version: 66.11
glider: 169
mission: 8
dive: 460
start: 6 20 113 9 43 33
data:
$ID,169
$MISSION,8
$DIVE,460
$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,-5
$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,-22910.482
$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
$GPS1,200613,092923,1835.424,12248.843,133,1.4,133,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-69.8
$GPS2,200613,094301,1835.986,12248.809,14,1.5,14,-2.1
$SPEED_LIMITS,0.163,0.258
$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,218.6,57627,-5.6,-9.429,-20.04,2855
$D_GRID,4282
$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,24,-0.58,-175.2,120,2565,1269,946,0.0,0.0,0,93,0.00,0.00,-66.25,0.000,16386,0.000,0.000,120,2565,2816,2788,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-175.2,120,2565,2788,2845,3.9,-9.2,8,133,8.73,2.70,-12.43,0.000,18948,0.230,0.043,2192,1087,3568,3438,3698,0,0,0,0,0,0,25.06,25.98,26.46
$GC,163,-0.58,-175.2,2191,1087,3443,3698,32.4,-41.7,15,170,0.00,2.65,0.00,0.000,1030,0.000,0.039,2190,2557,3570,3443,3697,0,0,0,0,0,0,28.83,25.94,28.83
$GC,472,-0.58,-175.2,2190,2555,3443,3697,118.3,-24.0,34,478,0.00,2.58,0.00,0.000,516,0.000,0.028,2190,1073,3570,3443,3697,0,0,0,0,0,0,28.83,26.18,28.83
$GC,499,-0.58,-175.2,2190,1073,3443,3698,123.9,-22.7,35,505,0.00,2.60,0.00,0.000,1030,0.000,0.031,2186,2560,3570,3443,3698,0,0,0,0,0,0,28.83,26.15,28.83
$GC,828,-0.58,-175.2,2181,2557,3445,3698,186.1,-17.2,51,834,0.00,2.55,0.00,0.000,516,0.000,0.028,2181,1083,3570,3444,3697,0,0,0,0,0,0,28.83,26.27,28.83
$GC,859,-0.58,-175.2,2181,1084,3444,3698,191.3,-17.7,52,865,0.00,2.60,0.00,0.000,1030,0.000,0.034,2180,2560,3571,3444,3698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1182,-0.58,-175.2,2181,2558,3444,3697,248.5,-17.2,68,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2558,3570,3444,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1482,-0.58,-175.2,2180,2557,3444,3697,294.5,-14.0,83,1487,0.00,2.58,0.00,0.000,516,0.000,0.029,2180,1078,3570,3444,3697,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1533,-0.58,-175.2,2180,1078,3439,3697,300.5,-13.1,85,1541,0.00,2.58,0.00,0.000,1030,0.000,0.031,2184,2559,3571,3445,3697,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1859,-0.58,-175.2,2180,2557,3444,3697,338.4,-12.7,101,1865,0.00,2.15,0.00,0.000,260,0.000,0.047,2175,3830,3570,3444,3697,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1888,-0.58,-175.2,1312,3830,3433,3695,342.2,-12.9,102,1894,0.00,2.10,0.00,0.000,1030,0.000,0.022,2175,2511,3570,3444,3697,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2213,-0.58,-175.2,2175,2512,3445,3692,384.8,-13.5,118,2219,0.00,2.42,0.00,0.000,516,0.000,0.028,2175,1076,3567,3444,3691,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2256,-0.58,-175.2,2175,1076,3439,3691,389.3,-14.0,119,2265,0.00,2.60,0.00,0.000,1030,0.000,0.032,2168,2565,3567,3444,3690,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2561,-0.58,-175.2,2168,2564,3444,3685,430.6,-12.3,135,2567,0.00,2.58,0.00,0.000,516,0.000,0.031,2168,1083,3564,3444,3685,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2603,-0.58,-175.2,2168,1082,3443,3685,434.1,-12.3,136,2611,0.00,2.58,0.00,0.000,1030,0.000,0.034,2167,2562,3564,3444,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2909,-0.58,-175.2,2167,2561,3444,3678,472.6,-12.1,152,2915,0.00,2.12,0.00,0.000,260,0.000,0.047,2157,3835,3559,3444,3675,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2937,-0.58,-175.2,2156,3835,3444,3677,476.0,-12.3,153,2945,0.12,2.10,0.00,0.000,3078,0.128,0.024,2194,2523,3560,3444,3677,0,0,0,0,0,0,26.19,26.46,28.83
