version: 66.11
glider: 169
mission: 8
dive: 72
start: 3 30 113 3 19 42
data:
$ID,169
$MISSION,8
$DIVE,72
$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,-6
$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,-20947.533
$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
$GPS1,300313,030536,1800.014,12322.933,28,1.3,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-72.4
$GPS2,300313,031857,1800.124,12322.770,13,9.3,32,-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,325.8,130236,-2.9,-8.462,-18.75,3180
$D_GRID,3503
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.50,-175.2,122,2554,1350,1100,0.0,0.0,0,100,0.00,0.00,-75.05,0.000,16386,0.000,0.000,122,2555,3207,3106,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.50,-175.2,122,2554,3106,3307,4.7,-11.6,10,129,8.05,2.03,-5.93,0.000,19204,0.223,0.063,2208,3824,3570,3430,3711,0,0,0,0,0,0,25.98,26.22,26.50
$GC,275,-0.50,-175.2,2206,3824,3434,3711,70.6,-28.2,24,281,0.00,1.85,0.00,0.000,1030,0.000,0.029,2208,2556,3572,3434,3711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,596,-0.50,-175.2,2208,2554,3435,3711,165.0,-26.2,40,601,0.00,2.62,0.00,0.000,516,0.000,0.031,2208,1124,3573,3435,3711,0,0,0,0,0,0,28.83,26.50,28.83
$GC,820,-0.50,-175.2,1360,1124,3426,3710,201.8,-16.0,50,828,0.00,2.70,0.00,0.000,1030,0.000,0.035,2206,2563,3573,3436,3711,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1128,-0.50,-175.2,2206,2560,3435,3711,258.7,-17.3,66,1134,0.00,2.70,0.00,0.000,516,0.000,0.031,2206,1114,3573,3436,3711,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1231,-0.50,-175.2,2206,1114,3435,3711,271.3,-14.2,70,1240,0.10,2.67,0.00,0.000,3078,0.151,0.035,2226,2553,3573,3436,3711,0,0,0,0,0,0,26.55,26.63,28.83
$GC,1536,-0.50,-175.2,2226,2550,3435,3711,315.7,-13.9,86,1542,0.00,2.65,0.00,0.000,516,0.000,0.032,2227,1120,3573,3435,3711,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1585,-0.50,-175.2,2226,1120,3435,3711,321.8,-13.4,88,1591,0.00,2.65,0.00,0.000,1030,0.000,0.034,2223,2548,3573,3435,3711,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1912,-0.50,-175.2,2222,2545,3435,3708,361.6,-12.1,104,1918,0.00,2.60,0.00,0.000,516,0.000,0.029,2223,1118,3570,3435,3705,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1960,-0.50,-175.2,2223,1118,3435,3708,367.5,-12.2,106,1967,0.00,2.65,0.00,0.000,1030,0.000,0.034,2221,2548,3571,3435,3707,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2288,-0.50,-175.2,2221,2545,3435,3704,400.6,-10.1,122,2294,0.00,2.60,0.00,0.000,516,0.000,0.029,2221,1116,3570,3435,3705,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2348,-0.50,-175.2,1368,1120,3425,3702,405.5,-10.4,124,2356,0.00,2.62,0.00,0.000,1030,0.000,0.033,2220,2548,3569,3435,3703,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2656,-0.50,-175.2,2220,2546,3434,3699,440.2,-11.0,140,2662,0.00,2.62,0.00,0.000,516,0.000,0.031,2225,1113,3567,3435,3699,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2743,-0.50,-175.2,2220,1113,3435,3698,449.5,-10.5,144,2749,0.00,2.60,0.00,0.000,1030,0.000,0.035,2220,2537,3566,3435,3697,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3070,-0.50,-175.2,2219,2534,3434,3691,480.6,-9.2,160,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2535,3563,3435,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-0.50,-175.2,2220,2534,3435,3686,507.4,-8.2,175,3375,0.00,2.58,0.00,0.000,516,0.000,0.031,2220,1120,3560,3435,3686,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3426,-0.50,-175.2,2220,1120,3435,3683,511.2,-8.3,177,3432,0.00,2.55,0.00,0.000,1030,0.000,0.033,2220,2532,3560,3435,3685,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3742,-0.50,-175.2,2219,