version: 66.11
glider: 169
mission: 8
dive: 252
start: 5 8 113 22 10 21
data:
$ID,169
$MISSION,8
$DIVE,252
$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,-21727.549
$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
$GPS1,080513,215705,1817.005,12311.619,36,1.3,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-72.4
$GPS2,080513,220951,1817.204,12311.686,10,3.0,29,-2.0
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,280.8,100671,-3.2,-8.250,-19.13,2990
$D_GRID,3656
$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,-160.6,118,2559,1244,960,0.0,0.0,0,95,0.00,0.00,-69.62,0.000,16386,0.000,0.000,121,2560,2854,2807,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.48,-160.6,120,2560,2812,2902,3.0,-5.2,9,126,8.40,2.33,-11.43,0.000,18692,0.227,0.062,2203,3821,3507,3381,3634,0,0,0,0,0,0,25.63,26.08,26.48
$GC,241,-0.48,-160.6,2203,3821,3385,3634,59.0,-30.9,22,247,0.00,2.17,0.00,0.000,1030,0.000,0.028,2203,2536,3509,3384,3634,0,0,0,0,0,0,28.83,26.25,28.83
$GC,569,-0.48,-160.6,2203,2534,3385,3634,159.9,-28.4,38,576,0.00,2.42,0.00,0.000,516,0.000,0.031,2204,1073,3509,3385,3634,0,0,0,0,0,0,28.83,26.34,28.83
$GC,617,-0.48,-160.6,2203,1073,3385,3634,172.3,-26.6,40,625,0.00,2.55,0.00,0.000,1030,0.000,0.037,2197,2556,3509,3385,3634,0,0,0,0,0,0,28.83,26.32,28.83
$GC,946,-0.48,-160.6,2197,2554,3386,3633,243.8,-19.1,56,952,0.00,2.50,0.00,0.000,516,0.000,0.031,2197,1071,3510,3386,3634,0,0,0,0,0,0,28.83,26.41,28.83
$GC,997,-0.48,-160.6,2197,1071,3386,3639,252.4,-18.9,58,1004,0.00,2.55,0.00,0.000,1030,0.000,0.037,2194,2556,3510,3386,3634,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1320,-0.48,-160.6,2193,2554,3386,3634,307.6,-16.8,74,1322,0.10,0.00,0.00,0.000,2054,0.162,0.000,2222,2554,3510,3386,3634,0,0,0,0,0,0,26.47,28.83,28.83
$GC,1619,-0.48,-160.6,2222,2554,3386,3634,347.2,-12.3,89,1625,0.00,2.17,0.00,0.000,260,0.000,0.050,2217,3832,3509,3386,3633,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1668,-0.48,-160.6,2217,3832,3386,3633,353.5,-13.0,91,1674,0.00,2.12,0.00,0.000,1030,0.000,0.024,2217,2528,3509,3386,3633,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1996,-0.48,-160.6,2217,2526,3386,3629,394.3,-13.2,107,2002,0.00,2.38,0.00,0.000,516,0.000,0.029,2217,1079,3507,3386,3629,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2055,-0.48,-160.6,2217,1078,3386,3629,400.4,-12.9,109,2060,0.00,2.50,0.00,0.000,1030,0.000,0.034,2213,2564,3507,3386,3629,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2370,-0.48,-160.6,2212,2561,3386,3625,440.7,-11.9,125,2376,0.00,2.17,0.00,0.000,260,0.000,0.048,2207,3825,3505,3386,3624,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2398,-0.48,-160.6,2207,3825,3386,3624,443.8,-11.8,126,2405,0.00,2.15,0.00,0.000,1030,0.000,0.026,2207,2519,3504,3386,3623,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2722,-0.48,-160.6,2207,2520,3386,3617,481.6,-11.5,142,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2520,3501,3386,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.48,-160.6,2207,2519,3386,3613,515.0,-10.8,157,3026,0.00,2.33,0.00,0.000,260,0.000,0.046,2207,3838,3498,3385,3612,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3047,-0.48,-160.6,2206,3834,3385,3612,517.7,-10.7,158,3053,0.00,2.15,0.00,0.000,1030,0.000,0.024,2207,2519,3499,3386,3612,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3374,-0.48,-160.6,2206,2519,3387,3605,555.3,-12.0,174,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2519,3495,3386,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.48,-160.6,2206,2519,3385,3601,589.3,-11.0,189,3679,0.00,2.33,0.00,0