version: 66.11
glider: 169
mission: 8
dive: 248
start: 5 8 113 1 47 42
data:
$ID,169
$MISSION,8
$DIVE,248
$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,-21720.586
$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
$GPS1,080513,013500,1814.219,12320.394,38,1.4,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-73.6
$GPS2,080513,014713,1814.345,12320.496,13,1.3,13,-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,283.8,116994,-3.2,-8.250,-19.13,2990
$D_GRID,3774
$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,-160.6,121,2562,1254,953,0.0,0.0,0,98,0.00,0.00,-72.35,0.000,16386,0.000,0.000,121,2562,2996,2925,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.48,-160.6,121,2563,2926,3069,4.2,-9.5,10,127,8.48,2.22,-8.40,0.000,18692,0.232,0.058,2198,3829,3510,3383,3638,0,0,0,0,0,0,25.63,26.10,26.49
$GC,210,-0.48,-160.6,2197,3829,3385,3638,55.8,-34.4,21,217,0.00,2.12,0.00,0.000,1030,0.000,0.027,2198,2532,3512,3386,3638,0,0,0,0,0,0,28.83,26.25,28.83
$GC,539,-0.48,-160.6,2198,2531,3385,3638,163.7,-29.9,37,545,0.00,2.47,0.00,0.000,516,0.000,0.033,2201,1081,3512,3386,3638,0,0,0,0,0,0,28.83,26.34,28.83
$GC,630,-0.48,-160.6,2199,1081,3386,3638,185.6,-23.9,41,638,0.00,2.55,0.00,0.000,1030,0.000,0.036,2197,2556,3512,3386,3638,0,0,0,0,0,0,28.83,26.35,28.83
$GC,952,-0.48,-160.6,2197,2553,3387,3638,255.5,-18.9,57,958,0.00,2.53,0.00,0.000,516,0.000,0.031,2197,1080,3512,3387,3638,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1028,-0.48,-160.6,2197,1075,3387,3635,267.9,-18.5,60,1035,0.00,2.55,0.00,0.000,1030,0.000,0.037,2194,2556,3512,3387,3638,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1346,-0.48,-160.6,2193,2554,3383,3638,328.2,-17.7,76,1352,0.10,2.53,0.00,0.000,2564,0.164,0.031,2222,1072,3512,3387,3638,0,0,0,0,0,0,26.48,26.46,28.83
$GC,1397,-0.48,-160.6,2222,1072,3387,3638,335.5,-16.3,78,1403,0.00,2.55,0.00,0.000,1030,0.000,0.034,2220,2560,3512,3387,3637,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1719,-0.48,-160.6,2220,2558,3387,3637,378.8,-12.9,94,1726,0.00,2.50,0.00,0.000,516,0.000,0.030,2220,1086,3512,3387,3637,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1767,-0.48,-160.6,2220,1085,3387,3637,384.5,-12.2,96,1774,0.00,2.53,0.00,0.000,1030,0.000,0.031,2220,2559,3512,3387,3637,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2096,-0.48,-160.6,2220,2556,3387,3632,420.5,-11.1,112,2102,0.00,2.12,0.00,0.000,260,0.000,0.049,2219,3825,3509,3387,3632,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2154,-0.48,-160.6,2219,3825,3387,3631,425.6,-11.3,114,2160,0.00,2.08,0.00,0.000,1030,0.000,0.025,2220,2530,3508,3387,3630,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2470,-0.48,-160.6,2219,2530,3387,3626,462.8,-11.7,130,2476,0.00,2.22,0.00,0.000,260,0.000,0.045,2220,3826,3506,3387,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2499,-0.48,-160.6,2219,3826,3386,3625,465.8,-11.8,131,2505,0.00,2.10,0.00,0.000,1030,0.000,0.024,2220,2529,3506,3387,3625,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2821,-0.48,-160.6,2219,2529,3386,3619,499.3,-9.9,147,2828,0.00,2.45,0.00,0.000,516,0.000,0.032,2220,1079,3502,3387,3618,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2864,-0.48,-160.6,2220,1078,3387,3618,502.1,-10.0,148,2873,0.00,2.55,0.00,0.000,1030,0.000,0.034,2220,2561,3502,3387,3617,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3168,-0.48,-160.6,2220,2559,3387,3613,533.5,-9.7,164,3174,0.00,2.15,0.00,0.000,260,0.000,0.045,2212,3848,3499,3387,3612,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3203,-0.48,-160.6,2211,3848,3386,3612,536.2,-9.8,165,3209,0.00,2.12,0.00,0.000,1030