version: 66.11
glider: 169
mission: 8
dive: 497
start: 6 28 113 6 34 39
data:
$ID,169
$MISSION,8
$DIVE,497
$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,-22962.133
$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
$GPS1,280613,062035,1942.396,12315.392,37,1.2,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-71.5
$GPS2,280613,063407,1942.084,12315.372,14,1.5,14,-2.4
$SPEED_LIMITS,0.163,0.258
$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,73.2,127773,-5.6,-9.429,-20.04,2855
$D_GRID,5027
$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,25,-0.58,-175.2,121,2566,1266,951,0.0,0.0,0,98,0.00,0.00,-70.95,0.000,16386,0.000,0.000,121,2566,2963,2909,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-175.2,123,2566,2909,3019,4.3,-10.3,9,129,8.73,2.22,-9.52,0.000,18692,0.228,0.059,2174,3847,3568,3438,3699,0,0,0,0,0,0,25.03,25.91,26.47
$GC,233,-0.58,-175.2,2174,3847,3442,3699,56.7,-32.1,20,238,0.00,2.10,0.00,0.000,1030,0.000,0.026,2174,2531,3571,3442,3700,0,0,0,0,0,0,28.83,26.19,28.83
$GC,550,-0.58,-175.2,2174,2530,3442,3699,130.4,-20.9,36,556,0.00,2.55,0.00,0.000,516,0.000,0.031,2174,1078,3571,3443,3699,0,0,0,0,0,0,28.83,26.16,28.83
$GC,599,-0.58,-175.2,2174,1077,3443,3699,139.0,-19.2,38,606,0.00,2.65,0.00,0.000,1030,0.000,0.033,2167,2558,3570,3442,3699,0,0,0,0,0,0,28.83,26.16,28.83
$GC,930,-0.58,-175.2,2167,2556,3443,3700,200.8,-19.7,54,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2556,3571,3443,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1226,-0.58,-175.2,2167,2555,3443,3699,255.0,-16.9,69,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2555,3571,3443,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1529,-0.58,-175.2,2168,2555,3443,3699,304.0,-16.0,84,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2555,3570,3442,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1826,-0.58,-175.2,2167,2555,3443,3698,348.1,-14.3,99,1833,0.00,2.10,0.00,0.000,260,0.000,0.049,2158,3823,3570,3443,3698,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1876,-0.58,-175.2,2158,3823,3443,3699,354.9,-14.4,101,1883,0.12,2.03,0.00,0.000,3078,0.132,0.023,2195,2516,3570,3443,3698,0,0,0,0,0,0,26.17,26.47,28.83
$GC,2209,-0.58,-175.2,2194,2516,3442,3693,390.8,-9.7,117,2214,0.00,2.22,0.00,0.000,260,0.000,0.044,2194,3828,3567,3442,3693,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2252,-0.58,-175.2,2193,3828,3442,3693,393.9,-9.9,118,2260,0.00,2.03,0.00,0.000,1030,0.000,0.022,2194,2512,3567,3442,3693,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2555,-0.58,-175.2,2190,2512,3443,3689,426.1,-10.3,134,2561,0.00,2.50,0.00,0.000,516,0.000,0.028,2194,1067,3565,3443,3688,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2585,-0.58,-175.2,2193,1067,3443,3688,428.8,-10.2,135,2591,0.00,2.65,0.00,0.000,1030,0.000,0.031,2193,2561,3565,3442,3688,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2909,-0.58,-175.2,2193,2558,3442,3683,462.9,-10.7,151,2915,0.00,2.12,0.00,0.000,260,0.000,0.046,2198,3839,3562,3442,3683,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2969,-0.58,-175.2,2193,3839,3442,3682,467.9,-10.5,153,2975,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2511,3562,3442,3682,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3285,-0.58,-175.2,2193,2511,3442,3676,498.6,-9.6,169,3292,0.00,2.28,0.00,0.000,260,0.000,0.045,2193,3842,3559,3442,3676,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3322,-0.58,-175.2,2193,3842,3442,3676,501.1,-9.5,170,3328,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2514,3559,3442,3676,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3638,-0.58,-175.2,2194,