version: 66.11
glider: 169
mission: 8
dive: 210
start: 4 29 113 16 48 41
data:
$ID,169
$MISSION,8
$DIVE,210
$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,-21483.715
$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
$GPS1,290413,163659,1754.898,12434.791,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-72.7
$GPS2,290413,164813,1754.927,12434.812,12,1.8,12,-2.0
$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,162.0,9131,-3.2,-8.250,-19.13,2990
$D_GRID,4300
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.48,-160.6,121,2566,1242,968,0.0,0.0,0,92,0.00,0.00,-66.32,0.000,16386,0.000,0.000,121,2566,2796,2760,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-160.6,121,2566,2760,2832,3.2,-6.9,9,129,8.18,2.65,-12.55,0.000,18948,0.223,0.044,2219,1094,3509,3387,3632,0,0,0,0,0,0,25.68,26.15,26.51
$GC,342,-0.48,-160.6,2219,1095,3388,3631,88.0,-26.3,27,348,0.00,2.53,0.00,0.000,1030,0.000,0.033,2208,2558,3509,3388,3631,0,0,0,0,0,0,28.83,26.32,28.83
$GC,670,-0.48,-160.6,2208,2555,3391,3631,178.3,-23.1,43,677,0.00,2.15,0.00,0.000,260,0.000,0.049,2206,3832,3511,3391,3631,0,0,0,0,0,0,28.83,26.39,28.83
$GC,732,-0.48,-160.6,2206,3832,3391,3631,188.3,-21.2,45,740,0.00,2.10,0.00,0.000,1030,0.000,0.024,2206,2534,3511,3391,3631,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1039,-0.48,-160.6,2206,2534,3392,3631,247.6,-18.0,61,1045,0.00,2.42,0.00,0.000,516,0.000,0.029,2206,1088,3511,3392,3630,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1100,-0.48,-160.6,2206,1087,3392,3631,256.1,-18.6,63,1108,0.00,2.55,0.00,0.000,1030,0.000,0.035,2206,2562,3511,3392,3631,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1406,-0.48,-160.6,2206,2560,3392,3631,312.6,-18.1,79,1412,0.00,2.53,0.00,0.000,516,0.000,0.029,2206,1073,3511,3392,3631,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1494,-0.48,-160.6,2206,1072,3392,3631,326.2,-15.5,83,1499,0.00,2.55,0.00,0.000,1030,0.000,0.034,2206,2560,3511,3392,3631,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1822,-0.48,-160.6,2206,2557,3392,3631,374.0,-14.5,99,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2557,3511,3392,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2119,-0.48,-160.6,2206,2557,3392,3628,416.1,-13.5,114,2125,0.00,2.15,0.00,0.000,260,0.000,0.047,2197,3833,3509,3392,3627,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2176,-0.48,-160.6,2197,3833,3392,3626,422.2,-13.2,116,2182,0.00,2.10,0.00,0.000,1030,0.000,0.024,2197,2521,3509,3392,3626,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2491,-0.48,-160.6,2197,2521,3391,3622,463.0,-11.5,132,2497,0.00,2.40,0.00,0.000,516,0.000,0.030,2197,1078,3507,3392,3622,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2563,-0.48,-160.6,2196,1077,3391,3620,470.6,-11.3,135,2570,0.00,2.53,0.00,0.000,1030,0.000,0.035,2194,2560,3506,3392,3621,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2886,-0.48,-160.6,2193,2557,3391,3615,509.8,-12.2,151,2892,0.00,2.17,0.00,0.000,260,0.000,0.047,2193,3842,3503,3391,3615,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2920,-0.48,-160.6,2193,3842,3392,3614,513.2,-12.4,152,2927,0.10,2.12,0.00,0.000,3078,0.136,0.024,2224,2523,3503,3391,3615,0,0,0,0,0,0,26.46,26.65,28.83
