version: 66.11
glider: 169
mission: 8
dive: 196
start: 4 26 113 14 35 30
data:
$ID,169
$MISSION,8
$DIVE,196
$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,-21465.816
$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
$GPS1,260413,142305,1823.087,12434.242,27,1.0,27,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-69.9
$GPS2,260413,143500,1823.193,12434.146,13,1.1,13,-2.1
$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,163.3,61491,-3.2,-8.250,-19.13,2990
$D_GRID,5398
$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,21,begin dive
$GC,24,-0.48,-160.6,122,2529,1255,951,0.0,0.0,0,101,0.00,0.00,-74.72,0.000,16386,0.000,0.000,122,2529,3035,2961,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.48,-160.6,122,2531,2961,3111,3.8,-7.9,10,131,8.25,2.55,-7.93,0.000,18948,0.226,0.048,2219,1090,3510,3386,3635,0,0,0,0,0,0,25.71,26.15,26.51
$GC,208,-0.48,-160.6,2219,1089,3387,3635,44.7,-25.7,21,216,0.00,2.55,0.00,0.000,1030,0.000,0.038,2208,2554,3511,3387,3635,0,0,0,0,0,0,28.83,26.22,28.83
$GC,515,-0.48,-160.6,2207,2552,3387,3635,141.7,-29.4,38,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2551,3511,3387,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,815,-0.48,-160.6,2207,2551,3388,3635,212.2,-21.0,53,821,0.00,2.47,0.00,0.000,516,0.000,0.031,2208,1076,3511,3388,3634,0,0,0,0,0,0,28.83,26.48,28.83
$GC,886,-0.48,-160.6,2207,1075,3390,3635,223.9,-17.8,56,893,0.00,2.53,0.00,0.000,1030,0.000,0.036,2206,2557,3511,3388,3635,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1209,-0.48,-160.6,2206,2554,3389,3635,278.5,-16.3,72,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2554,3511,3389,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1508,-0.48,-160.6,2206,2554,3388,3634,325.4,-14.9,87,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2554,3511,3388,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1807,-0.48,-160.6,2206,2553,3388,3634,367.1,-12.8,102,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2553,3511,3388,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2107,-0.48,-160.6,2206,2553,3388,3631,406.4,-13.5,117,2113,0.00,2.17,0.00,0.000,260,0.000,0.048,2197,3827,3509,3388,3631,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2164,-0.48,-160.6,2196,3827,3388,3630,412.5,-13.1,119,2170,0.00,2.10,0.00,0.000,1030,0.000,0.027,2196,2529,3509,3388,3630,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2480,-0.48,-160.6,2196,2528,3387,3626,455.1,-12.5,135,2485,0.00,2.40,0.00,0.000,516,0.000,0.032,2197,1085,3507,3389,3626,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2521,-0.48,-160.6,2196,1085,3388,3626,458.4,-12.5,136,2529,0.00,2.50,0.00,0.000,1030,0.000,0.037,2194,2555,3506,3388,3625,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2826,-0.48,-160.6,2193,2553,3394,3620,497.6,-12.5,152,2832,0.10,2.17,0.00,0.000,2308,0.156,0.044,2215,3827,3503,3388,3619,0,0,0,0,0,0,26.55,26.53,28.83
$GC,2863,-0.48,-160.6,2215,3827,3388,3619,500.9,-12.4,153,2869,0.00,2.15,0.00,0.000,1030,0.000,0.026,2216,2520,3503,3388,3619,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3179,-0.48,-160.6,2215,2520,3388,3613,536.2,-10.6,169,3185,0.00,2.33,0.00,0.000,260,0.000,0.049,2210,3832,3500,3388,3613,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3231,-0.48,-160.6,2210,3832,3388,3612,541.2,-10.4,171,3236,0.00,2.15,0.00,0.000,1030,0.000,0.025,2210,2522,3500,3388,3612,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3553,-0.48,-160.6,2210,2525,3387,3605,574.7,-10.1,187,3559,0.00,2.30,0.00,0.000,260,0.000,0.047,2206,3821,3496,3388,3605,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3578,-0.48,-160.6,