version: 66.11
glider: 169
mission: 8
dive: 222
start: 5 2 113 9 17 55
data:
$ID,169
$MISSION,8
$DIVE,222
$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,-3
$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,-21575.939
$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,2550
$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,200
$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
$GPS1,020513,090506,1755.429,12415.505,28,1.4,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-71.5
$GPS2,020513,091725,1755.390,12415.515,16,1.6,16,-2.0
$SPEED_LIMITS,0.143,0.238
$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,299.3,219636,-3.2,-8.250,-19.13,2990
$D_GRID,4876
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.48,-160.6,122,2564,1261,943,0.0,0.0,0,96,0.00,0.00,-69.60,0.000,16386,0.000,0.000,122,2565,2886,2837,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-160.6,122,2565,2837,2935,3.6,-8.2,9,126,8.38,2.33,-10.70,0.000,18692,0.230,0.060,2202,3838,3511,3385,3637,0,0,0,0,0,0,25.67,26.10,26.49
$GC,201,-0.48,-160.6,2202,3838,3386,3637,47.8,-38.0,19,209,0.00,2.20,0.00,0.000,1030,0.000,0.027,2202,2526,3512,3386,3638,0,0,0,0,0,0,28.83,26.24,28.83
$GC,508,-0.48,-160.6,2202,2524,3386,3638,145.7,-29.9,35,514,0.00,2.38,0.00,0.000,516,0.000,0.031,2202,1089,3511,3386,3637,0,0,0,0,0,0,28.83,26.37,28.83
$GC,607,-0.48,-160.6,2202,1089,3386,3638,166.2,-23.0,39,614,0.00,2.50,0.00,0.000,1030,0.000,0.036,2197,2553,3512,3386,3638,0,0,0,0,0,0,28.83,26.39,28.83
$GC,924,-0.48,-160.6,2197,2551,3387,3638,238.4,-21.5,55,930,0.00,2.17,0.00,0.000,260,0.000,0.047,2194,3831,3512,3387,3638,0,0,0,0,0,0,28.83,26.42,28.83
$GC,973,-0.48,-160.6,2193,3831,3387,3634,247.9,-21.0,57,979,0.10,2.15,0.00,0.000,3078,0.158,0.024,2220,2523,3512,3387,3637,0,0,0,0,0,0,26.34,26.58,28.83
$GC,1300,-0.48,-160.6,2219,2521,3387,3638,302.0,-16.2,73,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2521,3512,3387,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-0.48,-160.6,2220,2521,3387,3638,349.4,-15.4,88,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2521,3512,3387,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-0.48,-160.6,2219,2521,3387,3636,389.2,-12.3,103,1905,0.00,2.35,0.00,0.000,260,0.000,0.046,2220,3842,3511,3387,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1941,-0.48,-160.6,2220,3842,3387,3634,392.3,-12.1,104,1949,0.00,2.15,0.00,0.000,1030,0.000,0.024,2219,2522,3511,3387,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2245,-0.48,-160.6,2219,2522,3387,3631,430.2,-11.8,120,2252,0.00,2.33,0.00,0.000,260,0.000,0.047,2220,3821,3509,3387,3631,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2308,-0.48,-160.6,2219,3822,3387,3630,435.4,-11.3,122,2317,0.00,2.12,0.00,0.000,1030,0.000,0.026,2220,2529,3508,3387,3630,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2614,-0.48,-160.6,2219,2529,3387,3625,467.6,-9.8,138,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2529,3506,3387,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,-0.48,-160.6,2219,2529,3387,3620,497.1,-10.2,153,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2529,3503,3387,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-0.48,-160.6,2219,2529,3387,3615,527.8,-10.1,168,3221,0.00,2.33,0.00,0.000,260,0.000,0.047,2224,3831,3500,3387,3614,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3276,-0.48,-160.6,2221,3831,3387,3614,532.4,-10.2,170,3284,0.00,2.17,0.00,0.000,1030,0.000,0.026,2219,2519,3499,3386,3613,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3583,-0.48,-160.6,2219,2519,3387,3608,564.2,-9.8,186,3589,0.00,2.33,0.00,0.000,260,0.000,0.047,2220,3833,3497,3387,3607,