$GC,3240,-0.48,-160.6,2223,2523,3391,3609,545.8,-9.4,168,3246,0.00,2.30,0.00,0.000,260,0.000,0.050,2220,3827,3500,3392,3609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3281,-0.48,-160.6,2220,3827,3391,3608,548.5,-9.4,169,3291,0.00,2.12,0.00,0.000,1030,0.000,0.027,2220,2526,3499,3391,3607,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3587,-0.48,-160.6,2220,2526,3391,3602,578.2,-8.9,185,3593,0.00,2.28,0.00,0.000,260,0.000,0.046,2217,3824,3496,3391,3602,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3628,-0.48,-160.6,2215,3824,3391,3601,580.6,-8.9,186,3636,0.00,2.12,0.00,0.000,1030,0.000,0.027,2215,2525,3495,3391,3600,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3953,-0.48,-160.6,2215,2526,3391,3594,611.9,-9.3,201,3959,0.00,2.28,0.00,0.000,260,0.000,0.046,2210,3827,3492,3391,3593,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3994,-0.48,-160.6,2210,3827,3389,3594,615.3,-9.4,202,4000,0.00,2.12,0.00,0.000,1030,0.000,0.026,2210,2525,3491,3389,3594,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4324,-0.48,-160.6,2210,2525,3388,3589,648.7,-10.0,213,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2525,3489,3389,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4625,-0.48,-160.6,2210,2525,3387,3586,678.7,-9.9,223,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2525,3486,3386,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4924,-0.48,-160.6,2210,2525,3385,3581,706.9,-9.1,233,4931,0.00,2.30,0.00,0.000,260,0.000,0.046,2207,3835,3483,3385,3581,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4980,-0.48,-160.6,2206,3836,3383,3581,710.2,-9.1,234,4986,0.00,2.12,0.00,0.000,1030,0.000,0.025,2204,2525,3481,3383,3580,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5300,-0.48,-160.6,2206,2524,3382,3577,737.5,-7.8,245,5306,0.00,2.30,0.00,0.000,260,0.000,0.047,2206,3839,3479,3382,3577,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5346,-0.48,-160.6,2206,3839,3380,3577,740.6,-7.9,246,5352,0.00,2.12,0.00,0.000,1030,0.000,0.025,2206,2524,3479,3381,3577,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5673,-0.48,-160.6,2206,2524,3381,3573,766.5,-7.7,257,5680,0.00,2.30,0.00,0.000,260,0.000,0.048,2195,3835,3476,3380,3572,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5703,-0.48,-160.6,2194,3835,3380,3573,766.5,-7.7,257,5711,0.00,2.12,0.00,0.000,1030,0.000,0.026,2195,2525,3476,3380,3573,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6011,-0.48,-160.6,2195,2525,3379,3570,796.4,-8.9,268,6018,0.00,2.28,0.00,0.000,260,0.000,0.047,2193,3826,3474,3379,3570,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6060,-0.48,-160.6,2193,3826,3378,3570,800.2,-9.2,269,6067,0.10,2.12,0.00,0.000,3078,0.131,0.027,2225,2526,3473,3377,3570,0,0,0,0,0,0,26.41,26.60,28.83
$GC,6387,-0.48,-160.6,2224,2526,3378,3566,827.1,-7.7,280,6393,0.00,2.30,0.00,0.000,260,0.000,0.047,2220,3837,3472,3378,3566,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6416,-0.48,-160.6,2220,3837,3377,3565,827.1,-7.7,280,6424,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2515,3471,3377,3566,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6724,-0.48,-160.6,2220,2516,3376,3562,851.7,-7.3,291,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2516,3468,3375,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,-0.48,-160.6,2220,2516,3375,3561,873.9,-7.4,301,7029,0.00,2.33,0.00,0.000,260,0.000,0.049,2210,3837,3468,3375,3561,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7109,-0.48,-160.6,2210,3837,3373,3560,880.0,-8.1,303,7115,0.00,2.15,0.00,0.000,1030,0.000,0.027,2210,2522,3467,3374,3561,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7429,-0.48,-160.6,2210,2522,3373,3557,906.2,-8.0,314,7435,0.00,2.30,0.00,0.000,260,0.000,0.051,2207,3829,3465,3373,3557,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7490,-0.48,-160.6,2206,3829,3372,3556,909.5,-8.1,315,7497,0.00,2.15,0.00,0.000,1030,0.000,0.028,2207,2525,3463,3371,3556,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7798,-0.48,-160.6,2206,2525,3372