version: 66.11
glider: 169
mission: 8
dive: 84
start: 4 1 113 20 0 39
data:
$ID,169
$MISSION,8
$DIVE,84
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,-20962.82
$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,2475
$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
$GPS1,010413,194236,1837.462,12235.369,28,1.2,28,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-70.5
$GPS2,010413,200013,1838.011,12235.264,13,1.5,13,-2.1
$SPEED_LIMITS,0.147,0.275
$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,206.9,35393,-0.3,-8.462,-17.10,3974
$D_GRID,1465
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.55,-219.0,121,2584,1245,909,0.0,0.0,0,101,0.00,0.00,-75.43,0.000,16386,0.000,0.000,120,2585,3050,2971,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.55,-219.0,120,2585,2971,3130,4.0,-8.5,10,131,8.35,2.85,-11.30,0.000,18948,0.234,0.045,2205,1116,3749,3569,3930,0,0,0,0,0,0,25.88,26.14,26.43
$GC,189,-0.55,-219.0,2205,1116,3571,3929,42.8,-33.9,19,196,0.00,2.80,0.00,0.000,1030,0.000,0.042,2194,2578,3750,3571,3929,0,0,0,0,0,0,28.83,26.19,28.83
$GC,517,-0.55,-219.0,2194,2575,3571,3930,157.6,-26.6,36,523,0.00,2.72,0.00,0.000,516,0.000,0.034,2194,1120,3750,3571,3930,0,0,0,0,0,0,28.83,26.41,28.83
$GC,669,-0.55,-219.0,2195,1119,3572,3930,190.3,-18.5,43,675,0.00,2.72,0.00,0.000,1030,0.000,0.038,2193,2568,3750,3572,3929,0,0,0,0,0,0,28.83,26.45,28.83
$GC,996,-0.55,-219.0,2193,2565,3572,3930,253.4,-17.8,59,1003,0.00,2.67,0.00,0.000,516,0.000,0.033,2193,1117,3750,3571,3930,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1069,-0.55,-219.0,2193,1117,3573,3929,265.5,-17.4,62,1075,0.00,2.70,0.00,0.000,1030,0.000,0.039,2193,2570,3751,3573,3929,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1392,-0.55,-219.0,2193,2567,3573,3929,313.9,-14.4,78,1399,0.00,2.67,0.00,0.000,516,0.000,0.033,2194,1120,3751,3573,3929,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1491,-0.55,-219.0,2193,1120,3573,3929,325.8,-13.2,82,1497,0.00,2.67,0.00,0.000,1030,0.000,0.038,2193,2564,3750,3572,3929,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1806,-0.55,-219.0,2193,2560,3572,3927,372.7,-15.4,98,1812,0.00,2.62,0.00,0.000,516,0.000,0.031,2193,1120,3749,3572,3926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1899,-0.55,-219.0,2193,1119,3572,3926,386.3,-15.5,102,1906,0.00,2.62,0.00,0.000,1030,0.000,0.037,2193,2552,3748,3572,3925,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2222,-0.55,-219.0,2193,2549,3572,3919,442.0,-17.7,118,2228,0.00,2.58,0.00,0.000,516,0.000,0.030,2194,1121,3746,3573,3919,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2293,-0.55,-219.0,2193,1121,3572,3919,452.6,-15.7,121,2298,0.00,2.58,0.00,0.000,1030,0.000,0.035,2188,2542,3745,3572,3918,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2615,-0.55,-219.0,2188,2540,3572,3912,498.2,-12.7,137,2621,0.00,2.55,0.00,0.000,516,0.000,0.031,2188,1119,3742,3572,3912,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2641,-0.55,-219.0,1312,1118,3566,3912,501.6,-12.6,138,2647,0.00,2.55,0.00,0.000,1030,0.000,0.034,2181,2536,3741,3572,3911,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2968,-0.55,-219.0,2180,2533,3572,3904,542.3,-12.7,154,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2534,3738,3572,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.55,-219.0,2180,2533,3572,3897,581.3,-13.1,169,3273,0.10,2.55,0.00,0.000,2564,0.152,0.031,2212,1124,3734,3572,3897,0,0,0,0,0,0,26.64,26.67,28.83
