version: 66.11
glider: 169
mission: 8
dive: 306
start: 5 20 113 7 1 0
data:
$ID,169
$MISSION,8
$DIVE,306
$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,-21796.246
$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,2700
$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
$GPS1,200513,064736,1938.980,12310.768,38,1.1,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-71.0
$GPS2,200513,070030,1939.013,12310.769,15,1.5,32,-2.3
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,76.7,137521,-3.2,-8.250,-19.13,2990
$D_GRID,4845
$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,-160.6,121,2562,1253,955,0.0,0.0,0,97,0.00,0.00,-71.32,0.000,16386,0.000,0.000,121,2562,2920,2868,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.48,-160.6,121,2562,2868,2973,3.6,-7.2,9,128,8.55,2.22,-10.05,0.000,18692,0.230,0.057,2205,3841,3510,3386,3634,0,0,0,0,0,0,25.53,26.04,26.48
$GC,262,-0.48,-160.6,1320,3840,3375,3631,59.4,-26.3,24,268,0.00,2.12,0.00,0.000,1030,0.000,0.026,2205,2530,3510,3387,3633,0,0,0,0,0,0,28.83,26.23,28.83
$GC,583,-0.48,-160.6,2204,2528,3387,3633,155.9,-26.5,40,589,0.00,2.47,0.00,0.000,516,0.000,0.028,2205,1083,3510,3388,3633,0,0,0,0,0,0,28.83,26.29,28.83
$GC,677,-0.48,-160.6,2205,1082,3388,3633,173.1,-19.0,44,683,0.00,2.60,0.00,0.000,1030,0.000,0.034,2203,2556,3510,3388,3633,0,0,0,0,0,0,28.83,26.28,28.83
$GC,998,-0.48,-160.6,2203,2553,3388,3633,236.4,-18.2,60,1005,0.00,2.12,0.00,0.000,260,0.000,0.048,2197,3834,3511,3389,3633,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1018,-0.48,-160.6,2197,3839,3389,3633,236.4,-18.2,60,1026,0.00,2.08,0.00,0.000,1030,0.000,0.023,2197,2518,3511,3389,3633,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1326,-0.48,-160.6,2197,2518,3389,3633,292.2,-17.1,76,1331,0.00,2.45,0.00,0.000,516,0.000,0.029,2197,1082,3511,3389,3633,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1382,-0.48,-160.6,2197,1082,3389,3633,299.6,-16.3,78,1388,0.00,2.60,0.00,0.000,1030,0.000,0.033,2195,2560,3510,3389,3632,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1698,-0.48,-160.6,2193,2554,3389,3632,352.6,-17.3,94,1700,0.10,0.00,0.00,0.000,2054,0.161,0.000,2223,2557,3510,3388,3633,0,0,0,0,0,0,26.46,28.83,28.83
$GC,1998,-0.48,-160.6,2222,2556,3389,3629,393.4,-12.6,109,2004,0.00,2.60,0.00,0.000,516,0.000,0.030,2223,1068,3508,3388,3629,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2061,-0.48,-160.6,2223,1068,3384,3629,398.6,-11.8,111,2070,0.00,2.60,0.00,0.000,1030,0.000,0.033,2222,2560,3508,3389,3628,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2368,-0.48,-160.6,2222,2557,3388,3624,431.2,-10.4,127,2374,0.00,2.12,0.00,0.000,260,0.000,0.046,2219,3838,3506,3389,3624,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2395,-0.48,-160.6,2218,3838,3388,3624,434.1,-10.7,128,2402,0.00,2.10,0.00,0.000,1030,0.000,0.024,2219,2520,3506,3389,3624,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2723,-0.48,-160.6,2218,2522,3388,3618,469.5,-9.9,144,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2520,3503,3388,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3022,-0.48,-160.6,2218,2520,3388,3614,499.5,-10.5,159,3028,0.00,2.30,0.00,0.000,260,0.000,0.048,2210,3840,3500,3387,3613,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3070,-0.48,-160.6,1296,3839,3375,3611,504.4,-10.6,161,3076,0.00,2.08,0.00,0.000,1030,0.000,0.024,2210,2524,3500,3388,3613,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3399,-0.48,-160.6,2210,2524,3388,3606,538.4,-9.8,177,3405,0.00,2.45,0.00,0.000,516,0.000,0.031,2210,1075,3497,3388,3606,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3447,-0.48,-160.6,2210,1075