version: 66.11
glider: 169
mission: 8
dive: 120
start: 4 9 113 15 53 46
data:
$ID,169
$MISSION,8
$DIVE,120
$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,-6
$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,-21009.156
$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,2500
$C_ROLL_CLIMB,2600
$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
$GPS1,090413,154105,1933.825,12332.209,38,1.0,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-72.1
$GPS2,090413,155319,1933.714,12332.353,11,1.3,11,-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,53.8,112697,-3.2,-8.250,-19.13,2990
$D_GRID,5092
$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,-160.6,122,2519,1272,932,0.0,0.0,0,110,0.00,0.00,-83.68,0.000,16386,0.000,0.000,122,2519,3293,3185,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.48,-160.6,122,2519,3186,3402,4.7,-12.2,11,131,8.10,2.22,-3.53,0.000,18692,0.223,0.063,2205,3824,3509,3381,3638,0,0,1,0,0,0,25.84,26.13,26.43
$GC,166,-0.48,-160.6,2205,3823,3386,3638,35.4,-57.0,17,174,0.00,2.17,0.00,0.000,1030,0.000,0.029,2205,2487,3512,3386,3638,0,0,0,0,0,0,28.83,26.22,28.83
$GC,475,-0.48,-160.6,2205,2485,3387,3638,107.8,-22.1,35,482,0.00,2.47,0.00,0.000,516,0.000,0.033,2205,1041,3512,3387,3638,0,0,0,0,0,0,28.83,26.39,28.83
$GC,654,-0.48,-160.6,2205,1042,3387,3638,140.7,-18.2,43,660,0.00,2.58,0.00,0.000,1030,0.000,0.037,2203,2504,3512,3387,3638,0,0,0,0,0,0,28.83,26.45,28.83
$GC,970,-0.48,-160.6,2203,2501,3388,3638,208.7,-21.0,59,976,0.00,2.55,0.00,0.000,516,0.000,0.031,2203,1022,3513,3388,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1020,-0.48,-160.6,2203,1022,3387,3638,217.5,-20.3,61,1027,0.00,2.60,0.00,0.000,1030,0.000,0.034,2203,2509,3512,3387,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1343,-0.48,-160.6,2203,2506,3387,3638,275.5,-17.3,77,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2506,3513,3388,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-0.48,-160.6,2203,2506,3387,3638,323.4,-14.9,92,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2506,3512,3387,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,-0.48,-160.6,2203,2505,3387,3637,367.2,-14.4,107,1949,0.00,2.58,0.00,0.000,516,0.000,0.031,2203,1034,3512,3387,3638,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2042,-0.48,-160.6,2203,1034,3387,3638,379.5,-13.7,111,2048,0.00,2.55,0.00,0.000,1030,0.000,0.034,2197,2510,3512,3387,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2358,-0.48,-160.6,2197,2507,3387,3635,425.2,-13.1,127,2363,0.00,2.15,0.00,0.000,260,0.000,0.049,2194,3822,3511,3387,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2393,-0.48,-160.6,2193,3822,3387,3634,428.5,-13.2,128,2399,0.00,2.12,0.00,0.000,1030,0.000,0.026,2194,2478,3510,3387,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2708,-0.48,-160.6,2193,2478,3387,3634,469.3,-12.6,144,2715,0.10,2.42,0.00,0.000,2564,0.137,0.032,2226,1039,3510,3388,3632,0,0,0,0,0,0,26.64,26.65,28.83
$GC,2791,-0.48,-160.6,2226,1039,3387,3632,476.9,-11.7,147,2799,0.00,2.50,0.00,0.000,1030,0.000,0.034,2224,2506,3509,3387,3631,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3097,-0.48,-160.6,2224,2503,3387,3627,512.7,-11.8,163,3103,0.00,2.17,0.00,0.000,260,0.000,0.046,2221,3841,3507,3387,3627,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3180,-0.48,-160.6,2220,3841,3388,3626,520.5,-11.3,166,3188,0.00,2.15,0.00,0.000,1030,0.000,0.025,2221,2471,3507,3388,3626,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3487,-0.48,-160.6,2220,2472,3387,3621,553.3,-9.4,182,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2471,3504,3387,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3786,-0.48,-160.6,2220,2471,3