version: 66.11
glider: 169
mission: 8
dive: 525
start: 7 4 113 13 18 24
data:
$ID,169
$MISSION,8
$DIVE,525
$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,350
$T_MISSION,370
$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,180
$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,1
$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,-22997.459
$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
$GPS1,040713,130429,1954.450,12339.579,39,1.4,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-72.9
$GPS2,040713,131755,1954.452,12339.671,14,1.1,14,-2.4
$SPEED_LIMITS,0.163,0.258
$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,60.4,79740,-5.6,-9.429,-20.04,2855
$D_GRID,5156
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.58,-175.2,121,2566,1264,953,0.0,0.0,0,96,0.00,0.00,-67.62,0.000,16386,0.000,0.000,122,2566,2854,2820,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-175.2,121,2566,2821,2890,3.6,-8.2,9,128,8.60,2.35,-11.80,0.000,18692,0.223,0.060,2171,3823,3571,3442,3700,0,0,0,0,0,0,24.87,25.83,26.44
$GC,232,-0.58,-175.2,2171,3823,3443,3700,53.9,-31.7,21,238,0.00,2.17,0.00,0.000,1030,0.000,0.025,2171,2522,3571,3443,3700,0,0,0,0,0,0,28.83,26.16,28.83
$GC,549,-0.58,-175.2,2171,2521,3443,3700,128.1,-18.1,37,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2521,3571,3443,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-0.58,-175.2,2171,2521,3444,3700,179.6,-17.0,52,854,0.00,2.38,0.00,0.000,260,0.000,0.045,2167,3843,3572,3444,3700,0,0,0,0,0,0,28.83,26.06,28.83
$GC,931,-0.58,-175.2,1312,3843,3434,3698,191.8,-17.5,55,939,0.00,2.17,0.00,0.000,1030,0.000,0.025,2168,2521,3572,3444,3700,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1238,-0.58,-175.2,2167,2521,3444,3700,247.0,-17.4,71,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2521,3572,3444,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1540,-0.58,-175.2,2167,2521,3444,3699,296.3,-16.2,86,1546,0.00,2.38,0.00,0.000,260,0.000,0.045,2167,3846,3572,3444,3700,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1633,-0.58,-175.2,2167,3846,3443,3699,309.9,-14.6,90,1639,0.00,2.17,0.00,0.000,1030,0.000,0.024,2167,2523,3571,3444,3699,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1961,-0.58,-175.2,2167,2523,3443,3699,352.9,-12.8,106,1968,0.00,2.33,0.00,0.000,260,0.000,0.046,2167,3828,3571,3443,3699,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1993,-0.58,-175.2,2167,3827,3444,3699,356.6,-12.7,107,1999,0.00,2.12,0.00,0.000,1030,0.000,0.023,2167,2520,3571,3443,3700,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2316,-0.58,-175.2,2167,2519,3443,3696,399.8,-13.2,123,2322,0.00,2.35,0.00,0.000,260,0.000,0.044,2167,3845,3569,3443,3695,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2366,-0.58,-175.2,2167,3845,3443,3694,406.1,-13.1,125,2372,0.00,2.17,0.00,0.000,1030,0.000,0.024,2167,2522,3569,3443,3695,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2695,-0.58,-175.2,2167,2523,3443,3691,445.8,-11.6,141,2701,0.00,2.33,0.00,0.000,260,0.000,0.044,2164,3830,3566,3443,3690,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2774,-0.58,-175.2,2164,3829,3443,3689,453.9,-11.3,144,2780,0.00,2.15,0.00,0.000,1030,0.000,0.023,2164,2515,3566,3443,3689,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3092,-0.58,-175.2,2164,2514,3443,3685,493.9,-12.6,160,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2514,3564,3443,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.58,-175.2,2164,2514,3443,3680,533.4,-12.6,175,3397,0.00,2.35,0.00,0.000,260,0.000,0.047,2154,3824,3561,3443,3680,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3507,-0.58,-175.2,2154,3824,3443,3678,546.8,-11.8,180,3514,0.12,2.15,0.00,0.000,3078,0.125,0.024,2193,2516,3560,3443,3678,0,0,0,0,0,0,26.15,26.44,28.83
