version: 66.11
glider: 169
mission: 8
dive: 146
start: 4 15 113 12 0 3
data:
$ID,169
$MISSION,8
$DIVE,146
$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,-21400.676
$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
$GPS1,150413,114629,2009.516,12419.188,36,1.0,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-72.2
$GPS2,150413,115935,2009.515,12419.176,17,1.4,27,-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,176.7,259884,-3.2,-8.250,-19.13,2990
$D_GRID,5421
$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,20,begin dive
$GC,23,-0.48,-160.6,123,2527,1267,934,0.0,0.0,0,108,0.00,0.00,-82.47,0.000,16386,0.000,0.000,123,2527,3238,3130,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.48,-160.6,123,2527,3131,3348,4.3,-11.8,11,137,9.25,2.55,-4.53,0.000,18948,0.268,0.044,2219,1045,3510,3380,3640,0,0,0,0,0,0,25.73,26.14,26.43
$GC,250,-0.48,-160.6,1364,1045,3370,3637,49.7,-22.1,25,258,0.00,2.50,0.00,0.000,1030,0.000,0.037,2209,2519,3510,3381,3639,0,0,0,0,0,0,28.83,26.25,28.83
$GC,557,-0.48,-160.6,2209,2517,3381,3639,126.6,-23.9,41,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2517,3510,3382,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,858,-0.48,-160.6,2208,2517,3383,3639,189.0,-19.0,56,864,0.00,2.45,0.00,0.000,516,0.000,0.031,2209,1036,3511,3383,3639,0,0,0,0,0,0,28.83,26.48,28.83
$GC,927,-0.48,-160.6,1344,1035,3370,3637,199.7,-16.7,59,933,0.00,2.45,0.00,0.000,1030,0.000,0.034,2207,2517,3511,3383,3639,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1250,-0.48,-160.6,2206,2515,3383,3639,251.3,-16.6,75,1256,0.00,2.25,0.00,0.000,260,0.000,0.048,2197,3821,3511,3383,3639,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1285,-0.48,-160.6,2197,3821,3383,3639,256.2,-16.8,76,1290,0.00,2.22,0.00,0.000,1030,0.000,0.024,2197,2476,3511,3383,3639,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1600,-0.48,-160.6,2197,2474,3382,3639,314.2,-17.6,92,1607,0.00,2.35,0.00,0.000,516,0.000,0.034,2195,1028,3510,3382,3639,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1683,-0.48,-160.6,2196,1028,3382,3639,324.9,-16.0,95,1691,0.00,2.45,0.00,0.000,1030,0.000,0.032,2197,2519,3508,3382,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1989,-0.48,-160.6,2197,2517,3382,3638,368.9,-13.2,111,1994,0.00,2.25,0.00,0.000,260,0.000,0.048,2194,3826,3510,3382,3638,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2030,-0.48,-160.6,2193,3826,3382,3638,372.3,-13.2,112,2038,0.00,2.25,0.00,0.000,1030,0.000,0.025,2193,2462,3510,3382,3638,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2334,-0.48,-160.6,2193,2462,3382,3637,413.9,-12.9,128,2336,0.10,0.00,0.00,0.000,2054,0.152,0.000,2223,2462,3509,3382,3637,0,0,0,0,0,0,26.58,28.83,28.83
$GC,2635,-0.48,-160.6,2223,2462,3382,3633,442.9,-9.3,143,2641,0.00,2.45,0.00,0.000,260,0.000,0.047,2220,3828,3507,3382,3632,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2687,-0.48,-160.6,2220,3828,3382,3632,447.5,-9.6,145,2693,0.00,2.25,0.00,0.000,1030,0.000,0.026,2220,2461,3507,3382,3632,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3009,-0.48,-160.6,2220,2461,3382,3628,480.9,-10.4,161,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2461,3505,3382,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3307,-0.48,-160.6,2220,2461,3382,3624,513.0,-11.0,176,3313,0.00,2.42,0.00,0.000,260,0.000,0.047,2218,3829,3503,3382,3624,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3401,-0.48,-160.6,2218,3829,3382,3622,522.5,-10.7,180,3408,0.00,2.25,0.00,0.000,1030,0.000,0.027,2218,2460,3501,3