version: 66.11
glider: 169
mission: 8
dive: 6
start: 3 18 113 8 19 52
data:
$ID,169
$MISSION,8
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,220
$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,-20860.037
$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
$GPS1,180313,080206,1900.839,12434.062,36,1.1,36,-2.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.5
$GPS2,180313,081924,1900.765,12434.293,15,1.3,15,-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,226.8,131062,-15.7,-10.000,-18.68,2978
$D_GRID,5451
$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,-194.6,121,2617,646,310,0.0,0.0,0,122,0.00,0.00,-95.12,0.000,16386,0.000,0.000,121,2618,2925,2861,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.71,-194.6,121,2618,2861,2990,3.1,-5.4,13,152,8.35,2.75,-11.65,0.000,18948,0.233,0.047,2260,1139,3560,3431,3689,0,0,0,0,0,0,26.20,26.48,26.78
$GC,244,-0.63,-194.6,2260,1138,3432,3690,39.1,-20.5,27,251,0.15,2.70,0.00,0.000,3078,0.158,0.041,2294,2611,3561,3432,3690,0,0,0,0,0,0,26.42,26.53,28.83
$GC,560,-0.51,-194.6,2293,2610,3432,3689,106.1,-20.4,45,568,0.12,2.62,0.00,0.000,2564,0.171,0.033,2335,1150,3560,3432,3689,0,0,0,0,0,0,26.56,26.66,28.83
$GC,598,-0.42,-194.6,2334,1149,3432,3689,111.2,-19.8,46,604,0.00,2.65,0.00,0.000,1030,0.000,0.036,2334,2614,3560,3432,3689,0,0,0,0,0,0,28.83,26.67,28.83
$GC,914,-0.48,-194.6,2333,2613,3432,3689,148.3,-10.5,62,920,0.00,2.62,0.00,0.000,516,0.000,0.031,2334,1133,3560,3432,3689,0,0,0,0,0,0,28.83,26.74,28.83
$GC,950,-0.55,-194.6,2334,1133,3432,3689,150.9,-10.3,63,956,0.00,2.65,0.00,0.000,1030,0.000,0.033,2334,2618,3560,3432,3689,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1268,-0.68,-194.6,2334,2617,3433,3689,175.2,-5.8,79,1275,0.12,2.62,0.00,0.000,4612,0.078,0.030,2234,1129,3560,3432,3689,0,0,0,0,0,0,26.85,26.77,28.83
$GC,1296,-0.78,-194.6,2233,1129,3432,3689,177.5,-6.3,80,1302,0.00,2.67,0.00,0.000,1030,0.000,0.037,2233,2614,3560,3431,3689,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1624,-0.71,-194.6,2233,2613,3432,3689,228.3,-15.7,96,1631,0.12,2.62,0.00,0.000,2564,0.162,0.031,2275,1133,3560,3431,3689,0,0,0,0,0,0,26.70,26.79,28.83
$GC,1681,-0.71,-194.6,2276,1133,3432,3689,234.6,-14.1,98,1687,0.00,2.65,0.00,0.000,1030,0.000,0.036,2271,2614,3560,3432,3689,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1996,-0.71,-194.6,2271,2613,3432,3689,270.3,-10.9,114,2002,0.00,2.62,0.00,0.000,516,0.000,0.033,2271,1142,3560,3432,3689,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2032,-0.76,-194.6,2271,1142,3431,3689,273.0,-10.7,115,2038,0.00,2.65,0.00,0.000,1030,0.000,0.037,2266,2613,3560,3432,3689,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2350,-0.80,-194.6,2266,2612,3431,3687,302.5,-8.5,131,2356,0.00,2.60,0.00,0.000,516,0.000,0.033,2266,1140,3559,3432,3686,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2432,-0.88,-194.6,2266,1141,3431,3686,307.8,-7.8,134,2441,0.15,2.65,0.00,0.000,5126,0.067,0.037,2161,2613,3558,3432,3685,0,0,0,0,0,0,26.86,26.81,28.83
