version: 66.11
glider: 169
mission: 8
dive: 10
start: 3 18 113 23 17 3
data:
$ID,169
$MISSION,8
$DIVE,10
$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,330
$T_MISSION,360
$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,450
$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,-20865.168
$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,2475
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2600
$C_ROLL_CLIMB,2550
$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,0.0034
$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
$GPS1,180313,230524,1854.192,12435.944,44,1.3,44,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-71.3
$GPS2,180313,231636,1854.223,12435.964,35,1.2,35,-2.2
$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,198.0,118953,-15.7,-10.000,-18.68,2978
$D_GRID,5552
$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,-1.11,-194.6,122,2625,1071,802,0.0,0.0,0,107,0.00,0.00,-82.03,0.000,16386,0.000,0.000,122,2625,3031,2952,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.11,-194.6,121,2626,2953,3111,3.2,-5.9,11,136,7.82,2.85,-9.62,0.000,18948,0.232,0.053,2112,1154,3561,3426,3696,0,0,0,0,0,0,25.93,26.14,26.44
$GC,217,-1.11,-194.6,2112,1155,3429,3696,52.9,-39.4,22,222,0.00,2.75,0.00,0.000,1030,0.000,0.041,2099,2619,3562,3429,3696,0,0,0,0,0,0,28.83,26.23,28.83
$GC,543,-1.11,-194.6,2099,2617,3429,3696,189.0,-34.7,38,549,0.00,1.80,0.00,0.000,260,0.000,0.052,2090,3823,3563,3430,3696,0,0,0,0,0,0,28.83,26.41,28.83
$GC,685,-1.11,-194.6,2090,3823,3430,3696,230.4,-31.0,44,693,0.00,1.83,0.00,0.000,1030,0.000,0.031,2090,2573,3563,3430,3696,0,0,0,0,0,0,28.83,26.52,28.83
$GC,992,-1.11,-194.6,2090,2572,3432,3696,326.0,-27.8,60,997,0.00,2.58,0.00,0.000,516,0.000,0.037,2090,1153,3564,3433,3696,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1164,-1.11,-194.6,2090,1153,3432,3695,367.1,-23.2,68,1170,0.12,2.70,0.00,0.000,3078,0.175,0.040,2118,2620,3564,3432,3696,0,0,0,0,0,0,26.48,26.59,28.83
$GC,1491,-1.11,-194.6,2117,2621,3432,3695,434.1,-18.7,84,1498,0.00,2.67,0.00,0.000,516,0.000,0.034,2118,1154,3564,3433,3695,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1654,-1.11,-194.6,2118,1155,3436,3695,461.8,-18.1,91,1662,0.00,2.67,0.00,0.000,1030,0.000,0.038,2114,2618,3563,3432,3694,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1961,-1.11,-194.6,2114,2617,3432,3690,524.4,-19.1,107,1967,0.00,2.67,0.00,0.000,516,0.000,0.035,2114,1148,3561,3432,3690,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2159,-1.11,-194.6,2114,1149,3432,3687,558.3,-17.6,116,2165,0.00,2.67,0.00,0.000,1030,0.000,0.042,2109,2617,3559,3432,3686,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2495,-1.11,-194.6,2108,2615,3432,3681,621.8,-18.2,131,2501,0.00,2.65,0.00,0.000,516,0.000,0.034,2109,1153,3556,3432,3681,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2711,-1.11,-194.6,2108,1153,3432,3676,655.1,-17.5,137,2719,0.00,2.65,0.00,0.000,1030,0.000,0.038,2100,2618,3554,3432,3676,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3018,-1.11,-194.6,2100,2617,3432,3670,715.8,-18.1,148,3024,0.00,2.67,0.00,0.000,516,0.000,0.035,2100,1142,3550,3432,3669,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3187,-1.11,-194.6,2099,1141,3432,3667,742.1,-15.9,153,3192,0.00,2.67,0.00,0.000,1030,0.000,0.042,2091,2613,3548,3431,3666,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3512,-1.11,-194.6,2091,2610,3432,3661,799.0,-17.0,164,3518,0.00,2.65,0.00,0.000,516,0.000,0.036,2091,1156,3546,3431,3661,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3658,-1.11,-194.6,2091,1156,3432,3658,820.4,-16.7,168,3665,0.12,2.67,0.00,0.000,3078,0.169,0.041,2120,2614,3544,3431,3658,0,0,0,0,0,0,26.63,26.72,28.83
$GC,3977,-1.11,-194.6,2120,2613,3432,3652,871.3,-15.1,179,3982,0.00,2.65,0.00,0.000,516,0.000,0.034,2124,1154,3541,3431,3651,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4150,-1.11,-194.6,2117,1153,3434,3650,894.9,-14.7,184,4157,0.00,2.65,0.00,0.000,1030,0.000,0.039,2114,2614,3540,3432,3649,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4472,-1.11,-194.6,2113,2612,3428,3647,948.6,-15.8,195,4477,0.00,2.67,0.00,0.000,516,0.000,0.034,2114,1136,3537,3428,3647,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4613,-1.11,-194.6,2114,1136,3428,3645,967.6,-14.9,199,4620,0.00,2.67,0.00,0.000,1030,0.000,0.041,2112,2612,3535,3427,3644,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4751,begin apogee
