version: 66.11
glider: 169
mission: 8
dive: 98
start: 4 4 113 21 13 54
data:
$ID,169
$MISSION,8
$DIVE,98
$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,-20980.623
$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,48
$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,2475
$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,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
$GPS1,040413,210059,1912.840,12255.246,37,1.5,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-70.3
$GPS2,040413,211325,1912.923,12255.230,17,1.5,17,-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,71.8,186846,-3.2,-8.250,-19.13,2990
$D_GRID,4613
$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,-0.47,-160.6,121,2490,1267,939,0.0,0.0,0,100,0.00,0.00,-74.28,0.000,16386,0.000,0.000,121,2490,2987,2920,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.47,-160.6,121,2491,2920,3055,3.3,-7.3,10,129,8.77,2.28,-9.10,0.000,18692,0.249,0.062,2217,3822,3509,3386,3633,0,0,0,0,0,0,25.91,26.17,26.48
$GC,244,-0.47,-160.6,2217,3822,3388,3633,58.9,-33.1,23,250,0.00,2.15,0.00,0.000,1030,0.000,0.029,2217,2455,3512,3388,3636,0,0,0,0,0,0,28.83,26.33,28.83
$GC,559,-0.47,-160.6,2217,2454,3388,3633,158.4,-27.0,39,565,0.00,2.47,0.00,0.000,516,0.000,0.032,2217,1005,3510,3388,3633,0,0,0,0,0,0,28.83,26.46,28.83
$GC,606,-0.47,-160.6,2217,1004,3388,3633,169.5,-24.8,41,612,0.00,2.60,0.00,0.000,1030,0.000,0.034,2210,2485,3511,3389,3633,0,0,0,0,0,0,28.83,26.48,28.83
$GC,933,-0.47,-160.6,2210,2483,3391,3633,241.6,-19.8,57,939,0.00,2.55,0.00,0.000,516,0.000,0.031,2210,1011,3512,3391,3633,0,0,0,0,0,0,28.83,26.57,28.83
$GC,975,-0.47,-160.6,2210,1011,3391,3633,246.3,-19.0,58,983,0.10,2.58,0.00,0.000,3078,0.162,0.034,2234,2484,3512,3391,3633,0,0,0,0,0,0,26.48,26.57,28.83
$GC,1279,-0.47,-160.6,2234,2481,3392,3633,291.1,-12.0,74,1285,0.00,2.53,0.00,0.000,516,0.000,0.030,2235,1016,3512,3391,3633,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1321,-0.47,-160.6,2234,1016,3391,3633,294.5,-12.5,75,1330,0.00,2.55,0.00,0.000,1030,0.000,0.033,2230,2482,3512,3391,3633,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1625,-0.47,-160.6,2234,2480,3391,3633,341.9,-14.4,91,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2480,3512,3391,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.47,-160.6,2234,2480,3391,3632,374.3,-10.0,106,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2480,3511,3391,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,-0.47,-160.6,2233,2479,3391,3627,406.6,-10.5,121,2231,0.00,2.15,0.00,0.000,260,0.000,0.047,2231,3829,3509,3391,3628,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2259,-0.47,-160.6,2231,3829,3393,3627,409.2,-10.4,122,2266,0.00,2.10,0.00,0.000,1030,0.000,0.025,2231,2450,3508,3391,3626,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2576,-0.47,-160.6,2230,2450,3391,3623,443.6,-11.1,138,2582,0.00,2.25,0.00,0.000,260,0.000,0.046,2225,3828,3507,3391,3623,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2645,-0.47,-160.6,2224,3828,3391,3621,451.7,-11.5,141,2651,0.00,2.12,0.00,0.000,1030,0.000,0.026,2225,2449,3506,3391,3621,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2972,-0.47,-160.6,2225,2450,3391,3616,488.9,-10.8,157,2979,0.00,2.45,0.00,0.000,516,0.000,0.032,2225,1014,3503,3390,3616,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3022,-0.47,-160.6,2225,1014,3390,3616,494.2,-10.8,159,3029,0.00,2.50,0.00,0.000,1030,0.000,0.031,2223,2482,3502,3390,3615,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3350,-0.47,-160.6,2222,2479,3390,3610,528.7,-10.1,175,3356,0.00,2.17,0.00,0.000,260,0.000,0.047,2220,3842,3500,3391,3610,