$GC,2740,-0.75,-194.6,2161,2612,3432,3683,358.4,-17.1,150,2746,0.28,2.62,0.00,0.000,2564,0.132,0.034,2255,1133,3557,3432,3683,0,0,0,0,0,0,26.70,26.81,28.83
$GC,2829,-0.80,-194.6,1344,1132,3420,3681,368.0,-10.6,154,2835,0.00,2.62,0.00,0.000,1030,0.000,0.035,2252,2613,3557,3432,3683,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3158,-0.86,-194.6,2252,2610,3432,3678,397.7,-8.8,170,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2611,3554,3431,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3455,-0.91,-194.6,2252,2612,3431,3675,423.0,-8.2,185,3462,0.12,2.62,0.00,0.000,4612,0.078,0.034,2167,1150,3552,3431,3674,0,0,0,0,0,0,26.90,26.82,28.83
$GC,3563,-0.85,-194.6,2166,1150,3431,3673,436.7,-13.2,190,3571,0.20,2.62,0.00,0.000,3078,0.137,0.039,2223,2606,3552,3431,3673,0,0,0,0,0,0,26.70,26.81,28.83
$GC,3894,-0.85,-194.6,2222,2606,3432,3667,466.0,-8.4,206,3900,0.00,2.60,0.00,0.000,516,0.000,0.032,2223,1137,3549,3432,3667,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3971,-0.85,-194.6,2223,1137,3432,3666,472.0,-8.4,209,3977,0.00,2.65,0.00,0.000,1030,0.000,0.038,2223,2612,3549,3432,3666,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4288,-0.85,-194.6,2222,2611,3432,3661,501.7,-9.4,225,4294,0.00,2.60,0.00,0.000,516,0.000,0.034,2223,1152,3544,3428,3661,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4385,-0.85,-194.6,2222,1152,3432,3661,509.6,-9.0,229,4393,0.00,2.62,0.00,0.000,1030,0.000,0.036,2220,2609,3546,3432,3661,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4705,-0.85,-194.6,2219,2608,3432,3655,538.2,-8.5,245,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2608,3543,3432,3655,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4739,begin apogee
$GC,4746,-0.15,0.0,2220,2727,3432,3655,541.5,-8.4,247,4909,0.62,0.10,154.95,0.730,10246,0.096,0.078,2448,2637,2758,2787,2729,0,0,0,0,0,0,26.72,25.39,24.85
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4912,begin climb
$GC,4914,0.71,194.6,2448,2637,2781,2718,546.8,0.0,254,5095,0.70,1.90,167.52,0.737,11012,0.025,0.040,2766,3843,1955,2048,1862,0,0,0,0,0,0,25.60,25.29,24.72
$GC,5332,0.32,194.6,2765,3843,2026,1854,454.5,31.0,273,5339,0.55,1.70,0.00,0.000,5126,0.180,0.021,2604,2635,1940,2026,1854,0,0,0,0,0,0,26.08,26.32,28.83
$GC,5655,0.28,194.6,2603,2630,2026,1847,412.0,11.3,289,5662,0.00,1.80,0.00,0.000,260,0.000,0.046,2598,3840,1936,2026,1847,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5760,0.22,194.6,2597,3840,2025,1846,400.9,12.3,293,5768,0.12,1.65,0.00,0.000,5126,0.161,0.021,2572,2614,1935,2025,1846,0,0,0,0,0,0,26.44,26.65,28.83
$GC,6064,0.28,240.9,2571,2615,2024,1844,372.1,8.4,309,6116,0.00,2.58,41.67,0.639,8708,0.000,0.031,2583,1254,1770,1878,1662,0,0,0,0,0,0,28.83,26.10,25.55
$GC,6129,0.34,285.8,2583,1253,1873,1654,368.3,8.5,311,6177,0.00,2.75,38.42,0.657,9222,0.000,0.031,2583,2716,1592,1711,1474,0,0,0,0,0,0,28.83,26.15,25.25
$GC,6487,0.42,301.6,2583,2715,1701,1448,333.9,9.5,329,6511,0.12,2.75,13.05,0.636,10756,0.076,0.029,2703,1254,1521,1644,1399,0,0,0,0,0,0,26.47,26.22,25.66
$GC,6571,0.42,301.6,2705,1254,1636,1391,322.7,15.0,332,6579,0.22,2.75,0.00,0.000,5126,0.144,0.031,2637,2730,1517,1643,1391,0,0,0,0,0,0,26.20,26.32,28.83
