version: 66.11
glider: 169
mission: 8
dive: 537
start: 7 7 113 6 20 22
data:
$ID,169
$MISSION,8
$DIVE,537
$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,-23012.646
$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
$GPS1,070713,060353,2007.253,12402.087,37,1.5,37,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-72.8
$GPS2,070713,061954,2007.552,12401.909,10,1.6,15,-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,105.4,34327,-5.6,-9.429,-20.04,2855
$D_GRID,5503
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.58,-175.2,123,2568,1194,795,0.0,0.0,0,100,0.00,0.00,-71.50,0.000,16386,0.000,0.000,122,2568,2841,2808,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-175.2,122,2568,2808,2875,3.4,-6.6,9,141,8.88,2.30,-12.35,0.000,18692,0.233,0.060,2175,3816,3571,3443,3699,0,0,0,0,0,0,24.90,25.86,26.46
$GC,156,-0.58,-175.2,1296,3815,3433,3697,25.6,-44.7,14,165,0.00,2.15,0.00,0.000,1030,0.000,0.025,2176,2535,3571,3444,3699,0,0,0,0,0,0,28.83,26.13,28.83
$GC,465,-0.58,-175.2,2176,2535,3444,3699,98.3,-18.0,34,472,0.00,2.33,0.00,0.000,260,0.000,0.048,2168,3835,3571,3444,3699,0,0,0,0,0,0,28.83,25.96,28.83
$GC,560,-0.58,-175.2,2168,3835,3444,3699,114.5,-17.8,38,565,0.00,2.15,0.00,0.000,1030,0.000,0.025,2168,2528,3571,3444,3699,0,0,0,0,0,0,28.83,26.33,28.83
$GC,882,-0.58,-175.2,2167,2526,3444,3699,170.6,-16.2,54,887,0.00,2.30,0.00,0.000,260,0.000,0.045,2167,3830,3571,3444,3699,0,0,0,0,0,0,28.83,26.08,28.83
$GC,942,-0.58,-175.2,2167,3829,3444,3698,178.7,-16.4,56,948,0.00,2.12,0.00,0.000,1030,0.000,0.022,2167,2518,3571,3444,3699,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1259,-0.58,-175.2,2167,2516,3444,3699,233.6,-16.8,72,1264,0.00,2.33,0.00,0.000,260,0.000,0.044,2167,3840,3571,3444,3698,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1329,-0.58,-175.2,2166,3840,3444,3699,244.5,-15.5,75,1335,0.00,2.15,0.00,0.000,1030,0.000,0.024,2167,2521,3571,3444,3698,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1658,-0.58,-175.2,2167,2524,3444,3698,291.6,-13.8,91,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2523,3571,3444,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-0.58,-175.2,2167,2524,3444,3697,333.7,-14.6,106,1963,0.00,2.47,0.00,0.000,516,0.000,0.031,2167,1081,3570,3444,3697,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1987,-0.58,-175.2,2166,1081,3444,3696,337.8,-14.6,107,1993,0.00,2.60,0.00,0.000,1030,0.000,0.033,2166,2565,3570,3444,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2312,-0.58,-175.2,2166,2562,3444,3696,382.2,-12.9,123,2318,0.00,2.15,0.00,0.000,260,0.000,0.044,2156,3849,3567,3444,3691,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2427,-0.58,-175.2,1312,3849,3434,3688,396.1,-11.7,128,2434,0.12,2.15,0.00,0.000,3078,0.132,0.024,2193,2515,3566,3444,3689,0,0,0,0,0,0,26.15,26.45,28.83
$GC,2753,-0.58,-175.2,2193,2514,3444,3685,429.1,-11.2,144,2759,0.00,2.35,0.00,0.000,260,0.000,0.043,2193,3845,3564,3444,3684,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2824,-0.58,-175.2,1320,3845,3433,3682,437.1,-11.3,147,2830,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2514,3564,3444,3684,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3150,-0.58,-175.2,2193,2515,3440,3678,471.3,-10.0,163,3156,0.00,2.35,0.00,0.000,260,0.000,0.043,2193,3844,3561,3444,3678,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3204,-0.58,-175.2,2193,3843,3443,3677,476.1,-9.7,165,3210,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2520,3560,3443,3677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3528,-0.58,-175.2,2193,2520,3443,3673,506.3,-8.6,181,3535,0.00,2.35,0.00,0.000,260,0.000