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3617,-0.48,-160.6,2219,3833,3387,3606,566.7,-9.6,187,3623,0.00,2.12,0.00,0.000,1030,0.000,0.025,2220,2531,3496,3387,3606,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3935,-0.48,-160.6,2219,2526,3386,3602,595.3,-8.2,203,3942,0.00,2.30,0.00,0.000,260,0.000,0.050,2219,3832,3494,3386,3602,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3962,-0.48,-160.6,2219,3831,3390,3601,597.7,-8.1,204,3969,0.00,2.15,0.00,0.000,1030,0.000,0.026,2219,2527,3494,3387,3601,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4279,-0.48,-160.6,2219,2527,3387,3595,622.7,-8.1,215,4285,0.00,2.30,0.00,0.000,260,0.000,0.049,2211,3829,3490,3387,3594,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4303,-0.48,-160.6,1360,3829,3374,3592,622.7,-8.1,215,4309,0.00,2.12,0.00,0.000,1030,0.000,0.027,2211,2527,3488,3382,3594,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4622,-0.48,-160.6,2211,2527,3386,3589,653.1,-9.0,226,4628,0.00,2.30,0.00,0.000,260,0.000,0.050,2207,3832,3488,3387,3589,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4651,-0.48,-160.6,2206,3831,3386,3589,653.1,-9.0,226,4659,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2528,3487,3385,3589,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4961,-0.48,-160.6,2207,2528,3382,3587,685.1,-9.4,237,4967,0.00,2.28,0.00,0.000,260,0.000,0.047,2207,3829,3484,3383,3586,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5010,-0.48,-160.6,2206,3829,3381,3586,688.8,-9.5,238,5016,0.00,2.12,0.00,0.000,1030,0.000,0.026,2207,2527,3483,3381,3586,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5330,-0.48,-160.6,2206,2528,3381,3582,720.0,-9.3,249,5337,0.00,2.30,0.00,0.000,260,0.000,0.048,2207,3831,3481,3380,3582,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5373,-0.48,-160.6,2206,3831,3379,3582,723.5,-9.3,250,5379,0.00,2.15,0.00,0.000,1030,0.000,0.026,2206,2524,3481,3380,3582,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5704,-0.48,-160.6,2206,2524,3375,3579,754.4,-9.0,261,5709,0.00,2.33,0.00,0.000,260,0.000,0.052,2206,3829,3479,3380,3579,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5770,-0.48,-160.6,1344,3828,3365,3576,760.3,-9.0,263,5776,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2528,3478,3378,3579,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6105,-0.48,-160.6,2206,2528,3378,3574,788.2,-8.3,274,6111,0.00,2.30,0.00,0.000,260,0.000,0.049,2206,3841,3475,3377,3574,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6154,-0.48,-160.6,2206,3841,3376,3574,791.3,-8.5,275,6160,0.00,2.15,0.00,0.000,1030,0.000,0.025,2206,2524,3473,3372,3574,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6475,-0.48,-160.6,2206,2525,3376,3572,820.4,-8.8,286,6481,0.00,2.30,0.00,0.000,260,0.000,0.050,2199,3829,3473,3376,3571,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6516,-0.48,-160.6,2199,3829,3375,3571,823.7,-8.9,287,6522,0.00,2.15,0.00,0.000,1030,0.000,0.026,2199,2521,3473,3375,3571,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6847,-0.48,-160.6,2199,2522,3374,3568,853.2,-8.6,298,6853,0.00,2.30,0.00,0.000,260,0.000,0.050,2194,3820,3471,3374,3568,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6894,-0.48,-160.6,2194,3820,3372,3568,855.8,-8.2,299,6900,0.10,2.15,0.00,0.000,3078,0.135,0.028,2225,2524,3470,3373,3568,0,0,0,0,0,0,26.36,26.55,28.83