2206,3824,3388,3605,577.6,-10.3,188,3584,0.00,2.15,0.00,0.000,1030,0.000,0.025,2206,2517,3496,3388,3605,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3894,-0.48,-160.6,2206,2517,3388,3600,609.5,-9.8,202,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2517,3492,3386,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4194,-0.48,-160.6,2206,2516,3387,3591,637.0,-9.0,212,4200,0.00,2.35,0.00,0.000,260,0.000,0.053,2207,3833,3490,3387,3593,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4293,-0.48,-160.6,2206,3833,3386,3592,646.0,-9.2,215,4300,0.00,2.17,0.00,0.000,1030,0.000,0.027,2206,2518,3489,3386,3593,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4629,-0.48,-160.6,2206,2519,3386,3590,679.0,-9.8,226,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2519,3487,3386,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4929,-0.48,-160.6,2206,2518,3384,3584,706.2,-8.8,236,4935,0.00,2.35,0.00,0.000,260,0.000,0.051,2206,3836,3483,3383,3584,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5005,-0.48,-160.6,2206,3837,3381,3584,711.9,-8.6,238,5011,0.00,2.17,0.00,0.000,1030,0.000,0.027,2206,2521,3482,3381,3584,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5331,-0.48,-160.6,2206,2521,3381,3579,741.5,-9.0,249,5336,0.00,2.30,0.00,0.000,260,0.000,0.047,2195,3826,3480,3381,3579,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5359,-0.48,-160.6,2195,3826,3380,3579,741.5,-9.0,249,5367,0.00,2.15,0.00,0.000,1030,0.000,0.027,2195,2524,3479,3380,3579,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5667,-0.48,-160.6,2195,2525,3379,3577,774.6,-9.8,260,5673,0.00,2.30,0.00,0.000,260,0.000,0.050,2194,3822,3478,3379,3577,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5718,-0.48,-160.6,2194,3822,3379,3577,778.4,-9.9,261,5724,0.00,2.15,0.00,0.000,1030,0.000,0.027,2194,2522,3478,3379,3577,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6038,-0.48,-160.6,2193,2522,3378,3572,809.8,-9.4,272,6045,0.10,2.33,0.00,0.000,2308,0.138,0.047,2218,3840,3475,3379,3572,0,0,0,0,0,0,26.58,26.45,28.83
$GC,6069,-0.48,-160.6,2218,3840,3378,3572,809.8,-9.4,272,6078,0.00,2.20,0.00,0.000,1030,0.000,0.027,2219,2516,3477,3377,3578,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6379,-0.48,-160.6,2218,2517,3376,3570,836.5,-7.5,283,6386,0.00,2.33,0.00,0.000,260,0.000,0.051,2207,3829,3471,3376,3566,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6430,-0.48,-160.6,2203,3829,3376,3570,839.8,-7.6,284,6436,0.00,2.17,0.00,0.000,1030,0.000,0.029,2207,2523,3473,3376,3570,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6750,-0.48,-160.6,2207,2523,3375,3566,868.4,-8.4,295,6756,0.00,2.33,0.00,0.000,260,0.000,0.050,2207,3832,3470,3375,3566,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6797,-0.48,-160.6,2206,3832,3374,3566,871.4,-8.4,296,6803,0.00,2.17,0.00,0.000,1030,0.000,0.028,2206,2521,3470,3374,3566,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7123,-0.48,-160.6,2206,2521,3373,3562,898.1,-7.7,307,7130,0.00,2.33,0.00,0.000,260,0.000,0.050,2206,3833,3468,3374,3562,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7171,-0.48,-160.6,2207,3833,3372,3562,901.0,-7.7,308,7178,0.00,2.17,0.00,0.000,1030,0.000,0.028,2206,2520,3467,3372,3562,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7497,-0.48,-160.6,2206,2521,3372,3561,927.8,-7.8,319,7503,0.00,2.33,0.00,0.000,260,0.000,0.049,2195,3835,3466,3372,3560,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7539,-0.48,-160.6,2195,3838,3371,3560,930.2,-7.5,320,7545,0.00,2.17,0.00,0.000,1030,0.000,0.028,2195,2519,3465,3371,3560,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7869,-0.48,-160.6,2195,2523,3370,3557,959.2,-8.8,331,7876,0.00,2.33,0.00,0.000,260,0.000,0.050,2184,3838,3463,3370,3557,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7906,-0.48,-160.6,2183,3838,3369,3556,962.6,-9.0,332,7912,0.12,2.20,0.00,0.000,3078,0.124,0.028,2223,2521,3462,3369,3556,0,0,0,0,0,0,26.36,26.58,28.83
