version: 66.11
glider: 169
mission: 8
dive: 59
start: 3 27 113 5 43 53
data:
$ID,169
$MISSION,8
$DIVE,59
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,400
$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,-20928.893
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,2575
$C_ROLL_CLIMB,2425
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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,49
$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
$GPS1,270313,053136,1750.539,12407.987,38,0.8,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-73.0
$GPS2,270313,054324,1750.608,12407.905,13,1.5,13,-2.0
$SPEED_LIMITS,0.147,0.249
$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,295.9,209966,-2.9,-8.462,-18.75,3180
$D_GRID,4760
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.52,-175.2,123,2558,1350,1103,0.0,0.0,0,100,0.00,0.00,-74.82,0.000,16386,0.000,0.000,123,2559,3211,3109,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.52,-175.2,123,2559,3109,3313,4.8,-12.3,10,129,8.30,2.70,-5.80,0.000,18948,0.235,0.052,2218,1123,3571,3431,3711,0,0,0,0,0,0,25.96,26.20,26.48
$GC,140,-0.52,-175.2,2218,1123,3431,3711,27.3,-56.6,14,145,0.00,2.75,0.00,0.000,1030,0.000,0.037,2206,2577,3571,3431,3711,0,0,0,0,0,0,28.83,26.22,28.83
$GC,465,-0.52,-175.2,2207,2575,3433,3711,143.8,-35.8,33,470,0.00,1.90,0.00,0.000,260,0.000,0.054,2198,3818,3572,3433,3711,0,0,0,0,0,0,28.83,26.42,28.83
$GC,512,-0.52,-175.2,2198,3818,3432,3711,158.0,-33.5,35,517,0.00,1.88,0.00,0.000,1030,0.000,0.028,2198,2549,3572,3433,3711,0,0,0,0,0,0,28.83,26.51,28.83
$GC,839,-0.52,-175.2,2198,2548,3435,3711,234.9,-18.9,51,845,0.00,2.60,0.00,0.000,516,0.000,0.036,2198,1115,3573,3435,3711,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1034,-0.52,-175.2,2198,1115,3435,3711,267.0,-15.4,60,1040,0.00,2.65,0.00,0.000,1030,0.000,0.034,2195,2560,3573,3435,3711,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1361,-0.52,-175.2,2195,2557,3435,3711,321.9,-16.6,76,1368,0.00,2.60,0.00,0.000,516,0.000,0.031,2195,1118,3573,3435,3711,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1474,-0.52,-175.2,1344,1117,3425,3709,339.2,-14.9,81,1480,0.00,2.58,0.00,0.000,1030,0.000,0.034,2193,2547,3572,3434,3711,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1796,-0.52,-175.2,2193,2544,3435,3708,389.3,-15.0,97,1802,0.00,2.55,0.00,0.000,516,0.000,0.031,2193,1124,3571,3435,3708,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1938,-0.52,-175.2,2193,1123,3435,3706,405.7,-12.1,103,1946,0.00,2.53,0.00,0.000,1030,0.000,0.036,2193,2533,3570,3434,3706,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2245,-0.52,-175.2,2193,2531,3435,3703,448.9,-12.9,119,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2531,3569,3435,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.52,-175.2,2193,2528,3435,3699,485.0,-11.8,134,2551,0.00,2.53,0.00,0.000,516,0.000,0.032,2193,1108,3566,3434,3698,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2639,-0.52,-175.2,2193,1108,3434,3697,495.5,-11.6,138,2645,0.00,2.53,0.00,0.000,1030,0.000,0.035,2193,2533,3565,3435,3696,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2961,-0.52,-175.2,2193,2530,3434,3690,536.2,-12.5,154,2968,0.00,2.50,0.00,0.000,516,0.000,0.032,2190,1113,3562,3435,3690,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2996,-0.52,-175.2,2193,1113,3434,3689,539.5,-12.2,155,3002,0.00,2.53,0.00,0.000,1030,0.000,0.034,2193,2534,3561,3434,3689,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3311,-0.52,-175.2,2193,2531,3435,3683,577.3,-11.7,171,3317,0.00,2.00,0.00,0.000,260,0.000,0.046,2183,3835,3558,3434,3683,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3336,-0.52,-175.2,2182,3835,3434,3683,580.2,-11.6,172,3342,0.12,2.00,0.00,0.000,3078,0.131,0.028,2222,2509,3558,3434,3683,0,0,0,0,0,0,26.65,26.77,28.83
