version: 66.11
glider: 169
mission: 8
dive: 550
start: 7 10 113 5 30 56
data:
$ID,169
$MISSION,8
$DIVE,550
$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,-23029.01
$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
$GPS1,100713,051636,2010.475,12417.689,32,1.5,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-71.8
$GPS2,100713,053025,2010.478,12417.375,12,2.0,12,-2.5
$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,150.4,262015,-5.6,-9.429,-20.04,2855
$D_GRID,5475
$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,-175.2,122,2571,1126,708,0.0,0.0,0,104,0.00,0.00,-75.60,0.000,16386,0.000,0.000,122,2572,2843,2814,2872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.58,-175.2,121,2572,2815,2873,3.2,-6.5,10,145,8.95,2.78,-12.35,0.000,18948,0.234,0.041,2192,1083,3569,3443,3696,0,0,0,0,0,0,24.87,25.96,26.49
$GC,218,-0.58,-175.2,2192,1082,3445,3696,38.4,-18.8,21,226,0.00,2.67,0.00,0.000,1030,0.000,0.034,2190,2560,3570,3445,3696,0,0,0,0,0,0,28.83,25.98,28.83
$GC,536,-0.58,-175.2,2190,2557,3444,3696,105.1,-19.5,40,542,0.00,2.10,0.00,0.000,260,0.000,0.044,2181,3824,3570,3444,3696,0,0,0,0,0,0,28.83,26.04,28.83
$GC,589,-0.58,-175.2,1280,3824,3434,3694,113.7,-19.4,42,595,0.00,2.08,0.00,0.000,1030,0.000,0.022,2181,2516,3570,3445,3696,0,0,0,0,0,0,28.83,26.36,28.83
$GC,911,-0.58,-175.2,2180,2514,3445,3696,172.7,-17.1,58,917,0.00,2.30,0.00,0.000,260,0.000,0.048,2181,3842,3570,3445,3696,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1016,-0.58,-175.2,2180,3842,3445,3696,188.7,-17.0,62,1022,0.00,2.10,0.00,0.000,1030,0.000,0.024,2181,2514,3570,3445,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1334,-0.58,-175.2,2180,2518,3444,3696,242.5,-16.8,78,1341,0.00,2.28,0.00,0.000,260,0.000,0.047,2178,3840,3570,3444,3696,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1378,-0.58,-175.2,2178,3839,3445,3696,247.1,-16.5,79,1385,0.00,2.10,0.00,0.000,1030,0.000,0.024,2178,2516,3570,3445,3696,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1683,-0.58,-175.2,2178,2516,3444,3696,291.8,-13.0,95,1689,0.00,2.25,0.00,0.000,260,0.000,0.045,2168,3825,3570,3444,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1747,-0.58,-175.2,2168,3825,3444,3696,298.3,-13.5,97,1754,0.00,2.08,0.00,0.000,1030,0.000,0.021,2168,2508,3570,3445,3696,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2053,-0.58,-175.2,2167,2508,3444,3695,343.4,-14.6,113,2059,0.00,2.30,0.00,0.000,260,0.000,0.044,2167,3840,3569,3444,3695,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2106,-0.58,-175.2,2167,3836,3444,3695,350.3,-14.4,115,2111,0.00,2.10,0.00,0.000,1030,0.000,0.024,2167,2513,3569,3444,3695,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2431,-0.58,-175.2,2167,2513,3444,3691,393.3,-12.1,131,2437,0.00,2.28,0.00,0.000,260,0.000,0.046,2168,3837,3567,3444,3691,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2486,-0.58,-175.2,2167,3837,3444,3691,399.0,-11.5,133,2492,0.00,2.10,0.00,0.000,1030,0.000,0.024,2167,2519,3567,3444,3691,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2810,-0.58,-175.2,2167,2519,3444,3686,435.5,-11.6,149,2817,0.00,2.28,0.00,0.000,260,0.000,0.043,2157,3827,3564,3444,3685,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2897,-0.58,-175.2,2157,3827,3444,3685,444.6,-12.1,152,2906,0.12,2.08,0.00,0.000,3078,0.125,0.023,2195,2517,3564,3444,3685,0,0,0,0,0,0,26.17,26.44,28.83
