version: 66.11
glider: 169
mission: 8
dive: 211
start: 4 29 113 22 59 31
data:
$ID,169
$MISSION,8
$DIVE,211
$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,-21562.006
$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
$GPS1,290413,225443,1752.844,12435.996,33,1.4,33,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-69.8
$GPS2,290413,225849,1752.830,12436.016,11,1.6,11,-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,209.3,5538,-6.2,-8.250,-21.14,2351
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.47,-126.2,132,2566,645,236,0.0,0.0,0,125,0.00,0.00,-97.82,0.000,16386,0.000,0.000,130,2572,3051,2967,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.47,-126.2,129,2572,2967,3136,4.3,-10.6,13,155,8.45,2.62,-5.05,0.000,18948,0.238,0.047,2226,1075,3369,3260,3479,0,0,0,0,0,0,25.86,26.40,26.71
$GC,192,-0.47,-126.2,2226,1075,3262,3479,40.1,-48.8,20,198,0.00,2.58,0.00,0.000,1030,0.000,0.041,2220,2557,3370,3262,3479,0,0,0,0,0,0,28.83,26.38,28.83
$GC,510,-0.47,-126.2,2219,2554,3262,3479,143.4,-30.3,37,516,0.00,2.50,0.00,0.000,516,0.000,0.031,2219,1075,3370,3262,3479,0,0,0,0,0,0,28.83,26.51,28.83
$GC,729,-0.47,-126.2,2220,1075,3262,3479,184.6,-16.1,47,735,0.00,2.53,0.00,0.000,1030,0.000,0.034,2219,2559,3370,3262,3479,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1056,-0.47,-126.2,2219,2556,3262,3479,239.6,-16.1,63,1063,0.00,2.45,0.00,0.000,516,0.000,0.028,2220,1082,3372,3266,3478,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1114,-0.47,-126.2,2220,1081,3262,3478,247.0,-15.7,65,1120,0.00,2.50,0.00,0.000,1030,0.000,0.035,2219,2558,3370,3262,3478,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1431,-0.47,-126.2,2219,2555,3262,3474,295.1,-14.8,81,1436,0.00,2.45,0.00,0.000,516,0.000,0.028,2220,1085,3368,3262,3474,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1491,-0.47,-126.2,1360,1085,3245,3472,301.6,-14.4,83,1499,0.00,2.50,0.00,0.000,1030,0.000,0.034,2219,2559,3367,3262,3473,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1799,-0.47,-126.2,2219,2556,3262,3470,344.8,-13.0,99,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2556,3365,3261,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2099,-0.47,-126.2,2219,2556,3262,3463,381.7,-12.2,114,2105,0.00,2.50,0.00,0.000,516,0.000,0.029,2219,1063,3362,3262,3463,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2125,-0.47,-126.2,2219,1063,3262,3463,384.9,-12.2,115,2131,0.00,2.50,0.00,0.000,1030,0.000,0.031,2216,2561,3362,3262,3463,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2453,-0.47,-126.2,2214,2557,3262,3459,422.0,-10.7,131,2459,0.00,2.12,0.00,0.000,260,0.000,0.044,2209,3839,3359,3261,3458,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2521,-0.47,-126.2,2207,3839,3261,3457,430.0,-11.1,134,2528,0.00,2.10,0.00,0.000,1030,0.000,0.024,2209,2524,3359,3261,3457,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2849,-0.47,-126.2,2208,2524,3261,3451,468.3,-11.7,150,2855,0.00,2.38,0.00,0.000,516,0.000,0.031,2209,1086,3355,3261,3450,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2906,-0.47,-126.2,2208,1086,3261,3450,474.1,-12.0,152,2912,0.00,2.50,0.00,0.000,1030,0.000,0.034,2207,2558,3355,3261,3449,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3222,-0.47,-126.2,2206,2556,3261,3444,512.2,-11.1,168,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2556,3352,3262,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.47,-126.2,2206,2556,3261,3437,545.8,-11.0,183,3528,0.00,2.20,0.00,0.000,260,0.000,0.050,2206,3839,3349,3261,3437,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3548,-0.47,-126.2,2206,3839,3261,3436,548.5,-10.9,184,3554,0.00,2.17,0.00,0.000,1030,0.000,0.025,2206,2517,3348,3261,3436,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3876,-0.47,-126.2,2206,2517,3261,3430,583.9,-10.9,200,3882,0.00,2.30,0.00,0.000,260,0.000,0.045,2197,3825,3345,3261,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3945,-0.47,-126.2,2197,3825,3261,3428,591.8,-11.1,203,3952,0.10,2.15,0.00,0.000,3078,0.137,0.027,2228,2518,3344,3261,3427,0,0,0,0,0,0,26.46,26.65,28.83
