version: 66.11
glider: 169
mission: 8
dive: 208
start: 4 29 113 6 24 3
data:
$ID,169
$MISSION,8
$DIVE,208
$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,-21481.1
$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
$GPS1,290413,061106,1800.189,12435.104,29,1.3,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-72.1
$GPS2,290413,062335,1800.267,12435.146,44,1.0,44,-2.0
$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,177.5,19015,-3.2,-8.250,-19.13,2990
$D_GRID,4476
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.48,-160.6,121,2569,1260,947,0.0,0.0,0,100,0.00,0.00,-74.10,0.000,16386,0.000,0.000,121,2570,3059,2981,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.48,-160.6,121,2570,2981,3138,4.5,-10.5,10,130,8.45,2.72,-7.20,0.000,18948,0.233,0.048,2219,1075,3510,3385,3636,0,0,0,0,0,0,25.71,26.19,26.53
$GC,205,-0.48,-160.6,2219,1074,3387,3637,48.2,-28.6,20,213,0.00,2.60,0.00,0.000,1030,0.000,0.038,2207,2558,3512,3388,3637,0,0,0,0,0,0,28.83,26.23,28.83
$GC,512,-0.48,-160.6,2207,2556,3387,3636,145.9,-25.3,36,518,0.00,2.53,0.00,0.000,516,0.000,0.031,2207,1083,3512,3387,3637,0,0,0,0,0,0,28.83,26.41,28.83
$GC,573,-0.48,-160.6,1344,1082,3376,3635,155.8,-23.1,38,581,0.00,2.58,0.00,0.000,1030,0.000,0.037,2206,2558,3511,3387,3636,0,0,0,0,0,0,28.83,26.41,28.83
$GC,881,-0.48,-160.6,2206,2556,3388,3636,223.0,-20.3,54,887,0.00,2.53,0.00,0.000,516,0.000,0.031,2206,1083,3512,3388,3637,0,0,0,0,0,0,28.83,26.50,28.83
$GC,947,-0.48,-160.6,1312,1082,3376,3635,235.1,-18.6,57,953,0.00,2.55,0.00,0.000,1030,0.000,0.037,2206,2556,3512,3388,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1275,-0.48,-160.6,2206,2553,3388,3636,292.5,-17.4,73,1281,0.00,2.12,0.00,0.000,260,0.000,0.047,2198,3831,3512,3388,3636,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1338,-0.48,-160.6,2197,3830,3388,3637,300.4,-16.7,75,1347,0.00,2.08,0.00,0.000,1030,0.000,0.024,2198,2527,3512,3388,3636,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1644,-0.48,-160.6,2197,2527,3388,3635,351.7,-15.9,91,1650,0.00,2.42,0.00,0.000,516,0.000,0.032,2198,1078,3511,3388,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1721,-0.48,-160.6,2197,1078,3388,3635,361.3,-14.4,94,1727,0.00,2.53,0.00,0.000,1030,0.000,0.037,2194,2558,3511,3388,3634,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2037,-0.48,-160.6,2194,2554,3384,3631,404.4,-12.7,110,2043,0.00,2.50,0.00,0.000,516,0.000,0.031,2199,1075,3509,3387,3631,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2087,-0.48,-160.6,2194,1074,3388,3630,410.4,-13.1,112,2094,0.00,2.53,0.00,0.000,1030,0.000,0.034,2194,2559,3508,3387,3629,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2411,-0.48,-160.6,2193,2557,3388,3625,452.4,-13.4,128,2417,0.00,2.15,0.00,0.000,260,0.000,0.047,2192,3844,3507,3389,3625,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2509,-0.48,-160.6,2192,3842,3388,3623,463.7,-12.7,132,2517,0.10,2.12,0.00,0.000,3078,0.142,0.024,2221,2522,3505,3388,3623,0,0,0,0,0,0,26.46,26.66,28.83
$GC,2829,-0.48,-160.6,2222,2521,3387,3616,497.8,-10.1,148,2835,0.00,2.40,0.00,0.000,516,0.000,0.034,2222,1089,3501,3387,3616,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2855,-0.48,-160.6,2222,1089,3388,3616,500.7,-10.2,149,2861,0.00,2.50,0.00,0.000,1030,0.000,0.033,2220,2561,3501,3387,3615,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3182,-0.48,-160.6,2220,2557,3387,3610,532.3,-9.7,165,3189,0.00,2.15,0.00,0.000,260,0.000,0.049,2213,3831,3499,3388,3610,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3231,-0.48,-160.6,2213,3831,3388,3609,537.2,-9.9,167,3238,0.00,2.15,0.00,0.000,1030,0.000,0.026,2213,2520,3498,3387,