2529,3435,3678,538.6,-8.6,193,3747,0.00,1.98,0.00,0.000,260,0.000,0.047,2211,3827,3557,3435,3679,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3767,-0.50,-175.2,2211,3827,3435,3678,540.9,-8.7,194,3772,0.00,1.98,0.00,0.000,1030,0.000,0.028,2211,2501,3556,3435,3678,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4094,-0.50,-175.2,2211,2497,3435,3673,574.1,-10.8,210,4100,0.00,2.47,0.00,0.000,516,0.000,0.034,2211,1112,3554,3435,3673,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4161,-0.50,-175.2,2211,1111,3435,3672,581.8,-11.1,213,4167,0.00,2.55,0.00,0.000,1030,0.000,0.035,2207,2522,3553,3435,3671,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4477,-0.50,-175.2,2206,2520,3434,3666,618.6,-11.6,226,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2520,3550,3434,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.50,-175.2,2206,2520,3434,3661,648.1,-9.0,236,4784,0.00,2.53,0.00,0.000,516,0.000,0.031,2207,1107,3547,3434,3661,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4807,-0.50,-175.2,2207,1107,3434,3662,648.1,-9.0,236,4815,0.00,2.53,0.00,0.000,1030,0.000,0.035,2207,2515,3547,3434,3661,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5115,-0.50,-175.2,2206,2512,3434,3656,676.8,-8.8,247,5122,0.00,2.05,0.00,0.000,260,0.000,0.050,2206,3827,3545,3434,3656,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5140,-0.50,-175.2,2205,3827,3434,3656,676.8,-8.8,247,5147,0.00,2.03,0.00,0.000,1030,0.000,0.028,2206,2484,3545,3434,3656,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5459,-0.50,-175.2,2205,2484,3434,3651,709.8,-9.7,258,5466,0.00,2.40,0.00,0.000,516,0.000,0.034,2205,1115,3542,3434,3651,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5484,-0.50,-175.2,2205,1115,3435,3651,709.8,-9.7,258,5491,0.00,2.50,0.00,0.000,1030,0.000,0.033,2202,2517,3542,3434,3650,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5802,-0.50,-175.2,2202,2514,3431,3649,742.3,-9.2,269,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2514,3540,3431,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6100,-0.50,-175.2,2202,2513,3430,3646,768.9,-9.2,279,6106,0.00,2.08,0.00,0.000,260,0.000,0.052,2195,3839,3538,3430,3646,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6129,-0.50,-175.2,2195,3839,3429,3646,768.9,-9.2,279,6137,0.12,2.05,0.00,0.000,3078,0.129,0.027,2234,2484,3537,3429,3646,0,0,0,0,0,0,26.64,26.76,28.83
$GC,6438,-0.50,-175.2,2233,2484,3429,3643,793.8,-6.9,290,6443,0.00,2.17,0.00,0.000,260,0.000,0.051,2233,3826,3536,3429,3643,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6484,-0.50,-175.2,2233,3826,3428,3643,796.4,-6.9,291,6489,0.00,2.00,0.00,0.000,1030,0.000,0.027,2234,2490,3535,3428,3643,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6810,-0.50,-175.2,2233,2490,3423,3639,818.2,-6.2,302,6816,0.00,2.17,0.00,0.000,260,0.000,0.054,2233,3820,3532,3427,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6830,-0.50,-175.2,2233,3820,3426,3639,818.2,-6.2,302,6835,0.00,2.00,0.00,0.000,1030,0.000,0.027,2233,2493,3532,3426,3639,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7152,-0.50,-175.2,2233,2493,3425,3637,837.0,-5.3,313,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2497,3531,3426,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7451,-0.50,-175.2,2233,2493,3425,3634,856.1,-6.6,323,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2492,3530,3426,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7750,-0.50,-175.2,2233,2493,3425,3633,878.5,-7.5,333,7757,0.00,2.17,0.00,0.000,260,0.000,0.054,2233,3816,3529,3425,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7787,-0.50,-175.2,1360,3815,3413,3630,881.2,-7.5,334,7793,0.00,2.00