version: 66.11
glider: 169
mission: 8
dive: 294
start: 5 17 113 14 23 23
data:
$ID,169
$MISSION,8
$DIVE,294
$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,-5
$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,-21780.957
$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
$GPS1,170513,140706,1921.235,12245.345,30,1.4,30,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-71.8
$GPS2,170513,142255,1921.404,12245.278,15,1.5,15,-2.2
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,92.7,192197,-3.2,-8.250,-19.13,2990
$D_GRID,4108
$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,-160.6,121,2567,1252,967,0.0,0.0,0,97,0.00,0.00,-71.60,0.000,16386,0.000,0.000,122,2567,3000,2928,3072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.48,-160.6,123,2567,2929,3072,4.4,-9.3,9,127,8.43,2.60,-8.32,0.000,18948,0.227,0.041,2218,1071,3508,3381,3636,0,0,0,0,0,0,25.53,26.08,26.48
$GC,268,-0.48,-160.6,2218,1071,3385,3636,61.2,-27.6,24,275,0.00,2.55,0.00,0.000,1030,0.000,0.034,2208,2557,3510,3384,3636,0,0,0,0,0,0,28.83,26.13,28.83
$GC,585,-0.48,-160.6,2208,2554,3385,3636,158.6,-29.2,40,591,0.00,2.53,0.00,0.000,516,0.000,0.033,2208,1084,3510,3385,3636,0,0,0,0,0,0,28.83,26.25,28.83
$GC,643,-0.48,-160.6,2208,1084,3386,3636,170.6,-27.5,42,649,0.00,2.55,0.00,0.000,1030,0.000,0.036,2207,2556,3510,3385,3636,0,0,0,0,0,0,28.83,26.26,28.83
$GC,959,-0.48,-160.6,2206,2553,3387,3636,237.2,-19.2,58,966,0.00,2.17,0.00,0.000,260,0.000,0.046,2206,3846,3511,3386,3636,0,0,0,0,0,0,28.83,26.26,28.83
$GC,994,-0.48,-160.6,2206,3846,3386,3632,242.0,-18.7,59,999,0.00,2.12,0.00,0.000,1030,0.000,0.024,2206,2538,3510,3385,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1309,-0.48,-160.6,2206,2537,3386,3635,299.8,-17.5,75,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2536,3510,3386,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.48,-160.6,2206,2536,3386,3635,345.5,-14.3,90,1615,0.00,2.45,0.00,0.000,516,0.000,0.030,2206,1085,3510,3386,3635,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1685,-0.48,-160.6,2206,1085,3387,3635,354.1,-13.2,93,1692,0.00,2.55,0.00,0.000,1030,0.000,0.034,2206,2557,3510,3385,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2002,-0.48,-160.6,2206,2554,3386,3632,396.1,-12.6,109,2008,0.00,2.17,0.00,0.000,260,0.000,0.044,2197,3830,3509,3386,3632,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2061,-0.48,-160.6,2196,3830,3386,3631,401.9,-12.4,111,2067,0.00,2.12,0.00,0.000,1030,0.000,0.023,2197,2527,3508,3386,3631,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2376,-0.48,-160.6,2197,2525,3386,3626,442.4,-11.8,127,2383,0.00,2.40,0.00,0.000,516,0.000,0.030,2197,1087,3505,3385,3626,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2412,-0.48,-160.6,2198,1086,3386,3626,445.7,-12.1,128,2418,0.00,2.53,0.00,0.000,1030,0.000,0.034,2195,2558,3504,3386,3622,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2727,-0.48,-160.6,2195,2556,3385,3620,487.9,-13.7,144,2733,0.00,2.17,0.00,0.000,260,0.000,0.046,2194,3829,3502,3385,3620,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2798,-0.48,-160.6,2193,3829,3385,3618,496.5,-13.0,147,2805,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2526,3502,3386,3618,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3122,-0.48,-160.6,2193,2525,3385,3613,530.5,-9.3,163,3128,0.00,2.42,0.00,0.000,516,0.000,0.033,2194,1072,3498,3385,3612,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3163,-0.48,-160.6,2193,1072,3385,3612,532.9,-8.8,164,3172,0.10,2.53,0.00,0.000,3078,0.132,0.031,2226,2559,3498,3386,3611,0,0,0,0,0,0,26.23,26.34,28.83
