version: 66.11
glider: 169
mission: 8
dive: 535
start: 7 6 113 19 44 0
data:
$ID,169
$MISSION,8
$DIVE,535
$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,-23010.133
$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
$GPS1,060713,192536,2004.386,12359.215,32,0.8,32,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-71.3
$GPS2,060713,194330,2004.481,12359.459,10,1.9,10,-2.5
$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,69.5,40662,-5.6,-9.429,-20.04,2855
$D_GRID,5392
$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,-175.2,124,2573,1252,877,0.0,0.0,0,99,0.00,0.00,-71.55,0.000,16386,0.000,0.000,127,2574,2905,2866,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-175.2,122,2574,2866,2944,3.6,-7.4,9,132,8.90,2.25,-10.93,0.000,18692,0.233,0.058,2177,3830,3570,3440,3701,0,0,0,0,0,0,24.88,25.89,26.48
$GC,205,-0.58,-175.2,2177,3830,3442,3701,44.6,-30.1,19,211,0.00,2.12,0.00,0.000,1030,0.000,0.024,2177,2535,3571,3442,3701,0,0,0,0,0,0,28.83,26.17,28.83
$GC,534,-0.58,-175.2,2177,2532,3442,3701,115.6,-20.0,36,540,0.00,2.30,0.00,0.000,260,0.000,0.045,2168,3841,3571,3442,3701,0,0,0,0,0,0,28.83,26.04,28.83
$GC,571,-0.58,-175.2,2167,3841,3442,3701,121.9,-20.6,37,576,0.00,2.15,0.00,0.000,1030,0.000,0.024,2167,2526,3571,3442,3701,0,0,0,0,0,0,28.83,26.36,28.83
$GC,886,-0.58,-175.2,2167,2525,3443,3701,181.4,-16.1,53,892,0.00,2.33,0.00,0.000,260,0.000,0.048,2163,3830,3572,3443,3701,0,0,0,0,0,0,28.83,26.09,28.83
$GC,971,-0.58,-175.2,2162,3829,3443,3701,192.7,-16.0,56,979,0.10,2.12,0.00,0.000,3078,0.145,0.023,2191,2516,3572,3443,3701,0,0,0,0,0,0,26.18,26.44,28.83
$GC,1277,-0.58,-175.2,2191,2516,3443,3701,231.0,-12.6,72,1283,0.00,2.35,0.00,0.000,260,0.000,0.043,2181,3841,3571,3442,3701,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1314,-0.58,-175.2,2181,3841,3442,3701,234.6,-13.0,73,1320,0.00,2.15,0.00,0.000,1030,0.000,0.023,2181,2517,3571,3442,3701,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1631,-0.58,-175.2,2181,2517,3442,3701,279.6,-13.2,89,1637,0.00,2.33,0.00,0.000,260,0.000,0.044,2181,3832,3572,3443,3701,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1691,-0.58,-175.2,2184,3832,3442,3701,285.7,-12.9,91,1697,0.00,2.12,0.00,0.000,1030,0.000,0.022,2181,2516,3571,3442,3701,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2009,-0.58,-175.2,2181,2515,3442,3698,325.2,-12.1,107,2016,0.00,2.33,0.00,0.000,260,0.000,0.044,2181,3845,3569,3441,3697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2100,-0.58,-175.2,2180,3845,3442,3697,336.1,-11.9,111,2107,0.00,2.15,0.00,0.000,1030,0.000,0.023,2181,2517,3569,3442,3696,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2430,-0.58,-175.2,2180,2517,3442,3692,378.5,-12.6,127,2436,0.00,2.30,0.00,0.000,260,0.000,0.044,2181,3841,3565,3442,3688,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2509,-0.58,-175.2,2181,3841,3442,3690,386.8,-11.6,130,2515,0.00,2.12,0.00,0.000,1030,0.000,0.024,2181,2524,3566,3442,3690,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2825,-0.58,-175.2,2180,2523,3442,3686,419.8,-9.6,146,2831,0.00,2.28,0.00,0.000,260,0.000,0.047,2181,3821,3563,3442,3685,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2884,-0.58,-175.2,2181,3821,3442,3685,424.4,-10.1,148,2891,0.00,2.10,0.00,0.000,1030,0.000,0.021,2181,2514,3563,3442,3685,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3203,-0.58,-175.2,2180,2514,3442,3681,457.8,-9.5,164,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2514,3561,3442,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3502,-0.58,-175.2,2180,2514,3442,3676,485.5,-10.2,179,3509,0.00,2.30,0.00,0.000,260,0.000,0.043,2181