version: 66.11
glider: 169
mission: 8
dive: 131
start: 4 12 113 2 25 55
data:
$ID,169
$MISSION,8
$DIVE,131
$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,-21023.477
$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,2500
$C_ROLL_CLIMB,2600
$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
$GPS1,120413,021236,1948.968,12350.064,42,1.0,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-69.3
$GPS2,120413,022525,1948.909,12349.933,12,1.4,12,-2.4
$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,59.1,71163,-3.2,-8.250,-19.13,2990
$D_GRID,5265
$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,-160.6,122,2525,1268,929,0.0,0.0,0,109,0.00,0.00,-84.38,0.000,16386,0.000,0.000,122,2526,3294,3187,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.48,-160.6,122,2525,3187,3403,4.3,-11.4,11,138,8.43,2.62,-3.55,0.000,18948,0.237,0.047,2219,1033,3511,3382,3640,0,0,0,0,0,0,25.82,26.15,26.44
$GC,165,-0.48,-160.6,2219,1033,3385,3640,33.6,-50.9,17,171,0.00,2.58,0.00,0.000,1030,0.000,0.041,2207,2514,3512,3385,3639,0,0,0,0,0,0,28.83,26.18,28.83
$GC,491,-0.48,-160.6,2207,2511,3386,3639,121.1,-25.9,36,498,0.00,2.50,0.00,0.000,516,0.000,0.030,2207,1021,3512,3386,3639,0,0,0,0,0,0,28.83,26.40,28.83
$GC,549,-0.48,-160.6,2207,1021,3386,3639,132.2,-24.7,38,554,0.00,2.53,0.00,0.000,1030,0.000,0.034,2207,2512,3512,3386,3639,0,0,0,0,0,0,28.83,26.41,28.83
$GC,864,-0.48,-160.6,2206,2509,3387,3639,200.8,-20.0,54,871,0.00,2.47,0.00,0.000,516,0.000,0.029,2207,1023,3512,3386,3639,0,0,0,0,0,0,28.83,26.51,28.83
$GC,904,-0.48,-160.6,2207,1023,3386,3639,205.9,-19.7,55,912,0.00,2.50,0.00,0.000,1030,0.000,0.034,2206,2505,3512,3386,3639,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1211,-0.48,-160.6,2206,2505,3386,3639,260.2,-17.4,71,1217,0.00,2.45,0.00,0.000,516,0.000,0.029,2207,1037,3513,3387,3639,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1262,-0.48,-160.6,2207,1037,3387,3639,267.7,-16.9,73,1268,0.00,2.53,0.00,0.000,1030,0.000,0.036,2206,2514,3513,3387,3639,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1585,-0.48,-160.6,2206,2511,3387,3639,318.8,-15.6,89,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2511,3512,3386,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1883,-0.48,-160.6,2206,2511,3386,3639,364.6,-15.3,104,1889,0.00,2.22,0.00,0.000,260,0.000,0.050,2206,3836,3513,3387,3639,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1925,-0.48,-160.6,2206,3836,3386,3638,368.5,-15.5,105,1934,0.00,2.17,0.00,0.000,1030,0.000,0.025,2207,2474,3512,3386,3638,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2229,-0.48,-160.6,2206,2474,3386,3637,411.9,-12.7,121,2236,0.00,2.40,0.00,0.000,516,0.000,0.033,2207,1027,3511,3386,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2260,-0.48,-160.6,2206,1026,3386,3637,415.5,-13.1,122,2265,0.00,2.50,0.00,0.000,1030,0.000,0.034,2206,2515,3511,3386,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2581,-0.48,-160.6,2206,2511,3386,3630,454.8,-11.9,138,2587,0.00,2.22,0.00,0.000,260,0.000,0.046,2207,3828,3509,3386,3633,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2610,-0.48,-160.6,2206,3829,3386,3633,457.9,-11.7,139,2617,0.00,2.20,0.00,0.000,1030,0.000,0.024,2207,2461,3509,3386,3632,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2933,-0.48,-160.6,2206,2461,3386,3630,494.6,-11.3,155,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2460,3508,3387,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.48,-160.6,2206,2460,3386,3626,528.9,-11.6,170,3238,0.00,2.40,0.00,0.000,260,0.000,0.047,2206,3833,3506,3386,3626,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3262,-0.48,-160.6,2206,3833,3386