version: 66.11
glider: 169
mission: 8
dive: 232
start: 5 4 113 15 33 0
data:
$ID,169
$MISSION,8
$DIVE,232
$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,-21700.17
$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
$GPS1,040513,151954,1802.694,12356.277,39,1.5,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-72.8
$GPS2,040513,153230,1802.611,12356.334,40,1.4,40,-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,292.8,183500,-3.2,-8.250,-19.13,2990
$D_GRID,4680
$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,21,begin dive
$GC,24,-0.48,-160.6,122,2565,1245,967,0.0,0.0,0,93,0.00,0.00,-67.03,0.000,16386,0.000,0.000,124,2566,2830,2786,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.48,-160.6,122,2564,2786,2875,3.5,-7.8,9,124,8.43,2.25,-11.40,0.000,18692,0.232,0.055,2202,3848,3510,3382,3638,0,0,0,0,0,0,25.65,26.13,26.51
$GC,234,-0.48,-160.6,1300,3848,3372,3636,59.0,-31.3,22,240,0.00,2.17,0.00,0.000,1030,0.000,0.028,2202,2535,3512,3386,3638,0,0,0,0,0,0,28.83,26.29,28.83
$GC,562,-0.48,-160.6,2202,2537,3386,3638,163.2,-30.5,38,568,0.00,2.45,0.00,0.000,516,0.000,0.031,2202,1090,3512,3386,3638,0,0,0,0,0,0,28.83,26.38,28.83
$GC,636,-0.48,-160.6,2202,1089,3386,3638,179.3,-24.1,41,642,0.00,2.55,0.00,0.000,1030,0.000,0.034,2197,2561,3512,3386,3638,0,0,0,0,0,0,28.83,26.39,28.83
$GC,957,-0.48,-160.6,2197,2561,3386,3638,247.2,-18.8,57,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2558,3512,3386,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1257,-0.48,-160.6,2197,2557,3386,3638,303.8,-18.7,72,1263,0.00,2.53,0.00,0.000,516,0.000,0.028,2202,1065,3512,3386,3638,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1356,-0.48,-160.6,2201,1065,3387,3638,317.6,-15.6,76,1362,0.00,2.55,0.00,0.000,1030,0.000,0.034,2197,2560,3512,3386,3638,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1671,-0.48,-160.6,2197,2556,3386,3637,368.7,-14.7,92,1677,0.00,2.12,0.00,0.000,260,0.000,0.049,2194,3824,3511,3386,3637,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1706,-0.48,-160.6,2193,3824,3386,3637,372.3,-14.5,93,1712,0.00,2.10,0.00,0.000,1030,0.000,0.025,2194,2525,3511,3386,3637,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2022,-0.48,-160.6,2193,2525,3386,3633,420.7,-14.6,109,2029,0.10,2.42,0.00,0.000,2564,0.145,0.030,2223,1071,3509,3386,3633,0,0,0,0,0,0,26.55,26.51,28.83
$GC,2106,-0.48,-160.6,2223,1072,3386,3633,428.7,-12.3,112,2115,0.00,2.53,0.00,0.000,1030,0.000,0.034,2222,2558,3509,3386,3632,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2413,-0.48,-160.6,2222,2555,3386,3627,461.0,-9.7,128,2420,0.00,2.15,0.00,0.000,260,0.000,0.050,2220,3844,3506,3386,3627,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2502,-0.48,-160.6,2219,3844,3386,3626,469.2,-9.2,132,2509,0.00,2.12,0.00,0.000,1030,0.000,0.025,2220,2521,3506,3386,3626,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2830,-0.48,-160.6,2219,2521,3386,3620,500.3,-9.4,148,2835,0.00,2.28,0.00,0.000,260,0.000,0.047,2219,3838,3503,3386,3620,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2858,-0.48,-160.6,2220,3838,3386,3620,502.7,-9.2,149,2865,0.00,2.10,0.00,0.000,1030,0.000,0.024,2220,2525,3503,3386,3620,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3181,-0.48,-160.6,2219,2525,3386,3614,531.1,-8.5,165,3187,0.00,2.28,0.00,0.000,260,0.000,0.048,2214,3840,3499,3386,3613,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3223,-0.48,-160.6,2214,3841,3386,3613,533.3,-8.5,166,3231,0.00,2.12,0.00,0.000,1030,0.000,0.025,2211,2521,3499,3386,3613,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3527,-0.48,-160.6,2214,2522,3386,3