version: 66.11
glider: 169
mission: 8
dive: 145
start: 4 15 113 6 12 28
data:
$ID,169
$MISSION,8
$DIVE,145
$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,-21399.418
$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,48
$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
$GPS1,150413,055930,2011.890,12419.697,41,1.1,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-71.1
$GPS2,150413,061200,2011.731,12419.704,10,1.7,15,-2.5
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,199.5,263867,-3.2,-8.250,-19.13,2990
$D_GRID,5473
$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,-0.48,-160.6,122,2525,1264,939,0.0,0.0,0,109,0.00,0.00,-83.43,0.000,16386,0.000,0.000,122,2525,3262,3153,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.48,-160.6,122,2525,3153,3372,4.2,-11.4,11,138,8.98,2.58,-4.18,0.000,18948,0.258,0.047,2225,1030,3510,3380,3640,0,0,0,0,0,0,25.72,26.12,26.41
$GC,281,-0.48,-160.6,2225,1030,3384,3640,55.8,-19.6,27,287,0.00,2.50,0.00,0.000,1030,0.000,0.034,2227,2519,3512,3384,3640,0,0,0,0,0,0,28.83,26.25,28.83
$GC,609,-0.48,-160.6,2222,2516,3385,3640,126.9,-20.5,43,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2516,3513,3386,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,907,-0.48,-160.6,2222,2517,3386,3640,173.9,-15.0,58,913,0.00,2.28,0.00,0.000,260,0.000,0.047,2219,3825,3513,3386,3640,0,0,0,0,0,0,28.83,26.45,28.83
$GC,936,-0.48,-160.6,2219,3825,3386,3640,177.7,-15.1,59,942,0.00,2.25,0.00,0.000,1030,0.000,0.026,2219,2459,3512,3386,3639,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1258,-0.48,-160.6,2219,2458,3386,3639,228.7,-15.5,75,1265,0.00,2.30,0.00,0.000,516,0.000,0.031,2219,1039,3512,3386,3639,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1320,-0.48,-160.6,2219,1038,3386,3639,236.3,-15.8,77,1328,0.00,2.45,0.00,0.000,1030,0.000,0.033,2210,2517,3513,3386,3640,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1626,-0.48,-160.6,2210,2515,3389,3639,284.9,-14.9,93,1632,0.00,2.25,0.00,0.000,260,0.000,0.046,2207,3836,3512,3385,3639,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1683,-0.48,-160.6,2207,3836,3386,3639,291.4,-14.5,95,1689,0.00,2.25,0.00,0.000,1030,0.000,0.024,2207,2459,3512,3386,3639,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1998,-0.48,-160.6,2207,2457,3386,3638,336.1,-14.4,111,2004,0.00,2.42,0.00,0.000,260,0.000,0.047,2206,3827,3512,3386,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2048,-0.48,-160.6,1320,3827,3373,3636,342.3,-14.0,113,2054,0.00,2.22,0.00,0.000,1030,0.000,0.025,2206,2464,3511,3386,3637,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2371,-0.48,-160.6,2206,2463,3386,3640,381.7,-10.6,129,2377,0.00,2.40,0.00,0.000,260,0.000,0.048,2206,3830,3510,3386,3634,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2440,-0.48,-160.6,2205,3830,3386,3634,389.1,-10.4,132,2446,0.00,2.22,0.00,0.000,1030,0.000,0.025,2206,2463,3509,3385,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2768,-0.48,-160.6,2206,2462,3385,3630,428.8,-12.7,148,2775,0.00,2.33,0.00,0.000,516,0.000,0.032,2206,1029,3508,3386,3630,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2841,-0.48,-160.6,2206,1029,3386,3629,437.4,-12.2,151,2847,0.00,2.45,0.00,0.000,1030,0.000,0.031,2206,2518,3507,3386,3629,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3163,-0.48,-160.6,2205,2516,3386,3625,473.2,-10.5,167,3169,0.00,2.25,0.00,0.000,260,0.000,0.045,2196,3836,3505,3386,3625,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3282,-0.48,-160.6,2196,3837,3385,3623,486.1,-11.5,172,3288,0.00,2.25,0.00,0.000,1030,0.000,0.024,2196,2461,3504,3386,3623,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3598,-0.48,-160.6,2196,2460,3392,3618,524.9,-11.7,188,3604,0.00,2.42,0.00,0.000,260,0.000,0.047,2189,3838,3502,3386,3618,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3626,-0.48,-160.6,2189,3838,3386,3618,527.9,-11.6,189,3632,0.12,2.25,0.00,0.000,3078,0.131,0.024,2228,2461,3501,3385,3618,0,0,0,0,0,0,26.50,26.68,28.83
