version: 66.11
glider: 169
mission: 8
dive: 168
start: 4 20 113 10 12 49
data:
$ID,169
$MISSION,8
$DIVE,168
$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,-21430.486
$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,2550
$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,200
$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
$GPS1,200413,095853,1929.018,12428.609,40,1.4,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-72.0
$GPS2,200413,101221,1928.965,12428.649,12,3.9,31,-2.4
$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,193.3,183625,-3.2,-8.250,-19.13,2990
$D_GRID,5335
$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,-160.6,121,2562,1262,942,0.0,0.0,0,106,0.00,0.00,-80.00,0.000,16386,0.000,0.000,121,2562,3192,3093,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.48,-160.6,121,2562,3094,3291,4.4,-11.3,11,128,8.45,0.00,-5.30,0.000,18694,0.236,0.000,2210,2562,3510,3382,3639,0,0,0,0,0,0,25.72,28.83,26.44
$GC,450,-0.48,-160.6,2210,2562,3387,3638,102.9,-22.1,35,456,0.00,2.62,0.00,0.000,516,0.000,0.032,2210,1075,3512,3387,3638,0,0,0,0,0,0,28.83,26.34,28.83
$GC,580,-0.48,-160.6,2210,1075,3387,3638,127.0,-17.3,41,586,0.00,2.60,0.00,0.000,1030,0.000,0.037,2207,2556,3512,3387,3638,0,0,0,0,0,0,28.83,26.38,28.83
$GC,907,-0.48,-160.6,2206,2552,3387,3638,189.3,-19.4,57,913,0.00,2.55,0.00,0.000,516,0.000,0.030,2207,1076,3512,3387,3638,0,0,0,0,0,0,28.83,26.47,28.83
$GC,964,-0.48,-160.6,2207,1075,3387,3638,199.0,-20.6,59,971,0.00,2.58,0.00,0.000,1030,0.000,0.036,2206,2556,3513,3388,3638,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1281,-0.48,-160.6,2206,2552,3388,3637,260.3,-17.1,75,1287,0.00,2.55,0.00,0.000,516,0.000,0.030,2207,1069,3513,3388,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1339,-0.48,-160.6,2206,1069,3387,3638,267.8,-16.5,77,1345,0.00,2.58,0.00,0.000,1030,0.000,0.034,2207,2558,3512,3387,3638,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1654,-0.48,-160.6,2206,2555,3387,3638,319.1,-15.8,93,1661,0.00,2.10,0.00,0.000,260,0.000,0.048,2206,3833,3513,3388,3638,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1684,-0.48,-160.6,2205,3833,3388,3638,323.4,-15.9,94,1690,0.00,2.08,0.00,0.000,1030,0.000,0.024,2206,2523,3513,3388,3638,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2007,-0.48,-160.6,2205,2522,3387,3636,371.2,-13.4,110,2012,0.00,2.42,0.00,0.000,516,0.000,0.031,2205,1082,3511,3387,3636,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2098,-0.48,-160.6,2206,1082,3387,3635,382.1,-12.1,114,2105,0.00,2.55,0.00,0.000,1030,0.000,0.036,2206,2562,3510,3387,3634,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2421,-0.48,-160.6,2205,2559,3387,3632,419.6,-11.5,130,2427,0.00,2.53,0.00,0.000,516,0.000,0.031,2206,1074,3509,3387,3631,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2455,-0.48,-160.6,2206,1074,3387,3631,422.5,-11.3,131,2462,0.00,2.55,0.00,0.000,1030,0.000,0.034,2206,2562,3509,3388,3631,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2772,-0.48,-160.6,2206,2559,3387,3627,460.3,-12.4,147,2778,0.00,2.10,0.00,0.000,260,0.000,0.045,2195,3841,3506,3387,3626,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2814,-0.48,-160.6,2195,3841,3387,3626,463.5,-12.4,148,2823,0.00,2.10,0.00,0.000,1030,0.000,0.024,2196,2520,3506,3387,3626,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3118,-0.48,-160.6,2195,2520,3387,3622,503.2,-12.1,164,3125,0.00,2.40,0.00,0.000,516,0.000,0.033,2196,1088,3504,3387,3622,