$GC,3337,-0.55,-219.0,2212,1123,3572,3892,588.8,-11.5,172,3345,0.00,2.55,0.00,0.000,1030,0.000,0.034,2209,2535,3734,3572,3896,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3649,-0.55,-219.0,2209,2534,3571,3891,623.3,-10.0,184,3655,0.00,2.05,0.00,0.000,260,0.000,0.050,2207,3835,3731,3571,3891,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3695,-0.55,-219.0,2206,3835,3570,3890,626.5,-9.7,185,3701,0.00,2.00,0.00,0.000,1030,0.000,0.026,2207,2504,3730,3571,3890,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4021,-0.55,-219.0,2206,2503,3571,3883,652.3,-6.8,196,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2504,3727,3571,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,-0.55,-219.0,2206,2504,3571,3878,671.0,-6.1,206,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2504,3724,3571,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.55,-219.0,2206,2504,3571,3873,692.9,-8.0,216,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2503,3722,3571,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4921,-0.55,-219.0,2207,2507,3568,3870,723.5,-10.8,226,4926,0.00,2.17,0.00,0.000,260,0.000,0.052,2206,3829,3719,3568,3870,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4956,-0.55,-219.0,2206,3829,3567,3870,727.5,-10.9,227,4963,0.00,2.00,0.00,0.000,1030,0.000,0.027,2207,2506,3718,3567,3870,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5292,-0.55,-219.0,2206,2506,3567,3865,763.0,-10.4,238,5299,0.00,2.47,0.00,0.000,516,0.000,0.034,2207,1107,3716,3567,3865,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5334,-0.55,-219.0,1320,1106,3560,3864,766.7,-10.4,239,5340,0.00,2.55,0.00,0.000,1030,0.000,0.034,2206,2533,3715,3566,3865,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5664,-0.55,-219.0,2206,2531,3565,3862,800.0,-9.8,250,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2531,3713,3565,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5964,-0.55,-219.0,2206,2530,3565,3858,828.7,-9.1,260,5971,0.00,2.08,0.00,0.000,260,0.000,0.052,2198,3838,3711,3565,3857,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6011,-0.55,-219.0,2198,3838,3564,3858,831.8,-8.7,261,6018,0.00,2.05,0.00,0.000,1030,0.000,0.026,2198,2496,3711,3564,3858,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6338,-0.55,-219.0,2198,2497,3563,3856,856.9,-6.9,272,6344,0.00,2.20,0.00,0.000,260,0.000,0.051,2194,3834,3709,3563,3855,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6384,-0.55,-219.0,2194,3834,3562,3855,859.3,-6.8,273,6390,0.00,2.03,0.00,0.000,1030,0.000,0.027,2194,2505,3709,3562,3856,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6710,-0.55,-219.0,2194,2505,3561,3853,882.1,-6.8,284,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2505,3707,3561,3853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,-0.55,-219.0,2194,2504,3560,3850,905.4,-8.0,294,7016,0.00,2.42,0.00,0.000,516,0.000,0.036,2194,1126,3705,3560,3850,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7056,-0.55,-219.0,2194,1126,3560,3850,909.2,-8.6,295,7062,0.00,2.50,0.00,0.000,1030,0.000,0.034,2194,2529,3705,3560,3850,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7382,-0.55,-219.0,2193,2527,3559,3848,938.4,-9.7,306,7389,0.00,2.08,0.00,0.000,260,0.000,0.049,2183,3836,3703,3559,3848,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7433,-0.55,-219.0,2183,3836,3558,3848,942.1,-9.8,307,7439,0.00,2.03,0.00,0.000,1030,0.000,0.028,2183,2507,3703,3558,3848,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7753,-0.55,-219.0,2183,2507,3558,3846,980.4,-12.1,318,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2507,3702,3558,3846,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7841,begin apogee
$GC,7848,-0.10,0.0,2188,2441,3564,3844,991.2,-12.2,321,8046,0.47,0.10,187.88,0.995,10244,0.097,0.093,2355,2490,2841,2873,2809,0,0,0,0,0,0,26.60,24.86,24.20