606,561.7,-9.2,182,3533,0.00,2.30,0.00,0.000,260,0.000,0.046,2210,3835,3496,3386,3606,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3579,-0.48,-160.6,2210,3835,3385,3605,566.1,-9.4,184,3585,0.00,2.12,0.00,0.000,1030,0.000,0.024,2210,2521,3495,3386,3605,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3901,-0.48,-160.6,2210,2521,3386,3600,597.5,-9.5,200,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2521,3493,3386,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,-0.48,-160.6,2210,2521,3385,3594,626.5,-9.4,211,4219,0.00,2.30,0.00,0.000,260,0.000,0.047,2207,3838,3489,3386,3593,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4295,-0.48,-160.6,2207,3838,3386,3592,633.3,-9.6,213,4301,0.00,2.12,0.00,0.000,1030,0.000,0.025,2207,2524,3489,3387,3592,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4615,-0.48,-160.6,2206,2524,3386,3587,667.2,-10.2,224,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2524,3486,3386,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-0.48,-160.6,2207,2524,3386,3581,696.7,-9.5,234,4922,0.00,2.33,0.00,0.000,260,0.000,0.047,2207,3827,3483,3386,3581,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4963,-0.48,-160.6,2207,3827,3384,3581,700.0,-9.3,235,4969,0.00,2.12,0.00,0.000,1030,0.000,0.025,2207,2523,3482,3384,3581,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5289,-0.48,-160.6,2206,2523,3381,3579,727.3,-7.7,246,5294,0.00,2.30,0.00,0.000,260,0.000,0.049,2207,3828,3480,3381,3579,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5367,-0.48,-160.6,2207,3827,3380,3579,732.6,-7.8,248,5373,0.00,2.12,0.00,0.000,1030,0.000,0.025,2207,2524,3479,3380,3579,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5693,-0.48,-160.6,2206,2525,3380,3575,759.5,-8.1,259,5699,0.00,2.30,0.00,0.000,260,0.000,0.048,2207,3840,3477,3380,3575,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5741,-0.48,-160.6,2206,3839,3379,3575,762.4,-8.1,260,5747,0.00,2.12,0.00,0.000,1030,0.000,0.025,2207,2525,3476,3378,3575,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6067,-0.48,-160.6,2206,2525,3378,3571,789.5,-8.0,271,6073,0.00,2.30,0.00,0.000,260,0.000,0.049,2206,3841,3474,3378,3571,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6096,-0.48,-160.6,2206,3841,3377,3571,789.5,-8.0,271,6104,0.00,2.15,0.00,0.000,1030,0.000,0.025,2206,2523,3474,3377,3571,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6406,-0.48,-160.6,2206,2524,3377,3569,815.3,-7.6,282,6412,0.00,2.30,0.00,0.000,260,0.000,0.047,2200,3846,3472,3376,3569,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6457,-0.48,-160.6,2200,3845,3375,3569,818.4,-7.6,283,6462,0.00,2.15,0.00,0.000,1030,0.000,0.026,2199,2525,3472,3376,3568,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6777,-0.48,-160.6,2200,2526,3375,3565,843.7,-7.5,294,6783,0.00,2.30,0.00,0.000,260,0.000,0.050,2194,3834,3470,3375,3565,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6807,-0.48,-160.6,2193,3833,3374,3565,843.7,-7.5,294,6815,0.00,2.12,0.00,0.000,1030,0.000,0.026,2193,2527,3469,3374,3565,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7115,-0.48,-160.6,2194,2527,3373,3562,868.2,-7.0,305,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2524,3467,3373,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,-0.48,-160.6,2193,2527,3372,3561,888.9,-7.1,315,7420,0.00,2.30,0.00,0.000,260,0.000,0.048,2183,3835,3466,3371,3561,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7463,-0.48,-160.6,2182,3835,3370,3561,891.6,-7.2,316,7470,0.12,2.15,0.00,0.000,3078,0.119,0.026,2223,2527,3466,3371,3561,0,0,0,0,0,0,26.30,26.53,28.83