$GC,3652,-0.52,-175.2,2222,2508,3434,3676,607.2,-7.9,186,3659,0.00,2.42,0.00,0.000,516,0.000,0.036,2222,1129,3555,3434,3676,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3714,-0.52,-175.2,2221,1129,3434,3675,610.3,-8.0,187,3722,0.00,2.50,0.00,0.000,1030,0.000,0.037,2220,2529,3554,3434,3675,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4022,-0.52,-175.2,2220,2526,3434,3670,635.7,-7.7,198,4028,0.00,2.05,0.00,0.000,260,0.000,0.051,2210,3838,3551,3434,3669,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4058,-0.52,-175.2,2210,3838,3434,3669,638.7,-7.7,199,4065,0.00,2.03,0.00,0.000,1030,0.000,0.028,2210,2506,3551,3434,3669,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4394,-0.52,-175.2,2209,2505,3432,3669,667.0,-8.5,210,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2505,3547,3432,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.52,-175.2,2209,2505,3432,3660,691.2,-7.9,220,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2505,3547,3435,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4994,-0.52,-175.2,2209,2505,3432,3655,717.9,-9.5,230,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2505,3543,3432,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.52,-175.2,2209,2505,3432,3650,747.5,-9.9,240,5300,0.00,2.42,0.00,0.000,516,0.000,0.034,2209,1110,3540,3431,3650,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5335,-0.52,-175.2,2209,1110,3432,3650,751.2,-10.0,241,5341,0.00,2.50,0.00,0.000,1030,0.000,0.032,2207,2528,3541,3432,3650,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5666,-0.52,-175.2,2206,2525,3432,3646,783.5,-9.1,252,5673,0.00,2.08,0.00,0.000,260,0.000,0.050,2207,3834,3538,3431,3646,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5714,-0.52,-175.2,2206,3834,3430,3646,786.8,-8.9,253,5721,0.00,2.03,0.00,0.000,1030,0.000,0.027,2207,2502,3538,3430,3646,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6040,-0.52,-175.2,2206,2502,3430,3644,816.2,-8.9,264,6046,0.00,2.40,0.00,0.000,516,0.000,0.036,2207,1120,3539,3435,3644,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6076,-0.52,-175.2,2206,1120,3429,3644,819.4,-9.0,265,6083,0.00,2.50,0.00,0.000,1030,0.000,0.036,2206,2527,3536,3429,3644,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6412,-0.52,-175.2,2206,2525,3426,3641,850.0,-9.5,276,6419,0.00,2.05,0.00,0.000,260,0.000,0.049,2196,3832,3533,3426,3640,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6454,-0.52,-175.2,1320,3832,3414,3638,853.5,-9.6,277,6459,0.00,2.03,0.00,0.000,1030,0.000,0.028,2196,2500,3533,3426,3640,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6784,-0.52,-175.2,2201,2500,3425,3637,886.5,-9.4,288,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2500,3531,3425,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7085,-0.52,-175.2,2196,2500,3425,3634,913.4,-8.7,298,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2500,3529,3425,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7385,-0.52,-175.2,2196,2500,3424,3633,938.9,-8.4,308,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2500,3528,3424,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7686,-0.52,-175.2,2196,2500,3423,3631,963.2,-7.9,318,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2500,3527,3423,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7985,-0.52,-175.2,2196,2500,3423,3629,986.3,-7.6,328,7990,0.00,2.17,0.00,0.000,260,0.000,0.054,2194,3817,3525,3422,3629,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8020,-0.52,-175.2,2194,3817,3422,3629,989.2,-7.7,329,8027,0.00,2.03,0.00,0.000,1030,0.000,0.028,2194,2504,3525,3421,3629,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,8053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8053,begin apogee