$GC,6877,0.42,301.6,2637,2730,1636,1387,272.8,14.9,348,6883,0.00,2.70,0.00,0.000,516,0.000,0.029,2650,1258,1511,1636,1387,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6906,0.42,301.6,2650,1258,1636,1385,269.1,14.7,349,6912,0.00,2.70,0.00,0.000,1030,0.000,0.032,2650,2723,1510,1636,1385,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7228,0.42,301.6,2649,2723,1636,1385,221.9,14.1,365,7235,0.00,1.62,0.00,0.000,260,0.000,0.047,2650,3824,1510,1636,1385,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7242,0.42,301.6,2650,3824,1637,1385,221.9,14.1,365,7248,0.00,1.62,0.00,0.000,1030,0.000,0.021,2659,2611,1510,1636,1385,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7557,0.42,301.6,2659,2609,1636,1384,176.8,13.5,381,7563,0.00,1.83,0.00,0.000,260,0.000,0.045,2659,3828,1510,1636,1384,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7644,0.42,301.6,2659,3828,1636,1384,163.4,15.5,385,7651,0.12,1.62,0.00,0.000,5126,0.151,0.020,2632,2627,1510,1636,1384,0,0,0,0,0,0,26.60,26.77,28.83
$GC,7973,0.50,314.0,2632,2624,1636,1385,129.0,9.6,401,7984,0.00,1.83,4.07,0.156,8452,0.000,0.046,2631,3820,1492,1606,1378,0,0,0,0,0,0,28.83,26.71,26.51
$GC,8023,0.60,342.4,1640,3820,1583,1388,124.6,9.0,403,8081,0.15,1.62,47.67,0.378,11270,0.067,0.023,2725,2626,1379,1500,1258,0,0,0,0,0,0,26.77,26.79,25.99
$GC,8394,0.54,342.4,2724,2626,1501,1278,73.6,13.4,421,8405,0.15,2.53,3.33,0.155,12804,0.155,0.028,2686,1258,1370,1488,1252,0,0,0,0,0,0,26.48,26.59,26.35
$GC,8431,0.49,342.4,2685,1258,1489,1270,70.1,13.1,422,8446,0.00,2.70,2.53,0.172,9222,0.000,0.031,2687,2717,1374,1488,1260,0,0,0,0,0,0,28.83,26.59,26.38
$GC,8741,0.49,342.4,2686,2717,1495,1280,33.9,11.6,444,8754,0.00,2.70,3.15,0.160,8708,0.000,0.028,2700,1253,1373,1486,1260,0,0,0,0,0,0,28.83,26.67,26.46
$GC,8784,0.49,342.4,2700,1253,1489,1275,30.1,10.4,447,8794,0.15,2.70,2.72,0.168,13318,0.130,0.029,2658,2735,1369,1486,1252,0,0,0,0,0,0,26.58,26.67,26.48
$STATE,9101,end climb,SURFACE_DEPTH_REACHED
$STATE,9101,begin surface coast
$FINISH,0.4,1.022295
$STATE,9144,end surface coast,CONTROL_FINISHED_OK
$STATE,9144,begin surface
$SM_CCo,9161,113.32,0.119,0,0,473,561.49
$SM_GC,0.92,6.20,0.28,113.32,0.028,0.041,0.119,135,2566,473,-7.32,0.25,561.49,0,0,0,0,0,0,26.73,26.80,26.37
$IRIDIUM_FIX,1855.54,12432.62,180313,080844
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.40
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,4017376
$24V_AH,24.7,1.421
$10V_AH,10.5,0.937
$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,18.750,102.825,479.100,113.325,0.000,0.000,0.000,638.575,0.000,0.000,15.845,2041.085,5217.674,706.022,1908.399,426.553,0.000,2065.106,0.000,1193.381,0.000,0.546,0.000
$DEVICE_MAMPS,233.325,90.270,736.695,118.575,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9193.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.442,0.000,0.000,0.000
$MEM,329100
$DATA_FILE_SIZE,16829,509
$CAP_FILE_SIZE,275188,0
$CFSIZE,260034560,255057920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,118.9,1
$GPS,180313,105513,1859.343,12434.040,12,1.8,12,-2.3