version: 66.11
glider: 169
mission: 8
dive: 79
start: 3 31 113 17 1 33
data:
$ID,169
$MISSION,8
$DIVE,79
$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,-5
$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,-20956.336
$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,2415
$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
$GPS1,310313,164836,1820.436,12245.694,43,1.0,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-72.0
$GPS2,310313,170106,1820.782,12245.582,10,1.1,15,-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,248.0,54978,-2.9,-8.462,-18.75,3180
$D_GRID,3913
$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,22,-0.50,-175.2,121,2567,1353,1094,0.0,0.0,0,93,0.00,0.00,-67.95,0.000,16386,0.000,0.000,122,2568,2980,2909,3052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.50,-175.2,122,2568,2910,3052,3.8,-8.9,9,123,8.35,2.78,-10.02,0.000,18948,0.234,0.048,2219,1134,3572,3436,3708,0,0,0,0,0,0,25.92,26.17,26.46
$GC,252,-0.50,-175.2,2219,1133,3435,3708,59.5,-27.0,23,260,0.00,2.75,0.00,0.000,1030,0.000,0.038,2207,2579,3571,3435,3708,0,0,0,0,0,0,28.83,26.29,28.83
$GC,559,-0.50,-175.2,2206,2577,3436,3708,160.5,-27.8,39,565,0.00,2.72,0.00,0.000,516,0.000,0.033,2207,1124,3572,3436,3708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,758,-0.50,-175.2,2207,1124,3438,3708,195.5,-15.5,48,764,0.00,2.70,0.00,0.000,1030,0.000,0.034,2206,2572,3572,3437,3708,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1080,-0.50,-175.2,2206,2570,3438,3708,243.8,-15.5,64,1088,0.00,2.67,0.00,0.000,516,0.000,0.031,2206,1113,3573,3439,3708,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1252,-0.50,-175.2,2206,1113,3439,3708,266.6,-12.7,72,1258,0.00,2.67,0.00,0.000,1030,0.000,0.038,2206,2558,3573,3438,3708,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1580,-0.50,-175.2,2206,2555,3438,3707,317.2,-15.7,88,1586,0.00,2.60,0.00,0.000,516,0.000,0.031,2206,1127,3572,3438,3707,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1660,-0.50,-175.2,1344,1126,3428,3705,327.6,-15.2,91,1668,0.00,2.58,0.00,0.000,1030,0.000,0.034,2206,2544,3573,3439,3707,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1968,-0.50,-175.2,2206,2542,3438,3704,371.8,-13.3,107,1974,0.00,2.55,0.00,0.000,516,0.000,0.030,2206,1119,3570,3438,3703,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2049,-0.50,-175.2,2206,1119,3438,3702,380.0,-12.4,110,2057,0.00,2.58,0.00,0.000,1030,0.000,0.036,2204,2541,3570,3438,3702,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2356,-0.50,-175.2,2203,2539,3438,3698,418.3,-11.8,126,2362,0.00,2.55,0.00,0.000,516,0.000,0.030,2203,1114,3567,3438,3697,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2385,-0.50,-175.2,2203,1113,3438,3697,421.5,-11.9,127,2391,0.10,2.58,0.00,0.000,3078,0.140,0.035,2228,2538,3567,3438,3697,0,0,0,0,0,0,26.63,26.68,28.83
$GC,2708,-0.50,-175.2,2228,2535,3438,3691,450.6,-8.4,143,2715,0.00,2.55,0.00,0.000,516,0.000,0.031,2229,1126,3564,3437,3691,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2735,-0.50,-175.2,2228,1126,3438,3691,453.0,-8.2,144,2742,0.00,2.53,0.00,0.000,1030,0.000,0.031,2224,2532,3564,3438,3691,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3063,-0.50,-175.2,2225,2530,3438,3684,481.1,-9.1,160,3069,0.00,2.50,0.00,0.000,516,0.000,0.029,2225,1123,3561,3438,3684,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3113,-0.50,-175.2,2225,1122,3437,3683,485.4,-9.0,162,3120,0.00,2.50,0.00,0.000,1030,0.000,0.032,2223,2526,3560,3438,3683,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3437,-0.50,-175.2,2222,2524,3438,3676,513.1,-8.0,178,3443,0.00,2.05,0.00,0.000,260,0.000,0.050,2220,3830,3557,3438,3676,