version: 66.11
glider: 169
mission: 8
dive: 565
start: 7 13 113 16 15 35
data:
$ID,169
$MISSION,8
$DIVE,565
$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,-23129.137
$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,2625
$C_ROLL_CLIMB,2575
$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
$GPS1,130713,155605,1942.959,12414.632,28,1.0,28,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-70.4
$GPS2,130713,161506,1943.021,12414.557,10,1.3,15,-2.4
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,136.8,212395,-5.6,-9.429,-20.04,2855
$D_GRID,5491
$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,-175.2,119,2600,1258,957,0.0,0.0,0,92,0.00,0.00,-64.70,0.000,16386,0.000,0.000,119,2600,2758,2732,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-175.2,119,2599,2733,2785,3.1,-7.0,8,130,8.95,0.00,-14.10,0.000,18950,0.233,0.000,2183,2597,3568,3443,3694,0,0,0,0,0,0,24.91,28.83,26.49
$GC,454,-0.58,-175.2,2183,2597,3444,3695,89.3,-16.6,35,460,0.00,2.05,0.00,0.000,260,0.000,0.046,2181,3818,3569,3443,3695,0,0,0,0,0,0,28.83,25.99,28.83
$GC,591,-0.58,-175.2,1288,3818,3433,3693,111.4,-16.8,41,597,0.00,1.83,0.00,0.000,1030,0.000,0.024,2181,2594,3569,3444,3694,0,0,0,0,0,0,28.83,26.36,28.83
$GC,912,-0.58,-175.2,2180,2594,3444,3694,165.8,-16.2,57,918,0.00,2.67,0.00,0.000,516,0.000,0.029,2181,1174,3569,3443,3695,0,0,0,0,0,0,28.83,26.21,28.83
$GC,949,-0.58,-175.2,2180,1174,3443,3695,170.2,-16.0,58,956,0.00,2.83,0.00,0.000,1030,0.000,0.032,2180,2644,3569,3444,3694,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1266,-0.58,-175.2,2181,2638,3443,3694,216.4,-13.0,74,1273,0.00,2.78,0.00,0.000,516,0.000,0.025,2181,1163,3568,3443,3694,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1288,-0.58,-175.2,2180,1162,3444,3695,216.4,-13.0,74,1296,0.00,2.83,0.00,0.000,1030,0.000,0.034,2180,2640,3568,3443,3694,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1593,-0.58,-175.2,2180,2637,3443,3694,254.9,-11.9,90,1599,0.00,2.78,0.00,0.000,516,0.000,0.024,2180,1149,3568,3443,3694,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1619,-0.58,-175.2,2180,1149,3443,3694,258.1,-12.0,91,1625,0.00,2.83,0.00,0.000,1030,0.000,0.031,2180,2639,3568,3443,3694,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1950,-0.58,-175.2,2180,2635,3443,3694,298.1,-12.3,107,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2635,3568,3443,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2246,-0.58,-175.2,2180,2635,3443,3691,334.3,-12.1,122,2252,0.00,2.78,0.00,0.000,516,0.000,0.025,2180,1164,3567,3443,3691,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2283,-0.58,-175.2,2180,1164,3443,3691,337.6,-12.1,123,2289,0.00,2.83,0.00,0.000,1030,0.000,0.034,2180,2642,3566,3442,3691,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2599,-0.58,-175.2,2180,2638,3443,3687,376.7,-11.8,139,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2639,3564,3443,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.58,-175.2,2180,2638,3443,3683,411.0,-11.3,154,2907,0.00,1.85,0.00,0.000,260,0.000,0.043,2171,3846,3562,3443,3682,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2927,-0.58,-175.2,2171,3846,3443,3682,414.1,-11.2,155,2933,0.00,1.88,0.00,0.000,1030,0.000,0.024,2171,2594,3562,3443,3682,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3257,-0.58,-175.2,2171,2594,3443,3677,453.1,-11.9,171,3263,0.00,2.67,0.00,0.000,516,0.000,0.028,2171,1167,3560,3443,3677,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3286,-0.58,-175.2,2171,1165,3443,3677,456.7,-11.7,172,3292,0.00,2.83,0.00,0.000,1030,0.000,0.034,2167,2636,3560,3443,3677,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3617,-0.58,-175.2,2167