version: 66.11
glider: 169
mission: 8
dive: 295
start: 5 17 113 20 0 1
data:
$ID,169
$MISSION,8
$DIVE,295
$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,-21782.213
$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
$GPS1,170513,194705,1923.173,12247.740,59,1.0,71,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-70.6
$GPS2,170513,195931,1923.215,12247.623,14,1.1,14,-2.3
$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,90.3,186978,-3.2,-8.250,-19.13,2990
$D_GRID,4347
$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,-160.6,122,2560,1250,956,0.0,0.0,0,94,0.00,0.00,-67.97,0.000,16386,0.000,0.000,122,2561,2824,2785,2864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.48,-160.6,122,2561,2786,2865,3.1,-6.3,9,125,8.50,2.33,-11.80,0.000,18692,0.229,0.057,2203,3845,3510,3387,3634,0,0,0,0,0,0,25.48,26.00,26.44
$GC,196,-0.48,-160.6,2203,3844,3389,3634,44.4,-31.9,19,202,0.00,2.17,0.00,0.000,1030,0.000,0.028,2203,2536,3511,3389,3634,0,0,0,0,0,0,28.83,26.15,28.83
$GC,524,-0.48,-160.6,2202,2535,3389,3634,151.0,-32.9,36,530,0.00,2.47,0.00,0.000,516,0.000,0.034,2202,1082,3511,3389,3634,0,0,0,0,0,0,28.83,26.22,28.83
$GC,684,-0.48,-160.6,2202,1081,3390,3634,185.8,-20.6,43,690,0.00,2.55,0.00,0.000,1030,0.000,0.034,2197,2558,3512,3390,3634,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1000,-0.48,-160.6,2197,2555,3391,3634,260.4,-22.1,59,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2556,3513,3392,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-0.48,-160.6,2197,2555,3391,3634,317.4,-16.9,74,1305,0.00,2.50,0.00,0.000,516,0.000,0.028,2197,1066,3512,3391,3634,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1372,-0.48,-160.6,2197,1066,3391,3634,327.0,-14.4,77,1378,0.00,2.55,0.00,0.000,1030,0.000,0.033,2194,2561,3512,3391,3634,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1694,-0.48,-160.6,2193,2558,3391,3634,378.0,-15.9,93,1702,0.10,2.50,0.00,0.000,2564,0.155,0.028,2223,1073,3512,3391,3634,0,0,0,0,0,0,26.47,26.39,28.83
$GC,1722,-0.48,-160.6,2223,1073,3390,3634,382.4,-15.4,94,1729,0.00,2.53,0.00,0.000,1030,0.000,0.031,2220,2559,3512,3391,3633,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2050,-0.48,-160.6,2220,2556,3391,3631,424.4,-13.9,110,2056,0.00,2.17,0.00,0.000,260,0.000,0.045,2220,3847,3511,3391,3631,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2079,-0.48,-160.6,2219,3847,3391,3630,428.3,-14.2,111,2086,0.00,2.15,0.00,0.000,1030,0.000,0.023,2220,2520,3510,3391,3630,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2402,-0.48,-160.6,2219,2518,3390,3626,467.9,-10.4,127,2408,0.00,2.30,0.00,0.000,260,0.000,0.046,2220,3826,3508,3391,3625,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2452,-0.48,-160.6,1344,3825,3378,3623,472.1,-9.5,129,2458,0.00,2.10,0.00,0.000,1030,0.000,0.024,2220,2525,3508,3391,3625,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2776,-0.48,-160.6,2219,2525,3391,3619,499.5,-8.7,145,2782,0.00,2.30,0.00,0.000,260,0.000,0.048,2220,3828,3504,3390,3618,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2810,-0.48,-160.6,2220,3828,3390,3617,502.2,-9.0,146,2816,0.00,2.12,0.00,0.000,1030,0.000,0.024,2220,2527,3503,3390,3617,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3125,-0.48,-160.6,2219,2526,3390,3612,535.8,-10.3,162,3132,0.00,2.42,0.00,0.000,516,0.000,0.031,2220,1068,3500,3390,3611,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3161,-0.48,-160.6,2219,1068,3390,3611,538.5,-10.3,163,3167,0.00,2.50,0.00,0.000,1030,0.000,0.031,2219,2558,3500,3390,3611,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3476,-0.48,-160.6,2219,2554,3389,3604,571.0,-