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3207,-0.48,-160.6,2195,1088,3387,3620,514.1,-12.2,168,3214,0.00,2.53,0.00,0.000,1030,0.000,0.034,2194,2560,3504,3388,3620,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3536,-0.48,-160.6,2193,2557,3387,3615,557.0,-13.1,184,3542,0.00,2.12,0.00,0.000,260,0.000,0.050,2194,3826,3501,3387,3615,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3564,-0.48,-160.6,2194,3826,3387,3615,560.5,-12.8,185,3571,0.00,2.10,0.00,0.000,1030,0.000,0.026,2194,2525,3501,3387,3615,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3888,-0.48,-160.6,2193,2525,3388,3610,598.0,-11.0,201,3890,0.10,0.00,0.00,0.000,2054,0.145,0.000,2224,2525,3498,3387,3610,0,0,0,0,0,0,26.58,28.83,28.83
$GC,4209,-0.48,-160.6,2224,2525,3387,3605,623.7,-7.7,212,4215,0.00,2.28,0.00,0.000,260,0.000,0.048,2219,3826,3495,3387,3604,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4246,-0.48,-160.6,2220,3826,3387,3604,626.7,-7.7,213,4252,0.00,2.10,0.00,0.000,1030,0.000,0.026,2220,2524,3495,3387,3604,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4582,-0.48,-160.6,2220,2525,3387,3599,652.8,-7.8,224,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2524,3493,3387,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4882,-0.48,-160.6,2220,2524,3387,3594,675.4,-7.6,234,4888,0.00,2.28,0.00,0.000,260,0.000,0.050,2220,3828,3488,3387,3590,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4938,-0.48,-160.6,2219,3828,3386,3594,678.1,-7.6,235,4944,0.00,2.12,0.00,0.000,1030,0.000,0.027,2220,2520,3490,3386,3594,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5257,-0.48,-160.6,2219,2521,3386,3590,704.8,-8.4,246,5262,0.00,2.28,0.00,0.000,260,0.000,0.049,2216,3833,3487,3386,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5303,-0.48,-160.6,2216,3836,3385,3590,708.1,-8.4,247,5309,0.00,2.12,0.00,0.000,1030,0.000,0.026,2216,2522,3487,3385,3590,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5630,-0.48,-160.6,2215,2522,3384,3587,739.4,-9.6,258,5636,0.00,2.28,0.00,0.000,260,0.000,0.049,2207,3837,3485,3383,3587,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5670,-0.48,-160.6,2206,3837,3382,3587,743.1,-9.8,259,5677,0.00,2.12,0.00,0.000,1030,0.000,0.026,2207,2523,3484,3382,3587,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6001,-0.48,-160.6,2207,2523,3381,3582,777.1,-9.9,270,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2523,3481,3381,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6302,-0.48,-160.6,2206,2523,3380,3580,803.9,-8.5,280,6308,0.00,2.28,0.00,0.000,260,0.000,0.050,2207,3827,3480,3380,3580,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6349,-0.48,-160.6,2206,3827,3380,3580,807.0,-8.5,281,6354,0.00,2.10,0.00,0.000,1030,0.000,0.027,2207,2527,3479,3380,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6674,-0.48,-160.6,2206,2527,3380,3578,835.7,-8.5,292,6680,0.00,2.28,0.00,0.000,260,0.000,0.053,2206,3828,3478,3380,3577,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6711,-0.48,-160.6,2206,3828,3380,3578,838.8,-8.5,293,6716,0.00,2.12,0.00,0.000,1030,0.000,0.029,2206,2532,3478,3379,3577,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7046,-0.48,-160.6,2206,2532,3379,3574,869.4,-8.9,304,7052,0.00,2.25,0.00,0.000,260,0.000,0.048,2195,3841,3476,3379,3574,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7082,-0.48,-160.6,2195,3841,3377,3574,872.1,-8.6,305,7088,0.00,2.15,0.00,0.000,1030,0.000,0.027,2195,2521,3476,3378,3574,