version: 66.11
glider: 169
mission: 8
dive: 60
start: 3 27 113 10 57 50
data:
$ID,169
$MISSION,8
$DIVE,60
$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,-20930.246
$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,2425
$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,1
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,270313,104500,1750.549,12405.075,42,1.3,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-73.3
$GPS2,270313,105721,1750.595,12404.968,13,2.2,32,-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,309.1,205171,-2.9,-8.462,-18.75,3180
$D_GRID,4684
$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,-175.2,122,2561,1355,1094,0.0,0.0,0,96,0.00,0.00,-71.05,0.000,16386,0.000,0.000,122,2562,3040,2959,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.52,-175.2,122,2561,2959,3121,3.6,-7.8,9,126,8.15,2.03,-9.07,0.000,19204,0.231,0.060,2201,3840,3568,3431,3705,0,0,0,0,0,0,25.99,26.22,26.52
$GC,244,-0.52,-175.2,2201,3840,3434,3705,55.1,-30.2,23,251,0.00,1.88,0.00,0.000,1030,0.000,0.028,2201,2565,3569,3434,3705,0,0,0,0,0,0,28.83,26.37,28.83
$GC,561,-0.52,-175.2,2201,2563,3434,3705,164.1,-30.9,39,567,0.00,1.98,0.00,0.000,260,0.000,0.053,2194,3836,3569,3434,3705,0,0,0,0,0,0,28.83,26.49,28.83
$GC,749,-0.52,-175.2,2194,3837,3435,3705,204.7,-20.5,47,758,0.00,1.92,0.00,0.000,1030,0.000,0.028,2194,2531,3570,3435,3705,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1055,-0.52,-175.2,2194,2531,3436,3705,271.0,-20.8,63,1062,0.00,2.53,0.00,0.000,516,0.000,0.033,2194,1110,3570,3436,3704,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1212,-0.52,-175.2,2194,1109,3436,3705,296.1,-16.4,70,1218,0.00,2.60,0.00,0.000,1030,0.000,0.033,2193,2551,3570,3436,3704,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1535,-0.52,-175.2,2193,2549,3436,3704,349.6,-16.0,86,1540,0.00,2.58,0.00,0.000,516,0.000,0.030,2193,1110,3570,3436,3704,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1616,-0.52,-175.2,2193,1110,3436,3704,359.8,-15.0,89,1624,0.00,2.55,0.00,0.000,1030,0.000,0.032,2193,2537,3571,3436,3706,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1922,-0.52,-175.2,2191,2535,3436,3702,409.9,-15.7,105,1928,0.00,2.53,0.00,0.000,516,0.000,0.028,2194,1105,3568,3435,3701,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1990,-0.52,-175.2,2193,1105,3436,3701,420.1,-15.1,108,1996,0.00,2.58,0.00,0.000,1030,0.000,0.034,2193,2538,3568,3436,3701,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2317,-0.52,-175.2,2193,2536,3436,3696,461.4,-11.7,124,2323,0.00,2.53,0.00,0.000,516,0.000,0.029,2193,1110,3566,3435,3697,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2376,-0.52,-175.2,2193,1109,3436,3696,467.1,-11.6,126,2382,0.00,2.50,0.00,0.000,1030,0.000,0.032,2193,2526,3565,3436,3695,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2692,-0.52,-175.2,2193,2524,3435,3689,505.8,-12.3,142,2699,0.00,2.50,0.00,0.000,516,0.000,0.033,2194,1110,3562,3435,3689,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2718,-0.52,-175.2,2193,1110,3436,3689,509.0,-12.2,143,2726,0.12,2.50,0.00,0.000,3078,0.132,0.032,2223,2523,3562,3436,3688,0,0,0,0,0,0,26.65,26.72,28.83