$GC,3950,-0.48,-160.6,2227,2460,3386,3611,554.2,-7.2,205,3956,0.00,2.42,0.00,0.000,260,0.000,0.047,2223,3832,3499,3385,3613,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4014,-0.48,-160.6,2223,3831,3386,3612,557.8,-7.1,207,4023,0.00,2.25,0.00,0.000,1030,0.000,0.027,2223,2461,3498,3385,3612,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4319,-0.48,-160.6,2222,2461,3385,3606,582.9,-8.3,223,4326,0.00,2.45,0.00,0.000,260,0.000,0.049,2221,3840,3496,3385,3607,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4377,-0.48,-160.6,2220,3840,3385,3606,587.0,-8.7,225,4383,0.00,2.25,0.00,0.000,1030,0.000,0.026,2221,2460,3495,3385,3606,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4712,-0.48,-160.6,2220,2460,3385,3602,617.1,-8.7,239,4718,0.00,2.42,0.00,0.000,260,0.000,0.050,2220,3826,3493,3385,3602,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4789,-0.48,-160.6,2220,3826,3385,3600,623.0,-8.8,241,4795,0.00,2.25,0.00,0.000,1030,0.000,0.027,2220,2461,3493,3385,3601,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5115,-0.48,-160.6,2220,2461,3385,3603,653.8,-9.6,252,5121,0.00,2.42,0.00,0.000,260,0.000,0.050,2220,3834,3491,3386,3596,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5201,-0.48,-160.6,2220,3834,3385,3595,660.6,-9.9,254,5207,0.00,2.25,0.00,0.000,1030,0.000,0.027,2225,2463,3489,3385,3594,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5521,-0.48,-160.6,2219,2462,3385,3591,695.7,-10.4,265,5526,0.00,2.42,0.00,0.000,260,0.000,0.050,2220,3840,3487,3385,3590,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5627,-0.48,-160.6,1376,3839,3373,3587,705.4,-9.8,268,5633,0.00,2.28,0.00,0.000,1030,0.000,0.026,2220,2456,3487,3385,3590,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5954,-0.48,-160.6,2219,2457,3384,3586,730.5,-6.7,279,5960,0.00,2.45,0.00,0.000,260,0.000,0.051,2212,3841,3485,3385,3586,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6060,-0.48,-160.6,2212,3838,3383,3586,737.4,-6.8,282,6066,0.00,2.28,0.00,0.000,1030,0.000,0.027,2212,2458,3484,3382,3586,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6386,-0.48,-160.6,2212,2458,3382,3583,760.8,-7.3,293,6392,0.00,2.42,0.00,0.000,260,0.000,0.051,2207,3824,3482,3382,3582,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6458,-0.48,-160.6,2207,3824,3381,3582,766.0,-7.4,295,6464,0.00,2.25,0.00,0.000,1030,0.000,0.028,2207,2459,3482,3381,3583,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6788,-0.48,-160.6,2207,2459,3381,3580,794.0,-8.5,306,6794,0.00,2.42,0.00,0.000,260,0.000,0.050,2207,3828,3480,3380,3580,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6900,-0.48,-160.6,2206,3828,3380,3580,802.5,-8.7,309,6906,0.00,2.25,0.00,0.000,1030,0.000,0.028,2206,2463,3480,3380,3580,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7222,-0.48,-160.6,2206,2463,3380,3578,831.5,-8.7,320,7228,0.00,2.40,0.00,0.000,260,0.000,0.050,2206,3820,3478,3379,3578,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