version: 66.11
glider: 169
mission: 8
dive: 273
start: 5 13 113 7 51 22
data:
$ID,169
$MISSION,8
$DIVE,273
$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,-5
$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,-21754.443
$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
$GPS1,130513,074035,1839.670,12220.470,39,1.1,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-73.5
$GPS2,130513,075054,1840.309,12220.162,11,1.6,16,-2.1
$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,159.2,17789,-3.2,-8.250,-19.13,2990
$D_GRID,655
$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,-160.6,132,2563,1245,966,0.0,0.0,0,94,0.00,0.00,-68.30,0.000,16386,0.000,0.000,132,2563,2849,2806,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.48,-160.6,132,2564,2806,2893,3.3,-7.1,9,124,8.52,0.00,-11.40,0.000,18694,0.235,0.000,2213,2563,3510,3386,3634,0,0,0,0,0,0,25.56,28.83,26.46
$GC,447,-0.48,-160.6,2213,2563,3389,3634,103.2,-20.5,34,453,0.00,2.55,0.00,0.000,516,0.000,0.031,2213,1070,3511,3389,3634,0,0,0,0,0,0,28.83,26.24,28.83
$GC,498,-0.48,-160.6,2213,1069,3389,3635,110.9,-17.2,36,506,0.00,2.53,0.00,0.000,1030,0.000,0.032,2210,2557,3511,3389,3634,0,0,0,0,0,0,28.83,26.27,28.83
$GC,822,-0.48,-160.6,2210,2555,3393,3634,169.8,-18.0,52,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2555,3513,3393,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1120,-0.48,-160.6,2210,2554,3394,3634,212.9,-13.6,67,1126,0.00,2.17,0.00,0.000,260,0.000,0.049,2207,3827,3513,3393,3634,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1140,-0.48,-160.6,2206,3827,3394,3634,212.9,-13.6,67,1149,0.00,2.12,0.00,0.000,1030,0.000,0.024,2208,2528,3514,3394,3634,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1446,-0.48,-160.6,2207,2528,3393,3634,258.3,-13.5,83,1453,0.00,2.42,0.00,0.000,516,0.000,0.029,2206,1070,3513,3393,3634,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1495,-0.48,-160.6,2207,1070,3393,3634,264.1,-12.6,85,1502,0.00,2.50,0.00,0.000,1030,0.000,0.031,2207,2558,3514,3394,3634,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1824,-0.48,-160.6,2206,2556,3393,3634,308.1,-10.6,101,1830,0.00,2.20,0.00,0.000,260,0.000,0.048,2206,3842,3513,3393,3634,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1864,-0.48,-160.6,1328,3841,3381,3631,310.7,-10.0,102,1872,0.00,2.15,0.00,0.000,1030,0.000,0.024,2206,2530,3513,3393,3633,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2170,-0.48,-160.6,2206,2530,3393,3629,345.0,-10.3,118,2176,0.00,2.42,0.00,0.000,516,0.000,0.030,2206,1066,3510,3392,3629,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2212,-0.48,-160.6,2206,1069,3393,3629,347.6,-10.2,119,2220,0.00,2.53,0.00,0.000,1030,0.000,0.032,2206,2564,3510,3392,3628,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2517,-0.48,-160.6,2206,2562,3392,3624,378.9,-10.5,135,2523,0.00,2.17,0.00,0.000,260,0.000,0.046,2206,3830,3508,3393,3623,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2588,-0.48,-160.6,2204,3830,3392,3621,386.8,-11.2,138,2594,0.00,2.15,0.00,0.000,1030,0.000,0.024,2206,2522,3506,3392,3621,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2915,-0.48,-160.6,2206,2521,3392,3615,423.6,-11.0,154,2922,0.00,2.33,0.00,0.000,260,0.000,0.046,2206,3832,3503,3392,3615,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2965,-0.48,-160.6,2206,3832,3392,3615,428.9,-11.0,156,2971,0.00,2.15,0.00,0.000,1030,0.000,0.024,2206,2523,3502,3389,3615,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3294,-0.48,-160.6,2211,2523,3392,3610,463.5,-10.3,172,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