version: 66.11
glider: 169
mission: 8
dive: 144
start: 4 15 113 0 42 36
data:
$ID,169
$MISSION,8
$DIVE,144
$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,-21398.16
$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,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
$GPS1,150413,002906,2014.465,12419.303,33,1.1,33,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-71.6
$GPS2,150413,004206,2014.353,12419.548,11,2.0,16,-2.5
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,221.7,268726,-3.2,-8.250,-19.13,2990
$D_GRID,5564
$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,-160.6,121,2520,1268,930,0.0,0.0,0,110,0.00,0.00,-84.38,0.000,16386,0.000,0.000,122,2520,3305,3191,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.48,-160.6,121,2520,3191,3419,4.7,-12.1,11,139,8.52,2.65,-3.35,0.000,18948,0.241,0.051,2219,1044,3512,3380,3645,0,0,0,0,0,0,25.79,26.13,26.42
$GC,317,-0.48,-160.6,2219,1044,3382,3645,66.0,-19.4,28,323,0.00,2.50,0.00,0.000,1030,0.000,0.035,2208,2514,3512,3381,3644,0,0,0,0,0,0,28.83,26.29,28.83
$GC,637,-0.48,-160.6,2208,2511,3382,3644,139.1,-22.1,44,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2511,3513,3383,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,937,-0.48,-160.6,2207,2510,3391,3644,192.7,-17.3,59,943,0.00,2.25,0.00,0.000,260,0.000,0.046,2206,3841,3514,3385,3644,0,0,0,0,0,0,28.83,26.48,28.83
$GC,987,-0.48,-160.6,2206,3841,3385,3644,201.0,-17.9,61,994,0.00,2.22,0.00,0.000,1030,0.000,0.024,2206,2470,3514,3385,3644,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1310,-0.48,-160.6,2206,2468,3385,3644,255.7,-16.9,77,1316,0.00,2.35,0.00,0.000,516,0.000,0.031,2206,1030,3514,3385,3644,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1427,-0.48,-160.6,2203,1029,3385,3644,271.0,-13.4,82,1434,0.00,2.47,0.00,0.000,1030,0.000,0.032,2206,2520,3514,3385,3644,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1744,-0.48,-160.6,2206,2517,3385,3644,319.6,-15.0,98,1750,0.00,2.22,0.00,0.000,260,0.000,0.049,2206,3835,3514,3385,3644,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1786,-0.48,-160.6,2207,3835,3385,3644,323.4,-14.8,99,1794,0.00,2.22,0.00,0.000,1030,0.000,0.024,2206,2467,3514,3385,3643,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2090,-0.48,-160.6,2206,2466,3384,3643,363.8,-10.9,115,2096,0.00,2.38,0.00,0.000,260,0.000,0.047,2206,3837,3513,3384,3643,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2109,-0.48,-160.6,2206,3837,3384,3643,363.8,-10.9,115,2117,0.00,2.25,0.00,0.000,1030,0.000,0.024,2206,2463,3514,3385,3643,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2416,-0.48,-160.6,2206,2463,3385,3639,402.4,-12.8,131,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2463,3511,3384,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2716,-0.48,-160.6,2206,2463,3384,3636,439.6,-12.2,146,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2464,3510,3385,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3017,-0.48,-160.6,2206,2463,3384,3632,471.4,-10.0,161,3023,0.00,2.42,0.00,0.000,260,0.000,0.050,2205,3832,3508,3384,3632,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3074,-0.48,-160.6,2206,3832,3384,3632,476.4,-10.5,163,3080,0.00,2.25,0.00,0.000,1030,0.000,0.026,2206,2467,3507,3384,3631,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3389,-0.48,-160.6,2206,2466,3384,3627,510.1,-10.0,179,3397,0.00,2.40,0.00,0.000,260,0.000,0.048,2207,3839,3505,3384,3627,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3442,-0.48,-160.6,2206,3839,3384,3626,514.9,-10.1,181,3448,0.00,2.22,0.00,0.000,1030,0.000,0.024,2206,2460,3505,3384,3626,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