$GC,4262,-0.48,-130.3,2224,2518,3261,3422,618.9,-8.1,215,4268,0.00,2.30,0.00,0.000,260,0.000,0.047,2220,3833,3341,3261,3421,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4298,-0.49,-133.1,2220,3833,3260,3421,621.9,-8.1,216,4304,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2524,3340,3260,3421,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4634,-0.49,-133.1,2219,2525,3258,3418,650.0,-8.3,227,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2525,3338,3258,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.49,-133.1,2220,2524,3256,3414,676.7,-9.1,237,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2525,3333,3256,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.49,-133.1,2220,2525,3252,3411,703.2,-8.6,247,5241,0.00,2.35,0.00,0.000,260,0.000,0.052,2220,3833,3331,3252,3410,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5284,-0.49,-133.1,2220,3832,3252,3411,706.3,-8.5,248,5290,0.00,2.15,0.00,0.000,1030,0.000,0.028,2220,2528,3331,3251,3411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5605,-0.51,-143.0,2220,2528,3250,3407,733.3,-7.8,259,5611,0.00,2.33,0.00,0.000,260,0.000,0.050,2212,3829,3328,3250,3407,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5662,-0.53,-151.3,2211,3829,3248,3407,736.2,-7.9,260,5668,0.00,2.17,0.00,0.000,1030,0.000,0.029,2212,2522,3327,3248,3407,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5981,-0.53,-151.3,2211,2523,3248,3403,764.7,-8.7,271,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2522,3325,3248,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6278,-0.53,-151.3,2211,2522,3247,3400,792.2,-9.4,281,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2522,3323,3246,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6578,-0.53,-151.3,2212,2522,3242,3398,819.5,-8.8,291,6584,0.00,2.33,0.00,0.000,260,0.000,0.053,2207,3821,3321,3244,3398,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6626,-0.53,-151.3,2207,3821,3244,3398,822.8,-8.8,292,6632,0.00,2.15,0.00,0.000,1030,0.000,0.029,2207,2528,3320,3243,3398,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6951,-0.55,-158.5,2207,2529,3242,3395,850.2,-7.9,303,6957,0.00,2.42,0.00,0.000,516,0.000,0.034,2207,1084,3318,3242,3394,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6993,-0.56,-160.6,2206,1084,3242,3394,853.3,-8.1,304,6999,0.00,2.47,0.00,0.000,1030,0.000,0.033,2201,2560,3318,3242,3395,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7324,-0.56,-160.6,2201,2557,3240,3392,880.9,-8.4,315,7330,0.00,2.22,0.00,0.000,260,0.000,0.050,2194,3834,3316,3240,3392,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7372,-0.56,-160.6,2194,3833,3239,3392,884.2,-8.6,316,7378,0.00,2.20,0.00,0.000,1030,0.000,0.028,2194,2513,3315,3238,3392,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7697,-0.56,-160.6,2193,2513,3238,3389,916.3,-9.3,327,7703,0.00,2.35,0.00,0.000,260,0.000,0.049,2182,3833,3313,3238,3389,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7747,-0.56,-160.6,2182,3834,3237,3388,919.7,-9.4,328,7754,0.00,2.20,0.00,0.000,1030,0.000,0.028,2182,2515,3313,3237,3389,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8069,-0.56,-160.6,2182,2517,3237,3388,953.7,-10.0,339,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2518,3312,3236,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-0.56,-160.6,2187,2517,3236,3386,982.9,-9.7,349,8374,0.00,2.35,0.00,0.000,260,0.000,0.051,2172,3833,3313,3235,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8392,-0.56,-160.6,2171,3833,3234,3386,982.9,-9.7,349,8398,0.00,2.20,0.00,0.000,1030,0.000,0.029,2172,2520,3310,3235,3386,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,8435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8435,begin