version: 66.11
glider: 169
mission: 8
dive: 504
start: 6 29 113 20 12 7
data:
$ID,169
$MISSION,8
$DIVE,504
$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,-22970.945
$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
$GPS1,290613,195705,1942.950,12322.331,36,1.1,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-72.0
$GPS2,290613,201135,1943.048,12322.117,17,0.9,27,-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,64.4,116690,-5.6,-9.429,-20.04,2855
$D_GRID,5052
$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,-175.2,121,2566,1263,951,0.0,0.0,0,100,0.00,0.00,-72.45,0.000,16386,0.000,0.000,121,2568,3012,2950,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.58,-175.2,121,2568,2951,3070,4.3,-10.3,10,131,8.62,2.22,-8.77,0.000,18692,0.225,0.060,2171,3831,3571,3441,3701,0,0,0,0,0,0,24.98,25.89,26.45
$GC,190,-0.58,-175.2,2171,3831,3443,3700,39.7,-32.7,18,198,0.00,2.08,0.00,0.000,1030,0.000,0.026,2172,2524,3571,3443,3700,0,0,0,0,0,0,28.83,26.16,28.83
$GC,512,-0.58,-175.2,2171,2524,3443,3701,115.6,-21.9,36,518,0.00,2.58,0.00,0.000,516,0.000,0.029,2171,1066,3572,3443,3701,0,0,0,0,0,0,28.83,26.15,28.83
$GC,548,-0.58,-175.2,2171,1065,3443,3700,121.4,-20.6,37,554,0.00,2.70,0.00,0.000,1030,0.000,0.033,2168,2559,3572,3443,3701,0,0,0,0,0,0,28.83,26.13,28.83
$GC,864,-0.58,-175.2,2168,2556,3443,3700,183.0,-18.7,53,870,0.00,2.08,0.00,0.000,260,0.000,0.047,2165,3834,3571,3443,3700,0,0,0,0,0,0,28.83,26.11,28.83
$GC,908,-0.58,-175.2,2164,3834,3443,3700,187.8,-18.2,54,916,0.10,2.05,0.00,0.000,3078,0.145,0.024,2192,2519,3571,3443,3700,0,0,0,0,0,0,26.15,26.41,28.83
$GC,1210,-0.58,-175.2,2191,2518,3443,3700,235.7,-14.1,70,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2518,3571,3443,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-0.58,-175.2,2191,2518,3443,3700,276.0,-13.5,85,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2518,3571,3443,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,-0.58,-175.2,2191,2518,3443,3700,316.2,-13.0,100,1817,0.00,2.22,0.00,0.000,260,0.000,0.044,2181,3824,3571,3443,3700,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1839,-0.58,-175.2,2181,3824,3443,3700,319.7,-13.0,101,1844,0.00,2.03,0.00,0.000,1030,0.000,0.022,2181,2514,3571,3443,3700,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2167,-0.58,-175.2,2181,2514,3443,3696,362.2,-13.1,117,2173,0.00,2.55,0.00,0.000,516,0.000,0.031,2182,1065,3569,3443,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2195,-0.58,-175.2,2181,1066,3443,3697,365.9,-13.0,118,2202,0.00,2.67,0.00,0.000,1030,0.000,0.034,2181,2560,3567,3443,3692,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2524,-0.58,-175.2,2180,2557,3443,3692,409.5,-13.8,134,2530,0.00,2.12,0.00,0.000,260,0.000,0.049,2181,3844,3567,3443,3691,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2543,-0.58,-175.2,2180,3845,3443,3691,409.5,-13.8,134,2551,0.00,2.08,0.00,0.000,1030,0.000,0.025,2180,2518,3567,3443,3691,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2851,-0.58,-175.2,2180,2518,3443,3687,449.1,-10.1,150,2857,0.00,2.53,0.00,0.000,516,0.000,0.028,2180,1064,3565,3443,3687,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2894,-0.58,-175.2,2180,1063,3443,3687,451.6,-9.6,151,2902,0.00,2.65,0.00,0.000,1030,0.000,0.031,2180,2561,3564,3443,3686,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3200,-0.58,-175.2,2180,2558,3443,3682,475.5,-7.6,167,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2558,3562,3443,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3498,-0.58,-175.2,2180,2558,3443,3678,503.8,-10.4,182,3505,0.00,2.12,0.00,0.000,260,