version: 66.11
glider: 169
mission: 8
dive: 188
start: 4 24 113 19 12 47
data:
$ID,169
$MISSION,8
$DIVE,188
$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,-21455.65
$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
$GPS1,240413,190030,1837.932,12434.412,41,1.3,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-71.3
$GPS2,240413,191219,1838.105,12434.453,13,1.5,13,-2.2
$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,175.6,89095,-3.2,-8.250,-19.13,2990
$D_GRID,5882
$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,-160.6,122,2560,1270,934,0.0,0.0,0,103,0.00,0.00,-77.32,0.000,16386,0.000,0.000,122,2560,3099,3018,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.48,-160.6,122,2560,3017,3181,4.0,-8.9,10,133,8.32,2.60,-6.82,0.000,18948,0.229,0.048,2219,1094,3509,3382,3637,0,0,0,0,0,0,25.75,26.14,26.48
$GC,164,-0.48,-160.6,2219,1094,3385,3636,34.2,-49.0,16,170,0.00,2.53,0.00,0.000,1030,0.000,0.036,2208,2555,3511,3386,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,489,-0.48,-160.6,2207,2552,3386,3636,133.0,-27.7,35,495,0.00,2.50,0.00,0.000,516,0.000,0.030,2208,1080,3511,3386,3636,0,0,0,0,0,0,28.83,26.40,28.83
$GC,524,-0.48,-160.6,2208,1079,3386,3636,139.7,-27.5,36,531,0.00,2.55,0.00,0.000,1030,0.000,0.038,2206,2559,3511,3386,3636,0,0,0,0,0,0,28.83,26.39,28.83
$GC,841,-0.48,-160.6,2206,2556,3387,3636,213.4,-22.1,52,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2556,3511,3387,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-0.48,-160.6,2206,2556,3387,3636,271.6,-18.6,67,1148,0.00,2.50,0.00,0.000,516,0.000,0.031,2207,1073,3511,3387,3636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1161,-0.48,-160.6,2207,1071,3387,3636,271.6,-18.6,67,1168,0.00,2.53,0.00,0.000,1030,0.000,0.034,2206,2558,3512,3387,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1467,-0.48,-160.6,2206,2555,3387,3636,326.5,-16.0,83,1473,0.00,2.15,0.00,0.000,260,0.000,0.047,2199,3829,3511,3387,3636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1487,-0.48,-160.6,2198,3829,3387,3636,326.5,-16.0,83,1495,0.00,2.12,0.00,0.000,1030,0.000,0.025,2196,2525,3513,3390,3636,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1792,-0.48,-160.6,2199,2522,3387,3635,377.5,-15.2,99,1798,0.00,2.30,0.00,0.000,260,0.000,0.045,2194,3837,3510,3386,3635,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1827,-0.48,-160.6,2194,3837,3387,3634,381.2,-15.1,100,1833,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2521,3510,3387,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2143,-0.48,-160.6,2193,2519,3386,3632,426.3,-13.3,116,2149,0.00,2.40,0.00,0.000,516,0.000,0.033,2194,1076,3509,3386,3632,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2169,-0.48,-160.6,2193,1076,3386,3632,429.8,-13.4,117,2175,0.10,2.53,0.00,0.000,3078,0.145,0.037,2224,2563,3508,3386,3631,0,0,0,0,0,0,26.46,26.56,28.83
$GC,2497,-0.48,-160.6,2224,2560,3388,3627,463.1,-9.6,133,2504,0.00,2.17,0.00,0.000,260,0.000,0.047,2218,3832,3506,3387,3626,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2517,-0.48,-160.6,2219,3832,3387,3626,463.1,-9.6,133,2525,0.00,2.12,0.00,0.000,1030,0.000,0.025,2221,2524,3506,3387,3626,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2824,-0.48,-160.6,2220,2524,3387,3621,495.5,-10.3,149,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2524,3504,3387,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-0.48,-160.6,2220,2524,3387,3615,524.8,-9.2,164,3129,0.00,2.33,0.00,0.000,260,0.000,0.050,2220,3838,3501,3387,3615,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3165,-0.48,-160.6,2220,3838,3384,3614,527.0,-9.2,165,3173,0.00,2.15,0.00,0.000