387,3616,580.2,-9.3,197,3792,0.00,2.33,0.00,0.000,260,0.000,0.050,2220,3832,3501,3387,3616,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3847,-0.48,-160.6,2220,3830,3387,3615,584.6,-9.6,199,3856,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2476,3501,3387,3615,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4174,-0.48,-160.6,2220,2476,3387,3611,619.9,-10.5,213,4180,0.00,2.30,0.00,0.000,260,0.000,0.049,2220,3831,3498,3387,3610,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4250,-0.48,-160.6,2220,3836,3387,3610,626.9,-10.6,215,4256,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2478,3498,3387,3610,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4575,-0.48,-160.6,2220,2478,3386,3604,658.8,-9.1,226,4581,0.00,2.42,0.00,0.000,516,0.000,0.034,2220,1045,3495,3387,3604,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4595,-0.48,-160.6,2220,1045,3387,3604,658.8,-9.1,226,4601,0.00,2.50,0.00,0.000,1030,0.000,0.032,2220,2511,3495,3387,3604,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4915,-0.48,-160.6,2220,2509,3387,3599,687.9,-8.2,237,4922,0.00,2.17,0.00,0.000,260,0.000,0.047,2220,3823,3493,3388,3599,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4986,-0.48,-160.6,2220,3823,3388,3598,693.4,-8.2,239,4992,0.00,2.17,0.00,0.000,1030,0.000,0.027,2220,2463,3491,3387,3596,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5317,-0.48,-160.6,2219,2463,3387,3593,721.1,-8.5,250,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2463,3490,3387,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5618,-0.48,-160.6,2220,2463,3388,3589,745.7,-8.1,260,5623,0.00,2.35,0.00,0.000,260,0.000,0.048,2220,3828,3488,3387,3589,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5685,-0.48,-160.6,2220,3827,3386,3589,751.4,-8.3,262,5690,0.00,2.17,0.00,0.000,1030,0.000,0.028,2220,2477,3487,3386,3589,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6020,-0.48,-160.6,2220,2477,3386,3585,780.7,-8.8,273,6025,0.00,2.33,0.00,0.000,260,0.000,0.051,2220,3831,3485,3386,3584,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6065,-0.48,-160.6,2220,3831,3385,3584,783.8,-8.8,274,6071,0.00,2.17,0.00,0.000,1030,0.000,0.028,2220,2480,3485,3386,3584,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6391,-0.48,-160.6,2220,2480,3385,3581,812.9,-8.4,285,6398,0.00,2.30,0.00,0.000,260,0.000,0.048,2217,3832,3482,3384,3581,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6441,-0.48,-160.6,2217,3834,3378,3581,816.0,-8.5,286,6447,0.00,2.17,0.00,0.000,1030,0.000,0.027,2217,2475,3482,3383,3581,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6762,-0.48,-160.6,2217,2475,3383,3579,844.5,-8.5,297,6768,0.00,2.33,0.00,0.000,260,0.000,0.052,2211,3830,3480,3382,3579,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6822,-0.48,-160.6,2211,3830,3381,3579,847.0,-8.3,298,6830,0.00,2.17,0.00,0.000,1030,0.000,0.029,2211,2479,3480,3381,3579,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7131,-0.48,-160.6,2210,2480,3381,3577,878.1,-9.6,309,7138,0.00,2.33,0.00,0.000,260,0.000,0.050,2207,3836,3479,3381,3577,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7187,-0.48,-160.6,2207,3837,3380,3577,882.0,-9.7,310,7193,0.00,2.20,0.00,0.000,1030,0.000,0.028,2207,2466,3478,3380,3577,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7504,-0.48,-160.6,2207,2466,3386,3574,913.7,-8.8,321,7510,0.00,2.35,0.00,0.000,260,0.000,0.050,2207,3833,3476,3380,3573,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7553,-0.48,-160.6,2207,3833,3380,3573,916.2,-8.2,322,7559,0.00,2.20,0.00,0.000,1030,0.000,0.028,2207,2469,3477,3380,3574,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7875,-0.48,-160.6,2207,2470,3379,3571