version: 66.11
glider: 169
mission: 8
dive: 646
start: 8 1 113 4 41 34
data:
$ID,169
$MISSION,8
$DIVE,646
$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,380
$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,592.89008
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-23348.027
$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,2365
$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,2600
$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,0.003
$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
$GPS1,010813,042723,1801.463,12350.503,27,1.1,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-66.0
$GPS2,010813,044106,1801.465,12350.438,8,1.3,13,-2.0
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,310.2,174285,-5.6,-9.429,-20.04,2855
$D_GRID,4525
$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,-0.67,-175.2,121,2608,629,245,0.0,0.0,0,120,0.00,0.00,-90.62,0.000,16386,0.000,0.000,121,2608,2764,2750,2778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-0.67,-175.2,121,2608,2751,2778,3.2,-7.1,12,167,8.75,2.08,-12.50,0.000,18692,0.230,0.061,2135,3831,3571,3442,3700,0,0,0,0,0,0,24.75,25.84,26.53
$GC,292,-0.67,-175.2,2134,3828,3441,3699,62.9,-30.3,25,298,0.00,1.92,0.00,0.000,1030,0.000,0.026,2131,2571,3570,3442,3699,0,0,0,0,0,0,28.83,26.20,28.83
$GC,608,-0.67,-175.2,2134,2571,3441,3699,141.4,-19.9,41,614,0.00,2.10,0.00,0.000,260,0.000,0.044,2126,3842,3570,3441,3699,0,0,0,0,0,0,28.83,25.97,28.83
$GC,680,-0.67,-175.2,2126,3841,3441,3699,156.2,-20.8,44,685,0.00,1.92,0.00,0.000,1030,0.000,0.026,2126,2572,3570,3442,3699,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1010,-0.67,-175.2,2126,2572,3441,3699,215.7,-17.3,60,1016,0.00,2.10,0.00,0.000,260,0.000,0.044,2124,3842,3570,3442,3699,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1096,-0.67,-175.2,2123,3842,3441,3699,229.1,-17.4,63,1105,0.00,1.92,0.00,0.000,1030,0.000,0.026,2124,2570,3570,3441,3699,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1405,-0.67,-175.2,2123,2570,3441,3699,280.0,-14.8,79,1411,0.00,2.60,0.00,0.000,516,0.000,0.026,2124,1134,3570,3441,3699,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1449,-0.67,-175.2,2123,1133,3441,3699,284.1,-14.4,80,1457,0.12,2.78,0.00,0.000,3078,0.132,0.034,2153,2614,3570,3441,3699,0,0,0,0,0,0,25.94,26.10,28.83
$GC,1754,-0.67,-175.2,2153,2612,3441,3698,323.8,-13.1,96,1759,0.00,1.95,0.00,0.000,260,0.000,0.049,2153,3841,3569,3441,3698,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1862,-0.67,-175.2,1248,3840,3430,3696,335.8,-13.1,100,1870,0.00,1.92,0.00,0.000,1030,0.000,0.024,2153,2562,3569,3441,3697,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2164,-0.67,-175.2,2153,2562,3441,3693,378.4,-12.9,116,2170,0.00,2.10,0.00,0.000,260,0.000,0.047,2153,3825,3566,3441,3692,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2215,-0.67,-175.2,2153,3825,3441,3692,384.5,-13.0,118,2221,0.00,1.92,0.00,0.000,1030,0.000,0.023,2153,2553,3566,3441,3692,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2545,-0.67,-175.2,2153,2553,3440,3687,422.2,-10.7,134,2551,0.00,2.15,0.00,0.000,260,0.000,0.047,2153,3843,3563,3441,3686,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2582,-0.67,-175.2,2153,3843,3441,3686,425.4,-10.8,135,2588,0.00,1.95,0.00,0.000,1030,0.000,0.026,2153,2569,3563,3440,3686,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2899,-0.67,-175.2,2153,2569,3440,3681,460.9,-11.0,151,2905,0.00,2.08,0.00,0.000,260,0.000,0.046,2151,3839,3560,3441,3680,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2956,-0.67,-175.2,2151,3839,3440,3679,466.3,-11.2,153,2961,0.00,1.92,0.00,0.000,1030,0.000,0.025,2151,2565,3559,3440,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3283,-0.67,-175.