version: 66.11
glider: 169
mission: 8
dive: 66
start: 3 28 113 18 59 36
data:
$ID,169
$MISSION,8
$DIVE,66
$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,-20939.99
$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,48
$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,2375
$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
$GPS1,280313,184636,1755.141,12346.763,35,0.8,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-72.6
$GPS2,280313,185907,1755.237,12346.738,11,1.2,11,-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,299.1,172286,-2.9,-8.462,-18.75,3180
$D_GRID,4548
$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,19,begin dive
$GC,22,-0.50,-175.2,131,2569,1353,1037,0.0,0.0,0,94,0.00,0.00,-69.28,0.000,16386,0.000,0.000,130,2569,2941,2874,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.50,-175.2,130,2569,2874,3009,3.1,-6.5,9,125,8.07,2.80,-11.07,0.000,18948,0.226,0.044,2219,1114,3569,3432,3706,0,0,0,0,0,0,25.96,26.21,26.49
$GC,296,-0.50,-175.2,2219,1114,3436,3706,65.5,-24.3,27,302,0.00,2.78,0.00,0.000,1030,0.000,0.035,2206,2588,3570,3434,3706,0,0,0,0,0,0,28.83,26.36,28.83
$GC,624,-0.50,-175.2,2206,2586,3435,3706,167.7,-27.9,43,630,0.00,2.72,0.00,0.000,516,0.000,0.029,2207,1117,3570,3435,3706,0,0,0,0,0,0,28.83,26.51,28.83
$GC,833,-0.50,-175.2,2206,1117,3435,3706,206.4,-17.3,52,843,0.12,2.67,0.00,0.000,3078,0.151,0.033,2231,2563,3570,3434,3706,0,0,0,0,0,0,26.49,26.58,28.83
$GC,1139,-0.50,-175.2,2231,2561,3436,3706,256.3,-15.6,68,1146,0.00,2.65,0.00,0.000,516,0.000,0.029,2232,1123,3571,3436,3706,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1212,-0.50,-175.2,2231,1120,3436,3706,265.5,-13.9,71,1218,0.00,2.62,0.00,0.000,1030,0.000,0.034,2223,2550,3571,3436,3706,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1534,-0.50,-175.2,2222,2547,3435,3706,314.6,-14.6,87,1540,0.00,2.60,0.00,0.000,516,0.000,0.030,2223,1106,3571,3436,3706,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1611,-0.50,-175.2,2223,1106,3436,3706,323.2,-13.0,90,1617,0.00,2.60,0.00,0.000,1030,0.000,0.034,2221,2538,3571,3436,3706,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1927,-0.50,-175.2,2218,2535,3435,3705,360.0,-12.3,106,1932,0.00,2.55,0.00,0.000,516,0.000,0.029,2221,1116,3570,3436,3705,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1974,-0.50,-175.2,2221,1116,3436,3705,365.8,-12.6,108,1980,0.00,2.58,0.00,0.000,1030,0.000,0.033,2220,2538,3570,3435,3705,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2301,-0.50,-175.2,2219,2535,3436,3701,404.0,-11.2,124,2307,0.00,1.95,0.00,0.000,260,0.000,0.047,2210,3833,3568,3435,3701,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2336,-0.50,-175.2,2210,3832,3435,3700,407.0,-11.3,125,2342,0.00,1.92,0.00,0.000,1030,0.000,0.028,2211,2511,3567,3435,3700,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2651,-0.50,-175.2,2210,2511,3435,3696,444.7,-11.6,141,2658,0.00,2.47,0.00,0.000,516,0.000,0.033,2210,1125,3565,3435,3696,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2775,-0.50,-175.2,2211,1132,3435,3694,456.5,-10.5,146,2783,0.00,2.58,0.00,0.000,1030,0.000,0.037,2206,2539,3564,3435,3693,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3081,-0.50,-175.2,2206,2537,3435,3688,490.7,-10.8,162,3087,0.00,2.58,0.00,0.000,516,0.000,0.031,2207,1111,3561,3435,3688,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3116,-0.50,-175.2,2206,1110,3435,3688,493.4,-10.8,163,3122,0.00,2.55,0.00,0.000,1030,0.000,0.031,2206,2531,3561,3435,3688,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3431,-0.50,-175.2,2206,2528,3435,3682,526.6,-10.3,179,3437,0.00,2.53,0.00,0.000,516,0.000,0.