version: 66.11
glider: 169
mission: 8
dive: 91
start: 4 3 113 6 36 40
data:
$ID,169
$MISSION,8
$DIVE,91
$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,175
$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,-20971.631
$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,2525
$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,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,030413,062630,1855.272,12238.555,42,1.2,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-73.5
$GPS2,030413,063613,1855.537,12238.398,14,1.5,14,-2.1
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,97.3,229831,-3.2,-8.462,-18.96,3092
$D_GRID,1856
$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,-0.49,-170.3,119,2558,1369,1080,0.0,0.0,0,92,0.00,0.00,-67.12,0.000,16386,0.000,0.000,119,2558,2972,2903,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.49,-170.3,119,2558,2903,3041,4.0,-10.3,9,122,8.43,2.75,-9.80,0.000,19204,0.237,0.049,2219,1130,3550,3418,3683,0,0,0,0,0,0,25.94,26.20,26.50
$GC,137,-0.49,-170.3,2219,1130,3420,3683,26.2,-51.2,14,144,0.00,2.78,0.00,0.000,1030,0.000,0.037,2207,2578,3552,3421,3683,0,0,0,0,0,0,28.83,26.22,28.83
$GC,463,-0.49,-170.3,2206,2576,3423,3684,142.0,-32.6,33,470,0.00,2.72,0.00,0.000,516,0.000,0.034,2207,1130,3551,3419,3683,0,0,0,0,0,0,28.83,26.43,28.83
$GC,676,-0.49,-170.3,2206,1130,3425,3683,179.2,-12.2,43,683,0.12,2.70,0.00,0.000,3078,0.154,0.034,2232,2578,3554,3425,3683,0,0,0,0,0,0,26.42,26.51,28.83
$GC,1004,-0.49,-170.3,2232,2575,3425,3683,234.0,-15.9,59,1010,0.00,2.72,0.00,0.000,516,0.000,0.033,2233,1111,3554,3426,3683,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1122,-0.49,-170.3,2232,1110,3426,3683,248.3,-11.8,64,1128,0.00,2.72,0.00,0.000,1030,0.000,0.036,2232,2579,3554,3426,3683,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1437,-0.49,-170.3,2232,2576,3425,3683,286.5,-11.2,80,1443,0.00,2.67,0.00,0.000,516,0.000,0.031,2233,1118,3554,3425,3683,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1485,-0.49,-170.3,2233,1118,3425,3683,290.8,-10.4,82,1491,0.00,2.70,0.00,0.000,1030,0.000,0.037,2232,2579,3554,3425,3683,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1812,-0.49,-170.3,2232,2576,3425,3682,329.4,-14.8,98,1818,0.00,2.67,0.00,0.000,516,0.000,0.031,2233,1104,3553,3425,3682,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1864,-0.49,-170.3,2233,1103,3425,3682,336.3,-14.6,100,1870,0.00,2.72,0.00,0.000,1030,0.000,0.034,2224,2582,3553,3425,3681,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2186,-0.49,-170.3,2224,2580,3425,3676,362.3,-5.0,116,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2580,3550,3425,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.49,-170.3,2224,2579,3425,3672,384.5,-7.7,131,2491,0.00,2.72,0.00,0.000,516,0.000,0.032,2225,1110,3547,3425,3669,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2535,-0.49,-170.3,2224,1110,3425,3672,388.2,-7.7,133,2542,0.00,2.72,0.00,0.000,1030,0.000,0.035,2223,2582,3548,3425,3671,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2858,-0.49,-170.3,2222,2580,3425,3665,423.4,-12.8,149,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2580,3545,3425,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3157,-0.49,-170.3,2222,2580,3425,3661,463.2,-13.3,164,3163,0.00,2.67,0.00,0.000,516,0.000,0.031,2223,1118,3543,3425,3661,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3236,-0.49,-170.3,2223,1118,3425,3660,472.1,-13.0,167,3242,0.00,2.70,0.00,0.000,1030,0.000,0.037,2220,2584,3543,3426,3660,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3551,-0.49,-170.3,2220,2581,3425,3653,508.2,-9.9,183,3558,0.00,2.67,0.00,0.000,516,0.000,0.033,2220,1123,3539,3425,3653