version: 66.11
glider: 169
mission: 8
dive: 546
start: 7 9 113 7 21 15
data:
$ID,169
$MISSION,8
$DIVE,546
$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,-23023.979
$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
$GPS1,090713,070626,2014.870,12417.063,36,2.1,55,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-73.2
$GPS2,090713,072042,2015.034,12416.932,15,1.8,32,-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,110.6,5332,-5.6,-9.429,-20.04,2855
$D_GRID,5632
$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,-175.2,132,2574,1259,885,0.0,0.0,0,96,0.00,0.00,-68.40,0.000,16386,0.000,0.000,130,2580,2803,2774,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-175.2,130,2580,2776,2832,3.1,-6.5,9,137,8.80,2.75,-13.05,0.000,18948,0.230,0.041,2181,1076,3569,3444,3694,0,0,0,0,0,0,24.82,25.96,26.50
$GC,183,-0.58,-175.2,2182,1076,3445,3698,34.1,-32.4,17,189,0.00,2.75,0.00,0.000,1030,0.000,0.039,2185,2562,3571,3445,3698,0,0,0,0,0,0,28.83,25.91,28.83
$GC,510,-0.58,-175.2,2181,2559,3445,3698,105.0,-19.1,36,516,0.00,2.12,0.00,0.000,260,0.000,0.047,2179,3829,3571,3445,3698,0,0,0,0,0,0,28.83,26.01,28.83
$GC,582,-0.58,-175.2,2178,3829,3445,3698,118.8,-19.1,39,588,0.00,2.10,0.00,0.000,1030,0.000,0.024,2179,2522,3571,3445,3698,0,0,0,0,0,0,28.83,26.34,28.83
$GC,912,-0.58,-175.2,2178,2521,3445,3698,179.2,-16.3,55,919,0.00,2.55,0.00,0.000,516,0.000,0.030,2179,1062,3571,3445,3698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,943,-0.58,-175.2,2178,1061,3446,3698,184.2,-16.3,56,948,0.00,2.67,0.00,0.000,1030,0.000,0.033,2178,2564,3572,3446,3698,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1268,-0.58,-175.2,2178,2562,3445,3698,230.7,-13.1,72,1274,0.00,2.10,0.00,0.000,260,0.000,0.047,2169,3824,3573,3446,3701,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1347,-0.58,-175.2,2168,3825,3446,3698,240.6,-13.3,75,1353,0.00,2.08,0.00,0.000,1030,0.000,0.022,2169,2513,3571,3446,3697,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1663,-0.58,-175.2,2168,2511,3445,3697,286.3,-14.3,91,1669,0.00,2.28,0.00,0.000,260,0.000,0.046,2167,3839,3571,3445,3697,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1727,-0.58,-175.2,2167,3839,3445,3701,292.9,-14.5,93,1735,0.00,2.10,0.00,0.000,1030,0.000,0.024,2167,2513,3571,3445,3697,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2034,-0.58,-175.2,2167,2513,3445,3697,339.3,-14.1,109,2040,0.00,2.25,0.00,0.000,260,0.000,0.044,2160,3825,3570,3445,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2085,-0.58,-175.2,2159,3825,3445,3697,346.1,-14.1,111,2091,0.12,2.08,0.00,0.000,3078,0.127,0.022,2197,2515,3570,3445,3696,0,0,0,0,0,0,26.17,26.46,28.83
$GC,2416,-0.58,-175.2,2197,2514,3445,3691,382.5,-10.9,127,2422,0.00,2.33,0.00,0.000,260,0.000,0.046,2196,3833,3568,3445,3691,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2486,-0.58,-175.2,2196,3833,3445,3690,390.1,-10.4,130,2493,0.00,2.10,0.00,0.000,1030,0.000,0.023,2196,2512,3567,3445,3690,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2818,-0.58,-175.2,2192,2511,3445,3685,423.8,-10.2,146,2824,0.00,2.30,0.00,0.000,260,0.000,0.044,2194,3844,3565,3445,3685,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2909,-0.58,-175.2,2194,3844,3445,3684,433.1,-9.9,150,2915,0.00,2.10,0.00,0.000,1030,0.000,0.022,2194,2509,3564,3445,3684,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3238,-0.58,-175.2,2194,2509,3445,3680,463.2,-9.6,166,3244,0.00,2.30,0.00,0.000,260,0.000,0.045,2194,3841,3562,3445,3679,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3311,-0.58,-175.2,1320,3841,3434,3676,469.