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3411,-0.47,-160.6,2220,3842,3390,3610,533.4,-9.9,177,3419,0.00,2.17,0.00,0.000,1030,0.000,0.024,2220,2439,3499,3390,3609,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3718,-0.47,-160.6,2219,2439,3389,3604,563.5,-9.3,193,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2438,3497,3390,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-0.47,-160.6,2219,2438,3390,3599,592.9,-10.3,208,4024,0.00,2.33,0.00,0.000,260,0.000,0.050,2219,3826,3494,3390,3599,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4081,-0.47,-160.6,2219,3826,3390,3598,598.0,-10.8,210,4090,0.00,2.15,0.00,0.000,1030,0.000,0.026,2219,2446,3494,3390,3598,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4389,-0.47,-160.6,2219,2446,3390,3592,634.0,-11.2,221,4395,0.00,2.30,0.00,0.000,260,0.000,0.049,2207,3831,3491,3390,3592,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4444,-0.47,-160.6,2208,3831,3390,3591,638.2,-11.1,222,4451,0.10,2.15,0.00,0.000,3078,0.139,0.027,2238,2452,3490,3390,3591,0,0,0,0,0,0,26.62,26.74,28.83
$GC,4762,-0.47,-160.6,2237,2451,3389,3587,667.9,-8.0,233,4768,0.00,2.30,0.00,0.000,260,0.000,0.047,2233,3840,3488,3389,3587,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4830,-0.47,-160.6,2233,3840,3388,3587,673.5,-8.1,235,4835,0.00,2.17,0.00,0.000,1030,0.000,0.024,2233,2445,3487,3388,3587,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5165,-0.47,-160.6,2233,2441,3383,3582,701.2,-8.3,246,5171,0.00,2.33,0.00,0.000,260,0.000,0.050,2229,3840,3484,3387,3582,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5205,-0.47,-160.6,2229,3840,3387,3578,704.1,-8.3,247,5212,0.00,2.15,0.00,0.000,1030,0.000,0.025,2229,2449,3484,3386,3582,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5539,-0.47,-160.6,2229,2449,3386,3579,729.9,-7.4,258,5544,0.00,2.30,0.00,0.000,260,0.000,0.048,2220,3834,3482,3386,3579,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5609,-0.47,-160.6,2220,3834,3385,3578,735.3,-7.6,260,5616,0.00,2.17,0.00,0.000,1030,0.000,0.027,2220,2447,3482,3385,3579,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5941,-0.47,-160.6,2220,2447,3385,3576,761.2,-7.9,271,5946,0.00,2.30,0.00,0.000,260,0.000,0.052,2220,3821,3480,3385,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6008,-0.47,-160.6,2220,3821,3383,3575,766.5,-8.0,273,6014,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2451,3479,3383,3575,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6343,-0.47,-160.6,2220,2451,3383,3572,794.6,-8.7,284,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2451,3477,3382,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,-0.47,-160.6,2220,2451,3380,3570,817.7,-7.0,294,6650,0.00,2.28,0.00,0.000,260,0.000,0.047,2208,3829,3475,3381,3570,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6680,-0.47,-160.6,2209,3829,3380,3570,820.2,-6.9,295,6686,0.00,2.17,0.00,0.000,1030,0.000,0.026,2209,2445,3475,3380,3570,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7016,-0.47,-160.6,2209,2445,3380,3567,843.7,-7.2,306,7022,0.00,2.30,0.00,0.000,260,0.000,0.052,2206,3821,3473,3380,3567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7077,-0.47,-160.6,2206,3821,3380,3567,846.3,-7.3,307,7085,0.10,2.15,0.00,0.000,3078,0.135,0.027,2237,2449,3473,3380,3567,0,0,0,0,0,0,26.60,26.72,28.83