,0.047,2193,3838,3558,3443,3673,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3584,-0.58,-175.2,2193,3838,3443,3672,510.4,-8.3,183,3590,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2515,3557,3443,3672,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3908,-0.58,-175.2,2193,2515,3443,3666,537.3,-8.7,199,3914,0.00,2.33,0.00,0.000,260,0.000,0.044,2193,3843,3554,3443,3666,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3968,-0.58,-175.2,2193,3840,3443,3664,541.7,-8.8,201,3974,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2516,3553,3443,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4286,-0.58,-175.2,2192,2516,3443,3661,571.0,-8.6,217,4292,0.00,2.33,0.00,0.000,260,0.000,0.045,2193,3845,3551,3443,3660,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4336,-0.58,-175.2,2193,3845,3442,3660,575.0,-8.5,219,4341,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2519,3551,3442,3661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4666,-0.58,-175.2,2193,2519,3441,3656,601.3,-8.1,235,4672,0.00,2.33,0.00,0.000,260,0.000,0.047,2193,3845,3548,3441,3656,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4715,-0.58,-175.2,2193,3845,3440,3655,604.6,-8.1,236,4721,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2519,3548,3440,3656,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5043,-0.58,-175.2,2193,2519,3440,3650,633.2,-8.6,247,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2519,3544,3439,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5343,-0.58,-175.2,2193,2519,3437,3648,659.7,-9.1,257,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2519,3542,3437,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5643,-0.58,-175.2,2193,2519,3436,3644,685.3,-8.1,267,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2519,3540,3436,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5943,-0.58,-175.2,2193,2519,3435,3640,705.4,-6.5,277,5950,0.00,2.35,0.00,0.000,260,0.000,0.049,2193,3840,3537,3435,3640,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5996,-0.58,-175.2,2193,3840,3434,3640,708.0,-6.5,278,6001,0.00,2.15,0.00,0.000,1030,0.000,0.025,2193,2521,3537,3434,3640,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6317,-0.58,-175.2,2193,2521,3433,3637,732.2,-7.7,289,6323,0.00,2.33,0.00,0.000,260,0.000,0.049,2193,3826,3534,3433,3636,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6348,-0.58,-175.2,2193,3826,3431,3636,732.2,-7.7,289,6357,0.00,2.12,0.00,0.000,1030,0.000,0.024,2193,2520,3534,3432,3636,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6657,-0.58,-175.2,2193,2520,3432,3634,760.6,-8.7,300,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2520,3531,3431,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6955,-0.58,-175.2,2193,2520,3430,3630,788.4,-9.5,310,6961,0.00,2.35,0.00,0.000,260,0.000,0.050,2192,3842,3530,3430,3630,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7012,-0.58,-175.2,2192,3837,3430,3630,792.1,-9.6,311,7018,0.00,2.15,0.00,0.000,1030,0.000,0.025,2192,2519,3530,3430,3630,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7332,-0.58,-175.2,2191,2519,3429,3626,823.2,-8.8,322,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2519,3527,3429,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7630,-0.58,-175.2,2191,2519,3427,3625,845.8,-7.3,332,7636,0.00,2.35,0.00,0.000,260,0.000,0.049,2181,3840,3526,3427,3625,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7699,-0.58,-175.2,2181,3841,3426,3625,851.0,-7.3,334,7705,0.00,2.17,0.00,0.000,1030,0.000,0.025,2181,2517,3525,3426,3625,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8038,-0.58,-175.2,