version: 66.11
glider: 169
mission: 8
dive: 531
start: 7 5 113 21 21 2
data:
$ID,169
$MISSION,8
$DIVE,531
$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,-23005.105
$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
$GPS1,050713,210605,1958.640,12350.573,37,1.0,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-72.0
$GPS2,050713,212031,1958.720,12350.573,13,1.2,13,-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,55.4,59358,-5.6,-9.429,-20.04,2855
$D_GRID,5505
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.58,-175.2,122,2565,1274,946,0.0,0.0,0,96,0.00,0.00,-67.70,0.000,16386,0.000,0.000,121,2565,2819,2790,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-175.2,122,2565,2790,2850,3.0,-6.7,9,137,8.75,2.28,-12.88,0.000,18692,0.229,0.057,2169,3839,3570,3442,3698,0,0,0,0,0,0,24.90,25.86,26.47
$GC,231,-0.58,-175.2,2169,3840,3444,3698,46.2,-24.6,22,239,0.00,2.17,0.00,0.000,1030,0.000,0.027,2170,2530,3572,3444,3700,0,0,0,0,0,0,28.83,26.17,28.83
$GC,550,-0.58,-175.2,2168,2531,3444,3698,111.5,-19.7,39,556,0.00,2.30,0.00,0.000,260,0.000,0.045,2168,3845,3571,3444,3698,0,0,0,0,0,0,28.83,26.01,28.83
$GC,658,-0.58,-175.2,1248,3845,3433,3697,128.0,-18.1,43,666,0.00,2.17,0.00,0.000,1030,0.000,0.025,2168,2519,3571,3444,3698,0,0,0,0,0,0,28.83,26.34,28.83
$GC,960,-0.58,-175.2,2167,2519,3443,3698,181.7,-15.7,59,966,0.00,2.28,0.00,0.000,260,0.000,0.044,2168,3826,3571,3444,3698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,987,-0.58,-175.2,1280,3826,3433,3697,185.9,-16.0,60,993,0.00,2.12,0.00,0.000,1030,0.000,0.023,2167,2520,3571,3445,3698,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1316,-0.58,-175.2,2167,2519,3444,3698,237.4,-15.5,76,1322,0.00,2.28,0.00,0.000,260,0.000,0.044,2168,3828,3571,3444,3698,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1381,-0.58,-175.2,2167,3828,3444,3698,245.0,-15.3,78,1390,0.00,2.12,0.00,0.000,1030,0.000,0.023,2167,2517,3571,3444,3698,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1688,-0.58,-175.2,2167,2517,3444,3698,292.0,-14.5,94,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2517,3571,3444,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1988,-0.58,-175.2,2167,2517,3444,3697,335.3,-14.4,109,1994,0.00,2.30,0.00,0.000,260,0.000,0.044,2168,3837,3570,3444,3697,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2069,-0.58,-175.2,2167,3837,3444,3696,345.4,-14.5,112,2075,0.00,2.12,0.00,0.000,1030,0.000,0.024,2167,2521,3570,3444,3696,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2385,-0.58,-175.2,2167,2521,3444,3692,388.9,-12.9,128,2391,0.00,2.30,0.00,0.000,260,0.000,0.045,2167,3822,3567,3443,3691,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2429,-0.58,-175.2,2167,3822,3444,3691,392.1,-12.7,129,2437,0.00,2.12,0.00,0.000,1030,0.000,0.022,2167,2517,3570,3444,3696,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2732,-0.58,-175.2,2167,2517,3444,3687,425.0,-9.7,145,2737,0.00,2.33,0.00,0.000,260,0.000,0.044,2167,3844,3565,3444,3687,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2804,-0.58,-175.2,2167,3844,3443,3686,432.2,-10.0,148,2810,0.00,2.17,0.00,0.000,1030,0.000,0.024,2167,2518,3565,3444,3686,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3134,-0.58,-175.2,2167,2518,3444,3682,469.4,-12.6,164,3141,0.00,2.33,0.00,0.000,260,0.000,0.044,2167,3843,3562,3444,3681,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3199,-0.58,-175.2,2166,3843,3444,3680,476.0,-12.9,166,3207,0.00,2.15,0.00,0.000,1030,0.000,0.025,2167,2524,3562,3444,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3506,-0.58,-175.2,2167,2525,3444,3675,516.4,-12.2,182,