version: 66.11
glider: 169
mission: 8
dive: 329
start: 5 25 113 10 22 48
data:
$ID,169
$MISSION,8
$DIVE,329
$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,-21827.59
$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
$GPS1,250513,100935,1943.662,12341.235,39,0.9,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-71.8
$GPS2,250513,102218,1943.231,12340.923,10,1.3,15,-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,52.2,89844,-3.2,-8.250,-19.13,2990
$D_GRID,5049
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.48,-160.6,122,2572,1256,951,0.0,0.0,0,98,0.00,0.00,-71.68,0.000,16386,0.000,0.000,122,2573,2963,2896,3030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.48,-160.6,122,2573,2896,3037,3.9,-9.8,10,128,8.65,2.20,-9.00,0.000,18692,0.232,0.052,2203,3837,3510,3386,3635,0,0,0,0,0,0,25.33,25.94,26.37
$GC,139,-0.48,-160.6,2205,3834,3386,3635,24.9,-51.9,14,147,0.00,2.15,0.00,0.000,1030,0.000,0.027,2205,2532,3510,3387,3634,0,0,0,0,0,0,28.83,26.02,28.83
$GC,456,-0.48,-160.6,2205,2530,3388,3634,113.1,-23.1,34,462,0.00,2.53,0.00,0.000,516,0.000,0.031,2205,1083,3511,3388,3634,0,0,0,0,0,0,28.83,26.10,28.83
$GC,485,-0.48,-160.6,1328,1081,3376,3632,117.8,-21.8,35,491,0.00,2.65,0.00,0.000,1030,0.000,0.037,2206,2555,3511,3388,3634,0,0,0,0,0,0,28.83,26.06,28.83
$GC,806,-0.48,-160.6,2203,2551,3389,3635,177.4,-18.6,51,812,0.00,2.60,0.00,0.000,516,0.000,0.030,2203,1084,3512,3390,3634,0,0,0,0,0,0,28.83,26.19,28.83
$GC,864,-0.48,-160.6,2203,1084,3390,3635,185.2,-17.8,53,870,0.00,2.65,0.00,0.000,1030,0.000,0.036,2203,2556,3512,3390,3635,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1180,-0.48,-160.6,2203,2552,3389,3635,239.5,-17.3,69,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2550,3512,3390,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1481,-0.48,-160.6,2203,2552,3389,3634,288.7,-15.9,84,1487,0.00,2.58,0.00,0.000,516,0.000,0.029,2203,1089,3511,3389,3634,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1573,-0.48,-160.6,2203,1088,3389,3634,301.6,-14.2,88,1580,0.00,2.60,0.00,0.000,1030,0.000,0.034,2196,2558,3511,3389,3634,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1896,-0.48,-160.6,2197,2555,3389,3632,351.7,-13.9,104,1902,0.00,2.12,0.00,0.000,260,0.000,0.047,2194,3841,3510,3389,3632,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1931,-0.48,-160.6,2194,3841,3389,3631,355.5,-13.8,105,1938,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2520,3510,3389,3631,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2248,-0.48,-160.6,2194,2520,3389,3628,401.2,-14.2,121,2254,0.00,2.47,0.00,0.000,516,0.000,0.031,2194,1065,3508,3389,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2361,-0.48,-160.6,2194,1065,3389,3626,414.8,-11.5,126,2367,0.00,2.60,0.00,0.000,1030,0.000,0.032,2194,2557,3507,3389,3626,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2689,-0.48,-160.6,2193,2554,3389,3622,457.0,-13.0,142,2697,0.10,2.15,0.00,0.000,2308,0.147,0.047,2220,3824,3505,3389,3622,0,0,0,0,0,0,26.47,26.13,28.83
