version: 66.11
glider: 169
mission: 8
dive: 96
start: 4 4 113 10 2 18
data:
$ID,169
$MISSION,8
$DIVE,96
$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,400
$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,165
$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,430
$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,-20977.922
$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,2475
$C_ROLL_CLIMB,2650
$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,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,0.0024999999
$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
$GPS1,040413,094823,1908.583,12249.880,38,1.3,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-71.1
$GPS2,040413,100149,1908.786,12249.769,15,1.5,15,-2.2
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,82.6,199042,-3.2,-8.250,-19.13,2990
$D_GRID,4570
$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,-0.47,-160.6,121,2493,1264,939,0.0,0.0,0,102,0.00,0.00,-76.40,0.000,16386,0.000,0.000,121,2492,3105,3021,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.47,-160.6,121,2492,3022,3189,4.4,-9.9,10,131,8.57,2.20,-6.70,0.000,18692,0.239,0.065,2218,3837,3510,3383,3637,0,0,0,0,0,0,25.92,26.17,26.46
$GC,229,-0.47,-160.6,2218,3836,3386,3637,56.3,-35.9,20,238,0.00,2.15,0.00,0.000,1030,0.000,0.028,2215,2459,3512,3386,3638,0,0,0,0,0,0,28.83,26.32,28.83
$GC,535,-0.47,-160.6,2218,2458,3386,3637,150.1,-24.1,36,542,0.00,2.50,0.00,0.000,516,0.000,0.034,2218,1006,3512,3387,3637,0,0,0,0,0,0,28.83,26.46,28.83
$GC,608,-0.47,-160.6,2218,1006,3387,3637,163.4,-19.9,39,613,0.00,2.55,0.00,0.000,1030,0.000,0.033,2212,2483,3512,3387,3637,0,0,0,0,0,0,28.83,26.48,28.83
$GC,928,-0.47,-160.6,2212,2480,3387,3637,225.7,-19.1,55,933,0.00,2.17,0.00,0.000,260,0.000,0.050,2207,3837,3512,3387,3638,0,0,0,0,0,0,28.83,26.54,28.83
$GC,946,-0.47,-160.6,2206,3837,3387,3637,225.7,-19.1,55,955,0.10,2.12,0.00,0.000,3078,0.155,0.024,2233,2456,3512,3387,3637,0,0,0,0,0,0,26.48,26.63,28.83
$GC,1253,-0.47,-160.6,2233,2456,3388,3637,274.8,-13.8,71,1259,0.00,2.45,0.00,0.000,516,0.000,0.031,2233,1007,3512,3387,3637,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1320,-0.47,-160.6,2233,1007,3387,3637,283.6,-13.2,74,1326,0.00,2.55,0.00,0.000,1030,0.000,0.032,2233,2488,3512,3388,3637,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1647,-0.47,-160.6,2232,2485,3387,3637,324.9,-11.8,90,1653,0.00,2.15,0.00,0.000,260,0.000,0.049,2233,3833,3512,3387,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1699,-0.47,-160.6,2233,3833,3387,3636,330.3,-11.4,92,1705,0.00,2.12,0.00,0.000,1030,0.000,0.025,2233,2452,3511,3387,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2021,-0.47,-160.6,2233,2452,3387,3632,366.7,-11.9,108,2028,0.00,2.30,0.00,0.000,260,0.000,0.050,2233,3827,3510,3388,3632,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2041,-0.47,-160.6,2233,3827,3387,3632,366.7,-11.9,108,2049,0.00,2.12,0.00,0.000,1030,0.000,0.025,2233,2449,3509,3387,3632,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2348,-0.47,-160.6,2233,2449,3387,3628,402.3,-11.0,124,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2449,3507,3387,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,-0.47,-160.6,2233,2448,3387,3625,433.7,-9.5,139,2653,0.00,2.33,0.00,0.000,260,0.000,0.050,2233,3835,3505,3387,3624,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2708,-0.47,-160.6,2233,3835,3387,3623,437.6,-8.9,141,2716,0.00,2.12,0.00,0.000,1030,0.000,0.024,2233,2450,3505,3387,3623,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3015,-0.47,-160.6,2233,2450,3387,3617,464.3,-8.9,157,3021,0.00,2.28,0.00,0.000,260,0.000,0.050,2233,3821,3502,3387,3617,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3072,-0.47,-160.6,2233,3821,3387