$GC,3047,-0.52,-175.2,2222,2522,3435,3683,538.7,-8.8,159,3053,0.00,2.03,0.00,0.000,260,0.000,0.050,2220,3821,3559,3435,3683,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3097,-0.52,-175.2,2220,3821,3435,3682,542.9,-8.8,161,3104,0.00,2.00,0.00,0.000,1030,0.000,0.026,2220,2495,3558,3435,3682,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3421,-0.52,-175.2,2220,2495,3435,3675,568.4,-7.6,177,3427,0.00,2.42,0.00,0.000,516,0.000,0.036,2220,1110,3554,3435,3674,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3463,-0.52,-175.2,2220,1109,3435,3674,570.7,-7.8,178,3471,0.00,2.50,0.00,0.000,1030,0.000,0.034,2220,2523,3554,3435,3674,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3767,-0.52,-175.2,2219,2521,3435,3668,601.0,-10.9,194,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2521,3551,3435,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4067,-0.52,-175.2,2219,2521,3435,3662,634.8,-10.7,204,4072,0.00,2.05,0.00,0.000,260,0.000,0.049,2211,3835,3548,3435,3662,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4095,-0.52,-175.2,2210,3839,3434,3661,634.8,-10.7,204,4104,0.00,2.05,0.00,0.000,1030,0.000,0.025,2211,2484,3548,3435,3662,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4403,-0.52,-175.2,2210,2485,3433,3659,666.8,-9.1,215,4409,0.00,2.38,0.00,0.000,516,0.000,0.036,2211,1129,3546,3434,3659,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4432,-0.52,-175.2,2210,1129,3433,3659,666.8,-9.1,215,4441,0.00,2.47,0.00,0.000,1030,0.000,0.037,2209,2515,3545,3433,3658,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4741,-0.52,-175.2,2208,2513,3433,3652,695.5,-8.6,226,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2513,3545,3433,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5040,-0.52,-175.2,2208,2513,3433,3648,722.0,-9.1,236,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2513,3541,3433,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5339,-0.52,-175.2,2208,2513,3433,3644,747.9,-8.3,246,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2513,3538,3433,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5640,-0.52,-175.2,2208,2513,3429,3643,771.1,-7.8,256,5646,0.00,2.47,0.00,0.000,516,0.000,0.034,2209,1116,3536,3430,3643,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5682,-0.52,-175.2,2208,1116,3430,3643,774.2,-8.0,257,5689,0.00,2.47,0.00,0.000,1030,0.000,0.035,2207,2514,3536,3430,3643,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6013,-0.52,-175.2,2204,2512,3427,3639,802.0,-8.5,268,6019,0.00,2.10,0.00,0.000,260,0.000,0.050,2207,3834,3532,3427,3638,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6054,-0.52,-175.2,2206,3835,3426,3638,805.0,-8.5,269,6060,0.00,2.08,0.00,0.000,1030,0.000,0.028,2207,2487,3532,3426,3638,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6385,-0.52,-175.2,2206,2487,3426,3635,833.9,-8.5,280,6391,0.00,2.22,0.00,0.000,260,0.000,0.055,2207,3834,3532,3429,3635,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6414,-0.52,-175.2,2206,3834,3425,3635,833.9,-8.5,280,6422,0.00,2.08,0.00,0.000,1030,0.000,0.029,2207,2488,3530,3425,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6725,-0.52,-175.2,2206,2488,3425,3632,859.8,-7.9,291,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2488,3528,3425,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,-0.52,-175.2,2209,2488,3427,3630,884.1,-8.2,301,7028,0.00,2.22,0.00,0.000,260,0.000,0.056,2207,3832,3527,3425,3630,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7072,-0.52,-175.2,2206,3832,3428,3630,887.2,-8.2,302,7079,0.00,2.05,0.00,0.000,1030,0.000,0.028,2207,2498,3527,3424,3630,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7395,-0.52,-175.2,2204,2494,3424,3627,914.5,-8.1,313,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2494,3525,3424,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7694,-0.52,-175.2,2206,2494,3422,3626,938.1,-8.1,323,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2494,3524,3422,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7994,-0.52,-175.2,2206,2494,3422,3623,964.3,-8.9,333,8000,0.00,2.20,0.00,0.000,260,0.000,0.051,2206,3836,3523,3422,3624,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8030,-0.52,-175.2,2206,3836,3421,3625,967.6,-8.9,334,8036,0.00,2.05,0.00,0.000,1030,0.000,0.028,2207,2494,3522,3421,3624,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,8275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8275,begin apogee