2514,3443,3671,533.6,-9.9,186,3644,0.00,2.28,0.00,0.000,260,0.000,0.046,2193,3846,3556,3442,3670,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3675,-0.58,-175.2,2193,3846,3442,3670,536.1,-9.9,187,3681,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2514,3556,3443,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3991,-0.58,-175.2,2193,2515,3442,3664,565.5,-8.3,203,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2511,3553,3442,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4293,-0.58,-175.2,2193,2514,3442,3661,590.7,-8.5,218,4299,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3832,3551,3442,3660,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4344,-0.58,-175.2,2193,3832,3441,3660,594.5,-8.1,220,4350,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2511,3551,3442,3660,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4680,-0.58,-175.2,2193,2511,3441,3654,623.1,-9.0,232,4688,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3844,3547,3440,3654,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4713,-0.58,-175.2,2193,3844,3439,3654,623.1,-9.0,232,4721,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2514,3546,3439,3654,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5022,-0.58,-175.2,2193,2514,3438,3650,654.5,-9.5,243,5029,0.00,2.30,0.00,0.000,260,0.000,0.048,2194,3833,3543,3437,3650,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5059,-0.58,-175.2,2193,3832,3437,3650,658.4,-9.5,244,5064,0.00,2.10,0.00,0.000,1030,0.000,0.024,2193,2512,3542,3437,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5396,-0.58,-175.2,2193,2511,3436,3645,691.0,-9.9,255,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2511,3541,3437,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5696,-0.58,-175.2,2193,2511,3435,3642,719.1,-9.1,265,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2511,3538,3435,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5996,-0.58,-175.2,2193,2511,3434,3638,745.5,-8.8,275,6002,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3830,3536,3434,3638,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6043,-0.58,-175.2,2193,3829,3432,3638,748.7,-8.7,276,6049,0.00,2.10,0.00,0.000,1030,0.000,0.024,2197,2510,3535,3432,3638,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6370,-0.58,-175.2,2193,2511,3432,3634,776.4,-8.1,287,6376,0.00,2.50,0.00,0.000,516,0.000,0.031,2193,1083,3532,3432,3633,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6397,-0.58,-175.2,2193,1083,3431,3634,776.4,-8.1,287,6404,0.00,2.62,0.00,0.000,1030,0.000,0.031,2194,2563,3532,3431,3633,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6718,-0.58,-175.2,2193,2561,3430,3630,804.4,-8.1,298,6725,0.00,2.17,0.00,0.000,260,0.000,0.048,2193,3838,3530,3430,3630,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6771,-0.58,-175.2,2193,3838,3430,3631,807.8,-8.1,299,6777,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2515,3529,3429,3630,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7096,-0.58,-175.2,2193,2517,3428,3623,834.3,-7.6,310,7102,0.00,2.30,0.00,0.000,260,0.000,0.047,2193,3824,3528,3429,3627,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7133,-0.58,-175.2,2192,3824,3427,3627,836.8,-7.2,311,7140,0.00,2.12,0.00,0.000,1030,0.000,0.024,2193,2518,3527,3428,3627,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7472,-0.58,-175.2,2193,2517,3426,3625,860.2,-6.9,322,7479,0.00,2.33,0.00,0.000,260,0.000,0.048,2193,3847,3525,3426,3625,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7498,-0.58,-175.2,2193,3846,3426,3625,860.2,-6.9,322,7504,0.00,2.17,0.00,0.000,1030,0.000,0.025,2193,2515