,3616,468.7,-9.4,159,3078,0.00,2.12,0.00,0.000,1030,0.000,0.026,2233,2451,3501,3387,3616,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3387,-0.47,-160.6,2233,2451,3387,3611,502.4,-10.1,175,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2451,3499,3387,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-0.47,-160.6,2233,2451,3387,3605,531.0,-9.6,190,3694,0.00,2.30,0.00,0.000,260,0.000,0.052,2233,3832,3495,3387,3604,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3738,-0.47,-160.6,2233,3832,3387,3604,535.4,-9.7,192,3745,0.00,2.12,0.00,0.000,1030,0.000,0.026,2233,2451,3495,3387,3604,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4061,-0.47,-160.6,2233,2451,3387,3599,568.7,-10.3,208,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2451,3493,3387,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-0.47,-160.6,2233,2451,3387,3595,597.2,-8.7,223,4366,0.00,2.30,0.00,0.000,260,0.000,0.052,2233,3833,3490,3387,3594,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4429,-0.47,-160.6,2233,3833,3387,3593,603.1,-8.5,226,4435,0.00,2.12,0.00,0.000,1030,0.000,0.026,2233,2452,3490,3387,3593,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4765,-0.47,-160.6,2233,2453,3386,3588,629.0,-7.8,237,4771,0.00,2.28,0.00,0.000,260,0.000,0.050,2233,3821,3487,3387,3588,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4821,-0.47,-160.6,2233,3821,3386,3588,632.0,-8.0,238,4827,0.00,2.12,0.00,0.000,1030,0.000,0.027,2232,2454,3487,3386,3588,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5140,-0.47,-160.6,2233,2451,3385,3584,665.8,-10.9,249,5146,0.00,2.28,0.00,0.000,260,0.000,0.050,2233,3833,3484,3385,3584,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5175,-0.47,-160.6,2232,3832,3383,3584,670.2,-11.1,250,5181,0.00,2.15,0.00,0.000,1030,0.000,0.026,2233,2452,3483,3383,3584,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5511,-0.47,-160.6,2233,2452,3382,3580,707.3,-10.6,261,5517,0.00,2.28,0.00,0.000,260,0.000,0.051,2232,3823,3481,3382,3580,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5558,-0.47,-160.6,2233,3823,3381,3580,710.8,-10.3,262,5563,0.00,2.12,0.00,0.000,1030,0.000,0.028,2233,2454,3480,3381,3580,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5884,-0.47,-160.6,2233,2454,3380,3577,737.9,-7.1,273,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2454,3478,3380,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,-0.47,-160.6,2233,2454,3380,3575,759.1,-7.7,283,6190,0.00,2.28,0.00,0.000,260,0.000,0.049,2222,3825,3476,3379,3574,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6240,-0.47,-160.6,2223,3825,3378,3574,762.4,-8.1,284,6246,0.00,2.12,0.00,0.000,1030,0.000,0.028,2223,2453,3476,3378,3574,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6558,-0.47,-160.6,2223,2454,3378,3571,793.7,-9.4,295,6564,0.00,2.28,0.00,0.000,260,0.000,0.049,2221,3841,3474,3378,3571,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6634,-0.47,-160.6,2220,3841,3377,3571,800.1,-9.3,297,6640,0.00,2.15,0.00,0.000,1030,0.000,0.026,2221,2453,3474,3377,3571,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6960,-0.47,-160.6,2220,2453,3376,3569,827.5,-7.6,308,6965,0.00,2.28,0.00,0.000,260,0.000,0.050,2220,3827,3473,3377,3569,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7001,-0.47,-160.6,2220,3827,3376,3568,830.3,-7.6,309,7007,0.00,2.12,0.00,0.000,1030,0.000,0.027,2220,2453,3472,3376,3568,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7332,-0.47,-160.6,2220,2454,3375,3566,856.9,-8.1,320,7338,0.00,2.28,0.00,0.000,260,0.000,0.050,2220,3842,3471,3376,3566,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7379,-0.47,-160.6,2220,3842,3374,3566,859.3,-7.8,321,7385,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2449,3470,3375,3566,