3764,-0.48,-160.6,2205,2458,3384,3622,549.0,-10.7,197,3770,0.00,2.40,0.00,0.000,260,0.000,0.050,2199,3829,3502,3384,3621,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3815,-0.48,-160.6,2198,3829,3384,3621,554.1,-10.5,199,3822,0.00,2.22,0.00,0.000,1030,0.000,0.027,2199,2465,3502,3384,3621,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4138,-0.48,-160.6,2199,2464,3384,3616,588.6,-10.1,215,4144,0.00,2.40,0.00,0.000,260,0.000,0.049,2194,3837,3500,3384,3616,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4164,-0.48,-160.6,2197,3837,3384,3616,591.2,-10.0,216,4169,0.00,2.22,0.00,0.000,1030,0.000,0.026,2194,2468,3500,3384,3616,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4479,-0.48,-160.6,2194,2467,3384,3612,623.2,-10.4,228,4485,0.00,2.40,0.00,0.000,260,0.000,0.048,2194,3835,3498,3384,3612,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4504,-0.48,-160.6,2193,3835,3384,3611,623.2,-10.4,228,4509,0.00,2.22,0.00,0.000,1030,0.000,0.025,2194,2466,3497,3384,3611,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4822,-0.48,-160.6,2194,2465,3384,3606,658.2,-10.4,239,4828,0.00,2.38,0.00,0.000,260,0.000,0.050,2193,3826,3495,3384,3606,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4872,-0.48,-160.6,2194,3825,3384,3605,662.1,-10.4,240,4878,0.00,2.22,0.00,0.000,1030,0.000,0.027,2194,2465,3494,3384,3605,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5192,-0.48,-160.6,2194,2464,3384,3602,693.3,-8.8,251,5198,0.00,2.38,0.00,0.000,260,0.000,0.050,2187,3827,3493,3384,3602,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5268,-0.48,-160.6,2188,3827,3384,3601,699.5,-9.0,253,5275,0.12,2.22,0.00,0.000,3078,0.122,0.028,2227,2468,3492,3384,3601,0,0,0,0,0,0,26.51,26.66,28.83
$GC,5595,-0.48,-160.6,2227,2467,3384,3597,723.4,-7.4,264,5601,0.00,2.38,0.00,0.000,260,0.000,0.049,2223,3841,3490,3384,3596,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5674,-0.48,-160.6,2223,3841,3382,3595,728.8,-7.8,266,5680,0.00,2.22,0.00,0.000,1030,0.000,0.026,2223,2463,3489,3383,3595,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5999,-0.48,-160.6,2223,2463,3384,3591,755.0,-7.5,277,6005,0.00,2.40,0.00,0.000,260,0.000,0.052,2220,3839,3487,3383,3591,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6080,-0.48,-160.6,1368,3838,3371,3588,760.1,-7.5,279,6085,0.00,2.22,0.00,0.000,1030,0.000,0.027,2220,2465,3486,3383,3590,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6401,-0.48,-160.6,2220,2464,3383,3586,783.9,-7.0,290,6407,0.00,2.38,0.00,0.000,260,0.000,0.050,2220,3827,3484,3383,3586,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6478,-0.48,-160.6,2221,3824,3382,3586,788.8,-7.1,292,6484,0.00,2.22,0.00,0.000,1030,0.000,0.028,2220,2466,3484,3382,3586,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6804,-0.48,-160.6,2220,2466,3382,3582,812.2,-6.9,303,6809,0.00,2.38,0.00,0.000,260,0.000,0.050,2220,3831,3482,3382,3582,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6907,-0.48,-160.6,2220,3831,3381,3582,819.2,-7.1,306,6912,0.00,2.22,0.00,0.000,1030,0.000,0.028,2220,2467,3481,3381,3582,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7238,-0.48,-160.6,2220,2468,3380,3580,842.8,-7.1,317,7244,0.00,2.38,0.00,0.000,260,0.000,0.049,2209,3839,3480,3380,3580,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7338,-0.48,-160.6,2209,3839,3380,3579,850.9,-7.8,320,7344,0.00,2.25,0.00,0.000,1030,0.000,0.026,2209,2464,3479,3380,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7673,-0.48,-160.6,2209,2464,3380,3578,876.5,-7.9,331,7679,0.00,2.40,0.00,0.000,260,0.000,0.051,2207,3836,3479,3380,3578,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7750,-