9,-9.2,169,3317,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2513,3561,3445,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3638,-0.58,-175.2,2193,2513,3445,3673,500.6,-9.1,185,3644,0.00,2.30,0.00,0.000,260,0.000,0.045,2193,3829,3559,3445,3674,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3719,-0.58,-175.2,2193,3828,3445,3673,507.1,-8.8,188,3725,0.00,2.08,0.00,0.000,1030,0.000,0.023,2194,2513,3558,3445,3672,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4038,-0.58,-175.2,2193,2513,3446,3667,533.5,-7.5,204,4045,0.00,2.30,0.00,0.000,260,0.000,0.046,2194,3839,3556,3445,3667,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4076,-0.58,-175.2,2194,3839,3445,3666,535.8,-7.4,205,4082,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2515,3555,3445,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4395,-0.58,-175.2,2193,2515,3445,3661,558.8,-7.3,221,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2515,3553,3445,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.58,-175.2,2193,2514,3445,3657,585.0,-9.3,236,4700,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3839,3551,3445,3657,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4745,-0.58,-175.2,2193,3839,3445,3656,589.6,-9.4,238,4752,0.00,2.12,0.00,0.000,1030,0.000,0.025,2194,2514,3550,3445,3656,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5079,-0.58,-175.2,2194,2514,3445,3650,619.8,-8.5,251,5084,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3836,3547,3444,3650,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5121,-0.58,-175.2,2193,3838,3443,3650,622.9,-8.4,252,5127,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2514,3546,3443,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5454,-0.58,-175.2,2193,2514,3443,3647,649.4,-7.8,263,5461,0.00,2.28,0.00,0.000,260,0.000,0.048,2195,3822,3545,3443,3647,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5508,-0.58,-175.2,2193,3822,3442,3647,652.4,-7.8,264,5514,0.00,2.10,0.00,0.000,1030,0.000,0.024,2193,2511,3544,3442,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5829,-0.58,-175.2,2193,2511,3442,3644,679.5,-8.1,275,5835,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3841,3542,3442,3643,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5868,-0.58,-175.2,2193,3841,3440,3643,682.4,-8.0,276,5875,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2509,3542,3440,3644,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6205,-0.58,-175.2,2193,2512,3438,3639,710.2,-8.4,287,6212,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3839,3538,3438,3639,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6231,-0.58,-175.2,2193,3840,3437,3639,710.2,-8.4,287,6238,0.00,2.12,0.00,0.000,1030,0.000,0.025,2194,2518,3538,3438,3639,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6553,-0.58,-175.2,2193,2518,3437,3634,740.6,-9.2,298,6560,0.00,2.53,0.00,0.000,516,0.000,0.032,2193,1084,3535,3437,3634,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6574,-0.58,-175.2,2193,1084,3437,3635,740.6,-9.2,298,6580,0.00,2.60,0.00,0.000,1030,0.000,0.034,2183,2559,3535,3437,3634,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6895,-0.58,-175.2,2183,2556,3435,3628,775.1,-10.2,309,6902,0.00,2.20,0.00,0.000,260,0.000,0.049,2181,3823,3533,3435,3632,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6989,-0.58,-175.2,2181,3824,3434,3632,782.5,-10.4,311,6997,0.00,2.15,0.00,0.000,1030,0.000,0.025,2181,2520,3533,3435,3632,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7298,-0.58,-175.2,2180,2521,3434,3628,815.6,-9.8,322,