version: 66.11
glider: 169
mission: 8
dive: 259
start: 5 10 113 11 0 1
data:
$ID,169
$MISSION,8
$DIVE,259
$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,-21736.641
$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
$GPS1,100513,104706,1824.666,12254.749,39,1.0,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-73.9
$GPS2,100513,105931,1825.110,12254.777,11,1.5,11,-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,241.2,68483,-3.2,-8.250,-19.13,2990
$D_GRID,4068
$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,-160.6,122,2561,1264,942,0.0,0.0,0,98,0.00,0.00,-72.05,0.000,16386,0.000,0.000,122,2561,2963,2897,3030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.48,-160.6,122,2561,2897,3031,3.9,-8.7,10,128,8.65,2.65,-8.95,0.000,18948,0.237,0.042,2219,1067,3510,3381,3640,0,0,0,0,0,0,25.58,26.10,26.46
$GC,239,-0.48,-160.6,2219,1067,3385,3640,54.2,-25.5,23,244,0.00,2.55,0.00,0.000,1030,0.000,0.034,2210,2555,3512,3385,3640,0,0,0,0,0,0,28.83,26.15,28.83
$GC,554,-0.48,-160.6,2209,2552,3385,3640,150.6,-26.3,39,560,0.00,2.50,0.00,0.000,516,0.000,0.030,2210,1083,3513,3386,3640,0,0,0,0,0,0,28.83,26.32,28.83
$GC,606,-0.48,-160.6,2209,1083,3385,3640,162.7,-25.9,41,611,0.00,2.55,0.00,0.000,1030,0.000,0.037,2207,2557,3513,3386,3640,0,0,0,0,0,0,28.83,26.30,28.83
$GC,926,-0.48,-160.6,2206,2555,3386,3640,225.1,-18.2,57,932,0.00,2.53,0.00,0.000,516,0.000,0.031,2207,1072,3513,3386,3640,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1028,-0.48,-160.6,2207,1072,3386,3640,240.0,-16.2,61,1034,0.00,2.53,0.00,0.000,1030,0.000,0.034,2207,2559,3513,3387,3640,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1344,-0.48,-160.6,2206,2556,3387,3639,290.9,-13.9,77,1351,0.00,2.50,0.00,0.000,516,0.000,0.031,2207,1084,3512,3386,3639,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1427,-0.48,-160.6,2206,1084,3387,3640,299.7,-13.0,80,1435,0.00,2.53,0.00,0.000,1030,0.000,0.036,2206,2560,3513,3386,3640,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1732,-0.48,-160.6,2206,2558,3386,3638,339.3,-12.7,96,1738,0.00,2.50,0.00,0.000,516,0.000,0.031,2207,1078,3512,3386,3639,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1767,-0.48,-160.6,2207,1076,3386,3639,342.6,-12.9,97,1773,0.00,2.53,0.00,0.000,1030,0.000,0.034,2207,2561,3512,3386,3638,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2083,-0.48,-160.6,2206,2558,3386,3638,386.2,-13.2,113,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2559,3509,3386,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-0.48,-160.6,2206,2558,3386,3628,424.0,-12.8,128,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2558,3510,3393,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,-0.48,-160.6,2206,2558,3386,3623,458.6,-11.6,143,2690,0.00,2.20,0.00,0.000,260,0.000,0.049,2201,3824,3504,3386,3622,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2735,-0.48,-160.6,2200,3824,3386,3621,463.8,-11.3,145,2741,0.00,2.15,0.00,0.000,1030,0.000,0.027,2201,2527,3503,3386,3621,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3058,-0.48,-160.6,2197,2527,3386,3615,499.0,-10.9,161,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2527,3500,3386,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.48,-160.6,2200,2527,3386,3610,531.2,-11.0,176,3361,0.00,2.35,0.00,0.000,260,0.000,0.051,2197,3822,3495,3382,3609,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3460,-0.48,-160.6,2197,3822,3386,3606,541.0,-11.1,180,3468,0.00,2.15,0.00,0.000,1030,0.000,0.028,2197,2529,3496,3386,3606,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3765,-0.48,-160.6,2197,2530,3386,3601,576.4,-11.1,196,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2530,3493,3386,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-0.48,-160.6,2197,2529,3386,3595,609.9,-10.6,210,4079,0.00,2.30,0.00,0.000,260,0.000,0.046,2194,3833,3490,3386,3595,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4121,-0.48,-160.6,2193,3833,3385,3594,613.8,-10.7,211,4127,0.10,2.12,0.00,0.000,3078,0.130,0.024,2225,2525,3489,3385,3594,0,0,0,0,0,0,26.35,26.55,28.83