,941.2,-7.2,333,7881,0.00,2.35,0.00,0.000,260,0.000,0.052,2207,3832,3475,3380,3571,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7931,-0.48,-160.6,2207,3832,3378,3571,943.9,-7.2,334,7936,0.00,2.17,0.00,0.000,1030,0.000,0.028,2207,2481,3474,3378,3571,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8249,-0.48,-160.6,2207,2481,3377,3569,968.3,-7.4,345,8255,0.00,2.30,0.00,0.000,260,0.000,0.051,2207,3819,3473,3378,3569,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8296,-0.48,-160.6,2206,3819,3377,3570,971.3,-7.4,346,8301,0.00,2.17,0.00,0.000,1030,0.000,0.027,2207,2468,3473,3377,3569,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,8558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8560,begin apogee
$GC,8567,-0.12,0.0,2206,2610,3377,3567,992.0,-7.4,355,8711,0.35,0.00,138.50,1.062,10246,0.094,0.000,2336,2611,2850,2859,2841,0,0,0,0,0,0,26.52,28.83,24.37
$STATE,8713,end apogee,CONTROL_FINISHED_OK
$STATE,8713,begin climb
$GC,8716,0.48,160.6,2336,2610,2853,2827,996.6,0.0,359,8878,0.52,2.95,151.27,0.991,10756,0.050,0.025,2555,1147,2181,2307,2056,0,0,1,0,0,0,25.13,24.84,24.18
$GC,8898,0.54,183.4,2555,1146,2296,2051,987.6,7.5,366,8933,0.00,2.83,21.92,0.954,9222,0.000,0.026,2555,2604,2088,2217,1959,0,0,0,0,0,0,28.83,25.18,24.34
$GC,9228,0.54,183.4,2554,2603,2204,1947,950.5,11.1,377,9234,0.00,1.92,0.00,0.000,260,0.000,0.042,2554,3833,2075,2204,1946,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9276,0.54,183.4,2554,3833,2204,1946,946.2,11.3,378,9282,0.00,1.90,0.00,0.000,1030,0.000,0.016,2565,2562,2074,2203,1946,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9602,0.54,183.4,2564,2561,2199,1946,908.5,11.0,389,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2561,2072,2199,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9902,0.54,183.4,2565,2561,2197,1946,875.0,11.2,399,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2561,2073,2197,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10202,0.54,183.4,2565,2561,2196,1945,840.4,11.7,409,10208,0.00,2.08,0.00,0.000,260,0.000,0.041,2554,3836,2070,2196,1945,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10269,0.54,183.4,2559,3836,2195,1945,831.4,12.6,411,10275,0.00,1.88,0.00,0.000,1030,0.000,0.016,2565,2561,2070,2195,1945,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10605,0.54,183.4,2564,2560,2194,1945,790.8,12.4,422,10611,0.00,2.08,0.00,0.000,260,0.000,0.041,2555,3842,2069,2193,1945,0,0,0,0,0,0,28.83,26.45,28.83
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$STATE,18416,end climb,SURFACE_DEPTH_REACHED
$STATE,18416,begin surface coast
$FINISH,-0.5,1.022856
$STATE,18451,end surface coast,CONTROL_FINISHED_OK
$STATE,18451,begin surface
$SM_CCo,18468,53.70,0.124,0,0,1097,430.01
$SM_GC,-0.01,6.32,0.35,53.70,0.031,0.033,0.124,137,2472,1097,-6.94,0.45,430.01,0,0,0,0,0,0,26.53,26.62,26.25
$IRIDIUM_FIX,1925.22,12329.99,090413,101009
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.58
$INTERNAL_PRESSURE,9.34962
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3960896
$24V_AH,24.2,15.874
$10V_AH,10.0,12.375
$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,16.475,200.050,416.075,53.700,0.000,0.000,0.000,436.625,0.000,0.000,12.533,3454.061,11809.339,759.570,2473.182,724.793,0.000,2273.433,0.000,1887.305,0.000,0.545,0.000
$DEVICE_MAMPS,223.380,63.495,1061.820,123.930,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18538.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.643,0.000,0.000,0.000
$MEM,329128
$DATA_FILE_SIZE,30016,825
$CAP_FILE_SIZE,438667,0
$CFSIZE,260034560,236507136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.165,121.7,1
$GPS,090413,210336,1933.894,12335.412,32,0.9,32,-2.3