version: 66.11
glider: 169
mission: 8
dive: 551
start: 7 10 113 10 40 24
data:
$ID,169
$MISSION,8
$DIVE,551
$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,-23030.27
$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
$GPS1,100713,102636,2008.740,12416.908,28,1.2,28,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-71.0
$GPS2,100713,103955,2008.898,12416.789,11,2.0,11,-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,147.3,259234,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.58,-175.2,121,2571,1236,852,0.0,0.0,0,102,0.00,0.00,-74.97,0.000,16386,0.000,0.000,121,2572,3013,2953,3073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.58,-175.2,121,2572,2952,3073,4.4,-10.2,10,134,8.95,2.85,-8.68,0.000,18948,0.234,0.045,2193,1069,3570,3440,3701,0,0,0,0,0,0,24.85,25.91,26.46
$GC,230,-0.58,-175.2,2192,1069,3442,3701,47.3,-18.6,22,236,0.00,2.70,0.00,0.000,1030,0.000,0.034,2193,2558,3571,3442,3701,0,0,0,0,0,0,28.83,25.96,28.83
$GC,560,-0.58,-175.2,2192,2555,3443,3701,113.1,-19.1,39,567,0.00,2.12,0.00,0.000,260,0.000,0.049,2186,3842,3572,3443,3701,0,0,0,0,0,0,28.83,26.00,28.83
$GC,620,-0.58,-175.2,2183,3842,3443,3701,122.9,-18.9,41,626,0.00,2.08,0.00,0.000,1030,0.000,0.026,2187,2523,3572,3443,3701,0,0,0,0,0,0,28.83,26.32,28.83
$GC,937,-0.58,-175.2,2187,2523,3443,3701,185.3,-18.5,57,943,0.00,2.25,0.00,0.000,260,0.000,0.049,2181,3840,3572,3443,3701,0,0,0,0,0,0,28.83,26.04,28.83
$GC,997,-0.58,-175.2,2181,3840,3443,3707,193.6,-17.8,59,1003,0.00,2.10,0.00,0.000,1030,0.000,0.025,2181,2519,3572,3443,3701,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1313,-0.58,-175.2,2181,2519,3443,3701,239.4,-12.9,75,1319,0.00,2.53,0.00,0.000,516,0.000,0.028,2181,1064,3572,3443,3701,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1339,-0.58,-175.2,1296,1063,3432,3699,242.8,-12.8,76,1345,0.00,2.67,0.00,0.000,1030,0.000,0.031,2181,2562,3572,3443,3701,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1669,-0.58,-175.2,2180,2560,3443,3701,283.4,-13.2,92,1675,0.00,2.08,0.00,0.000,260,0.000,0.044,2180,3842,3572,3443,3701,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1762,-0.58,-175.2,2180,3841,3444,3701,296.3,-13.3,96,1768,0.00,2.08,0.00,0.000,1030,0.000,0.024,2181,2514,3572,3443,3701,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2094,-0.58,-175.2,2180,2514,3443,3701,338.0,-12.2,112,2101,0.00,2.22,0.00,0.000,260,0.000,0.044,2180,3835,3571,3442,3700,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2152,-0.58,-175.2,2180,3835,3442,3700,344.0,-11.6,114,2158,0.00,2.08,0.00,0.000,1030,0.000,0.024,2180,2513,3571,3443,3700,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2470,-0.58,-175.2,2180,2512,3442,3696,377.4,-9.6,130,2475,0.00,2.25,0.00,0.000,260,0.000,0.044,2179,3825,3569,3443,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2518,-0.58,-175.2,2179,3825,3442,3695,382.0,-9.7,132,2525,0.00,2.08,0.00,0.000,1030,0.000,0.022,2179,2510,3569,3443,3695,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2850,-0.58,-175.2,2179,2510,3442,3690,417.5,-11.6,148,2856,0.00,2.28,0.00,0.000,260,0.000,0.044,2168,3846,3564,3442,3686,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2900,-0.58,-175.2,1264,3846,3431,3688,423.7,-12.0,150,2906,0.00,2.10,0.00,0.000,1030,0.000,0.024,2168,2512,3565,3442,3689,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3229,-0.58,-175.2,2168,2512,3442,3685,466.9,-12.5,166,3235,0.00,2.28,0.00,0.000,260,0.000,0.044,2164,3846,3563,3442,3685,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3294,-0.58,-175.2,2164,3846,3442,3684,472.9,-12.2,168,3303,0.00,2.08,0.00,0.000,1030,0.000,0.024,2164,2515,3563,3442,3684,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3601,-0.58,-175.2,2164,2515,3442,3675,510.0,-11.5,184,3608,0.00,2.55,0.00,0.000,516,0.000,0.028,2164,1066,3560,3442,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3633,-0.58,-175.2,2164,1065,3442,3678,513.3,-11.6,185,3640,0.12,2.67,0.00,0.000,3078,0.125,0.031,2195,2566,3560,3442,3678,0,0,0,0,0,0,26.06,26.20,28.83