$GC,3263,-0.58,-175.2,2194,2523,3444,3671,509.7,-10.3,169,3269,0.00,2.28,0.00,0.000,260,0.000,0.048,2194,3832,3557,3444,3670,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3290,-0.58,-175.2,1296,3831,3432,3668,512.8,-10.5,170,3296,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2519,3556,3443,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3620,-0.58,-175.2,2194,2520,3443,3663,550.2,-11.8,186,3626,0.00,2.45,0.00,0.000,516,0.000,0.032,2194,1076,3552,3443,3662,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3647,-0.58,-175.2,2191,1076,3443,3662,553.9,-12.1,187,3653,0.00,2.58,0.00,0.000,1030,0.000,0.031,2193,2565,3552,3443,3662,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3976,-0.58,-175.2,2193,2563,3443,3657,592.7,-11.2,203,3983,0.00,2.12,0.00,0.000,260,0.000,0.047,2194,3830,3550,3443,3657,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4011,-0.58,-175.2,2193,3829,3442,3657,595.9,-10.9,204,4017,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2517,3549,3442,3657,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4347,-0.58,-175.2,2193,2518,3441,3652,630.8,-10.0,216,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2518,3546,3441,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4648,-0.58,-175.2,2193,2518,3439,3649,659.2,-9.6,226,4654,0.00,2.30,0.00,0.000,260,0.000,0.045,2193,3844,3543,3438,3648,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4711,-0.58,-175.2,2194,3844,3437,3649,662.9,-9.7,227,4720,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2518,3542,3437,3648,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5020,-0.58,-175.2,2193,2518,3437,3644,696.3,-9.9,238,5026,0.00,2.45,0.00,0.000,516,0.000,0.030,2194,1080,3540,3437,3644,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5072,-0.58,-175.2,2193,1081,3437,3644,700.0,-9.6,239,5079,0.00,2.55,0.00,0.000,1030,0.000,0.031,2193,2566,3540,3437,3643,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5395,-0.58,-175.2,2193,2564,3435,3638,730.0,-8.2,250,5401,0.00,2.17,0.00,0.000,260,0.000,0.050,2193,3841,3536,3435,3638,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5454,-0.58,-175.2,2193,3841,3434,3638,732.9,-8.0,251,5459,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2514,3536,3434,3638,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5773,-0.58,-175.2,2193,2515,3434,3634,760.7,-8.8,262,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2515,3534,3434,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,-0.58,-175.2,2193,2515,3432,3632,787.7,-9.1,272,6077,0.00,2.35,0.00,0.000,260,0.000,0.050,2193,3823,3532,3432,3632,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6149,-0.58,-175.2,2193,3822,3431,3632,793.8,-8.8,274,6154,0.00,2.15,0.00,0.000,1030,0.000,0.025,2194,2521,3531,3431,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6477,-0.58,-175.2,2193,2521,3432,3628,820.2,-7.5,285,6483,0.00,2.45,0.00,0.000,516,0.000,0.031,2193,1073,3529,3430,3628,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6525,-0.58,-175.2,2193,1073,3432,3628,823.1,-7.6,286,6531,0.00,2.55,0.00,0.000,1030,0.000,0.031,2193,2560,3529,3430,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6851,-0.58,-175.2,2193,2557,3429,3625,849.4,-8.4,297,6857,0.00,2.17,0.00,0.000,260,0.000,0.047,2190,3827,3527,3428,3626,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6904,-0.58,-175.2,2190,3827,3427,3625,852.8,-8.7,298,6910,0.00,2.15,0.00,0.000,1030,0.000,0.024,2190,2516,3526,3427,3625,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7226,-0.58,-175.2,2190,2517,3426,3621,883.7,-9.0,309,7232,0.00,2.35,0.00,0.000,260,0.000,0.047,2181,3833,3523,3426,3621,