version: 66.11
glider: 169
mission: 8
dive: 101
start: 4 5 113 12 40 19
data:
$ID,169
$MISSION,8
$DIVE,101
$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,400
$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,165
$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,430
$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,-20984.488
$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,2475
$C_ROLL_CLIMB,2650
$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
$GPS1,050413,122730,1917.684,12300.599,40,1.6,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-70.8
$GPS2,050413,123931,1917.756,12300.468,12,1.7,12,-2.2
$SPEED_LIMITS,0.143,0.238
$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,78.1,174172,-3.2,-8.250,-19.13,2990
$D_GRID,4524
$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,-0.47,-160.6,122,2488,1270,938,0.0,0.0,0,100,0.00,0.00,-75.57,0.000,16386,0.000,0.000,121,2489,3052,2972,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.47,-160.6,121,2489,2973,3126,3.8,-9.1,10,129,8.48,2.30,-7.82,0.000,18692,0.239,0.061,2217,3842,3510,3386,3635,0,0,0,0,0,0,25.94,26.20,26.51
$GC,203,-0.47,-160.6,2216,3842,3387,3635,50.2,-37.1,21,209,0.00,2.20,0.00,0.000,1030,0.000,0.028,2218,2458,3511,3387,3635,0,0,0,0,0,0,28.83,26.31,28.83
$GC,518,-0.47,-160.6,2218,2457,3388,3635,137.4,-26.1,37,524,0.00,2.47,0.00,0.000,516,0.000,0.035,2218,1014,3511,3388,3635,0,0,0,0,0,0,28.83,26.46,28.83
$GC,629,-0.47,-160.6,1360,1013,3376,3633,160.9,-20.8,42,636,0.00,2.53,0.00,0.000,1030,0.000,0.034,2211,2477,3511,3388,3635,0,0,0,0,0,0,28.83,26.51,28.83
$GC,950,-0.47,-160.6,2210,2477,3389,3635,225.7,-17.2,58,956,0.00,2.17,0.00,0.000,260,0.000,0.047,2207,3826,3515,3395,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,970,-0.47,-160.6,2206,3825,3389,3635,225.7,-17.2,58,979,0.10,2.15,0.00,0.000,3078,0.155,0.027,2233,2455,3512,3389,3635,0,0,0,0,0,0,26.48,26.62,28.83
$GC,1276,-0.47,-160.6,2233,2453,3389,3635,275.4,-15.2,74,1282,0.00,2.45,0.00,0.000,516,0.000,0.034,2234,1011,3512,3389,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1348,-0.47,-160.6,2233,1011,3389,3635,284.0,-12.8,77,1354,0.00,2.53,0.00,0.000,1030,0.000,0.031,2233,2483,3512,3389,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1671,-0.47,-160.6,2233,2480,3389,3635,324.4,-12.5,93,1677,0.00,2.17,0.00,0.000,260,0.000,0.047,2233,3833,3511,3389,3634,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1752,-0.47,-160.6,2233,3833,3388,3634,333.0,-12.7,96,1760,0.00,2.12,0.00,0.000,1030,0.000,0.024,2233,2456,3511,3389,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2059,-0.47,-160.6,2233,2456,3385,3632,370.9,-11.8,112,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2456,3510,3389,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2359,-0.47,-160.6,2233,2456,3389,3629,404.1,-10.8,127,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2456,3509,3389,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-0.47,-160.6,2233,2455,3389,3625,434.5,-10.0,142,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2456,3507,3389,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,-0.47,-160.6,2233,2455,3389,3621,463.8,-9.8,157,2966,0.00,2.45,0.00,0.000,516,0.000,0.034,2233,1009,3505,3389,3621,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2978,-0.47,-160.6,2233,1010,3389,3621,463.8,-9.8,157,2986,0.00,2.53,0.00,0.000,1030,0.000,0.031,2233,2488,3505,3389,3621,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3285,-0.47,-160.6,2232,2486,3389,3616,493.9,-8.8,173,3291,0.00,2.17,0.00,0.000,260,0.000,0.046,2231,3840,3502,3389,3615,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3362,-0.47,-160.6,2231,3840,3389,3615,499.7,-8.7,176