,0.000,0.024,2212,2524,3499,3387,3611,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3518,-0.48,-160.6,2211,2524,3386,3605,569.6,-10.3,181,3524,0.00,2.40,0.00,0.000,516,0.000,0.033,2212,1084,3495,3386,3605,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3548,-0.48,-160.6,2212,1084,3387,3605,572.2,-10.2,182,3555,0.00,2.50,0.00,0.000,1030,0.000,0.033,2208,2558,3495,3386,3605,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3860,-0.48,-160.6,2208,2556,3386,3600,604.2,-10.1,197,3866,0.00,2.17,0.00,0.000,260,0.000,0.049,2207,3845,3494,3387,3602,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3901,-0.48,-160.6,2207,3840,3387,3599,608.0,-10.3,198,3908,0.00,2.12,0.00,0.000,1030,0.000,0.024,2207,2521,3492,3386,3599,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4232,-0.48,-160.6,2207,2520,3386,3592,642.9,-10.3,209,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2520,3489,3386,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4534,-0.48,-160.6,2207,2520,3386,3588,673.2,-10.0,219,4540,0.00,2.35,0.00,0.000,260,0.000,0.050,2207,3832,3486,3386,3587,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4580,-0.48,-160.6,2206,3832,3385,3587,676.9,-10.0,220,4586,0.00,2.12,0.00,0.000,1030,0.000,0.024,2206,2525,3486,3385,3587,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4906,-0.48,-160.6,2206,2525,3382,3584,709.2,-9.6,231,4912,0.00,2.33,0.00,0.000,260,0.000,0.050,2206,3833,3483,3382,3584,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4943,-0.48,-160.6,2206,3832,3381,3584,712.6,-9.6,232,4948,0.00,2.15,0.00,0.000,1030,0.000,0.026,2206,2526,3482,3380,3584,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5279,-0.48,-160.6,2206,2526,3380,3580,743.7,-9.2,243,5285,0.00,2.30,0.00,0.000,260,0.000,0.050,2206,3823,3480,3380,3580,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5330,-0.48,-160.6,2206,3823,3376,3580,747.1,-9.3,244,5336,0.00,2.12,0.00,0.000,1030,0.000,0.028,2206,2528,3480,3380,3580,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5650,-0.48,-160.6,2206,2529,3379,3577,776.9,-8.7,255,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2529,3478,3380,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5952,-0.48,-160.6,2206,2529,3377,3573,802.2,-8.6,265,5958,0.00,2.30,0.00,0.000,260,0.000,0.047,2196,3842,3475,3377,3573,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6020,-0.48,-160.6,2196,3841,3376,3573,808.4,-8.7,267,6026,0.00,2.15,0.00,0.000,1030,0.000,0.025,2196,2526,3474,3375,3573,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6356,-0.48,-160.6,2195,2526,3375,3570,836.2,-7.7,278,6362,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3842,3472,3375,3570,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6385,-0.48,-160.6,2193,3842,3374,3570,836.2,-7.7,278,6393,0.00,2.15,0.00,0.000,1030,0.000,0.025,2194,2525,3472,3374,3570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6694,-0.48,-160.6,2194,2525,3373,3566,862.3,-7.9,289,6701,0.10,2.30,0.00,0.000,2308,0.132,0.048,2219,3824,3469,3373,3566,0,0,0,0,0,0,26.53,26.25,28.83
$GC,6740,-0.48,-160.6,2219,3824,3372,3566,865.0,-7.7,290,6746,0.00,2.15,0.00,0.000,1030,0.000,0.028,2219,2527,3468,3372,3564,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7066,-0.48,-160.6,2219,2526,3372,3562,885.7,-6.0,301,7071,0.00,2.28,0.00,0.000,260,0.000,0.046,2208,3828,3466,3371,3562,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7108,-0.48,-160.6,2208,3828,3370,3562,887.9,-6.0,302,7113,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2525,3466,3370,3562,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7439,-0.48,-160.6,2203,2525,3370,3561