version: 66.11
glider: 169
mission: 8
dive: 112
start: 4 7 113 22 14 6
data:
$ID,169
$MISSION,8
$DIVE,112
$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,-6
$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,-20998.805
$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,2380
$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,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
$GPS1,070413,220005,1927.353,12321.760,72,0.9,72,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-67.0
$GPS2,070413,221336,1927.258,12321.597,11,1.4,16,-2.3
$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,34.2,134593,-3.2,-8.250,-19.13,2990
$D_GRID,4920
$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,-0.48,-160.6,122,2485,1262,937,0.0,0.0,0,107,0.00,0.00,-82.40,0.000,16386,0.000,0.000,122,2486,3263,3160,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.48,-160.6,121,2485,3160,3368,4.7,-12.2,11,136,8.52,2.65,-4.10,0.000,18948,0.243,0.050,2219,1023,3511,3386,3637,0,0,0,0,0,0,25.84,26.17,26.46
$GC,240,-0.48,-160.6,2219,1023,3388,3637,50.8,-18.5,24,246,0.00,2.55,0.00,0.000,1030,0.000,0.034,2208,2486,3513,3389,3637,0,0,0,0,0,0,28.83,26.29,28.83
$GC,567,-0.48,-160.6,2208,2483,3387,3637,128.4,-21.3,40,573,0.00,2.22,0.00,0.000,260,0.000,0.050,2201,3835,3512,3388,3636,0,0,0,0,0,0,28.83,26.43,28.83
$GC,609,-0.48,-160.6,2200,3835,3387,3637,134.1,-21.3,41,616,0.00,2.17,0.00,0.000,1030,0.000,0.025,2200,2465,3512,3387,3637,0,0,0,0,0,0,28.83,26.52,28.83
$GC,913,-0.48,-160.6,2200,2462,3384,3637,207.9,-20.2,57,919,0.00,2.42,0.00,0.000,516,0.000,0.032,2202,1017,3512,3387,3637,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1045,-0.48,-160.6,2202,1017,3387,3637,230.9,-16.6,63,1051,0.00,2.50,0.00,0.000,1030,0.000,0.034,2197,2485,3512,3388,3637,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1372,-0.48,-160.6,2197,2482,3383,3637,290.0,-17.2,79,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2482,3512,3387,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,-0.48,-160.6,2197,2482,3388,3636,339.0,-15.6,94,1676,0.00,2.20,0.00,0.000,260,0.000,0.045,2188,3828,3512,3387,3637,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1696,-0.48,-160.6,2188,3828,3387,3637,342.9,-15.3,95,1702,0.12,2.17,0.00,0.000,3078,0.144,0.025,2223,2457,3512,3387,3637,0,0,0,0,0,0,26.52,26.69,28.83
$GC,2025,-0.48,-160.6,2223,2454,3383,3636,386.8,-13.0,111,2031,0.00,2.40,0.00,0.000,516,0.000,0.032,2223,1012,3511,3387,3636,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2080,-0.48,-160.6,2223,1013,3387,3636,392.8,-13.0,113,2087,0.00,2.47,0.00,0.000,1030,0.000,0.032,2220,2486,3511,3387,3636,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2397,-0.48,-160.6,2220,2483,3387,3633,428.4,-10.5,129,2403,0.00,2.20,0.00,0.000,260,0.000,0.047,2220,3827,3510,3387,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2522,-0.48,-160.6,2220,3827,3387,3633,438.9,-9.5,134,2530,0.00,2.17,0.00,0.000,1030,0.000,0.026,2220,2440,3509,3387,3632,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2828,-0.48,-160.6,2219,2440,3387,3629,471.2,-10.5,150,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2440,3508,3387,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,-0.48,-160.6,2219,2439,3387,3625,500.7,-9.4,165,3134,0.00,2.38,0.00,0.000,260,0.000,0.050,2220,3825,3506,3387,3625,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3196,-0.48,-160.6,2219,3825,3387,3625,507.4,-9.8,168,3202,0.00,2.17,0.00,0.000,1030,0.000,0.026,2220,2445,3505,3387,3624,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3524,-0.48,-160.6,2219,2444,3383,3619,536.7,-8.4,184,3530,0.00,2.35,0.00,0.000,260,0.000,0.051,2218,3831,3503,3387,3619,