,0.00,0.000,1030,0.000,0.026,2233,2494,3528,3424,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8122,-0.50,-175.2,2233,2494,3424,3630,905.3,-6.6,345,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2494,3527,3424,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8423,-0.50,-175.2,2233,2494,3423,3628,924.5,-6.2,355,8429,0.00,2.15,0.00,0.000,260,0.000,0.050,2233,3826,3526,3424,3629,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8453,-0.50,-175.2,2233,3826,3422,3629,924.5,-6.2,355,8461,0.00,1.98,0.00,0.000,1030,0.000,0.026,2233,2496,3526,3423,3629,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8761,-0.50,-175.2,2233,2497,3422,3627,944.5,-6.9,366,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2496,3525,3423,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9059,-0.50,-175.2,2233,2496,3421,3626,968.2,-8.1,376,9065,0.00,2.15,0.00,0.000,260,0.000,0.051,2233,3832,3523,3422,3625,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9108,-0.50,-175.2,2233,3832,3421,3626,971.1,-8.1,377,9114,0.00,2.00,0.00,0.000,1030,0.000,0.027,2233,2495,3523,3421,3626,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,9337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9337,begin apogee
$GC,9344,-0.10,0.0,2233,2351,3420,3625,990.5,-7.9,385,9509,0.32,0.05,151.62,1.030,10244,0.090,0.069,2356,2378,2838,2856,2821,0,0,0,0,0,0,26.65,24.86,24.28
$STATE,9511,end apogee,CONTROL_FINISHED_OK
$STATE,9511,begin climb
$GC,9514,0.50,175.2,2356,2378,2853,2815,1000.0,0.0,390,9692,0.50,2.55,164.93,0.983,10756,0.038,0.030,2571,903,2129,2254,2004,0,0,0,0,0,0,25.23,25.20,24.12
$GC,9771,0.50,175.2,2571,904,2236,1984,985.8,10.5,399,9779,0.00,2.50,0.00,0.000,1030,0.000,0.027,2564,2390,2110,2237,1984,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10098,0.50,175.2,2563,2387,2233,1982,948.0,11.6,410,10104,0.00,2.45,0.00,0.000,516,0.000,0.028,2574,900,2107,2233,1982,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10164,0.50,175.2,2574,899,2230,1982,940.4,11.6,412,10170,0.00,2.47,0.00,0.000,1030,0.000,0.025,2572,2402,2106,2231,1982,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10499,0.50,175.2,2572,2400,2230,1982,899.8,12.2,423,10505,0.00,2.38,0.00,0.000,260,0.000,0.042,2562,3826,2106,2230,1982,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10672,0.50,175.2,2564,3825,2227,1982,877.2,14.1,428,10678,0.00,2.33,0.00,0.000,1030,0.000,0.017,2576,2356,2104,2227,1982,0,0,0,0,0,0,28.83,26.41,28.83
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$STATE,19271,end climb,SURFACE_DEPTH_REACHED
$STATE,19272,begin surface coast
$FINISH,-0.2,1.021834
$STATE,19303,end surface coast,CONTROL_FINISHED_OK
$STATE,19303,begin surface
$SM_CCo,19320,24.95,0.124,0,0,1217,400.08
$SM_GC,0.91,6.43,0.12,24.95,0.029,0.078,0.124,133,2626,1217,-6.99,-0.37,400.08,0,0,0,0,0,0,26.50,26.54,26.32
$IRIDIUM_FIX,1751.90,12329.46,290313,212134
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.43
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3985280
$24V_AH,24.1,9.532
$10V_AH,10.0,7.220
$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,16.225,194.950,487.250,24.950,0.000,0.000,0.000,483.800,0.000,0.000,34.372,3776.267,12058.177,744.665,2811.914,736.437,0.000,2452.080,0.000,2141.851,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,79.560,1030.455,123.930,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19381.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.396,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,33362,848
$CAP_FILE_SIZE,471783,0
$CFSIZE,260034560,244740096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.364,272.7,1
$GPS,300313,084324,1801.391,12317.454,41,1.1,41,-2.0