,3525,3426,3625,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7819,-0.58,-175.2,2193,2517,3426,3619,885.3,-7.4,333,7826,0.00,2.33,0.00,0.000,260,0.000,0.046,2182,3835,3523,3425,3621,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7846,-0.58,-175.2,2182,3835,3426,3621,885.3,-7.4,333,7853,0.00,2.15,0.00,0.000,1030,0.000,0.024,2182,2517,3521,3422,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8167,-0.58,-175.2,2182,2516,3425,3619,913.9,-8.2,344,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2516,3522,3425,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8464,-0.58,-175.2,2182,2516,3424,3617,938.2,-8.3,354,8470,0.00,2.33,0.00,0.000,260,0.000,0.047,2181,3835,3520,3424,3617,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8512,-0.58,-175.2,2181,3835,3424,3616,941.0,-8.1,355,8518,0.00,2.15,0.00,0.000,1030,0.000,0.025,2181,2517,3520,3424,3617,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8838,-0.58,-175.2,2180,2518,3424,3615,968.1,-7.9,366,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2517,3519,3423,3615,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9105,begin apogee
$GC,9113,-0.12,0.0,2181,2719,3422,3614,990.3,-8.3,375,9274,0.43,0.08,154.07,1.007,10246,0.086,0.090,2336,2664,2847,2874,2821,0,0,0,0,0,0,25.87,24.75,23.60
$STATE,9280,end apogee,CONTROL_FINISHED_OK
$STATE,9280,begin climb
$GC,9283,0.58,175.2,2336,2663,2867,2806,997.9,0.0,379,9460,0.60,2.95,168.45,0.999,11012,0.034,0.023,2603,1232,2127,2259,1995,0,0,0,0,0,0,25.15,24.65,23.38
$GC,9494,0.71,228.2,2603,1233,2239,1978,991.2,7.5,387,9557,0.00,2.97,52.50,0.926,9222,0.000,0.027,2594,2720,1908,2049,1767,0,0,0,0,0,0,28.83,25.12,23.61
$GC,9887,0.71,228.2,2594,2719,2037,1744,939.6,13.1,400,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2719,1890,2037,1744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10187,0.71,228.2,2594,2719,2035,1744,900.4,13.1,410,10193,0.00,2.83,0.00,0.000,516,0.000,0.024,2605,1239,1889,2035,1744,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10225,0.71,228.2,2607,1238,2031,1743,895.8,13.1,411,10231,0.00,2.85,0.00,0.000,1030,0.000,0.028,2602,2719,1887,2031,1743,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10561,0.71,228.2,2601,2716,2031,1743,851.2,13.2,422,10567,0.00,2.83,0.00,0.000,516,0.000,0.024,2615,1225,1887,2031,1743,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10598,0.71,228.2,2615,1223,2028,1742,846.6,13.2,423,10604,0.00,2.85,0.00,0.000,1030,0.000,0.027,2606,2715,1885,2028,1742,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,17881,end climb,SURFACE_DEPTH_REACHED
$STATE,17881,begin surface coast
$FINISH,-0.6,1.021025
$STATE,17910,end surface coast,CONTROL_FINISHED_OK
$STATE,17910,begin surface
$SM_CCo,17991,0.00,0.000,0,0,1085,433.45
$SM_GC,0.23,6.62,0.45,0.00,0.023,0.028,0.000,134,2504,1085,-6.95,0.42,433.45,0,0,0,0,0,0,26.10,26.36,28.83
$IRIDIUM_FIX,1934.38,12316.01,280613,010116
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.11
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3769600
$24V_AH,23.4,66.385
$10V_AH,10.0,50.001
$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,17.475,190.700,543.050,0.000,0.000,0.000,0.000,462.825,0.000,0.000,15.451,3158.016,11491.595,757.202,2321.494,1036.256,0.000,2269.970,0.000,1752.264,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,90.270,1006.740,0.000,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.502,0.000,0.000,0.000
$MEM,328928
$DATA_FILE_SIZE,29964,788
$CAP_FILE_SIZE,412024,0
$CFSIZE,260034560,175423488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,165.3,1
$GPS,280613,113536,1941.592,12317.551,32,0.9,32,-2.4