2,2151,2565,3440,3673,501.5,-10.0,169,3288,0.00,2.62,0.00,0.000,516,0.000,0.031,2151,1145,3556,3440,3673,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3303,-0.67,-175.2,2151,1143,3440,3673,501.5,-10.0,169,3311,0.00,2.72,0.00,0.000,1030,0.000,0.031,2151,2617,3556,3440,3673,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3609,-0.67,-175.2,2151,2614,3440,3667,533.4,-9.9,185,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2614,3553,3440,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3911,-0.67,-175.2,2151,2614,3440,3661,565.9,-11.2,200,3918,0.00,2.78,0.00,0.000,516,0.000,0.030,2151,1129,3550,3440,3661,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3947,-0.67,-175.2,2151,1129,3440,3661,569.2,-11.3,201,3953,0.00,2.78,0.00,0.000,1030,0.000,0.035,2147,2614,3550,3439,3661,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4266,-0.67,-175.2,2147,2611,3436,3657,607.1,-11.6,216,4271,0.00,2.00,0.00,0.000,260,0.000,0.050,2142,3829,3546,3437,3656,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4302,-0.67,-175.2,2142,3829,3436,3656,611.5,-11.5,217,4308,0.00,1.98,0.00,0.000,1030,0.000,0.025,2142,2556,3546,3436,3656,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4639,-0.67,-175.2,2142,2555,3435,3651,650.8,-11.9,228,4645,0.00,2.58,0.00,0.000,516,0.000,0.031,2142,1142,3542,3435,3650,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4684,-0.67,-175.2,2142,1139,3435,3650,655.2,-11.9,229,4691,0.00,2.75,0.00,0.000,1030,0.000,0.033,2141,2620,3542,3435,3650,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5016,-0.67,-175.2,2141,2617,3433,3647,696.4,-12.4,240,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2617,3539,3433,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5317,-0.67,-175.2,2141,2617,3431,3643,732.9,-12.0,250,5322,0.00,2.75,0.00,0.000,516,0.000,0.031,2142,1141,3537,3431,3643,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5369,-0.67,-175.2,2141,1140,3431,3642,737.5,-12.0,251,5375,0.00,2.75,0.00,0.000,1030,0.000,0.033,2142,2616,3536,3431,3642,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5695,-0.67,-175.2,2141,2613,3430,3637,775.3,-10.8,262,5701,0.00,2.00,0.00,0.000,260,0.000,0.051,2138,3835,3533,3430,3637,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5766,-0.67,-175.2,2137,3836,3428,3637,782.8,-10.8,264,5772,0.00,2.00,0.00,0.000,1030,0.000,0.026,2138,2553,3532,3428,3637,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6102,-0.67,-175.2,2138,2553,3428,3632,818.0,-10.5,275,6108,0.00,2.58,0.00,0.000,516,0.000,0.031,2138,1144,3530,3428,3632,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6122,-0.67,-175.2,2138,1143,3427,3632,818.0,-10.5,275,6128,0.00,2.75,0.00,0.000,1030,0.000,0.033,2131,2619,3530,3428,3632,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6444,-0.67,-175.2,2130,2617,3425,3629,857.5,-12.2,286,6450,0.00,2.75,0.00,0.000,516,0.000,0.031,2131,1142,3527,3426,3629,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6471,-0.67,-175.2,2131,1142,3426,3629,857.5,-12.2,286,6477,0.00,2.78,0.00,0.000,1030,0.000,0.034,2125,2610,3527,3426,3628,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6793,-0.67,-175.2,2125,2607,3425,3626,901.7,-12.9,297,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2607,3525,3425,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7090,-0.67,-175.2,2125,2607,3425,3624,940.2,-12.7,307,7096,0.00,2.72,0.00,0.000,516,0.000,0.031,2125,1141,3523,3424,3623,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7132,-0.67,-175.2,2125,1141,3424,3623,944.2,-12.2,308,7140,0.12,2.75,0.00,0.000,3078,0.121,0.032,2153,2614,3523,3424,3623,0,0,0,0,0,0,25.77,25.93,28.83
