version: 66.11
glider: 169
mission: 8
dive: 7
start: 3 18 113 11 5 2
data:
$ID,169
$MISSION,8
$DIVE,7
$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,-20861.295
$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
$GPS1,180313,105513,1859.343,12434.040,12,1.8,12,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.8
$GPS2,180313,110435,1859.313,12434.052,36,1.3,36,-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,201.4,128378,-15.7,-10.000,-18.68,2978
$D_GRID,5484
$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,-194.6,121,2630,655,304,0.0,0.0,0,128,0.00,0.00,-103.05,0.000,16386,0.000,0.000,121,2630,3230,3121,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-0.71,-194.6,120,2630,3123,3340,4.4,-9.3,14,157,8.45,2.75,-5.40,0.000,18948,0.237,0.049,2262,1142,3561,3424,3699,0,0,0,0,0,0,26.14,26.41,26.70
$GC,238,-0.59,-194.6,2262,1142,3425,3700,50.4,-23.6,25,246,0.20,2.72,0.00,0.000,3078,0.149,0.041,2310,2612,3562,3425,3699,0,0,0,0,0,0,26.37,26.48,28.83
$GC,567,-0.51,-194.6,2310,2611,3425,3699,110.5,-17.7,41,573,0.00,2.62,0.00,0.000,516,0.000,0.031,2311,1136,3562,3425,3699,0,0,0,0,0,0,28.83,26.64,28.83
$GC,617,-0.51,-194.6,2311,1136,3425,3699,117.5,-16.2,43,625,0.00,2.67,0.00,0.000,1030,0.000,0.034,2310,2616,3562,3425,3699,0,0,0,0,0,0,28.83,26.65,28.83
$GC,939,-0.51,-194.6,2310,2614,3425,3699,159.6,-13.2,59,945,0.00,2.65,0.00,0.000,516,0.000,0.031,2310,1137,3562,3425,3699,0,0,0,0,0,0,28.83,26.72,28.83
$GC,964,-0.51,-194.6,2309,1136,3425,3699,162.8,-13.0,60,970,0.00,2.67,0.00,0.000,1030,0.000,0.035,2309,2615,3562,3425,3699,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1292,-0.59,-194.6,2309,2613,3424,3699,191.6,-8.2,76,1298,0.00,2.62,0.00,0.000,516,0.000,0.031,2309,1135,3562,3425,3699,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1329,-0.68,-194.6,2309,1135,3425,3699,194.1,-8.4,77,1335,0.00,2.67,0.00,0.000,1030,0.000,0.035,2309,2618,3562,3425,3699,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1647,-0.80,-194.6,2308,2616,3425,3699,221.0,-8.3,93,1654,0.15,2.62,0.00,0.000,4612,0.067,0.031,2213,1142,3562,3425,3699,0,0,0,0,0,0,26.86,26.78,28.83
$GC,1718,-0.80,-194.6,2213,1142,3425,3699,230.5,-12.5,96,1725,0.12,2.67,0.00,0.000,3078,0.154,0.041,2245,2612,3562,3425,3699,0,0,0,0,0,0,26.68,26.78,28.83
$GC,2041,-0.80,-194.6,2245,2611,3425,3699,271.1,-11.3,112,2047,0.00,2.62,0.00,0.000,516,0.000,0.032,2246,1132,3562,3425,3699,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2066,-0.80,-194.6,2246,1132,3425,3699,274.2,-11.2,113,2072,0.00,2.67,0.00,0.000,1030,0.000,0.035,2245,2619,3562,3425,3699,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2393,-0.80,-194.6,2245,2617,3425,3698,308.9,-10.9,129,2398,0.00,2.65,0.00,0.000,516,0.000,0.031,2245,1130,3561,3425,3697,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2474,-0.80,-194.6,2245,1130,3425,3697,316.6,-11.1,132,2482,0.00,2.65,0.00,0.000,1030,0.000,0.035,2246,2615,3561,3425,3697,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2781,-0.80,-194.6,2245,2614,3425,3694,352.4,-11.0,148,2787,0.00,2.60,0.00,0.000,516,0.000,0.031,2246,1145,3559,3425,3694,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2850,-0.84,-194.6,2245,1143,3425,3692,359.7,-10.6,151,2856,0.00,2.65,0.00,0.000,1030,0.000,0.037,2242,2613,3558,3425,3692,