031,2206,1119,3558,3434,3682,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3487,-0.50,-175.2,2206,1119,3435,3681,531.1,-10.2,181,3494,0.00,2.53,0.00,0.000,1030,0.000,0.034,2204,2524,3557,3435,3680,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3804,-0.50,-175.2,2204,2522,3436,3675,564.9,-11.1,197,3810,0.00,2.53,0.00,0.000,516,0.000,0.032,2205,1120,3554,3435,3674,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3856,-0.50,-175.2,2205,1120,3435,3674,570.1,-11.2,199,3863,0.10,2.50,0.00,0.000,3078,0.138,0.033,2229,2520,3555,3437,3674,0,0,0,0,0,0,26.67,26.72,28.83
$GC,4179,-0.50,-175.2,2228,2518,3435,3668,599.6,-8.7,215,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2518,3551,3435,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4500,-0.50,-175.2,2228,2517,3434,3662,627.8,-8.7,226,4506,0.00,2.50,0.00,0.000,516,0.000,0.030,2229,1113,3548,3435,3662,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4550,-0.50,-175.2,2229,1111,3434,3662,631.2,-8.7,227,4556,0.00,2.50,0.00,0.000,1030,0.000,0.031,2225,2518,3548,3434,3662,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4871,-0.50,-175.2,2225,2516,3434,3657,660.1,-8.8,238,4877,0.00,2.05,0.00,0.000,260,0.000,0.050,2222,3840,3545,3434,3657,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4900,-0.50,-175.2,1368,3839,3424,3654,660.1,-8.8,238,4908,0.00,2.00,0.00,0.000,1030,0.000,0.027,2221,2489,3545,3434,3656,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5209,-0.50,-175.2,2221,2489,3433,3651,692.7,-9.9,249,5215,0.00,2.42,0.00,0.000,516,0.000,0.036,2221,1113,3543,3434,3652,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5245,-0.50,-175.2,2221,1113,3433,3651,696.4,-9.7,250,5251,0.00,2.50,0.00,0.000,1030,0.000,0.031,2221,2513,3542,3434,3651,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5580,-0.50,-175.2,2221,2510,3431,3649,725.7,-8.5,261,5586,0.00,2.05,0.00,0.000,260,0.000,0.049,2220,3829,3540,3431,3649,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5629,-0.50,-175.2,2220,3829,3431,3649,728.7,-8.5,262,5636,0.00,2.03,0.00,0.000,1030,0.000,0.027,2220,2484,3539,3430,3648,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5951,-0.50,-175.2,2220,2482,3431,3645,756.3,-8.0,273,5957,0.00,2.17,0.00,0.000,260,0.000,0.050,2220,3829,3537,3430,3645,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5987,-0.50,-175.2,2220,3829,3429,3645,759.1,-7.9,274,5993,0.00,2.03,0.00,0.000,1030,0.000,0.027,2220,2484,3537,3430,3645,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6323,-0.50,-175.2,2220,2485,3429,3642,784.7,-7.8,285,6329,0.00,2.40,0.00,0.000,516,0.000,0.035,2220,1119,3535,3428,3642,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6372,-0.50,-175.2,2220,1119,3429,3642,787.6,-7.9,286,6378,0.00,2.47,0.00,0.000,1030,0.000,0.033,2220,2514,3535,3429,3642,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6698,-0.50,-175.2,2223,2511,3426,3638,814.1,-7.8,297,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2511,3532,3426,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6997,-0.50,-175.2,2220,2511,3425,3637,836.6,-7.0,307,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2511,3530,3425,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7298,-0.50,-175.2,2220,2510,3425,3634,860.0,-8.0,317,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2511,3529,3425,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7597,-0.50,-175.2,2220,2510,3425,3632,884.3,-8.1,327,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2511,3528,3424,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7898,-0.50,-175.2,2219,2510,3424,3630,908.8,-8.2,337,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