version: 66.11
glider: 169
mission: 8
dive: 579
start: 7 16 113 22 47 3
data:
$ID,169
$MISSION,8
$DIVE,579
$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,9
$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,-23149.834
$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
$GPS1,160713,223136,1913.327,12410.802,33,1.6,33,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-72.7
$GPS2,160713,224631,1913.326,12410.480,13,1.7,13,-2.3
$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,137.3,160260,-5.6,-9.429,-20.04,2855
$D_GRID,5578
$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,-175.2,121,2591,1285,940,0.0,0.0,0,96,0.00,0.00,-68.32,0.000,16386,0.000,0.000,121,2591,2862,2826,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-175.2,122,2591,2827,2899,3.0,-6.3,9,135,9.02,2.70,-12.00,0.000,18948,0.236,0.039,2189,1169,3570,3444,3696,0,0,0,0,0,0,24.86,25.94,26.47
$GC,172,-0.58,-175.2,2189,1169,3445,3697,29.7,-28.9,17,180,0.00,2.90,0.00,0.000,1030,0.000,0.039,2183,2637,3570,3445,3696,0,0,0,0,0,0,28.83,25.84,28.83
$GC,482,-0.58,-175.2,2183,2634,3445,3696,96.7,-17.2,37,488,0.00,2.83,0.00,0.000,516,0.000,0.028,2183,1154,3570,3445,3696,0,0,0,0,0,0,28.83,26.08,28.83
$GC,532,-0.58,-175.2,2183,1153,3445,3696,104.4,-16.2,39,538,0.00,2.85,0.00,0.000,1030,0.000,0.032,2182,2639,3570,3445,3696,0,0,0,0,0,0,28.83,26.06,28.83
$GC,863,-0.58,-175.2,2181,2636,3446,3696,156.6,-15.6,55,868,0.00,2.80,0.00,0.000,516,0.000,0.026,2181,1152,3570,3445,3696,0,0,0,0,0,0,28.83,26.17,28.83
$GC,911,-0.58,-175.2,2178,1152,3446,3696,163.7,-14.6,57,918,0.00,2.85,0.00,0.000,1030,0.000,0.032,2181,2641,3571,3446,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1244,-0.58,-175.2,2181,2638,3446,3696,204.2,-11.1,73,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2635,3571,3446,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1538,-0.58,-175.2,2181,2637,3446,3696,240.4,-12.6,88,1545,0.00,2.80,0.00,0.000,516,0.000,0.027,2181,1167,3571,3446,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1575,-0.58,-175.2,2181,1166,3446,3696,244.0,-12.8,89,1581,0.00,2.83,0.00,0.000,1030,0.000,0.034,2181,2638,3572,3446,3699,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1892,-0.58,-175.2,2181,2634,3446,3696,285.9,-12.9,105,1897,0.00,1.83,0.00,0.000,260,0.000,0.045,2181,3824,3571,3446,3696,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1936,-0.58,-175.2,2180,3825,3445,3696,289.3,-12.9,106,1944,0.00,1.83,0.00,0.000,1030,0.000,0.023,2182,2584,3571,3446,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2238,-0.58,-175.2,2181,2584,3446,3692,331.5,-13.3,122,2244,0.00,2.62,0.00,0.000,516,0.000,0.028,2181,1173,3568,3445,3692,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2274,-0.58,-175.2,2180,1173,3445,3692,334.7,-12.7,123,2281,0.00,2.80,0.00,0.000,1030,0.000,0.031,2181,2642,3568,3445,3692,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2595,-0.58,-175.2,2180,2639,3445,3688,366.7,-9.3,139,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2639,3567,3446,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,-0.58,-175.2,2180,2638,3445,3684,393.3,-9.4,154,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2639,3565,3446,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.58,-175.2,2180,2638,3445,3680,426.5,-11.0,169,3197,0.00,2.80,0.00,0.000,516,0.000,0.027,2180,1155,3562,3445,3680,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3242,-0.58,-175.2,2180,1154,3445,3679,431.6,-10.7,171,3248,0.00,2.83,0.00,0.000,1030,0.000,0.031,2180,2641,3562,3445,3679,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3572,-0.58,-175.2,2180,2639