version: 66.11
glider: 169
mission: 8
dive: 517
start: 7 2 113 18 30 21
data:
$ID,169
$MISSION,8
$DIVE,517
$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,-22987.391
$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
$GPS1,020713,181605,1950.218,12332.779,40,1.0,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-72.9
$GPS2,020713,182949,1950.198,12332.542,15,1.2,15,-2.4
$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,61.3,94390,-5.6,-9.429,-20.04,2855
$D_GRID,5217
$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,-175.2,122,2570,1265,949,0.0,0.0,0,102,0.00,0.00,-74.68,0.000,16386,0.000,0.000,122,2570,3094,3023,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.58,-175.2,122,2570,3024,3165,4.9,-12.6,10,133,8.85,2.28,-7.12,0.000,18692,0.233,0.062,2177,3822,3571,3440,3703,0,0,0,0,0,0,24.87,25.85,26.44
$GC,167,-0.58,-175.2,2177,3823,3442,3702,38.2,-49.7,16,173,0.00,2.12,0.00,0.000,1030,0.000,0.024,2177,2532,3572,3441,3704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,496,-0.58,-175.2,2177,2531,3443,3702,116.3,-20.4,34,502,0.00,2.33,0.00,0.000,260,0.000,0.045,2167,3844,3572,3442,3702,0,0,0,0,0,0,28.83,26.01,28.83
$GC,524,-0.58,-175.2,2167,3844,3442,3702,122.4,-20.5,35,530,0.00,2.15,0.00,0.000,1030,0.000,0.026,2167,2533,3572,3442,3702,0,0,0,0,0,0,28.83,26.28,28.83
$GC,852,-0.58,-175.2,2167,2531,3443,3702,188.0,-19.0,51,859,0.00,2.53,0.00,0.000,516,0.000,0.029,2167,1085,3572,3442,3702,0,0,0,0,0,0,28.83,26.20,28.83
$GC,869,-0.58,-175.2,2167,1085,3443,3702,188.0,-19.0,51,874,0.00,2.62,0.00,0.000,1030,0.000,0.033,2172,2560,3572,3443,3702,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1185,-0.58,-175.2,2167,2557,3442,3702,242.1,-14.8,67,1190,0.00,2.62,0.00,0.000,516,0.000,0.027,2167,1063,3572,3442,3702,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1221,-0.58,-175.2,2167,1063,3443,3702,246.1,-14.9,68,1227,0.00,2.65,0.00,0.000,1030,0.000,0.032,2167,2564,3572,3443,3702,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1539,-0.58,-175.2,2167,2561,3444,3702,291.6,-13.9,84,1545,0.00,2.10,0.00,0.000,260,0.000,0.045,2158,3828,3575,3443,3707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1588,-0.58,-175.2,1248,3827,3431,3700,298.7,-14.9,86,1595,0.12,2.10,0.00,0.000,3078,0.132,0.023,2194,2514,3572,3442,3702,0,0,0,0,0,0,26.15,26.45,28.83
$GC,1918,-0.58,-175.2,2194,2512,3442,3701,340.4,-12.9,102,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2512,3572,3443,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2216,-0.58,-175.2,2194,2512,3443,3699,375.7,-10.6,117,2223,0.00,2.30,0.00,0.000,260,0.000,0.043,2194,3843,3570,3442,3699,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2259,-0.58,-175.2,2194,3843,3442,3698,378.5,-10.4,118,2267,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2512,3570,3442,3698,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2563,-0.58,-175.2,2193,2512,3442,3693,409.2,-9.7,134,2569,0.00,2.28,0.00,0.000,260,0.000,0.043,2193,3828,3567,3442,3693,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2643,-0.58,-175.2,2194,3828,3443,3692,415.3,-8.8,137,2649,0.00,2.10,0.00,0.000,1030,0.000,0.022,2194,2505,3567,3442,3692,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2961,-0.58,-175.2,2194,2505,3442,3688,445.1,-9.2,153,2966,0.00,2.33,0.00,0.000,260,0.000,0.046,2194,3834,3565,3442,3688,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3032,-0.58,-175.2,2193,3835,3442,3686,451.7,-9.3,156,3037,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2514,3564