,2632,3449,3672,493.1,-10.6,188,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2632,3557,3443,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,-0.58,-175.2,2167,2632,3443,3667,520.2,-8.4,203,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2632,3555,3443,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-0.58,-175.2,2167,2632,3443,3662,546.4,-9.4,218,4218,0.00,2.80,0.00,0.000,516,0.000,0.027,2167,1167,3552,3443,3661,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4243,-0.58,-175.2,2167,1167,3442,3661,549.1,-9.6,219,4251,0.12,2.83,0.00,0.000,3078,0.113,0.033,2199,2638,3551,3442,3661,0,0,0,0,0,0,26.06,26.17,28.83
$GC,4569,-0.58,-175.2,2198,2635,3443,3656,579.9,-10.0,235,4575,0.00,1.90,0.00,0.000,260,0.000,0.047,2197,3829,3549,3442,3656,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4628,-0.58,-175.2,2197,3829,3442,3656,584.8,-10.0,237,4635,0.00,1.88,0.00,0.000,1030,0.000,0.024,2197,2578,3550,3442,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4966,-0.58,-175.2,2197,2579,3440,3647,615.4,-8.0,251,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2579,3545,3440,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5266,-0.58,-175.2,2197,2578,3438,3648,637.4,-7.3,261,5272,0.00,2.12,0.00,0.000,260,0.000,0.044,2197,3840,3543,3438,3648,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5311,-0.58,-175.2,2197,3840,3437,3648,640.1,-7.2,262,5318,0.00,1.90,0.00,0.000,1030,0.000,0.024,2197,2582,3542,3437,3648,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5644,-0.58,-175.2,2197,2582,3437,3643,665.1,-7.5,273,5649,0.00,2.62,0.00,0.000,516,0.000,0.029,2197,1161,3543,3444,3643,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5672,-0.58,-175.2,2197,1160,3437,3643,665.1,-7.5,273,5678,0.00,2.78,0.00,0.000,1030,0.000,0.032,2194,2632,3540,3437,3643,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5993,-0.58,-175.2,2194,2629,3434,3638,694.3,-8.6,284,5999,0.00,1.92,0.00,0.000,260,0.000,0.047,2194,3834,3536,3435,3638,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6030,-0.58,-175.2,2193,3834,3434,3638,697.9,-8.7,285,6036,0.00,1.90,0.00,0.000,1030,0.000,0.024,2194,2584,3536,3434,3638,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6368,-0.58,-175.2,2193,2583,3433,3634,725.6,-7.9,296,6374,0.00,2.60,0.00,0.000,516,0.000,0.028,2194,1161,3533,3433,3634,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6394,-0.58,-175.2,2194,1161,3433,3634,725.6,-7.9,296,6400,0.00,2.78,0.00,0.000,1030,0.000,0.033,2193,2634,3533,3433,3634,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6716,-0.58,-175.2,2193,2631,3431,3632,750.2,-6.8,307,6722,0.00,2.72,0.00,0.000,516,0.000,0.028,2194,1172,3531,3432,3631,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6757,-0.58,-175.2,2193,1173,3431,3631,752.9,-6.8,308,6763,0.00,2.78,0.00,0.000,1030,0.000,0.032,2193,2635,3531,3431,3631,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7093,-0.58,-175.2,2193,2632,3430,3628,778.0,-7.7,319,7099,0.00,1.90,0.00,0.000,260,0.000,0.047,2184,3832,3529,3430,3628,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7123,-0.58,-175.2,2184,3832,3429,3627,778.0,-7.7,319,7132,0.00,1.90,0.00,0.000,1030,0.000,0.025,2184,2586,3529,3430,3628,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7432,-0.58,-175.2,2184,2586,3429,3625,807.9,-9.0,330,7438,0.00,2.60,0.00,0.000,516,0.000,0.029,2184,1166,3527,3429,3625,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7464,-0.58,-175.2,2184,1166,3429,3625,807.9,-9.0,330,7473,0.00,2.78,0.00,0.000,1030,0.000,0.034,2181,2633,3527,3429,3625,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7773,-0.58,-175.2,2181,2631,3425,3622,838.1,-8.5,341,7779,0.00