version: 66.11
glider: 169
mission: 8
dive: 151
start: 4 16 113 15 42 30
data:
$ID,169
$MISSION,8
$DIVE,151
$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,-21407.25
$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
$GPS1,160413,152936,2000.328,12421.584,34,0.9,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-71.1
$GPS2,160413,154200,2000.332,12421.747,10,1.1,15,-2.5
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,182.9,242503,-3.2,-8.250,-19.13,2990
$D_GRID,5604
$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,-0.48,-160.6,123,2522,1263,937,0.0,0.0,0,109,0.00,0.00,-83.45,0.000,16386,0.000,0.000,122,2522,3291,3178,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.48,-160.6,122,2522,3178,3404,4.8,-13.6,11,138,8.68,2.58,-3.55,0.000,18948,0.246,0.049,2219,1044,3511,3380,3643,0,0,0,0,0,0,25.71,26.13,26.42
$GC,173,-0.48,-160.6,2219,1044,3381,3643,34.4,-44.8,17,181,0.00,2.50,0.00,0.000,1030,0.000,0.037,2212,2518,3512,3381,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,482,-0.48,-160.6,2212,2517,3382,3643,107.4,-23.3,36,488,0.00,2.45,0.00,0.000,516,0.000,0.031,2212,1039,3512,3382,3643,0,0,0,0,0,0,28.83,26.37,28.83
$GC,501,-0.48,-160.6,2212,1038,3382,3643,107.4,-23.3,36,509,0.00,2.47,0.00,0.000,1030,0.000,0.035,2210,2515,3512,3381,3643,0,0,0,0,0,0,28.83,26.36,28.83
$GC,808,-0.48,-160.6,2210,2512,3383,3643,174.6,-19.7,52,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2513,3513,3383,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1108,-0.48,-160.6,2209,2512,3383,3643,224.8,-16.2,67,1115,0.00,2.45,0.00,0.000,516,0.000,0.031,2210,1027,3513,3383,3643,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1180,-0.48,-160.6,2210,1032,3383,3644,234.9,-15.2,70,1186,0.00,2.45,0.00,0.000,1030,0.000,0.033,2209,2516,3513,3383,3643,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1502,-0.48,-160.6,2209,2514,3383,3643,283.3,-15.6,86,1508,0.00,2.28,0.00,0.000,260,0.000,0.049,2207,3841,3513,3383,3643,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1550,-0.48,-160.6,2207,3841,3383,3643,290.5,-15.4,88,1556,0.00,2.25,0.00,0.000,1030,0.000,0.024,2207,2471,3513,3383,3643,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1877,-0.48,-160.6,2207,2469,3382,3643,338.1,-13.8,104,1883,0.00,2.42,0.00,0.000,260,0.000,0.051,2207,3832,3512,3382,3643,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1911,-0.48,-160.6,2206,3832,3385,3642,341.7,-13.6,105,1918,0.00,2.25,0.00,0.000,1030,0.000,0.026,2207,2468,3512,3382,3642,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2228,-0.48,-160.6,2206,2467,3382,3639,381.3,-11.6,121,2233,0.00,2.42,0.00,0.000,260,0.000,0.050,2206,3834,3510,3382,3639,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2269,-0.48,-160.6,2206,3834,3382,3638,384.4,-11.7,122,2278,0.00,2.25,0.00,0.000,1030,0.000,0.024,2206,2461,3510,3382,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2573,-0.48,-160.6,2206,2461,3383,3636,422.2,-11.8,138,2580,0.00,2.33,0.00,0.000,516,0.000,0.032,2211,1023,3508,3382,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2651,-0.48,-160.6,2206,1022,3382,3635,429.5,-10.8,141,2657,0.00,2.45,0.00,0.000,1030,0.000,0.031,2206,2524,3509,3383,3635,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2967,-0.48,-160.6,2205,2522,3382,3631,459.0,-9.2,157,2973,0.00,2.25,0.00,0.000,260,0.000,0.046,2202,3844,3506,3382,3631,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3044,-0.48,-160.6,2202,3844,3382,3630,465.4,-9.4,160,3050,0.00,2.25,0.00,0.000,1030,0.000,0.024,2202,2468,3506,3382,3630,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3359,-0.48,-160.6,2202,2466,3383,3626,500.7,-11