$STATE,8048,end apogee,CONTROL_FINISHED_OK
$STATE,8048,begin climb
$GC,8051,0.55,219.0,2354,2491,2870,2802,1003.7,0.0,327,8268,0.55,2.70,203.60,1.019,10756,0.037,0.030,2592,1009,1947,2064,1830,0,0,0,0,0,0,25.14,25.10,24.01
$GC,8335,0.55,219.0,2592,1009,2043,1810,984.4,11.0,337,8341,0.00,2.62,0.00,0.000,1030,0.000,0.028,2581,2486,1928,2047,1810,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8671,0.55,219.0,2582,2484,2048,1806,941.2,14.2,348,8677,0.00,2.55,0.00,0.000,516,0.000,0.027,2593,1013,1926,2046,1806,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8726,0.55,219.0,2593,1012,2042,1807,936.2,14.0,349,8732,0.00,2.58,0.00,0.000,1030,0.000,0.027,2589,2500,1924,2042,1806,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9043,0.55,219.0,2589,2498,2042,1806,885.7,15.4,360,9049,0.00,2.20,0.00,0.000,260,0.000,0.042,2579,3844,1924,2043,1806,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9155,0.55,219.0,2578,3844,2042,1807,869.5,16.1,363,9161,0.00,2.15,0.00,0.000,1030,0.000,0.016,2589,2440,1924,2042,1807,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9476,0.55,219.0,2590,2438,2042,1806,821.0,13.5,374,9482,0.00,2.35,0.00,0.000,260,0.000,0.042,2579,3836,1924,2042,1806,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9655,0.55,219.0,2579,3836,2041,1806,797.5,14.7,379,9661,0.00,2.08,0.00,0.000,1030,0.000,0.017,2589,2462,1923,2041,1806,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9972,0.55,219.0,2590,2460,2041,1805,754.4,12.5,390,9978,0.00,2.30,0.00,0.000,260,0.000,0.044,2580,3835,1923,2041,1805,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10039,0.55,219.0,2579,3834,2042,1805,745.1,12.9,392,10044,0.00,2.05,0.00,0.000,1030,0.000,0.018,2589,2476,1923,2041,1805,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10375,0.55,219.0,2590,2474,2041,1805,708.6,10.1,403,10381,0.00,2.25,0.00,0.000,260,0.000,0.042,2580,3838,1922,2041,1804,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10496,0.55,219.0,2579,3838,2041,1805,697.6,11.0,406,10504,0.00,2.03,0.00,0.000,1030,0.000,0.018,2590,2498,1923,2041,1805,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10807,0.55,219.0,2590,2497,2041,1803,665.6,9.2,417,10813,0.00,2.17,0.00,0.000,260,0.000,0.042,2580,3834,1922,2041,1803,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10888,0.55,219.0,2579,3835,2041,1804,658.1,10.0,419,10894,0.00,2.00,0.00,0.000,1030,0.000,0.017,2590,2504,1922,2041,1804,0,0,0,0,0,0,28.83,26.63,28.83
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$STATE,16625,end climb,SURFACE_DEPTH_REACHED
$STATE,16625,begin surface coast
$FINISH,-0.5,1.021705
$STATE,16636,end surface coast,CONTROL_FINISHED_OK
$STATE,16636,begin surface
$SM_CCo,16717,0.00,0.000,0,0,778,508.75
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$IRIDIUM_FIX,1828.22,12234.55,010413,191916
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.22
$INTERNAL_PRESSURE,9.37892
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3979136
$24V_AH,24.0,11.192
$10V_AH,10.0,8.545
$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,16.975,152.775,618.025,0.000,0.000,0.000,0.000,651.850,0.000,0.000,14.750,3074.647,10701.568,735.671,2581.577,642.831,0.000,2454.211,0.000,1791.523,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,93.330,1018.980,0.000,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16704.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.408,0.000,0.000,0.000
$MEM,323352
$DATA_FILE_SIZE,26729,710
$CAP_FILE_SIZE,394348,0
$CFSIZE,260034560,242667520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.344,356.8,1
$GPS,020413,004029,1839.449,12234.787,41,1.1,41,-2.1