10V_AH,10.1,6.430
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.575,163.300,491.950,0.000,0.000,0.000,0.000,489.850,0.000,0.000,17.330,3512.483,11870.262,694.857,2604.992,688.715,0.000,2288.272,0.000,1953.282,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,104.040,1008.270,0.000,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18586.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.449,0.000,0.000,0.000
$MEM,329712
$DATA_FILE_SIZE,30084,828
$CAP_FILE_SIZE,441918,0
$CFSIZE,260034560,246038528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,283.4,1
$GPS,280313,184636,1755.141,12346.763,35,0.8,35,-2.0