$GC,4448,-0.48,-160.6,2225,2525,3384,3589,641.8,-8.0,222,4454,0.00,2.33,0.00,0.000,260,0.000,0.051,2220,3830,3486,3384,3589,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4472,-0.48,-160.6,2220,3829,3383,3589,641.8,-8.0,222,4478,0.00,2.12,0.00,0.000,1030,0.000,0.026,2220,2526,3486,3383,3589,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4791,-0.48,-160.6,2219,2526,3380,3585,670.2,-8.5,233,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2526,3483,3381,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5088,-0.48,-160.6,2220,2526,3380,3581,695.3,-8.3,243,5094,0.00,2.35,0.00,0.000,260,0.000,0.050,2216,3828,3480,3380,3581,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5138,-0.48,-160.6,2215,3828,3379,3582,698.3,-8.3,244,5145,0.00,2.15,0.00,0.000,1030,0.000,0.026,2215,2527,3480,3379,3581,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5460,-0.48,-160.6,2221,2529,3378,3578,726.5,-8.2,255,5466,0.00,2.30,0.00,0.000,260,0.000,0.048,2206,3826,3478,3378,3578,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5496,-0.48,-160.6,2206,3826,3377,3579,729.7,-8.4,256,5502,0.00,2.15,0.00,0.000,1030,0.000,0.027,2205,2527,3477,3377,3578,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5833,-0.48,-160.6,2206,2528,3371,3574,758.3,-8.2,267,5839,0.00,2.30,0.00,0.000,260,0.000,0.049,2206,3828,3475,3376,3574,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5869,-0.48,-160.6,2206,3828,3375,3575,761.5,-8.4,268,5875,0.00,2.15,0.00,0.000,1030,0.000,0.026,2206,2526,3473,3372,3574,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6205,-0.48,-160.6,2206,2527,3374,3571,789.4,-8.3,279,6212,0.00,2.33,0.00,0.000,260,0.000,0.050,2196,3834,3472,3373,3571,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6241,-0.48,-160.6,2195,3835,3372,3571,792.6,-8.4,280,6247,0.00,2.15,0.00,0.000,1030,0.000,0.026,2195,2527,3471,3372,3571,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6576,-0.48,-160.6,2195,2527,3371,3567,822.8,-9.1,291,6582,0.00,2.33,0.00,0.000,260,0.000,0.052,2191,3834,3469,3372,3567,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6636,-0.48,-160.6,1360,3834,3358,3565,826.2,-9.3,292,6645,0.12,2.17,0.00,0.000,3078,0.117,0.026,2231,2527,3468,3370,3567,0,0,0,0,0,0,26.25,26.49,28.83
$GC,6947,-0.48,-160.6,2231,2527,3370,3564,848.7,-6.6,303,6952,0.00,2.33,0.00,0.000,260,0.000,0.050,2220,3836,3467,3370,3564,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6998,-0.48,-160.6,2220,3836,3367,3564,851.8,-6.9,304,7003,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2528,3466,3368,3564,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7318,-0.48,-160.6,2220,2528,3368,3561,876.5,-7.7,315,7324,0.00,2.33,0.00,0.000,260,0.000,0.051,2218,3838,3465,3368,3562,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7366,-0.48,-160.6,2218,3835,3367,3561,879.3,-7.8,316,7372,0.00,2.15,0.00,0.000,1030,0.000,0.027,2218,2527,3464,3367,3561,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7692,-0.48,-160.6,2218,2528,3367,3558,908.1,-8.5,327,7698,0.00,2.33,0.00,0.000,260,0.000,0.050,2207,3834,3462,3367,3558,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7769,-0.48,-160.6,2206,3834,3367,3558,913.5,-8.0,329