.000,260,0.000,0.046,2207,3824,3493,3386,3600,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3773,-0.48,-160.6,2206,3824,3386,3599,598.5,-10.3,193,3778,0.00,2.15,0.00,0.000,1030,0.000,0.026,2210,2520,3491,3385,3598,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4091,-0.48,-160.6,2206,2520,3385,3592,630.1,-9.2,204,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2520,3488,3385,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4389,-0.48,-160.6,2206,2520,3385,3588,658.0,-9.4,214,4394,0.00,2.33,0.00,0.000,260,0.000,0.048,2207,3824,3486,3385,3587,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4429,-0.48,-160.6,2206,3824,3383,3587,661.3,-9.3,215,4435,0.00,2.15,0.00,0.000,1030,0.000,0.026,2207,2521,3485,3383,3587,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4761,-0.48,-160.6,2206,2521,3381,3583,693.0,-10.0,226,4767,0.00,2.33,0.00,0.000,260,0.000,0.048,2207,3832,3482,3381,3583,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4810,-0.48,-160.6,2206,3831,3380,3583,697.0,-10.3,227,4816,0.00,2.15,0.00,0.000,1030,0.000,0.025,2207,2522,3481,3380,3583,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5131,-0.48,-160.6,2206,2522,3379,3579,731.9,-10.1,238,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2522,3479,3379,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5431,-0.48,-160.6,2206,2521,3377,3577,761.2,-9.5,248,5437,0.00,2.33,0.00,0.000,260,0.000,0.050,2206,3824,3476,3377,3576,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5487,-0.48,-160.6,2206,3824,3376,3576,764.3,-9.2,249,5493,0.00,2.15,0.00,0.000,1030,0.000,0.027,2206,2522,3476,3376,3577,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5807,-0.48,-160.6,2206,2525,3372,3572,793.8,-8.8,260,5813,0.00,2.33,0.00,0.000,260,0.000,0.051,2206,3825,3474,3376,3572,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5863,-0.48,-160.6,2206,3826,3374,3572,797.3,-8.9,261,5869,0.00,2.15,0.00,0.000,1030,0.000,0.028,2206,2530,3473,3375,3572,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6182,-0.48,-160.6,2206,2530,3374,3569,828.3,-9.1,272,6188,0.00,2.33,0.00,0.000,260,0.000,0.049,2201,3836,3473,3378,3569,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6232,-0.48,-160.6,2201,3835,3373,3568,831.7,-9.0,273,6237,0.00,2.17,0.00,0.000,1030,0.000,0.026,2201,2517,3470,3372,3569,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6552,-0.48,-160.6,2201,2517,3372,3565,861.1,-8.9,284,6558,0.00,2.33,0.00,0.000,260,0.000,0.047,2196,3830,3468,3372,3565,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6608,-0.48,-160.6,2197,3830,3370,3569,864.2,-9.0,285,6614,0.00,2.15,0.00,0.000,1030,0.000,0.027,2197,2529,3467,3370,3565,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6926,-0.48,-160.6,2197,2530,3370,3561,893.3,-8.8,296,6932,0.00,2.30,0.00,0.000,260,0.000,0.050,2194,3822,3465,3370,3561,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6982,-0.48,-160.6,2194,3822,3368,3561,896.8,-9.0,297,6988,0.00,2.15,0.00,0.000,1030,0.000,0.028,2194,2530,3464,3368,3560,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7302,-0.48,-160.6,2194,2530,3368,3558,928.5,-9.3,308,7307,0.00,2.30,0.00,0.000,260,0.000,0.049,2183,3831,3463,3368,3558,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7349,-0.48,-160.6,2183,3831,3367,3558,932.8,-9.6,309,7355,0.12,2.17,0.00,0.000,3078,0.120,0.028,2223,2520,3462,3367,3558,0,0,0,0,0,0,26.25,26.48,28.83
