version: 66.11
glider: 169
mission: 8
dive: 372
start: 6 2 113 1 22 2
data:
$ID,169
$MISSION,8
$DIVE,372
$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,350
$T_MISSION,370
$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,180
$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,1
$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,-22790.727
$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
$GPS1,020613,010835,1947.008,12420.952,42,1.1,47,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-73.4
$GPS2,020613,012131,1947.180,12420.855,13,1.2,13,-2.4
$SPEED_LIMITS,0.163,0.258
$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,165.6,218446,-5.6,-9.429,-20.04,2855
$D_GRID,5493
$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,-0.58,-175.2,122,2571,1270,934,0.0,0.0,0,101,0.00,0.00,-75.22,0.000,16386,0.000,0.000,122,2571,3073,3006,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-175.2,122,2571,3007,3141,4.5,-10.8,10,131,8.45,2.17,-7.95,0.000,18692,0.226,0.050,2172,3850,3570,3445,3696,0,0,0,0,0,0,25.25,25.98,26.41
$GC,143,-0.58,-175.2,2172,3850,3446,3695,24.7,-49.9,14,150,0.00,2.15,0.00,0.000,1030,0.000,0.027,2173,2525,3570,3446,3695,0,0,0,0,0,0,28.83,26.06,28.83
$GC,450,-0.58,-175.2,2173,2529,3448,3695,103.8,-25.0,34,456,0.00,2.50,0.00,0.000,516,0.000,0.031,2173,1075,3572,3449,3695,0,0,0,0,0,0,28.83,26.11,28.83
$GC,518,-0.58,-175.2,1296,1074,3438,3694,118.6,-22.8,37,524,0.00,2.65,0.00,0.000,1030,0.000,0.037,2168,2559,3572,3449,3695,0,0,0,0,0,0,28.83,26.08,28.83
$GC,846,-0.58,-175.2,2167,2555,3448,3695,196.5,-22.6,53,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2556,3572,3449,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.58,-175.2,2167,2555,3449,3695,260.6,-19.6,68,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2555,3571,3448,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1443,-0.58,-175.2,2167,2555,3448,3695,311.1,-15.5,83,1449,0.00,2.60,0.00,0.000,516,0.000,0.029,2167,1085,3571,3448,3695,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1502,-0.58,-175.2,2167,1084,3448,3695,318.4,-15.9,85,1508,0.00,2.60,0.00,0.000,1030,0.000,0.034,2164,2558,3572,3450,3695,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1818,-0.58,-175.2,2164,2560,3448,3695,378.8,-20.6,101,1824,0.00,2.15,0.00,0.000,260,0.000,0.049,2154,3823,3570,3447,3694,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1869,-0.58,-175.2,1280,3823,3438,3693,388.4,-21.0,103,1875,0.12,2.08,0.00,0.000,3078,0.138,0.024,2189,2524,3571,3448,3694,0,0,0,0,0,0,26.14,26.46,28.83
$GC,2194,-0.58,-175.2,2189,2522,3449,3691,434.0,-11.0,119,2199,0.00,2.47,0.00,0.000,516,0.000,0.031,2189,1079,3569,3448,3690,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2228,-0.58,-175.2,2188,1079,3447,3690,437.1,-10.6,120,2234,0.00,2.60,0.00,0.000,1030,0.000,0.034,2183,2562,3569,3448,3690,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2545,-0.58,-175.2,2185,2558,3447,3685,473.5,-12.3,136,2552,0.00,2.15,0.00,0.000,260,0.000,0.050,2181,3841,3566,3448,3685,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2593,-0.58,-175.2,2180,3841,3447,3684,479.6,-12.5,138,2600,0.00,2.10,0.00,0.000,1030,0.000,0.024,2181,2521,3566,3448,3684,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2923,-0.58,-175.2,2181,2519,3447,3677,525.0,-14.1,154,2929,0.00,2.47,0.00,0.000,516,0.000,0.030,2181,1075,3562,3448,3677,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2948,-0.58,-175.2,2180,1075,3448,3677,529.1,-13.9,155,2954,0.00,2.60,0.00,0.000,1030,0.000,0.033,2181,2563,3561,3447,3676,