version: 66.11
glider: 169
mission: 8
dive: 14
start: 3 19 113 9 51 59
data:
$ID,169
$MISSION,8
$DIVE,14
$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,-20870.477
$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,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2560
$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,0.0024999999
$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
$GPS1,190313,094312,1850.490,12440.313,12,1.6,29,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-73.2
$GPS2,190313,095131,1850.517,12440.336,16,1.6,16,-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,197.5,112471,-15.7,-10.000,-18.68,2978
$D_GRID,5518
$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,23,-1.07,-194.6,133,2571,1078,782,0.0,0.0,0,107,0.00,0.00,-81.90,0.000,16386,0.000,0.000,130,2572,3032,2955,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.07,-194.6,130,2572,2955,3111,3.3,-6.9,11,136,7.70,2.05,-9.43,0.000,18692,0.234,0.064,2067,3823,3560,3424,3697,0,0,0,0,0,0,25.97,26.18,26.47
$GC,151,-1.07,-194.6,2067,3823,3425,3697,26.1,-55.1,16,158,0.00,1.85,0.00,0.000,1030,0.000,0.031,2067,2581,3561,3426,3697,0,0,0,0,0,0,28.83,26.22,28.83
$GC,469,-1.07,-194.6,2068,2579,3425,3697,178.6,-44.3,34,475,0.00,1.95,0.00,0.000,260,0.000,0.049,2058,3820,3561,3425,3697,0,0,0,0,0,0,28.83,26.42,28.83
$GC,616,-1.07,-194.6,2058,3820,3426,3697,235.6,-33.5,41,622,0.00,1.83,0.00,0.000,1030,0.000,0.032,2058,2579,3561,3426,3697,0,0,0,0,0,0,28.83,26.53,28.83
$GC,943,-1.07,-194.6,2057,2578,3431,3696,341.8,-32.8,57,949,0.00,2.60,0.00,0.000,516,0.000,0.037,2058,1141,3565,3432,3698,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1183,-1.07,-194.6,2057,1141,3432,3696,405.7,-26.4,68,1190,0.15,2.72,0.00,0.000,3078,0.164,0.041,2087,2622,3563,3431,3695,0,0,0,0,0,0,26.52,26.62,28.83
$GC,1502,-1.07,-194.6,2087,2620,3431,3695,480.7,-21.8,84,1508,0.00,2.70,0.00,0.000,516,0.000,0.036,2087,1145,3563,3431,3695,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1746,-1.07,-194.6,2087,1144,3432,3693,527.3,-18.8,95,1752,0.00,2.67,0.00,0.000,1030,0.000,0.041,2076,2615,3561,3431,3692,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2061,-1.07,-194.6,2076,2614,3431,3688,594.1,-20.6,111,2067,0.00,2.62,0.00,0.000,516,0.000,0.034,2076,1154,3558,3431,3685,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2300,-1.07,-194.6,1280,1153,3421,3682,638.1,-20.3,119,2306,0.00,2.67,0.00,0.000,1030,0.000,0.038,2073,2615,3557,3431,3683,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2617,-1.07,-194.6,2073,2614,3431,3676,708.6,-21.0,130,2623,0.00,2.62,0.00,0.000,516,0.000,0.032,2074,1151,3553,3431,3676,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2857,-1.07,-194.6,2073,1151,3431,3672,752.1,-18.9,137,2864,0.00,2.65,0.00,0.000,1030,0.000,0.038,2062,2614,3550,3431,3670,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3175,-1.07,-194.6,2061,2613,3431,3665,817.4,-19.1,148,3182,0.00,2.62,0.00,0.000,516,0.000,0.034,2061,1153,3548,3432,3664,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3414,-1.07,-194.6,2061,1153,3431,3661,858.6,-18.8,155,3421,0.12,2.67,0.00,0.000,3078,0.158,0.037,2084,2617,3546,3431,3661,0,0,0,0,0,0,26.65,26.74,28.83
$GC,3730,-1.07,-194.6,2084,2616,3431,3655,917.3,-17.3,166,3737,0.00,2.65,0.00,0.000,516,0.000,0.033,2084,1144,3542,3431,3654,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3932,-1.07,-194.6,2084,1144,3431,3651,948.0,-16.3,172,3938,0.00,2.70,0.00,0.000,1030,0.000,0.041,2073,2610,3540,3431,3650,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4160,begin apogee
$GC,4166,-0.19,0.0,2073,2534,3427,3650,991.7,-17.8,180,4411,0.88,0.12,235.62,0.806,10246,0.127,0.083,2366,2580,2762,2796,2729,0,0,0,0,0,0,26.65,24.91,24.32
$STATE,4413,end apogee,CONTROL_FINISHED_OK
$STATE,4413,begin climb
