version: 66.11
glider: 169
mission: 8
dive: 140
start: 4 14 113 4 14 28
data:
$ID,169
$MISSION,8
$DIVE,140
$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,-21392.938
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2500
$C_ROLL_CLIMB,2600
$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,48
$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
$GPS1,140413,041018,2004.789,12410.072,7,1.1,13,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-68.4
$GPS2,140413,041400,2004.760,12410.050,9,0.9,15,-2.5
$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,26.9,25662,-3.2,-8.250,-19.13,2990
$D_GRID,5505
$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,-0.48,-160.6,135,2490,638,213,0.0,0.0,0,136,0.00,0.00,-111.20,0.000,16386,0.000,0.000,132,2491,3402,3277,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-0.48,-160.6,132,2490,3278,3528,4.3,-11.0,14,159,8.27,2.40,-1.67,0.000,18692,0.240,0.055,2200,3835,3509,3370,3649,0,0,0,0,0,0,26.15,26.54,26.79
$GC,219,-0.48,-160.6,2199,3835,3371,3649,44.0,-36.7,22,225,0.00,2.22,0.00,0.000,1030,0.000,0.027,2199,2473,3509,3371,3648,0,0,0,0,0,0,28.83,26.62,28.83
$GC,547,-0.48,-160.6,2199,2472,3371,3648,126.8,-24.6,39,553,0.00,2.38,0.00,0.000,516,0.000,0.033,2200,1036,3509,3371,3648,0,0,0,0,0,0,28.83,26.65,28.83
$GC,626,-0.48,-160.6,2199,1036,3371,3648,142.1,-21.9,42,632,0.00,2.47,0.00,0.000,1030,0.000,0.035,2193,2512,3509,3371,3648,0,0,0,0,0,0,28.83,26.65,28.83
$GC,941,-0.48,-160.6,2193,2509,3371,3648,207.1,-18.6,58,948,0.00,2.20,0.00,0.000,260,0.000,0.047,2182,3825,3509,3371,3648,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1010,-0.48,-160.6,2182,3825,3371,3647,220.0,-18.7,61,1017,0.15,2.20,0.00,0.000,3078,0.143,0.026,2225,2476,3508,3370,3647,0,0,0,0,0,0,26.53,26.73,28.83
$GC,1340,-0.48,-160.6,2226,2474,3371,3644,268.8,-15.2,77,1345,0.00,2.35,0.00,0.000,260,0.000,0.046,2221,3837,3506,3369,3644,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1381,-0.48,-160.6,2220,3841,3371,3645,273.0,-15.1,78,1389,0.00,2.17,0.00,0.000,1030,0.000,0.024,2220,2472,3507,3370,3644,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1685,-0.48,-160.6,2220,2472,3371,3641,314.7,-11.9,94,1691,0.00,2.35,0.00,0.000,516,0.000,0.032,2220,1032,3505,3371,3640,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1755,-0.48,-160.6,1344,1030,3358,3638,323.0,-12.5,97,1761,0.00,2.45,0.00,0.000,1030,0.000,0.032,2219,2518,3505,3371,3639,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2078,-0.48,-160.6,2219,2516,3370,3634,359.7,-10.4,113,2084,0.00,2.20,0.00,0.000,260,0.000,0.046,2207,3835,3502,3371,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2107,-0.48,-160.6,2207,3835,3371,3634,362.7,-10.5,114,2113,0.00,2.20,0.00,0.000,1030,0.000,0.024,2207,2455,3505,3371,3640,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2430,-0.48,-160.6,2207,2453,3371,3630,402.4,-13.1,130,2437,0.00,2.30,0.00,0.000,516,0.000,0.032,2208,1030,3500,3371,3629,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2499,-0.48,-160.6,2207,1030,3371,3631,412.2,-13.8,133,2506,0.00,2.47,0.00,0.000,1030,0.000,0.033,2206,2520,3499,3371,3628,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2827,-0.48,-160.6,2206,2517,3370,3623,453.3,-11.3,149,2833,0.00,2.20,0.00,0.000,260,0.000,0.044,2196,3840,3497,3370,3624,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2930,-0.48,-160.6,1312,3840,3357,3619,463.6,-11.5,153,2938,0.00,2.22,0.00,0.000,1030,0.000,0.024,2196,2459,3496,3371,3621,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3236,-0.48,-160.6,2195,2458,3370,3616,495.1,-8.8,169,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2458,3496,3377,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