$GC,3202,-0.58,-175.2,2195,2516,3444,3680,478.5,-10.3,168,3208,0.00,2.28,0.00,0.000,260,0.000,0.047,2194,3834,3561,3444,3679,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3239,-0.58,-175.2,2194,3834,3444,3678,481.1,-10.2,169,3245,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2515,3561,3444,3679,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3555,-0.58,-175.2,2193,2515,3444,3673,513.0,-9.6,185,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2515,3558,3443,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3857,-0.58,-175.2,2193,2515,3444,3668,540.4,-8.8,200,3863,0.00,2.30,0.00,0.000,260,0.000,0.048,2194,3829,3556,3444,3668,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3930,-0.58,-175.2,2194,3829,3444,3666,546.6,-8.6,203,3936,0.00,2.10,0.00,0.000,1030,0.000,0.025,2194,2519,3555,3444,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4259,-0.58,-175.2,2193,2518,3443,3661,575.1,-8.6,219,4266,0.00,2.28,0.00,0.000,260,0.000,0.045,2194,3838,3552,3443,3661,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4304,-0.58,-175.2,2194,3838,3443,3661,577.6,-8.5,220,4312,0.00,2.12,0.00,0.000,1030,0.000,0.025,2191,2517,3552,3443,3661,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4626,-0.58,-175.2,2193,2517,3443,3655,606.2,-8.6,236,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2517,3549,3443,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,-0.58,-175.2,2193,2517,3442,3651,631.2,-8.4,246,4933,0.00,2.33,0.00,0.000,260,0.000,0.047,2193,3843,3546,3442,3651,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4991,-0.58,-175.2,2194,3843,3441,3650,634.2,-8.3,247,5000,0.00,2.12,0.00,0.000,1030,0.000,0.026,2193,2517,3544,3439,3650,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5301,-0.58,-175.2,2194,2518,3440,3647,663.2,-8.9,258,5307,0.00,2.55,0.00,0.000,516,0.000,0.030,2194,1072,3543,3440,3647,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5333,-0.58,-175.2,2193,1072,3440,3647,663.2,-8.9,258,5345,0.00,2.62,0.00,0.000,1030,0.000,0.031,2194,2568,3543,3440,3646,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5644,-0.58,-175.2,2193,2566,3438,3643,691.6,-7.9,269,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2565,3540,3438,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,-0.58,-175.2,2193,2565,3436,3638,715.0,-8.0,279,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2565,3537,3436,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6241,-0.58,-175.2,2194,2565,3435,3635,740.7,-8.9,289,6247,0.00,2.20,0.00,0.000,260,0.000,0.050,2193,3825,3535,3435,3635,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6310,-0.58,-175.2,2192,3825,3433,3634,747.1,-9.1,291,6316,0.00,2.17,0.00,0.000,1030,0.000,0.024,2193,2514,3534,3433,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6647,-0.58,-175.2,2193,2515,3433,3631,778.6,-9.5,302,6653,0.00,2.35,0.00,0.000,260,0.000,0.045,2193,3826,3531,3433,3630,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6698,-0.58,-175.2,2193,3829,3431,3631,782.3,-9.7,303,6705,0.00,2.15,0.00,0.000,1030,0.000,0.024,2193,2514,3530,3431,3630,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7021,-0.58,-175.2,2193,2514,3431,3628,814.0,-9.1,314,7027,0.00,2.35,0.00,0.000,260,0.000,0.045,2183,3838,3529,3431,3627,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7075,-0.58,-175.2,2183,3838,3430,3627,817.6,-9.2,315,7081,0.00,2.15,0.00,0.000,1030,0.000,0.024,2183,2517,3528,3430,3627,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7396,-0.58,-175.2,2188,2516,3430,3625,846.3,-8.2,326,7402,0.00,2.35,0.00,0.000,260,0.