version: 66.11
glider: 169
mission: 8
dive: 750
start: 8 21 113 11 48 36
data:
$ID,169
$MISSION,8
$DIVE,750
$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,190
$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,-23479.057
$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,2550
$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
$GPS1,210813,112224,2021.170,12316.069,42,1.6,42,-2.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-64.2
$GPS2,210813,114808,2021.066,12316.549,43,1.4,43,-2.5
$SPEED_LIMITS,0.163,0.265
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,31.8,148002,-5.0,-9.429,-19.60,3013
$D_GRID,5454
$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,27,-0.68,-184.9,120,2573,633,249,0.0,0.0,0,117,0.00,0.00,-87.80,0.000,16386,0.000,0.000,119,2574,2698,2690,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.68,-184.9,119,2574,2690,2708,3.6,-7.8,11,161,8.73,2.12,-15.12,0.000,18692,0.230,0.057,2124,3829,3609,3469,3749,0,0,0,0,0,0,24.67,25.82,26.60
$GC,277,-0.68,-184.9,2124,3829,3468,3748,52.3,-29.0,25,285,0.00,2.08,0.00,0.000,1030,0.000,0.024,2124,2508,3607,3469,3746,0,0,0,0,0,0,28.83,26.17,28.83
$GC,584,-0.68,-184.9,2124,2506,3468,3748,145.6,-25.1,41,590,0.00,2.55,0.00,0.000,516,0.000,0.031,2125,1085,3608,3468,3748,0,0,0,0,0,0,28.83,26.06,28.83
$GC,659,-0.68,-184.9,2124,1084,3468,3748,159.3,-20.5,44,667,0.00,2.67,0.00,0.000,1030,0.000,0.033,2122,2566,3608,3468,3748,0,0,0,0,0,0,28.83,26.01,28.83
$GC,982,-0.68,-184.9,2122,2564,3468,3748,221.7,-18.2,60,988,0.00,2.05,0.00,0.000,260,0.000,0.046,2120,3832,3608,3468,3748,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1043,-0.68,-184.9,2120,3835,3468,3748,230.1,-18.2,62,1049,0.00,2.05,0.00,0.000,1030,0.000,0.022,2118,2506,3608,3468,3748,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1360,-0.68,-184.9,2120,2505,3468,3748,288.6,-17.1,78,1366,0.00,2.53,0.00,0.000,516,0.000,0.028,2120,1085,3607,3468,3747,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1382,-0.68,-184.9,2120,1085,3468,3747,288.6,-17.1,78,1392,0.00,2.67,0.00,0.000,1030,0.000,0.032,2116,2567,3608,3468,3748,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1687,-0.68,-184.9,2121,2565,3468,3745,344.6,-16.6,94,1694,0.00,2.08,0.00,0.000,260,0.000,0.045,2112,3826,3605,3467,3744,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1703,-0.68,-184.9,2113,3827,3468,3744,344.6,-16.6,94,1709,0.12,2.05,0.00,0.000,3078,0.142,0.022,2147,2497,3606,3468,3744,0,0,0,0,0,0,25.98,26.34,28.83
$GC,2025,-0.68,-184.9,2147,2497,3468,3741,386.9,-11.7,110,2031,0.00,2.47,0.00,0.000,516,0.000,0.027,2147,1083,3603,3467,3740,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2055,-0.68,-184.9,2147,1084,3468,3741,390.7,-11.8,111,2062,0.00,2.65,0.00,0.000,1030,0.000,0.031,2143,2565,3606,3468,3744,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2383,-0.68,-184.9,2142,2563,3467,3735,429.2,-12.0,127,2389,0.00,2.05,0.00,0.000,260,0.000,0.045,2142,3836,3601,3467,3735,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2463,-0.68,-184.9,2141,3836,3467,3734,438.2,-12.0,130,2470,0.00,2.05,0.00,0.000,1030,0.000,0.022,2142,2493,3600,3467,3734,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2781,-0.68,-184.9,2142,2493,3467,3725,478.4,-12.6,146,2787,0.00,2.25,0.00,0.000,260,0.000,0.044,2142,3826,3597,3467,3728,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2843,-0.68,-184.9,2141,3826,3467,3727,484.5,-12.7,148,2849,0.00,2.03,0.00,0.000,1030,0.000,0.021,2142,2498,3596,3467,3726,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3160,-0.68,-184.9,2141,2497,3467,3722,523.4,-11.2,164,3167,0.00,2.28,0.00,0.000,260,0.000,0.046,2142,3841,3594,3467,3721,