,-0.48,-160.6,2195,2458,3370,3611,523.9,-10.1,184,3542,0.00,2.42,0.00,0.000,260,0.000,0.050,2189,3833,3490,3370,3610,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3588,-0.48,-160.6,2189,3834,3370,3610,529.1,-10.6,186,3594,0.12,2.20,0.00,0.000,3078,0.131,0.026,2227,2465,3490,3370,3610,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3911,-0.48,-160.6,2227,2463,3370,3603,559.4,-9.2,202,3917,0.00,2.38,0.00,0.000,260,0.000,0.049,2220,3824,3486,3370,3603,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3946,-0.48,-160.6,2220,3824,3370,3603,562.0,-9.2,203,3951,0.00,2.20,0.00,0.000,1030,0.000,0.027,2220,2463,3486,3370,3603,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4261,-0.48,-160.6,2220,2464,3370,3597,592.4,-9.1,219,4267,0.00,2.38,0.00,0.000,260,0.000,0.050,2219,3833,3483,3370,3597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4318,-0.48,-160.6,2217,3833,3370,3596,596.5,-9.2,221,4324,0.00,2.22,0.00,0.000,1030,0.000,0.028,2218,2460,3483,3370,3596,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4653,-0.48,-160.6,2217,2461,3370,3590,627.6,-9.1,233,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2461,3480,3370,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4953,-0.48,-160.6,2218,2461,3370,3586,653.3,-8.4,243,4960,0.00,2.42,0.00,0.000,260,0.000,0.050,2209,3821,3478,3370,3586,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5031,-0.48,-160.6,2208,3821,3369,3590,659.2,-8.6,245,5037,0.00,2.20,0.00,0.000,1030,0.000,0.027,2209,2465,3477,3370,3585,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5356,-0.48,-160.6,2209,2465,3370,3580,686.0,-7.6,256,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2464,3475,3370,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5656,-0.48,-160.6,2208,2465,3368,3577,707.9,-7.3,266,5662,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3821,3473,3370,3577,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5732,-0.48,-160.6,2207,3821,3368,3577,712.9,-7.4,268,5739,0.00,2.20,0.00,0.000,1030,0.000,0.027,2207,2464,3472,3367,3577,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6058,-0.48,-160.6,2207,2464,3367,3574,739.1,-8.1,279,6064,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3821,3470,3367,3573,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6108,-0.48,-160.6,2204,3821,3367,3574,742.1,-8.3,280,6114,0.00,2.20,0.00,0.000,1030,0.000,0.027,2207,2464,3470,3367,3574,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6431,-0.48,-160.6,2206,2463,3366,3571,772.3,-9.3,291,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2463,3469,3367,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6729,-0.48,-160.6,2206,2463,3366,3569,800.1,-9.2,301,6735,0.00,2.40,0.00,0.000,260,0.000,0.051,2206,3832,3467,3366,3569,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6810,-0.48,-160.6,2206,3832,3365,3569,806.3,-9.2,303,6816,0.00,2.22,0.00,0.000,1030,0.000,0.028,2206,2466,3467,3365,3569,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7130,-0.48,-160.6,2206,2468,3365,3566,835.5,-8.5,314,7136,0.00,2.40,0.00,0.000,260,0.000,0.050,2206,3837,3465,3365,3566,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7179,-0.48,-160.6,2206,3837,3364,3566,839.3,-8.8,315,7185,0.00,2.25,0.00,0.000,1030,0.000,0.027,2206,2460,3465,3364,3566,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7500,-0.48,-160.6,2206,2461,3363,3563,868.3,-9.0,326,7507,0.00,2.40,0.00,0.000,260,0.000,0.052,2206,3830,3463,3364,3563,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7586,-0.48,-160.6,2206,3830,3361,3562,874.4,-9.2,328,7592,0.00,2.22,0.00,0.000,1030,0.000,0.028,2206,2468,3462,3362,3563,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