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7417,-0.48,-160.6,2195,2522,3377,3572,903.4,-9.3,316,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2522,3474,3377,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7719,-0.48,-160.6,2195,2522,3376,3571,929.8,-8.5,326,7724,0.00,2.28,0.00,0.000,260,0.000,0.049,2188,3826,3473,3376,3571,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7747,-0.48,-160.6,2188,3826,3375,3571,929.8,-8.5,326,7756,0.12,2.12,0.00,0.000,3078,0.125,0.028,2227,2523,3473,3375,3571,0,0,0,0,0,0,26.41,26.63,28.83
$GC,8057,-0.48,-160.6,2227,2523,3375,3568,952.7,-6.3,337,8063,0.00,2.30,0.00,0.000,260,0.000,0.050,2220,3833,3471,3375,3568,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8104,-0.48,-160.6,2220,3833,3374,3568,955.2,-6.3,338,8110,0.00,2.12,0.00,0.000,1030,0.000,0.027,2220,2523,3471,3374,3568,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8431,-0.48,-160.6,2220,2524,3374,3565,978.8,-7.2,349,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2524,3469,3374,3565,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8607,begin apogee
$GC,8614,-0.12,0.0,2219,2675,3373,3564,991.1,-6.7,355,8760,0.32,0.10,139.20,1.023,10246,0.094,0.072,2339,2614,2846,2857,2835,0,0,0,0,0,0,26.39,24.98,24.34
$STATE,8762,end apogee,CONTROL_FINISHED_OK
$STATE,8762,begin climb
$GC,8765,0.48,160.6,2340,2614,2852,2824,996.8,0.0,359,8927,0.50,2.85,153.52,1.003,10756,0.036,0.024,2569,1178,2188,2312,2065,0,0,0,0,0,0,25.18,24.78,24.12
$GC,8943,0.74,263.2,2569,1176,2298,2048,991.5,4.7,364,9050,0.17,2.88,97.55,0.981,11270,0.058,0.026,2644,2665,1778,1925,1631,0,0,0,0,0,0,25.08,25.05,24.03
$GC,9373,0.74,263.2,2644,2664,1902,1595,902.3,21.4,378,9379,0.00,1.88,0.00,0.000,260,0.000,0.041,2635,3837,1748,1902,1595,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9398,0.74,263.2,2635,3834,1902,1595,902.3,21.4,378,9404,0.00,1.88,0.00,0.000,1030,0.000,0.016,2644,2609,1748,1901,1595,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9716,0.74,263.2,2644,2607,1898,1594,829.0,21.4,389,9722,0.00,2.05,0.00,0.000,260,0.000,0.041,2635,3849,1746,1898,1594,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9771,0.74,263.2,2635,3849,1898,1594,820.4,21.6,390,9777,0.00,1.85,0.00,0.000,1030,0.000,0.016,2644,2609,1746,1898,1594,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10088,0.74,263.2,2644,2608,1896,1594,748.5,21.0,401,10094,0.00,2.03,0.00,0.000,260,0.000,0.041,2636,3844,1745,1896,1594,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10129,0.74,263.2,2635,3844,1896,1593,740.7,20.9,402,10135,0.00,1.85,0.00,0.000,1030,0.000,0.016,2644,2603,1745,1896,1594,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10460,0.74,263.2,2645,2601,1895,1593,673.8,19.3,413,10466,0.00,2.05,0.00,0.000,260,0.000,0.041,2636,3832,1743,1894,1593,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,14988,end climb,SURFACE_DEPTH_REACHED
$STATE,14988,begin surface coast
$FINISH,-0.1,1.022190
$STATE,15033,end surface coast,CONTROL_FINISHED_OK
$STATE,15033,begin surface
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$TT8_MAMPS,0.02247,0.02247
$HUMID,46.25
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$XPDR_PINGS,0
$SC_FREEKB,3936384
$24V_AH,24.0,22.041
$10V_AH,10.3,17.815
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329116
$DATA_FILE_SIZE,23422,684
$CAP_FILE_SIZE,355235,0
$CFSIZE,260034560,228290560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,190.4,1
$GPS,200413,142536,1926.127,12428.277,28,1.0,28,-2.4