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3278,-0.58,-175.2,2181,2559,3448,3671,570.6,-11.8,171,3284,0.00,2.15,0.00,0.000,260,0.000,0.050,2180,3823,3559,3447,3671,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3327,-0.58,-175.2,2180,3822,3447,3670,576.5,-11.6,173,3333,0.00,2.12,0.00,0.000,1030,0.000,0.026,2178,2518,3558,3447,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3663,-0.58,-175.2,2180,2517,3447,3663,610.6,-9.8,188,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2518,3555,3447,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3963,-0.58,-175.2,2180,2518,3446,3660,639.0,-9.6,198,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2518,3552,3445,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4263,-0.58,-175.2,2180,2517,3445,3656,672.1,-11.5,208,4270,0.00,2.30,0.00,0.000,260,0.000,0.047,2170,3831,3550,3445,3655,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4310,-0.58,-175.2,2171,3831,3444,3655,676.8,-11.9,209,4317,0.00,2.10,0.00,0.000,1030,0.000,0.025,2171,2519,3552,3444,3660,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4637,-0.58,-175.2,2171,2520,3443,3650,719.4,-12.2,220,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2519,3548,3446,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,-0.58,-175.2,2171,2519,3442,3647,753.3,-11.0,230,4944,0.00,2.33,0.00,0.000,260,0.000,0.050,2168,3829,3544,3442,3647,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4980,-0.58,-175.2,2168,3829,3441,3647,757.5,-11.1,231,4986,0.00,2.10,0.00,0.000,1030,0.000,0.027,2168,2523,3544,3441,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5311,-0.58,-175.2,2167,2523,3439,3643,795.2,-11.3,242,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2523,3541,3440,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5611,-0.58,-175.2,2168,2523,3438,3638,826.9,-10.5,252,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2523,3538,3438,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5911,-0.58,-175.2,2167,2523,3437,3634,856.8,-10.1,262,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2523,3535,3437,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,-0.58,-175.2,2167,2523,3435,3632,886.4,-9.9,272,6217,0.00,2.33,0.00,0.000,260,0.000,0.052,2157,3832,3533,3435,3632,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6253,-0.58,-175.2,1280,3832,3424,3629,890.8,-10.5,273,6259,0.12,2.12,0.00,0.000,3078,0.122,0.028,2195,2523,3533,3435,3632,0,0,0,0,0,0,26.06,26.33,28.83
$GC,6585,-0.58,-175.2,2194,2523,3434,3628,917.2,-7.7,284,6590,0.00,2.30,0.00,0.000,260,0.000,0.054,2192,3824,3530,3434,3627,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6614,-0.58,-175.2,2191,3824,3433,3627,917.2,-7.7,284,6622,0.00,2.12,0.00,0.000,1030,0.000,0.028,2192,2518,3530,3433,3627,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6924,-0.58,-175.2,2191,2519,3432,3626,943.7,-7.9,295,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2518,3529,3432,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7221,-0.58,-175.2,2191,2519,3431,3623,967.6,-7.9,305,7227,0.00,2.30,0.00,0.000,260,0.000,0.048,2181,3839,3527,3431,3623,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7252,-0.58,-175.2,2181,3839,3430,3623,967.6,-7.9,305,7260,0.00,2.15,0.00,0.000,1030,0.000,0.027,2181,2519,3527,3431,3624,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,7494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7494,begin apogee
$GC,7502,-0.12,0.0,2179,2717,3430,3621,992.6,-9.0,314,7663,0.45,0.08,153.00,1.025,10246,0.093,0.093,2340,2654,2845,2873,2818,0,0,0,0,0,0,25.78,24.76,23.92
$STATE,7667,end apogee,CONTROL_FINISHED_OK
