version: 66.11
glider: 169
mission: 8
dive: 528
start: 7 5 113 5 4 52
data:
$ID,169
$MISSION,8
$DIVE,528
$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,-23001.234
$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
$GPS1,050713,044953,1956.288,12343.732,27,2.0,44,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-72.3
$GPS2,050713,050420,1956.369,12343.771,11,2.4,30,-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,67.0,71786,-5.6,-9.429,-20.04,2855
$D_GRID,5131
$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,22,begin dive
$GC,25,-0.58,-175.2,121,2574,1130,711,0.0,0.0,0,102,0.00,0.00,-74.07,0.000,16386,0.000,0.000,121,2575,2820,2792,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.58,-175.2,121,2575,2793,2848,3.3,-7.1,10,141,8.73,2.30,-12.95,0.000,18692,0.226,0.059,2172,3824,3571,3445,3697,0,0,0,0,0,0,24.89,25.88,26.49
$GC,223,-0.58,-175.2,2171,3824,3443,3697,45.0,-26.1,22,230,0.00,2.17,0.00,0.000,1030,0.000,0.024,2172,2535,3570,3444,3697,0,0,0,0,0,0,28.83,26.20,28.83
$GC,554,-0.58,-175.2,2172,2534,3444,3697,120.4,-21.7,39,560,0.00,2.33,0.00,0.000,260,0.000,0.050,2168,3832,3570,3444,3697,0,0,0,0,0,0,28.83,25.98,28.83
$GC,612,-0.58,-175.2,2167,3832,3444,3697,130.3,-20.4,41,619,0.00,2.17,0.00,0.000,1030,0.000,0.024,2168,2517,3570,3444,3697,0,0,0,0,0,0,28.83,26.36,28.83
$GC,930,-0.58,-175.2,2167,2517,3444,3697,186.2,-16.3,57,936,0.00,2.38,0.00,0.000,260,0.000,0.047,2167,3821,3570,3444,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,965,-0.58,-175.2,2167,3821,3444,3697,190.6,-16.2,58,971,0.00,2.15,0.00,0.000,1030,0.000,0.023,2167,2521,3570,3444,3697,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1283,-0.58,-175.2,2167,2519,3444,3697,240.4,-14.6,74,1289,0.00,2.40,0.00,0.000,260,0.000,0.048,2167,3838,3570,3444,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1313,-0.58,-175.2,2167,3838,3444,3697,244.6,-14.5,75,1319,0.00,2.17,0.00,0.000,1030,0.000,0.024,2166,2524,3570,3444,3696,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1638,-0.58,-175.2,2170,2525,3444,3696,289.8,-14.1,91,1644,0.00,2.33,0.00,0.000,260,0.000,0.044,2165,3832,3570,3444,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1763,-0.58,-175.2,2164,3832,3444,3696,306.1,-14.0,96,1771,0.00,2.15,0.00,0.000,1030,0.000,0.023,2165,2520,3570,3444,3696,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2071,-0.58,-175.2,2165,2521,3444,3693,354.4,-15.4,112,2077,0.00,2.33,0.00,0.000,260,0.000,0.047,2154,3824,3568,3444,3693,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2135,-0.58,-175.2,2154,3824,3444,3692,362.1,-15.8,114,2144,0.12,2.12,0.00,0.000,3078,0.130,0.023,2192,2520,3568,3444,3692,0,0,0,0,0,0,26.16,26.46,28.83
$GC,2442,-0.58,-175.2,2192,2520,3443,3688,404.2,-11.4,130,2448,0.00,2.38,0.00,0.000,260,0.000,0.047,2187,3824,3564,3441,3688,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2503,-0.58,-175.2,2187,3824,3443,3687,409.3,-10.7,132,2509,0.00,2.15,0.00,0.000,1030,0.000,0.022,2184,2512,3565,3444,3687,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2820,-0.58,-175.2,2187,2512,3443,3683,439.4,-8.0,148,2826,0.00,2.40,0.00,0.000,516,0.000,0.028,2187,1080,3563,3443,3683,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2847,-0.58,-175.2,2187,1080,3449,3683,441.6,-7.9,149,2854,0.00,2.58,0.00,0.000,1030,0.000,0.030,2184,2562,3562,3443,3682,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3177,-0.58,-175.2,2184,2560,3443,3677,471.8,-11.0,165,3183,0.00,2.20,0.00,0.000,260,0.000,0.044,2183,3840,3559,3443,3676,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3311,-0.58,-175.2,2183,3840,3443,3675,487.8,-11.8,171,3317,0.00