version: 66.11
glider: 169
mission: 8
dive: 4
start: 3 18 113 4 1 17
data:
$ID,169
$MISSION,8
$DIVE,4
$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,-20857.523
$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
$GPS1,180313,035335,1902.619,12432.665,12,1.3,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.8
$GPS2,180313,040051,1902.653,12432.780,12,2.2,31,-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,225.6,134610,-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,-194.6,121,2617,634,311,0.0,0.0,0,124,0.00,0.00,-97.57,0.000,16386,0.000,0.000,121,2617,2977,2906,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.71,-194.6,120,2617,2906,3048,3.2,-4.8,13,154,8.50,2.72,-10.48,0.000,18948,0.238,0.050,2262,1154,3559,3431,3687,0,0,0,0,0,0,26.27,26.56,26.87
$GC,285,-0.71,-194.6,2261,1154,3433,3691,45.6,-15.8,30,291,0.00,2.62,0.00,0.000,1030,0.000,0.037,2252,2609,3562,3434,3691,0,0,0,0,0,0,28.83,26.66,28.83
$GC,603,-0.58,-194.6,2251,2608,3433,3690,114.4,-22.2,47,610,0.17,2.62,0.00,0.000,2564,0.158,0.031,2310,1132,3561,3433,3690,0,0,0,0,0,0,26.63,26.75,28.83
$GC,646,-0.47,-194.6,2309,1131,3433,3690,120.6,-21.9,48,655,0.12,2.62,0.00,0.000,3078,0.144,0.034,2345,2611,3561,3433,3690,0,0,0,0,0,0,26.67,26.76,28.83
$GC,952,-0.58,-194.6,2344,2609,3437,3690,152.6,-8.6,64,959,0.00,2.62,0.00,0.000,516,0.000,0.032,2345,1134,3561,3433,3690,0,0,0,0,0,0,28.83,26.79,28.83
$GC,979,-0.72,-194.6,2345,1134,3433,3690,154.8,-8.1,65,987,0.20,2.62,0.00,0.000,5126,0.058,0.031,2233,2617,3562,3433,3691,0,0,0,0,0,0,26.84,26.81,28.83
$GC,1308,-0.66,-194.6,2233,2615,3433,3690,199.8,-13.1,81,1315,0.12,2.60,0.00,0.000,2564,0.149,0.032,2277,1149,3561,3433,3690,0,0,0,0,0,0,26.74,26.82,28.83
$GC,1388,-0.66,-194.6,1380,1149,3423,3689,206.6,-10.7,84,1396,0.00,2.60,0.00,0.000,1030,0.000,0.034,2277,2613,3562,3433,3691,0,0,0,0,0,0,28.83,26.83,28.83
$GC,1698,-0.72,-194.6,2276,2612,3433,3691,237.3,-9.9,100,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2612,3564,3433,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,-0.78,-194.6,2276,2612,3433,3689,268.9,-10.4,115,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2612,3561,3433,3690,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2013,begin apogee
$GC,2019,-0.15,0.0,2276,2717,3433,3690,271.0,-10.3,116,2179,0.45,0.03,150.48,0.560,10246,0.095,0.208,2444,2646,2760,2781,2739,0,0,0,0,0,0,26.77,25.70,25.29
$STATE,2181,end apogee,CONTROL_FINISHED_OK
$STATE,2181,begin climb
$GC,2183,0.71,194.6,2444,2647,2780,2733,279.7,0.0,123,2355,0.70,2.65,159.32,0.535,10756,0.022,0.028,2816,1221,1961,2042,1880,0,0,0,0,0,0,25.97,25.70,25.20
$GC,2501,0.42,194.6,2816,1220,2033,1874,232.3,24.2,137,2508,0.60,2.75,0.00,0.000,5126,0.179,0.028,2641,2738,1953,2033,1874,0,0,0,0,0,0,26.17,26.34,28.83
$GC,2824,0.36,194.6,2641,2737,2033,1870,190.1,11.5,153,2831,0.00,1.60,0.00,0.000,260,0.000,0.043,2641,3831,1951,2033,1870,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2925,0.28,194.6,2641,3830,2032,1869,179.7,11.6,157,2931,0.20,1.62,0.00,0.000,5126,0.145,0.021,2590,2622,1950,2032,1869,0,0,0,0,0,0,26.54,26.73,28.83
$GC,3243,0.52,326.1,2590,2621,2030,1866,158.5,5.5,173,3353,0.17,2.60,101.90,0.482,10756,0.059,0.029,2727,1254,1426,1553,1299,0,0,0,0,0,0,26.83,25.98,25.53
$GC,3388,0.44,326.1,2726,1254,1548,1286,140.2,14.6,179,3395,0.28,2.72,0.00,0.000,5126,0.130,0.029,2640,2720,1416,1547,1286,0,0,0,0,0,0,26.06,26.18,28.83
$GC,3712,0.52,332.9,2640,2719,1547,1280,107.2,9.8,195,3718,0.00,2.67,0.00,0.000,516,0.000,0.029,2653,1247,1413,1547,1280,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3768,0.66,364.4,2653,1246,1547,1277,103.3,8.9,197,3829,0.15,2.67,50.72,0.303,11270,0.065,0.031,2750,2717,1285,1418,1153,0,0,0,0,0,0,26.67,26.63,26.00
$GC,4121,0.58,364.4,2750,2716,1418,1168,46.3,16.4,216,4135,0.20,2.70,2.25,0.153,12804,0.148,0.029,2696,1252,1288,1410,1166,0,0,0,0,0,0,26.53,26.64,26.44
$GC,4154,0.53,364.4,2696,1251,1410,1168,42.1,15.1,218,4163,0.00,2.70,1.95,0.166,9222,0.000,0.031,2697,2732,1278,1409,1147,0,0,0,0,0,0,28.83,26.64,26.49
$GC,4472,0.53,364.4,1664,2728,1390,1166,5.6,10.9,265,4481,0.00,2.72,2.03,0.160,8708,0.000,0.031,2710,1257,1279,1406,1152,0,0,0,0,0,0,28.83,26.73,26.60
$STATE,4499,end climb,SURFACE_DEPTH_REACHED
$STATE,4499,begin surface coast
$FINISH,1.3,1.022278
$STATE,4511,end surface coast,CONTROL_FINISHED_OK
$STATE,4511,begin surface
$SM_CCo,4530,97.68,0.116,0,0,475,561.49
$SM_GC,0.94,6.30,2.55,97.68,0.025,0.037,0.116,135,2613,475,-7.31,-0.37,561.49,0,0,0,0,0,0,26.74,26.72,26.44
$IRIDIUM_FIX,1855.54,12433.92,180313,020230
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.52
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,4018272
$24V_AH,25.2,1.208
$10V_AH,10.1,0.793
$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,18.175,51.350,468.650,97.675,0.000,0.000,0.000,241.000,0.000,0.000,33.594,1024.711,2212.135,607.950,966.764,248.566,0.000,1289.992,0.000,648.374,0.000,0.548,0.000
$DEVICE_MAMPS,237.915,208.080,559.980,116.280,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.696,0.000,0.000,0.000
$MEM,329208
$DATA_FILE_SIZE,10160,271
$CAP_FILE_SIZE,149280,0
$CFSIZE,260034560,255389696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.403, 79.9,1
$GPS,180313,051933,1902.275,12433.358,14,3.3,33,-2.3