version: 66.11
glider: 169
mission: 8
dive: 469
start: 6 22 113 9 11 36
data:
$ID,169
$MISSION,8
$DIVE,469
$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,-22924.342
$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
$GPS1,220613,085656,1856.708,12237.506,38,2.6,57,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-69.0
$GPS2,220613,091107,1857.232,12237.459,15,1.2,15,-2.2
$SPEED_LIMITS,0.163,0.258
$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,90.5,229101,-5.6,-9.429,-20.04,2855
$D_GRID,1922
$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,-175.2,121,2568,1272,945,0.0,0.0,0,96,0.00,0.00,-68.90,0.000,16386,0.000,0.000,121,2568,2886,2852,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-175.2,121,2568,2853,2921,3.9,-8.2,9,128,8.65,2.25,-11.07,0.000,18692,0.227,0.059,2172,3832,3571,3443,3700,0,0,0,0,0,0,24.98,25.90,26.44
$GC,167,-0.58,-175.2,2172,3832,3444,3700,37.4,-46.9,16,173,0.00,2.15,0.00,0.000,1030,0.000,0.024,2172,2533,3572,3444,3700,0,0,0,0,0,0,28.83,26.12,28.83
$GC,486,-0.58,-175.2,2171,2531,3444,3700,127.8,-25.1,33,492,0.00,2.47,0.00,0.000,516,0.000,0.028,2173,1070,3572,3444,3700,0,0,0,0,0,0,28.83,26.16,28.83
$GC,557,-0.58,-175.2,2173,1069,3444,3700,142.3,-20.8,36,563,0.00,2.62,0.00,0.000,1030,0.000,0.037,2167,2562,3572,3444,3700,0,0,0,0,0,0,28.83,26.11,28.83
$GC,887,-0.58,-175.2,2167,2560,3445,3700,206.0,-17.6,52,894,0.00,2.15,0.00,0.000,260,0.000,0.046,2160,3841,3572,3445,3700,0,0,0,0,0,0,28.83,26.13,28.83
$GC,950,-0.58,-175.2,2159,3841,3445,3700,214.9,-17.3,54,959,0.12,2.12,0.00,0.000,3078,0.138,0.024,2195,2526,3572,3445,3700,0,0,0,0,0,0,26.11,26.43,28.83
$GC,1258,-0.58,-175.2,2195,2526,3445,3700,259.7,-13.2,70,1264,0.00,2.30,0.00,0.000,260,0.000,0.046,2194,3824,3572,3445,3700,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1306,-0.58,-175.2,2193,3824,3445,3700,265.5,-12.7,72,1312,0.00,2.12,0.00,0.000,1030,0.000,0.023,2193,2518,3573,3446,3700,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1636,-0.58,-175.2,2193,2516,3446,3699,305.2,-12.4,88,1642,0.00,2.30,0.00,0.000,260,0.000,0.045,2194,3826,3572,3445,3699,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1715,-0.58,-175.2,2194,3826,3445,3699,314.5,-12.6,91,1722,0.00,2.10,0.00,0.000,1030,0.000,0.022,2194,2518,3572,3445,3699,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2032,-0.58,-175.2,2193,2518,3445,3697,360.9,-16.3,107,2038,0.00,2.33,0.00,0.000,260,0.000,0.045,2194,3834,3571,3445,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2112,-0.58,-175.2,2193,3834,3445,3696,371.5,-15.2,110,2118,0.00,2.12,0.00,0.000,1030,0.000,0.022,2194,2514,3570,3445,3695,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2429,-0.58,-175.2,2193,2514,3445,3690,406.9,-10.0,126,2436,0.00,2.30,0.00,0.000,260,0.000,0.044,2194,3832,3567,3445,3690,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2464,-0.58,-175.2,2193,3832,3445,3689,409.8,-10.2,127,2470,0.00,2.12,0.00,0.000,1030,0.000,0.022,2194,2514,3567,3445,3689,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2781,-0.58,-175.2,2193,2514,3445,3684,444.1,-10.2,143,2787,0.00,2.33,0.00,0.000,260,0.000,0.044,2193,3841,3564,3445,3684,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2833,-0.58,-175.2,2194,3840,3445,3683,448.9,-10.2,145,2839,0.00,2.12,0.00,0.000,1030,0.000,0.023,2193,2517,3564,3445,3683,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3158,-0.58,-175.2,2193,2518,3445,3677,484.4,-11.1,161,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2518,3561,3445,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3455,-0.58