7290,-0.48,-160.6,2206,3820,3379,3578,836.8,-8.1,322,7295,0.00,2.25,0.00,0.000,1030,0.000,0.026,2206,2459,3478,3379,3578,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7625,-0.48,-160.6,2206,2459,3378,3575,862.8,-7.6,333,7631,0.00,2.42,0.00,0.000,260,0.000,0.050,2205,3838,3476,3378,3575,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7731,-0.48,-160.6,2205,3837,3377,3576,870.1,-7.5,336,7737,0.00,2.28,0.00,0.000,1030,0.000,0.027,2205,2456,3476,3377,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8058,-0.48,-160.6,2204,2457,3377,3573,892.6,-6.5,347,8064,0.00,2.42,0.00,0.000,260,0.000,0.051,2195,3830,3474,3377,3572,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8158,-0.48,-160.6,2195,3830,3376,3573,899.6,-6.9,350,8164,0.00,2.28,0.00,0.000,1030,0.000,0.029,2197,2462,3474,3376,3573,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8493,-0.48,-160.6,2195,2462,3376,3571,924.8,-7.9,361,8499,0.00,2.40,0.00,0.000,260,0.000,0.049,2185,3829,3473,3376,3571,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8573,-0.48,-160.6,1344,3828,3364,3569,930.9,-8.7,363,8580,0.12,2.25,0.00,0.000,3078,0.126,0.028,2224,2461,3473,3375,3571,0,0,0,0,0,0,26.44,26.63,28.83
$GC,8894,-0.48,-160.6,2224,2463,3375,3569,958.2,-8.4,374,8900,0.00,2.40,0.00,0.000,260,0.000,0.050,2221,3825,3472,3375,3569,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8974,-0.48,-160.6,1384,3824,3363,3566,965.0,-9.3,376,8980,0.00,2.25,0.00,0.000,1030,0.000,0.027,2220,2461,3471,3374,3569,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9264,begin apogee
$GC,9271,-0.12,0.0,2220,2614,3374,3567,991.6,-9.0,386,9420,0.32,0.00,142.00,1.006,10246,0.096,0.000,2338,2610,2843,2852,2835,0,0,0,0,0,0,26.42,28.83,24.34
$STATE,9422,end apogee,CONTROL_FINISHED_OK
$STATE,9422,begin climb
$GC,9425,0.48,160.6,2338,2610,2848,2825,999.4,0.0,390,9597,0.50,2.88,154.57,1.007,10756,0.038,0.025,2565,1140,2179,2302,2057,0,0,1,0,0,0,25.17,24.76,24.10
$GC,9657,0.53,181.6,2565,1140,2292,2049,991.6,7.5,398,9686,0.00,2.67,20.67,0.965,9222,0.000,0.026,2554,2602,2102,2228,1977,0,0,0,0,0,0,28.83,25.35,24.44
$GC,10000,0.53,181.6,2553,2601,2205,1958,950.5,11.6,410,10006,0.00,2.05,0.00,0.000,260,0.000,0.044,2544,3834,2081,2206,1957,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10091,0.53,181.6,2544,3835,2205,1957,942.0,12.0,412,10100,0.00,2.00,0.00,0.000,1030,0.000,0.018,2554,2570,2081,2205,1957,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10401,0.53,181.6,2554,2570,2202,1957,905.2,10.7,423,10407,0.00,2.17,0.00,0.000,260,0.000,0.042,2545,3843,2079,2202,1957,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10442,0.53,181.6,2545,3840,2202,1957,901.0,10.7,424,10447,0.00,1.98,0.00,0.000,1030,0.000,0.017,2554,2570,2080,2202,1958,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,19847,end climb,SURFACE_DEPTH_REACHED
$STATE,19847,begin surface coast
$FINISH,0.0,1.022826
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19881,begin surface
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$HUMID,44.56
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$TCM_TEMP,23.80
$XPDR_PINGS,0
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$24V_AH,24.1,19.114
$10V_AH,9.9,15.211
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329068
$DATA_FILE_SIZE,33316,878
$CAP_FILE_SIZE,488702,0
$CFSIZE,260034560,232165376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.052,172.4,1
$GPS,150413,114629,2009.516,12419.188,36,1.0,41,-2.5