version: 66.11
glider: 169
mission: 8
dive: 190
start: 4 25 113 6 18 23
data:
$ID,169
$MISSION,8
$DIVE,190
$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,-21458.168
$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
$GPS1,250413,060605,1834.241,12434.887,40,0.9,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-73.5
$GPS2,250413,061755,1834.360,12434.969,13,1.3,13,-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,182.9,82154,-3.2,-8.250,-19.13,2990
$D_GRID,5634
$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,21,begin dive
$GC,24,-0.48,-160.6,122,2557,1269,934,0.0,0.0,0,103,0.00,0.00,-77.12,0.000,16386,0.000,0.000,121,2557,3091,3009,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.48,-160.6,122,2557,3010,3173,4.0,-8.9,10,133,8.40,2.28,-6.97,0.000,18692,0.233,0.057,2201,3831,3508,3381,3635,0,0,0,0,0,0,25.75,26.15,26.48
$GC,164,-0.48,-160.6,2200,3831,3382,3635,35.3,-52.1,16,170,0.00,2.20,0.00,0.000,1030,0.000,0.030,2202,2537,3509,3383,3635,0,0,0,0,0,0,28.83,26.23,28.83
$GC,492,-0.48,-160.6,2201,2537,3384,3635,144.9,-30.3,34,498,0.00,2.42,0.00,0.000,516,0.000,0.032,2202,1080,3509,3384,3635,0,0,0,0,0,0,28.83,26.39,28.83
$GC,634,-0.48,-160.6,2201,1080,3385,3635,176.2,-21.2,40,640,0.00,2.53,0.00,0.000,1030,0.000,0.036,2202,2555,3510,3385,3636,0,0,0,0,0,0,28.83,26.44,28.83
$GC,949,-0.48,-160.6,2197,2553,3386,3635,243.0,-20.7,56,956,0.00,2.45,0.00,0.000,516,0.000,0.028,2198,1078,3510,3386,3635,0,0,0,0,0,0,28.83,26.52,28.83
$GC,992,-0.48,-160.6,2197,1078,3386,3635,248.0,-20.2,57,999,0.00,2.53,0.00,0.000,1030,0.000,0.036,2194,2562,3510,3386,3635,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1296,-0.48,-160.6,2193,2559,3386,3635,303.3,-16.4,73,1301,0.00,2.17,0.00,0.000,260,0.000,0.047,2183,3841,3510,3386,3635,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1331,-0.48,-160.6,2183,3841,3386,3635,307.1,-15.8,74,1337,0.15,2.15,0.00,0.000,3078,0.138,0.024,2228,2533,3510,3386,3635,0,0,0,0,0,0,26.40,26.63,28.83
$GC,1648,-0.48,-160.6,2228,2532,3386,3635,348.7,-13.3,90,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2531,3510,3386,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,-0.48,-160.6,2228,2531,3386,3629,383.9,-11.9,105,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2531,3509,3385,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-0.48,-160.6,2228,2531,3385,3628,417.1,-10.3,120,2254,0.00,2.30,0.00,0.000,260,0.000,0.046,2221,3839,3507,3386,3628,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2267,-0.48,-160.6,2221,3839,3385,3628,417.1,-10.3,120,2275,0.00,2.15,0.00,0.000,1030,0.000,0.024,2221,2517,3506,3386,3627,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2574,-0.48,-160.6,2221,2517,3385,3624,450.5,-10.1,136,2580,0.00,2.33,0.00,0.000,260,0.000,0.047,2220,3825,3504,3386,3623,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2622,-0.48,-160.6,2220,3825,3385,3622,455.3,-10.3,138,2627,0.00,2.12,0.00,0.000,1030,0.000,0.026,2220,2526,3503,3385,3622,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2949,-0.48,-160.6,2220,2522,3385,3615,489.2,-10.0,154,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2525,3500,3385,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3247,-0.48,-160.6,2220,2525,3385,3611,519.8,-10.1,169,3254,0.00,2.33,0.00,0.000,260,0.000,0.051,2221,3835,3498,3385,3611,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3283,-0.48,-160.6,2220,3834,3385,3611,522.4,-10.0,170,3289,0.00,2.12,0.00,0.000,1030,0.000,0.025,2220,2526,3497,3385,3610,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3600,-0.48,-160.6,2220,2526,3385,3604,550.2,-7.9,186,