version: 66.11
glider: 169
mission: 8
dive: 383
start: 6 4 113 7 19 36
data:
$ID,169
$MISSION,8
$DIVE,383
$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,350
$T_MISSION,370
$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,180
$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,1
$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,-22804.652
$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
$GPS1,040613,070624,1926.653,12421.397,38,1.5,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-73.4
$GPS2,040613,071907,1926.794,12421.350,11,1.6,11,-2.4
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,173.7,180870,-5.6,-9.429,-20.04,2855
$D_GRID,5745
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.58,-175.2,126,2573,1278,936,0.0,0.0,0,102,0.00,0.00,-75.18,0.000,16386,0.000,0.000,126,2573,3100,3030,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.58,-175.2,125,2573,3031,3170,4.7,-11.4,10,132,8.45,0.00,-7.57,0.000,18438,0.224,0.000,2185,2574,3570,3443,3697,0,0,0,0,0,0,25.18,28.83,26.39
$GC,448,-0.58,-175.2,2185,2573,3446,3697,89.9,-19.4,35,455,0.00,2.70,0.00,0.000,516,0.000,0.032,2186,1079,3571,3446,3696,0,0,0,0,0,0,28.83,26.06,28.83
$GC,579,-0.58,-175.2,2186,1078,3446,3697,106.9,-11.7,41,586,0.00,2.65,0.00,0.000,1030,0.000,0.037,2183,2556,3571,3446,3697,0,0,0,0,0,0,28.83,26.06,28.83
$GC,908,-0.58,-175.2,2182,2553,3446,3697,162.7,-17.9,57,914,0.00,2.60,0.00,0.000,516,0.000,0.031,2182,1084,3571,3446,3696,0,0,0,0,0,0,28.83,26.18,28.83
$GC,980,-0.58,-175.2,2182,1083,3446,3697,173.6,-15.9,60,988,0.00,2.65,0.00,0.000,1030,0.000,0.037,2181,2560,3571,3446,3697,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1304,-0.58,-175.2,2180,2557,3446,3696,232.2,-19.1,76,1310,0.00,2.58,0.00,0.000,516,0.000,0.028,2181,1086,3571,3446,3696,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1382,-0.58,-175.2,2180,1085,3445,3696,244.9,-18.2,79,1389,0.00,2.62,0.00,0.000,1030,0.000,0.037,2180,2557,3571,3446,3696,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1700,-0.58,-175.2,2180,2555,3446,3696,299.8,-15.3,95,1706,0.00,2.12,0.00,0.000,260,0.000,0.047,2172,3846,3571,3446,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1729,-0.58,-175.2,2171,3846,3445,3696,303.9,-15.1,96,1735,0.00,2.10,0.00,0.000,1030,0.000,0.025,2171,2526,3572,3446,3699,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2053,-0.58,-175.2,2171,2524,3445,3694,347.5,-13.2,112,2060,0.00,2.47,0.00,0.000,516,0.000,0.030,2172,1078,3570,3448,3693,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2083,-0.58,-175.2,2171,1077,3446,3693,351.3,-13.1,113,2089,0.00,2.62,0.00,0.000,1030,0.000,0.036,2167,2558,3569,3445,3693,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2407,-0.58,-175.2,2167,2555,3445,3689,397.6,-14.8,129,2413,0.00,2.60,0.00,0.000,516,0.000,0.031,2167,1065,3567,3446,3689,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2468,-0.58,-175.2,1320,1065,3436,3687,404.6,-14.6,131,2476,0.10,2.62,0.00,0.000,3078,0.142,0.033,2193,2561,3567,3446,3688,0,0,0,0,0,0,26.09,26.23,28.83
$GC,2776,-0.58,-175.2,2193,2558,3446,3684,445.3,-12.3,147,2781,0.00,2.12,0.00,0.000,260,0.000,0.047,2193,3844,3564,3445,3684,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2817,-0.58,-175.2,2193,3844,3446,3683,448.5,-12.2,148,2825,0.00,2.10,0.00,0.000,1030,0.000,0.024,2193,2518,3564,3445,3684,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3123,-0.58,-175.2,2193,2517,3445,3678,482.8,-10.1,164,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2518,3561,3445,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3422,-0.58,-175.2,2193,2518,3446,3674,513.1,-10.6,179,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