,3445,3674,464.5,-9.4,187,3578,0.00,1.88,0.00,0.000,260,0.000,0.049,2179,3830,3559,3445,3674,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3631,-0.58,-175.2,2179,3830,3445,3673,469.0,-9.1,189,3638,0.00,1.85,0.00,0.000,1030,0.000,0.024,2179,2584,3559,3445,3673,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3949,-0.58,-175.2,2179,2584,3445,3668,499.4,-9.9,205,3955,0.00,2.03,0.00,0.000,260,0.000,0.043,2169,3837,3556,3445,3668,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3977,-0.58,-175.2,2169,3837,3445,3667,502.3,-10.2,206,3983,0.00,1.90,0.00,0.000,1030,0.000,0.024,2169,2580,3556,3445,3667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4306,-0.58,-175.2,2169,2580,3445,3662,537.7,-10.4,222,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2580,3553,3445,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4605,-0.58,-175.2,2169,2580,3445,3658,566.8,-9.3,237,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2579,3551,3445,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4903,-0.58,-175.2,2169,2579,3444,3655,597.3,-10.8,252,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2576,3549,3443,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5217,-0.58,-175.2,2169,2579,3442,3650,632.4,-11.5,263,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2579,3546,3443,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,-0.58,-175.2,2169,2579,3442,3647,664.3,-10.2,273,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2579,3544,3442,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5814,-0.58,-175.2,2169,2579,3440,3644,692.7,-9.3,283,5820,0.00,2.70,0.00,0.000,516,0.000,0.031,2169,1173,3542,3440,3644,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5866,-0.58,-175.2,2169,1173,3439,3644,696.3,-9.3,284,5872,0.00,2.83,0.00,0.000,1030,0.000,0.035,2168,2627,3541,3439,3643,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6193,-0.58,-175.2,2167,2625,3437,3639,727.9,-9.6,295,6199,0.00,2.75,0.00,0.000,516,0.000,0.029,2167,1175,3538,3437,3639,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6230,-0.58,-175.2,2167,1175,3437,3639,731.6,-9.7,296,6235,0.00,2.80,0.00,0.000,1030,0.000,0.033,2167,2637,3537,3437,3638,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6568,-0.58,-175.2,2167,2634,3435,3635,762.9,-9.3,307,6574,0.00,2.78,0.00,0.000,516,0.000,0.030,2167,1170,3535,3435,3635,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6611,-0.58,-175.2,2167,1169,3435,3635,766.5,-9.3,308,6618,0.00,2.80,0.00,0.000,1030,0.000,0.037,2163,2628,3534,3435,3634,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6943,-0.58,-175.2,2163,2625,3434,3632,796.3,-8.6,319,6950,0.10,2.75,0.00,0.000,2564,0.143,0.028,2199,1169,3533,3434,3632,0,0,0,0,0,0,26.38,26.03,28.83
$GC,6992,-0.58,-175.2,2194,1168,3434,3627,799.6,-8.6,320,6998,0.00,2.80,0.00,0.000,1030,0.000,0.034,2194,2635,3532,3434,3631,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7319,-0.58,-175.2,2193,2632,3430,3628,822.2,-6.6,331,7325,0.00,2.78,0.00,0.000,516,0.000,0.030,2194,1174,3530,3432,3628,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7351,-0.58,-175.2,2193,1173,3432,3628,822.2,-6.6,331,7359,0.00,2.80,0.00,0.000,1030,0.000,0.036,2193,2628,3529,3432,3627,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7663,-0.58,-175.2,2193,2625,3430,3626,843.0,-6.0,342,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2625,3528,3431,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7958,-0.58,-175.2,2193,2621,3430,3623,860.4,-5.8,352,7964,0.00,2.78,0.00,0.000,516,0.000,0.029,2193,1167,3526,3430,3623,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