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2526,3494,3385,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.48,-160.6,2220,2526,3385,3600,575.2,-8.6,201,3904,0.00,2.35,0.00,0.000,260,0.000,0.050,2220,3834,3493,3385,3602,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3939,-0.48,-160.6,1328,3835,3372,3599,577.4,-8.7,202,3947,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2520,3492,3385,3599,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4264,-0.48,-160.6,2220,2521,3385,3593,605.4,-7.9,218,4269,0.00,2.30,0.00,0.000,260,0.000,0.050,2220,3821,3489,3385,3593,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4335,-0.48,-160.6,2220,3818,3385,3592,610.6,-7.8,220,4341,0.00,2.12,0.00,0.000,1030,0.000,0.027,2220,2526,3488,3385,3592,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4666,-0.48,-160.6,2220,2526,3385,3587,636.1,-7.9,231,4672,0.00,2.30,0.00,0.000,260,0.000,0.052,2220,3833,3485,3384,3587,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4702,-0.48,-160.6,2219,3833,3383,3587,639.0,-7.9,232,4709,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2524,3485,3383,3587,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5038,-0.48,-160.6,2220,2524,3381,3583,666.2,-8.0,243,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2524,3482,3381,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-0.48,-160.6,2220,2524,3380,3580,689.2,-7.5,253,5344,0.00,2.30,0.00,0.000,260,0.000,0.051,2210,3826,3479,3380,3579,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5414,-0.48,-160.6,2207,3827,3379,3579,694.6,-7.8,255,5421,0.00,2.15,0.00,0.000,1030,0.000,0.028,2210,2527,3478,3378,3579,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5741,-0.48,-160.6,2210,2527,3378,3576,722.5,-8.4,266,5747,0.00,2.28,0.00,0.000,260,0.000,0.049,2207,3831,3477,3378,3576,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5787,-0.48,-160.6,2204,3828,3377,3576,725.5,-8.4,267,5793,0.00,2.15,0.00,0.000,1030,0.000,0.028,2207,2524,3476,3377,3575,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6113,-0.48,-160.6,2207,2524,3376,3572,754.4,-8.8,278,6119,0.00,2.30,0.00,0.000,260,0.000,0.053,2207,3821,3474,3376,3572,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6143,-0.48,-160.6,2206,3821,3375,3572,754.4,-8.8,278,6151,0.00,2.15,0.00,0.000,1030,0.000,0.029,2207,2526,3473,3375,3572,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6453,-0.48,-160.6,2206,2526,3375,3569,785.3,-9.0,289,6459,0.00,2.30,0.00,0.000,260,0.000,0.053,2206,3831,3472,3375,3569,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6483,-0.48,-160.6,2207,3830,3373,3569,785.3,-9.0,289,6491,0.00,2.15,0.00,0.000,1030,0.000,0.028,2206,2529,3471,3373,3569,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6793,-0.48,-160.6,2206,2529,3373,3566,814.1,-8.1,300,6800,0.00,2.42,0.00,0.000,516,0.000,0.034,2207,1072,3469,3373,3566,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6824,-0.48,-160.6,2206,1072,3372,3565,814.1,-8.1,300,6832,0.00,2.47,0.00,0.000,1030,0.000,0.032,2206,2565,3469,3372,3566,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7134,-0.48,-160.6,2206,2563,3371,3563,840.5,-7.4,311,7140,0.00,2.20,0.00,0.000,260,0.000,0.050,2196,3836,3467,3371,3563,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7215,-0.48,-160.6,2196,3836,3369,3563,846.4,-8.0,313,7221,0.00,2.20,0.00,0.000,1030,0.000,0.027,2196,2510,3465,3369,3562,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7536,-0.48,-160.6,2201,2510,3369,3561,874.0,-8.2,324,7543,0.00,2.35,0.00,0.000,260,0.000,0.051,2194,3819,3465,3369,3561,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7603,-0.48,-160.6,2194,3818,3368,3561,880.2,-8.9,326,7610,0.00,2.17,0.00,0.000,1030,0.000,0.025,2194,2514,3464,3368,3561,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7940,-0.48,-160.6,2194,2514,3368,3556,908.9,-8.9,337,7947,0.00,2.35,0.00,0.000,260,0.000,0.048,2191,3844,3462,3368,3556,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7996,-0.48,-160.6,2191,3844,3367,3557,912.5,-9.1,338,8002,0.12,2.20,0.00,0.000,3078,0.120,0.027,2231,2514,3462,3367,3557,0,0,0,0,0,0,26.41,26.60,28.83