3609,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3559,-0.48,-160.6,2213,2520,3387,3603,569.5,-9.7,183,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2519,3497,3387,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3858,-0.48,-160.6,2213,2519,3387,3596,598.9,-9.8,198,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2520,3491,3387,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.48,-160.6,2213,2519,3387,3590,628.1,-8.9,209,4186,0.00,2.35,0.00,0.000,260,0.000,0.048,2207,3826,3488,3387,3590,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4262,-0.48,-160.6,2206,3826,3386,3590,634.6,-9.2,211,4268,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2527,3487,3386,3589,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4583,-0.48,-160.6,2207,2527,3384,3586,667.7,-10.4,222,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2527,3485,3384,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4883,-0.48,-160.6,2207,2527,3382,3581,698.1,-10.1,232,4889,0.00,2.30,0.00,0.000,260,0.000,0.049,2206,3829,3481,3382,3581,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4907,-0.48,-160.6,2207,3829,3381,3580,698.1,-10.1,232,4913,0.00,2.15,0.00,0.000,1030,0.000,0.027,2206,2524,3481,3381,3581,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5225,-0.48,-160.6,2206,2523,3380,3578,729.9,-8.9,243,5231,0.00,2.33,0.00,0.000,260,0.000,0.052,2197,3841,3479,3380,3578,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5286,-0.48,-160.6,2198,3840,3379,3578,733.5,-9.0,244,5294,0.00,2.15,0.00,0.000,1030,0.000,0.026,2198,2524,3478,3379,3578,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5596,-0.48,-160.6,2198,2524,3378,3573,765.0,-9.7,255,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2523,3476,3379,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5893,-0.48,-160.6,2198,2524,3377,3570,793.7,-9.4,265,5898,0.00,2.30,0.00,0.000,260,0.000,0.051,2188,3824,3473,3377,3570,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5953,-0.48,-160.6,2188,3824,3376,3570,797.2,-9.5,266,5962,0.12,2.15,0.00,0.000,3078,0.126,0.028,2227,2526,3475,3376,3575,0,0,0,0,0,0,26.38,26.60,28.83
$GC,6263,-0.48,-160.6,2227,2526,3376,3566,822.6,-7.2,277,6269,0.00,2.30,0.00,0.000,260,0.000,0.051,2220,3832,3470,3375,3566,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6300,-0.48,-160.6,2220,3832,3374,3566,825.5,-7.2,278,6306,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2525,3470,3375,3566,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6637,-0.48,-160.6,2220,2525,3374,3562,849.8,-7.3,289,6642,0.00,2.30,0.00,0.000,260,0.000,0.053,2218,3824,3468,3374,3562,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6673,-0.48,-160.6,2218,3824,3372,3562,853.1,-7.7,290,6679,0.00,2.15,0.00,0.000,1030,0.000,0.029,2218,2528,3467,3372,3562,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7009,-0.48,-160.6,2218,2528,3372,3560,876.1,-6.8,301,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2528,3466,3372,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7309,-0.48,-160.6,2218,2528,3371,3556,895.8,-6.6,311,7315,0.00,2.28,0.00,0.000,260,0.000,0.046,2207,3832,3463,3371,3556,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7387,-0.48,-160.6,2207,3832,3368,3556,900.8,-6.9,313,7393,0.00,2.15,0.00,0.000,1030,0.000,0.026,2207,2520,3462,3368,3556,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7713,-0.48,-160.6,2206,2520,3369,3554,925.7,-7.2,324,7718,0.00,2.33,0.00,0.000,260,0.000,0.052,2207,3836,3461,3369,3554,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7760,-0.48,-160.6,2206,3836,3368,3554,927.9,-6.9,325,7766,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