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2524,3559,3443,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3804,-0.58,-175.2,2167,2528,3443,3670,550.1,-10.8,197,3810,0.00,2.33,0.00,0.000,260,0.000,0.049,2166,3838,3556,3443,3670,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3869,-0.58,-175.2,2166,3838,3443,3669,555.2,-11.0,199,3877,0.00,2.15,0.00,0.000,1030,0.000,0.025,2166,2524,3556,3444,3669,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4176,-0.58,-175.2,2171,2524,3443,3663,591.7,-11.2,215,4181,0.00,2.47,0.00,0.000,516,0.000,0.032,2167,1083,3555,3443,3667,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4197,-0.58,-175.2,2166,1082,3443,3663,591.7,-11.2,215,4206,0.12,2.55,0.00,0.000,3078,0.118,0.031,2196,2560,3552,3443,3662,0,0,0,0,0,0,26.06,26.20,28.83
$GC,4523,-0.58,-175.2,2196,2558,3443,3661,619.6,-7.5,228,4529,0.00,2.20,0.00,0.000,260,0.000,0.045,2196,3846,3551,3443,3659,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4604,-0.58,-175.2,2196,3845,3442,3660,624.5,-7.2,230,4610,0.00,2.20,0.00,0.000,1030,0.000,0.025,2197,2517,3550,3440,3660,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4931,-0.58,-175.2,2196,2516,3441,3655,648.8,-7.5,241,4937,0.00,2.38,0.00,0.000,260,0.000,0.045,2194,3837,3547,3441,3654,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4984,-0.58,-175.2,2194,3837,3439,3654,651.7,-7.6,242,4990,0.00,2.17,0.00,0.000,1030,0.000,0.024,2194,2515,3546,3438,3654,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5305,-0.58,-175.2,2194,2515,3438,3649,679.0,-8.2,253,5311,0.00,2.38,0.00,0.000,260,0.000,0.045,2194,3845,3543,3438,3649,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5355,-0.58,-175.2,2194,3845,3437,3649,682.1,-8.3,254,5361,0.00,2.20,0.00,0.000,1030,0.000,0.024,2194,2518,3543,3437,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5682,-0.58,-175.2,2193,2518,3437,3646,709.5,-8.2,265,5688,0.00,2.38,0.00,0.000,260,0.000,0.047,2194,3839,3541,3436,3646,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5732,-0.58,-175.2,2193,3839,3436,3645,712.5,-8.2,266,5738,0.00,2.20,0.00,0.000,1030,0.000,0.024,2194,2511,3540,3436,3645,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6058,-0.58,-175.2,2194,2511,3435,3642,739.7,-7.9,277,6064,0.00,2.40,0.00,0.000,260,0.000,0.048,2193,3821,3538,3435,3642,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6112,-0.58,-175.2,2194,3821,3435,3642,742.7,-8.0,278,6118,0.00,2.17,0.00,0.000,1030,0.000,0.025,2194,2518,3538,3435,3642,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6438,-0.58,-175.2,2194,2518,3434,3638,769.1,-7.7,289,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2518,3536,3434,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6734,-0.58,-175.2,2194,2518,3432,3634,793.7,-8.4,299,6740,0.00,2.38,0.00,0.000,260,0.000,0.046,2192,3842,3533,3432,3634,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6784,-0.58,-175.2,2194,3842,3431,3634,796.9,-8.5,300,6790,0.00,2.20,0.00,0.000,1030,0.000,0.025,2194,2516,3532,3431,3634,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7111,-0.58,-175.2,2193,2516,3431,3632,827.3,-9.0,311,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2516,3531,3431,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7412,-0.58,-175.2,2193,2516,3430,3629,850.0,-7.3,321,7418,0.00,2.40,0.00,0.000,260,0.000,0.047,2194,3830,3530,3430,3630,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7482,-0.58,-175.2,2193,3830,3429,3628,854.8,-7.1,323,7488,0.00,2.22,0.00,0.000,1030,0.000,0.024,2194,2511,3529,3429,3629,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7819,-0.58,-175.2,2193,2511,3429,3626,