$GC,7386,-0.47,-160.6,2236,2450,3380,3564,870.6,-7.7,318,7392,0.00,2.30,0.00,0.000,260,0.000,0.049,2231,3827,3472,3380,3564,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7427,-0.47,-160.6,2231,3827,3379,3564,873.6,-7.8,319,7434,0.00,2.15,0.00,0.000,1030,0.000,0.026,2232,2448,3471,3379,3564,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7759,-0.47,-160.6,2231,2448,3379,3561,899.8,-7.4,330,7765,0.00,2.30,0.00,0.000,260,0.000,0.049,2221,3835,3469,3378,3561,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7826,-0.47,-160.6,2220,3835,3377,3561,904.9,-7.5,332,7832,0.00,2.17,0.00,0.000,1030,0.000,0.026,2221,2447,3470,3379,3561,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8162,-0.47,-160.6,2220,2448,3377,3559,929.5,-7.0,343,8167,0.00,2.30,0.00,0.000,260,0.000,0.050,2215,3829,3470,3381,3559,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8239,-0.47,-160.6,2215,3829,3376,3559,934.3,-7.1,345,8245,0.00,2.17,0.00,0.000,1030,0.000,0.028,2215,2447,3467,3376,3559,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8565,-0.47,-160.6,2215,2448,3376,3556,956.4,-6.4,356,8571,0.00,2.30,0.00,0.000,260,0.000,0.050,2207,3825,3466,3376,3556,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8621,-0.47,-160.6,2206,3827,3375,3556,958.8,-6.4,357,8627,0.00,2.17,0.00,0.000,1030,0.000,0.028,2207,2450,3465,3375,3556,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8941,-0.47,-160.6,2206,2451,3374,3554,982.8,-7.0,368,8948,0.10,2.30,0.00,0.000,2308,0.142,0.047,2227,3832,3465,3375,3555,0,0,0,0,0,0,26.63,26.63,28.83
$GC,8991,-0.47,-160.6,2227,3832,3374,3554,985.2,-6.9,369,8997,0.00,2.17,0.00,0.000,1030,0.000,0.027,2228,2446,3464,3374,3554,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9071,begin apogee
$GC,9077,-0.10,0.0,2224,2675,3374,3554,990.6,-5.8,372,9224,0.35,0.10,139.25,0.972,10246,0.095,0.073,2354,2590,2846,2857,2835,0,0,0,0,0,0,26.59,25.03,24.36
$STATE,9226,end apogee,CONTROL_FINISHED_OK
$STATE,9226,begin climb
$GC,9229,0.47,160.6,2354,2590,2852,2825,996.8,0.0,376,9393,0.47,2.88,152.23,0.985,11012,0.034,0.024,2587,1183,2183,2306,2060,0,0,0,0,0,0,25.25,24.88,24.18
$GC,9422,0.53,184.5,2587,1183,2297,2052,988.8,7.4,383,9454,0.00,2.92,23.40,0.960,9222,0.000,0.027,2574,2669,2087,2216,1959,0,0,0,0,0,0,28.83,25.27,24.34
$GC,9781,0.53,184.5,2574,2668,2199,1942,943.3,12.3,395,9786,0.00,1.75,0.00,0.000,260,0.000,0.043,2566,3835,2070,2199,1941,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9821,0.53,184.5,2565,3835,2198,1941,938.5,12.5,396,9827,0.00,1.75,0.00,0.000,1030,0.000,0.017,2575,2570,2069,2198,1941,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10151,0.53,184.5,2575,2569,2195,1941,897.0,12.4,407,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2569,2068,2195,1941,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18967,end climb,SURFACE_DEPTH_REACHED
$STATE,18967,begin surface coast
$FINISH,-0.2,1.021989
$STATE,18996,end surface coast,CONTROL_FINISHED_OK
$STATE,18996,begin surface
$SM_CCo,19013,53.80,0.120,0,0,1098,430.01
$SM_GC,0.50,6.43,0.52,53.80,0.034,0.028,0.120,141,2444,1098,-6.97,0.31,430.01,0,0,0,0,0,0,26.56,26.67,26.34
$IRIDIUM_FIX,1902.38,12253.30,040413,151531
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.25
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.60
$XPDR_PINGS,0
$SC_FREEKB,3972160
$24V_AH,24.2,13.080
$10V_AH,10.3,10.042
$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,16.975,194.650,425.775,53.800,0.000,0.000,0.000,452.475,0.000,0.000,18.478,3532.334,12235.483,752.101,2534.744,726.783,0.000,2302.779,0.000,1929.530,0.000,0.545,0.000
$DEVICE_MAMPS,249.390,72.675,985.320,120.105,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19085.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.482,0.000,0.000,0.000
$MEM,323244
$DATA_FILE_SIZE,30075,844
$CAP_FILE_SIZE,446273,0
$CFSIZE,260034560,240238592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,344.5,1
$GPS,050413,023253,1914.277,12256.846,37,1.5,37,-2.2