version: 66.11
glider: 169
mission: 8
dive: 556
start: 7 11 113 14 27 36
data:
$ID,169
$MISSION,8
$DIVE,556
$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,-23114.678
$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,2625
$C_ROLL_CLIMB,2575
$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
$GPS1,110713,141336,2000.420,12416.288,29,1.0,29,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-66.1
$GPS2,110713,142707,2000.405,12416.153,15,1.7,15,-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,158.7,243784,-5.6,-9.429,-20.04,2855
$D_GRID,5594
$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,-175.2,120,2591,1083,661,0.0,0.0,0,108,0.00,0.00,-79.80,0.000,16386,0.000,0.000,120,2592,2917,2879,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.58,-175.2,120,2592,2880,2956,3.6,-9.0,11,140,8.90,2.22,-10.88,0.000,18692,0.233,0.056,2175,3834,3570,3443,3697,0,0,0,0,0,0,24.85,25.90,26.49
$GC,315,-0.58,-175.2,2175,3834,3445,3696,67.2,-21.7,27,322,0.00,1.95,0.00,0.000,1030,0.000,0.024,2176,2595,3571,3444,3698,0,0,0,0,0,0,28.83,26.26,28.83
$GC,638,-0.58,-175.2,2175,2596,3445,3697,127.7,-17.9,43,644,0.00,2.15,0.00,0.000,260,0.000,0.047,2167,3828,3571,3445,3697,0,0,0,0,0,0,28.83,26.03,28.83
$GC,687,-0.58,-175.2,2167,3828,3445,3696,136.3,-18.0,45,693,0.00,1.95,0.00,0.000,1030,0.000,0.023,2168,2593,3571,3445,3697,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1018,-0.58,-175.2,2167,2592,3445,3696,192.5,-16.2,61,1024,0.00,2.12,0.00,0.000,260,0.000,0.046,2167,3834,3571,3446,3696,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1053,-0.58,-175.2,2167,3834,3445,3696,197.9,-16.7,62,1059,0.00,1.92,0.00,0.000,1030,0.000,0.023,2168,2589,3570,3445,3696,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1370,-0.58,-175.2,2167,2589,3445,3696,248.4,-14.9,78,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2590,3570,3445,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-0.58,-175.2,2167,2590,3446,3696,290.4,-13.6,93,1675,0.00,2.15,0.00,0.000,260,0.000,0.044,2167,3847,3570,3445,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1695,-0.58,-175.2,2167,3846,3445,3696,293.8,-13.5,94,1701,0.00,1.95,0.00,0.000,1030,0.000,0.024,2167,2595,3570,3445,3696,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2025,-0.58,-175.2,2167,2591,3444,3696,340.2,-15.0,110,2031,0.00,2.12,0.00,0.000,260,0.000,0.044,2159,3845,3570,3444,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2083,-0.58,-175.2,2159,3845,3444,3696,347.8,-15.2,112,2091,0.12,1.95,0.00,0.000,3078,0.130,0.025,2196,2593,3569,3444,3695,0,0,0,0,0,0,26.14,26.44,28.83
$GC,2405,-0.58,-175.2,2196,2594,3444,3691,389.6,-12.3,128,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2594,3568,3444,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2703,-0.58,-175.2,2196,2594,3445,3687,423.8,-10.7,143,2710,0.00,2.12,0.00,0.000,260,0.000,0.045,2194,3845,3565,3444,3687,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2730,-0.58,-175.2,2194,3845,3444,3686,426.7,-10.4,144,2737,0.00,1.92,0.00,0.000,1030,0.000,0.024,2194,2590,3565,3444,3686,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3061,-0.58,-175.2,2194,2591,3444,3682,456.7,-8.9,160,3067,0.00,2.58,0.00,0.000,516,0.000,0.028,2194,1150,3564,3446,3682,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3091,-0.58,-175.2,2194,1151,3444,3682,459.6,-9.0,161,3098,0.00,2.70,0.00,0.000,1030,0.000,0.030,2194,2637,3563,3444,3682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3418,-0.58,-175.2,2193,2634,3444,3676,487.6,-8.4,177,3423,0.00,1.92,0.00,0.000,260,0.000,0.045,2194,3825,3559,3444,3675,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3470