876.4,-6.1,334,7825,0.00,2.40,0.00,0.000,260,0.000,0.048,2193,3838,3527,3429,3626,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7882,-0.58,-175.2,2192,3838,3427,3626,878.7,-6.1,335,7890,0.00,2.20,0.00,0.000,1030,0.000,0.025,2193,2515,3526,3427,3626,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8192,-0.58,-175.2,2193,2515,3426,3624,899.4,-6.0,346,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2515,3525,3426,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8489,-0.58,-175.2,2193,2515,3426,3621,918.4,-6.5,356,8495,0.00,2.38,0.00,0.000,260,0.000,0.046,2182,3839,3523,3425,3621,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8572,-0.58,-175.2,1320,3838,3414,3619,923.4,-6.5,358,8578,0.00,2.20,0.00,0.000,1030,0.000,0.025,2182,2518,3523,3425,3621,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8893,-0.58,-175.2,2182,2517,3425,3619,948.9,-8.2,369,8899,0.00,2.38,0.00,0.000,260,0.000,0.049,2181,3839,3521,3425,3618,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8945,-0.58,-175.2,2180,3839,3425,3618,952.0,-8.3,370,8951,0.00,2.20,0.00,0.000,1030,0.000,0.026,2181,2519,3521,3425,3618,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9269,-0.58,-175.2,2180,2519,3424,3616,982.5,-8.9,381,9275,0.00,2.38,0.00,0.000,260,0.000,0.049,2175,3845,3520,3425,3616,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9326,-0.58,-175.2,2175,3845,3424,3616,985.2,-8.4,382,9332,0.00,2.20,0.00,0.000,1030,0.000,0.027,2175,2522,3519,3424,3615,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,9369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9369,begin apogee
$GC,9379,-0.12,0.0,2173,2662,3424,3616,991.1,-8.3,384,9546,0.45,0.00,159.12,0.987,10246,0.087,0.000,2335,2662,2842,2871,2813,0,0,0,0,0,0,25.79,28.83,23.44
$STATE,9551,end apogee,CONTROL_FINISHED_OK
$STATE,9551,begin climb
$GC,9555,0.58,175.2,2335,2662,2867,2803,1001.3,0.0,389,9730,0.60,0.00,170.82,0.985,10502,0.031,0.000,2599,2662,2136,2267,2005,0,0,0,0,0,0,25.18,28.83,23.37
$GC,10032,0.58,175.2,2599,2662,2239,1972,956.5,12.9,406,10034,0.12,0.00,0.00,0.000,4102,0.161,0.000,2567,2662,2105,2238,1972,0,0,0,0,0,0,25.80,28.83,28.83
$GC,10335,0.58,175.2,2567,2662,2235,1971,923.7,10.8,416,10341,0.00,1.95,0.00,0.000,260,0.000,0.044,2558,3834,2103,2235,1971,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10408,0.58,175.2,2557,3834,2233,1971,914.5,11.9,418,10414,0.00,1.90,0.00,0.000,1030,0.000,0.016,2568,2595,2102,2234,1971,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,18989,end climb,SURFACE_DEPTH_REACHED
$STATE,18989,begin surface coast
$FINISH,0.3,1.021348
$STATE,19009,end surface coast,CONTROL_FINISHED_OK
$STATE,19009,begin surface
$SM_CCo,19090,0.00,0.000,0,0,1025,448.16
$SM_GC,0.20,6.78,0.32,0.00,0.023,0.034,0.000,141,2503,1025,-6.93,0.34,448.16,0,0,0,0,0,0,26.00,26.30,28.83
$IRIDIUM_FIX,1950.41,12350.94,050713,161639
$TT8_MAMPS,0.02247,0.02247
$HUMID,52.44
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3752160
$24V_AH,23.4,71.222
$10V_AH,9.9,53.478
$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,17.675,185.175,571.600,0.000,0.000,0.000,0.000,507.875,0.000,0.000,14.484,3386.473,12101.691,778.971,2513.662,1136.397,0.000,2397.895,0.000,1906.201,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,64.260,986.850,0.000,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19088.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.423,0.000,0.000,0.000
$MEM,328972
$DATA_FILE_SIZE,29969,818
$CAP_FILE_SIZE,434712,0
$CFSIZE,260034560,169701376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,321.8,1
$GPS,060713,024030,2000.215,12351.782,43,1.0,43,-2.5