9.9,179,3482,0.00,2.20,0.00,0.000,260,0.000,0.044,2208,3843,3497,3390,3604,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3533,-0.48,-160.6,2209,3843,3390,3603,575.3,-9.6,181,3539,0.00,2.17,0.00,0.000,1030,0.000,0.024,2209,2512,3496,3390,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3850,-0.48,-160.6,2209,2512,3390,3597,606.5,-10.0,196,3856,0.00,2.35,0.00,0.000,260,0.000,0.047,2207,3826,3493,3390,3597,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3921,-0.48,-160.6,2207,3826,3390,3595,613.5,-10.2,198,3926,0.00,2.15,0.00,0.000,1030,0.000,0.024,2207,2523,3492,3389,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4252,-0.48,-160.6,2207,2523,3389,3589,648.8,-10.9,209,4258,0.00,2.35,0.00,0.000,260,0.000,0.049,2207,3824,3489,3390,3589,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4288,-0.48,-160.6,2206,3823,3388,3589,652.7,-10.8,210,4293,0.00,2.17,0.00,0.000,1030,0.000,0.027,2207,2525,3488,3388,3589,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4623,-0.48,-160.6,2207,2526,3387,3585,685.3,-9.1,221,4628,0.00,2.33,0.00,0.000,260,0.000,0.046,2206,3828,3486,3387,3585,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4673,-0.48,-160.6,2206,3828,3387,3585,688.3,-8.7,222,4679,0.00,2.17,0.00,0.000,1030,0.000,0.025,2207,2515,3485,3386,3584,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4995,-0.48,-160.6,2206,2514,3386,3580,714.2,-7.7,233,5000,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3837,3483,3386,3580,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5046,-0.48,-160.6,2206,3837,3385,3580,717.0,-7.6,234,5051,0.00,2.17,0.00,0.000,1030,0.000,0.025,2206,2524,3482,3385,3580,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5367,-0.48,-160.6,2206,2524,3383,3577,745.5,-9.2,245,5373,0.00,2.35,0.00,0.000,260,0.000,0.048,2207,3834,3480,3383,3577,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5396,-0.48,-160.6,2206,3835,3382,3577,745.5,-9.2,245,5405,0.00,2.17,0.00,0.000,1030,0.000,0.025,2206,2523,3479,3381,3577,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5705,-0.48,-160.6,2206,2523,3381,3572,778.0,-9.4,256,5711,0.00,2.35,0.00,0.000,260,0.000,0.049,2207,3829,3476,3381,3572,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5798,-0.48,-160.6,2206,3829,3380,3572,785.1,-9.6,258,5807,0.00,2.20,0.00,0.000,1030,0.000,0.026,2206,2508,3476,3380,3572,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6107,-0.48,-160.6,2206,2509,3380,3569,810.9,-7.3,269,6113,0.00,2.40,0.00,0.000,260,0.000,0.048,2206,3838,3474,3380,3568,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6184,-0.48,-160.6,2206,3839,3379,3568,816.1,-7.2,271,6190,0.00,2.20,0.00,0.000,1030,0.000,0.025,2206,2518,3473,3379,3568,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6511,-0.48,-160.6,2206,2519,3378,3565,842.6,-8.0,282,6517,0.00,2.38,0.00,0.000,260,0.000,0.051,2206,3826,3471,3378,3565,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6567,-0.48,-160.6,2206,3822,3377,3565,845.7,-8.4,283,6572,0.00,2.17,0.00,0.000,1030,0.000,0.026,2204,2526,3471,3377,3565,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6886,-0.48,-160.6,2206,2526,3377,3561,873.3,-8.0,294,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2526,3468,3376,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7182,-0.48,-160.6,2206,2526,3376,3561,897.2,-8.1,304,7188,0.00,2.35,0.00,0.000,260,0.000,0.046,2195,3847,3468,3376,3560,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7244,-0.48,-160.6,2195,3847,3374,3560,900.1,-8.1,305,7252,0.00,2.20,0.00,0.000,1030,0.000,0.026,2196,2525,3467,3375,3560,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7555