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3213,-0.68,-184.9,2141,3841,3466,3721,528.8,-11.2,166,3220,0.00,2.05,0.00,0.000,1030,0.000,0.023,2141,2498,3594,3467,3721,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3547,-0.68,-184.9,2141,2498,3466,3715,569.2,-12.3,182,3553,0.00,2.25,0.00,0.000,260,0.000,0.047,2141,3826,3590,3466,3715,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3574,-0.68,-184.9,2141,3826,3466,3714,573.3,-12.2,183,3580,0.00,2.03,0.00,0.000,1030,0.000,0.023,2142,2502,3590,3466,3715,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3904,-0.68,-184.9,2141,2502,3465,3710,606.5,-9.2,198,3910,0.00,2.28,0.00,0.000,260,0.000,0.050,2142,3820,3588,3465,3711,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3962,-0.68,-184.9,2141,3820,3463,3710,610.0,-9.0,199,3968,0.00,2.03,0.00,0.000,1030,0.000,0.024,2141,2508,3586,3463,3710,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4282,-0.68,-184.9,2138,2508,3464,3704,641.4,-9.9,210,4288,0.00,2.25,0.00,0.000,260,0.000,0.047,2141,3837,3583,3463,3704,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4328,-0.68,-184.9,2141,3833,3462,3704,645.4,-10.0,211,4334,0.00,2.08,0.00,0.000,1030,0.000,0.023,2141,2497,3583,3462,3704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4660,-0.68,-184.9,2141,2497,3461,3700,679.4,-10.0,222,4666,0.00,2.28,0.00,0.000,260,0.000,0.048,2141,3841,3580,3461,3699,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4741,-0.68,-184.9,2141,3841,3460,3699,686.3,-9.8,224,4747,0.00,2.05,0.00,0.000,1030,0.000,0.024,2141,2509,3579,3460,3699,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5069,-0.68,-184.9,2141,2509,3459,3692,724.0,-11.8,235,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2509,3576,3460,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5368,-0.68,-184.9,2141,2509,3458,3688,757.6,-10.8,245,5374,0.00,2.25,0.00,0.000,260,0.000,0.047,2141,3837,3573,3458,3688,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5422,-0.68,-184.9,2141,3837,3457,3688,761.7,-10.9,246,5429,0.00,2.05,0.00,0.000,1030,0.000,0.024,2138,2503,3572,3457,3688,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5745,-0.68,-184.9,2141,2503,3457,3683,797.5,-10.8,257,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3569,3456,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6047,-0.68,-184.9,2141,2503,3455,3678,832.1,-11.7,267,6052,0.00,2.28,0.00,0.000,260,0.000,0.050,2134,3841,3566,3455,3678,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6132,-0.68,-184.9,2133,3841,3453,3678,840.2,-11.4,269,6137,0.00,2.08,0.00,0.000,1030,0.000,0.025,2134,2504,3569,3460,3678,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6453,-0.68,-184.9,2134,2504,3453,3674,879.4,-11.6,280,6459,0.00,2.55,0.00,0.000,516,0.000,0.032,2131,1088,3563,3453,3674,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6474,-0.68,-184.9,2134,1087,3453,3674,879.4,-11.6,280,6480,0.00,2.65,0.00,0.000,1030,0.000,0.032,2129,2563,3563,3453,3674,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6796,-0.68,-184.9,2129,2561,3451,3670,917.9,-11.0,291,6801,0.00,2.10,0.00,0.000,260,0.000,0.048,2126,3828,3560,3451,3670,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6847,-0.68,-184.9,2125,3828,3450,3670,921.9,-10.9,292,6853,0.00,2.08,0.00,0.000,1030,0.000,0.025,2125,2506,3560,3451,3670,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7174,-0.68,-184.9,2125,2506,3450,3667,958.8,-10.8,303,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3558,3450,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,-0.68,-184.9,2125,2503,3449,3664,989.9,-10.1,313,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3556,3448,3664,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7499,begin apogee