,3368,0.00,2.17,0.00,0.000,1030,0.000,0.024,2232,2441,3502,3389,3615,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3677,-0.47,-160.6,2231,2440,3389,3610,528.3,-8.9,192,3683,0.00,2.33,0.00,0.000,260,0.000,0.047,2223,3831,3499,3389,3610,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3753,-0.47,-160.6,2223,3831,3388,3609,534.4,-9.0,195,3760,0.00,2.17,0.00,0.000,1030,0.000,0.026,2223,2443,3499,3389,3610,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4070,-0.47,-160.6,2223,2448,3389,3604,565.7,-9.4,211,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2443,3496,3388,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4369,-0.47,-160.6,2223,2443,3388,3599,593.4,-9.2,226,4376,0.00,2.35,0.00,0.000,260,0.000,0.050,2221,3834,3493,3388,3599,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4417,-0.47,-160.6,2220,3834,3390,3599,597.7,-9.2,228,4424,0.00,2.17,0.00,0.000,1030,0.000,0.026,2221,2436,3494,3389,3599,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4744,-0.47,-160.6,2221,2437,3388,3593,626.5,-8.6,239,4750,0.00,2.33,0.00,0.000,260,0.000,0.049,2223,3826,3490,3388,3593,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4846,-0.47,-160.6,2221,3824,3388,3592,634.6,-8.4,242,4852,0.00,2.15,0.00,0.000,1030,0.000,0.027,2221,2452,3489,3388,3591,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5176,-0.47,-160.6,2220,2452,3388,3587,661.8,-8.0,253,5183,0.00,2.33,0.00,0.000,260,0.000,0.052,2221,3834,3487,3388,3587,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5223,-0.47,-160.6,2220,3834,3387,3592,664.6,-7.9,254,5230,0.00,2.17,0.00,0.000,1030,0.000,0.026,2221,2444,3486,3387,3586,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5550,-0.47,-160.6,2220,2444,3387,3582,691.3,-8.1,265,5556,0.00,2.33,0.00,0.000,260,0.000,0.051,2220,3830,3484,3387,3582,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5597,-0.47,-160.6,2220,3830,3386,3582,694.3,-8.1,266,5603,0.00,2.17,0.00,0.000,1030,0.000,0.028,2221,2449,3484,3386,3582,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5924,-0.47,-160.6,2220,2448,3386,3579,720.5,-7.9,277,5930,0.00,2.33,0.00,0.000,260,0.000,0.053,2220,3831,3482,3386,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5975,-0.47,-160.6,2220,3831,3384,3579,723.5,-7.8,278,5981,0.00,2.17,0.00,0.000,1030,0.000,0.028,2220,2455,3482,3385,3579,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6297,-0.47,-160.6,2220,2455,3384,3578,751.2,-8.5,289,6303,0.00,2.30,0.00,0.000,260,0.000,0.049,2220,3834,3480,3384,3576,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6364,-0.47,-160.6,2220,3834,3382,3576,757.2,-8.7,291,6369,0.00,2.17,0.00,0.000,1030,0.000,0.027,2220,2450,3479,3382,3576,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6699,-0.47,-160.6,2220,2448,3382,3573,788.6,-9.6,302,6704,0.00,2.33,0.00,0.000,260,0.000,0.054,2220,3832,3477,3382,3572,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6728,-0.47,-160.6,2220,3832,3381,3572,788.6,-9.6,302,6736,0.00,2.17,0.00,0.000,1030,0.000,0.027,2221,2451,3476,3381,3572,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7036,-0.47,-160.6,2220,2451,3381,3570,819.0,-8.6,313,7042,0.00,2.33,0.00,0.000,260,0.000,0.053,2220,3832,3475,3381,3570,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7126,-0.47,-160.6,2219,3832,3380,3571,824.7,-8.4,315,7134,0.00,2.17,0.00,0.000,1030,0.000,0.028,2220,2454,3475,3380,3570,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7435,-0.47,-160.6,2219,2454,3380,3567,850.5,-7.7,326,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2454,3473,3380,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7733,-0.47,-160.6,2220,2454,3379,3565,873.9,-7.8,336,7740,0.00,2.33,0.00,0.000,260,0.000,0.050,2209,3836,3472,3379,3565,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7801,-0.47,-160.6,2209,3836,3377,3565,879.3,-7.9,338,7807,0.00,2.20,0.00,0.000,1030,0.000,0.028,2209,2444,3471,3377,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8137,-0.47,-160.6,2209,2444,3383,3562,903.2,-6.5,349,8145,0.10,2.35,0.00,0.000,2308,0.130,0.050,2233,3827,3469,3377,3562,0,0,0,0,0,0,26.66,26.63,28.83