2517,3560,3446,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.58,-175.2,2193,2517,3445,3669,551.9,-13.5,194,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2517,3557,3445,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.58,-175.2,2194,2517,3445,3663,586.2,-11.0,209,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2517,3554,3445,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4341,-0.58,-175.2,2194,2517,3445,3660,619.3,-10.3,222,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2517,3552,3445,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4643,-0.58,-175.2,2193,2516,3444,3657,649.5,-9.7,232,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2517,3549,3443,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-0.58,-175.2,2193,2517,3442,3653,678.4,-9.6,242,4948,0.00,2.38,0.00,0.000,260,0.000,0.048,2193,3830,3547,3443,3652,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4993,-0.58,-175.2,2193,3830,3442,3652,681.9,-9.6,243,5000,0.00,2.10,0.00,0.000,1030,0.000,0.025,2193,2521,3547,3442,3652,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5316,-0.58,-175.2,2193,2520,3442,3648,716.2,-10.5,254,5322,0.00,2.30,0.00,0.000,260,0.000,0.050,2184,3826,3545,3442,3649,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5352,-0.58,-175.2,2184,3827,3441,3648,720.3,-10.7,255,5358,0.00,2.10,0.00,0.000,1030,0.000,0.025,2184,2520,3544,3440,3648,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5687,-0.58,-175.2,2184,2520,3439,3644,757.6,-10.8,266,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2520,3541,3439,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5988,-0.58,-175.2,2184,2520,3437,3641,788.0,-9.9,276,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2520,3539,3437,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6288,-0.58,-175.2,2184,2520,3436,3637,816.4,-9.4,286,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2520,3537,3437,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6588,-0.58,-175.2,2184,2520,3435,3634,842.7,-8.6,296,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2520,3534,3435,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6888,-0.58,-175.2,2184,2517,3434,3632,869.5,-9.1,306,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2520,3533,3434,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7188,-0.58,-175.2,2184,2520,3432,3630,899.3,-10.1,316,7194,0.00,2.35,0.00,0.000,260,0.000,0.054,2181,3837,3530,3432,3629,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7224,-0.58,-175.2,2181,3837,3431,3629,902.4,-9.7,317,7230,0.00,2.12,0.00,0.000,1030,0.000,0.027,2181,2523,3530,3431,3629,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7560,-0.58,-175.2,2181,2523,3431,3627,934.5,-9.2,328,7566,0.00,2.53,0.00,0.000,516,0.000,0.034,2181,1092,3528,3431,3625,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7590,-0.58,-175.2,2181,1091,3431,3626,934.5,-9.2,328,7599,0.00,2.60,0.00,0.000,1030,0.000,0.035,2170,2560,3528,3430,3626,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7899,-0.58,-175.2,2171,2558,3430,3625,964.5,-8.9,339,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2558,3527,3430,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8198,-0.58,-175.2,2170,2557,3425,3622,989.9,-8.5,349,8203,0.00,2.22,0.00,0.000,260,0.000,0.053,2160,3840,3525,3428,3622,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,8230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8230,begin apogee
$GC,8239,-0.12,0.0,2161,2647,3428,3622,993.4,-8.7,350,8402,0.50,0.17,155.93,1.028,10246,0.093,0.070,2336,2730,2847,2875,2819,0,0,0,0,0,0,25.70,24.77,23.82
$STATE,8407,end apogee,CONTROL_FINISHED_OK