8001,-0.58,-175.2,2193,1167,3430,3623,862.8,-5.9,353,8007,0.00,2.83,0.00,0.000,1030,0.000,0.034,2193,2631,3526,3430,3622,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8333,-0.58,-175.2,2193,2628,3429,3620,884.5,-6.5,364,8339,0.00,2.78,0.00,0.000,516,0.000,0.030,2194,1161,3524,3429,3620,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8366,-0.58,-175.2,2193,1161,3429,3621,884.5,-6.5,364,8374,0.00,2.83,0.00,0.000,1030,0.000,0.035,2191,2631,3524,3429,3620,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8675,-0.58,-175.2,2191,2628,3427,3618,909.8,-7.6,375,8681,0.00,2.78,0.00,0.000,516,0.000,0.030,2191,1172,3522,3427,3618,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8705,-0.58,-175.2,2190,1172,3427,3618,909.8,-7.6,375,8713,0.00,2.83,0.00,0.000,1030,0.000,0.035,2181,2634,3522,3427,3618,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9016,-0.58,-175.2,2181,2631,3426,3616,937.3,-7.8,386,9023,0.00,2.83,0.00,0.000,516,0.000,0.031,2181,1153,3521,3426,3616,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9047,-0.58,-175.2,2181,1153,3426,3616,937.3,-7.8,386,9055,0.00,2.85,0.00,0.000,1030,0.000,0.037,2180,2628,3520,3426,3615,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9358,-0.58,-175.2,2180,2626,3425,3614,962.4,-7.2,397,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2625,3520,3426,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9653,-0.58,-175.2,2180,2626,3425,3613,984.7,-7.7,407,9659,0.00,2.78,0.00,0.000,516,0.000,0.031,2180,1156,3519,3425,3613,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9707,-0.58,-175.2,2180,1156,3425,3613,987.1,-7.4,408,9714,0.00,2.85,0.00,0.000,1030,0.000,0.035,2172,2629,3516,3420,3612,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,9725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9725,begin apogee
$GC,9734,-0.12,0.0,2171,2538,3425,3612,990.2,-7.4,409,9906,0.45,0.15,158.50,0.999,10246,0.087,0.073,2334,2602,2842,2871,2814,0,0,0,0,0,0,25.72,24.82,23.43
$STATE,9908,end apogee,CONTROL_FINISHED_OK
$STATE,9909,begin climb
$GC,9912,0.58,175.2,2335,2601,2867,2804,999.3,0.0,414,10095,0.60,2.90,172.05,0.951,10756,0.032,0.025,2612,1102,2122,2254,1991,0,0,0,0,0,0,25.26,24.92,23.55
$GC,10124,0.77,253.9,2610,1101,2243,1981,993.1,6.6,421,10209,0.00,2.80,77.60,0.911,9222,0.000,0.025,2599,2589,1811,1967,1655,0,0,0,0,0,0,28.83,25.34,23.63
$GC,10495,0.77,253.9,2599,2588,1951,1625,944.7,11.8,434,10501,0.00,2.03,0.00,0.000,260,0.000,0.041,2589,3848,1787,1951,1624,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,19139,end climb,SURFACE_DEPTH_REACHED
$STATE,19140,begin surface coast
$FINISH,-0.7,1.021657
$STATE,19165,end surface coast,CONTROL_FINISHED_OK
$STATE,19165,begin surface
$SM_CCo,19186,2.78,0.144,0,0,1096,430.01
$SM_GC,1.26,6.75,0.12,2.78,0.023,0.083,0.144,128,2666,1096,-6.94,-0.17,430.01,0,0,0,0,0,0,26.11,26.28,25.06
$IRIDIUM_FIX,1909.23,12410.53,160713,161647
$TT8_MAMPS,0.021721,0.021721
$HUMID,55.00
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3727648
$24V_AH,23.4,78.300
$10V_AH,10.0,58.548
$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,17.100,199.925,590.375,2.775,0.000,0.000,0.000,508.350,0.000,0.000,14.308,3307.884,12306.204,802.023,2414.312,1212.808,0.000,2388.867,0.000,1789.681,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,83.385,999.090,143.820,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.484,0.000,0.000,0.000
$MEM,328904
$DATA_FILE_SIZE,30104,838
$CAP_FILE_SIZE,430992,0
$CFSIZE,260034560,161546240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,227.5,1
$GPS,170713,040824,1910.886,12410.624,52,1.5,52,-2.3