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3486,-0.50,-175.2,1312,3829,3427,3674,516.9,-8.0,180,3491,0.00,2.03,0.00,0.000,1030,0.000,0.028,2220,2502,3556,3437,3675,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3814,-0.50,-175.2,2220,2501,3437,3666,542.2,-7.2,196,3819,0.00,2.45,0.00,0.000,516,0.000,0.035,2220,1110,3553,3437,3669,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3851,-0.50,-175.2,2220,1109,3438,3669,544.3,-7.3,197,3857,0.00,2.53,0.00,0.000,1030,0.000,0.036,2220,2523,3553,3437,3669,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4168,-0.50,-175.2,2219,2521,3437,3662,569.8,-7.2,213,4175,0.00,2.08,0.00,0.000,260,0.000,0.051,2220,3823,3550,3438,3662,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4246,-0.50,-175.2,2220,3822,3437,3662,574.3,-6.5,216,4252,0.00,2.03,0.00,0.000,1030,0.000,0.027,2221,2496,3549,3437,3662,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4564,-0.50,-175.2,2219,2496,3437,3659,597.2,-8.2,232,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2493,3547,3436,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4874,-0.50,-175.2,2220,2496,3435,3655,623.9,-8.9,243,4880,0.00,2.20,0.00,0.000,260,0.000,0.050,2220,3831,3545,3435,3655,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4929,-0.50,-175.2,2219,3840,3432,3655,627.5,-9.1,244,4935,0.00,2.00,0.00,0.000,1030,0.000,0.028,2220,2507,3544,3433,3655,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5248,-0.50,-175.2,2219,2507,3432,3651,659.3,-9.4,255,5255,0.00,2.17,0.00,0.000,260,0.000,0.051,2219,3836,3541,3432,3651,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5295,-0.50,-175.2,2219,3835,3432,3650,663.0,-9.3,256,5302,0.00,2.00,0.00,0.000,1030,0.000,0.026,2220,2506,3541,3432,3650,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5622,-0.50,-175.2,2219,2506,3431,3647,692.4,-8.5,267,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2506,3539,3432,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5922,-0.50,-175.2,2219,2506,3431,3644,718.6,-8.8,277,5928,0.00,2.45,0.00,0.000,516,0.000,0.034,2220,1111,3537,3430,3644,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5946,-0.50,-175.2,2219,1111,3430,3645,718.6,-8.8,277,5953,0.00,2.55,0.00,0.000,1030,0.000,0.034,2219,2540,3537,3430,3645,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6266,-0.50,-175.2,2219,2537,3428,3642,748.8,-8.7,288,6273,0.00,2.03,0.00,0.000,260,0.000,0.050,2213,3826,3536,3430,3642,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6322,-0.50,-175.2,2212,3827,3428,3642,752.3,-8.7,289,6327,0.00,2.00,0.00,0.000,1030,0.000,0.028,2213,2512,3535,3428,3642,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6639,-0.50,-175.2,2212,2512,3435,3638,782.4,-9.1,300,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2512,3533,3428,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6937,-0.50,-175.2,2212,2512,3426,3637,808.0,-8.3,310,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2512,3531,3426,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,-0.50,-175.2,2212,2512,3426,3634,831.2,-7.5,320,7243,0.00,2.45,0.00,0.000,516,0.000,0.034,2213,1118,3529,3425,3633,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7266,-0.50,-175.2,2212,1118,3425,3634,831.2,-7.5,320,7274,0.00,2.55,0.00,0.000,1030,0.000,0.033,2209,2542,3529,3425,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7575,-0.50,-175.2,2209,2540,3425,3632,856.3,-7.6,331,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2538,3528,3425,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7873,-0.50,-175.2,2209,2539,3425,3630,878.3,-7.3,341,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2539,3527,3425,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8173