,3626,532.0,-11.8,171,3268,0.00,2.20,0.00,0.000,1030,0.000,0.025,2206,2463,3505,3386,3625,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3584,-0.48,-160.6,2206,2462,3386,3620,571.5,-11.7,187,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2462,3503,3386,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.48,-160.6,2206,2462,3386,3615,607.5,-11.1,202,3908,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3822,3500,3386,3615,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3949,-0.48,-160.6,2206,3822,3386,3614,611.4,-11.0,203,3955,0.00,2.17,0.00,0.000,1030,0.000,0.026,2206,2465,3500,3386,3614,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4275,-0.48,-160.6,2206,2466,3386,3609,647.0,-10.4,214,4281,0.00,2.38,0.00,0.000,260,0.000,0.052,2206,3837,3497,3386,3609,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4362,-0.48,-160.6,2206,3837,3386,3608,654.0,-10.4,216,4367,0.00,2.20,0.00,0.000,1030,0.000,0.026,2206,2464,3494,3382,3607,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4680,-0.48,-160.6,2206,2464,3386,3603,687.9,-10.3,227,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2465,3494,3386,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.48,-160.6,2206,2464,3386,3599,718.4,-10.1,237,4983,0.00,2.38,0.00,0.000,260,0.000,0.052,2200,3833,3492,3386,3598,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5068,-0.48,-160.6,2200,3833,3386,3597,725.2,-10.1,239,5076,0.00,2.20,0.00,0.000,1030,0.000,0.028,2200,2471,3491,3386,3597,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5376,-0.48,-160.6,2200,2471,3386,3592,758.7,-10.1,250,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2471,3489,3386,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5674,-0.48,-160.6,2200,2471,3386,3589,788.2,-9.7,260,5680,0.00,2.35,0.00,0.000,260,0.000,0.050,2194,3831,3487,3386,3589,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5750,-0.48,-160.6,2194,3831,3385,3588,794.9,-9.8,262,5756,0.00,2.20,0.00,0.000,1030,0.000,0.028,2194,2471,3487,3385,3589,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6077,-0.48,-160.6,2194,2471,3385,3585,827.2,-9.4,273,6084,0.10,2.35,0.00,0.000,2308,0.142,0.048,2214,3832,3485,3385,3585,0,0,0,0,0,0,26.60,26.58,28.83
$GC,6148,-0.48,-160.6,2218,3833,3382,3585,832.5,-8.5,275,6154,0.00,2.20,0.00,0.000,1030,0.000,0.028,2218,2469,3483,3382,3585,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6480,-0.48,-160.6,2218,2470,3382,3581,855.9,-7.3,286,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2469,3482,3383,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6779,-0.48,-160.6,2218,2469,3381,3580,879.2,-8.0,296,6785,0.00,2.35,0.00,0.000,260,0.000,0.051,2207,3822,3480,3381,3579,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6815,-0.48,-160.6,2207,3822,3380,3580,882.2,-8.1,297,6821,0.00,2.20,0.00,0.000,1030,0.000,0.026,2207,2464,3479,3380,3579,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7151,-0.48,-160.6,2207,2464,3380,3578,912.4,-9.2,308,7157,0.00,2.38,0.00,0.000,260,0.000,0.053,2206,3833,3479,3380,3578,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7229,-0.48,-160.6,2206,3831,3379,3578,918.9,-9.6,310,7234,0.00,2.20,0.00,0.000,1030,0.000,0.028,2207,2471,3478,3379,3577,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7554,-0.48,-160.6,2206,2470,3379,3575,950.2,-9.5,321,7560,0.00,2.35,0.00,0.000,260,0.000,0.051,2207,3833,3476,3379,3574,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7702,-0.48,-160.6,2206,3832,3377,3574,962.8,-9.8,325,7708,0.00,2.22,0.00,0.000,1030,0.000,0.029,2207,2461,3475,3377,3574,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,7985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7985,begin apogee