,1030,0.000,0.024,2220,2515,3500,3386,3615,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3469,-0.48,-160.6,2220,2515,3387,3610,556.1,-9.1,181,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2515,3498,3386,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-0.48,-160.6,2220,2515,3386,3603,583.5,-9.2,196,3776,0.00,2.33,0.00,0.000,260,0.000,0.046,2220,3832,3495,3386,3604,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3874,-0.48,-160.6,2219,3832,3386,3603,591.7,-9.2,200,3882,0.00,2.15,0.00,0.000,1030,0.000,0.025,2220,2519,3493,3386,3600,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4198,-0.48,-160.6,2219,2516,3386,3596,620.7,-8.3,213,4205,0.00,2.33,0.00,0.000,260,0.000,0.048,2219,3837,3491,3386,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4239,-0.48,-160.6,1344,3837,3373,3593,623.6,-8.3,214,4245,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2518,3490,3386,3595,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4571,-0.48,-160.6,2219,2518,3386,3589,651.1,-8.2,225,4576,0.00,2.33,0.00,0.000,260,0.000,0.049,2220,3841,3487,3386,3589,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4600,-0.48,-160.6,2219,3841,3385,3589,651.1,-8.2,225,4608,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2524,3487,3385,3589,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4908,-0.48,-160.6,2220,2524,3383,3586,680.3,-9.1,236,4913,0.00,2.30,0.00,0.000,260,0.000,0.051,2219,3830,3484,3383,3586,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4932,-0.48,-160.6,2220,3830,3382,3586,680.3,-9.1,236,4938,0.00,2.15,0.00,0.000,1030,0.000,0.028,2220,2524,3483,3382,3585,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5251,-0.48,-160.6,2219,2525,3381,3580,711.5,-8.9,247,5256,0.00,2.30,0.00,0.000,260,0.000,0.050,2209,3835,3480,3380,3581,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5296,-0.48,-160.6,2209,3835,3380,3581,714.9,-9.0,248,5302,0.00,2.15,0.00,0.000,1030,0.000,0.027,2209,2523,3479,3378,3581,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5622,-0.48,-160.6,2209,2523,3379,3578,745.5,-9.0,259,5629,0.00,2.30,0.00,0.000,260,0.000,0.052,2207,3826,3478,3379,3578,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5652,-0.48,-160.6,2206,3827,3378,3578,745.5,-9.0,259,5661,0.00,2.15,0.00,0.000,1030,0.000,0.028,2207,2526,3478,3378,3578,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5962,-0.48,-160.6,2206,2527,3378,3574,777.2,-9.5,270,5968,0.00,2.30,0.00,0.000,260,0.000,0.050,2207,3839,3475,3377,3574,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5998,-0.48,-160.6,2206,3839,3377,3574,781.0,-9.5,271,6004,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2524,3475,3377,3574,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6334,-0.48,-160.6,2206,2525,3376,3571,812.7,-9.4,282,6340,0.00,2.33,0.00,0.000,260,0.000,0.052,2206,3840,3473,3376,3571,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6409,-0.48,-160.6,2206,3839,3375,3571,818.9,-9.4,284,6416,0.00,2.15,0.00,0.000,1030,0.000,0.027,2207,2524,3473,3375,3571,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6736,-0.48,-160.6,2206,2522,3375,3567,848.8,-9.0,295,6741,0.00,2.33,0.00,0.000,260,0.000,0.053,2206,3840,3470,3374,3567,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6805,-0.48,-160.6,2206,3839,3372,3568,855.3,-9.4,297,6811,0.00,2.15,0.00,0.000,1030,0.000,0.027,2206,2525,3469,3372,3567,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7136,-0.48,-160.6,2206,2525,3372,3564,882.9,-8.3,308,7142,0.00,2.33,0.00,0.000,260,0.000,0.052,2206,3836,3468,3372,3564,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7165,-0.48,-160.6,2206,3836,3371,3564