,3828,3558,3442,3675,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3600,-0.58,-175.2,2180,3827,3437,3674,495.2,-10.5,183,3606,0.00,2.12,0.00,0.000,1030,0.000,0.022,2181,2510,3558,3442,3674,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3925,-0.58,-175.2,2180,2511,3442,3669,530.8,-10.1,199,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2511,3555,3442,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,-0.58,-175.2,2180,2511,3442,3663,559.1,-10.1,214,4227,0.00,2.35,0.00,0.000,260,0.000,0.047,2181,3830,3552,3442,3663,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4291,-0.58,-175.2,2180,3829,3440,3662,566.1,-10.1,217,4297,0.00,2.15,0.00,0.000,1030,0.000,0.023,2181,2513,3551,3441,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4621,-0.58,-175.2,2180,2512,3440,3659,597.3,-9.0,233,4627,0.00,2.33,0.00,0.000,260,0.000,0.044,2177,3849,3549,3440,3659,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4681,-0.58,-175.2,2177,3849,3438,3658,601.7,-8.8,235,4687,0.00,2.15,0.00,0.000,1030,0.000,0.024,2178,2515,3548,3438,3659,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5002,-0.58,-175.2,2177,2514,3437,3653,629.4,-8.2,246,5008,0.00,2.30,0.00,0.000,260,0.000,0.044,2167,3827,3545,3437,3654,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5040,-0.58,-175.2,2167,3827,3437,3653,632.7,-8.2,247,5046,0.00,2.12,0.00,0.000,1030,0.000,0.023,2167,2516,3544,3436,3653,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5379,-0.58,-175.2,2166,2516,3436,3649,663.4,-8.9,258,5385,0.00,2.45,0.00,0.000,516,0.000,0.030,2167,1080,3542,3436,3649,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5429,-0.58,-175.2,2167,1079,3436,3649,667.1,-9.0,259,5435,0.00,2.55,0.00,0.000,1030,0.000,0.032,2164,2561,3542,3435,3649,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5757,-0.58,-175.2,2164,2559,3434,3645,699.1,-9.5,270,5763,0.00,2.20,0.00,0.000,260,0.000,0.046,2154,3845,3539,3434,3645,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5805,-0.58,-175.2,2154,3845,3433,3645,702.9,-9.6,271,5811,0.12,2.20,0.00,0.000,3078,0.122,0.027,2194,2521,3539,3433,3645,0,0,0,0,0,0,26.12,26.36,28.83
$GC,6133,-0.58,-175.2,2193,2521,3432,3639,730.0,-7.8,282,6138,0.00,2.38,0.00,0.000,260,0.000,0.047,2194,3847,3536,3433,3640,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6177,-0.58,-175.2,2194,3848,3432,3638,732.8,-7.7,283,6183,0.00,2.20,0.00,0.000,1030,0.000,0.024,2194,2514,3535,3432,3639,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6509,-0.58,-175.2,2193,2514,3430,3636,760.1,-8.2,294,6515,0.00,2.38,0.00,0.000,260,0.000,0.046,2194,3848,3532,3430,3635,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6558,-0.58,-175.2,2193,3848,3430,3635,763.0,-8.1,295,6564,0.00,2.20,0.00,0.000,1030,0.000,0.025,2194,2516,3532,3430,3635,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6885,-0.58,-175.2,2193,2516,3430,3632,789.3,-7.7,306,6891,0.00,2.35,0.00,0.000,260,0.000,0.044,2194,3830,3530,3429,3632,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6936,-0.58,-175.2,2193,3830,3428,3632,792.3,-7.8,307,6941,0.00,2.17,0.00,0.000,1030,0.000,0.023,2194,2513,3529,3427,3632,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7262,-0.58,-175.2,2193,2513,3427,3628,819.9,-8.2,318,7268,0.00,2.38,0.00,0.000,260,0.000,0.047,2194,3826,3527,3426,3628,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7310,-0.58,-175.2,2193,3826,3426,3628,822.6,-8.0,319,7316,0.00,2.17,0.00,0.000,1030,0.000,0.024,2194,2514,3527,3426,3628,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7639,-0.58,-175.2,2193,2514,3425,3625,848.2,-7.4,330,7644,0.00,2.38,0.00,0.000,260,0.000,0