,2.20,0.00,0.000,1030,0.000,0.024,2183,2517,3559,3443,3675,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3642,-0.58,-175.2,2183,2517,3443,3669,525.1,-10.8,187,3648,0.00,2.35,0.00,0.000,260,0.000,0.046,2181,3831,3556,3443,3669,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3726,-0.58,-175.2,2181,3831,3443,3668,532.7,-10.4,190,3734,0.00,2.15,0.00,0.000,1030,0.000,0.023,2181,2515,3554,3442,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4033,-0.58,-175.2,2181,2516,3443,3662,564.3,-10.0,206,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2516,3551,3440,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4334,-0.58,-175.2,2181,2516,3443,3659,593.4,-9.4,221,4341,0.00,2.42,0.00,0.000,260,0.000,0.046,2181,3823,3551,3443,3659,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4388,-0.58,-175.2,2181,3823,3442,3658,597.9,-9.3,223,4394,0.00,2.17,0.00,0.000,1030,0.000,0.023,2181,2511,3550,3442,3659,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4710,-0.58,-175.2,2181,2511,3441,3654,627.0,-8.6,234,4717,0.00,2.40,0.00,0.000,260,0.000,0.045,2181,3840,3547,3440,3654,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4747,-0.58,-175.2,2180,3840,3439,3654,630.3,-8.6,235,4754,0.00,2.20,0.00,0.000,1030,0.000,0.024,2181,2511,3546,3439,3653,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5084,-0.58,-175.2,2181,2512,3438,3649,660.3,-9.4,246,5091,0.00,2.35,0.00,0.000,260,0.000,0.045,2181,3824,3543,3438,3649,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5128,-0.58,-175.2,2180,3823,3437,3649,664.0,-9.6,247,5134,0.00,2.15,0.00,0.000,1030,0.000,0.024,2181,2515,3543,3437,3649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5461,-0.58,-175.2,2181,2515,3437,3645,696.5,-9.5,258,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2516,3539,3437,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5761,-0.58,-175.2,2181,2515,3435,3642,722.6,-8.2,268,5768,0.00,2.38,0.00,0.000,260,0.000,0.048,2181,3832,3538,3435,3641,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5831,-0.58,-175.2,2180,3832,3434,3641,728.2,-8.1,270,5838,0.00,2.20,0.00,0.000,1030,0.000,0.024,2181,2517,3537,3434,3641,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6169,-0.58,-175.2,2181,2517,3434,3637,753.4,-7.6,281,6175,0.00,2.38,0.00,0.000,260,0.000,0.049,2181,3845,3536,3435,3637,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6232,-0.58,-175.2,2180,3844,3428,3637,756.5,-7.9,282,6240,0.00,2.17,0.00,0.000,1030,0.000,0.026,2181,2523,3534,3432,3637,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6543,-0.58,-175.2,2180,2523,3431,3633,785.2,-9.0,293,6549,0.00,2.45,0.00,0.000,516,0.000,0.030,2181,1082,3532,3431,3633,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6587,-0.58,-175.2,2181,1081,3431,3629,789.1,-9.2,294,6593,0.00,2.55,0.00,0.000,1030,0.000,0.031,2180,2564,3532,3432,3633,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6918,-0.58,-175.2,2180,2562,3430,3630,820.2,-9.0,305,6925,0.00,2.25,0.00,0.000,260,0.000,0.050,2172,3842,3529,3430,3629,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6980,-0.58,-175.2,2172,3841,3429,3629,823.8,-9.2,306,6989,0.00,2.25,0.00,0.000,1030,0.000,0.027,2172,2516,3529,3430,3629,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7293,-0.58,-175.2,2171,2516,3429,3626,854.0,-8.9,317,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2516,3527,3429,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7589,-0.58,-175.2,2172,2520,3427,3625,879.8,-8.5,327,7595,0.00,2.40,0.00,0.000,260,0.000,0.050,2168,3821,3526,3427,3625,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7646,-0.58,-175.2,2167,3821,3426,3624,882.6,-8.2,328,7652,0.00,2.20,0.00,0.000,1030,0.000,0.026,2168,2514,3525,3426,3624,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7967,-0.58,-175.2,2167,2514,3425,3621,910.3,-7.9,339,7973,0.00,2.40,0.00,0.000,260,0.000,0.050,2161,3828,3523,3426,3621,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8005,-0.58,-175.2,2160,3833,3425,3621,913.5,-7.9,340,8012,0.12,2.22,0.00,0.000,3078,0.118,0.027,2200,2519,3523,3425,3621,0,0,0,0,0,0,26.05,26.29,28.83