0.48,-160.6,2207,3836,3379,3578,882.0,-8.2,333,7756,0.00,2.22,0.00,0.000,1030,0.000,0.027,2207,2466,3478,3379,3578,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8077,-0.48,-160.6,2207,2467,3379,3575,911.3,-8.6,344,8082,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3820,3476,3378,3575,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8138,-0.48,-160.6,2206,3819,3377,3575,913.7,-8.1,345,8146,0.00,2.22,0.00,0.000,1030,0.000,0.026,2207,2459,3476,3377,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8447,-0.48,-160.6,2207,2459,3377,3573,940.9,-8.2,356,8453,0.00,2.40,0.00,0.000,260,0.000,0.052,2207,3826,3475,3377,3573,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8508,-0.48,-160.6,2206,3826,3376,3573,944.0,-8.2,357,8517,0.00,2.25,0.00,0.000,1030,0.000,0.028,2207,2465,3474,3376,3573,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8817,-0.48,-160.6,2206,2466,3376,3571,971.2,-8.3,368,8823,0.00,2.38,0.00,0.000,260,0.000,0.051,2207,3821,3473,3376,3571,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8893,-0.48,-160.6,2206,3821,3376,3571,977.0,-8.2,370,8899,0.00,2.22,0.00,0.000,1030,0.000,0.028,2207,2465,3473,3376,3571,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9066,begin apogee
$GC,9073,-0.12,0.0,2206,2611,3376,3571,991.9,-8.0,376,9221,0.35,0.00,141.62,1.056,10246,0.095,0.000,2335,2611,2843,2851,2836,0,0,0,0,0,0,26.43,28.83,24.36
$STATE,9223,end apogee,CONTROL_FINISHED_OK
$STATE,9223,begin climb
$GC,9226,0.48,160.6,2335,2611,2848,2827,997.0,0.0,380,9386,0.52,0.00,155.75,0.983,10758,0.048,0.000,2543,2610,2196,2317,2076,0,0,0,0,0,0,25.14,28.83,24.15
$GC,9671,0.48,160.6,2543,2610,2288,2050,958.4,11.7,396,9677,0.00,2.75,0.00,0.000,516,0.000,0.025,2555,1130,2168,2288,2049,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9695,0.48,160.6,2555,1130,2286,2049,958.4,11.7,396,9701,0.00,2.65,0.00,0.000,1030,0.000,0.027,2555,2608,2168,2288,2049,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10014,0.48,160.6,2554,2605,2284,2049,916.9,12.3,407,10019,0.00,2.00,0.00,0.000,260,0.000,0.043,2550,3839,2167,2285,2049,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10090,0.48,160.6,2550,3839,2282,2049,907.5,13.1,409,10096,0.00,1.98,0.00,0.000,1030,0.000,0.017,2561,2569,2165,2282,2049,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10415,0.48,160.6,2561,2568,2280,2049,867.0,11.3,420,10421,0.00,2.17,0.00,0.000,260,0.000,0.043,2550,3846,2164,2280,2049,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,18822,end climb,SURFACE_DEPTH_REACHED
$STATE,18823,begin surface coast
$FINISH,-0.1,1.022770
$STATE,18857,end surface coast,CONTROL_FINISHED_OK
$STATE,18857,begin surface
$SM_CCo,18875,63.10,0.127,0,0,1096,430.01
$SM_GC,-0.14,6.30,0.17,63.10,0.029,0.050,0.127,137,2452,1096,-6.94,0.45,430.01,0,0,0,0,0,0,26.46,26.58,26.13
$IRIDIUM_FIX,2006.47,12416.44,140413,191939
$TT8_MAMPS,0.021721,0.021721
$HUMID,45.70
$INTERNAL_PRESSURE,9.33985
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3948608
$24V_AH,24.1,18.989
$10V_AH,9.9,15.085
$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,16.475,186.275,432.500,63.100,0.000,0.000,0.000,480.000,0.000,0.000,16.993,3671.747,11783.483,793.736,2679.846,757.466,0.000,2413.444,0.000,2029.743,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,81.090,1056.465,126.990,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18949.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.388,0.000,0.000,0.000
$MEM,329132
$DATA_FILE_SIZE,30017,829
$CAP_FILE_SIZE,456530,0
$CFSIZE,260034560,232386560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.146,134.7,1
$GPS,150413,055930,2011.890,12419.697,41,1.1,41,-2.5