,3442,3686,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3361,-0.58,-175.2,2191,2514,3442,3682,483.4,-10.2,172,3366,0.00,2.28,0.00,0.000,260,0.000,0.044,2194,3833,3562,3442,3682,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3391,-0.58,-175.2,2193,3833,3444,3681,486.4,-10.2,173,3397,0.00,2.10,0.00,0.000,1030,0.000,0.023,2194,2517,3561,3442,3681,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3715,-0.58,-175.2,2193,2513,3442,3675,518.4,-9.6,189,3721,0.00,2.30,0.00,0.000,260,0.000,0.045,2194,3822,3558,3442,3675,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3751,-0.58,-175.2,2193,3822,3442,3675,521.2,-9.7,190,3757,0.00,2.10,0.00,0.000,1030,0.000,0.023,2194,2510,3558,3442,3674,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4068,-0.58,-175.2,2193,2510,3442,3674,552.6,-9.4,206,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2510,3555,3442,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4369,-0.58,-175.2,2193,2510,3442,3664,579.2,-8.4,221,4375,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3823,3553,3442,3664,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4441,-0.58,-175.2,2194,3823,3442,3663,584.6,-7.8,224,4447,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2511,3552,3442,3662,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4753,-0.58,-175.2,2193,2511,3442,3660,607.5,-7.2,238,4758,0.00,2.50,0.00,0.000,516,0.000,0.030,2193,1076,3551,3442,3660,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4806,-0.58,-175.2,2193,1076,3442,3659,610.5,-7.6,239,4812,0.00,2.60,0.00,0.000,1030,0.000,0.032,2193,2565,3550,3442,3659,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5128,-0.58,-175.2,2193,2563,3440,3658,640.2,-9.3,250,5134,0.00,2.17,0.00,0.000,260,0.000,0.047,2194,3824,3546,3439,3654,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5166,-0.58,-175.2,2196,3824,3438,3654,643.6,-9.2,251,5172,0.00,2.15,0.00,0.000,1030,0.000,0.024,2194,2512,3546,3438,3654,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5502,-0.58,-175.2,2193,2512,3438,3649,671.8,-7.8,262,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2512,3543,3438,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5803,-0.58,-175.2,2193,2512,3437,3647,694.4,-7.6,272,5809,0.00,2.40,0.00,0.000,260,0.000,0.050,2193,3834,3542,3437,3647,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5829,-0.58,-175.2,2193,3834,3436,3647,694.4,-7.6,272,5835,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2519,3541,3436,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6150,-0.58,-175.2,2193,2518,3435,3644,723.3,-8.8,283,6156,0.00,2.35,0.00,0.000,260,0.000,0.046,2194,3844,3539,3435,3643,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6187,-0.58,-175.2,2193,3844,3434,3644,727.1,-9.0,284,6192,0.00,2.17,0.00,0.000,1030,0.000,0.024,2194,2516,3538,3434,3643,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6522,-0.58,-175.2,2193,2516,3434,3638,759.8,-9.8,295,6528,0.00,2.35,0.00,0.000,260,0.000,0.047,2194,3847,3536,3434,3638,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6559,-0.58,-175.2,2193,3847,3432,3638,763.0,-9.6,296,6564,0.00,2.17,0.00,0.000,1030,0.000,0.025,2193,2519,3535,3433,3638,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6897,-0.58,-175.2,2193,2519,3431,3635,793.1,-8.2,307,6903,0.00,2.33,0.00,0.000,260,0.000,0.045,2183,3846,3533,3431,3635,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6922,-0.58,-175.2,2183,3846,3431,3634,793.1,-8.2,307,6928,0.00,2.17,0.00,0.000,1030,0.000,0.024,2183,2