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7264,-0.58,-175.2,2181,3833,3426,3621,886.5,-8.7,310,7270,0.00,2.17,0.00,0.000,1030,0.000,0.025,2181,2519,3523,3426,3621,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7600,-0.58,-175.2,2181,2519,3425,3619,917.4,-9.2,321,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2519,3522,3425,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7901,-0.58,-175.2,2181,2519,3425,3616,945.4,-9.5,331,7907,0.00,2.35,0.00,0.000,260,0.000,0.050,2176,3825,3520,3425,3616,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7974,-0.58,-175.2,2181,3825,3424,3616,952.0,-9.6,333,7980,0.00,2.17,0.00,0.000,1030,0.000,0.026,2176,2524,3520,3425,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8306,-0.58,-175.2,2176,2525,3423,3614,979.8,-7.9,344,8311,0.00,2.45,0.00,0.000,516,0.000,0.034,2175,1085,3519,3424,3614,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8349,-0.58,-175.2,2175,1085,3424,3612,982.8,-7.9,345,8356,0.00,2.55,0.00,0.000,1030,0.000,0.034,2168,2558,3519,3424,3614,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,8440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8440,begin apogee
$GC,8448,-0.12,0.0,2163,2718,3424,3614,990.7,-7.9,348,8610,0.47,0.08,154.62,0.976,10246,0.092,0.093,2337,2662,2845,2873,2818,0,0,0,0,0,0,25.82,24.79,23.75
$STATE,8616,end apogee,CONTROL_FINISHED_OK
$STATE,8616,begin climb
$GC,8619,0.58,175.2,2337,2662,2866,2804,996.0,0.0,352,8802,0.60,2.80,167.05,0.958,10756,0.034,0.021,2605,1229,2123,2256,1991,0,0,0,0,0,0,25.14,24.65,23.54
$GC,8821,0.70,225.3,2605,1229,2245,1984,987.3,7.6,358,8880,0.00,2.92,49.65,0.904,9222,0.000,0.026,2593,2721,1929,2070,1789,0,0,0,0,0,0,28.83,25.03,23.63
$GC,9212,0.70,225.3,2592,2720,2048,1758,924.8,15.0,371,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2720,1902,2047,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9511,0.70,225.3,2592,2720,2045,1758,880.0,14.7,381,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2720,1901,2045,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9812,0.70,225.3,2592,2719,2043,1757,840.8,12.2,391,9818,0.00,2.78,0.00,0.000,516,0.000,0.024,2605,1235,1901,2045,1757,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9848,0.70,225.3,2605,1235,2039,1756,836.2,12.1,392,9854,0.00,2.80,0.00,0.000,1030,0.000,0.028,2602,2722,1897,2039,1756,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10184,0.70,225.3,2603,2720,2039,1756,795.1,12.4,403,10190,0.00,2.78,0.00,0.000,516,0.000,0.024,2616,1230,1897,2039,1756,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,17055,end climb,SURFACE_DEPTH_REACHED
$STATE,17055,begin surface coast
$FINISH,-0.3,1.009138
$STATE,17085,end surface coast,CONTROL_FINISHED_OK
$STATE,17085,begin surface
$SM_CCo,17105,0.80,0.213,0,0,1096,430.01
$SM_GC,1.20,6.55,0.45,0.80,0.022,0.027,0.213,132,2507,1096,-6.94,0.40,430.01,0,0,0,0,0,0,26.18,26.40,25.56
$IRIDIUM_FIX,1828.22,12252.86,200613,040423
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.63
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3788512
$24V_AH,23.5,61.075
$10V_AH,10.0,46.250
$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
$DEVICE_SECS,17.350,188.725,593.700,0.800,0.000,0.000,0.000,483.100,0.000,0.000,15.283,3118.413,10640.024,781.896,2368.826,981.451,0.000,2339.288,0.000,1767.926,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17177.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.744,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,26793,749
$CAP_FILE_SIZE,408713,0
$CFSIZE,260034560,181399552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.325,329.5,1
$GPS,200613,143000,1837.184,12246.002,44,1.3,44,-2.1