,910.9,-7.1,313,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2525,3465,3370,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7738,-0.48,-160.6,2207,2525,3368,3558,934.8,-8.4,323,7744,0.00,2.33,0.00,0.000,260,0.000,0.051,2207,3840,3462,3368,3557,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7799,-0.48,-160.6,2206,3840,3368,3557,937.8,-8.5,324,7807,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2526,3462,3367,3557,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8109,-0.48,-160.6,2206,2526,3367,3554,966.1,-8.1,335,8116,0.00,2.30,0.00,0.000,260,0.000,0.048,2205,3837,3460,3367,3554,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8134,-0.48,-160.6,2205,3838,3367,3554,966.1,-8.1,335,8140,0.00,2.15,0.00,0.000,1030,0.000,0.027,2205,2526,3460,3366,3554,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,8451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8451,begin apogee
$GC,8457,-0.12,0.0,2203,2680,3367,3554,992.0,-7.5,346,8603,0.38,0.10,139.48,0.972,10246,0.092,0.073,2340,2618,2848,2857,2839,0,0,0,0,0,0,26.11,25.00,24.27
$STATE,8605,end apogee,CONTROL_FINISHED_OK
$STATE,8605,begin climb
$GC,8608,0.48,160.6,2339,2618,2852,2827,997.3,0.0,350,8765,0.50,0.00,152.07,0.986,10758,0.038,0.000,2550,2618,2197,2318,2076,0,0,0,0,0,0,25.18,28.83,24.04
$GC,9075,0.48,160.6,2550,2617,2292,2046,958.4,10.3,365,9081,0.00,2.03,0.00,0.000,260,0.000,0.041,2549,3837,2168,2291,2046,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9122,0.48,160.6,2549,3838,2289,2046,954.2,10.6,366,9128,0.00,1.88,0.00,0.000,1030,0.000,0.016,2560,2590,2167,2288,2046,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9447,0.48,160.6,2559,2589,2285,2046,915.0,12.1,377,9453,0.00,2.10,0.00,0.000,260,0.000,0.041,2550,3852,2165,2285,2046,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9476,0.48,160.6,2549,3852,2284,2043,915.0,12.1,377,9484,0.00,1.88,0.00,0.000,1030,0.000,0.015,2560,2587,2165,2284,2046,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9785,0.48,160.6,2560,2586,2282,2046,875.8,11.0,388,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2587,2164,2282,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10083,0.48,160.6,2560,2586,2280,2042,845.1,10.1,398,10088,0.00,2.10,0.00,0.000,260,0.000,0.041,2550,3835,2163,2280,2046,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10143,0.48,160.6,2550,3835,2279,2050,841.2,10.3,399,10152,0.00,1.85,0.00,0.000,1030,0.000,0.017,2560,2591,2162,2279,2046,0,0,0,0,0,0,28.83,26.48,28.83
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$STATE,19083,end climb,SURFACE_DEPTH_REACHED
$STATE,19083,begin surface coast
$FINISH,-0.3,1.021314
$STATE,19127,end surface coast,CONTROL_FINISHED_OK
$STATE,19127,begin surface
$SM_CCo,19145,31.48,0.122,0,0,1097,430.01
$SM_GC,1.04,6.43,0.38,31.48,0.027,0.030,0.122,139,2509,1097,-6.94,0.42,430.01,0,0,0,0,0,0,26.40,26.55,26.04
$IRIDIUM_FIX,1805.50,12323.78,070513,202005
$TT8_MAMPS,0.021721,0.021721
$HUMID,45.03
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,3895424
$24V_AH,24.0,32.545
$10V_AH,10.2,26.213
$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,16.600,182.300,476.350,31.475,0.000,0.000,0.000,444.900,0.000,0.000,14.189,3437.697,12448.704,739.579,2457.669,794.182,0.000,2279.261,0.000,1871.046,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,75.735,986.085,122.400,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.367,0.000,0.000,0.000
$MEM,329152
$DATA_FILE_SIZE,30037,843
$CAP_FILE_SIZE,442037,0
$CFSIZE,260034560,214810624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,236.3,1
$GPS,080513,070835,1814.085,12317.727,41,1.4,41,-2.0