version: 66.11
glider: 169
mission: 8
dive: 189
start: 4 25 113 0 46 49
data:
$ID,169
$MISSION,8
$DIVE,189
$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,-21456.908
$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,2550
$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,200
$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
$GPS1,250413,003406,1836.573,12434.824,27,1.0,27,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-72.4
$GPS2,250413,004619,1836.753,12434.863,11,1.3,11,-2.2
$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,183.3,86587,-3.2,-8.250,-19.13,2990
$D_GRID,5841
$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,24,-0.48,-160.6,122,2562,1262,945,0.0,0.0,0,104,0.00,0.00,-77.82,0.000,16386,0.000,0.000,122,2562,3143,3056,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.48,-160.6,121,2562,3056,3231,4.5,-10.7,10,133,8.07,2.62,-6.03,0.000,18948,0.220,0.051,2219,1086,3510,3383,3638,0,0,0,0,0,0,25.72,26.14,26.48
$GC,178,-0.48,-160.6,2219,1086,3386,3638,37.8,-41.7,17,186,0.00,2.55,0.00,0.000,1030,0.000,0.038,2208,2553,3512,3386,3638,0,0,0,0,0,0,28.83,26.19,28.83
$GC,487,-0.48,-160.6,2205,2551,3386,3638,136.0,-32.0,35,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2551,3511,3386,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-0.48,-160.6,2208,2551,3387,3637,209.6,-21.6,50,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2551,3512,3387,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-0.48,-160.6,2208,2550,3387,3638,268.6,-17.3,65,1092,0.00,2.47,0.00,0.000,516,0.000,0.029,2208,1085,3512,3387,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1137,-0.48,-160.6,2208,1084,3387,3637,276.7,-17.5,67,1143,0.00,2.50,0.00,0.000,1030,0.000,0.035,2207,2554,3512,3387,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1464,-0.48,-160.6,2206,2551,3387,3637,328.9,-15.7,83,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2551,3512,3388,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1762,-0.48,-160.6,2206,2551,3387,3637,374.5,-15.8,98,1768,0.00,2.20,0.00,0.000,260,0.000,0.046,2210,3830,3512,3387,3637,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1819,-0.48,-160.6,2206,3830,3387,3637,381.4,-15.4,100,1825,0.00,2.12,0.00,0.000,1030,0.000,0.025,2206,2529,3512,3387,3637,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2135,-0.48,-160.6,2206,2528,3387,3633,423.6,-12.8,116,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2528,3510,3387,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,-0.48,-160.6,2206,2528,3387,3629,459.4,-11.3,131,2440,0.00,2.40,0.00,0.000,516,0.000,0.034,2206,1088,3508,3387,3629,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2464,-0.48,-160.6,2206,1088,3386,3629,462.4,-11.4,132,2470,0.00,2.47,0.00,0.000,1030,0.000,0.033,2197,2557,3506,3384,3629,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2786,-0.48,-160.6,2197,2554,3387,3624,500.0,-11.5,148,2793,0.00,2.20,0.00,0.000,260,0.000,0.047,2194,3843,3505,3387,3623,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2829,-0.48,-160.6,2193,3843,3387,3622,503.2,-11.6,149,2837,0.00,2.17,0.00,0.000,1030,0.000,0.024,2193,2516,3504,3387,3622,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3133,-0.48,-160.6,2193,2516,3387,3615,539.4,-11.6,165,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2516,3501,3387,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3433,-0.48,-160.6,2194,2516,3387,3611,573.6,-11.2,180,3440,0.10,2.35,0.00,0.000,2308,0.143,0.049,2220,3823,3499,3387,3611,0,0,0,0,0,0,26.59,26.52,28.83