,3388,3605,543.1,-9.5,179,3453,0.00,2.55,0.00,0.000,1030,0.000,0.031,2207,2563,3496,3388,3605,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3775,-0.48,-160.6,2206,2560,3388,3600,578.4,-12.0,195,3782,0.00,2.15,0.00,0.000,260,0.000,0.049,2206,3828,3494,3388,3600,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3805,-0.48,-160.6,2207,3828,3388,3600,581.9,-12.1,196,3811,0.00,2.10,0.00,0.000,1030,0.000,0.024,2207,2524,3493,3388,3599,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4117,-0.48,-160.6,2206,2524,3388,3593,614.3,-9.3,209,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2524,3490,3387,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-0.48,-160.6,2206,2524,3388,3588,638.4,-7.9,219,4423,0.00,2.30,0.00,0.000,260,0.000,0.047,2206,3831,3488,3388,3588,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4472,-0.48,-160.6,2206,3831,3387,3588,641.4,-8.1,220,4479,0.00,2.10,0.00,0.000,1030,0.000,0.024,2206,2523,3487,3387,3588,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4791,-0.48,-160.6,2206,2523,3385,3584,671.2,-9.6,231,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2522,3484,3385,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5088,-0.48,-160.6,2206,2523,3382,3580,700.8,-9.9,241,5094,0.00,2.30,0.00,0.000,260,0.000,0.047,2206,3829,3481,3383,3579,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5113,-0.48,-160.6,2206,3829,3382,3580,700.8,-9.9,241,5119,0.00,2.12,0.00,0.000,1030,0.000,0.024,2206,2524,3480,3381,3580,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5432,-0.48,-160.6,2206,2524,3380,3577,732.4,-9.1,252,5438,0.00,2.30,0.00,0.000,260,0.000,0.047,2197,3841,3478,3379,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5482,-0.48,-160.6,2197,3841,3380,3577,736.1,-9.3,253,5487,0.00,2.12,0.00,0.000,1030,0.000,0.025,2197,2523,3478,3380,3577,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5805,-0.48,-160.6,2197,2523,3379,3572,769.5,-9.9,264,5812,0.00,2.30,0.00,0.000,260,0.000,0.048,2193,3835,3475,3379,3572,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5841,-0.48,-160.6,2193,3835,3378,3571,773.5,-9.9,265,5847,0.00,2.12,0.00,0.000,1030,0.000,0.025,2193,2526,3475,3378,3572,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6177,-0.48,-160.6,2193,2527,3377,3569,803.1,-8.2,276,6184,0.10,2.33,0.00,0.000,2308,0.135,0.050,2220,3833,3472,3377,3567,0,0,0,0,0,0,26.50,26.06,28.83
$GC,6208,-0.48,-160.6,2219,3833,3376,3569,803.1,-8.2,276,6216,0.00,2.12,0.00,0.000,1030,0.000,0.026,2220,2524,3472,3376,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6516,-0.48,-160.6,2219,2524,3376,3565,824.6,-6.7,287,6522,0.00,2.30,0.00,0.000,260,0.000,0.049,2210,3824,3470,3376,3565,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6583,-0.48,-160.6,1328,3823,3362,3563,829.3,-6.7,289,6589,0.00,2.12,0.00,0.000,1030,0.000,0.026,2210,2523,3472,3375,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6919,-0.48,-160.6,2209,2524,3374,3561,853.5,-6.8,300,6925,0.00,2.30,0.00,0.000,260,0.000,0.050,2207,3835,3467,3374,3561,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6944,-0.48,-160.6,2206,3834,3373,3561,853.5,-6.8,300,6950,0.00,2.12,0.00,0.000,1030,0.000,0.026,2207,2527,3467,3373,3561,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7263,-0.48,-160.6,2206,2527,3372,3558,874.9,-6.2,311,7269,0.00,2.30,0.00,0.000,260,0.000,0.052,2205,3831,3465,3372,3558,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7318,-0.48,-160.6,2205,3831,3371,3558,877.3,-6.3,312,7324,0.00,2.15,0.00,0.000,1030,0.000,0.025,2206,2523,3464,3371,3558,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7636,-0.48,-160.6,2205,2523,3370,3555,899.7