,-0.58,-175.2,2193,3825,3444,3675,492.0,-8.5,179,3476,0.00,1.90,0.00,0.000,1030,0.000,0.023,2193,2587,3559,3444,3675,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3798,-0.58,-175.2,2193,2586,3444,3669,519.3,-8.1,195,3803,0.00,2.12,0.00,0.000,260,0.000,0.047,2194,3849,3557,3444,3670,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3828,-0.58,-175.2,2193,3849,3444,3669,521.8,-8.0,196,3834,0.00,1.95,0.00,0.000,1030,0.000,0.026,2195,2594,3556,3444,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4155,-0.58,-175.2,2193,2593,3444,3663,547.8,-8.0,212,4161,0.00,2.60,0.00,0.000,516,0.000,0.029,2194,1151,3553,3444,3663,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4199,-0.58,-175.2,2194,1150,3444,3663,550.5,-8.0,213,4207,0.00,2.70,0.00,0.000,1030,0.000,0.030,2194,2638,3553,3444,3662,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4504,-0.58,-175.2,2193,2635,3444,3659,576.1,-8.3,229,4510,0.00,1.95,0.00,0.000,260,0.000,0.048,2194,3822,3551,3444,3659,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4564,-0.58,-175.2,2193,3822,3443,3659,580.2,-8.5,231,4570,0.00,1.92,0.00,0.000,1030,0.000,0.024,2194,2585,3554,3449,3659,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4891,-0.58,-175.2,2193,2585,3443,3653,609.5,-8.8,246,4896,0.00,2.55,0.00,0.000,516,0.000,0.029,2193,1151,3547,3441,3653,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4916,-0.58,-175.2,2193,1151,3443,3653,609.5,-8.8,246,4922,0.00,2.70,0.00,0.000,1030,0.000,0.030,2193,2638,3548,3443,3653,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5237,-0.58,-175.2,2193,2635,3441,3649,639.1,-8.3,257,5243,0.00,1.98,0.00,0.000,260,0.000,0.048,2193,3845,3545,3441,3649,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5264,-0.58,-175.2,2193,3845,3441,3649,639.1,-8.3,257,5270,0.00,1.95,0.00,0.000,1030,0.000,0.025,2194,2592,3544,3440,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5585,-0.58,-175.2,2193,2592,3440,3646,666.5,-7.9,268,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2592,3542,3439,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5880,-0.58,-175.2,2194,2591,3438,3643,690.9,-8.1,278,5886,0.00,2.58,0.00,0.000,516,0.000,0.031,2193,1163,3540,3437,3643,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5925,-0.58,-175.2,2198,1162,3437,3643,694.0,-8.2,279,5931,0.00,2.72,0.00,0.000,1030,0.000,0.034,2193,2639,3539,3437,3642,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6257,-0.58,-175.2,2193,2636,3435,3643,722.1,-8.3,290,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2636,3536,3435,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6558,-0.58,-175.2,2193,2636,3434,3634,746.3,-7.8,300,6564,0.00,2.70,0.00,0.000,516,0.000,0.029,2193,1159,3534,3434,3634,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6601,-0.58,-175.2,2193,1158,3434,3634,749.4,-7.8,301,6607,0.00,2.72,0.00,0.000,1030,0.000,0.033,2194,2640,3533,3433,3634,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6934,-0.58,-175.2,2193,2637,3432,3631,774.5,-7.2,312,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3531,3432,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7234,-0.58,-175.2,2193,2637,3431,3628,796.8,-7.7,322,7240,0.00,2.70,0.00,0.000,516,0.000,0.030,2193,1149,3529,3431,3628,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7277,-0.58,-175.2,2193,1148,3431,3628,799.8,-7.8,323,7283,0.00,2.72,0.00,0.000,1030,0.000,0.034,2193,2635,3529,3431,3628,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7609,-0.58,-175.2,2193,2632,3430,3625,827.6,-8.2,334,7615,0.00,1.98,0.00,0.000,260,0.000,0.049,2183,3832,3527,3430,3625,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