2181,2517,3425,3621,874.2,-6.5,345,8044,0.00,2.47,0.00,0.000,516,0.000,0.032,2181,1084,3523,3426,3621,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8063,-0.58,-175.2,2181,1084,3426,3621,874.2,-6.5,345,8069,0.00,2.55,0.00,0.000,1030,0.000,0.032,2181,2562,3523,3426,3621,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8383,-0.58,-175.2,2181,2560,3425,3618,896.5,-6.6,356,8389,0.00,2.25,0.00,0.000,260,0.000,0.049,2170,3843,3521,3425,3618,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8473,-0.58,-175.2,2170,3843,3424,3618,902.8,-7.6,358,8479,0.00,2.22,0.00,0.000,1030,0.000,0.027,2171,2519,3521,3424,3618,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8794,-0.58,-175.2,2170,2520,3424,3615,930.8,-8.9,369,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2520,3517,3419,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9090,-0.58,-175.2,2170,2519,3424,3614,957.9,-9.2,379,9096,0.00,2.40,0.00,0.000,260,0.000,0.050,2168,3830,3519,3424,3614,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9134,-0.58,-175.2,2167,3830,3423,3614,961.3,-9.3,380,9140,0.00,2.20,0.00,0.000,1030,0.000,0.026,2168,2523,3518,3422,3614,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,9432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9432,begin apogee
$GC,9440,-0.12,0.0,2168,2666,3422,3613,990.2,-9.3,390,9601,0.47,0.00,155.90,1.000,10246,0.087,0.000,2335,2665,2848,2875,2822,0,0,0,0,0,0,25.79,28.83,23.54
$STATE,9603,end apogee,CONTROL_FINISHED_OK
$STATE,9603,begin climb
$GC,9611,0.58,175.2,2338,2665,2867,2803,998.0,0.0,394,9793,0.60,2.12,167.62,0.974,10500,0.033,0.041,2587,3847,2123,2256,1990,0,0,0,0,0,0,25.19,24.79,23.49
$GC,9871,0.58,175.2,2587,3847,2243,1983,983.9,11.3,402,9877,0.00,1.98,0.00,0.000,1030,0.000,0.016,2597,2598,2112,2242,1982,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10198,0.58,175.2,2597,2596,2236,1978,945.7,10.9,413,10200,0.12,0.00,0.00,0.000,4102,0.161,0.000,2565,2595,2107,2236,1978,0,0,0,0,0,0,25.91,28.83,28.83
$GC,10500,0.59,181.6,2565,2596,2234,1976,918.3,9.2,423,10506,0.00,2.15,0.00,0.000,260,0.000,0.041,2554,3853,2105,2234,1977,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10526,0.61,188.0,2554,3853,2233,1977,918.3,9.2,423,10541,0.00,1.95,10.27,0.946,9222,0.000,0.018,2565,2592,2084,2210,1959,0,0,0,0,0,0,28.83,26.32,24.24
$GC,10836,0.61,188.0,2565,2592,2194,1940,883.2,11.0,434,10842,0.00,2.17,0.00,0.000,260,0.000,0.041,2554,3848,2065,2194,1937,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,19090,end climb,SURFACE_DEPTH_REACHED
$STATE,19090,begin surface coast
$FINISH,-0.4,1.021242
$STATE,19128,end surface coast,CONTROL_FINISHED_OK
$STATE,19128,begin surface
$SM_CCo,19148,18.12,0.122,0,0,1098,430.01
$SM_GC,0.12,6.53,0.32,18.12,0.020,0.032,0.122,129,2502,1098,-6.96,0.37,430.01,0,0,0,0,0,0,26.14,26.44,25.33
$IRIDIUM_FIX,2001.88,12403.68,070713,060652
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.89
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3749088
$24V_AH,23.5,72.076
$10V_AH,10.0,54.111
$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,17.625,170.975,592.275,18.125,0.000,0.000,0.000,533.400,0.000,0.000,16.238,3380.805,12274.949,783.910,2501.257,1145.874,0.000,2409.801,0.000,1857.483,0.000,0.544,0.000
$DEVICE_MAMPS,233.325,67.320,999.855,121.635,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19227.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.494,0.000,0.000,0.000
$MEM,328980
$DATA_FILE_SIZE,30014,839
$CAP_FILE_SIZE,435092,0
$CFSIZE,260034560,168673280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,  2.0,1
$GPS,070713,114106,2008.604,12403.820,38,0.9,38,-2.5