$GC,7467,-0.67,-175.2,2153,2611,3423,3620,979.0,-10.4,319,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2611,3521,3422,3620,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7582,begin apogee
$GC,7591,-0.12,0.0,2154,2539,3422,3619,991.3,-10.2,323,7754,0.47,0.12,156.98,1.014,10246,0.091,0.082,2323,2603,2848,2877,2819,0,0,0,0,0,0,25.67,24.91,23.49
$STATE,7761,end apogee,CONTROL_FINISHED_OK
$STATE,7761,begin climb
$GC,7765,0.67,175.2,2323,2603,2870,2800,999.6,0.0,327,7954,0.65,2.15,174.15,0.988,10500,0.032,0.040,2596,3839,2126,2263,1990,0,0,0,0,0,0,25.37,25.06,23.69
$GC,7972,0.89,248.7,2596,3839,2250,1978,996.0,6.8,335,8056,0.12,2.08,73.60,0.928,11270,0.080,0.015,2668,2516,1826,1973,1679,0,0,0,0,0,0,25.46,25.57,23.71
$GC,8389,0.89,248.7,2668,2516,1961,1651,921.5,17.1,349,8395,0.00,2.22,0.00,0.000,260,0.000,0.038,2657,3849,1806,1961,1651,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8419,0.89,248.7,1680,3849,1923,1645,921.5,17.1,349,8426,0.00,2.03,0.00,0.000,1030,0.000,0.016,2668,2521,1805,1960,1651,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8729,0.89,248.7,2668,2521,1958,1650,864.0,16.8,360,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2520,1804,1958,1650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,0.89,248.7,2668,2520,1956,1650,813.9,16.5,370,9031,0.00,2.22,0.00,0.000,260,0.000,0.038,2657,3850,1803,1956,1650,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9085,0.89,248.7,2658,3850,1956,1650,807.3,16.9,371,9091,0.00,2.03,0.00,0.000,1030,0.000,0.016,2668,2521,1803,1956,1650,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9405,0.89,248.7,2668,2521,1955,1650,752.2,15.8,382,9411,0.00,2.20,0.00,0.000,260,0.000,0.038,2658,3835,1802,1955,1650,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9436,0.89,248.7,2658,3834,1953,1650,752.2,15.8,382,9444,0.00,2.00,0.00,0.000,1030,0.000,0.015,2669,2523,1802,1954,1650,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9748,0.89,248.7,2669,2521,1953,1650,697.4,16.1,393,9754,0.00,2.53,0.00,0.000,516,0.000,0.025,2681,1105,1801,1953,1650,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9768,0.89,248.7,2681,1106,1947,1651,697.4,16.1,393,9774,0.00,2.67,0.00,0.000,1030,0.000,0.024,2672,2595,1799,1947,1651,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10090,0.89,248.7,2672,2593,1947,1651,644.0,14.9,404,10096,0.00,2.70,0.00,0.000,516,0.000,0.025,2685,1099,1799,1947,1651,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10122,0.89,248.7,2685,1099,1945,1651,644.0,14.9,404,10131,0.12,2.70,0.00,0.000,5126,0.161,0.024,2648,2595,1801,1945,1657,0,0,0,0,0,0,25.70,26.07,28.83
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$STATE,15839,end climb,SURFACE_DEPTH_REACHED
$STATE,15839,begin surface coast
$FINISH,-0.6,1.008508
$STATE,15871,end surface coast,CONTROL_FINISHED_OK
$STATE,15871,begin surface
$SM_CCo,15892,120.47,0.120,1,0,435,592.89
$SM_GC,0.26,6.70,0.00,120.47,0.022,0.000,0.120,130,2602,435,-6.91,0.03,592.89,0,0,0,0,1,0,26.03,28.83,24.24
$IRIDIUM_FIX,1756.43,12352.09,310713,232318
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.55
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3693344
$24V_AH,23.5,87.929
$10V_AH,9.9,65.932
$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,17.925,165.525,599.075,120.475,0.000,0.000,0.000,443.275,0.000,0.000,14.733,2899.156,9660.397,862.417,2232.153,1147.611,0.000,2345.051,0.000,1672.155,0.000,0.545,0.000
$DEVICE_MAMPS,229.500,81.855,1013.625,120.105,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15969.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.826,0.000,0.000,0.000
$MEM,328976
$DATA_FILE_SIZE,26777,713
$CAP_FILE_SIZE,377489,0
$CFSIZE,260034560,150278144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.079,295.5,1
$GPS,010813,090953,1802.954,12348.627,38,1.5,38,-2.0