7640,-0.58,-175.2,2184,3832,3429,3625,827.6,-8.2,334,7648,0.00,1.95,0.00,0.000,1030,0.000,0.026,2183,2588,3527,3429,3625,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7950,-0.58,-175.2,2183,2588,3428,3622,856.4,-8.6,345,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2588,3525,3428,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8247,-0.58,-175.2,2183,2587,3426,3621,880.9,-8.0,355,8253,0.00,2.58,0.00,0.000,516,0.000,0.031,2183,1162,3523,3426,3620,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8277,-0.58,-175.2,2183,1161,3426,3621,880.9,-8.0,355,8286,0.00,2.75,0.00,0.000,1030,0.000,0.034,2181,2643,3521,3426,3616,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8586,-0.58,-175.2,2180,2640,3425,3618,907.9,-7.7,366,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2640,3520,3425,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8884,-0.58,-175.2,2181,2640,3425,3616,930.7,-7.4,376,8890,0.00,2.72,0.00,0.000,516,0.000,0.031,2181,1176,3521,3426,3616,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8937,-0.58,-175.2,2181,1175,3425,3616,932.9,-7.1,377,8943,0.00,2.75,0.00,0.000,1030,0.000,0.037,2181,2634,3520,3425,3615,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9261,-0.58,-175.2,2181,2631,3425,3614,956.9,-7.0,388,9267,0.00,2.70,0.00,0.000,516,0.000,0.031,2181,1162,3519,3424,3614,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9293,-0.58,-175.2,2181,1162,3425,3614,956.9,-7.0,388,9302,0.00,2.78,0.00,0.000,1030,0.000,0.034,2181,2639,3519,3424,3614,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9603,-0.58,-175.2,2180,2637,3424,3612,980.9,-7.0,399,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2637,3518,3424,3612,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9747,begin apogee
$GC,9755,-0.12,0.0,2181,2551,3423,3611,991.1,-6.8,404,9927,0.43,0.10,160.12,0.991,10246,0.087,0.096,2335,2593,2847,2874,2820,0,0,0,0,0,0,25.82,24.75,23.44
$STATE,9929,end apogee,CONTROL_FINISHED_OK
$STATE,9929,begin climb
$GC,9932,0.58,175.2,2336,2593,2867,2802,998.1,0.0,409,10115,0.60,2.20,169.15,0.974,10500,0.034,0.040,2584,3839,2128,2258,1999,0,0,0,0,0,0,25.21,24.83,23.50
$GC,10167,0.58,175.2,2584,3839,2241,1984,983.4,10.5,415,10173,0.00,2.12,0.00,0.000,1030,0.000,0.016,2594,2534,2112,2241,1983,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10486,0.58,175.2,2595,2532,2235,1977,938.3,13.0,426,10492,0.00,2.28,0.00,0.000,260,0.000,0.040,2588,3834,2106,2235,1977,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,19096,end climb,SURFACE_DEPTH_REACHED
$STATE,19096,begin surface coast
$FINISH,0.1,1.021402
$STATE,19118,end surface coast,CONTROL_FINISHED_OK
$STATE,19118,begin surface
$SM_CCo,19199,0.00,0.000,0,0,977,459.94
$SM_GC,0.20,6.82,0.10,0.00,0.027,0.090,0.000,144,2652,977,-6.93,-0.23,459.94,0,0,0,0,0,0,25.98,26.36,28.83
$IRIDIUM_FIX,1955.00,12413.85,110713,090952
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.22
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3739424
$24V_AH,23.4,74.898
$10V_AH,9.9,56.091
$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,17.700,185.650,616.975,0.000,0.000,0.000,0.000,447.375,0.000,0.000,16.061,3391.637,12139.064,804.129,2465.562,1166.594,0.000,2382.938,0.000,1895.489,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,96.390,990.675,0.000,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19197.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.479,0.000,0.000,0.000
$MEM,328964
$DATA_FILE_SIZE,30064,826
$CAP_FILE_SIZE,442557,0
$CFSIZE,260034560,165490688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,264.4,1
$GPS,110713,194905,1958.745,12416.045,54,1.7,54,-2.5