$GC,3471,-0.48,-160.6,2227,2556,3385,3604,554.4,-6.8,180,3477,0.00,2.20,0.00,0.000,260,0.000,0.050,2221,3844,3495,3386,3604,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3562,-0.48,-160.6,2221,3844,3385,3603,561.0,-7.0,184,3568,0.00,2.15,0.00,0.000,1030,0.000,0.025,2220,2525,3494,3385,3603,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3890,-0.48,-160.6,2221,2525,3385,3596,582.9,-6.7,200,3897,0.00,2.33,0.00,0.000,260,0.000,0.050,2220,3825,3490,3385,3596,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3949,-0.48,-160.6,2220,3825,3384,3601,586.3,-6.8,202,3955,0.00,2.15,0.00,0.000,1030,0.000,0.025,2220,2519,3489,3384,3595,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4276,-0.48,-160.6,2220,2519,3385,3589,613.2,-8.4,216,4282,0.00,2.35,0.00,0.000,260,0.000,0.048,2220,3837,3486,3384,3589,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4336,-0.48,-160.6,2220,3838,3382,3589,616.4,-8.4,217,4345,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2527,3485,3382,3588,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4645,-0.48,-160.6,2220,2527,3380,3585,644.5,-8.5,228,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2526,3482,3380,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4944,-0.48,-160.6,2220,2526,3379,3581,667.1,-6.9,238,4950,0.00,2.35,0.00,0.000,260,0.000,0.053,2220,3833,3480,3379,3581,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5021,-0.48,-160.6,2219,3833,3377,3581,671.4,-6.6,240,5027,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2527,3479,3377,3581,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5347,-0.48,-160.6,2220,2527,3377,3577,692.2,-6.4,251,5353,0.00,2.33,0.00,0.000,260,0.000,0.052,2220,3818,3477,3377,3577,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5374,-0.48,-160.6,2220,3821,3376,3577,692.2,-6.4,251,5379,0.00,2.15,0.00,0.000,1030,0.000,0.028,2220,2530,3476,3376,3577,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5692,-0.48,-160.6,2219,2530,3376,3574,720.3,-9.2,262,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2530,3474,3375,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5989,-0.48,-160.6,2219,2530,3373,3571,749.8,-9.7,272,5995,0.00,2.30,0.00,0.000,260,0.000,0.047,2220,3832,3472,3373,3571,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6060,-0.48,-160.6,2219,3837,3371,3571,756.0,-9.5,274,6067,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2526,3471,3372,3571,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6392,-0.48,-160.6,2220,2527,3371,3567,783.9,-8.0,285,6398,0.00,2.33,0.00,0.000,260,0.000,0.051,2217,3828,3468,3371,3566,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6442,-0.48,-160.6,2217,3828,3370,3566,786.9,-8.0,286,6449,0.00,2.15,0.00,0.000,1030,0.000,0.027,2217,2528,3468,3370,3566,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6765,-0.48,-160.6,2217,2529,3370,3563,815.6,-8.7,297,6771,0.00,2.30,0.00,0.000,260,0.000,0.047,2210,3835,3466,3369,3563,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6820,-0.48,-160.6,2210,3835,3368,3563,819.1,-9.0,298,6826,0.00,2.15,0.00,0.000,1030,0.000,0.027,2210,2528,3465,3368,3562,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7139,-0.48,-160.6,2210,2529,3368,3561,848.3,-8.6,309,7144,0.00,2.45,0.00,0.000,516,0.000,0.034,2211,1081,3464,3368,3561,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7168,-0.48,-160.6,2210,1081,3368,3561,848.3,-8.6,309,7177,0.00,2.50,0.00,0.000,1030,0.000,0.031,2207,2560,3464,3368,3560,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7478,-0.48,-160.6,2207,2557,3367,3557,876.4,-8.2,320,7484,0.00,2.25,0.00,0.000,260,0.000,0.052,2207,3836,3462,3367,3558,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7534,-0.48,-160.6,2206,3836,