$GC,3510,-0.48,-160.6,2219,3823,3387,3610,580.2,-10.1,183,3517,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2521,3498,3387,3610,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3837,-0.48,-160.6,2220,2521,3387,3603,608.9,-8.3,198,3843,0.00,2.33,0.00,0.000,260,0.000,0.046,2215,3842,3495,3387,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3908,-0.48,-160.6,2215,3842,3386,3602,614.7,-8.3,200,3914,0.00,2.17,0.00,0.000,1030,0.000,0.025,2215,2513,3494,3386,3602,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4238,-0.48,-160.6,2215,2513,3387,3596,644.7,-9.1,211,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2513,3491,3386,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4539,-0.48,-160.6,2215,2513,3387,3590,671.2,-8.5,221,4545,0.00,2.35,0.00,0.000,260,0.000,0.051,2209,3828,3488,3386,3590,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4567,-0.48,-160.6,2209,3827,3393,3590,671.2,-8.5,221,4575,0.00,2.17,0.00,0.000,1030,0.000,0.028,2213,2519,3488,3386,3590,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4876,-0.48,-160.6,2208,2519,3383,3587,698.1,-7.7,232,4882,0.00,2.30,0.00,0.000,260,0.000,0.048,2207,3819,3484,3383,3586,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4926,-0.48,-160.6,2206,3819,3381,3587,701.0,-7.7,233,4932,0.00,2.15,0.00,0.000,1030,0.000,0.026,2207,2516,3484,3382,3587,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5247,-0.48,-160.6,2207,2516,3380,3582,727.2,-7.8,244,5254,0.00,2.33,0.00,0.000,260,0.000,0.051,2207,3824,3481,3381,3582,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5278,-0.48,-160.6,2206,3824,3380,3582,727.2,-7.8,244,5286,0.00,2.15,0.00,0.000,1030,0.000,0.028,2206,2527,3481,3380,3582,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5587,-0.48,-160.6,2206,2528,3380,3579,755.3,-8.7,255,5594,0.00,2.30,0.00,0.000,260,0.000,0.052,2206,3821,3479,3380,3579,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5618,-0.48,-160.6,2206,3824,3379,3579,755.3,-8.7,255,5626,0.00,2.15,0.00,0.000,1030,0.000,0.028,2206,2526,3479,3379,3579,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5927,-0.48,-160.6,2206,2527,3378,3575,787.5,-9.9,266,5934,0.00,2.30,0.00,0.000,260,0.000,0.050,2195,3830,3476,3378,3575,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5963,-0.48,-160.6,1328,3830,3364,3573,791.4,-9.9,267,5969,0.00,2.17,0.00,0.000,1030,0.000,0.028,2196,2524,3476,3377,3575,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6299,-0.48,-160.6,2195,2523,3376,3572,828.1,-10.8,278,6305,0.00,2.33,0.00,0.000,260,0.000,0.050,2194,3835,3474,3376,3572,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6348,-0.48,-160.6,2193,3834,3382,3572,832.1,-10.9,279,6354,0.00,2.17,0.00,0.000,1030,0.000,0.026,2194,2518,3473,3375,3572,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6668,-0.48,-160.6,2193,2518,3375,3569,867.9,-10.7,290,6675,0.00,2.33,0.00,0.000,260,0.000,0.050,2182,3827,3472,3375,3569,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6726,-0.48,-160.6,2182,3827,3373,3569,871.7,-10.7,291,6732,0.12,2.17,0.00,0.000,3078,0.123,0.028,2222,2523,3471,3373,3569,0,0,0,0,0,0,26.41,26.60,28.83
$GC,7042,-0.48,-160.6,2222,2522,3373,3566,900.4,-7.8,302,7048,0.00,2.33,0.00,0.000,260,0.000,0.049,2218,3840,3469,3373,3566,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7083,-0.48,-160.6,2218,3840,3372,3565,902.6,-7.4,303,7089,0.00,2.17,0.00,0.000,1030,0.000,0.027,2218,2520,3468,3372,3565,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7414,-0.48,-160.6,2218,2520,3372,3562,928.2,-7.5,314,7421,0.00,2.30,0.00,0.000,260,0.000,0.047,2207,3829,3466,3371,3562,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7491,-0.48,-160.6,2207,3829,3370,3562,934.4,-8.2,316,7497,0.00,2.17,0.00,0.000,1030,0.000,0.028,2207,2520,3466,3370,3562,