version: 66.11
glider: 169
mission: 8
dive: 54
start: 3 26 113 2 59 36
data:
$ID,169
$MISSION,8
$DIVE,54
$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,390
$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,-3
$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,400
$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,-20922.314
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,2575
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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,49
$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
$GPS1,260313,024724,1749.523,12422.516,39,0.9,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-72.8
$GPS2,260313,025907,1749.651,12422.451,15,1.3,15,-2.0
$SPEED_LIMITS,0.147,0.249
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,292.7,234558,-2.9,-8.462,-18.75,3180
$D_GRID,4022
$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,-0.52,-175.2,121,2554,1357,1093,0.0,0.0,0,94,0.00,0.00,-68.53,0.000,16386,0.000,0.000,120,2554,2959,2892,3027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.52,-175.2,124,2555,2892,3028,3.1,-7.0,9,124,8.25,2.72,-10.88,0.000,18948,0.232,0.044,2218,1112,3569,3435,3704,0,0,0,0,0,0,25.93,26.17,26.45
$GC,315,-0.52,-175.2,2218,1111,3438,3705,67.1,-23.3,29,321,0.00,2.78,0.00,0.000,1030,0.000,0.036,2207,2588,3571,3437,3705,0,0,0,0,0,0,28.83,26.34,28.83
$GC,643,-0.52,-175.2,2206,2585,3438,3704,165.7,-29.4,45,648,0.00,2.72,0.00,0.000,516,0.000,0.030,2207,1114,3571,3438,3704,0,0,0,0,0,0,28.83,26.49,28.83
$GC,788,-0.52,-175.2,2207,1114,3440,3704,195.0,-19.0,51,797,0.00,2.75,0.00,0.000,1030,0.000,0.036,2206,2586,3572,3440,3704,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1095,-0.52,-175.2,2206,2584,3442,3704,257.3,-18.2,67,1102,0.00,2.70,0.00,0.000,516,0.000,0.030,2206,1116,3573,3442,3704,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1199,-0.52,-175.2,2206,1116,3442,3704,271.1,-15.4,71,1207,0.00,2.72,0.00,0.000,1030,0.000,0.035,2206,2588,3573,3442,3704,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1504,-0.52,-175.2,2206,2586,3442,3704,323.0,-16.4,87,1509,0.00,2.70,0.00,0.000,516,0.000,0.028,2206,1111,3573,3442,3704,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1616,-0.52,-175.2,1344,1111,3432,3703,338.0,-13.2,92,1623,0.00,2.72,0.00,0.000,1030,0.000,0.033,2197,2589,3573,3442,3705,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1939,-0.52,-175.2,2196,2589,3443,3700,390.7,-15.5,108,1944,0.00,2.70,0.00,0.000,516,0.000,0.029,2196,1109,3571,3443,3700,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2020,-0.52,-175.2,2196,1109,3443,3700,400.9,-14.9,111,2028,0.00,2.72,0.00,0.000,1030,0.000,0.034,2194,2588,3571,3443,3700,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2327,-0.52,-175.2,2194,2586,3441,3698,445.3,-13.9,127,2333,0.00,2.70,0.00,0.000,516,0.000,0.030,2194,1107,3570,3443,3697,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2484,-0.52,-175.2,2193,1107,3443,3695,464.3,-12.2,134,2490,0.00,2.70,0.00,0.000,1030,0.000,0.033,2193,2582,3569,3443,3695,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2806,-0.52,-175.2,2193,2580,3443,3689,504.5,-12.0,150,2813,0.00,2.67,0.00,0.000,516,0.000,0.030,2193,1117,3566,3443,3689,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2877,-0.52,-175.2,2193,1117,3443,3688,512.7,-11.8,153,2884,0.12,2.70,0.00,0.000,3078,0.131,0.034,2222,2583,3565,3443,3688,0,0,0,0,0,0,26.66,26.72,28.83