$GC,8189,-0.47,-160.6,2233,3827,3377,3562,905.1,-6.0,350,8195,0.00,2.17,0.00,0.000,1030,0.000,0.028,2233,2457,3469,3376,3562,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8510,-0.47,-160.6,2233,2452,3376,3561,919.8,-4.4,361,8516,0.00,2.33,0.00,0.000,260,0.000,0.052,2224,3834,3468,3376,3560,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8592,-0.47,-160.6,2223,3834,3376,3561,923.5,-5.1,363,8598,0.00,2.17,0.00,0.000,1030,0.000,0.028,2224,2453,3468,3376,3560,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8912,-0.47,-160.6,2224,2454,3376,3557,940.5,-5.4,374,8918,0.00,2.33,0.00,0.000,260,0.000,0.053,2221,3836,3467,3377,3557,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8967,-0.47,-160.6,2220,3835,3375,3557,942.6,-5.5,375,8974,0.00,2.17,0.00,0.000,1030,0.000,0.028,2221,2453,3466,3374,3558,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9285,-0.47,-160.6,2220,2454,3375,3555,963.4,-6.4,386,9292,0.00,2.30,0.00,0.000,260,0.000,0.053,2220,3821,3465,3375,3555,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9357,-0.47,-160.6,2220,3821,3373,3555,968.2,-6.7,388,9363,0.00,2.17,0.00,0.000,1030,0.000,0.028,2220,2440,3464,3373,3555,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9685,begin apogee
$GC,9692,-0.10,0.0,2219,2675,3373,3554,991.8,-7.3,399,9838,0.38,0.10,140.15,1.059,10246,0.090,0.073,2359,2595,2848,2858,2838,0,0,0,0,0,0,26.59,25.00,24.33
$STATE,9840,end apogee,CONTROL_FINISHED_OK
$STATE,9840,begin climb
$GC,9843,0.47,160.6,2360,2595,2852,2825,998.2,0.0,403,10005,0.45,2.85,151.48,0.999,10756,0.032,0.025,2589,1176,2184,2308,2060,0,0,0,0,0,0,25.20,24.87,24.16
$GC,10066,0.47,160.6,2588,1176,2294,2049,984.8,10.3,411,10074,0.12,2.92,0.00,0.000,5126,0.158,0.027,2545,2674,2171,2294,2049,0,0,0,0,0,0,25.31,25.43,28.83
$GC,10404,0.47,160.6,2545,2672,2287,2046,948.3,10.4,422,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2672,2167,2288,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10703,0.47,160.6,2545,2671,2284,2046,917.2,10.3,432,10709,0.00,2.80,0.00,0.000,516,0.000,0.025,2558,1184,2165,2284,2046,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,20290,end climb,SURFACE_DEPTH_REACHED
$STATE,20290,begin surface coast
$FINISH,0.2,1.021987
$STATE,20325,end surface coast,CONTROL_FINISHED_OK
$STATE,20325,begin surface
$SM_CCo,20343,55.85,0.120,0,0,1097,430.01
$SM_GC,0.44,6.32,0.28,55.85,0.028,0.039,0.120,133,2434,1097,-6.98,0.40,430.01,0,0,0,0,0,0,26.59,26.65,26.33
$IRIDIUM_FIX,1909.23,12259.61,050413,070736
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.73
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3970624
$24V_AH,24.2,13.467
$10V_AH,10.0,10.364
$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,16.800,220.400,437.075,55.850,0.000,0.000,0.000,446.075,0.000,0.000,13.088,3842.837,12996.812,784.656,2709.583,776.622,0.000,2425.609,0.000,2115.968,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,94.095,1058.760,120.105,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20405.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.437,0.000,0.000,0.000
$MEM,329208
$DATA_FILE_SIZE,33329,900
$CAP_FILE_SIZE,482434,0
$CFSIZE,260034560,239685632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 67.6,1
$GPS,050413,182135,1918.429,12303.732,36,0.9,41,-2.3