$GC,3958,-0.58,-175.2,2195,2564,3442,3673,543.3,-9.2,201,3965,0.00,2.12,0.00,0.000,260,0.000,0.047,2194,3827,3557,3442,3673,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4030,-0.58,-175.2,2193,3827,3442,3672,550.0,-9.2,204,4035,0.00,2.10,0.00,0.000,1030,0.000,0.023,2194,2511,3557,3442,3672,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4360,-0.58,-175.2,2194,2511,3442,3666,580.0,-9.4,220,4366,0.00,2.33,0.00,0.000,260,0.000,0.045,2194,3846,3554,3442,3666,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4463,-0.58,-175.2,2194,3846,3438,3664,588.7,-9.3,224,4470,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2512,3553,3442,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4791,-0.58,-175.2,2194,2513,3442,3660,616.8,-7.7,237,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2513,3551,3442,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-0.58,-175.2,2194,2513,3442,3654,638.2,-7.0,247,5097,0.00,2.35,0.00,0.000,260,0.000,0.045,2193,3842,3550,3441,3660,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5155,-0.58,-175.2,2193,3843,3440,3654,640.7,-7.0,248,5162,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2516,3547,3440,3654,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5466,-0.58,-175.2,2193,2516,3439,3650,665.4,-7.6,259,5472,0.00,2.33,0.00,0.000,260,0.000,0.047,2194,3831,3544,3438,3650,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5511,-0.58,-175.2,2193,3831,3437,3650,668.6,-7.6,260,5517,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2513,3543,3437,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5842,-0.58,-175.2,2193,2514,3437,3644,694.1,-7.7,271,5849,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3835,3542,3437,3647,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5905,-0.58,-175.2,2193,3835,3436,3647,697.0,-7.8,272,5913,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2513,3541,3436,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6217,-0.58,-175.2,2193,2514,3435,3643,723.1,-7.7,283,6223,0.00,2.53,0.00,0.000,516,0.000,0.030,2194,1081,3539,3435,3643,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6260,-0.58,-175.2,2193,1080,3435,3642,726.3,-7.6,284,6266,0.00,2.62,0.00,0.000,1030,0.000,0.031,2193,2565,3539,3435,3643,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6592,-0.58,-175.2,2193,2562,3434,3640,750.1,-6.8,295,6599,0.00,2.17,0.00,0.000,260,0.000,0.049,2188,3833,3535,3433,3638,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6662,-0.58,-175.2,2188,3833,3432,3638,754.8,-6.7,297,6669,0.00,2.17,0.00,0.000,1030,0.000,0.026,2188,2513,3535,3432,3638,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7000,-0.58,-175.2,2188,2514,3432,3634,776.6,-6.4,308,7007,0.00,2.35,0.00,0.000,260,0.000,0.049,2184,3827,3533,3432,3634,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7074,-0.58,-175.2,2183,3827,3431,3634,781.2,-6.5,310,7080,0.00,2.12,0.00,0.000,1030,0.000,0.024,2184,2518,3532,3430,3634,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7405,-0.58,-175.2,2183,2519,3430,3631,805.0,-7.5,321,7412,0.00,2.38,0.00,0.000,260,0.000,0.050,2181,3837,3530,3430,3631,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7459,-0.58,-175.2,2181,3837,3430,3631,808.0,-7.7,322,7465,0.00,