,-6.9,323,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2523,3463,3371,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7934,-0.48,-160.6,2205,2523,3369,3554,922.0,-7.6,333,7940,0.00,2.33,0.00,0.000,260,0.000,0.050,2195,3837,3459,3368,3551,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8001,-0.48,-160.6,2195,3837,3368,3554,928.1,-8.3,335,8007,0.00,2.15,0.00,0.000,1030,0.000,0.026,2195,2525,3461,3368,3554,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8337,-0.48,-160.6,2196,2525,3367,3552,957.3,-9.2,346,8342,0.00,2.33,0.00,0.000,260,0.000,0.050,2184,3834,3460,3368,3552,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8386,-0.48,-160.6,2185,3834,3367,3552,961.2,-9.7,347,8393,0.12,2.15,0.00,0.000,3078,0.120,0.026,2226,2522,3459,3367,3552,0,0,0,0,0,0,26.11,26.36,28.83
$GC,8708,-0.48,-160.6,2226,2522,3367,3549,986.4,-7.5,358,8715,0.00,2.33,0.00,0.000,260,0.000,0.048,2220,3839,3458,3367,3549,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8770,-0.48,-160.6,2219,3839,3366,3549,989.2,-7.6,359,8778,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2521,3458,3367,3549,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,8804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8804,begin apogee
$GC,8811,-0.12,0.0,2217,2723,3367,3549,994.2,-7.8,361,8958,0.32,0.10,139.18,1.061,10246,0.087,0.074,2339,2652,2845,2858,2832,0,0,0,0,0,0,26.05,24.89,24.09
$STATE,8960,end apogee,CONTROL_FINISHED_OK
$STATE,8960,begin climb
$GC,8963,0.48,160.6,2339,2652,2853,2821,1002.0,0.0,365,9121,0.50,0.00,152.18,0.990,10502,0.034,0.000,2560,2651,2196,2320,2073,0,0,0,0,0,0,25.13,28.83,23.84
$GC,9407,0.48,160.6,2559,2651,2291,2044,969.9,10.3,381,9413,0.00,1.95,0.00,0.000,260,0.000,0.041,2550,3833,2167,2291,2044,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9453,0.48,160.6,2550,3833,2288,2044,965.9,10.6,382,9459,0.00,1.77,0.00,0.000,1030,0.000,0.017,2560,2623,2166,2289,2044,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9779,0.48,160.6,2560,2623,2286,2043,932.2,10.3,393,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2623,2164,2286,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,0.48,160.6,2560,2623,2283,2043,900.3,11.2,403,10084,0.00,2.58,0.00,0.000,516,0.000,0.024,2572,1227,2162,2282,2043,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10120,0.48,160.6,2572,1227,2280,2043,895.5,11.7,404,10126,0.00,2.80,0.00,0.000,1030,0.000,0.028,2560,2728,2161,2279,2043,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,18776,end climb,SURFACE_DEPTH_REACHED
$STATE,18776,begin surface coast
$FINISH,-0.4,1.021264
$STATE,18795,end surface coast,CONTROL_FINISHED_OK
$STATE,18796,begin surface
$SM_CCo,18814,0.62,0.241,0,0,1097,430.01
$SM_GC,1.28,6.68,0.45,0.62,0.024,0.032,0.241,138,2507,1097,-6.94,0.31,430.01,0,0,0,0,0,0,26.15,26.30,25.84
$IRIDIUM_FIX,1934.38,12307.76,200513,010152
$TT8_MAMPS,0.021721,0.021721
$HUMID,47.99
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,25.70
$XPDR_PINGS,0
$SC_FREEKB,3866080
$24V_AH,23.8,40.111
$10V_AH,10.2,31.685
$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,17.400,188.950,533.125,0.625,0.000,0.000,0.000,446.725,0.000,0.000,33.144,3314.654,12254.486,728.445,2451.225,805.195,0.000,2272.500,0.000,1850.212,0.000,0.545,0.000
$DEVICE_MAMPS,229.500,74.205,1061.055,240.975,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18885.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.319,0.000,0.000,0.000
$MEM,329092
$DATA_FILE_SIZE,30096,798
$CAP_FILE_SIZE,425795,0
$CFSIZE,260034560,205361152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153, 22.2,1
$GPS,200513,121536,1940.928,12313.147,26,1.4,26,-2.3