version: 66.11
glider: 169
mission: 8
dive: 315
start: 5 22 113 5 43 17
data:
$ID,169
$MISSION,8
$DIVE,315
$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,-21807.855
$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,2700
$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
$GPS1,220513,053100,1946.134,12330.607,37,1.3,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-72.4
$GPS2,220513,054249,1945.947,12330.628,16,1.1,16,-2.4
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,39.9,101264,-3.2,-8.250,-19.13,2990
$D_GRID,5182
$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,24,-0.48,-160.6,121,2565,1252,959,0.0,0.0,0,94,0.00,0.00,-68.40,0.000,16386,0.000,0.000,121,2565,2867,2822,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.48,-160.6,121,2565,2823,2913,3.6,-8.5,9,125,8.48,2.75,-11.00,0.000,19204,0.227,0.043,2216,1084,3510,3386,3634,0,0,0,0,0,0,25.46,26.05,26.46
$GC,304,-0.48,-160.6,2216,1083,3388,3634,67.8,-26.0,26,310,0.00,2.67,0.00,0.000,1030,0.000,0.037,2210,2557,3510,3387,3633,0,0,0,0,0,0,28.83,26.11,28.83
$GC,624,-0.48,-160.6,2210,2554,3388,3633,156.0,-24.3,42,631,0.00,2.60,0.00,0.000,516,0.000,0.029,2210,1071,3510,3388,3633,0,0,0,0,0,0,28.83,26.26,28.83
$GC,735,-0.48,-160.6,2210,1071,3388,3633,176.7,-17.8,47,742,0.00,2.62,0.00,0.000,1030,0.000,0.032,2207,2559,3511,3388,3634,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1063,-0.48,-160.6,2206,2556,3389,3633,239.1,-19.4,63,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2556,3511,3389,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1361,-0.48,-160.6,2206,2555,3389,3633,291.6,-16.8,78,1367,0.00,2.60,0.00,0.000,516,0.000,0.028,2207,1071,3511,3389,3633,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1472,-0.48,-160.6,2206,1069,3389,3633,308.0,-14.2,83,1478,0.00,2.62,0.00,0.000,1030,0.000,0.032,2207,2558,3511,3389,3633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1800,-0.48,-160.6,2203,2554,3389,3633,356.5,-14.8,99,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2554,3511,3389,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,-0.48,-160.6,2206,2554,3389,3630,394.2,-11.4,114,2105,0.00,2.12,0.00,0.000,260,0.000,0.047,2206,3842,3509,3389,3630,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2124,-0.48,-160.6,2206,3842,3389,3630,397.4,-11.7,115,2131,0.00,2.08,0.00,0.000,1030,0.000,0.024,2206,2522,3509,3389,3630,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2453,-0.48,-160.6,2206,2522,3389,3625,436.8,-12.4,131,2459,0.00,2.50,0.00,0.000,516,0.000,0.031,2206,1078,3507,3389,3625,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2481,-0.48,-160.6,1344,1077,3377,3623,439.9,-11.8,132,2488,0.00,2.60,0.00,0.000,1030,0.000,0.031,2206,2561,3507,3389,3625,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2805,-0.48,-160.6,2206,2558,3388,3620,476.1,-11.2,148,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2558,3504,3389,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3104,-0.48,-160.6,2206,2558,3389,3614,510.1,-11.4,163,3110,0.00,2.60,0.00,0.000,516,0.000,0.031,2206,1083,3501,3388,3614,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3130,-0.48,-160.6,2206,1083,3388,3614,513.2,-11.4,164,3137,0.00,2.60,0.00,0.000,1030,0.000,0.034,2206,2557,3501,3388,3614,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3459,-0.48,-160.6,2205,2554,3388,3607,548.2,-10.3,180,3466,0.00,2.55,0.00,0.000,516,0.000,0.030,2206,1086,3498,3389,3607,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3494,-0.48,-160.6,2206,1086,3388,3607,551.3,-10.4,181,3500,0.00,2.58,0.00,0.000,1030,0.000,0.034,2200,2559,3497,3388,3606,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