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3177,-0.84,-194.6,2242,2612,3425,3689,393.3,-9.8,167,3184,0.00,2.62,0.00,0.000,516,0.000,0.034,2243,1145,3557,3425,3690,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3228,-0.89,-194.6,2242,1145,3425,3689,398.0,-9.7,169,3234,0.00,2.65,0.00,0.000,1030,0.000,0.039,2240,2613,3557,3425,3689,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3556,-0.94,-194.6,2239,2611,3425,3685,431.3,-9.8,185,3562,0.12,1.83,0.00,0.000,4356,0.079,0.052,2154,3826,3555,3425,3685,0,0,0,0,0,0,26.89,26.79,28.83
$GC,3576,-0.98,-194.6,2155,3826,3425,3685,431.3,-9.8,185,3585,0.10,1.80,0.00,0.000,3078,0.154,0.032,2181,2577,3555,3425,3685,0,0,0,0,0,0,26.72,26.85,28.83
$GC,3884,-0.93,-194.6,2180,2577,3425,3681,472.9,-11.9,201,3890,0.00,2.53,0.00,0.000,516,0.000,0.039,2181,1150,3553,3425,3681,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3954,-0.88,-194.6,1312,1149,3414,3678,480.9,-11.6,204,3961,0.12,2.65,0.00,0.000,3078,0.151,0.040,2219,2611,3552,3425,3680,0,0,0,0,0,0,26.72,26.80,28.83
$GC,4278,-0.88,-194.6,2217,2609,3425,3675,512.6,-9.7,220,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2610,3549,3425,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.88,-194.6,2218,2609,3425,3670,539.9,-8.8,235,4583,0.00,2.65,0.00,0.000,516,0.000,0.037,2218,1148,3547,3425,3669,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,4599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4600,begin apogee
$GC,4609,-0.15,0.0,2211,2723,3425,3669,542.3,-8.8,236,4773,0.65,0.10,156.20,0.737,10246,0.097,0.076,2448,2631,2759,2788,2730,0,0,0,0,0,0,26.72,25.34,24.81
$STATE,4775,end apogee,CONTROL_FINISHED_OK
$STATE,4775,begin climb
$GC,4778,0.71,194.6,2448,2631,2782,2718,548.0,0.0,243,4959,0.70,2.65,168.25,0.738,10756,0.024,0.028,2776,1248,1954,2050,1858,0,0,0,0,0,0,25.56,25.26,24.68
$GC,5019,0.39,194.6,2776,1248,2038,1847,515.9,23.8,253,5028,0.50,2.78,0.00,0.000,5126,0.170,0.030,2628,2722,1942,2038,1846,0,0,0,0,0,0,25.65,25.81,28.83
$GC,5327,0.29,194.6,2628,2721,2034,1842,464.5,15.1,269,5334,0.12,1.62,0.00,0.000,4356,0.164,0.041,2588,3834,1938,2034,1842,0,0,0,0,0,0,26.25,26.35,28.83
$GC,5512,0.24,194.6,2588,3834,2030,1841,441.2,13.5,277,5519,0.00,1.65,0.00,0.000,1030,0.000,0.021,2597,2615,1936,2031,1841,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5818,0.24,194.6,2597,2615,2029,1838,402.5,12.0,293,5824,0.00,1.85,0.00,0.000,260,0.000,0.045,2597,3846,1933,2029,1838,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5846,0.24,194.6,2597,3847,2028,1839,399.2,12.4,294,5853,0.00,1.67,0.00,0.000,1030,0.000,0.021,2607,2624,1933,2029,1838,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6169,0.24,194.6,2606,2623,2026,1837,363.4,10.3,310,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2623,1932,2027,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6468,0.24,194.6,2606,2623,2026,1836,331.5,11.1,325,6474,0.00,2.50,0.00,0.000,516,0.000,0.030,2619,1245,1931,2026,1836,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6494,0.24,194.6,2618,1247,2027,1836,328.5,11.2,326,6500,0.15,2.72,0.00,0.000,5126,0.137,0.032,2574,2731,1930,2024,1836,0,0,0,0,0,0,26.60,26.70,28.83
$GC,6822,0.27,216.3,2573,2730,2025,1835,296.7,9.3,342,6846,0.00,2.78,17.17,0.610,8708,0.000,0.029,2586,1249,1871,1970,1772,0,0,0,0,0,0,28.83,26.50,25.96