$GC,7220,-0.48,-160.6,2224,2524,3372,3565,879.3,-6.6,310,7227,0.00,2.33,0.00,0.000,260,0.000,0.051,2221,3837,3468,3372,3565,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7272,-0.48,-160.6,2220,3836,3371,3565,882.6,-7.2,311,7278,0.00,2.17,0.00,0.000,1030,0.000,0.027,2220,2514,3471,3371,3571,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7593,-0.48,-160.6,2220,2514,3371,3562,906.5,-7.6,322,7599,0.00,2.33,0.00,0.000,260,0.000,0.047,2211,3835,3466,3370,3562,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7654,-0.48,-160.6,2211,3835,3369,3562,909.8,-8.0,323,7662,0.00,2.15,0.00,0.000,1030,0.000,0.026,2211,2526,3465,3369,3562,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7963,-0.48,-160.6,2211,2526,3369,3560,937.1,-8.2,334,7970,0.00,2.30,0.00,0.000,260,0.000,0.051,2207,3823,3465,3369,3561,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7999,-0.48,-160.6,2207,3822,3368,3560,940.4,-8.3,335,8005,0.00,2.15,0.00,0.000,1030,0.000,0.029,2207,2530,3464,3368,3560,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8335,-0.48,-160.6,2207,2530,3368,3557,967.7,-8.0,346,8341,0.00,2.28,0.00,0.000,260,0.000,0.047,2207,3822,3462,3368,3557,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8396,-0.48,-160.6,2206,3823,3367,3556,970.7,-8.0,347,8403,0.00,2.15,0.00,0.000,1030,0.000,0.028,2207,2529,3462,3367,3557,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,8639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8639,begin apogee
$GC,8645,-0.12,0.0,2206,2672,3367,3555,992.1,-7.9,356,8791,0.35,0.10,138.38,0.980,10246,0.095,0.074,2335,2620,2845,2854,2836,0,0,0,0,0,0,26.22,25.01,24.32
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8796,0.48,160.6,2334,2620,2851,2826,997.6,0.0,360,8953,0.52,0.00,152.93,0.997,10246,0.053,0.000,2539,2619,2195,2318,2073,0,0,0,0,0,0,25.18,28.83,24.08
$GC,9242,0.48,160.6,2539,2619,2291,2045,964.0,9.5,376,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2619,2169,2292,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9542,0.48,160.6,2539,2619,2287,2045,935.0,9.8,386,9548,0.00,2.00,0.00,0.000,260,0.000,0.041,2529,3831,2166,2287,2045,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9583,0.48,160.6,2529,3831,2286,2045,931.1,10.1,387,9589,0.00,1.85,0.00,0.000,1030,0.000,0.018,2539,2600,2165,2286,2045,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9913,0.48,160.6,2539,2600,2282,2045,896.9,10.2,398,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2599,2163,2282,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10214,0.48,160.6,2539,2600,2280,2045,867.5,9.6,408,10220,0.00,2.05,0.00,0.000,260,0.000,0.041,2530,3833,2162,2280,2045,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10244,0.48,160.6,2529,3833,2280,2045,867.5,9.6,408,10251,0.00,1.85,0.00,0.000,1030,0.000,0.016,2539,2591,2162,2280,2045,0,0,0,0,0,0,28.83,26.48,28.83
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$STATE,19899,end climb,SURFACE_DEPTH_REACHED
$STATE,19899,begin surface coast
$FINISH,0.6,1.021468
$STATE,19930,end surface coast,CONTROL_FINISHED_OK
$STATE,19930,begin surface
$SM_CCo,19948,41.90,0.120,0,0,1098,430.01
$SM_GC,0.18,6.28,0.35,41.90,0.020,0.030,0.120,126,2482,1098,-6.96,0.37,430.01,0,0,0,0,0,0,26.46,26.59,26.12
$IRIDIUM_FIX,1749.63,12415.34,020513,030308
$TT8_MAMPS,0.020972,0.020972
$HUMID,44.01
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3908736
$24V_AH,24.1,29.122
$10V_AH,10.2,23.571
$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,15.950,178.925,501.875,41.900,0.000,0.000,0.000,443.000,0.000,0.000,16.869,3543.645,13063.982,797.259,2491.943,797.549,0.000,2336.828,0.000,1897.148,0.000,0.546,0.000
$DEVICE_MAMPS,230.265,74.205,996.795,120.105,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.657,0.000,0.000,0.000
$MEM,329664
$DATA_FILE_SIZE,33341,888
$CAP_FILE_SIZE,454584,0
$CFSIZE,260034560,219107328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,185.9,1
$GPS,020513,145206,1756.169,12413.757,26,2.0,26,-2.0