3810,-0.48,-160.6,2199,2556,3388,3601,584.1,-10.0,197,3816,0.00,2.15,0.00,0.000,260,0.000,0.045,2194,3832,3494,3388,3601,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3914,-0.48,-160.6,2193,3832,3388,3599,593.4,-10.4,201,3922,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2524,3493,3388,3598,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4218,-0.48,-160.6,2193,2524,3388,3593,627.6,-10.5,213,4224,0.00,2.28,0.00,0.000,260,0.000,0.047,2194,3831,3490,3388,3592,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4247,-0.48,-160.6,2193,3831,3387,3591,627.6,-10.5,213,4255,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2525,3489,3387,3592,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4555,-0.48,-160.6,2193,2524,3386,3589,660.4,-9.3,224,4561,0.00,2.28,0.00,0.000,260,0.000,0.047,2194,3832,3487,3386,3589,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4580,-0.48,-160.6,2194,3832,3386,3589,660.4,-9.3,224,4586,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2524,3490,3385,3595,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4900,-0.48,-160.6,2193,2524,3384,3585,691.0,-9.2,235,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2524,3484,3385,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5197,-0.48,-160.6,2193,2524,3382,3580,720.7,-10.3,245,5204,0.00,2.28,0.00,0.000,260,0.000,0.047,2190,3833,3481,3382,3580,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5244,-0.48,-160.6,2190,3833,3381,3580,724.8,-10.6,246,5251,0.12,2.10,0.00,0.000,3078,0.122,0.025,2229,2524,3480,3381,3580,0,0,0,0,0,0,26.20,26.46,28.83
$GC,5572,-0.48,-160.6,2229,2524,3381,3576,754.0,-8.3,257,5578,0.00,2.28,0.00,0.000,260,0.000,0.046,2220,3843,3478,3380,3576,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5610,-0.48,-160.6,2220,3842,3380,3576,757.2,-8.4,258,5617,0.00,2.12,0.00,0.000,1030,0.000,0.025,2220,2524,3478,3380,3576,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5947,-0.48,-160.6,2220,2524,3379,3572,785.0,-8.0,269,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2523,3475,3379,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6247,-0.48,-160.6,2220,2524,3378,3570,808.3,-7.9,279,6253,0.00,2.30,0.00,0.000,260,0.000,0.047,2220,3837,3473,3377,3570,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6308,-0.48,-160.6,2220,3837,3376,3569,811.2,-7.9,280,6316,0.00,2.12,0.00,0.000,1030,0.000,0.025,2220,2521,3472,3376,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6616,-0.48,-160.6,2220,2521,3376,3566,834.8,-6.9,291,6624,0.00,2.33,0.00,0.000,260,0.000,0.050,2206,3837,3471,3376,3566,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6669,-0.48,-160.6,2210,3837,3375,3566,837.7,-6.7,292,6675,0.00,2.12,0.00,0.000,1030,0.000,0.025,2210,2524,3470,3375,3566,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6992,-0.48,-160.6,2210,2524,3374,3562,862.2,-7.1,303,6998,0.00,2.30,0.00,0.000,260,0.000,0.047,2207,3835,3468,3374,3562,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7029,-0.48,-160.6,2207,3835,3373,3562,864.9,-7.1,304,7035,0.00,2.12,0.00,0.000,1030,0.000,0.025,2207,2524,3467,3373,3562,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7365,-0.48,-160.6,2207,2525,3372,3561,888.2,-6.7,315,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2525,3466,3372,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7666,-0.48,-160.6,2207,2524,3370,3557,909.7,-7.5,325,7672,0.00,2.30,0.00,0.000,260,0.000,0.047,2207,3844,3463,3370,3556,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7707,-0.48,-160.6,2207,3844,3370,3556,911.7,-7.1,326,7713,0.00,2.15,0.00,0.000,1030,0.000,0.026,2207,2521,3466,3370,3562,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