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2521,3531,3434,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7596,-0.58,-175.2,2181,2520,3432,3626,842.7,-8.5,332,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2521,3529,3432,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7896,-0.58,-175.2,2181,2520,3431,3624,868.4,-8.4,342,7902,0.00,2.35,0.00,0.000,260,0.000,0.047,2180,3837,3527,3431,3624,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7940,-0.58,-175.2,2180,3837,3430,3624,871.5,-8.4,343,7946,0.00,2.17,0.00,0.000,1030,0.000,0.025,2180,2519,3527,3430,3624,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8271,-0.58,-175.2,2180,2519,3430,3621,899.6,-8.3,354,8277,0.00,2.35,0.00,0.000,260,0.000,0.046,2169,3844,3526,3431,3621,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8321,-0.58,-175.2,2168,3845,3429,3621,903.0,-8.5,355,8327,0.00,2.20,0.00,0.000,1030,0.000,0.027,2168,2519,3525,3429,3621,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8647,-0.58,-175.2,2168,2519,3429,3618,935.5,-9.5,366,8654,0.00,2.35,0.00,0.000,260,0.000,0.046,2160,3828,3523,3429,3617,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8685,-0.58,-175.2,2160,3828,3428,3617,938.3,-9.1,367,8691,0.12,2.17,0.00,0.000,3078,0.116,0.025,2200,2520,3522,3428,3617,0,0,0,0,0,0,26.04,26.29,28.83
$GC,9024,-0.58,-175.2,2200,2520,3427,3621,961.1,-6.3,378,9029,0.00,2.35,0.00,0.000,260,0.000,0.047,2194,3834,3521,3427,3615,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9067,-0.58,-175.2,2194,3834,3426,3615,963.6,-6.3,379,9073,0.00,2.17,0.00,0.000,1030,0.000,0.025,2194,2518,3520,3426,3615,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9398,-0.58,-175.2,2193,2519,3426,3614,984.6,-5.9,390,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2519,3520,3426,3614,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9514,begin apogee
$GC,9524,-0.12,0.0,2193,2662,3425,3613,991.5,-5.7,394,9691,0.40,0.00,158.10,0.998,10246,0.082,0.000,2341,2662,2842,2869,2815,0,0,0,0,0,0,25.94,28.83,23.50
$STATE,9697,end apogee,CONTROL_FINISHED_OK
$STATE,9697,begin climb
$GC,9700,0.58,175.2,2340,2662,2867,2804,998.2,0.0,399,9885,0.57,2.97,171.27,0.975,11012,0.030,0.023,2619,1179,2125,2257,1993,0,0,0,0,0,0,25.26,24.89,23.51
$GC,9909,0.67,211.1,2619,1179,2240,1982,989.2,8.1,406,9959,0.00,2.83,36.55,0.884,9222,0.000,0.026,2607,2657,1982,2123,1841,0,0,0,0,0,0,28.83,25.29,23.80
$GC,10251,0.67,211.1,2607,2657,2115,1813,936.3,14.0,418,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2657,1964,2116,1813,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18795,end climb,SURFACE_DEPTH_REACHED
$STATE,18795,begin surface coast
$FINISH,-0.6,1.008636
$STATE,18835,end surface coast,CONTROL_FINISHED_OK
$STATE,18836,begin surface
$SM_CCo,18858,4.78,0.131,0,0,1098,430.01
$SM_GC,1.34,6.65,0.35,4.78,0.028,0.034,0.131,131,2501,1098,-6.95,0.31,430.01,0,0,0,0,0,0,26.13,26.39,25.34
$IRIDIUM_FIX,2004.18,12416.44,090713,010155
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.45
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3744480
$24V_AH,23.5,73.368
$10V_AH,9.7,55.049
$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
$DEVICE_SECS,17.650,205.650,589.825,4.775,0.000,0.000,0.000,468.725,0.000,0.000,33.524,3471.361,11657.600,823.617,2549.971,1178.124,0.000,2429.577,0.000,1945.390,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.552,0.000,0.000,0.000
$MEM,328992
$DATA_FILE_SIZE,30038,830
$CAP_FILE_SIZE,447722,0
$CFSIZE,260034560,167133184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,315.0,1
$GPS,090713,123653,2014.917,12417.808,37,1.2,37,-2.5