$GC,2732,-0.48,-160.6,2220,3824,3395,3621,460.9,-13.1,143,2740,0.00,2.10,0.00,0.000,1030,0.000,0.024,2220,2519,3505,3389,3621,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3038,-0.48,-160.6,2220,2519,3389,3617,493.2,-9.6,159,3043,0.00,2.45,0.00,0.000,516,0.000,0.031,2220,1080,3502,3389,3616,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3072,-0.48,-160.6,2220,1080,3389,3616,495.8,-9.8,160,3078,0.00,2.60,0.00,0.000,1030,0.000,0.034,2219,2562,3502,3389,3616,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3389,-0.48,-160.6,2220,2559,3389,3612,528.2,-10.1,176,3394,0.00,2.15,0.00,0.000,260,0.000,0.050,2218,3828,3500,3389,3612,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3445,-0.48,-160.6,2217,3827,3389,3611,532.6,-9.8,178,3452,0.00,2.10,0.00,0.000,1030,0.000,0.024,2218,2522,3500,3389,3611,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3762,-0.48,-160.6,2217,2522,3389,3605,562.3,-8.7,194,3768,0.00,2.33,0.00,0.000,260,0.000,0.047,2210,3842,3497,3389,3605,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3815,-0.48,-160.6,2210,3842,3389,3604,566.4,-8.7,196,3821,0.00,2.15,0.00,0.000,1030,0.000,0.025,2210,2522,3496,3389,3604,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4137,-0.48,-160.6,2210,2522,3389,3600,595.5,-8.6,212,4144,0.00,2.47,0.00,0.000,516,0.000,0.031,2210,1081,3492,3384,3600,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4173,-0.48,-160.6,2210,1081,3389,3600,598.0,-8.7,213,4179,0.00,2.58,0.00,0.000,1030,0.000,0.032,2207,2561,3494,3388,3600,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4509,-0.48,-160.6,2207,2558,3389,3593,628.1,-9.0,225,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2558,3490,3388,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.48,-160.6,2203,2557,3388,3589,657.0,-9.9,235,4816,0.00,2.17,0.00,0.000,260,0.000,0.048,2204,3845,3488,3388,3589,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4860,-0.48,-160.6,2204,3845,3388,3588,660.7,-10.0,236,4866,0.00,2.15,0.00,0.000,1030,0.000,0.027,2204,2527,3487,3388,3587,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5182,-0.48,-160.6,2204,2527,3388,3579,690.6,-8.4,247,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2526,3485,3387,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5483,-0.48,-160.6,2204,2526,3386,3580,714.3,-7.9,257,5489,0.00,2.30,0.00,0.000,260,0.000,0.046,2195,3836,3483,3386,3580,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5508,-0.48,-160.6,2194,3836,3386,3580,714.3,-7.9,257,5514,0.00,2.15,0.00,0.000,1030,0.000,0.024,2195,2524,3483,3386,3580,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5827,-0.48,-160.6,2195,2524,3385,3578,744.7,-9.2,268,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2524,3481,3385,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6123,-0.48,-160.6,2194,2524,3383,3575,774.7,-10.2,278,6129,0.00,2.35,0.00,0.000,260,0.000,0.050,2185,3822,3476,3378,3575,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6179,-0.48,-160.6,2185,3822,3382,3575,778.5,-10.5,279,6186,0.12,2.12,0.00,0.000,3078,0.119,0.026,2225,2526,3478,3382,3575,0,0,0,0,0,0,26.13,26.38,28.83
$GC,6497,-0.48,-160.6,2225,2527,3381,3572,806.9,-8.1,290,6502,0.00,2.47,0.00,0.000,516,0.000,0.031,2227,1082,3476,3381,3571,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6538,-0.48,-160.6,2227,1081,3382,3571,809.9,-8.2,291,6545,0.00,2.55,0.00,0.000,1030,0.000,0.031,2223,2560,3476,3382,3571,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6870,-0.48,-160.6,2223,2556,3380,3569,835.5,-7.1,302,6876,0.00,2.20,0.00,0.000,260,0.000,0.048,2216,3832,3474,3380,3569,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6941,-0.48,-160.6,2220,3832,3380,3569,840.4,-7.0,304,6947,0.00,2.15,0.00,0.000,1030,0.000,0.025,2220,2523,3476,3379,3574,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7273,-0.48,-160.6,2220,2523,3380,3566,861.8,-6.1,315,7279,0.00,2.38,0.00,0.000,260,0.000,0.048,2218,3844,3