000,0.047,2181,3842,3528,3429,3628,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7435,-0.58,-175.2,2181,3842,3428,3625,849.3,-8.2,327,7441,0.00,2.17,0.00,0.000,1030,0.000,0.024,2181,2514,3526,3428,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7772,-0.58,-175.2,2181,2515,3429,3621,875.8,-7.6,338,7778,0.00,2.33,0.00,0.000,260,0.000,0.047,2185,3823,3524,3427,3621,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7836,-0.58,-175.2,2180,3823,3426,3621,879.0,-7.8,339,7846,0.00,2.15,0.00,0.000,1030,0.000,0.024,2181,2516,3523,3426,3621,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8146,-0.58,-175.2,2180,2516,3426,3618,903.4,-7.5,350,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2516,3521,3426,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8444,-0.58,-175.2,2180,2516,3425,3616,927.8,-8.4,360,8450,0.00,2.35,0.00,0.000,260,0.000,0.048,2179,3823,3520,3426,3615,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8523,-0.58,-175.2,2179,3822,3424,3615,933.9,-8.6,362,8529,0.00,2.15,0.00,0.000,1030,0.000,0.024,2179,2516,3518,3421,3615,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8851,-0.58,-175.2,2179,2516,3425,3614,963.4,-8.7,373,8856,0.00,2.35,0.00,0.000,260,0.000,0.047,2168,3840,3519,3425,3614,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8925,-0.58,-175.2,2168,3839,3424,3612,969.9,-9.3,375,8931,0.00,2.20,0.00,0.000,1030,0.000,0.026,2168,2517,3519,3424,3614,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,9133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9133,begin apogee
$GC,9143,-0.12,0.0,2167,2667,3424,3612,990.1,-9.2,382,9315,0.47,0.08,156.88,0.977,10246,0.092,0.088,2337,2621,2838,2870,2806,0,0,0,0,0,0,25.75,24.77,23.53
$STATE,9317,end apogee,CONTROL_FINISHED_OK
$STATE,9317,begin climb
$GC,9320,0.58,175.2,2337,2621,2867,2800,999.4,0.0,387,9505,0.60,2.78,169.38,0.977,10756,0.031,0.023,2615,1186,2122,2253,1992,0,0,0,0,0,0,25.29,24.89,23.54
$GC,9524,0.68,215.2,2614,1186,2239,1984,989.7,8.0,394,9577,0.00,2.85,40.33,0.904,9222,0.000,0.025,2602,2660,1963,2103,1824,0,0,0,0,0,0,28.83,25.27,23.76
$GC,9897,0.68,215.2,2602,2658,2078,1807,939.8,13.3,406,9903,0.00,1.95,0.00,0.000,260,0.000,0.041,2593,3851,1942,2078,1807,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9939,0.68,215.2,2593,3851,2076,1807,934.9,12.8,407,9946,0.00,1.92,0.00,0.000,1030,0.000,0.016,2603,2591,1941,2075,1807,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10273,0.68,215.2,2603,2589,2073,1806,892.6,11.8,418,10279,0.00,2.55,0.00,0.000,516,0.000,0.024,2615,1173,1939,2073,1806,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10292,0.68,215.2,2615,1169,2069,1807,892.6,11.8,418,10299,0.00,2.78,0.00,0.000,1030,0.000,0.025,2602,2661,1938,2069,1807,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,17570,end climb,SURFACE_DEPTH_REACHED
$STATE,17570,begin surface coast
$FINISH,-0.7,1.010889
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17598,begin surface
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$HUMID,51.89
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$TCM_TEMP,24.90
$XPDR_PINGS,1
$SC_FREEKB,3742432
$24V_AH,23.5,73.945
$10V_AH,10.0,55.471
$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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$MEM,328900
$DATA_FILE_SIZE,26726,757
$CAP_FILE_SIZE,409481,0
$CFSIZE,260034560,166490112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,269.2,1
$GPS,100713,102636,2008.740,12416.908,28,1.2,28,-2.5