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3574,-0.48,-160.6,1344,3830,3375,3616,540.6,-8.3,186,3580,0.00,2.17,0.00,0.000,1030,0.000,0.027,2218,2445,3502,3387,3618,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3896,-0.48,-160.6,2217,2445,3387,3614,570.1,-9.4,202,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2445,3500,3387,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-0.48,-160.6,2217,2445,3387,3609,596.7,-8.3,217,4201,0.00,2.35,0.00,0.000,260,0.000,0.050,2208,3823,3498,3387,3609,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4295,-0.48,-160.6,2213,3822,3387,3607,605.6,-9.0,221,4301,0.00,2.17,0.00,0.000,1030,0.000,0.027,2208,2445,3497,3387,3607,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4630,-0.48,-160.6,2207,2445,3387,3603,635.7,-8.8,232,4636,0.00,2.38,0.00,0.000,260,0.000,0.051,2207,3837,3495,3387,3603,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4696,-0.48,-160.6,2206,3837,3387,3602,641.5,-8.8,234,4702,0.00,2.22,0.00,0.000,1030,0.000,0.026,2207,2440,3494,3387,3602,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5032,-0.48,-160.6,2207,2440,3387,3597,669.1,-8.3,245,5037,0.00,2.38,0.00,0.000,260,0.000,0.053,2207,3831,3492,3387,3597,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5112,-0.48,-160.6,2206,3831,3387,3596,674.7,-8.5,247,5118,0.00,2.20,0.00,0.000,1030,0.000,0.028,2206,2446,3491,3387,3596,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5434,-0.48,-160.6,2207,2444,3387,3591,705.5,-9.3,258,5440,0.00,2.35,0.00,0.000,260,0.000,0.053,2206,3827,3488,3387,3590,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5501,-0.48,-160.6,2206,3827,3386,3590,711.9,-9.3,260,5507,0.00,2.20,0.00,0.000,1030,0.000,0.028,2206,2446,3488,3387,3590,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5837,-0.48,-160.6,2206,2447,3387,3587,739.7,-7.7,271,5843,0.00,2.35,0.00,0.000,260,0.000,0.050,2206,3840,3487,3387,3587,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5883,-0.48,-160.6,2206,3840,3386,3586,742.8,-7.8,272,5889,0.00,2.20,0.00,0.000,1030,0.000,0.027,2206,2443,3486,3386,3586,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6209,-0.48,-160.6,2206,2443,3386,3582,768.6,-7.7,283,6215,0.00,2.35,0.00,0.000,260,0.000,0.052,2199,3833,3484,3386,3582,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6285,-0.48,-160.6,2199,3833,3385,3583,774.2,-8.1,285,6291,0.00,2.20,0.00,0.000,1030,0.000,0.028,2200,2446,3484,3385,3583,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6611,-0.48,-160.6,2199,2446,3384,3580,801.3,-7.9,296,6618,0.00,2.33,0.00,0.000,260,0.000,0.051,2194,3819,3482,3384,3580,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6688,-0.48,-160.6,2194,3820,3382,3580,806.8,-7.9,298,6693,0.00,2.17,0.00,0.000,1030,0.000,0.027,2194,2443,3481,3382,3580,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7013,-0.48,-160.6,2194,2444,3383,3578,833.7,-8.0,309,7020,0.10,2.35,0.00,0.000,2308,0.145,0.050,2219,3832,3479,3382,3577,0,0,0,0,0,0,26.61,26.60,28.83
$GC,7038,-0.48,-160.6,2219,3832,3381,3577,833.7,-8.0,309,7045,0.00,2.20,0.00,0.000,1030,0.000,0.028,2220,2444,3479,3381,3577,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7356,-0.48,-160.6,2219,2445,3381,3574,857.0,-6.8,320,7363,0.00,2.35,0.00,0.000,260,0.000,0.050,2207,3837,3477,3381,3574,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7412,-0.48,-160.6,2207,3836,3380,3574,859.9,-7.1,321,7419,0.00,2.20,0.00,0.000,1030,0.000,0.028,2207,2444,3477,3380,3574,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7730,-0.48,-160.6,2207,2444,3380,3572,886.5,-8.0,332,7736,0.00,2.35,0.00,0.000,260,0.000,0.053,2207,3830,3476,3380,3572,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7754,-0.48,-160.6,1344,3