472,3380,3565,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7314,-0.48,-160.6,2218,3844,3378,3565,863.9,-5.9,316,7320,0.00,2.17,0.00,0.000,1030,0.000,0.026,2218,2524,3471,3378,3565,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7646,-0.48,-160.6,2218,2524,3378,3562,882.5,-5.2,327,7652,0.00,2.33,0.00,0.000,260,0.000,0.045,2203,3827,3470,3378,3562,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7715,-0.48,-160.6,2206,3827,3377,3562,886.4,-5.4,329,7721,0.00,2.17,0.00,0.000,1030,0.000,0.026,2210,2521,3469,3377,3562,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8052,-0.48,-160.6,2203,2522,3377,3561,906.9,-6.0,340,8058,0.00,2.35,0.00,0.000,260,0.000,0.051,2206,3818,3468,3376,3560,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8108,-0.48,-160.6,2206,3818,3376,3561,909.1,-6.0,341,8114,0.00,2.15,0.00,0.000,1030,0.000,0.028,2207,2526,3468,3376,3561,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8426,-0.48,-160.6,2206,2527,3376,3558,930.1,-6.4,352,8432,0.00,2.33,0.00,0.000,260,0.000,0.048,2204,3827,3467,3376,3558,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8474,-0.48,-160.6,2203,3826,3375,3557,932.6,-6.5,353,8480,0.00,2.15,0.00,0.000,1030,0.000,0.026,2204,2524,3466,3375,3557,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8801,-0.48,-160.6,2203,2525,3374,3555,955.8,-6.9,364,8806,0.00,2.33,0.00,0.000,260,0.000,0.047,2194,3828,3464,3374,3555,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8852,-0.48,-160.6,2194,3829,3373,3555,959.3,-7.6,365,8858,0.00,2.17,0.00,0.000,1030,0.000,0.027,2194,2522,3464,3373,3555,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9176,-0.48,-160.6,2194,2523,3373,3554,984.6,-7.6,376,9182,0.00,2.35,0.00,0.000,260,0.000,0.050,2188,3827,3463,3373,3554,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9205,-0.48,-160.6,2188,3827,3372,3554,984.6,-7.6,376,9215,0.12,2.17,0.00,0.000,3078,0.116,0.028,2228,2527,3463,3372,3554,0,0,0,0,0,0,26.01,26.25,28.83
$STATE,9268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9268,begin apogee
$GC,9276,-0.12,0.0,2226,2726,3372,3554,991.2,-7.0,379,9425,0.30,0.10,141.48,1.017,10246,0.086,0.074,2340,2660,2845,2857,2834,0,0,0,0,0,0,26.03,24.80,23.96
$STATE,9427,end apogee,CONTROL_FINISHED_OK
$STATE,9427,begin climb
$GC,9430,0.48,160.6,2340,2659,2852,2822,996.4,0.0,383,9593,0.50,0.00,156.50,0.965,10502,0.035,0.000,2556,2659,2196,2320,2073,0,0,0,0,0,0,25.02,28.83,23.62
$GC,9872,0.48,160.6,2556,2659,2291,2044,955.8,12.1,399,9879,0.00,2.70,0.00,0.000,516,0.000,0.023,2569,1227,2166,2290,2043,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9909,0.48,160.6,1600,1226,2242,2034,951.5,12.0,400,9915,0.00,2.85,0.00,0.000,1030,0.000,0.027,2557,2719,2165,2287,2043,0,0,0,0,0,0,28.83,25.72,28.83
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$STATE,19742,end climb,SURFACE_DEPTH_REACHED
$STATE,19742,begin surface coast
$FINISH,-0.5,1.021620
$STATE,19772,end surface coast,CONTROL_FINISHED_OK
$STATE,19772,begin surface
$SM_CCo,19790,17.25,0.126,0,0,1096,430.01
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$TT8_MAMPS,0.02247,0.02247
$HUMID,49.13
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3854304
$24V_AH,23.6,43.162
$10V_AH,10.1,33.955
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329092
$DATA_FILE_SIZE,33327,859
$CAP_FILE_SIZE,457865,0
$CFSIZE,260034560,201416704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,187.1,1
$GPS,250513,155405,1943.047,12342.296,32,1.0,32,-2.4