,-175.2,2193,2518,3445,3671,521.2,-12.1,176,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2518,3558,3445,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,-0.58,-175.2,2193,2517,3445,3665,557.1,-11.8,191,3762,0.00,2.38,0.00,0.000,260,0.000,0.047,2193,3841,3555,3445,3665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3809,-0.58,-175.2,2193,3837,3444,3664,562.7,-11.6,193,3815,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2522,3554,3444,3664,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4134,-0.58,-175.2,2193,2522,3443,3661,596.0,-8.7,209,4140,0.00,2.50,0.00,0.000,516,0.000,0.032,2193,1069,3552,3444,3661,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4182,-0.58,-175.2,2193,1069,3443,3661,600.2,-8.6,211,4188,0.00,2.58,0.00,0.000,1030,0.000,0.034,2193,2558,3551,3443,3660,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4511,-0.58,-175.2,2193,2556,3442,3656,625.6,-8.3,222,4516,0.00,2.22,0.00,0.000,260,0.000,0.049,2183,3844,3547,3442,3653,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4579,-0.58,-175.2,2183,3844,3440,3656,631.3,-8.2,224,4585,0.00,2.20,0.00,0.000,1030,0.000,0.025,2183,2518,3548,3440,3656,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4917,-0.58,-175.2,2183,2518,3440,3650,670.8,-13.6,235,4923,0.00,2.42,0.00,0.000,516,0.000,0.030,2183,1076,3545,3440,3650,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4959,-0.58,-175.2,2183,1076,3440,3649,676.3,-14.1,236,4966,0.00,2.58,0.00,0.000,1030,0.000,0.031,2183,2564,3545,3440,3650,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5291,-0.58,-175.2,2181,2558,3437,3647,722.7,-12.8,247,5296,0.00,2.20,0.00,0.000,260,0.000,0.048,2181,3836,3541,3437,3646,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5322,-0.58,-175.2,2180,3836,3437,3646,722.7,-12.8,247,5331,0.00,2.17,0.00,0.000,1030,0.000,0.024,2181,2514,3541,3437,3646,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5631,-0.58,-175.2,2180,2514,3436,3643,756.3,-8.8,258,5637,0.00,2.42,0.00,0.000,516,0.000,0.032,2181,1081,3539,3436,3643,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5673,-0.58,-175.2,2181,1080,3436,3642,759.9,-8.8,259,5679,0.00,2.58,0.00,0.000,1030,0.000,0.032,2181,2563,3539,3436,3642,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6005,-0.58,-175.2,2180,2561,3436,3638,788.6,-8.4,270,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2566,3536,3434,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6306,-0.58,-175.2,2180,2561,3433,3634,813.6,-8.6,280,6312,0.00,2.20,0.00,0.000,260,0.000,0.048,2170,3832,3533,3432,3634,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6336,-0.58,-175.2,2170,3832,3431,3634,813.6,-8.6,280,6344,0.00,2.17,0.00,0.000,1030,0.000,0.024,2170,2521,3533,3432,3634,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6644,-0.58,-175.2,2170,2519,3430,3632,845.2,-9.3,291,6650,0.00,2.35,0.00,0.000,260,0.000,0.047,2160,3828,3531,3430,3632,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6688,-0.58,-175.2,2160,3828,3430,3631,849.1,-9.7,292,6694,0.12,2.17,0.00,0.000,3078,0.120,0.026,2200,2524,3530,3430,3631,0,0,0,0,0,0,26.10,26.36,28.83