$GC,7994,-0.12,0.0,2206,2606,3377,3572,991.5,-9.4,335,8138,0.35,0.00,138.10,1.062,10246,0.096,0.000,2335,2606,2847,2856,2838,0,0,0,0,0,0,26.49,28.83,24.39
$STATE,8140,end apogee,CONTROL_FINISHED_OK
$STATE,8140,begin climb
$GC,8143,0.48,160.6,2335,2606,2853,2828,999.1,0.0,339,8298,0.52,0.00,151.45,1.012,10246,0.057,0.000,2536,2605,2196,2318,2074,0,0,0,0,0,0,25.15,28.83,24.18
$GC,8590,0.48,160.6,2536,2606,2291,2050,966.0,10.3,355,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2606,2170,2291,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,0.48,160.6,2536,2606,2286,2049,936.8,9.5,365,8894,0.00,1.95,0.00,0.000,260,0.000,0.044,2529,3846,2167,2286,2049,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8937,0.48,160.6,2526,3846,2285,2050,932.5,10.1,366,8943,0.00,1.90,0.00,0.000,1030,0.000,0.018,2535,2562,2167,2285,2049,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9258,0.48,160.6,2536,2562,2281,2049,900.4,9.7,377,9264,0.00,2.08,0.00,0.000,260,0.000,0.042,2527,3834,2165,2282,2049,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9366,0.48,160.6,2527,3834,2281,2049,889.4,11.1,380,9371,0.00,1.88,0.00,0.000,1030,0.000,0.017,2537,2561,2165,2281,2049,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9691,0.48,160.6,2537,2561,2279,2049,857.1,9.4,391,9697,0.00,2.53,0.00,0.000,516,0.000,0.025,2549,1122,2164,2279,2049,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9741,0.48,160.6,2549,1126,2276,2048,853.8,9.3,392,9747,0.00,2.62,0.00,0.000,1030,0.000,0.026,2537,2610,2162,2276,2048,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10061,0.48,160.6,2537,2608,2276,2048,821.5,9.6,403,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2608,2162,2276,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10362,0.48,160.6,2537,2608,2276,2048,794.9,8.4,413,10368,0.00,1.95,0.00,0.000,260,0.000,0.044,2528,3849,2162,2276,2048,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10468,0.48,160.6,2528,3849,2275,2048,785.5,9.3,416,10473,0.00,1.92,0.00,0.000,1030,0.000,0.017,2538,2559,2161,2275,2048,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10793,0.51,172.8,2538,2559,2274,2048,758.8,7.8,427,10805,0.00,2.12,5.93,0.868,8452,0.000,0.039,2528,3839,2146,2259,2034,0,0,0,0,0,0,28.83,26.42,25.59
$GC,10886,0.51,172.8,2528,3839,2256,2032,752.6,8.3,429,10895,0.00,1.92,0.00,0.000,1030,0.000,0.017,2538,2558,2143,2255,2032,0,0,0,0,0,0,28.83,26.55,28.83
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$STATE,18034,end climb,SURFACE_DEPTH_REACHED
$STATE,18034,begin surface coast
$FINISH,-0.8,1.022889
$STATE,18069,end surface coast,CONTROL_FINISHED_OK
$STATE,18069,begin surface
$SM_CCo,18087,71.70,0.124,0,0,1097,430.01
$SM_GC,0.20,6.30,0.20,71.70,0.031,0.044,0.124,140,2441,1097,-6.94,0.23,430.01,0,0,0,0,0,0,26.56,26.69,26.25
$IRIDIUM_FIX,1941.24,12351.57,110413,202057
$TT8_MAMPS,0.021721,0.021721
$HUMID,45.03
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3955232
$24V_AH,24.2,17.246
$10V_AH,10.3,13.553
$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,16.200,153.900,395.975,71.700,0.000,0.000,0.000,471.950,0.000,0.000,13.400,3380.477,11635.742,716.215,2467.793,695.292,0.000,2218.316,0.000,1852.354,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,70.380,1061.820,123.930,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18158.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.516,0.000,0.000,0.000
$MEM,329068
$DATA_FILE_SIZE,30096,800
$CAP_FILE_SIZE,420409,0
$CFSIZE,260034560,234639360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.104, 29.8,1
$GPS,120413,072954,1950.799,12352.060,45,1.3,45,-2.4