.045,2193,3837,3525,3425,3625,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7675,-0.58,-175.2,2193,3837,3425,3625,850.9,-7.3,331,7681,0.00,2.20,0.00,0.000,1030,0.000,0.024,2193,2513,3525,3425,3625,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8012,-0.58,-175.2,2193,2514,3425,3622,873.8,-6.8,342,8018,0.00,2.38,0.00,0.000,260,0.000,0.048,2193,3828,3521,3425,3618,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8063,-0.58,-175.2,2193,3828,3424,3621,876.5,-6.9,343,8069,0.00,2.17,0.00,0.000,1030,0.000,0.024,2193,2517,3523,3424,3622,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8390,-0.58,-175.2,2193,2517,3424,3619,899.4,-6.7,354,8396,0.00,2.35,0.00,0.000,260,0.000,0.044,2184,3832,3521,3424,3618,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8428,-0.58,-175.2,2184,3832,3423,3618,902.0,-6.6,355,8434,0.00,2.20,0.00,0.000,1030,0.000,0.024,2184,2511,3520,3423,3618,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8765,-0.58,-175.2,2184,2511,3423,3616,925.5,-6.9,366,8771,0.00,2.40,0.00,0.000,260,0.000,0.050,2181,3840,3519,3423,3615,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8824,-0.58,-175.2,2181,3840,3422,3615,928.1,-7.1,367,8830,0.00,2.20,0.00,0.000,1030,0.000,0.026,2181,2520,3518,3421,3615,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9146,-0.58,-175.2,2181,2520,3421,3614,952.5,-7.4,378,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2520,3517,3421,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9442,-0.58,-175.2,2181,2520,3420,3612,976.9,-8.4,388,9448,0.00,2.38,0.00,0.000,260,0.000,0.047,2179,3844,3516,3420,3613,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9494,-0.58,-175.2,2179,3844,3420,3617,980.8,-8.8,389,9500,0.00,2.20,0.00,0.000,1030,0.000,0.025,2179,2520,3515,3419,3612,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,9606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9606,begin apogee
$GC,9614,-0.12,0.0,2178,2662,3420,3611,991.7,-8.6,393,9776,0.45,0.00,155.35,1.019,10246,0.086,0.000,2341,2662,2845,2874,2816,0,0,0,0,0,0,25.84,28.83,23.48
$STATE,9778,end apogee,CONTROL_FINISHED_OK
$STATE,9778,begin climb
$GC,9785,0.58,175.2,2341,2662,2867,2801,1001.5,0.0,397,9967,0.57,2.05,167.88,0.975,10500,0.032,0.041,2585,3845,2127,2260,1995,0,0,0,0,0,0,25.20,24.79,23.48
$GC,9995,0.78,257.6,2585,3845,2245,1982,998.7,6.5,405,10085,0.12,2.00,80.72,0.944,11270,0.078,0.017,2660,2594,1791,1948,1634,0,0,0,0,0,0,25.29,25.39,23.61
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$STATE,17295,end climb,SURFACE_DEPTH_REACHED
$STATE,17295,begin surface coast
$FINISH,-0.4,1.021134
$STATE,17326,end surface coast,CONTROL_FINISHED_OK
$STATE,17326,begin surface
$SM_CCo,17407,0.00,0.000,0,0,1096,430.75
$SM_GC,0.21,6.60,0.32,0.00,0.022,0.033,0.000,134,2493,1096,-6.95,0.37,430.75,0,0,0,0,0,0,26.11,26.37,28.83
$IRIDIUM_FIX,1957.29,12357.31,060713,191937
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.16
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3750112
$24V_AH,23.5,71.787
$10V_AH,10.0,53.901
$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,17.650,168.725,545.400,0.000,0.000,0.000,0.000,651.375,0.000,0.000,11.080,3126.486,11001.210,688.697,2528.615,1092.769,0.000,2407.394,0.000,1794.077,0.000,0.545,0.000
$DEVICE_MAMPS,232.560,78.795,1018.980,0.000,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17429.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.587,0.000,0.000,0.000
$MEM,328912
$DATA_FILE_SIZE,26742,763
$CAP_FILE_SIZE,404651,0
$CFSIZE,260034560,169041920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 48.4,1
$GPS,070713,003524,2005.376,12401.717,43,1.1,43,-2.5