$GC,7020,-0.58,-175.2,2200,2524,3430,3627,876.6,-8.0,303,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2523,3528,3430,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,-0.58,-175.2,2200,2523,3428,3625,900.1,-7.8,313,7325,0.00,2.38,0.00,0.000,260,0.000,0.047,2190,3830,3526,3428,3625,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7372,-0.58,-175.2,2195,3830,3426,3625,903.0,-7.8,314,7378,0.00,2.20,0.00,0.000,1030,0.000,0.024,2194,2514,3526,3427,3625,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7698,-0.58,-175.2,2194,2514,3426,3622,930.8,-8.1,325,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2514,3523,3426,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,-0.58,-175.2,2194,2514,3425,3620,956.0,-8.6,335,8001,0.00,2.42,0.00,0.000,260,0.000,0.050,2183,3838,3522,3425,3620,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8020,-0.58,-175.2,2183,3839,3425,3620,956.0,-8.6,335,8026,0.00,2.22,0.00,0.000,1030,0.000,0.025,2183,2520,3522,3424,3620,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8341,-0.58,-175.2,2183,2521,3425,3617,985.8,-8.6,346,8347,0.00,2.45,0.00,0.000,516,0.000,0.032,2183,1071,3521,3425,3617,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8374,begin apogee
$GC,8386,-0.12,0.0,2180,2713,3425,3616,990.2,-9.2,347,8547,0.43,0.00,152.55,1.027,10246,0.086,0.000,2336,2711,2843,2872,2815,0,0,0,0,0,0,25.91,28.83,23.65
$STATE,8549,end apogee,CONTROL_FINISHED_OK
$STATE,8549,begin climb
$GC,8553,0.58,175.2,2336,2711,2867,2805,998.1,0.0,351,8730,0.60,3.00,165.10,0.918,11012,0.034,0.023,2606,1234,2124,2256,1992,0,0,0,0,0,0,25.08,24.69,23.58
$GC,8787,0.58,175.2,2605,1234,2241,1983,986.5,10.4,360,8795,0.00,2.90,0.00,0.000,1030,0.000,0.027,2593,2715,2114,2246,1983,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9125,0.58,175.2,2593,2713,2236,1979,943.9,12.7,371,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2713,2107,2236,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9426,0.58,175.2,2593,2713,2234,1978,904.5,13.0,381,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2713,2106,2234,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9726,0.58,175.2,2592,2713,2232,1978,866.8,12.5,391,9732,0.00,1.80,0.00,0.000,260,0.000,0.043,2585,3845,2105,2232,1978,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9831,0.58,175.2,1576,3845,2186,1970,852.7,14.1,394,9836,0.00,1.80,0.00,0.000,1030,0.000,0.016,2594,2621,2104,2231,1978,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10161,0.58,175.2,2594,2621,2230,1977,810.9,12.0,405,10167,0.00,2.08,0.00,0.000,260,0.000,0.042,2585,3845,2103,2230,1977,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10333,0.58,175.2,2585,3845,2230,1977,790.7,12.7,410,10339,0.00,1.77,0.00,0.000,1030,0.000,0.016,2594,2629,2103,2230,1977,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10658,0.58,175.2,2594,2629,2228,1977,754.9,10.0,421,10665,0.00,2.05,0.00,0.000,260,0.000,0.042,2585,3836,2102,2228,1977,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,17597,end climb,SURFACE_DEPTH_REACHED
$STATE,17597,begin surface coast
$FINISH,0.2,1.021187
$STATE,17616,end surface coast,CONTROL_FINISHED_OK
$STATE,17619,begin surface
$SM_CCo,17699,0.00,0.000,0,0,978,459.69
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$IRIDIUM_FIX,1844.15,12238.23,220613,030358
$TT8_MAMPS,0.021721,0.021721
$HUMID,49.72
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3783904
$24V_AH,23.6,62.346
$10V_AH,10.0,47.206
$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,17.300,177.650,575.025,0.000,0.000,0.000,0.000,506.450,0.000,0.000,16.328,3186.193,11140.797,764.812,2410.460,1006.411,0.000,2354.892,0.000,1802.934,0.000,0.545,0.000
$DEVICE_MAMPS,227.205,68.085,1026.630,0.000,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.713,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,30072,764
$CAP_FILE_SIZE,413917,0
$CFSIZE,260034560,179896320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.402,345.7,1
$GPS,220613,140754,1901.118,12238.316,44,1.2,44,-2.2