0.000,0.047,2170,3833,3559,3443,3676,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3526,-0.58,-175.2,2170,3833,3443,3676,506.7,-10.6,183,3533,0.00,2.10,0.00,0.000,1030,0.000,0.024,2170,2517,3559,3443,3676,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3855,-0.58,-175.2,2170,2516,3442,3671,543.2,-10.5,199,3861,0.00,2.55,0.00,0.000,516,0.000,0.031,2170,1067,3556,3443,3670,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3907,-0.58,-175.2,2170,1067,3442,3670,548.0,-10.0,201,3913,0.00,2.67,0.00,0.000,1030,0.000,0.034,2167,2563,3556,3443,3669,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4235,-0.58,-175.2,2167,2560,3443,3663,580.0,-9.9,217,4241,0.00,2.12,0.00,0.000,260,0.000,0.046,2157,3844,3552,3442,3662,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4299,-0.58,-175.2,2157,3843,3442,3662,585.0,-10.2,219,4308,0.12,2.12,0.00,0.000,3078,0.121,0.027,2196,2522,3552,3442,3662,0,0,0,0,0,0,26.15,26.41,28.83
$GC,4607,-0.58,-175.2,2196,2522,3443,3660,609.4,-7.1,233,4613,0.00,2.53,0.00,0.000,516,0.000,0.030,2196,1063,3550,3442,3659,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4647,-0.58,-175.2,2195,1063,3442,3659,612.2,-7.2,234,4653,0.00,2.65,0.00,0.000,1030,0.000,0.031,2194,2563,3551,3443,3659,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4984,-0.58,-175.2,2194,2560,3441,3653,639.6,-8.6,245,4989,0.00,2.12,0.00,0.000,260,0.000,0.047,2194,3823,3547,3441,3653,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5054,-0.58,-175.2,2193,3823,3438,3653,645.6,-8.6,247,5060,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2511,3546,3439,3653,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5394,-0.58,-175.2,2193,2511,3439,3648,674.9,-8.6,258,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2512,3543,3439,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5692,-0.58,-175.2,2194,2510,3437,3645,698.8,-7.6,268,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2510,3540,3435,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5992,-0.58,-175.2,2194,2510,3436,3642,721.9,-7.8,278,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2510,3539,3436,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6292,-0.58,-175.2,2194,2510,3435,3638,746.1,-8.4,288,6297,0.00,2.35,0.00,0.000,260,0.000,0.050,2193,3838,3536,3434,3638,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6350,-0.58,-175.2,2194,3838,3434,3638,748.9,-8.2,289,6356,0.00,2.12,0.00,0.000,1030,0.000,0.026,2194,2518,3535,3433,3637,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6671,-0.58,-175.2,2193,2518,3433,3634,775.4,-7.1,300,6677,0.00,2.53,0.00,0.000,516,0.000,0.032,2194,1073,3533,3433,3634,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6709,-0.58,-175.2,2193,1071,3433,3634,778.2,-6.9,301,6714,0.00,2.65,0.00,0.000,1030,0.000,0.034,2193,2561,3532,3432,3633,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7045,-0.58,-175.2,2193,2558,3429,3631,800.6,-7.0,312,7051,0.00,2.17,0.00,0.000,260,0.000,0.049,2193,3840,3528,3426,3630,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7103,-0.58,-175.2,2197,3840,3430,3630,803.2,-7.1,313,7109,0.00,2.15,0.00,0.000,1030,0.000,0.026,2193,2513,3530,3430,3630,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7425,-0.58,-175.2,2193,2513,3430,3627,828.5,-7.6,324,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2513,3528,3430,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,-0.58,-175.2,2193,2513,3428,3626,851.7,-8.0,334,7727,0.00,2.35,0.00,0.000,260,0.000,0.047,2194,3825,3526,3428,3625,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7764,-0.58,-175.2,2193,3825,3426,3625