,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3603,-0.49,-170.3,2220,1122,3425,3652,512.8,-9.9,185,3609,0.00,2.70,0.00,0.000,1030,0.000,0.037,2220,2583,3538,3424,3652,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3925,-0.49,-170.3,2220,2582,3425,3647,542.5,-9.0,201,3931,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1120,3536,3425,3647,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3976,-0.49,-170.3,2220,1119,3425,3647,546.7,-9.0,203,3983,0.00,2.70,0.00,0.000,1030,0.000,0.037,2220,2583,3535,3425,3646,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4299,-0.49,-170.3,2220,2578,3420,3640,571.3,-7.3,219,4305,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1111,3533,3425,3641,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4349,-0.49,-170.3,2220,1110,3425,3640,575.1,-7.7,221,4355,0.00,2.70,0.00,0.000,1030,0.000,0.035,2220,2582,3532,3425,3639,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4664,-0.49,-170.3,2220,2580,3422,3637,604.1,-10.0,236,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2580,3529,3422,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4964,-0.49,-170.3,2219,2580,3420,3634,632.8,-8.9,246,4970,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1105,3527,3420,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5049,-0.49,-170.3,2220,1105,3420,3633,637.9,-8.2,248,5055,0.00,2.70,0.00,0.000,1030,0.000,0.034,2220,2584,3526,3419,3633,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5367,-0.49,-170.3,2219,2582,3418,3630,659.9,-6.7,259,5372,0.00,1.90,0.00,0.000,260,0.000,0.050,2213,3825,3524,3419,3630,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5408,-0.49,-170.3,2213,3825,3417,3630,662.5,-6.7,260,5413,0.00,1.88,0.00,0.000,1030,0.000,0.029,2213,2556,3524,3418,3630,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5738,-0.49,-170.3,2213,2556,3417,3626,690.7,-9.7,271,5745,0.00,2.60,0.00,0.000,516,0.000,0.035,2213,1124,3521,3417,3626,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5824,-0.49,-170.3,2213,1125,3417,3626,698.2,-10.6,273,5831,0.00,2.67,0.00,0.000,1030,0.000,0.036,2209,2581,3521,3417,3626,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6142,-0.49,-170.3,2209,2579,3416,3624,738.8,-11.5,284,6149,0.00,1.92,0.00,0.000,260,0.000,0.055,2207,3821,3520,3416,3625,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6218,-0.49,-170.3,2207,3821,3415,3624,746.6,-11.5,286,6224,0.00,1.88,0.00,0.000,1030,0.000,0.028,2207,2554,3519,3415,3624,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6543,-0.49,-170.3,2207,2554,3414,3621,782.7,-10.1,297,6550,0.00,2.60,0.00,0.000,516,0.000,0.034,2207,1111,3517,3414,3620,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6604,-0.49,-170.3,2207,1111,3414,3620,786.2,-9.9,298,6612,0.00,2.70,0.00,0.000,1030,0.000,0.036,2207,2583,3517,3414,3620,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6914,-0.49,-170.3,2206,2583,3411,3619,809.8,-6.4,309,6920,0.00,2.67,0.00,0.000,516,0.000,0.034,2206,1129,3515,3411,3619,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6963,-0.49,-170.3,2206,1129,3411,3619,812.2,-6.3,310,6969,0.00,2.67,0.00,0.000,1030,0.000,0.034,2207,2584,3514,3411,3618,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7284,-0.49,-170.3,2206,2581,3411,3615,830.8,-5.8,321,7291,0.00,2.67,0.00,0.000,516,0.000,0.033,2207,1124,3513,3411,3615,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7360,-0.49,-170.3,2206,1124,3410,3615,835.0,-6.2,323,7366,0.00,2.70,0.00,0.000,1030,0.000,0.037,2206,2584,3513,3411,3615,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7686,-0.49,-170.3,2206,2582,3409,3614,865.6,-11.1,334,7693,0.00,2.67,0.00,0.000,516,0.000,0.032,2206,1127,