3366,3558,879.7,-8.1,321,7540,0.00,2.20,0.00,0.000,1030,0.000,0.027,2207,2517,3461,3366,3557,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7853,-0.48,-160.6,2206,2517,3367,3555,907.3,-8.6,332,7859,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3829,3462,3371,3554,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7920,-0.48,-160.6,2206,3829,3368,3555,914.3,-9.2,334,7926,0.00,2.20,0.00,0.000,1030,0.000,0.027,2207,2523,3460,3366,3554,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8256,-0.48,-160.6,2207,2527,3366,3554,943.1,-8.6,345,8262,0.00,2.38,0.00,0.000,260,0.000,0.053,2207,3826,3460,3366,3554,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8332,-0.48,-160.6,2206,3826,3365,3554,948.7,-8.6,347,8338,0.00,2.20,0.00,0.000,1030,0.000,0.028,2207,2529,3459,3365,3554,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8659,-0.48,-160.6,2207,2529,3365,3552,974.4,-7.7,358,8665,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3837,3458,3365,3552,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8720,-0.48,-160.6,2206,3837,3364,3552,977.3,-7.7,359,8728,0.00,2.20,0.00,0.000,1030,0.000,0.027,2207,2524,3458,3364,3552,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,8873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8873,begin apogee
$GC,8880,-0.12,0.0,2207,2656,3364,3551,991.6,-7.9,365,9034,0.35,0.00,147.48,1.001,10246,0.092,0.000,2335,2656,2845,2857,2833,0,0,0,0,0,0,25.98,28.83,24.07
$STATE,9036,end apogee,CONTROL_FINISHED_OK
$STATE,9036,begin climb
$GC,9040,0.48,160.6,2335,2656,2852,2822,997.8,0.0,369,9198,0.52,0.00,154.98,0.985,10246,0.043,0.000,2548,2656,2197,2321,2073,0,0,0,0,0,0,25.06,28.83,23.82
$GC,9480,0.48,160.6,2548,2656,2293,2045,968.6,9.2,385,9485,0.00,2.72,0.00,0.000,516,0.000,0.024,2561,1188,2168,2293,2044,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9541,0.48,160.6,2561,1188,2288,2044,965.3,9.2,386,9549,0.00,2.70,0.00,0.000,1030,0.000,0.027,2555,2659,2166,2288,2044,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9849,0.48,160.6,2554,2657,2287,2044,935.6,8.9,397,9856,0.00,1.95,0.00,0.000,260,0.000,0.042,2546,3852,2164,2286,2043,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9881,0.48,160.6,2546,3852,2285,2043,935.6,8.9,397,9889,0.00,1.92,0.00,0.000,1030,0.000,0.016,2557,2597,2164,2285,2043,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10187,0.48,160.6,2556,2597,2283,2043,902.5,10.1,408,10194,0.00,2.15,0.00,0.000,260,0.000,0.041,2548,3844,2163,2283,2043,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,19240,end climb,SURFACE_DEPTH_REACHED
$STATE,19240,begin surface coast
$FINISH,0.1,1.021215
$STATE,19268,end surface coast,CONTROL_FINISHED_OK
$STATE,19268,begin surface
$SM_CCo,19287,27.42,0.120,0,0,1097,430.01
$SM_GC,0.81,6.47,0.35,27.42,0.027,0.034,0.120,141,2515,1097,-6.94,0.34,430.01,0,0,0,0,0,0,26.18,26.43,25.87
$IRIDIUM_FIX,1911.51,12244.39,170513,141453
$TT8_MAMPS,0.021721,0.021721
$HUMID,46.65
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,3872224
$24V_AH,23.8,38.501
$10V_AH,10.1,30.509
$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,16.800,188.575,553.325,27.425,0.000,0.000,0.000,601.950,0.000,0.000,16.491,3530.894,12357.956,832.698,2681.766,829.447,0.000,2563.537,0.000,1958.831,0.000,0.546,0.000
$DEVICE_MAMPS,227.205,74.205,1000.620,120.105,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19349.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.350,0.000,0.000,0.000
$MEM,323352
$DATA_FILE_SIZE,30050,843
$CAP_FILE_SIZE,452052,0
$CFSIZE,260034560,207372288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174, 17.8,1
$GPS,170513,194705,1923.173,12247.740,59,1.0,71,-2.3