7904,-0.48,-160.6,2206,2468,3361,3561,902.6,-8.2,339,7911,0.00,2.38,0.00,0.000,260,0.000,0.049,2197,3839,3461,3361,3561,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7951,-0.48,-160.6,2198,3839,3360,3561,905.9,-8.3,340,7957,0.00,2.25,0.00,0.000,1030,0.000,0.027,2197,2459,3460,3360,3561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8277,-0.48,-160.6,2197,2459,3360,3558,935.0,-8.6,351,8283,0.00,2.40,0.00,0.000,260,0.000,0.052,2194,3831,3459,3360,3558,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8327,-0.48,-160.6,2194,3831,3359,3558,937.6,-8.3,352,8333,0.00,2.22,0.00,0.000,1030,0.000,0.028,2194,2467,3459,3359,3559,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8649,-0.48,-160.6,2194,2467,3359,3556,966.2,-8.6,363,8657,0.10,2.38,0.00,0.000,2308,0.139,0.048,2215,3832,3455,3358,3552,0,0,0,0,0,0,26.59,26.52,28.83
$GC,8701,-0.48,-160.6,2216,3832,3358,3555,969.3,-8.5,364,8707,0.00,2.22,0.00,0.000,1030,0.000,0.029,2215,2466,3456,3357,3555,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,8992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8992,begin apogee
$GC,8998,-0.12,0.0,2214,2609,3357,3554,991.4,-7.4,374,9163,0.35,0.00,158.85,0.940,10246,0.096,0.000,2341,2609,2845,2852,2839,0,0,0,0,0,0,26.44,28.83,24.46
$STATE,9167,end apogee,CONTROL_FINISHED_OK
$STATE,9167,begin climb
$GC,9170,0.48,160.6,2341,2609,2848,2831,1000.2,0.0,379,9336,0.50,2.80,153.90,0.986,10756,0.043,0.025,2563,1143,2189,2310,2068,0,0,1,0,0,0,25.29,25.00,24.32
$GC,9400,0.49,163.8,2563,1143,2295,2054,991.4,8.1,387,9406,0.00,2.65,0.00,0.000,1030,0.000,0.027,2551,2606,2174,2295,2053,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9717,0.49,163.8,2551,2604,2290,2052,956.6,10.3,398,9723,0.00,2.03,0.00,0.000,260,0.000,0.042,2541,3842,2170,2290,2051,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9787,0.49,163.8,2541,3842,2287,2051,948.8,10.9,400,9794,0.00,1.98,0.00,0.000,1030,0.000,0.016,2551,2566,2169,2287,2052,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10118,0.49,163.8,2551,2566,2285,2052,915.8,9.6,411,10124,0.00,2.17,0.00,0.000,260,0.000,0.041,2542,3850,2168,2285,2051,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10159,0.49,163.8,2541,3850,2284,2052,912.1,9.8,412,10165,0.00,1.98,0.00,0.000,1030,0.000,0.016,2551,2564,2168,2284,2052,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10490,0.49,163.8,2552,2564,2283,2051,879.1,10.0,423,10496,0.00,2.15,0.00,0.000,260,0.000,0.041,2542,3830,2166,2282,2051,0,0,0,0,0,0,28.83,26.42,28.83
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$STATE,18990,end climb,SURFACE_DEPTH_REACHED
$STATE,18991,begin surface coast
$FINISH,0.6,1.022856
$STATE,19008,end surface coast,CONTROL_FINISHED_OK
$STATE,19008,begin surface
$SM_CCo,19026,51.70,0.126,0,0,1098,430.01
$SM_GC,0.18,6.47,0.20,51.70,0.031,0.044,0.126,141,2434,1098,-6.94,0.28,430.01,0,0,0,0,0,0,26.49,26.63,26.20
$IRIDIUM_FIX,1959.59,12406.87,140413,040441
$TT8_MAMPS,0.021721,0.021721
$HUMID,47.40
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3950624
$24V_AH,24.3,18.512
$10V_AH,10.2,14.644
$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,16.375,186.825,451.025,51.700,0.000,0.000,0.000,0.000,0.000,0.000,15.969,3540.233,12105.533,743.328,2101.221,660.210,0.000,1911.469,0.000,2028.921,0.000,0.545,0.000
$DEVICE_MAMPS,240.210,55.080,986.085,126.225,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18962.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.420,0.000,0.000,0.000
$MEM,329200
$DATA_FILE_SIZE,30064,826
$CAP_FILE_SIZE,529681,0
$CFSIZE,260034560,233000960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.174, 24.8,1
$GPS,140413,093335,2007.974,12411.646,34,1.2,34,-2.5