3512,3409,3615,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7762,-0.49,-170.3,2206,1127,3409,3614,873.9,-11.8,336,7768,0.00,2.70,0.00,0.000,1030,0.000,0.035,2206,2585,3511,3410,3613,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8088,-0.49,-170.3,2206,2582,3408,3611,919.7,-13.0,347,8095,0.00,2.67,0.00,0.000,516,0.000,0.032,2206,1124,3509,3408,3611,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8154,-0.49,-170.3,2206,1124,3408,3611,927.1,-11.6,349,8161,0.00,2.70,0.00,0.000,1030,0.000,0.035,2207,2582,3509,3408,3611,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8491,-0.49,-170.3,2206,2580,3408,3609,950.2,-5.4,360,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2580,3508,3408,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8791,-0.49,-170.3,2206,2580,3408,3607,966.3,-5.8,370,8797,0.00,2.67,0.00,0.000,516,0.000,0.032,2206,1109,3507,3407,3607,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8858,-0.49,-170.3,2206,1109,3407,3607,970.7,-6.5,372,8864,0.12,2.70,0.00,0.000,3078,0.117,0.034,2238,2584,3506,3407,3606,0,0,0,0,0,0,26.62,26.67,28.83
$GC,9195,-0.49,-170.3,2236,2581,3407,3605,987.4,-5.1,383,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2581,3505,3407,3604,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9251,begin apogee
$GC,9258,-0.10,0.0,2237,2502,3406,3604,990.6,-5.3,385,9415,0.32,0.08,149.48,0.980,10246,0.089,0.062,2361,2537,2845,2859,2831,0,0,0,0,0,0,26.62,24.91,24.27
$STATE,9419,end apogee,CONTROL_FINISHED_OK
$STATE,9419,begin climb
$GC,9422,0.49,170.3,2360,2537,2856,2821,995.9,0.0,389,9601,0.47,2.85,161.32,0.984,10756,0.037,0.026,2586,1047,2139,2264,2014,0,0,1,0,0,0,25.20,24.81,24.10
$GC,9620,0.60,214.0,2586,1047,2259,2007,988.6,7.0,395,9672,0.00,2.72,41.72,0.966,9222,0.000,0.027,2575,2529,1965,2105,1825,0,0,0,0,0,0,28.83,25.18,24.18
$GC,9965,0.60,214.0,2574,2528,2079,1816,940.2,13.3,407,9971,0.00,2.12,0.00,0.000,260,0.000,0.044,2565,3836,1947,2079,1816,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10076,0.60,214.0,2564,3836,2076,1816,925.6,14.7,410,10083,0.00,2.05,0.00,0.000,1030,0.000,0.017,2574,2497,1946,2076,1816,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10397,0.60,214.0,2575,2495,2073,1815,875.8,15.7,421,10403,0.00,2.22,0.00,0.000,260,0.000,0.043,2565,3835,1946,2073,1820,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10484,0.60,214.0,2565,3835,2073,1815,864.1,16.8,423,10490,0.00,2.03,0.00,0.000,1030,0.000,0.016,2574,2490,1944,2073,1815,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,17675,end climb,SURFACE_DEPTH_REACHED
$STATE,17676,begin surface coast
$FINISH,0.1,1.021565
$STATE,17690,end surface coast,CONTROL_FINISHED_OK
$STATE,17690,begin surface
$SM_CCo,17768,0.00,0.000,0,0,1046,443.01
$SM_GC,0.56,6.65,0.32,0.00,0.031,0.055,0.000,131,2585,1046,-6.98,-0.28,443.01,0,0,0,0,0,0,26.34,26.35,28.83
$IRIDIUM_FIX,1844.15,12238.23,030413,010157
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.89
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3975744
$24V_AH,24.1,12.178
$10V_AH,10.1,9.265
$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,16.825,191.275,552.550,0.000,0.000,0.000,0.000,342.325,0.000,0.000,15.586,3459.310,10937.473,749.119,2466.656,698.432,0.000,2259.663,0.000,2018.508,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,79.560,983.790,0.000,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17743.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.275,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,30067,759
$CAP_FILE_SIZE,434588,0
$CFSIZE,260034560,241487872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.306, 19.1,1
$GPS,030413,113400,1858.857,12241.160,40,1.1,40,-2.2