.5,176,3365,0.00,2.40,0.00,0.000,260,0.000,0.047,2197,3822,3504,3382,3626,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3421,-0.48,-160.6,2197,3821,3382,3625,506.0,-11.7,178,3428,0.00,2.25,0.00,0.000,1030,0.000,0.025,2197,2463,3503,3382,3625,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3726,-0.48,-160.6,2197,2463,3382,3621,544.7,-11.6,194,3733,0.00,2.42,0.00,0.000,260,0.000,0.051,2194,3825,3501,3382,3620,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3776,-0.48,-160.6,2194,3826,3382,3620,550.2,-11.7,196,3782,0.00,2.25,0.00,0.000,1030,0.000,0.026,2194,2468,3501,3382,3620,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4103,-0.48,-160.6,2199,2466,3383,3614,583.9,-9.5,212,4110,0.10,2.40,0.00,0.000,2308,0.143,0.047,2218,3825,3498,3382,3614,0,0,0,0,0,0,26.59,26.56,28.83
$GC,4171,-0.48,-160.6,2218,3825,3382,3614,589.5,-8.4,215,4178,0.00,2.28,0.00,0.000,1030,0.000,0.026,2218,2461,3498,3382,3614,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4497,-0.48,-160.6,2218,2461,3382,3608,615.4,-8.3,228,4505,0.00,2.45,0.00,0.000,260,0.000,0.051,2208,3836,3495,3382,3608,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4589,-0.48,-160.6,2208,3837,3382,3606,621.4,-8.5,230,4598,0.00,2.28,0.00,0.000,1030,0.000,0.026,2210,2461,3494,3382,3606,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4899,-0.48,-160.6,2208,2462,3383,3603,648.6,-7.9,241,4906,0.00,2.42,0.00,0.000,260,0.000,0.053,2207,3817,3492,3382,3602,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4977,-0.48,-160.6,2206,3817,3382,3602,654.3,-7.8,243,4983,0.00,2.25,0.00,0.000,1030,0.000,0.026,2207,2462,3492,3382,3602,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5303,-0.48,-160.6,2207,2462,3382,3597,682.6,-9.0,254,5310,0.00,2.42,0.00,0.000,260,0.000,0.052,2207,3823,3488,3381,3596,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5374,-0.48,-160.6,2206,3823,3382,3596,689.1,-9.3,256,5380,0.00,2.28,0.00,0.000,1030,0.000,0.028,2206,2462,3489,3382,3596,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5705,-0.48,-160.6,2206,2462,3382,3591,720.3,-9.2,267,5711,0.00,2.45,0.00,0.000,260,0.000,0.053,2206,3816,3486,3382,3591,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5781,-0.48,-160.6,2206,3816,3380,3590,726.2,-8.9,269,5787,0.00,2.25,0.00,0.000,1030,0.000,0.026,2206,2462,3485,3381,3590,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6107,-0.48,-160.6,2206,2463,3380,3588,753.3,-7.8,280,6113,0.00,2.45,0.00,0.000,260,0.000,0.050,2206,3837,3484,3380,3588,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6206,-0.48,-160.6,2206,3837,3380,3588,761.1,-8.0,283,6212,0.00,2.28,0.00,0.000,1030,0.000,0.026,2206,2464,3484,3380,3588,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6541,-0.48,-160.6,2206,2463,3379,3584,788.4,-8.3,294,6547,0.00,2.42,0.00,0.000,260,0.000,0.050,2200,3834,3481,3379,3584,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6617,-0.48,-160.6,2200,3834,3377,3584,794.8,-9.2,296,6624,0.00,2.28,0.00,0.000,1030,0.000,0.026,2201,2462,3481,3378,3584,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6943,-0.48,-160.6,2200,2462,3377,3582,824.4,-8.6,307,6949,0.00,2.42,0.00,0.000,260,0.000,0.050,2195,3829,3478,3377,3579,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7033,-0.48,-160.6,2195,3826,3376,3581,830.2,-8.8,309,7041,0.00,2.28,0.00,0.000,1030,0.000,0.028,2195,2463,3478,3376,3581,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7341,-0.48,-160.6,2195,2464,3376,3579,858.5,-8.9,320,7347,0.00,2.42,0.00,0.000,260,0.000,0.051,2194,3825,3477,3376,3579,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7417,-0.48,-160.6,2193,3825,3375,3579,864.9,-9.1,322,7423,0.00,2.28,0.00,0.000,1030,0.000,0.028,2194,2462,3477,3375,3579,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7743,-0.48,-160.6,2194,2462,3375,3577,895.9,-9.3,333,7749,0.00,2.42,0.00,0.000,260,0.000,0.050,2183,3829,3476,3375,3577,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7833,-0.48,-160.6,2182,3829,3373,3577,902.5,-9.6,335,7842,0.12,2.28,0.00,0.000,3078,0.125,0.028,2222,2467,3475,3373,3577,0,0,0,0,0,0,26.44,26.63,28.83