$GC,8243,-0.48,-160.6,2223,2521,3368,3554,988.5,-7.8,343,8249,0.00,2.33,0.00,0.000,260,0.000,0.050,2220,3832,3461,3369,3554,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,8276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8276,begin apogee
$GC,8286,-0.12,0.0,2220,2626,3368,3554,992.1,-8.3,344,8432,0.32,0.08,138.10,1.053,10246,0.090,0.059,2341,2667,2845,2858,2833,0,0,0,0,0,0,26.34,24.94,24.32
$STATE,8434,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8437,0.48,160.6,2340,2667,2854,2823,999.0,0.0,348,8599,0.50,2.95,151.62,0.996,10756,0.037,0.025,2569,1181,2185,2309,2061,0,0,0,0,0,0,25.20,24.80,24.10
$GC,8642,0.48,160.6,2568,1180,2294,2049,990.2,8.3,356,8648,0.00,2.80,0.00,0.000,1030,0.000,0.028,2556,2660,2171,2294,2048,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8978,0.48,160.6,2556,2657,2286,2045,954.9,10.6,367,8983,0.00,1.92,0.00,0.000,260,0.000,0.043,2547,3848,2165,2286,2045,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9054,0.48,160.6,2547,3848,2283,2045,946.8,11.3,369,9060,0.00,1.90,0.00,0.000,1030,0.000,0.016,2557,2604,2164,2284,2045,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9380,0.48,160.6,2557,2604,2280,2045,910.8,11.0,380,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2604,2162,2280,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9679,0.48,160.6,2557,2604,2279,2045,878.9,10.5,390,9685,0.00,2.12,0.00,0.000,260,0.000,0.042,2547,3850,2162,2279,2045,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9755,0.48,160.6,2547,3850,2278,2045,871.1,11.0,392,9761,0.00,1.88,0.00,0.000,1030,0.000,0.015,2557,2604,2161,2278,2045,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10080,0.48,160.6,2557,2604,2276,2045,836.2,10.3,403,10086,0.00,2.10,0.00,0.000,260,0.000,0.041,2547,3834,2160,2275,2045,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10129,0.48,160.6,2547,3834,2275,2045,832.2,10.6,404,10135,0.00,1.85,0.00,0.000,1030,0.000,0.016,2557,2604,2160,2275,2045,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10454,0.48,160.6,2557,2604,2274,2044,797.7,10.1,415,10460,0.00,2.10,0.00,0.000,260,0.000,0.043,2550,3834,2159,2274,2044,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,18850,end climb,SURFACE_DEPTH_REACHED
$STATE,18850,begin surface coast
$FINISH,-0.4,1.021704
$STATE,18880,end surface coast,CONTROL_FINISHED_OK
$STATE,18880,begin surface
$SM_CCo,18897,33.88,0.122,0,0,1097,430.01
$SM_GC,0.57,6.35,0.38,33.88,0.023,0.033,0.122,134,2500,1097,-6.95,0.34,430.01,0,0,0,0,0,0,26.41,26.52,26.12
$IRIDIUM_FIX,1816.86,12431.80,260413,080825
$TT8_MAMPS,0.020972,0.020972
$HUMID,44.72
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3922048
$24V_AH,24.1,25.704
$10V_AH,10.3,20.871
$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,16.350,180.075,514.675,33.875,0.000,0.000,0.000,417.975,0.000,0.000,14.014,3448.262,12150.330,752.094,2501.386,760.054,0.000,2314.290,0.000,1933.535,0.000,0.545,0.000
$DEVICE_MAMPS,225.675,99.450,1053.405,121.635,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18958.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.594,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,30057,829
$CAP_FILE_SIZE,442119,0
$CFSIZE,260034560,223498240
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,167.2,1
$GPS,260413,195206,1821.280,12434.889,29,1.1,29,-2.1