$GC,8060,-0.14,0.0,2194,2395,3422,3629,992.0,-7.8,330,8219,0.43,0.08,150.57,1.021,10244,0.100,0.063,2347,2442,2843,2857,2830,0,0,0,0,0,0,26.65,24.89,24.30
$STATE,8223,end apogee,CONTROL_FINISHED_OK
$STATE,8223,begin climb
$GC,8226,0.52,175.2,2347,2441,2853,2821,997.3,0.0,334,8403,0.52,0.08,164.35,0.989,11270,0.030,0.090,2575,2396,2124,2251,1997,0,0,0,0,0,0,25.18,25.19,24.15
$GC,8682,0.52,175.2,2575,2397,2233,1985,955.8,11.5,350,8688,0.00,2.50,0.00,0.000,260,0.000,0.042,2563,3842,2108,2233,1984,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8922,0.52,175.2,2563,3842,2231,1984,928.4,12.3,357,8929,0.00,2.30,0.00,0.000,1030,0.000,0.018,2574,2397,2107,2231,1984,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9241,0.52,175.2,2575,2396,2227,1984,889.5,11.7,368,9247,0.00,2.45,0.00,0.000,260,0.000,0.043,2564,3830,2105,2227,1984,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9404,0.52,175.2,2569,3830,2226,1984,868.0,13.4,373,9411,0.00,2.22,0.00,0.000,1030,0.000,0.016,2574,2401,2105,2226,1984,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9735,0.52,175.2,2575,2401,2224,1988,827.6,11.8,384,9741,0.00,2.42,0.00,0.000,260,0.000,0.041,2564,3840,2103,2224,1983,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9866,0.52,175.2,2564,3840,2224,1983,810.7,13.4,388,9872,0.00,2.20,0.00,0.000,1030,0.000,0.016,2575,2409,2103,2224,1983,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10197,0.52,175.2,2575,2407,2223,1983,771.8,11.4,399,10203,0.00,2.40,0.00,0.000,260,0.000,0.042,2564,3841,2103,2223,1983,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10339,0.52,175.2,2564,3841,2222,1983,755.4,12.9,403,10344,0.00,2.17,0.00,0.000,1030,0.000,0.016,2575,2409,2102,2222,1983,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10659,0.52,175.2,2575,2409,2221,1983,716.1,12.0,414,10665,0.00,2.38,0.00,0.000,260,0.000,0.042,2564,3828,2102,2221,1983,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10744,0.52,175.2,2564,3828,2221,1983,707.5,12.3,416,10750,0.00,2.12,0.00,0.000,1030,0.000,0.017,2575,2425,2102,2221,1983,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11063,0.52,175.2,2576,2424,2221,1983,669.8,10.9,427,11068,0.00,2.35,0.00,0.000,260,0.000,0.042,2565,3842,2101,2221,1982,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11193,0.52,175.2,2564,3842,2220,1983,653.8,12.3,431,11200,0.00,2.12,0.00,0.000,1030,0.000,0.016,2575,2430,2101,2220,1982,0,0,0,0,0,0,28.83,26.65,28.83
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$STATE,17916,end climb,SURFACE_DEPTH_REACHED
$STATE,17916,begin surface coast
$FINISH,-0.2,1.021930
$STATE,17951,end surface coast,CONTROL_FINISHED_OK
$STATE,17952,begin surface
$SM_CCo,17969,20.98,0.124,0,0,1218,400.08
$SM_GC,0.40,6.32,0.17,20.98,0.028,0.072,0.124,131,2593,1218,-6.97,-0.31,400.08,0,0,0,0,0,0,26.60,26.60,26.44
$IRIDIUM_FIX,1742.84,12412.79,270313,000016
$TT8_MAMPS,0.020972,0.020972
$HUMID,41.69
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3991936
$24V_AH,24.1,7.840
$10V_AH,10.1,5.767
$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,15.975,162.975,467.000,20.975,0.000,0.000,0.000,420.275,0.000,0.000,14.012,3541.539,11169.286,690.603,2590.734,674.518,0.000,2246.382,0.000,2016.757,0.000,0.545,0.000
$DEVICE_MAMPS,234.855,89.505,1020.510,123.930,0.000,0.000,0.000,124.695,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.549,0.000,0.000,0.000
$MEM,329716
$DATA_FILE_SIZE,29975,798
$CAP_FILE_SIZE,442346,0
$CFSIZE,260034560,247095296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,258.9,1
$GPS,270313,104500,1750.549,12405.075,42,1.3,42,-2.0