2523,3501,3392,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.48,-160.6,2206,2523,3392,3604,491.5,-9.2,187,3597,0.00,2.35,0.00,0.000,260,0.000,0.047,2207,3832,3498,3392,3604,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3674,-0.48,-160.6,2206,3832,3393,3603,497.9,-9.4,190,3682,0.00,2.15,0.00,0.000,1030,0.000,0.025,2205,2526,3497,3392,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3980,-0.48,-160.6,2206,2529,3392,3598,528.3,-9.0,206,3986,0.00,2.35,0.00,0.000,260,0.000,0.049,2201,3830,3495,3392,3598,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4032,-0.48,-160.6,2200,3830,3391,3598,532.6,-8.9,208,4038,0.00,2.15,0.00,0.000,1030,0.000,0.025,2201,2528,3494,3391,3598,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4354,-0.48,-160.6,2201,2525,3389,3595,567.0,-11.1,224,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2528,3492,3389,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-0.48,-160.6,2200,2528,3387,3590,598.8,-10.3,239,4659,0.00,2.35,0.00,0.000,260,0.000,0.051,2197,3821,3488,3387,3590,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4681,-0.48,-160.6,2197,3822,3387,3590,601.8,-10.8,240,4690,0.00,2.17,0.00,0.000,1030,0.000,0.028,2197,2524,3488,3387,3590,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4990,-0.48,-160.6,2199,2524,3387,3588,637.6,-11.5,251,4996,0.00,2.42,0.00,0.000,516,0.000,0.034,2197,1073,3487,3387,3588,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5058,-0.48,-160.6,2197,1073,3386,3588,645.5,-11.5,253,5063,0.00,2.50,0.00,0.000,1030,0.000,0.033,2194,2558,3487,3386,3588,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5157,-0.12,0.0,2194,2658,3386,3586,657.3,-12.0,256,5295,0.40,0.00,132.18,0.799,10246,0.103,0.000,2334,2657,2847,2850,2845,0,0,0,0,0,0,26.03,28.83,24.53
$STATE,5297,end apogee,CONTROL_FINISHED_OK
$STATE,5297,begin climb
$GC,5300,0.48,160.6,2334,2657,2848,2833,666.5,0.0,260,5447,0.52,0.00,140.75,0.792,10502,0.062,0.000,2534,2657,2191,2307,2076,0,0,0,0,0,0,25.29,28.83,24.39
$GC,5767,0.71,252.1,2534,2656,2287,2055,651.8,5.1,275,5856,0.17,2.78,79.97,0.771,10756,0.059,0.021,2655,1177,1811,1951,1672,0,0,0,0,0,0,26.15,25.29,24.62
$GC,5876,0.71,252.1,2655,1177,1944,1662,640.0,10.0,278,5884,0.12,2.75,0.00,0.000,5126,0.158,0.025,2612,2658,1802,1944,1660,0,0,0,0,0,0,25.34,25.51,28.83
$GC,6199,0.71,252.1,2612,2656,1944,1653,594.4,15.2,289,6205,0.00,2.67,0.00,0.000,516,0.000,0.023,2624,1182,1798,1944,1653,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6233,0.71,252.1,2624,1182,1939,1652,590.0,16.1,290,6239,0.00,2.70,0.00,0.000,1030,0.000,0.027,2617,2660,1795,1939,1652,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6549,0.71,252.1,2616,2657,1938,1651,526.9,20.2,306,6555,0.00,1.85,0.00,0.000,260,0.000,0.041,2608,3834,1794,1938,1651,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6625,0.71,252.1,2604,3836,1937,1651,512.8,21.2,309,6632,0.00,1.85,0.00,0.000,1030,0.000,0.017,2618,2607,1794,1937,1651,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6942,0.71,252.1,2618,2606,1937,1650,456.2,15.4,325,6947,0.00,2.05,0.00,0.000,260,0.000,0.038,2609,3841,1793,1937,1650,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7037,0.71,252.1,2608,3842,1937,1650,440.3,17.6,329,7043,0.00,1.85,0.00,0.000,1030,0.000,0.015,2618,2602,1796,1942,1650,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7359,0.71,252.1,2618,2600,1934,1648,389.5,14.7,345,7365,0.00,2.08,0.00,0.000,260,0.000,0.038,2609,3855,1791,1934,1648,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7385,0.71,252.1,2609,3855,1935,1648