,7775,0.00,2.17,0.00,0.000,1030,0.000,0.027,2207,2527,3462,3367,3557,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8095,-0.48,-160.6,2206,2527,3366,3555,942.8,-8.6,340,8101,0.00,2.33,0.00,0.000,260,0.000,0.053,2206,3824,3461,3367,3555,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8177,-0.48,-160.6,2206,3824,3365,3555,949.0,-9.1,342,8183,0.00,2.15,0.00,0.000,1030,0.000,0.029,2206,2530,3460,3366,3555,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8498,-0.48,-160.6,2207,2531,3366,3554,976.7,-8.4,353,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2531,3460,3366,3554,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8675,begin apogee
$GC,8683,-0.12,0.0,2204,2676,3366,3554,992.0,-8.5,359,8828,0.38,0.10,140.25,0.968,10246,0.090,0.073,2343,2621,2852,2859,2845,0,0,0,0,0,0,26.08,24.96,24.22
$STATE,8830,end apogee,CONTROL_FINISHED_OK
$STATE,8830,begin climb
$GC,8833,0.48,160.6,2343,2620,2852,2829,998.3,0.0,363,8992,0.50,0.00,153.25,0.969,10758,0.034,0.000,2563,2619,2192,2314,2071,0,0,0,0,0,0,25.15,28.83,23.97
$GC,9272,0.48,160.6,2563,2619,2289,2046,962.9,11.2,378,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2619,2168,2289,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9572,0.48,160.6,2563,2619,2286,2047,928.7,11.7,388,9577,0.00,2.03,0.00,0.000,260,0.000,0.043,2553,3844,2166,2286,2047,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9629,0.48,160.6,2554,3844,2290,2047,923.4,12.5,389,9635,0.00,1.88,0.00,0.000,1030,0.000,0.017,2564,2596,2165,2284,2047,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9947,0.48,160.6,2563,2596,2280,2046,881.3,12.5,400,9953,0.00,2.10,0.00,0.000,260,0.000,0.041,2554,3854,2163,2281,2046,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10018,0.48,160.6,2553,3853,2280,2046,871.9,13.0,402,10025,0.10,1.88,0.00,0.000,5126,0.184,0.017,2540,2598,2163,2280,2047,0,0,0,0,0,0,26.01,26.39,28.83
$GC,10350,0.48,160.6,2540,2597,2279,2046,836.7,10.1,413,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2597,2162,2279,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10649,0.48,160.6,2540,2597,2277,2046,808.2,9.3,423,10655,0.00,2.08,0.00,0.000,260,0.000,0.041,2530,3845,2161,2277,2046,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10719,0.48,160.6,2530,3845,2276,2046,801.3,9.8,425,10726,0.00,1.85,0.00,0.000,1030,0.000,0.017,2540,2594,2161,2276,2046,0,0,0,0,0,0,28.83,26.48,28.83
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$STATE,19481,end climb,SURFACE_DEPTH_REACHED
$STATE,19481,begin surface coast
$FINISH,0.5,1.021312
$STATE,19516,end surface coast,CONTROL_FINISHED_OK
$STATE,19516,begin surface
$SM_CCo,19533,41.17,0.120,0,0,1097,430.01
$SM_GC,0.33,6.38,0.38,41.17,0.028,0.031,0.120,140,2496,1097,-6.94,0.28,430.01,0,0,0,0,0,0,26.39,26.56,26.03
$IRIDIUM_FIX,1819.13,12302.96,100513,050512
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.60
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,26.10
$XPDR_PINGS,0
$SC_FREEKB,3889760
$24V_AH,24.0,33.966
$10V_AH,10.1,27.279
$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,16.825,181.625,461.875,41.175,0.000,0.000,0.000,450.875,0.000,0.000,12.832,3638.612,12523.327,720.469,2591.954,812.081,0.000,2314.697,0.000,1996.912,0.000,0.546,0.000
$DEVICE_MAMPS,237.150,73.440,969.255,120.105,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19593.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.490,0.000,0.000,0.000
$MEM,329088
$DATA_FILE_SIZE,33305,871
$CAP_FILE_SIZE,458215,0
$CFSIZE,260034560,212938752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,327.7,1
$GPS,100513,162730,1825.364,12252.409,39,1.2,39,-2.0