,3555,937.5,-8.4,326,7803,0.00,2.28,0.00,0.000,260,0.000,0.047,2204,3831,3463,3372,3554,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7833,-0.48,-160.6,2204,3831,3371,3554,940.7,-8.4,327,7840,0.00,2.15,0.00,0.000,1030,0.000,0.026,2204,2524,3462,3371,3554,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8169,-0.48,-160.6,2204,2525,3370,3554,970.0,-8.8,338,8176,0.00,2.30,0.00,0.000,260,0.000,0.049,2194,3835,3462,3370,3554,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8200,-0.48,-160.6,2193,3835,3369,3553,970.0,-8.8,338,8208,0.00,2.15,0.00,0.000,1030,0.000,0.028,2194,2525,3461,3369,3554,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,8413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8413,begin apogee
$GC,8420,-0.12,0.0,2191,2681,3369,3553,992.6,-9.1,346,8566,0.40,0.10,140.07,1.051,10246,0.096,0.073,2336,2619,2847,2859,2836,0,0,0,0,0,0,26.22,24.99,24.30
$STATE,8568,end apogee,CONTROL_FINISHED_OK
$STATE,8568,begin climb
$GC,8572,0.48,160.6,2335,2619,2854,2823,998.5,0.0,350,8733,0.52,0.00,152.62,0.981,10502,0.053,0.000,2540,2618,2187,2313,2062,0,0,0,0,0,0,25.14,28.83,24.10
$GC,9013,0.48,160.6,2540,2618,2292,2046,965.2,9.8,365,9019,0.00,2.05,0.00,0.000,260,0.000,0.042,2530,3841,2168,2291,2046,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9069,0.48,160.6,2530,3841,2290,2046,961.4,10.0,366,9074,0.00,1.88,0.00,0.000,1030,0.000,0.016,2540,2590,2168,2290,2046,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9386,0.48,160.6,2540,2590,2285,2045,929.1,9.2,377,9392,0.00,2.10,0.00,0.000,260,0.000,0.041,2531,3851,2165,2285,2045,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9422,0.48,160.6,2530,3851,2285,2045,925.6,9.3,378,9427,0.00,1.88,0.00,0.000,1030,0.000,0.016,2541,2591,2165,2285,2045,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9758,0.48,160.6,2540,2591,2282,2045,894.0,9.5,389,9764,0.00,2.10,0.00,0.000,260,0.000,0.042,2531,3840,2163,2282,2045,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9818,0.48,160.6,2530,3840,2281,2045,890.0,9.9,390,9826,0.00,1.85,0.00,0.000,1030,0.000,0.017,2541,2591,2165,2281,2049,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10126,0.48,160.6,2540,2592,2280,2045,855.7,10.4,401,10132,0.00,2.08,0.00,0.000,260,0.000,0.042,2532,3839,2162,2280,2045,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10176,0.48,160.6,2531,3839,2279,2045,851.7,10.5,402,10183,0.00,1.85,0.00,0.000,1030,0.000,0.018,2541,2592,2162,2279,2045,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,19403,end climb,SURFACE_DEPTH_REACHED
$STATE,19403,begin surface coast
$FINISH,-0.2,1.021310
$STATE,19425,end surface coast,CONTROL_FINISHED_OK
$STATE,19425,begin surface
$SM_CCo,19444,22.58,0.122,0,0,1096,430.01
$SM_GC,0.62,6.50,0.38,22.58,0.032,0.031,0.122,138,2514,1096,-6.94,0.34,430.01,0,0,0,0,0,0,26.38,26.51,26.10
$IRIDIUM_FIX,1751.90,12434.83,290413,111129
$TT8_MAMPS,0.020972,0.020972
$HUMID,44.56
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3914880
$24V_AH,24.1,27.535
$10V_AH,10.1,22.298
$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,16.850,187.525,491.750,22.575,0.000,0.000,0.000,402.100,0.000,0.000,13.664,3571.331,12457.471,774.290,2529.297,779.550,0.000,2335.976,0.000,1986.996,0.000,0.545,0.000
$DEVICE_MAMPS,222.615,84.915,1051.110,122.400,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19493.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.647,0.000,0.000,0.000
$MEM,329144
$DATA_FILE_SIZE,30031,845
$CAP_FILE_SIZE,456926,0
$CFSIZE,260034560,221155328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,140.8,1
$GPS,290413,221424,1753.008,12435.832,41,1.5,41,-2.0