,2.78,0.00,0.000,516,0.000,0.030,2181,1160,3524,3426,3622,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7817,-0.58,-175.2,2181,1160,3426,3622,841.8,-8.6,342,7823,0.00,2.83,0.00,0.000,1030,0.000,0.035,2181,2635,3524,3426,3622,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8151,-0.58,-175.2,2181,2632,3425,3620,869.7,-8.0,353,8157,0.00,2.78,0.00,0.000,516,0.000,0.030,2181,1158,3522,3425,3619,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8187,-0.58,-175.2,2181,1158,3425,3619,872.8,-7.9,354,8193,0.00,2.80,0.00,0.000,1030,0.000,0.034,2181,2629,3522,3425,3619,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8526,-0.58,-175.2,2180,2627,3425,3616,899.1,-8.0,365,8531,0.00,2.75,0.00,0.000,516,0.000,0.030,2181,1162,3520,3425,3616,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8563,-0.58,-175.2,2180,1163,3425,3616,903.0,-8.6,366,8569,0.00,2.80,0.00,0.000,1030,0.000,0.036,2181,2630,3520,3425,3616,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8900,-0.58,-175.2,2180,2627,3424,3614,931.6,-8.9,377,8906,0.00,2.75,0.00,0.000,516,0.000,0.031,2181,1171,3519,3424,3614,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8931,-0.58,-175.2,1312,1170,3414,3612,931.6,-8.9,377,8939,0.00,2.80,0.00,0.000,1030,0.000,0.037,2181,2630,3519,3424,3614,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9243,-0.58,-175.2,2180,2625,3423,3612,961.5,-8.7,388,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2627,3517,3422,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-0.58,-175.2,2180,2624,3422,3611,986.5,-8.2,398,9544,0.00,2.75,0.00,0.000,516,0.000,0.031,2180,1175,3516,3422,3611,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9602,-0.58,-175.2,1312,1175,3411,3608,989.7,-8.2,399,9611,0.00,2.80,0.00,0.000,1030,0.000,0.034,2170,2633,3516,3422,3610,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,9634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9634,begin apogee
$GC,9642,-0.12,0.0,2169,2539,3422,3610,994.8,-8.1,401,9806,0.47,0.08,155.82,0.998,10246,0.089,0.040,2340,2605,2846,2872,2820,0,0,0,0,0,0,25.74,24.83,23.51
$STATE,9812,end apogee,CONTROL_FINISHED_OK
$STATE,9812,begin climb
$GC,9816,0.58,175.2,2339,2604,2867,2805,1002.0,0.0,405,9999,0.57,2.85,169.23,0.966,10756,0.033,0.023,2604,1110,2127,2261,1994,0,0,0,0,0,0,25.26,24.94,23.59
$GC,10036,0.58,177.4,2604,1109,2242,1979,992.3,9.3,414,10042,0.00,2.78,0.00,0.000,1030,0.000,0.026,2593,2594,2110,2241,1979,0,0,0,0,0,0,28.83,25.42,28.83
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$STATE,19584,end climb,SURFACE_DEPTH_REACHED
$STATE,19584,begin surface coast
$FINISH,-0.6,1.020402
$STATE,19618,end surface coast,CONTROL_FINISHED_OK
$STATE,19618,begin surface
$SM_CCo,19640,35.47,0.116,0,0,1097,430.01
$SM_GC,0.08,6.55,0.32,35.47,0.027,0.050,0.116,140,2654,1097,-6.93,-0.23,430.01,0,0,0,0,0,0,26.10,26.36,25.44
$IRIDIUM_FIX,1936.66,12416.96,130713,101045
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.94
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3734816
$24V_AH,23.5,76.214
$10V_AH,9.8,57.051
$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,17.325,214.800,504.300,35.475,0.000,0.000,0.000,760.425,0.000,0.000,15.927,3533.458,12416.441,757.539,2756.099,1312.529,0.000,2678.270,0.000,1966.279,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,57.375,997.560,116.280,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19727.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.519,0.000,0.000,0.000
$MEM,328900
$DATA_FILE_SIZE,33367,866
$CAP_FILE_SIZE,455910,0
$CFSIZE,260034560,163934208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,268.5,1
$GPS,130713,214456,1941.653,12414.607,42,1.9,44,-2.4