apogee
$GC,8442,-0.12,0.0,2169,2659,3234,3386,990.0,-10.2,351,8566,0.47,0.00,114.80,0.963,10246,0.106,0.000,2336,2659,2844,2837,2852,0,0,0,0,0,0,26.17,28.83,24.46
$STATE,8568,end apogee,CONTROL_FINISHED_OK
$STATE,8568,begin climb
$GC,8570,0.56,160.6,2335,2659,2835,2843,994.2,0.0,354,8733,0.60,2.08,153.93,0.984,10500,0.055,0.042,2556,3840,2188,2306,2071,0,0,0,0,0,0,25.30,24.91,24.22
$GC,8764,0.62,187.9,2558,3841,2291,2061,984.8,7.1,360,8797,0.00,1.95,26.38,0.929,9222,0.000,0.017,2567,2604,2080,2204,1957,0,0,0,0,0,0,28.83,25.39,24.40
$GC,9130,0.62,187.9,2567,2604,2183,1936,939.1,12.2,372,9136,0.00,2.10,0.00,0.000,260,0.000,0.041,2557,3833,2059,2183,1936,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9159,0.62,187.9,2557,3833,2182,1935,939.1,12.2,372,9168,0.00,1.88,0.00,0.000,1030,0.000,0.016,2567,2599,2058,2181,1935,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9467,0.62,187.9,2568,2599,2179,1934,896.1,12.8,383,9473,0.00,2.10,0.00,0.000,260,0.000,0.042,2558,3833,2056,2179,1934,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9523,0.62,187.9,2557,3831,2178,1934,890.9,13.1,384,9530,0.00,1.88,0.00,0.000,1030,0.000,0.018,2568,2600,2056,2178,1934,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9842,0.62,187.9,2568,2599,2176,1934,846.4,13.1,395,9848,0.00,2.10,0.00,0.000,260,0.000,0.042,2558,3833,2055,2176,1934,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9878,0.62,187.9,2558,3833,2176,1934,841.0,13.4,396,9883,0.00,1.88,0.00,0.000,1030,0.000,0.018,2568,2605,2054,2175,1934,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10213,0.62,187.9,2568,2605,2173,1933,798.6,12.4,407,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2605,2053,2173,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,0.62,187.9,2568,2605,2171,1933,763.9,11.3,417,10520,0.00,2.08,0.00,0.000,260,0.000,0.041,2558,3837,2052,2171,1933,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,18488,end climb,SURFACE_DEPTH_REACHED
$STATE,18488,begin surface coast
$FINISH,0.3,1.021204
$STATE,18518,end surface coast,CONTROL_FINISHED_OK
$STATE,18518,begin surface
$SM_CCo,18536,52.22,0.118,0,0,1097,430.01
$SM_GC,0.64,6.38,0.15,52.22,0.026,0.054,0.118,139,2518,1097,-6.93,0.40,430.01,0,0,0,0,0,0,26.48,26.64,26.15
$IRIDIUM_FIX,1747.37,12438.56,290413,222222
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.58
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,26.30
$XPDR_PINGS,0
$SC_FREEKB,3914368
$24V_AH,24.2,27.677
$10V_AH,10.3,22.420
$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,16.700,179.600,461.525,52.225,0.000,0.000,0.000,0.000,0.000,0.000,12.627,3477.625,11781.869,742.678,1998.228,671.941,0.000,1857.455,0.000,1921.694,0.000,0.546,0.000
$DEVICE_MAMPS,237.915,85.680,983.790,117.810,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18492.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.696,0.000,0.000,0.000
$MEM,329128
$DATA_FILE_SIZE,30015,828
$CAP_FILE_SIZE,460046,0
$CFSIZE,260034560,220975104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,185.6,1
$GPS,300413,041035,1750.745,12435.247,40,1.3,40,-2.0