830,3368,3569,886.5,-8.0,332,7760,0.00,2.20,0.00,0.000,1030,0.000,0.028,2207,2445,3475,3379,3572,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8072,-0.48,-160.6,2207,2446,3379,3570,915.8,-9.0,343,8078,0.00,2.35,0.00,0.000,260,0.000,0.052,2206,3830,3474,3379,3570,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8132,-0.48,-160.6,2206,3830,3378,3570,919.3,-9.1,344,8140,0.00,2.20,0.00,0.000,1030,0.000,0.028,2206,2446,3474,3378,3570,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8440,-0.48,-160.6,2206,2447,3378,3567,949.2,-8.7,355,8447,0.00,2.33,0.00,0.000,260,0.000,0.050,2195,3820,3472,3377,3567,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8557,-0.48,-160.6,2195,3820,3376,3567,958.9,-9.6,358,8563,0.00,2.20,0.00,0.000,1030,0.000,0.027,2195,2438,3472,3377,3567,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8874,-0.48,-160.6,2195,2438,3377,3565,988.2,-8.6,369,8880,0.00,2.38,0.00,0.000,260,0.000,0.051,2184,3837,3470,3376,3565,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,8907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8907,begin apogee
$GC,8915,-0.12,0.0,2184,2593,3376,3565,991.5,-8.6,370,9069,0.40,0.15,147.75,0.995,10246,0.098,0.078,2331,2674,2850,2859,2842,0,0,0,0,0,0,26.51,24.99,24.37
$STATE,9071,end apogee,CONTROL_FINISHED_OK
$STATE,9073,begin climb
$GC,9076,0.48,160.6,2329,2674,2852,2826,997.3,0.0,374,9243,0.55,3.05,151.52,0.995,11012,0.057,0.024,2552,1193,2181,2306,2057,0,0,0,0,0,0,25.16,24.86,24.18
$GC,9273,0.48,160.6,2552,1193,2296,2051,987.0,8.4,381,9279,0.00,2.92,0.00,0.000,1030,0.000,0.028,2540,2678,2174,2297,2051,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9608,0.48,160.6,2540,2676,2288,2048,954.3,9.7,392,9614,0.00,2.83,0.00,0.000,516,0.000,0.025,2553,1185,2168,2288,2048,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9632,0.48,160.6,2552,1184,2286,2048,954.3,9.7,392,9638,0.00,2.83,0.00,0.000,1030,0.000,0.028,2541,2670,2167,2286,2048,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9949,0.48,160.6,2541,2668,2284,2048,923.1,9.0,403,9955,0.00,1.75,0.00,0.000,260,0.000,0.044,2532,3834,2166,2284,2048,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9973,0.48,160.6,2532,3834,2283,2048,923.1,9.0,403,9979,0.00,1.80,0.00,0.000,1030,0.000,0.017,2542,2582,2166,2283,2049,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10291,0.48,160.6,2541,2582,2281,2054,892.0,9.1,414,10297,0.00,2.58,0.00,0.000,516,0.000,0.025,2554,1175,2164,2281,2047,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,19627,end climb,SURFACE_DEPTH_REACHED
$STATE,19627,begin surface coast
$FINISH,-0.3,1.023137
$STATE,19662,end surface coast,CONTROL_FINISHED_OK
$STATE,19662,begin surface
$SM_CCo,19679,74.93,0.122,0,0,1096,430.01
$SM_GC,0.12,6.18,0.55,74.93,0.028,0.028,0.122,134,2439,1096,-6.94,0.34,430.01,0,0,0,0,0,0,26.61,26.69,26.28
$IRIDIUM_FIX,1918.37,12348.38,070413,161626
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.03
$INTERNAL_PRESSURE,9.36915
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3964992
$24V_AH,24.2,14.874
$10V_AH,10.0,11.531
$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,16.525,217.025,399.025,74.925,0.000,0.000,0.000,513.075,0.000,0.000,16.947,3655.229,12669.188,756.068,2694.457,759.695,0.000,2425.900,0.000,2028.800,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,78.030,995.265,122.400,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19756.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.341,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,33398,869
$CAP_FILE_SIZE,463481,0
$CFSIZE,260034560,237834240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 82.7,1
$GPS,080413,034453,1928.716,12323.157,38,1.2,56,-2.3