2510,3527,3424,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,-0.50,-175.2,2220,2510,3423,3628,932.0,-7.5,347,8203,0.00,2.08,0.00,0.000,260,0.000,0.049,2210,3832,3525,3423,3627,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8227,-0.50,-175.2,2209,3833,3422,3627,932.0,-7.5,347,8236,0.00,2.03,0.00,0.000,1030,0.000,0.028,2210,2485,3525,3422,3628,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8535,-0.50,-175.2,2209,2486,3421,3626,957.6,-7.6,358,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2486,3524,3422,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8833,-0.50,-175.2,2209,2486,3420,3625,980.7,-7.8,368,8839,0.00,2.20,0.00,0.000,260,0.000,0.053,2207,3825,3522,3420,3625,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8858,-0.50,-175.2,2207,3825,3420,3625,980.7,-7.8,368,8864,0.00,2.03,0.00,0.000,1030,0.000,0.028,2207,2491,3522,3420,3625,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,8963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8963,begin apogee
$GC,8969,-0.10,0.0,2207,2350,3420,3624,990.9,-7.8,372,9128,0.40,0.10,153.25,0.998,10244,0.097,0.093,2353,2390,2849,2861,2837,0,0,0,0,0,0,26.64,24.93,24.30
$STATE,9133,end apogee,CONTROL_FINISHED_OK
$STATE,9133,begin climb
$GC,9135,0.50,175.2,2353,2390,2854,2820,997.5,0.0,376,9314,0.50,0.00,165.88,0.986,11270,0.037,0.000,2572,2390,2122,2250,1995,0,0,0,0,0,0,25.17,28.83,24.15
$GC,9594,0.50,175.2,2573,2390,2232,1981,958.2,11.4,392,9599,0.00,2.45,0.00,0.000,260,0.000,0.041,2561,3829,2106,2232,1980,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9806,0.50,175.2,2561,3829,2229,1980,934.5,13.5,398,9815,0.00,2.35,0.00,0.000,1030,0.000,0.017,2573,2346,2107,2229,1985,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10115,0.50,175.2,2573,2345,2226,1980,897.7,11.2,409,10121,0.00,2.53,0.00,0.000,260,0.000,0.040,2561,3828,2103,2226,1980,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10276,0.50,175.2,2561,3828,2225,1980,878.1,12.8,414,10282,0.00,2.30,0.00,0.000,1030,0.000,0.017,2572,2362,2102,2225,1980,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10612,0.50,175.2,2573,2360,2223,1979,841.3,11.0,425,10618,0.00,2.47,0.00,0.000,260,0.000,0.039,2561,3828,2101,2223,1979,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10782,0.50,175.2,2561,3828,2227,1979,820.1,13.1,430,10788,0.00,2.28,0.00,0.000,1030,0.000,0.017,2573,2362,2101,2223,1979,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11108,0.50,175.2,2573,2361,2221,1979,780.8,11.8,441,11114,0.00,2.47,0.00,0.000,260,0.000,0.040,2562,3840,2100,2221,1979,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,18532,end climb,SURFACE_DEPTH_REACHED
$STATE,18532,begin surface coast
$FINISH,-0.3,1.021788
$STATE,18578,end surface coast,CONTROL_FINISHED_OK
$STATE,18578,begin surface
$SM_CCo,18595,34.85,0.123,0,0,1220,400.08
$SM_GC,0.99,6.28,0.22,34.85,0.028,0.054,0.123,135,2608,1220,-6.98,-0.31,400.08,0,0,0,0,0,0,26.63,26.67,26.43
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$TT8_MAMPS,0.021721,0.021721
$HUMID,42.12
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3988352
$24V_AH,24.1,8.746
$10V_AH,10.3,6.542
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.775,171.300,448.375,34.850,0.000,0.000,0.000,464.350,0.000,0.000,12.327,3695.880,11536.448,697.113,2713.752,706.336,0.000,2332.990,0.000,2084.637,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.494,0.000,0.000,0.000
$MEM,329776
$DATA_FILE_SIZE,30031,836
$CAP_FILE_SIZE,459057,0
$CFSIZE,260034560,245841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.186,262.2,1
$GPS,290313,001106,1755.217,12343.035,24,1.8,24,-2.0