,-0.48,-160.6,2196,2526,3374,3556,927.4,-7.8,316,7561,0.00,2.35,0.00,0.000,260,0.000,0.048,2194,3830,3464,3374,3555,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7606,-0.48,-160.6,2194,3830,3373,3555,930.8,-8.0,317,7612,0.00,2.20,0.00,0.000,1030,0.000,0.026,2194,2523,3464,3373,3555,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7926,-0.48,-160.6,2194,2523,3373,3554,958.4,-8.8,328,7932,0.00,2.38,0.00,0.000,260,0.000,0.050,2183,3840,3463,3372,3554,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7967,-0.48,-160.6,2183,3840,3372,3554,962.1,-9.2,329,7974,0.12,2.20,0.00,0.000,3078,0.120,0.026,2222,2528,3463,3372,3554,0,0,0,0,0,0,26.12,26.38,28.83
$GC,8300,-0.48,-160.6,2222,2526,3371,3553,986.0,-7.3,340,8306,0.00,2.35,0.00,0.000,260,0.000,0.047,2218,3837,3462,3371,3553,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,8365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8365,begin apogee
$GC,8374,-0.12,0.0,2217,2616,3370,3553,991.3,-7.6,342,8521,0.32,0.12,139.98,1.002,10246,0.085,0.078,2339,2677,2847,2858,2836,0,0,0,0,0,0,26.07,24.90,24.13
$STATE,8523,end apogee,CONTROL_FINISHED_OK
$STATE,8523,begin climb
$GC,8526,0.48,160.6,2339,2677,2854,2827,999.4,0.0,346,8685,0.50,0.00,152.70,0.991,10758,0.033,0.000,2565,2677,2190,2314,2067,0,0,0,0,0,0,25.13,28.83,23.84
$GC,8970,0.48,160.6,2564,2677,2292,2046,968.6,10.1,362,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2677,2169,2292,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9267,0.48,160.6,2565,2677,2287,2046,938.6,10.1,372,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2677,2166,2287,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9567,0.48,160.6,2565,2676,2284,2046,906.1,11.4,382,9573,0.00,2.75,0.00,0.000,516,0.000,0.025,2578,1180,2165,2284,2046,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9603,0.48,160.6,2577,1179,2280,2046,901.6,11.7,383,9610,0.12,2.67,0.00,0.000,5126,0.143,0.027,2537,2662,2162,2279,2046,0,0,0,0,0,0,25.90,26.14,28.83
$GC,9939,0.48,160.6,2536,2659,2280,2045,868.2,9.7,394,9945,0.00,1.95,0.00,0.000,260,0.000,0.043,2527,3840,2162,2280,2045,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9986,0.48,160.6,2527,3841,2279,2044,864.6,9.9,395,9992,0.00,1.90,0.00,0.000,1030,0.000,0.018,2537,2606,2162,2280,2045,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10312,0.48,160.6,2537,2605,2279,2044,833.9,8.9,406,10318,0.00,2.12,0.00,0.000,260,0.000,0.041,2528,3831,2162,2279,2045,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,18747,end climb,SURFACE_DEPTH_REACHED
$STATE,18747,begin surface coast
$FINISH,-0.3,1.021195
$STATE,18785,end surface coast,CONTROL_FINISHED_OK
$STATE,18786,begin surface
$SM_CCo,18804,10.15,0.125,0,0,1098,430.01
$SM_GC,1.30,6.35,0.35,10.15,0.020,0.031,0.125,136,2493,1098,-6.93,0.42,430.01,0,0,0,0,0,0,26.29,26.47,25.89
$IRIDIUM_FIX,1913.80,12247.54,170513,141408
$TT8_MAMPS,0.021721,0.021721
$HUMID,46.33
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,3871712
$24V_AH,23.8,38.632
$10V_AH,10.2,30.609
$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,16.800,190.200,516.900,10.150,0.000,0.000,0.000,438.775,0.000,0.000,15.567,3495.400,11948.309,755.695,2514.503,810.621,0.000,2306.857,0.000,1925.484,0.000,0.545,0.000
$DEVICE_MAMPS,228.735,84.915,1002.150,124.695,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18867.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.441,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,30079,829
$CAP_FILE_SIZE,443523,0
$CFSIZE,260034560,207204352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,350.5,1
$GPS,180513,011453,1924.840,12249.214,42,1.0,42,-2.3