version: 66.11
glider: 169
mission: 8
dive: 3
start: 3 18 113 2 34 45
data:
$ID,169
$MISSION,8
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,350
$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,90
$T_MISSION,120
$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,200
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,561.30371
$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,-20856.268
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2764
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,49
$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
$GPS1,180313,022938,1902.955,12432.377,10,2.0,10,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.7
$GPS2,180313,023419,1902.990,12432.417,13,2.0,13,-2.3
$SPEED_LIMITS,0.173,0.296
$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,225.4,135253,-15.7,-10.000,-18.68,2978
$D_GRID,5381
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.71,-194.6,129,2584,627,304,0.0,0.0,0,130,0.00,0.00,-104.43,0.000,16386,0.000,0.000,124,2585,3201,3099,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-0.71,-194.6,124,2585,3099,3305,4.0,-7.6,14,158,8.55,2.58,-6.12,0.000,18948,0.244,0.054,2262,1151,3560,3430,3691,0,0,0,0,0,0,26.34,26.63,26.94
$GC,292,-0.71,-194.6,2262,1151,3430,3691,48.7,-16.4,31,298,0.00,2.60,0.00,0.000,1030,0.000,0.037,2260,2605,3561,3431,3691,0,0,0,0,0,0,28.83,26.71,28.83
$GC,608,-0.61,-194.6,2260,2605,3430,3691,112.8,-20.3,47,614,0.12,2.58,0.00,0.000,2564,0.171,0.032,2302,1148,3560,3430,3691,0,0,0,0,0,0,26.67,26.77,28.83
$GC,678,-0.61,-194.6,2302,1148,3431,3691,123.8,-17.5,50,685,0.00,2.60,0.00,0.000,1030,0.000,0.037,2298,2605,3560,3430,3691,0,0,0,0,0,0,28.83,26.79,28.83
$GC,999,-0.61,-194.6,2298,2604,3431,3690,166.7,-11.5,66,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2604,3561,3431,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.66,-194.6,2298,2604,3431,3691,196.6,-8.0,81,1306,0.00,2.58,0.00,0.000,516,0.000,0.031,2298,1145,3560,3430,3691,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1352,-0.73,-194.6,2298,1145,3430,3690,200.2,-7.6,83,1358,0.00,2.60,0.00,0.000,1030,0.000,0.035,2294,2607,3560,3430,3691,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1675,-0.81,-194.6,2294,2605,3430,3691,226.3,-8.4,99,1677,0.15,0.00,0.00,0.000,4102,0.068,0.000,2207,2606,3560,3430,3690,0,0,0,0,0,0,26.93,28.83,28.83
$STATE,1950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1950,begin apogee
$GC,1956,-0.15,0.0,2206,2722,3430,3689,272.4,-17.0,113,2115,0.70,0.08,147.73,0.563,10246,0.122,0.099,2448,2640,2761,2781,2741,0,0,0,0,0,0,26.72,25.76,25.34
$STATE,2117,end apogee,CONTROL_FINISHED_OK
$STATE,2118,begin climb
$GC,2120,0.71,194.6,2448,2640,2781,2737,281.9,0.0,120,2292,0.70,2.62,159.38,0.539,10756,0.031,0.029,2770,1245,1963,2045,1881,0,0,0,0,0,0,25.98,25.74,25.23
$GC,2438,0.49,194.6,2770,1244,2037,1876,244.4,20.0,134,2445,0.38,2.70,0.00,0.000,5126,0.172,0.028,2663,2729,1956,2037,1876,0,0,0,0,0,0,26.20,26.36,28.83
$GC,2761,0.39,194.6,2663,2728,2036,1873,200.6,12.0,150,2769,0.12,1.60,0.00,0.000,4356,0.161,0.037,2622,3828,1954,2036,1873,0,0,0,0,0,0,26.53,26.67,28.83
$GC,2858,0.35,194.6,2622,3828,2034,1873,190.6,11.1,154,2864,0.00,1.62,0.00,0.000,1030,0.000,0.021,2631,2615,1954,2035,1873,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3173,0.39,229.7,2631,2613,2034,1870,163.2,8.8,170,3203,0.00,0.00,27.92,0.493,8710,0.000,0.000,2631,2613,1825,1919,1731,0,0,0,0,0,0,28.83,28.83,26.00
$GC,3495,0.50,318.6,2631,2613,1914,1714,138.3,6.9,186,3569,0.00,1.95,68.68,0.474,8452,0.000,0.042,2631,3843,1459,1581,1337,0,0,0,0,0,0,28.83,26.13,25.70
$GC,3629,0.64,371.2,1624,3843,1552,1327,127.6,8.2,192,3709,0.17,1.67,69.45,0.489,11270,0.060,0.021,2736,2629,1250,1391,1109,0,0,0,0,1,0,26.39,26.40,25.28
$GC,4024,0.59,371.2,2735,2629,1391,1118,65.3,15.1,211,4030,0.12,2.47,0.00,0.000,4612,0.165,0.028,2707,1255,1254,1391,1118,0,0,0,0,0,0,26.45,26.58,28.83
$GC,4092,0.59,371.2,2707,1253,1391,1115,57.1,12.8,214,4098,0.00,2.67,0.00,0.000,1030,0.000,0.031,2707,2718,1253,1391,1115,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4403,0.59,371.2,1664,2716,1371,1114,20.0,11.8,245,4411,0.00,2.65,0.00,0.000,516,0.000,0.030,2720,1253,1253,1391,1115,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4431,0.59,371.2,1672,1252,1371,1113,17.0,11.8,249,4439,0.00,2.65,0.00,0.000,1030,0.000,0.031,2720,2723,1253,1391,1115,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4536,end climb,SURFACE_DEPTH_REACHED
$STATE,4536,begin surface coast
$FINISH,0.2,1.022392
$STATE,4560,end surface coast,CONTROL_FINISHED_OK
$STATE,4560,begin surface
$SM_CCo,4577,91.28,0.118,0,0,473,561.49
$SM_GC,1.01,6.38,0.28,91.28,0.028,0.042,0.118,126,2571,473,-7.34,0.20,561.49,0,0,0,0,0,0,26.76,26.82,26.45
$IRIDIUM_FIX,1855.54,12432.62,180313,020231
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.40
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,4018720
$24V_AH,25.2,1.130
$10V_AH,10.5,0.747
$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,17.400,38.750,473.150,91.275,0.000,0.000,0.000,0.000,0.000,0.000,14.432,1020.896,2272.909,590.601,680.228,173.019,0.000,1025.677,0.000,656.004,0.000,0.549,0.000
$DEVICE_MAMPS,244.035,146.115,563.040,117.810,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4523.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.913,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10150,272
$CAP_FILE_SIZE,154033,0
$CFSIZE,260034560,255459328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.250, 70.9,1
$GPS,180313,035335,1902.619,12432.665,12,1.3,28,-2.3