$GC,4758,-0.14,0.0,2111,2527,3426,3644,992.1,-16.0,204,4947,0.90,0.10,178.68,0.966,10246,0.116,0.096,2421,2567,2755,2792,2719,0,0,0,0,0,0,26.64,24.76,24.15
$STATE,4949,end apogee,CONTROL_FINISHED_OK
$STATE,4949,begin climb
$GC,4952,1.11,194.6,2421,2567,2789,2713,1001.7,0.0,209,5143,1.05,2.83,178.88,1.001,10756,0.022,0.027,2875,1087,1955,2058,1852,0,0,0,0,0,0,25.08,24.76,24.05
$GC,5259,1.11,194.6,2876,1085,2041,1840,932.6,34.8,220,5266,0.12,2.65,0.00,0.000,5126,0.225,0.031,2838,2562,1940,2041,1840,0,0,0,0,0,0,25.46,25.64,28.83
$GC,5580,1.11,194.6,2838,2560,2036,1839,818.6,33.0,231,5586,0.00,1.98,0.00,0.000,260,0.000,0.043,2828,3843,1936,2035,1838,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5802,1.11,194.6,2828,3843,2031,1838,737.3,37.1,238,5808,0.00,1.98,0.00,0.000,1030,0.000,0.019,2838,2518,1934,2031,1838,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6137,1.11,194.6,2839,2516,2029,1837,624.2,33.5,249,6143,0.00,2.10,0.00,0.000,260,0.000,0.044,2829,3836,1933,2030,1837,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6381,1.11,194.6,2828,3836,2027,1837,540.8,34.7,259,6387,0.00,1.92,0.00,0.000,1030,0.000,0.021,2839,2516,1931,2026,1837,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6696,1.11,194.6,2839,2514,2027,1835,443.2,28.1,275,6703,0.00,2.08,0.00,0.000,260,0.000,0.042,2829,3832,1931,2026,1836,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6936,1.11,194.6,2829,3832,2025,1835,368.7,31.1,286,6942,0.00,1.90,0.00,0.000,1030,0.000,0.020,2838,2523,1930,2025,1836,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7251,1.11,194.6,2839,2522,2024,1834,281.1,25.2,302,7257,0.00,2.45,0.00,0.000,516,0.000,0.028,2851,1072,1929,2024,1834,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7465,1.11,194.6,2851,1072,2022,1833,229.7,24.8,312,7472,0.00,2.60,0.00,0.000,1030,0.000,0.031,2849,2564,1927,2022,1833,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7788,1.11,194.6,2849,2563,2022,1832,156.5,19.7,328,7794,0.00,1.90,0.00,0.000,260,0.000,0.042,2839,3850,1927,2022,1832,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8028,1.11,194.6,2839,3851,2022,1832,116.9,14.8,339,8035,0.00,1.95,0.00,0.000,1030,0.000,0.019,2849,2516,1927,2023,1832,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8344,1.11,194.6,2850,2514,2022,1833,64.7,16.1,355,8350,0.00,2.40,0.00,0.000,516,0.000,0.028,2862,1081,1927,2022,1833,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8593,1.11,194.6,2862,1082,2022,1834,27.5,15.9,373,8599,0.00,2.58,0.00,0.000,1030,0.000,0.028,2859,2567,1928,2022,1834,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,8738,end climb,SURFACE_DEPTH_REACHED
$STATE,8738,begin surface coast
$FINISH,-0.2,1.022491
$STATE,8758,end surface coast,CONTROL_FINISHED_OK
$STATE,8758,begin surface
$SM_CCo,8776,136.95,0.503,1,0,928,450.13
$SM_GC,0.65,6.80,0.12,136.95,0.033,0.085,0.503,137,2646,928,-7.24,-0.23,450.13,0,0,0,0,1,0,26.71,26.74,25.10
$IRIDIUM_FIX,1846.42,12428.17,180313,181846
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.58
$INTERNAL_PRESSURE,9.36915
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,4015520
$24V_AH,24.0,1.899
$10V_AH,10.1,1.281
$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,16.950,83.700,357.550,136.950,0.000,0.000,0.000,389.975,0.000,0.000,35.888,2190.305,4452.645,583.151,1931.658,402.901,0.000,1751.346,0.000,1411.571,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,96.390,1001.385,502.605,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8839.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.305,0.000,0.000,0.000
$MEM,329140
$DATA_FILE_SIZE,13478,402
$CAP_FILE_SIZE,261401,0
$CFSIZE,260034560,254517248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.014,129.3,1
$GPS,190313,014625,1853.406,12436.731,10,1.7,11,-2.2