$GC,3833,-0.58,-175.2,2193,2516,3443,3674,575.5,-8.5,196,3839,0.00,2.35,0.00,0.000,260,0.000,0.048,2193,3832,3558,3443,3673,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3883,-0.58,-175.2,2193,3832,3443,3672,579.7,-8.5,198,3889,0.00,2.17,0.00,0.000,1030,0.000,0.022,2193,2514,3557,3443,3671,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4220,-0.58,-175.2,2193,2514,3443,3665,609.6,-8.8,213,4226,0.00,2.35,0.00,0.000,260,0.000,0.048,2193,3835,3557,3443,3671,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4258,-0.58,-175.2,2193,3835,3443,3664,612.9,-8.9,214,4264,0.00,2.17,0.00,0.000,1030,0.000,0.024,2193,2513,3553,3443,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4594,-0.58,-175.2,2192,2513,3442,3660,643.7,-9.5,225,4600,0.00,2.45,0.00,0.000,516,0.000,0.031,2194,1067,3551,3443,3660,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4618,-0.58,-175.2,2193,1066,3442,3660,643.7,-9.5,225,4625,0.00,2.60,0.00,0.000,1030,0.000,0.031,2193,2564,3551,3443,3660,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4938,-0.58,-175.2,2193,2558,3441,3656,675.9,-9.6,236,4943,0.00,2.20,0.00,0.000,260,0.000,0.047,2193,3847,3548,3441,3656,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4987,-0.58,-175.2,2193,3847,3440,3656,679.5,-9.5,237,4993,0.00,2.20,0.00,0.000,1030,0.000,0.024,2194,2513,3548,3440,3656,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5314,-0.58,-175.2,2193,2512,3440,3651,713.8,-10.2,248,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2515,3545,3440,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,-0.58,-175.2,2193,2512,3438,3649,742.6,-9.2,258,5619,0.00,2.40,0.00,0.000,260,0.000,0.048,2193,3846,3543,3438,3648,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5696,-0.58,-175.2,2193,3846,3436,3648,749.1,-9.1,260,5701,0.00,2.20,0.00,0.000,1030,0.000,0.025,2193,2517,3542,3437,3648,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6022,-0.58,-175.2,2193,2517,3436,3644,777.5,-8.2,271,6028,0.00,2.38,0.00,0.000,260,0.000,0.047,2193,3846,3540,3437,3644,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6081,-0.58,-175.2,2193,3846,3435,3644,780.4,-8.1,272,6087,0.00,2.20,0.00,0.000,1030,0.000,0.024,2193,2511,3539,3435,3644,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6402,-0.58,-175.2,2193,2511,3435,3639,807.2,-7.8,283,6408,0.00,2.38,0.00,0.000,260,0.000,0.047,2193,3831,3537,3435,3639,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6444,-0.58,-175.2,2193,3834,3434,3639,810.3,-7.8,284,6451,0.00,2.17,0.00,0.000,1030,0.000,0.024,2193,2515,3536,3434,3639,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6778,-0.58,-175.2,2193,2515,3433,3636,835.1,-6.9,295,6783,0.00,2.38,0.00,0.000,260,0.000,0.046,2193,3831,3534,3433,3636,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6839,-0.58,-175.2,2193,3832,3438,3636,837.8,-6.7,296,6848,0.00,2.20,0.00,0.000,1030,0.000,0.024,2193,2514,3534,3432,3636,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7151,-0.58,-175.2,2193,2514,3431,3633,861.7,-7.4,307,7156,0.00,2.38,0.00,0.000,260,0.000,0.046,2193,3847,3532,3431,3633,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7209,-0.58,-175.2,2193,3846,3430,3633,864.8,-7.5,308,7215,0.00,2.20,0.00,0.000,1030,0.000,0.025,2193,2517,3532,3431,3633,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7530,-0.58,-175.2,2193,2517,3430,3630,891.8,-8.0,319,7535,0.00,2.38,0.00,0.000,260,0.000,0.047,2184,3849,3530,3431,3629,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7580,-0.58,-175.2,2184,3848,3429,3629,895.1,-8.0,320,7585,0.00,2.20,0.00,0.000,1030,0.000,0.026,2