2525,3460,3367,3554,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8086,-0.48,-160.6,2206,2525,3367,3553,952.9,-7.5,336,8092,0.00,2.30,0.00,0.000,260,0.000,0.053,2207,3822,3460,3367,3553,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8155,-0.48,-160.6,2207,3822,3367,3553,958.2,-7.8,338,8160,0.00,2.15,0.00,0.000,1030,0.000,0.029,2207,2528,3459,3366,3553,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8492,-0.48,-160.6,2206,2528,3367,3550,983.8,-7.6,349,8498,0.00,2.28,0.00,0.000,260,0.000,0.049,2206,3823,3458,3367,3550,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8533,-0.48,-160.6,2202,3826,3366,3550,986.7,-7.7,350,8540,0.00,2.15,0.00,0.000,1030,0.000,0.028,2206,2522,3458,3367,3550,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,8591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8594,begin apogee
$GC,8601,-0.12,0.0,2204,2669,3366,3550,991.8,-7.6,352,8750,0.38,0.08,140.48,1.050,10246,0.094,0.090,2341,2620,2842,2856,2828,0,0,0,0,0,0,26.26,24.96,24.30
$STATE,8752,end apogee,CONTROL_FINISHED_OK
$STATE,8753,begin climb
$GC,8755,0.48,160.6,2341,2620,2853,2821,997.1,0.0,356,8918,0.50,0.00,152.40,1.001,10502,0.036,0.000,2561,2620,2184,2309,2060,0,0,0,0,0,0,25.21,28.83,24.08
$GC,9200,0.48,160.6,2561,2620,2290,2045,958.1,11.3,372,9205,0.00,2.03,0.00,0.000,260,0.000,0.042,2552,3838,2167,2289,2045,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9241,0.48,160.6,2549,3838,2282,2045,953.3,11.9,373,9246,0.00,1.88,0.00,0.000,1030,0.000,0.016,2562,2590,2166,2288,2045,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9571,0.48,160.6,2562,2590,2284,2045,915.9,11.0,384,9577,0.00,2.10,0.00,0.000,260,0.000,0.041,2552,3854,2164,2284,2045,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9651,0.48,160.6,2552,3854,2283,2045,907.6,11.7,386,9657,0.00,1.88,0.00,0.000,1030,0.000,0.016,2562,2589,2163,2282,2045,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9971,0.48,160.6,2561,2589,2282,2045,870.0,11.3,397,9978,0.00,2.10,0.00,0.000,260,0.000,0.042,2552,3850,2162,2280,2045,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10052,0.48,160.6,2552,3850,2280,2045,862.4,11.4,399,10058,0.00,1.85,0.00,0.000,1030,0.000,0.016,2562,2592,2162,2280,2044,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10374,0.48,160.6,2562,2592,2278,2045,825.5,10.4,410,10380,0.00,2.08,0.00,0.000,260,0.000,0.041,2553,3831,2161,2278,2045,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,19428,end climb,SURFACE_DEPTH_REACHED
$STATE,19428,begin surface coast
$FINISH,-0.5,1.021370
$STATE,19471,end surface coast,CONTROL_FINISHED_OK
$STATE,19472,begin surface
$SM_CCo,19489,41.92,0.117,0,0,1097,430.01
$SM_GC,0.35,6.28,0.12,41.92,0.021,0.061,0.117,123,2509,1097,-6.95,0.40,430.01,0,0,0,0,0,0,26.53,26.65,26.17
$IRIDIUM_FIX,1756.43,12436.12,290413,000054
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.03
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,26.10
$XPDR_PINGS,0
$SC_FREEKB,3915904
$24V_AH,24.1,27.273
$10V_AH,10.1,22.098
$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,16.075,173.200,466.400,41.925,0.000,0.000,0.000,428.850,0.000,0.000,44.862,3654.882,12437.761,736.312,2629.630,787.084,0.000,2320.979,0.000,2023.185,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,90.270,1049.580,117.045,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19552.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.676,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,33385,875
$CAP_FILE_SIZE,461168,0
$CFSIZE,260034560,221487104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,151.7,1
$GPS,290413,115036,1757.057,12436.171,27,1.6,27,-2.0