$GC,3201,-0.52,-175.2,2221,2580,3442,3682,541.9,-8.7,169,3207,0.00,2.67,0.00,0.000,516,0.000,0.030,2222,1109,3562,3443,3682,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3248,-0.52,-175.2,2222,1109,3443,3682,546.1,-8.8,171,3254,0.00,2.67,0.00,0.000,1030,0.000,0.032,2220,2580,3562,3443,3682,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3575,-0.52,-175.2,2220,2577,3443,3675,576.6,-9.7,187,3581,0.00,2.67,0.00,0.000,516,0.000,0.029,2220,1106,3558,3443,3674,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3632,-0.52,-175.2,2220,1106,3442,3674,581.2,-10.0,189,3639,0.00,2.70,0.00,0.000,1030,0.000,0.032,2220,2585,3558,3443,3673,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3948,-0.52,-175.2,2219,2583,3443,3667,613.8,-10.0,203,3954,0.00,2.67,0.00,0.000,516,0.000,0.030,2220,1115,3555,3443,3667,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3984,-0.52,-175.2,2219,1115,3443,3667,617.4,-10.0,204,3990,0.00,2.70,0.00,0.000,1030,0.000,0.033,2218,2579,3554,3442,3667,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4320,-0.52,-175.2,2220,2577,3442,3661,649.5,-9.3,215,4326,0.00,2.67,0.00,0.000,516,0.000,0.030,2220,1107,3552,3443,3661,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4387,-0.52,-175.2,2220,1107,3443,3661,655.5,-9.1,217,4394,0.00,2.70,0.00,0.000,1030,0.000,0.031,2220,2582,3551,3443,3660,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4724,-0.52,-175.2,2219,2579,3439,3657,683.9,-8.3,228,4730,0.00,2.67,0.00,0.000,516,0.000,0.030,2220,1110,3550,3439,3662,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4748,-0.52,-175.2,2219,1109,3439,3656,683.9,-8.3,228,4754,0.00,2.70,0.00,0.000,1030,0.000,0.032,2219,2584,3548,3439,3657,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5066,-0.52,-175.2,2219,2582,3437,3653,711.9,-8.3,239,5072,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1119,3545,3438,3653,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5101,-0.52,-175.2,2219,1119,3437,3653,715.3,-8.5,240,5107,0.00,2.70,0.00,0.000,1030,0.000,0.034,2220,2581,3544,3437,3652,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5436,-0.52,-175.2,2219,2578,3432,3649,744.7,-8.8,251,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2578,3542,3435,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,-0.52,-175.2,2219,2578,3434,3647,772.3,-9.2,261,5743,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1114,3540,3434,3646,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5809,-0.52,-175.2,2219,1114,3433,3646,778.3,-9.0,263,5815,0.00,2.67,0.00,0.000,1030,0.000,0.033,2220,2580,3539,3433,3645,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6140,-0.52,-175.2,2219,2578,3431,3643,804.8,-7.5,274,6146,0.00,2.70,0.00,0.000,516,0.000,0.032,2220,1109,3537,3431,3643,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6181,-0.52,-175.2,2219,1109,3431,3643,807.6,-7.4,275,6188,0.00,2.67,0.00,0.000,1030,0.000,0.031,2216,2581,3536,3431,3642,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6513,-0.52,-175.2,2216,2579,3430,3638,833.4,-7.6,286,6519,0.00,2.67,0.00,0.000,516,0.000,0.031,2218,1113,3534,3430,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6554,-0.52,-175.2,2218,1112,3430,3638,836.3,-7.6,287,6560,0.00,2.67,0.00,0.000,1030,0.000,0.031,2210,2580,3534,3430,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6885,-0.52,-175.2,2210,2577,3428,3635,863.8,-8.1,298,6891,0.00,2.67,0.00,0.000,516,0.000,0.031,2210,1120,3531,3428,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6932,-0.52,-175.2,2210,1120,3428,3637,866.7,-8.1,299,6938,0.00,2.70,0.00,0.000,1030,0.000,0.035,2208,2580,3531,3428,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7257,-0.52,-175.2,2207,2580,3426,3633,894.8,-8.4,310,7263,0.00,2.67,0.00,0.000,516,0.000,0.031,2207,1119,3529,3426,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7307,-0.52,-175.2,2207,1119,3426,3631,897.4,-8.2,311,7314,0.00,2.70,0.00,0.000,1030,0.000,0.033,2207,2583,3529,3426,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7629,-0.52,-175.2,2206,2581,3425,3630,926.8,-9.1,322,7635,0.00,2.67,0.00,0.000,516,0.000,0.031,2207