$GC,8343,-0.58,-175.2,2200,2519,3425,3617,932.7,-5.4,351,8350,0.00,2.38,0.00,0.000,260,0.000,0.047,2194,3830,3521,3425,3617,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8397,-0.58,-175.2,2193,3830,3425,3616,934.7,-5.3,352,8403,0.00,2.20,0.00,0.000,1030,0.000,0.025,2194,2516,3520,3425,3616,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8719,-0.58,-175.2,2194,2516,3425,3615,953.8,-5.4,363,8725,0.00,2.40,0.00,0.000,260,0.000,0.050,2188,3833,3520,3425,3615,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8791,-0.58,-175.2,2188,3832,3424,3615,957.9,-5.6,365,8798,0.00,2.22,0.00,0.000,1030,0.000,0.026,2188,2515,3518,3423,3614,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9123,-0.58,-175.2,2188,2515,3423,3613,977.1,-6.2,376,9129,0.00,2.40,0.00,0.000,260,0.000,0.050,2181,3827,3518,3423,3613,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9167,-0.58,-175.2,2181,3826,3422,3613,979.4,-6.3,377,9173,0.00,2.20,0.00,0.000,1030,0.000,0.026,2181,2522,3520,3428,3613,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,9315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9315,begin apogee
$GC,9323,-0.12,0.0,2181,2667,3422,3612,991.2,-7.2,382,9486,0.43,0.08,156.52,0.989,10246,0.086,0.092,2336,2617,2847,2876,2819,0,0,0,0,0,0,25.86,24.73,23.44
$STATE,9488,end apogee,CONTROL_FINISHED_OK
$STATE,9492,begin climb
$GC,9496,0.58,175.2,2336,2617,2867,2802,997.6,0.0,386,9676,0.60,2.70,169.68,0.964,10756,0.033,0.023,2604,1193,2124,2256,1993,0,0,0,0,0,0,25.16,24.79,23.46
$GC,9709,0.69,218.2,2604,1192,2239,1982,989.2,7.9,394,9761,0.00,2.78,42.33,0.902,9222,0.000,0.025,2593,2665,1957,2096,1819,0,0,0,0,0,0,28.83,25.27,23.66
$GC,10072,0.69,218.2,2592,2665,2072,1795,945.8,11.4,406,10078,0.00,1.95,0.00,0.000,260,0.000,0.041,2584,3832,1933,2071,1795,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10165,0.69,218.2,2584,3832,2070,1795,937.2,11.8,408,10173,0.00,1.95,0.00,0.000,1030,0.000,0.016,2594,2585,1932,2070,1795,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,18461,end climb,SURFACE_DEPTH_REACHED
$STATE,18462,begin surface coast
$FINISH,-0.8,1.008380
$STATE,18486,end surface coast,CONTROL_FINISHED_OK
$STATE,18486,begin surface
$SM_CCo,18568,0.00,0.000,0,0,945,467.79
$SM_GC,0.13,6.85,0.32,0.00,0.026,0.034,0.000,141,2494,945,-6.94,0.42,467.79,0,0,0,0,0,0,25.94,26.32,28.83
$IRIDIUM_FIX,1948.12,12341.40,040713,232356
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.28
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3753696
$24V_AH,23.4,70.795
$10V_AH,9.8,53.161
$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,17.425,207.900,570.175,0.000,0.000,0.000,0.000,491.250,0.000,0.000,31.973,3393.329,11477.957,821.296,2558.712,1144.894,0.000,2470.293,0.000,1935.231,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,91.800,989.145,0.000,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18585.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.439,0.000,0.000,0.000
$MEM,328876
$DATA_FILE_SIZE,30065,806
$CAP_FILE_SIZE,443698,0
$CFSIZE,260034560,170201088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,347.1,1
$GPS,050713,101536,1957.408,12345.441,40,0.9,40,-2.4