$GC,6926,0.39,261.2,2586,1252,1964,1758,289.0,8.5,346,6975,0.12,2.70,39.58,0.612,11270,0.076,0.032,2690,2718,1694,1803,1585,0,0,0,0,0,0,26.58,26.55,25.56
$GC,7285,0.26,261.2,2691,2718,1788,1557,227.5,16.8,364,7291,0.30,1.60,0.00,0.000,4356,0.141,0.041,2589,3836,1672,1788,1557,0,0,0,0,0,0,26.34,26.46,28.83
$GC,7360,0.26,261.2,2589,3836,1787,1557,220.4,12.1,367,7365,0.00,1.65,0.00,0.000,1030,0.000,0.022,2598,2621,1671,1787,1556,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7677,0.41,320.9,2598,2618,1786,1554,195.7,7.9,383,7735,0.10,2.53,48.15,0.539,10756,0.090,0.028,2702,1257,1442,1568,1317,0,0,0,0,0,0,26.70,26.10,25.64
$GC,7822,0.41,320.9,2702,1256,1557,1299,175.4,16.0,389,7829,0.22,2.72,0.00,0.000,5126,0.123,0.033,2630,2719,1429,1559,1299,0,0,0,0,0,0,26.19,26.28,28.83
$GC,8142,0.53,356.9,2630,2718,1559,1296,141.2,8.8,405,8182,0.12,2.78,28.90,0.498,10756,0.076,0.028,2742,1248,1293,1432,1154,0,0,0,0,0,0,26.60,26.24,25.79
$GC,8208,0.53,356.9,2742,1247,1427,1144,131.4,13.1,408,8214,0.22,2.78,0.00,0.000,5126,0.132,0.031,2671,2732,1285,1427,1143,0,0,0,0,0,0,26.19,26.29,28.83
$GC,8537,0.53,356.9,2670,2731,1427,1140,95.4,10.5,424,8543,0.00,2.72,0.00,0.000,516,0.000,0.028,2684,1253,1283,1427,1140,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8586,0.57,356.9,2684,1252,1427,1137,90.6,10.1,426,8592,0.00,2.72,0.00,0.000,1030,0.000,0.031,2684,2733,1282,1427,1137,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8913,0.57,356.9,2684,2732,1427,1138,54.3,11.0,442,8919,0.00,2.72,0.00,0.000,516,0.000,0.028,2698,1241,1282,1427,1138,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8970,0.57,356.9,2698,1241,1427,1137,48.2,10.3,445,8977,0.00,2.72,0.00,0.000,1030,0.000,0.031,2698,2724,1282,1427,1137,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9286,0.57,356.9,1664,2722,1405,1137,12.0,12.6,485,9294,0.00,2.70,0.00,0.000,516,0.000,0.030,2712,1253,1283,1427,1139,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9361,0.57,356.9,1664,1251,1406,1136,3.3,12.1,498,9370,0.00,2.70,0.00,0.000,1030,0.000,0.032,2712,2729,1283,1427,1139,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9376,end climb,SURFACE_DEPTH_REACHED
$STATE,9376,begin surface coast
$FINISH,0.2,1.006545
$STATE,9405,end surface coast,CONTROL_FINISHED_OK
$STATE,9405,begin surface
$SM_CCo,9422,101.88,0.119,0,0,474,561.49
$SM_GC,0.91,6.38,0.28,101.88,0.030,0.043,0.119,133,2566,474,-7.32,0.28,561.49,0,0,0,0,0,0,26.74,26.78,26.39
$IRIDIUM_FIX,1850.98,12432.62,180313,080847
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.52
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,4016928
$24V_AH,24.7,1.524
$10V_AH,10.0,1.009
$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,18.875,115.975,458.250,101.875,0.000,0.000,0.000,318.150,0.000,0.000,37.117,2015.474,5339.966,698.094,1600.407,415.826,0.000,1728.228,0.000,1169.601,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,79.560,738.225,119.340,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9457.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.319,0.000,0.000,0.000
$MEM,329140
$DATA_FILE_SIZE,16806,505
$CAP_FILE_SIZE,269200,0
$CFSIZE,260034560,254943232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,174.1,1
$GPS,180313,134451,1857.693,12433.748,11,3.7,30,-2.3