,-0.50,-175.2,2209,2539,3424,3628,899.7,-7.1,351,8179,0.00,2.55,0.00,0.000,516,0.000,0.033,2209,1113,3526,3424,3628,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8222,-0.50,-175.2,2209,1113,3424,3629,902.3,-7.2,352,8229,0.00,2.58,0.00,0.000,1030,0.000,0.034,2206,2540,3526,3424,3628,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8544,-0.50,-175.2,2206,2538,3423,3627,927.8,-7.8,363,8550,0.00,2.05,0.00,0.000,260,0.000,0.050,2207,3839,3524,3422,3626,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8569,-0.50,-175.2,2206,3839,3422,3627,927.8,-7.8,363,8575,0.00,2.00,0.00,0.000,1030,0.000,0.028,2207,2513,3525,3423,3627,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8888,-0.50,-175.2,2206,2513,3422,3625,956.5,-8.9,374,8894,0.00,2.45,0.00,0.000,516,0.000,0.034,2206,1120,3524,3422,3626,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8935,-0.50,-175.2,2206,1120,3422,3626,960.3,-9.1,375,8942,0.00,2.53,0.00,0.000,1030,0.000,0.034,2206,2537,3524,3422,3626,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,9231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9231,begin apogee
$GC,9237,-0.10,0.0,2206,2388,3422,3624,990.2,-9.8,385,9396,0.40,0.10,152.50,1.047,10244,0.096,0.091,2353,2441,2847,2860,2834,0,0,0,0,0,0,26.62,24.90,24.25
$STATE,9401,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9403,0.50,175.2,2353,2441,2854,2818,998.4,0.0,389,9578,0.52,2.62,164.52,0.998,10756,0.041,0.030,2566,950,2134,2258,2010,0,0,0,0,0,0,25.15,25.14,24.12
$GC,9635,0.59,213.9,2566,949,2239,1987,992.6,7.2,398,9679,0.00,2.55,37.60,0.961,9222,0.000,0.025,2557,2433,1979,2115,1844,0,0,0,0,0,0,28.83,25.34,24.27
$GC,9997,0.59,213.9,2557,2429,2075,1822,960.5,8.9,410,10003,0.00,2.47,0.00,0.000,516,0.000,0.027,2569,960,1949,2076,1822,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10044,0.59,213.9,2569,960,2072,1822,957.4,8.8,411,10049,0.00,2.50,0.00,0.000,1030,0.000,0.025,2564,2450,1948,2074,1822,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10369,0.59,213.9,2563,2448,2071,1821,922.5,10.7,422,10375,0.00,2.33,0.00,0.000,260,0.000,0.043,2552,3837,1946,2071,1822,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10529,0.59,213.9,2552,3837,2070,1821,902.6,12.8,427,10535,0.00,2.28,0.00,0.000,1030,0.000,0.017,2564,2400,1945,2070,1821,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10865,0.59,213.9,2565,2398,2069,1820,863.5,11.6,438,10871,0.00,2.45,0.00,0.000,260,0.000,0.041,2553,3845,1945,2069,1821,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,17932,end climb,SURFACE_DEPTH_REACHED
$STATE,17932,begin surface coast
$FINISH,0.4,1.021744
$STATE,17946,end surface coast,CONTROL_FINISHED_OK
$STATE,17946,begin surface
$SM_CCo,18024,0.00,0.000,0,0,1192,407.44
$SM_GC,0.40,6.65,0.00,0.00,0.027,0.000,0.000,132,2562,1192,-6.99,-0.37,407.44,0,0,0,0,0,0,26.37,28.83,28.83
$IRIDIUM_FIX,1810.04,12247.25,310313,111149
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.63
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3981696
$24V_AH,24.1,10.490
$10V_AH,10.1,7.997
$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,16.425,188.225,546.500,0.000,0.000,0.000,0.000,442.975,0.000,0.000,16.653,3429.413,11286.333,725.585,2591.862,697.825,0.000,2324.535,0.000,1979.786,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,91.035,1047.285,0.000,0.000,0.000,0.000,125.460,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18052.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.393,0.000,0.000,0.000
$MEM,323380
$DATA_FILE_SIZE,30043,773
$CAP_FILE_SIZE,435202,0
$CFSIZE,260034560,243511296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.455,338.9,1
$GPS,310313,220306,1823.850,12242.599,38,1.3,38,-2.0