,1124,3527,3425,3630,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7678,-0.52,-175.2,2206,1125,3425,3630,930.2,-9.3,323,7685,0.00,2.67,0.00,0.000,1030,0.000,0.034,2207,2579,3527,3425,3630,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7999,-0.52,-175.2,2206,2576,3425,3627,961.3,-9.1,334,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2576,3526,3425,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8300,-0.52,-175.2,2206,2577,3424,3626,987.3,-8.4,344,8306,0.00,2.67,0.00,0.000,516,0.000,0.033,2206,1126,3525,3424,3626,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,8333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8333,begin apogee
$GC,8342,-0.14,0.0,2206,2469,3424,3626,990.4,-8.4,345,8501,0.38,0.08,151.75,0.976,10246,0.097,0.090,2344,2409,2846,2858,2834,0,0,0,0,0,0,26.65,24.89,24.27
$STATE,8505,end apogee,CONTROL_FINISHED_OK
$STATE,8505,begin climb
$GC,8507,0.52,175.2,2344,2409,2853,2822,996.8,0.0,349,8687,0.55,2.53,166.93,0.985,10500,0.040,0.041,2559,3820,2123,2248,1999,0,0,0,0,0,0,25.12,24.76,24.11
$GC,8776,0.52,175.2,2559,3820,2235,1994,975.3,13.6,359,8781,0.00,2.28,0.00,0.000,1030,0.000,0.016,2570,2400,2114,2235,1993,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9111,0.52,175.2,2570,2399,2231,1987,930.7,12.7,370,9117,0.00,2.45,0.00,0.000,260,0.000,0.041,2560,3842,2108,2230,1987,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9262,0.52,175.2,1632,3841,2189,1979,912.9,13.9,374,9270,0.00,2.22,0.00,0.000,1030,0.000,0.017,2571,2400,2108,2229,1987,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9572,0.52,175.2,2571,2398,2226,1987,874.7,10.8,385,9578,0.00,2.42,0.00,0.000,260,0.000,0.040,2560,3848,2106,2226,1987,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9694,0.52,175.2,2560,3848,2226,1987,863.0,11.5,388,9702,0.00,2.22,0.00,0.000,1030,0.000,0.017,2572,2397,2106,2226,1987,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10002,0.52,175.2,2571,2395,2224,1986,829.2,9.9,399,10008,0.00,2.40,0.00,0.000,260,0.000,0.041,2560,3847,2105,2224,1987,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10122,0.52,175.2,1632,3847,2184,1978,817.8,11.0,402,10130,0.00,2.22,0.00,0.000,1030,0.000,0.018,2572,2397,2105,2224,1987,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10432,0.52,175.2,2572,2395,2222,1986,782.6,10.5,413,10438,0.00,2.38,0.00,0.000,260,0.000,0.041,2561,3831,2104,2223,1986,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10568,0.52,175.2,2560,3831,2222,1986,767.4,11.7,417,10574,0.00,2.20,0.00,0.000,1030,0.000,0.017,2571,2397,2104,2222,1986,0,0,0,0,0,0,28.83,26.58,28.83
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$STATE,18420,end climb,SURFACE_DEPTH_REACHED
$STATE,18420,begin surface coast
$FINISH,-0.5,1.019310
$STATE,18482,end surface coast,CONTROL_FINISHED_OK
$STATE,18482,begin surface
$SM_CCo,18500,44.83,0.121,0,0,1220,400.08
$SM_GC,0.20,6.25,0.52,44.83,0.027,0.040,0.121,130,2610,1220,-6.98,-0.28,400.08,0,0,0,0,0,0,26.64,26.67,26.41
$IRIDIUM_FIX,1740.58,12424.10,250313,212115
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.80
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3994496
$24V_AH,24.1,7.201
$10V_AH,10.2,5.212
$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,16.125,209.525,429.600,44.825,0.000,0.000,0.000,419.050,0.000,0.000,16.171,3922.911,10996.729,747.781,2831.548,716.189,0.000,2391.511,0.000,2249.427,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,97.920,984.555,120.870,0.000,0.000,0.000,124.695,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.440,0.000,0.000,0.000
$MEM,329752
$DATA_FILE_SIZE,30072,826
$CAP_FILE_SIZE,474833,0
$CFSIZE,260034560,247951360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,263.2,1
$GPS,260313,080954,1749.302,12419.508,39,1.2,39,-2.0