$GC,4416,1.07,194.6,2366,2580,2792,2722,1000.4,0.0,187,4606,1.05,2.08,177.55,0.993,10500,0.022,0.041,2815,3835,1957,2060,1854,0,0,0,0,0,0,25.15,24.77,24.10
$GC,4833,1.07,194.6,2814,3835,2040,1850,878.3,38.7,200,4839,0.20,1.95,0.00,0.000,5126,0.226,0.019,2778,2533,1945,2040,1850,0,0,0,0,0,0,25.74,25.97,28.83
$GC,5158,1.07,194.6,2779,2532,2037,1845,772.0,30.9,211,5164,0.00,2.08,0.00,0.000,260,0.000,0.043,2769,3828,1941,2037,1845,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5365,1.07,194.6,2769,3828,2035,1845,711.1,32.2,217,5371,0.00,1.90,0.00,0.000,1030,0.000,0.020,2778,2523,1940,2035,1845,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5682,1.07,194.6,2779,2521,2032,1843,613.4,28.3,228,5688,0.00,2.08,0.00,0.000,260,0.000,0.041,2769,3834,1938,2033,1843,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5769,1.07,194.6,2769,3834,2032,1842,586.4,30.1,231,5775,0.00,1.90,0.00,0.000,1030,0.000,0.019,2779,2520,1937,2032,1842,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6096,1.07,194.6,2779,2518,2030,1841,497.8,27.1,247,6101,0.00,2.08,0.00,0.000,260,0.000,0.042,2769,3835,1939,2037,1841,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6285,1.07,194.6,2769,3835,2030,1841,443.2,27.9,256,6290,0.00,1.90,0.00,0.000,1030,0.000,0.020,2779,2518,1935,2030,1840,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6612,1.07,194.6,2779,2516,2029,1840,358.5,24.2,272,6618,0.00,2.05,0.00,0.000,260,0.000,0.040,2770,3832,1933,2028,1839,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6857,1.07,194.6,2769,3832,2028,1839,295.9,25.2,283,6862,0.00,1.90,0.00,0.000,1030,0.000,0.019,2779,2519,1933,2027,1839,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7172,1.07,194.6,2779,2517,2027,1838,221.5,23.2,299,7178,0.00,2.05,0.00,0.000,260,0.000,0.040,2770,3842,1932,2027,1838,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7412,1.07,194.6,2769,3841,2027,1838,173.7,20.3,310,7418,0.00,1.88,0.00,0.000,1030,0.000,0.018,2779,2520,1932,2027,1838,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7727,1.07,194.6,2780,2519,2026,1838,125.7,13.6,326,7733,0.00,2.05,0.00,0.000,260,0.000,0.038,2770,3845,1932,2027,1838,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7968,1.07,194.6,2770,3845,2027,1834,94.7,13.4,337,7974,0.00,1.90,0.00,0.000,1030,0.000,0.018,2780,2514,1932,2026,1838,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8284,1.07,194.6,2781,2513,2027,1839,52.6,13.1,353,8289,0.00,2.10,0.00,0.000,260,0.000,0.037,2770,3847,1933,2027,1839,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8528,1.07,194.6,1744,3847,1984,1832,17.5,13.6,380,8536,0.00,1.90,0.00,0.000,1030,0.000,0.017,2780,2516,1933,2026,1840,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,8644,end climb,SURFACE_DEPTH_REACHED
$STATE,8644,begin surface coast
$FINISH,-0.2,1.022429
$STATE,8668,end surface coast,CONTROL_FINISHED_OK
$STATE,8668,begin surface
$SM_CCo,8685,142.68,0.500,1,0,927,450.13
$SM_GC,0.58,6.60,0.28,142.68,0.033,0.059,0.500,126,2630,927,-7.12,-0.42,450.13,0,0,0,0,1,0,26.76,26.77,25.13
$IRIDIUM_FIX,1844.15,12441.42,190313,070755
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.71
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,4013728
$24V_AH,24.1,2.421
$10V_AH,10.3,1.550
$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,16.700,72.075,413.175,142.675,0.000,0.000,0.000,290.000,0.000,0.000,17.319,2209.983,4287.671,625.494,1813.150,384.041,0.000,1704.399,0.000,1436.654,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,82.620,992.970,500.310,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8709.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.232,0.000,0.000,0.000
$MEM,329168
$DATA_FILE_SIZE,13474,405
$CAP_FILE_SIZE,262617,0
$CFSIZE,260034560,254058496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.058,207.8,1
$GPS,190313,122029,1849.689,12441.328,38,1.0,43,-2.2