514,3533,3431,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7243,-0.58,-175.2,2182,2514,3430,3633,820.3,-7.7,318,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2514,3531,3430,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7539,-0.58,-175.2,2183,2514,3429,3630,841.4,-7.2,328,7545,0.00,2.35,0.00,0.000,260,0.000,0.050,2181,3833,3529,3429,3629,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7591,-0.58,-175.2,2181,3833,3428,3630,844.0,-7.2,329,7598,0.00,2.17,0.00,0.000,1030,0.000,0.024,2181,2514,3529,3428,3630,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7918,-0.58,-175.2,2180,2515,3427,3627,869.8,-7.9,340,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2515,3526,3426,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8215,-0.58,-175.2,2181,2515,3426,3625,893.3,-7.7,350,8221,0.00,2.33,0.00,0.000,260,0.000,0.044,2173,3848,3525,3426,3625,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8267,-0.58,-175.2,2173,3848,3425,3625,896.3,-7.8,351,8273,0.00,2.17,0.00,0.000,1030,0.000,0.025,2173,2518,3525,3425,3626,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8591,-0.58,-175.2,2173,2518,3425,3622,924.2,-8.1,362,8596,0.00,2.33,0.00,0.000,260,0.000,0.047,2167,3830,3523,3425,3621,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8633,-0.58,-175.2,2167,3829,3425,3621,928.1,-8.6,363,8640,0.00,2.15,0.00,0.000,1030,0.000,0.026,2168,2519,3523,3425,3622,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8965,-0.58,-175.2,2167,2519,3425,3620,957.2,-8.7,374,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2519,3522,3425,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9266,-0.58,-175.2,2167,2519,3424,3617,983.5,-8.7,384,9272,0.00,2.35,0.00,0.000,260,0.000,0.049,2157,3842,3520,3424,3617,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9319,-0.58,-175.2,2157,3842,3423,3617,987.0,-8.9,385,9325,0.12,2.17,0.00,0.000,3078,0.118,0.027,2197,2523,3520,3423,3617,0,0,0,0,0,0,26.01,26.26,28.83
$STATE,9338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9338,begin apogee
$GC,9347,-0.12,0.0,2196,2663,3423,3617,990.4,-9.1,386,9514,0.38,0.00,157.68,0.980,10246,0.084,0.000,2335,2663,2839,2871,2808,0,0,0,0,0,0,25.95,28.83,23.50
$STATE,9519,end apogee,CONTROL_FINISHED_OK
$STATE,9519,begin climb
$GC,9522,0.58,175.2,2335,2663,2867,2801,999.1,0.0,391,9706,0.60,3.03,170.68,0.958,11012,0.033,0.024,2606,1178,2124,2257,1992,0,0,0,0,0,0,25.16,24.73,23.47
$GC,9732,0.68,215.7,2609,1178,2241,1981,992.1,8.0,398,9784,0.00,2.88,40.62,0.905,9222,0.000,0.027,2594,2660,1960,2103,1817,0,0,0,0,0,0,28.83,25.16,23.74
$GC,10114,0.68,215.7,2593,2659,2080,1801,937.9,13.2,411,10120,0.00,1.92,0.00,0.000,260,0.000,0.042,2585,3833,1942,2080,1804,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,18534,end climb,SURFACE_DEPTH_REACHED
$STATE,18534,begin surface coast
$FINISH,0.0,1.021209
$STATE,18566,end surface coast,CONTROL_FINISHED_OK
$STATE,18566,begin surface
$SM_CCo,18588,13.98,0.126,0,0,1098,430.01
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$TT8_MAMPS,0.020972,0.020972
$HUMID,53.42
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3759328
$24V_AH,23.5,69.230
$10V_AH,10.0,52.039
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18645.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.437,0.000,0.000,0.000
$MEM,328900
$DATA_FILE_SIZE,30106,801
$CAP_FILE_SIZE,432447,0
$CFSIZE,260034560,172060672
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,256.2,1
$GPS,020713,234135,1950.837,12332.799,33,1.4,33,-2.4