8039,-0.48,-160.6,2206,2521,3373,3554,937.8,-8.0,337,8045,0.00,2.33,0.00,0.000,260,0.000,0.052,2206,3836,3461,3369,3554,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8099,-0.48,-160.6,2206,3836,3368,3554,941.4,-8.4,338,8107,0.00,2.12,0.00,0.000,1030,0.000,0.026,2206,2525,3463,3368,3559,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8408,-0.48,-160.6,2206,2525,3368,3554,967.6,-7.6,349,8414,0.00,2.28,0.00,0.000,260,0.000,0.048,2207,3825,3462,3370,3554,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8429,-0.48,-160.6,2206,3825,3367,3554,967.6,-7.6,349,8435,0.00,2.12,0.00,0.000,1030,0.000,0.026,2206,2522,3460,3367,3554,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,8720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8720,begin apogee
$GC,8727,-0.12,0.0,2204,2721,3367,3551,990.9,-7.7,359,8876,0.38,0.05,140.30,0.994,10246,0.091,0.047,2340,2657,2843,2857,2830,0,0,0,0,0,0,25.94,24.84,24.12
$STATE,8878,end apogee,CONTROL_FINISHED_OK
$STATE,8878,begin climb
$GC,8881,0.48,160.6,2340,2657,2854,2822,996.8,0.0,363,9042,0.50,2.90,152.73,0.973,11012,0.037,0.023,2568,1237,2187,2312,2062,0,0,0,0,0,0,25.14,24.69,23.86
$GC,9087,0.55,187.5,2568,1238,2296,2047,989.2,7.3,370,9121,0.00,2.92,26.52,0.914,9222,0.000,0.026,2556,2719,2081,2212,1951,0,0,0,0,0,0,28.83,25.14,24.16
$GC,9432,0.55,187.5,2555,2718,2191,1925,946.9,11.8,382,9438,0.00,2.80,0.00,0.000,516,0.000,0.023,2568,1237,2058,2191,1925,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9516,0.55,187.5,1632,1237,2147,1917,939.4,11.4,384,9522,0.00,2.83,0.00,0.000,1030,0.000,0.028,2563,2726,2055,2186,1924,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9834,0.55,187.5,2567,2724,2186,1924,899.0,12.3,395,9840,0.00,2.80,0.00,0.000,516,0.000,0.024,2584,1224,2055,2186,1924,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9869,0.55,187.5,2580,1224,2183,1924,894.4,12.2,396,9876,0.00,2.83,0.00,0.000,1030,0.000,0.027,2571,2723,2053,2183,1924,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10206,0.55,187.5,2571,2720,2183,1924,853.0,12.5,407,10212,0.00,2.78,0.00,0.000,516,0.000,0.023,2584,1239,2051,2180,1923,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10278,0.55,187.5,2584,1239,2180,1924,844.2,13.0,409,10284,0.00,2.80,0.00,0.000,1030,0.000,0.028,2584,2724,2052,2181,1923,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10608,0.55,187.5,2584,2721,2180,1923,798.1,14.3,420,10615,0.00,1.73,0.00,0.000,260,0.000,0.042,2584,3833,2051,2180,1923,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,18926,end climb,SURFACE_DEPTH_REACHED
$STATE,18926,begin surface coast
$FINISH,-0.5,1.021220
$STATE,18945,end surface coast,CONTROL_FINISHED_OK
$STATE,18945,begin surface
$SM_CCo,18964,1.40,0.168,0,0,1097,430.01
$SM_GC,1.54,6.68,0.43,1.40,0.024,0.028,0.168,131,2504,1097,-6.95,0.34,430.01,0,0,0,0,0,0,26.22,26.40,25.87
$IRIDIUM_FIX,1938.95,12328.70,220513,010100
$TT8_MAMPS,0.021721,0.021721
$HUMID,46.41
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,3861472
$24V_AH,23.9,41.316
$10V_AH,10.2,32.549
$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,17.175,206.100,519.275,1.400,0.000,0.000,0.000,425.275,0.000,0.000,17.104,3468.648,12107.842,750.960,2486.011,832.021,0.000,2297.060,0.000,1929.206,0.000,0.545,0.000
$DEVICE_MAMPS,227.205,78.030,993.735,167.535,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19018.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.524,0.000,0.000,0.000
$MEM,329092
$DATA_FILE_SIZE,30028,831
$CAP_FILE_SIZE,443812,0
$CFSIZE,260034560,203833344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,177.7,1
$GPS,220513,110055,1947.014,12331.914,37,3.2,56,-2.4