,882.9,-8.3,308,7173,0.00,2.15,0.00,0.000,1030,0.000,0.028,2206,2527,3467,3371,3564,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7473,-0.48,-160.6,2206,2528,3371,3562,910.1,-7.7,319,7479,0.00,2.28,0.00,0.000,260,0.000,0.047,2195,3827,3466,3371,3562,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7510,-0.48,-160.6,2193,3827,3370,3562,912.4,-7.4,320,7516,0.00,2.15,0.00,0.000,1030,0.000,0.027,2194,2528,3466,3370,3562,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7846,-0.48,-160.6,2195,2528,3369,3560,939.4,-7.8,331,7853,0.00,2.30,0.00,0.000,260,0.000,0.049,2185,3839,3464,3369,3559,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7914,-0.48,-160.6,2185,3839,3368,3560,945.0,-8.2,333,7921,0.12,2.17,0.00,0.000,3078,0.121,0.027,2226,2523,3463,3368,3559,0,0,0,0,0,0,26.39,26.60,28.83
$GC,8251,-0.48,-160.6,2226,2524,3368,3556,966.3,-6.1,344,8258,0.00,2.33,0.00,0.000,260,0.000,0.052,2220,3841,3462,3368,3556,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8323,-0.48,-160.6,2220,3841,3367,3556,969.9,-5.6,346,8329,0.00,2.15,0.00,0.000,1030,0.000,0.028,2220,2527,3461,3367,3555,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,8650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8650,begin apogee
$GC,8657,-0.12,0.0,2220,2670,3367,3554,990.8,-6.2,357,8804,0.32,0.08,139.25,0.988,10246,0.093,0.089,2341,2622,2846,2858,2835,0,0,0,0,0,0,26.35,24.99,24.36
$STATE,8806,end apogee,CONTROL_FINISHED_OK
$STATE,8806,begin climb
$GC,8809,0.48,160.6,2341,2622,2855,2825,995.5,0.0,361,8967,0.50,0.00,154.20,0.995,10758,0.034,0.000,2564,2622,2196,2318,2074,0,0,0,0,0,0,25.22,28.83,24.13
$GC,9253,0.48,160.6,2564,2622,2289,2048,953.9,12.0,377,9259,0.00,2.05,0.00,0.000,260,0.000,0.042,2554,3844,2167,2289,2046,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9303,0.48,160.6,2554,3844,2287,2046,949.4,12.1,378,9310,0.00,1.90,0.00,0.000,1030,0.000,0.016,2564,2594,2166,2287,2046,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9624,0.48,160.6,2564,2594,2283,2046,908.6,11.9,389,9630,0.00,2.10,0.00,0.000,260,0.000,0.041,2554,3846,2164,2283,2046,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9701,0.48,160.6,2553,3846,2283,2046,899.7,12.6,391,9707,0.00,1.88,0.00,0.000,1030,0.000,0.015,2565,2592,2164,2282,2046,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10026,0.48,160.6,2565,2593,2280,2046,859.8,11.6,402,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2593,2163,2280,2046,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19111,end climb,SURFACE_DEPTH_REACHED
$STATE,19111,begin surface coast
$FINISH,-0.1,1.021817
$STATE,19145,end surface coast,CONTROL_FINISHED_OK
$STATE,19145,begin surface
$SM_CCo,19163,53.50,0.122,0,0,1097,430.01
$SM_GC,0.38,6.38,0.38,53.50,0.028,0.031,0.122,131,2490,1097,-6.95,0.23,430.01,0,0,0,0,0,0,26.45,26.56,26.13
$IRIDIUM_FIX,1832.77,12435.67,240413,131328
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.66
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3926144
$24V_AH,24.1,24.674
$10V_AH,10.2,20.038
$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,16.350,182.725,482.250,53.500,0.000,0.000,0.000,427.825,0.000,0.000,14.760,3518.311,12325.684,809.355,2476.514,763.024,0.000,2327.820,0.000,1909.191,0.000,0.545,0.000
$DEVICE_MAMPS,228.735,88.740,995.265,121.635,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19215.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.637,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,30061,850
$CAP_FILE_SIZE,447898,0
$CFSIZE,260034560,224837632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026, 10.7,1
$GPS,250413,003406,1836.573,12434.824,27,1.0,27,-2.2