$STATE,7667,begin climb
$GC,7670,0.58,175.2,2339,2654,2871,2806,998.9,0.0,318,7848,0.60,2.85,167.65,0.990,10756,0.032,0.022,2607,1237,2126,2260,1993,0,0,0,0,0,0,25.06,24.42,23.49
$GC,7871,0.66,207.8,1664,1235,2202,1973,991.9,8.3,326,7910,0.00,2.95,31.55,0.946,9222,0.000,0.026,2594,2716,1998,2142,1855,0,0,0,0,0,0,28.83,24.79,23.67
$GC,8229,0.66,207.8,2595,2715,2127,1823,941.2,13.6,338,8235,0.00,2.80,0.00,0.000,516,0.000,0.024,2607,1235,1975,2127,1823,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8248,0.66,207.8,2608,1235,2123,1822,941.2,13.6,338,8255,0.00,2.83,0.00,0.000,1030,0.000,0.027,2596,2722,1973,2124,1823,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8572,0.66,207.8,2595,2719,2124,1823,894.2,13.5,349,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2719,1972,2123,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8870,0.66,207.8,2595,2718,2121,1822,854.9,13.1,359,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2719,1971,2121,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9170,0.66,207.8,2595,2718,2119,1822,815.3,13.4,369,9176,0.00,2.78,0.00,0.000,516,0.000,0.024,2608,1235,1970,2119,1822,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9207,0.66,207.8,2608,1234,2115,1823,810.2,13.9,370,9213,0.00,2.83,0.00,0.000,1030,0.000,0.028,2605,2726,1969,2115,1823,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9542,0.66,207.8,2605,2724,2115,1823,759.3,15.1,381,9548,0.00,1.75,0.00,0.000,260,0.000,0.044,2597,3842,1969,2115,1823,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9590,0.66,207.8,2597,3842,2114,1823,753.6,15.4,382,9595,0.00,1.75,0.00,0.000,1030,0.000,0.017,2607,2624,1968,2115,1822,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9916,0.66,207.8,2606,2621,2114,1823,703.7,14.3,393,9921,0.00,2.00,0.00,0.000,260,0.000,0.041,2597,3845,1968,2114,1823,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9971,0.66,207.8,2597,3845,2114,1823,698.4,14.4,394,9977,0.00,1.75,0.00,0.000,1030,0.000,0.017,2607,2619,1968,2114,1823,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10290,0.66,207.8,2607,2619,2114,1824,655.3,12.4,405,10296,0.00,2.00,0.00,0.000,260,0.000,0.042,2598,3838,1968,2114,1822,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10341,0.66,207.8,2597,3838,2114,1822,650.1,12.5,406,10347,0.00,1.75,0.00,0.000,1030,0.000,0.016,2607,2614,1968,2114,1822,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10662,0.66,207.8,2607,2613,2114,1821,607.9,12.1,417,10668,0.00,2.53,0.00,0.000,516,0.000,0.025,2619,1236,1967,2114,1821,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10699,0.66,207.8,2619,1236,2107,1823,603.4,12.1,418,10705,0.00,2.80,0.00,0.000,1030,0.000,0.028,2611,2723,1966,2109,1823,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,16398,end climb,SURFACE_DEPTH_REACHED
$STATE,16398,begin surface coast
$FINISH,-0.1,1.021034
$STATE,16428,end surface coast,CONTROL_FINISHED_OK
$STATE,16429,begin surface
$SM_CCo,16447,38.67,0.125,0,0,1098,430.01
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$TT8_MAMPS,0.021721,0.021721
$HUMID,51.73
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3833536
$24V_AH,23.5,49.023
$10V_AH,10.2,37.449
$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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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.672,0.000,0.000,0.000
$MEM,328932
$DATA_FILE_SIZE,26767,726
$CAP_FILE_SIZE,368070,0
$CFSIZE,260034560,195489792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,138.6,1
$GPS,020613,055806,1945.150,12421.694,39,1.0,39,-2.4