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7816,-0.48,-160.6,2207,2520,3370,3560,958.8,-7.3,327,7823,0.00,2.33,0.00,0.000,260,0.000,0.050,2206,3835,3465,3370,3561,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7874,-0.48,-160.6,2206,3835,3368,3560,962.2,-7.7,328,7880,0.00,2.17,0.00,0.000,1030,0.000,0.027,2206,2520,3464,3368,3560,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8192,-0.48,-160.6,2205,2520,3368,3557,984.3,-6.6,339,8198,0.00,2.33,0.00,0.000,260,0.000,0.048,2195,3841,3462,3367,3557,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8262,-0.48,-160.6,2194,3842,3367,3556,989.2,-6.8,341,8268,0.00,2.17,0.00,0.000,1030,0.000,0.027,2194,2523,3461,3367,3556,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,8290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8290,begin apogee
$GC,8296,-0.12,0.0,2193,2669,3367,3556,992.4,-7.5,342,8441,0.40,0.08,139.93,1.023,10246,0.097,0.093,2337,2627,2850,2860,2841,0,0,0,0,0,0,26.31,24.97,24.33
$STATE,8443,end apogee,CONTROL_FINISHED_OK
$STATE,8444,begin climb
$GC,8447,0.48,160.6,2337,2627,2854,2822,995.2,0.0,346,8609,0.52,2.20,153.27,0.992,10500,0.052,0.042,2532,3837,2188,2313,2064,0,0,0,0,0,0,25.14,24.78,24.11
$GC,8673,0.50,167.4,2532,3837,2298,2051,983.5,8.0,352,8681,0.00,1.92,0.00,0.000,1030,0.000,0.017,2540,2607,2174,2297,2051,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8979,0.50,167.4,2542,2607,2290,2049,948.4,10.1,363,8985,0.00,2.05,0.00,0.000,260,0.000,0.041,2529,3836,2169,2290,2048,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9034,0.50,167.4,2531,3836,2289,2048,943.9,10.5,364,9040,0.00,1.88,0.00,0.000,1030,0.000,0.017,2543,2596,2168,2289,2048,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9353,0.50,167.4,2541,2596,2285,2048,912.1,9.2,375,9359,0.00,2.08,0.00,0.000,260,0.000,0.041,2532,3837,2167,2286,2048,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9409,0.50,167.4,2532,3837,2284,2048,908.2,9.4,376,9414,0.00,1.85,0.00,0.000,1030,0.000,0.017,2542,2601,2165,2284,2047,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9726,0.50,167.4,2542,2602,2282,2048,877.0,9.2,387,9732,0.00,2.05,0.00,0.000,260,0.000,0.042,2533,3835,2165,2282,2048,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9777,0.50,167.4,2532,3835,2281,2048,873.3,9.4,388,9782,0.00,1.85,0.00,0.000,1030,0.000,0.018,2543,2602,2165,2282,2048,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10096,0.50,167.4,2543,2603,2280,2048,843.9,8.8,399,10102,0.00,2.05,0.00,0.000,260,0.000,0.042,2533,3841,2163,2279,2048,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,18973,end climb,SURFACE_DEPTH_REACHED
$STATE,18973,begin surface coast
$FINISH,-0.5,1.019916
$STATE,19009,end surface coast,CONTROL_FINISHED_OK
$STATE,19009,begin surface
$SM_CCo,19029,51.92,0.120,0,0,1097,430.01
$SM_GC,0.25,6.38,2.22,51.92,0.033,0.019,0.120,144,2537,1097,-6.93,0.34,430.01,0,0,0,0,0,0,26.51,26.62,26.22
$IRIDIUM_FIX,1832.77,12445.74,240413,191914
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.89
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3925632
$24V_AH,24.1,24.802
$10V_AH,10.3,20.143
$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,16.225,172.975,439.100,51.925,0.000,0.000,0.000,442.125,0.000,0.000,12.530,3446.249,12378.272,731.080,2451.120,771.953,0.000,2255.350,0.000,1866.642,0.000,0.544,0.000
$DEVICE_MAMPS,219.555,93.330,1022.805,120.105,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.622,0.000,0.000,0.000
$MEM,329144
$DATA_FILE_SIZE,30037,838
$CAP_FILE_SIZE,439693,0
$CFSIZE,260034560,224673792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,176.9,1
$GPS,250413,060605,1834.241,12434.887,40,0.9,40,-2.2