$GC,8281,-0.14,0.0,2206,2387,3421,3622,990.2,-9.2,342,8437,0.38,0.12,150.77,1.001,10244,0.095,0.082,2345,2455,2851,2862,2841,0,0,0,0,0,0,26.65,24.93,24.29
$STATE,8439,end apogee,CONTROL_FINISHED_OK
$STATE,8442,begin climb
$GC,8444,0.52,175.2,2345,2455,2854,2822,998.5,0.0,346,8620,0.55,2.62,164.95,0.991,10756,0.038,0.029,2576,965,2136,2260,2013,0,0,0,0,0,0,25.15,25.13,24.22
$GC,8676,0.52,175.2,2576,965,2239,1985,989.9,8.5,355,8684,0.00,2.53,0.00,0.000,1030,0.000,0.026,2571,2443,2111,2238,1985,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9003,0.52,175.2,2570,2441,2233,1982,950.1,11.7,366,9009,0.00,2.47,0.00,0.000,516,0.000,0.027,2582,962,2108,2234,1982,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9078,0.52,175.2,2582,963,2231,1982,942.4,11.7,368,9085,0.00,2.50,0.00,0.000,1030,0.000,0.026,2582,2464,2106,2231,1982,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9404,0.52,175.2,2582,2461,2230,1981,900.3,12.5,379,9410,0.00,2.28,0.00,0.000,260,0.000,0.043,2578,3833,2106,2230,1982,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9550,0.52,175.2,1632,3832,2186,1974,882.5,14.1,383,9556,0.12,2.25,0.00,0.000,5126,0.171,0.017,2557,2399,2104,2227,1982,0,0,0,0,0,0,26.24,26.41,28.83
$GC,9865,0.52,175.2,2557,2398,2226,1982,847.6,10.3,394,9871,0.00,2.42,0.00,0.000,260,0.000,0.043,2546,3824,2104,2226,1982,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10016,0.52,175.2,2546,3824,2224,1982,831.9,12.4,398,10024,0.00,2.17,0.00,0.000,1030,0.000,0.017,2557,2412,2103,2224,1982,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10326,0.52,175.2,2558,2411,2224,1982,796.8,10.5,409,10332,0.00,2.38,0.00,0.000,260,0.000,0.044,2552,3828,2102,2224,1981,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10461,0.52,175.2,2552,3828,2223,1982,781.0,12.2,413,10468,0.00,2.15,0.00,0.000,1030,0.000,0.016,2564,2424,2102,2223,1982,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10787,0.52,175.2,2564,2422,2223,1981,745.4,10.6,424,10794,0.00,2.38,0.00,0.000,260,0.000,0.043,2557,3843,2102,2223,1981,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10893,0.52,175.2,2556,3843,2222,1981,733.8,11.7,427,10898,0.00,2.15,0.00,0.000,1030,0.000,0.018,2567,2435,2102,2222,1982,0,0,0,0,0,0,28.83,26.62,28.83
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$STATE,17853,end climb,SURFACE_DEPTH_REACHED
$STATE,17853,begin surface coast
$FINISH,0.0,1.021978
$STATE,17887,end surface coast,CONTROL_FINISHED_OK
$STATE,17887,begin surface
$SM_CCo,17905,51.35,0.122,0,0,1218,400.08
$SM_GC,0.41,6.30,0.00,51.35,0.028,0.000,0.122,131,2584,1218,-6.98,0.25,400.08,0,0,0,0,0,0,26.65,28.83,26.41
$IRIDIUM_FIX,1745.10,12410.92,270313,050523
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.59
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3991424
$24V_AH,24.2,7.965
$10V_AH,10.4,5.875
$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,16.125,167.725,423.100,51.350,0.000,0.000,0.000,435.350,0.000,0.000,34.207,3469.555,11277.334,680.915,2562.144,675.896,0.000,2230.126,0.000,1948.684,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,100.215,1000.620,121.635,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.454,0.000,0.000,0.000
$MEM,329752
$DATA_FILE_SIZE,30051,801
$CAP_FILE_SIZE,432831,0
$CFSIZE,260034560,246927360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,290.0,1
$GPS,270313,155823,1751.799,12402.060,25,0.9,42,-2.0