382,3621,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3724,-0.48,-160.6,2218,2459,3383,3617,552.7,-8.6,196,3730,0.00,2.42,0.00,0.000,260,0.000,0.047,2207,3836,3502,3388,3616,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3817,-0.48,-160.6,1316,3835,3369,3613,560.4,-8.6,200,3822,0.00,2.25,0.00,0.000,1030,0.000,0.025,2207,2460,3498,3382,3615,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4139,-0.48,-160.6,2207,2460,3382,3611,587.4,-8.5,216,4145,0.00,2.45,0.00,0.000,260,0.000,0.048,2203,3840,3496,3382,3611,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4202,-0.48,-160.6,2203,3840,3382,3610,591.7,-8.8,218,4211,0.00,2.28,0.00,0.000,1030,0.000,0.025,2203,2454,3496,3382,3610,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4529,-0.48,-160.6,2203,2455,3382,3604,624.3,-9.7,231,4535,0.00,2.42,0.00,0.000,260,0.000,0.051,2197,3818,3493,3382,3604,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4600,-0.48,-160.6,2194,3818,3381,3603,631.2,-9.9,233,4606,0.00,2.22,0.00,0.000,1030,0.000,0.026,2197,2461,3493,3383,3603,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4931,-0.48,-160.6,2197,2461,3381,3599,663.7,-9.7,244,4937,0.00,2.42,0.00,0.000,260,0.000,0.050,2194,3836,3490,3382,3599,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5012,-0.48,-160.6,2193,3836,3382,3598,670.3,-9.7,246,5019,0.00,2.25,0.00,0.000,1030,0.000,0.026,2194,2460,3489,3381,3598,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5334,-0.48,-160.6,2193,2461,3381,3594,703.9,-10.1,257,5340,0.00,2.42,0.00,0.000,260,0.000,0.049,2187,3837,3487,3381,3593,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5411,-0.48,-160.6,2187,3837,3378,3592,710.9,-10.3,259,5418,0.12,2.25,0.00,0.000,3078,0.129,0.026,2226,2462,3486,3381,3592,0,0,0,0,0,0,26.49,26.67,28.83
$GC,5739,-0.48,-160.6,2226,2461,3381,3595,735.9,-7.0,270,5745,0.00,2.42,0.00,0.000,260,0.000,0.050,2223,3834,3485,3381,3589,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5787,-0.48,-160.6,2223,3834,3381,3588,738.4,-7.0,271,5792,0.00,2.28,0.00,0.000,1030,0.000,0.026,2223,2454,3485,3381,3589,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6112,-0.48,-160.6,2223,2454,3381,3584,760.3,-6.5,282,6118,0.00,2.45,0.00,0.000,260,0.000,0.051,2220,3836,3482,3381,3584,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6230,-0.48,-160.6,2220,3836,3380,3584,767.2,-6.9,285,6236,0.00,2.28,0.00,0.000,1030,0.000,0.027,2220,2456,3481,3379,3584,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6549,-0.48,-160.6,2220,2456,3379,3581,788.0,-6.0,296,6555,0.00,2.45,0.00,0.000,260,0.000,0.052,2218,3831,3480,3379,3581,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6661,-0.48,-160.6,2217,3830,3377,3581,794.3,-6.1,299,6667,0.00,2.28,0.00,0.000,1030,0.000,0.028,2218,2460,3479,3377,3582,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6982,-0.48,-160.6,2217,2462,3377,3579,815.5,-6.7,310,6987,0.00,2.42,0.00,0.000,260,0.000,0.049,2207,3838,3478,3377,3579,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7011,-0.48,-160.6,2206,3838,3376,3579,815.5,-6.7,310,7020,0.00,2.28,0.00,0.000,1030,0.000,0.027,2207,2459,3477,3376,3578,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7320,-0.48,-160.6,2207,2459,3376,3577,842.5,-8.1,321,7326,0.00,2.42,0.00,0.000,260,0.000,0.052,2206,3818,3476,3376,3577,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7427,-0.48,-160.6,2206,3818,3375,3577,851.2,-8.6,324,7433,0.00,2.25,0.00,0.000,1030,0.000,0.026,2203,2457,3476,3375,3578,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7753,