$GC,7509,-0.12,0.0,2125,2605,3448,3663,992.8,-10.0,314,7689,0.57,0.08,165.70,0.965,10246,0.096,0.041,2325,2536,2841,2878,2805,0,0,0,0,0,0,25.41,24.80,23.56
$STATE,7691,end apogee,CONTROL_FINISHED_OK
$STATE,7691,begin climb
$GC,7696,0.68,184.9,2325,2536,2875,2785,1000.8,0.0,319,7891,0.65,2.62,184.38,0.944,10756,0.031,0.023,2627,1091,2084,2211,1958,0,0,0,0,0,0,25.50,25.25,23.65
$GC,7937,0.70,192.1,2627,1090,2193,1945,988.4,9.2,327,7943,0.12,2.72,0.00,0.000,5126,0.153,0.025,2595,2600,2069,2193,1945,0,0,0,0,0,0,25.37,25.64,28.83
$GC,8272,0.70,192.1,2594,2600,2186,1940,952.0,10.2,338,8278,0.00,2.03,0.00,0.000,260,0.000,0.039,2585,3852,2063,2186,1940,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8317,0.70,192.1,2585,3852,2182,1941,947.7,10.4,339,8324,0.00,2.03,0.00,0.000,1030,0.000,0.016,2596,2516,2062,2183,1941,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8650,0.70,192.5,2596,2516,2182,1939,914.5,9.4,350,8656,0.00,2.20,0.00,0.000,260,0.000,0.038,2585,3832,2060,2181,1939,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8705,0.71,194.2,2585,3832,2178,1941,911.1,9.4,351,8711,0.00,2.00,0.00,0.000,1030,0.000,0.015,2596,2513,2059,2178,1941,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9027,0.71,194.2,2596,2513,2178,1939,876.2,10.4,362,9033,0.00,2.22,0.00,0.000,260,0.000,0.038,2586,3852,2058,2177,1939,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9071,0.71,194.2,2585,3852,2176,1941,871.5,11.0,363,9077,0.00,2.03,0.00,0.000,1030,0.000,0.016,2597,2521,2058,2176,1941,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9403,0.71,194.2,2596,2522,2175,1939,834.1,10.8,374,9409,0.00,2.20,0.00,0.000,260,0.000,0.039,2586,3846,2057,2175,1939,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9442,0.71,194.2,2586,3846,2175,1940,830.2,10.8,375,9448,0.00,2.03,0.00,0.000,1030,0.000,0.015,2596,2519,2057,2174,1940,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9779,0.71,195.2,2597,2517,2174,1939,796.7,9.4,386,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2517,2056,2174,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10079,0.81,228.0,2596,2517,2174,1939,770.5,8.3,396,10138,0.00,2.33,42.47,0.777,8452,0.000,0.040,2594,3828,1919,2033,1806,0,0,0,0,1,0,28.83,25.57,23.80
$GC,10191,0.86,246.3,2594,3829,2033,1808,760.9,8.8,399,10240,0.12,2.03,30.23,0.621,11270,0.076,0.015,2676,2521,1845,1963,1728,0,0,0,0,1,0,25.85,25.98,23.71
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$STATE,17013,end climb,SURFACE_DEPTH_REACHED
$STATE,17013,begin surface coast
$FINISH,0.2,1.021232
$STATE,17031,end surface coast,CONTROL_FINISHED_OK
$STATE,17037,begin surface
$SM_CCo,17059,101.28,0.155,1,0,433,592.89
$SM_GC,0.09,6.93,0.17,101.28,0.025,0.047,0.155,138,2481,433,-6.90,0.23,592.89,0,0,0,0,1,0,25.89,26.38,24.46
$IRIDIUM_FIX,2015.67,12251.02,210813,111100
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.06
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3641728
$24V_AH,23.6,104.053
$10V_AH,9.8,76.233
$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,18.400,175.250,706.575,101.275,0.000,0.000,0.000,854.400,0.000,0.000,44.481,3026.323,10564.142,999.740,2715.304,1362.011,0.000,2924.188,0.000,1751.135,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,65.025,964.665,155.295,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17129.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.183,0.000,0.000,0.000
$MEM,328356
$DATA_FILE_SIZE,26724,732
$CAP_FILE_SIZE,403775,0
$CFSIZE,260034560,134529024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.081,107.4,1
$GPS,210813,163605,2022.098,12318.146,41,1.0,41,-2.5