,385.3,14.8,346,7391,0.00,1.88,0.00,0.000,1030,0.000,0.015,2619,2605,1791,1934,1648,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7713,0.71,252.1,2619,2603,1934,1648,338.8,13.9,362,7719,0.00,2.05,0.00,0.000,260,0.000,0.037,2616,3842,1788,1929,1648,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7763,0.71,252.1,2615,3841,1934,1648,331.3,14.8,364,7770,0.00,1.85,0.00,0.000,1030,0.000,0.015,2625,2613,1791,1934,1648,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8087,0.71,252.1,2625,2612,1932,1648,273.1,18.9,380,8093,0.00,2.53,0.00,0.000,516,0.000,0.023,2638,1165,1790,1932,1648,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8121,0.71,252.1,2638,1164,1928,1647,268.4,17.8,381,8128,0.00,2.67,0.00,0.000,1030,0.000,0.025,2638,2659,1787,1928,1647,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8438,0.71,252.1,2637,2656,1928,1647,215.5,13.3,397,8444,0.00,1.88,0.00,0.000,260,0.000,0.040,2638,3837,1787,1928,1646,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8621,0.71,252.1,2637,3837,1928,1647,192.4,11.3,405,8628,0.12,1.85,0.00,0.000,5126,0.169,0.015,2614,2608,1787,1928,1647,0,0,0,0,0,0,26.13,26.59,28.83
$GC,8939,0.80,288.8,2611,2606,1928,1646,168.1,7.0,421,8974,0.00,2.15,29.73,0.561,8452,0.000,0.039,2614,3850,1666,1815,1518,0,0,0,0,0,0,28.83,26.18,25.60
$GC,9046,0.86,310.9,2614,3849,1804,1502,161.2,7.5,425,9076,0.00,1.88,20.15,0.544,9222,0.000,0.015,2625,2606,1570,1726,1415,0,0,0,0,0,0,28.83,26.34,25.44
$GC,9372,0.86,310.9,2624,2606,1722,1399,131.4,8.6,442,9378,0.00,2.05,0.00,0.000,260,0.000,0.039,2629,3834,1560,1722,1398,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9440,0.86,310.9,2624,3834,1722,1399,124.3,9.9,445,9446,0.00,1.85,0.00,0.000,1030,0.000,0.017,2635,2621,1560,1722,1399,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9768,1.09,405.2,2635,2619,1722,1398,102.6,5.0,461,9882,0.25,2.58,105.32,0.326,10756,0.044,0.021,2794,1177,1208,1375,1042,0,0,0,0,0,0,26.49,25.85,25.41
$GC,9913,1.09,405.2,2793,1175,1377,1050,80.2,18.2,467,9927,0.20,2.72,2.45,0.168,13318,0.151,0.022,2732,2673,1200,1369,1032,0,0,0,0,0,0,25.65,25.94,25.62
$GC,10226,1.09,405.2,2732,2671,1373,1051,37.7,12.0,488,10233,0.00,1.90,2.22,0.158,8452,0.000,0.036,2728,3856,1201,1366,1037,0,0,0,0,0,0,28.83,26.17,25.80
$GC,10328,1.09,405.2,2728,3856,1368,1053,24.6,13.3,497,10338,0.00,1.88,1.95,0.162,9222,0.000,0.015,2739,2608,1199,1367,1031,0,0,0,0,0,0,28.83,26.39,25.86
$STATE,10507,end climb,SURFACE_DEPTH_REACHED
$STATE,10507,begin surface coast
$FINISH,-0.5,1.020980
$STATE,10535,end surface coast,CONTROL_FINISHED_OK
$STATE,10536,begin surface
$SM_CCo,10554,14.20,0.127,0,0,1097,430.01
$SM_GC,0.81,6.47,0.20,14.20,0.024,0.045,0.127,135,2501,1097,-6.94,0.28,430.01,0,0,0,0,0,0,26.33,26.48,25.94
$IRIDIUM_FIX,1835.04,12222.51,130513,040423
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.27
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3882816
$24V_AH,24.4,35.752
$10V_AH,10.2,28.550
$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,16.800,103.775,514.725,14.200,0.000,0.000,0.000,366.525,0.000,0.000,17.470,2149.951,6163.581,628.077,1706.674,517.986,0.000,1748.874,0.000,1234.485,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,68.850,798.660,126.990,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10581.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.175,0.000,0.000,0.000
$MEM,323316
$DATA_FILE_SIZE,20093,534
$CAP_FILE_SIZE,280006,0
$CFSIZE,260034560,210886656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,348.3,1
$GPS,130513,104835,1840.458,12220.480,28,0.9,29,-2.1