$GC,8143,-0.48,-160.6,2222,2467,3373,3574,928.1,-7.4,346,8149,0.00,2.42,0.00,0.000,260,0.000,0.050,2218,3837,3473,3372,3574,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8225,-0.48,-160.6,2218,3837,3372,3574,933.8,-7.7,348,8230,0.00,2.28,0.00,0.000,1030,0.000,0.027,2218,2463,3473,3372,3574,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8548,-0.48,-160.6,2218,2464,3372,3572,959.8,-8.0,359,8554,0.00,2.42,0.00,0.000,260,0.000,0.049,2206,3831,3472,3372,3572,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8609,-0.48,-160.6,2206,3831,3371,3572,963.1,-8.2,360,8617,0.00,2.28,0.00,0.000,1030,0.000,0.028,2206,2465,3471,3371,3572,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,8882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8882,begin apogee
$GC,8889,-0.12,0.0,2204,2609,3371,3570,990.8,-9.3,370,9034,0.38,0.00,140.60,1.014,10246,0.096,0.000,2341,2609,2852,2859,2845,0,0,0,0,0,0,26.41,28.83,24.35
$STATE,9036,end apogee,CONTROL_FINISHED_OK
$STATE,9036,begin climb
$GC,9039,0.48,160.6,2341,2609,2851,2828,998.7,0.0,374,9204,0.50,2.83,153.02,0.996,10756,0.034,0.024,2574,1123,2185,2308,2062,0,0,0,0,0,0,25.15,24.79,24.16
$GC,9249,0.55,187.5,2574,1123,2293,2049,992.0,7.3,381,9284,0.00,2.70,25.85,0.961,9222,0.000,0.027,2563,2604,2077,2204,1951,0,0,0,0,0,0,28.83,25.27,24.34
$GC,9594,0.55,187.5,2562,2603,2187,1931,951.4,11.2,393,9599,0.00,2.08,0.00,0.000,260,0.000,0.042,2553,3846,2059,2187,1931,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9654,0.55,187.5,2552,3846,2185,1931,947.0,11.6,394,9662,0.00,2.03,0.00,0.000,1030,0.000,0.015,2563,2573,2058,2186,1931,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9963,0.55,187.5,2563,2573,2183,1930,908.6,11.4,405,9968,0.00,2.20,0.00,0.000,260,0.000,0.041,2553,3837,2056,2183,1930,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10043,0.55,187.5,2553,3837,2183,1930,900.0,12.0,407,10049,0.00,2.00,0.00,0.000,1030,0.000,0.016,2562,2572,2056,2183,1930,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,18934,end climb,SURFACE_DEPTH_REACHED
$STATE,18936,begin surface coast
$FINISH,-0.0,1.022764
$STATE,18963,end surface coast,CONTROL_FINISHED_OK
$STATE,18965,begin surface
$SM_CCo,18983,58.00,0.126,0,0,1097,430.01
$SM_GC,-0.07,6.35,0.15,58.00,0.030,0.055,0.126,132,2451,1097,-6.96,0.28,430.01,0,0,0,0,0,0,26.39,26.52,26.09
$IRIDIUM_FIX,1952.70,12422.12,160413,101020
$TT8_MAMPS,0.021721,0.021721
$HUMID,45.58
$INTERNAL_PRESSURE,9.33985
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3945024
$24V_AH,24.2,19.874
$10V_AH,9.9,15.934
$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,16.550,202.750,497.075,58.000,0.000,0.000,0.000,441.975,0.000,0.000,16.489,3721.380,11681.040,822.913,2738.649,787.639,0.000,2482.548,0.000,2138.491,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,76.500,1013.625,126.225,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19054.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.329,0.000,0.000,0.000
$MEM,329132
$DATA_FILE_SIZE,30056,834
$CAP_FILE_SIZE,465910,0
$CFSIZE,260034560,231104512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.044, 14.5,1
$GPS,160413,210106,1959.005,12421.879,40,1.1,40,-2.5