$GC,7786,-0.48,-160.6,2223,2527,3370,3558,911.9,-6.1,327,7791,0.00,2.30,0.00,0.000,260,0.000,0.049,2220,3840,3464,3370,3558,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7832,-0.48,-160.6,2220,3839,3369,3558,915.0,-6.7,328,7838,0.00,2.15,0.00,0.000,1030,0.000,0.025,2220,2524,3463,3369,3557,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8158,-0.48,-160.6,2220,2525,3368,3555,937.0,-6.9,339,8165,0.00,2.30,0.00,0.000,260,0.000,0.047,2209,3833,3462,3369,3555,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8220,-0.48,-160.6,2208,3833,3368,3555,939.8,-7.1,340,8229,0.00,2.15,0.00,0.000,1030,0.000,0.026,2209,2524,3461,3368,3555,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8528,-0.48,-160.6,2209,2524,3367,3553,966.4,-8.1,351,8534,0.00,2.33,0.00,0.000,260,0.000,0.050,2207,3831,3460,3367,3554,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8558,-0.48,-160.6,2207,3831,3367,3554,966.4,-8.1,351,8567,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2528,3460,3367,3554,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,8801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8802,begin apogee
$GC,8809,-0.12,0.0,2206,2671,3367,3554,990.5,-8.9,360,8959,0.38,0.10,140.30,1.008,10246,0.095,0.073,2343,2618,2840,2850,2831,0,0,0,0,0,0,26.14,24.98,24.28
$STATE,8961,end apogee,CONTROL_FINISHED_OK
$STATE,8961,begin climb
$GC,8963,0.48,160.6,2343,2618,2848,2825,997.8,0.0,364,9121,0.50,0.00,153.20,0.996,10758,0.034,0.000,2569,2618,2197,2318,2077,0,0,0,0,0,0,25.22,28.83,24.01
$GC,9404,0.48,160.6,2569,2618,2287,2043,960.1,12.0,380,9406,0.12,0.00,0.00,0.000,4102,0.165,0.000,2538,2618,2165,2287,2043,0,0,0,0,0,0,25.72,28.83,28.83
$GC,9703,0.48,160.6,2538,2618,2284,2042,929.1,10.1,390,9709,0.00,2.03,0.00,0.000,260,0.000,0.042,2528,3837,2162,2283,2042,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9744,0.48,160.6,2527,3837,2281,2041,925.3,10.3,391,9750,0.00,1.85,0.00,0.000,1030,0.000,0.016,2538,2598,2161,2281,2042,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10075,0.48,160.6,2537,2597,2279,2042,891.5,9.7,402,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2597,2161,2280,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10374,0.48,160.6,2537,2597,2278,2040,864.0,9.2,412,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2597,2160,2278,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10675,0.48,160.6,2538,2597,2275,2042,837.4,8.9,422,10681,0.00,2.53,0.00,0.000,516,0.000,0.024,2550,1190,2158,2275,2042,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,19747,end climb,SURFACE_DEPTH_REACHED
$STATE,19747,begin surface coast
$FINISH,0.3,1.021117
$STATE,19783,end surface coast,CONTROL_FINISHED_OK
$STATE,19784,begin surface
$SM_CCo,19801,40.78,0.121,0,0,1097,430.01
$SM_GC,0.66,6.38,0.15,40.78,0.024,0.055,0.121,134,2517,1097,-6.95,0.37,430.01,0,0,0,0,0,0,26.41,26.60,26.09
$IRIDIUM_FIX,1756.43,12400.27,040513,090931
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.60
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,3903616
$24V_AH,24.0,30.433
$10V_AH,10.3,24.627
$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
$DEVICE_SECS,16.725,183.625,460.750,40.775,0.000,0.000,0.000,436.750,0.000,0.000,41.323,3613.096,12854.906,734.834,2561.714,800.981,0.000,2295.595,0.000,1953.673,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19865.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.647,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,33341,879
$CAP_FILE_SIZE,458692,0
$CFSIZE,260034560,217415680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,330.9,1
$GPS,040513,210459,1803.957,12354.154,41,1.1,41,-2.0