$GC,7675,-0.48,-160.6,2223,2519,3367,3555,956.5,-6.7,320,7682,0.00,2.33,0.00,0.000,260,0.000,0.048,2217,3831,3458,3362,3554,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7724,-0.48,-160.6,2217,3831,3367,3554,959.0,-6.7,321,7730,0.00,2.17,0.00,0.000,1030,0.000,0.027,2217,2517,3460,3366,3555,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8050,-0.48,-160.6,2217,2517,3367,3554,983.8,-7.4,332,8056,0.00,2.33,0.00,0.000,260,0.000,0.047,2207,3830,3460,3367,3554,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,8114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8114,begin apogee
$GC,8123,-0.12,0.0,2206,2626,3366,3554,990.1,-8.3,334,8265,0.35,0.10,136.80,0.948,10246,0.090,0.091,2335,2660,2853,2860,2846,0,0,0,0,0,0,26.12,24.99,24.30
$STATE,8267,end apogee,CONTROL_FINISHED_OK
$STATE,8267,begin climb
$GC,8270,0.48,160.6,2335,2674,2853,2829,995.7,0.0,338,8432,0.52,2.00,151.57,0.947,10500,0.051,0.042,2533,3825,2186,2309,2063,0,0,0,0,0,0,25.15,24.79,24.08
$GC,8454,0.74,263.2,2532,3825,2302,2053,990.0,4.7,343,8561,0.22,1.92,96.55,0.926,11270,0.050,0.016,2659,2596,1774,1923,1626,0,0,0,0,0,0,25.16,25.21,24.06
$GC,8885,0.74,263.2,2653,2597,1902,1595,903.4,20.9,357,8891,0.12,2.10,0.00,0.000,4356,0.177,0.039,2607,3848,1749,1903,1595,0,0,0,0,0,0,25.71,25.89,28.83
$GC,8929,0.74,263.2,2606,3848,1902,1595,895.2,20.9,358,8935,0.00,1.90,0.00,0.000,1030,0.000,0.016,2617,2595,1748,1902,1595,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9255,0.74,263.2,2617,2594,1900,1593,837.5,17.1,369,9261,0.00,2.10,0.00,0.000,260,0.000,0.041,2607,3841,1746,1899,1593,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9305,0.74,263.2,2606,3842,1899,1593,831.0,17.2,370,9312,0.00,1.88,0.00,0.000,1030,0.000,0.015,2616,2596,1746,1899,1593,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9628,0.74,263.2,2617,2595,1897,1593,775.2,16.7,381,9634,0.00,2.08,0.00,0.000,260,0.000,0.041,2607,3833,1745,1897,1593,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9710,0.74,263.2,2607,3833,1895,1592,762.5,17.7,383,9716,0.00,1.85,0.00,0.000,1030,0.000,0.016,2617,2598,1744,1896,1593,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10033,0.74,263.2,2617,2597,1896,1592,704.7,16.6,394,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2597,1744,1896,1592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10330,0.74,263.2,2617,2597,1895,1592,655.3,16.3,404,10336,0.00,2.08,0.00,0.000,260,0.000,0.041,2608,3843,1743,1895,1592,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10360,0.74,263.2,2607,3843,1894,1591,655.3,16.3,404,10369,0.00,1.85,0.00,0.000,1030,0.000,0.017,2617,2599,1743,1894,1592,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,15608,end climb,SURFACE_DEPTH_REACHED
$STATE,15608,begin surface coast
$FINISH,0.2,1.021327
$STATE,15638,end surface coast,CONTROL_FINISHED_OK
$STATE,15638,begin surface
$SM_CCo,15657,29.73,0.122,0,0,1097,430.01
$SM_GC,1.10,6.38,0.17,29.73,0.022,0.049,0.122,136,2498,1097,-6.95,0.34,430.01,0,0,0,0,0,0,26.33,26.53,25.99
$IRIDIUM_FIX,1810.04,12316.85,080513,161643
$TT8_MAMPS,0.021721,0.021721
$HUMID,45.74
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3893376
$24V_AH,24.1,33.066
$10V_AH,10.2,26.578
$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,16.850,153.550,518.550,29.725,0.000,0.000,0.000,447.800,0.000,0.000,33.671,2924.766,9822.886,709.577,2257.142,703.532,0.000,2145.355,0.000,1662.270,0.000,0.545,0.000
$DEVICE_MAMPS,227.205,91.035,947.835,121.635,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15719.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.509,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,26720,693
$CAP_FILE_SIZE,378046,0
$CFSIZE,260034560,214220800
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,325.2,1
$GPS,090513,023305,1818.096,12309.375,36,1.4,41,-2.0