-0.48,-160.6,2206,2457,3375,3574,879.4,-8.4,335,7759,0.00,2.42,0.00,0.000,260,0.000,0.051,2203,3819,3475,3376,3574,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7830,-0.48,-160.6,2203,3818,3373,3574,885.4,-8.7,337,7836,0.00,2.25,0.00,0.000,1030,0.000,0.027,2203,2459,3471,3369,3574,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8156,-0.48,-160.6,2203,2459,3373,3572,914.7,-8.8,348,8161,0.00,2.42,0.00,0.000,260,0.000,0.049,2195,3833,3472,3373,3572,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8247,-0.48,-160.6,2194,3836,3372,3572,921.2,-9.4,350,8255,0.00,2.28,0.00,0.000,1030,0.000,0.026,2195,2458,3472,3372,3572,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8556,-0.48,-160.6,2194,2458,3372,3571,950.8,-9.2,361,8562,0.00,2.42,0.00,0.000,260,0.000,0.052,2188,3818,3471,3372,3571,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8632,-0.48,-160.6,2188,3822,3371,3571,957.6,-9.7,363,8639,0.12,2.25,0.00,0.000,3078,0.125,0.026,2228,2459,3471,3371,3571,0,0,0,0,0,0,26.46,26.64,28.83
$GC,8959,-0.48,-160.6,2228,2459,3371,3568,980.8,-6.4,374,8965,0.00,2.42,0.00,0.000,260,0.000,0.050,2222,3826,3469,3371,3568,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9050,-0.48,-160.6,2220,3826,3370,3568,985.1,-6.3,376,9058,0.00,2.28,0.00,0.000,1030,0.000,0.028,2220,2460,3469,3370,3568,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9114,begin apogee
$GC,9121,-0.12,0.0,2220,2609,3370,3568,990.6,-6.2,379,9267,0.30,0.00,141.30,0.988,10246,0.098,0.000,2332,2608,2850,2857,2843,0,0,0,0,0,0,26.44,28.83,24.37
$STATE,9269,end apogee,CONTROL_FINISHED_OK
$STATE,9269,begin climb
$GC,9273,0.48,160.6,2332,2609,2850,2828,994.1,0.0,383,9432,0.55,0.00,156.25,0.979,10246,0.050,0.000,2546,2608,2196,2318,2075,0,0,0,0,0,0,25.13,28.83,24.15
$GC,9718,0.48,160.6,2546,2609,2288,2049,951.7,11.9,399,9723,0.00,2.03,0.00,0.000,260,0.000,0.043,2544,3846,2166,2288,2045,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9759,0.48,160.6,2543,3846,2286,2048,946.2,12.6,400,9764,0.00,1.98,0.00,0.000,1030,0.000,0.016,2554,2562,2167,2287,2048,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10089,0.48,160.6,2554,2561,2283,2049,907.7,10.9,411,10095,0.00,2.17,0.00,0.000,260,0.000,0.042,2553,3835,2165,2283,2048,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10171,0.48,160.6,2553,3835,2282,2048,900.2,11.1,413,10177,0.00,1.95,0.00,0.000,1030,0.000,0.016,2564,2562,2165,2282,2048,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10492,0.48,160.6,2564,2562,2280,2048,863.0,10.6,424,10498,0.10,2.15,0.00,0.000,4356,0.167,0.039,2527,3839,2164,2280,2048,0,0,0,0,0,0,26.25,26.31,28.83
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$STATE,19564,end climb,SURFACE_DEPTH_REACHED
$STATE,19564,begin surface coast
$FINISH,-0.7,1.022829
$STATE,19598,end surface coast,CONTROL_FINISHED_OK
$STATE,19598,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,44.68
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$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3947584
$24V_AH,24.2,19.234
$10V_AH,10.1,15.333
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.700,187.000,419.575,61.000,0.000,0.000,0.000,461.600,0.000,0.000,28.550,3780.991,12371.465,763.437,2724.050,783.864,0.000,2387.871,0.000,2084.959,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.361,0.000,0.000,0.000
$MEM,329132
$DATA_FILE_SIZE,33319,863
$CAP_FILE_SIZE,470684,0
$CFSIZE,260034560,232001536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.098, 69.1,1
$GPS,150413,172906,2008.132,12420.446,31,1.2,31,-2.5