$GC,8314,-0.48,-160.6,2230,2513,3367,3554,938.6,-7.4,349,8319,0.00,2.33,0.00,0.000,260,0.000,0.047,2220,3823,3460,3367,3554,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8399,-0.48,-160.6,1376,3822,3354,3551,943.2,-7.0,351,8405,0.00,2.17,0.00,0.000,1030,0.000,0.026,2220,2513,3460,3367,3554,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8717,-0.48,-160.6,2220,2514,3367,3554,968.3,-7.3,362,8723,0.00,2.35,0.00,0.000,260,0.000,0.049,2220,3836,3460,3367,3554,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8786,-0.48,-160.6,2219,3836,3366,3554,973.8,-7.8,364,8792,0.00,2.20,0.00,0.000,1030,0.000,0.027,2220,2511,3461,3369,3554,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9056,begin apogee
$GC,9063,-0.12,0.0,2219,2657,3366,3552,991.9,-6.7,373,9209,0.32,0.00,139.32,0.981,10246,0.092,0.000,2340,2657,2844,2857,2832,0,0,0,0,0,0,26.36,28.83,24.34
$STATE,9211,end apogee,CONTROL_FINISHED_OK
$STATE,9211,begin climb
$GC,9214,0.48,160.6,2340,2657,2853,2823,996.9,0.0,377,9376,0.50,2.92,153.10,0.995,10756,0.034,0.025,2576,1176,2186,2310,2062,0,0,0,0,0,0,25.20,24.79,24.10
$GC,9423,0.48,160.6,2576,1176,2295,2051,984.9,8.8,383,9429,0.00,2.78,0.00,0.000,1030,0.000,0.027,2564,2657,2172,2295,2050,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9749,0.48,160.6,2564,2654,2288,2047,942.5,12.4,394,9754,0.00,1.90,0.00,0.000,260,0.000,0.041,2564,3833,2167,2288,2047,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9795,0.48,160.6,2564,3834,2286,2047,937.6,12.7,395,9802,0.15,1.88,0.00,0.000,5126,0.165,0.016,2535,2608,2166,2286,2047,0,0,0,0,0,0,25.84,26.15,28.83
$GC,10121,0.48,160.6,2535,2607,2283,2047,902.7,9.8,406,10127,0.00,2.10,0.00,0.000,260,0.000,0.042,2525,3836,2164,2283,2046,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10197,0.48,160.6,2525,3836,2282,2047,895.8,10.0,408,10203,0.00,1.88,0.00,0.000,1030,0.000,0.017,2536,2608,2164,2282,2047,0,0,0,0,0,0,28.83,26.37,28.83
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$STATE,19982,end climb,SURFACE_DEPTH_REACHED
$STATE,19983,begin surface coast
$FINISH,-0.2,1.021724
$STATE,20004,end surface coast,CONTROL_FINISHED_OK
$STATE,20004,begin surface
$SM_CCo,20022,28.05,0.124,0,0,1097,430.01
$SM_GC,0.76,6.55,0.38,28.05,0.026,0.032,0.124,133,2496,1097,-6.95,0.20,430.01,0,0,0,0,0,0,26.38,26.49,26.12
$IRIDIUM_FIX,1825.94,12213.10,250413,000004
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.29
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3925120
$24V_AH,24.1,24.926
$10V_AH,10.2,20.253
$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,16.925,188.775,479.750,28.050,0.000,0.000,0.000,422.950,0.000,0.000,14.221,3630.630,12950.662,766.005,2579.261,799.215,0.000,2355.286,0.000,2010.134,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,88.740,994.500,123.930,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20078.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.539,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,33311,861
$CAP_FILE_SIZE,463231,0
$CFSIZE,260034560,224473088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,251.7,1
$GPS,250413,115336,1832.413,12434.488,26,1.1,26,-2.2