185,2519,3529,3429,3629,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7907,-0.58,-175.2,2184,2520,3429,3626,923.0,-8.0,331,7913,0.00,2.38,0.00,0.000,260,0.000,0.049,2181,3838,3527,3429,3626,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7945,-0.58,-175.2,2181,3835,3427,3626,926.8,-8.5,332,7951,0.00,2.20,0.00,0.000,1030,0.000,0.026,2181,2521,3526,3427,3626,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8281,-0.58,-175.2,2181,2518,3427,3625,952.3,-7.7,343,8287,0.00,2.38,0.00,0.000,260,0.000,0.049,2181,3828,3525,3426,3625,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8321,-0.58,-175.2,2181,3828,3426,3625,955.1,-7.6,344,8327,0.00,2.20,0.00,0.000,1030,0.000,0.026,2184,2516,3525,3426,3625,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8659,-0.58,-175.2,2181,2519,3426,3620,981.8,-8.0,355,8665,0.00,2.38,0.00,0.000,260,0.000,0.048,2176,3828,3523,3426,3621,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8696,-0.58,-175.2,2176,3828,3425,3621,984.9,-8.0,356,8702,0.00,2.20,0.00,0.000,1030,0.000,0.026,2176,2518,3523,3425,3621,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,8762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8763,begin apogee
$GC,8771,-0.12,0.0,2174,2667,3425,3621,991.2,-8.9,358,8933,0.45,0.08,156.38,0.987,10246,0.087,0.090,2337,2621,2852,2878,2827,0,0,0,0,0,0,25.83,24.74,23.49
$STATE,8935,end apogee,CONTROL_FINISHED_OK
$STATE,8938,begin climb
$GC,8941,0.58,175.2,2336,2621,2869,2808,998.0,0.0,362,9127,0.60,0.00,170.20,0.979,10502,0.033,0.000,2597,2621,2121,2255,1988,0,0,0,0,0,0,25.13,28.83,23.37
$GC,9408,0.58,175.2,2597,2621,2239,1974,953.4,13.5,378,9415,0.12,2.10,0.00,0.000,4356,0.158,0.041,2548,3840,2106,2239,1974,0,0,0,0,0,0,25.77,25.84,28.83
$GC,9456,0.58,175.2,2548,3839,2236,1974,948.4,13.4,379,9462,0.00,1.92,0.00,0.000,1030,0.000,0.018,2559,2601,2105,2236,1974,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9783,0.58,175.2,2563,2601,2234,1972,913.6,9.8,390,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2601,2102,2232,1972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10084,0.62,191.4,2558,2601,2232,1971,886.2,8.8,400,10105,0.00,2.15,14.20,0.952,8452,0.000,0.043,2549,3841,2062,2188,1937,0,0,0,0,0,0,28.83,25.94,24.33
$GC,10186,0.65,205.5,2548,3841,2179,1923,877.3,8.9,403,10207,0.00,1.92,14.48,0.946,9222,0.000,0.017,2559,2598,2009,2140,1879,0,0,0,0,0,0,28.83,26.17,24.44
$GC,10524,0.78,257.4,2565,2598,2129,1855,850.1,7.6,414,10593,0.17,2.25,54.47,0.857,10500,0.060,0.040,2655,3844,1788,1935,1641,0,0,0,0,0,0,26.24,25.35,24.11
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$STATE,17468,end climb,SURFACE_DEPTH_REACHED
$STATE,17468,begin surface coast
$FINISH,-0.7,1.021214
$STATE,17512,end surface coast,CONTROL_FINISHED_OK
$STATE,17512,begin surface
$SM_CCo,17534,10.82,0.126,0,0,1096,430.01
$SM_GC,0.62,6.50,0.35,10.82,0.021,0.031,0.126,131,2498,1096,-6.96,0.28,430.01,0,0,0,0,0,0,26.13,26.42,25.34
$IRIDIUM_FIX,1948.12,12336.32,040713,070721
$TT8_MAMPS,0.02247,0.02247
$HUMID,52.71
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3755232
$24V_AH,23.4,70.372
$10V_AH,9.8,52.853
$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,17.475,164.625,566.825,10.825,0.000,0.000,0.000,451.675,0.000,0.000,15.507,3220.954,10924.120,723.382,2389.237,1054.876,0.000,2259.044,0.000,1827.624,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,90.270,986.850,126.225,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.603,0.000,0.000,0.000
$MEM,328864
$DATA_FILE_SIZE,30058,775
$CAP_FILE_SIZE,414867,0
$CFSIZE,260034560,170733568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,129.1,1
$GPS,040713,181206,1955.172,12341.539,39,1.1,39,-2.4