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7704,-0.47,-160.6,2220,2450,3374,3563,888.7,-8.9,332,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2450,3468,3374,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8005,-0.47,-160.6,2219,2450,3373,3562,916.4,-9.2,342,8011,0.00,2.30,0.00,0.000,260,0.000,0.053,2220,3839,3466,3372,3561,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8105,-0.47,-160.6,2220,3838,3371,3562,926.0,-9.7,345,8111,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2451,3466,3371,3562,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8440,-0.47,-160.6,2220,2452,3371,3560,955.3,-8.6,356,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2452,3465,3371,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8741,-0.47,-160.6,2220,2452,3371,3556,980.1,-8.2,366,8747,0.00,2.28,0.00,0.000,260,0.000,0.050,2208,3836,3463,3371,3556,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8827,-0.47,-160.6,2208,3833,3369,3556,985.9,-8.3,368,8833,0.00,2.12,0.00,0.000,1030,0.000,0.027,2208,2453,3463,3370,3556,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,8869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8869,begin apogee
$GC,8876,-0.10,0.0,2207,2667,3369,3556,992.0,-9.2,370,9022,0.40,0.08,138.15,0.989,10246,0.096,0.091,2354,2600,2845,2854,2836,0,0,0,0,0,0,26.60,24.99,24.34
$STATE,9024,end apogee,CONTROL_FINISHED_OK
$STATE,9024,begin climb
$GC,9027,0.47,160.6,2353,2600,2850,2826,998.2,0.0,374,9182,0.47,0.00,150.52,0.999,10502,0.035,0.000,2568,2600,2196,2317,2076,0,0,0,0,0,0,25.23,28.83,24.18
$GC,9473,0.47,160.6,2568,2600,2288,2050,965.5,9.7,390,9479,0.00,1.88,0.00,0.000,260,0.000,0.044,2559,3831,2169,2288,2050,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9513,0.47,160.6,2559,3831,2286,2050,961.8,9.7,391,9520,0.00,1.77,0.00,0.000,1030,0.000,0.017,2569,2554,2168,2287,2050,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9844,0.47,160.6,2569,2554,2281,2048,930.9,9.1,402,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2554,2164,2280,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10145,0.47,160.6,2569,2553,2279,2048,901.4,10.2,412,10151,0.00,1.95,0.00,0.000,260,0.000,0.042,2559,3845,2163,2279,2047,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10191,0.47,160.6,2559,3845,2278,2047,897.2,10.6,413,10197,0.00,1.70,0.00,0.000,1030,0.000,0.016,2569,2552,2162,2278,2047,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10516,0.47,160.6,2569,2552,2276,2046,862.7,10.3,424,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2552,2160,2274,2046,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19651,end climb,SURFACE_DEPTH_REACHED
$STATE,19651,begin surface coast
$FINISH,0.7,1.021942
$STATE,19681,end surface coast,CONTROL_FINISHED_OK
$STATE,19681,begin surface
$SM_CCo,19699,55.75,0.120,0,0,1096,430.01
$SM_GC,0.62,6.40,0.52,55.75,0.034,0.028,0.120,130,2445,1096,-6.99,0.28,430.01,0,0,0,0,0,0,26.58,26.66,26.34
$IRIDIUM_FIX,1902.38,12246.99,040413,030323
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.88
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3973184
$24V_AH,24.2,12.827
$10V_AH,10.1,9.825
$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,16.350,175.675,445.675,55.750,0.000,0.000,0.000,498.850,0.000,0.000,16.188,3607.002,12835.260,723.334,2619.260,738.089,0.000,2346.266,0.000,1971.981,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,91.035,999.090,120.105,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19774.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.343,0.000,0.000,0.000
$MEM,323508
$DATA_FILE_SIZE,33369,877
$CAP_FILE_SIZE,458177,0
$CFSIZE,260034560,240574464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177, 28.5,1
$GPS,040413,153236,1910.652,12252.672,28,1.0,28,-2.2