$STATE,8407,begin climb
$GC,8410,0.58,175.2,2336,2730,2868,2804,999.2,0.0,354,8583,0.60,0.00,168.10,0.978,10502,0.032,0.000,2592,2730,2136,2268,2004,0,0,0,0,0,0,25.02,28.83,23.37
$GC,8863,0.58,175.2,2593,2730,2242,1973,954.6,13.5,371,8870,0.00,2.88,0.00,0.000,516,0.000,0.024,2606,1225,2106,2241,1972,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8889,0.58,175.2,2606,1224,2235,1978,954.6,13.5,371,8896,0.00,2.88,0.00,0.000,1030,0.000,0.028,2594,2723,2105,2236,1974,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9210,0.58,175.2,2594,2722,2235,1973,907.9,13.2,382,9217,0.00,2.83,0.00,0.000,516,0.000,0.024,2607,1226,2104,2235,1973,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9246,0.58,175.2,2607,1226,2231,1974,902.6,13.2,383,9253,0.12,2.85,0.00,0.000,5126,0.154,0.028,2565,2718,2102,2231,1974,0,0,0,0,0,0,25.74,26.00,28.83
$GC,9584,0.58,175.2,2565,2716,2230,1973,864.8,11.6,394,9590,0.00,2.80,0.00,0.000,516,0.000,0.024,2578,1224,2102,2231,1973,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9619,0.58,175.2,2576,1224,2227,1973,859.9,12.1,395,9626,0.00,2.85,0.00,0.000,1030,0.000,0.028,2566,2723,2100,2228,1973,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9956,0.58,175.2,2566,2720,2227,1973,822.7,10.4,406,9963,0.00,2.80,0.00,0.000,516,0.000,0.024,2579,1232,2100,2227,1973,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10013,0.58,175.2,2578,1232,2225,1973,818.9,10.4,407,10019,0.00,2.83,0.00,0.000,1030,0.000,0.028,2567,2722,2099,2225,1973,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10332,0.64,198.4,2566,2719,2225,1973,788.2,8.6,418,10365,0.00,2.90,20.75,0.880,8708,0.000,0.024,2580,1230,2027,2154,1901,0,0,0,0,0,0,28.83,25.99,24.96
$GC,10405,0.68,216.4,1616,1230,2105,1887,781.8,8.8,420,10433,0.00,2.88,18.25,0.804,9222,0.000,0.028,2576,2721,1958,2084,1832,0,0,0,0,0,0,28.83,25.94,24.78
$GC,10732,0.68,216.4,2575,2719,2073,1814,742.8,12.5,431,10738,0.00,2.83,0.00,0.000,516,0.000,0.024,2588,1244,1943,2073,1814,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10781,0.68,216.4,2589,1243,2068,1815,738.2,12.6,432,10787,0.00,2.85,0.00,0.000,1030,0.000,0.030,2584,2724,1942,2069,1815,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11106,0.68,216.4,2584,2721,2068,1814,694.1,12.9,443,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2721,1941,2068,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11406,0.68,216.4,2584,2721,2068,1813,654.9,13.2,453,11412,0.00,2.83,0.00,0.000,516,0.000,0.024,2597,1231,1940,2067,1813,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,16057,end climb,SURFACE_DEPTH_REACHED
$STATE,16057,begin surface coast
$FINISH,0.8,1.021317
$STATE,16087,end surface coast,CONTROL_FINISHED_OK
$STATE,16087,begin surface
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$SM_GC,0.60,6.88,0.45,38.83,0.054,0.024,0.130,140,2500,1098,-6.94,0.31,430.01,0,0,0,0,0,0,26.14,26.48,25.70
$IRIDIUM_FIX,1922.94,12422.62,040613,020234
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.92
$INTERNAL_PRESSURE,9.33009
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3827904
$24V_AH,23.4,50.471
$10V_AH,10.1,38.515
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.100,159.450,483.800,38.825,0.000,0.000,0.000,460.525,0.000,0.000,12.687,2820.792,10457.020,688.296,2127.604,783.626,0.000,2083.383,0.000,1559.318,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,70.380,1028.160,130.050,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.757,0.000,0.000,0.000
$MEM,328916
$DATA_FILE_SIZE,26698,710
$CAP_FILE_SIZE,364871,0
$CFSIZE,260034560,193781760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,185.8,1
$GPS,040613,115000,1924.521,12421.587,40,1.4,40,-2.3