2.15,0.00,0.000,1030,0.000,0.026,2181,2522,3530,3429,3631,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7781,-0.58,-175.2,2181,2522,3429,3628,836.6,-8.6,333,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2522,3528,3429,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,-0.58,-175.2,2181,2522,3427,3626,864.5,-9.4,343,8087,0.00,2.33,0.00,0.000,260,0.000,0.047,2181,3835,3526,3427,3626,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8172,-0.58,-175.2,2181,3835,3425,3626,871.1,-9.4,345,8179,0.00,2.15,0.00,0.000,1030,0.000,0.025,2181,2519,3526,3426,3626,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8492,-0.58,-175.2,2181,2519,3425,3623,901.7,-8.9,356,8499,0.00,2.35,0.00,0.000,260,0.000,0.050,2181,3822,3524,3426,3623,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8551,-0.58,-175.2,2180,3821,3431,3623,905.2,-8.9,357,8557,0.00,2.12,0.00,0.000,1030,0.000,0.024,2181,2518,3524,3425,3623,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8872,-0.58,-175.2,2180,2518,3425,3620,933.6,-8.3,368,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2518,3522,3425,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,-0.58,-175.2,2180,2518,3425,3618,958.0,-8.0,378,9174,0.00,2.38,0.00,0.000,260,0.000,0.050,2179,3828,3521,3424,3618,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9257,-0.58,-175.2,2183,3827,3424,3618,963.6,-7.7,380,9263,0.00,2.15,0.00,0.000,1030,0.000,0.026,2179,2520,3521,3424,3618,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9578,-0.58,-175.2,2179,2520,3424,3616,988.1,-7.3,391,9584,0.00,2.35,0.00,0.000,260,0.000,0.049,2168,3845,3519,3424,3615,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,9611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9612,begin apogee
$GC,9623,-0.12,0.0,2167,2628,3423,3615,991.2,-7.3,392,9795,0.47,0.10,159.55,0.988,10246,0.087,0.093,2338,2671,2841,2870,2812,0,0,0,0,0,0,25.77,24.77,23.47
$STATE,9797,end apogee,CONTROL_FINISHED_OK
$STATE,9797,begin climb
$GC,9800,0.58,175.2,2338,2671,2867,2801,998.7,0.0,397,9983,0.57,2.05,169.57,0.979,10500,0.035,0.042,2575,3844,2128,2259,1997,0,0,0,0,0,0,25.22,24.82,23.51
$GC,10014,0.58,175.2,2575,3844,2242,1981,984.7,10.2,403,10019,0.00,1.95,0.00,0.000,1030,0.000,0.018,2585,2595,2110,2241,1980,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10351,0.58,175.2,2585,2595,2235,1974,942.4,12.5,414,10357,0.00,2.10,0.00,0.000,260,0.000,0.041,2576,3845,2104,2235,1973,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,19432,end climb,SURFACE_DEPTH_REACHED
$STATE,19432,begin surface coast
$FINISH,-0.4,1.021329
$STATE,19468,end surface coast,CONTROL_FINISHED_OK
$STATE,19469,begin surface
$SM_CCo,19491,4.95,0.132,0,0,1096,430.01
$SM_GC,1.28,6.60,0.38,4.95,0.028,0.034,0.132,133,2496,1096,-6.95,0.14,430.01,0,0,0,0,0,0,26.16,26.36,25.29
$IRIDIUM_FIX,2001.88,12418.33,100713,050538
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.12
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3741920
$24V_AH,23.5,74.087
$10V_AH,9.8,55.581
$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,17.325,223.925,574.000,4.950,0.000,0.000,0.000,441.975,0.000,0.000,12.799,3622.225,11973.201,815.889,2619.683,1224.934,0.000,2471.907,0.000,2049.349,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,93.330,987.615,131.580,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19547.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.493,0.000,0.000,0.000
$MEM,328960
$DATA_FILE_SIZE,30064,844
$CAP_FILE_SIZE,468219,0
$CFSIZE,260034560,166260736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,292.3,1
$GPS,100713,160636,2007.457,12417.130,36,1.0,36,-2.5