,855.0,-8.2,335,7770,0.00,2.12,0.00,0.000,1030,0.000,0.025,2193,2520,3525,3426,3625,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8096,-0.58,-175.2,2193,2520,3426,3622,881.2,-7.8,346,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2520,3524,3426,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8395,-0.58,-175.2,2193,2520,3426,3620,903.9,-7.5,356,8401,0.00,2.33,0.00,0.000,260,0.000,0.047,2193,3835,3522,3425,3620,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8422,-0.58,-175.2,2193,3836,3425,3620,903.9,-7.5,356,8428,0.00,2.15,0.00,0.000,1030,0.000,0.025,2194,2517,3522,3425,3620,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8742,-0.58,-175.2,2193,2517,3425,3619,929.8,-7.3,367,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2517,3521,3425,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9041,-0.58,-175.2,2193,2517,3425,3615,950.0,-6.5,377,9046,0.00,2.35,0.00,0.000,260,0.000,0.051,2194,3841,3520,3425,3615,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9077,-0.58,-175.2,2193,3841,3424,3615,953.4,-7.1,378,9083,0.00,2.17,0.00,0.000,1030,0.000,0.026,2193,2519,3519,3424,3615,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9414,-0.58,-175.2,2193,2520,3424,3614,973.8,-5.9,389,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2519,3519,3424,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,-0.58,-175.2,2193,2520,3423,3613,988.1,-4.4,399,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2520,3518,3423,3613,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9769,begin apogee
$GC,9777,-0.12,0.0,2192,2670,3423,3613,990.8,-4.4,401,9946,0.40,0.08,156.95,0.997,10246,0.085,0.090,2340,2626,2843,2872,2815,0,0,0,0,0,0,25.92,24.71,23.53
$STATE,9948,end apogee,CONTROL_FINISHED_OK
$STATE,9949,begin climb
$GC,9952,0.58,175.2,2340,2626,2867,2803,994.1,0.0,406,10132,0.57,0.00,171.38,0.962,10502,0.034,0.000,2588,2626,2123,2257,1989,0,0,0,0,0,0,25.15,28.83,23.41
$GC,10434,0.58,175.2,2588,2626,2240,1971,938.7,14.0,423,10441,0.00,2.03,0.00,0.000,260,0.000,0.042,2578,3848,2105,2240,1971,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10465,0.58,175.2,2578,3848,2239,1971,938.7,14.0,423,10473,0.00,1.88,0.00,0.000,1030,0.000,0.018,2588,2602,2105,2239,1971,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10775,0.58,175.2,2588,2599,2235,1971,895.5,12.2,434,10782,0.00,2.08,0.00,0.000,260,0.000,0.041,2579,3840,2103,2236,1971,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,19277,end climb,SURFACE_DEPTH_REACHED
$STATE,19277,begin surface coast
$FINISH,-0.3,1.021317
$STATE,19294,end surface coast,CONTROL_FINISHED_OK
$STATE,19296,begin surface
$SM_CCo,19376,0.00,0.000,0,0,1044,443.26
$SM_GC,0.16,6.65,0.32,0.00,0.024,0.031,0.000,128,2501,1044,-6.95,0.40,443.26,0,0,0,0,0,0,26.04,26.34,28.83
$IRIDIUM_FIX,1934.38,12319.18,290613,141432
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.53
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3766016
$24V_AH,23.4,67.372
$10V_AH,9.8,50.709
$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,17.175,176.875,634.575,0.000,0.000,0.000,0.000,500.700,0.000,0.000,28.387,3316.863,12530.422,832.983,2463.228,1062.053,0.000,2426.129,0.000,1832.435,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,90.270,996.795,0.000,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19378.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.435,0.000,0.000,0.000
$MEM,328980
$DATA_FILE_SIZE,30061,838
$CAP_FILE_SIZE,433812,0
$CFSIZE,260034560,174239744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,202.3,1
$GPS,300613,013626,1943.008,12323.394,29,3.0,48,-2.4