version: 66.11
glider: 169
mission: 8
dive: 15
start: 3 19 113 12 29 29
data:
$ID,169
$MISSION,8
$DIVE,15
$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,-20871.826
$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
$GPS1,190313,122029,1849.689,12441.328,38,1.0,43,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-72.7
$GPS2,190313,122901,1849.748,12441.294,15,1.6,15,-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,183.7,111208,-15.7,-10.000,-18.68,2978
$D_GRID,5427
$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,-1.07,-194.6,122,2578,1076,784,0.0,0.0,0,111,0.00,0.00,-86.03,0.000,16386,0.000,0.000,122,2578,3195,3094,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.07,-194.6,122,2578,3094,3297,4.4,-10.5,12,141,7.65,2.65,-6.03,0.000,18948,0.231,0.054,2085,1157,3562,3424,3701,0,0,0,0,0,0,25.98,26.17,26.46
$GC,186,-1.07,-194.6,2084,1158,3425,3701,42.3,-50.6,19,194,0.00,2.75,0.00,0.000,1030,0.000,0.041,2073,2619,3563,3425,3701,0,0,0,0,0,0,28.83,26.22,28.83
$GC,503,-1.07,-194.6,2072,2617,3425,3701,189.6,-41.6,36,509,0.00,2.70,0.00,0.000,516,0.000,0.034,2072,1134,3562,3425,3700,0,0,0,0,0,0,28.83,26.45,28.83
$GC,742,-1.07,-194.6,2072,1134,3428,3701,259.6,-27.4,47,749,0.00,2.72,0.00,0.000,1030,0.000,0.039,2060,2617,3564,3428,3701,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1059,-1.07,-194.6,2059,2617,3431,3699,361.8,-30.0,63,1065,0.00,2.67,0.00,0.000,516,0.000,0.037,2060,1148,3565,3431,3699,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1303,-1.07,-194.6,2060,1148,3431,3699,419.8,-22.7,74,1310,0.12,2.72,0.00,0.000,3078,0.167,0.042,2081,2620,3565,3431,3699,0,0,0,0,0,0,26.54,26.63,28.83
$GC,1621,-1.07,-194.6,2081,2618,3431,3698,495.5,-22.8,90,1628,0.00,2.67,0.00,0.000,516,0.000,0.037,2081,1144,3564,3431,3698,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1861,-1.07,-194.6,2081,1144,3431,3696,544.3,-20.3,101,1867,0.00,2.72,0.00,0.000,1030,0.000,0.043,2073,2615,3563,3431,3696,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2176,-1.07,-194.6,2074,2613,3431,3690,614.0,-20.5,116,2182,0.00,2.65,0.00,0.000,516,0.000,0.034,2074,1151,3560,3431,3689,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2415,-1.07,-194.6,2074,1151,3431,3685,656.1,-19.0,123,2421,0.00,2.67,0.00,0.000,1030,0.000,0.041,2062,2617,3558,3431,3685,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2732,-1.07,-194.6,2062,2615,3431,3679,726.9,-22.1,134,2739,0.00,2.67,0.00,0.000,516,0.000,0.034,2064,1150,3554,3431,3678,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2971,-1.07,-194.6,2064,1150,3431,3674,772.6,-20.7,141,2978,0.12,2.67,0.00,0.000,3078,0.164,0.042,2087,2611,3552,3431,3674,0,0,0,0,0,0,26.64,26.72,28.83
$GC,3287,-1.07,-194.6,2086,2610,3431,3668,839.7,-19.7,152,3293,0.00,2.65,0.00,0.000,516,0.000,0.035,2087,1143,3549,3431,3667,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3479,-1.07,-194.6,2086,1141,3431,3663,876.1,-19.1,158,3485,0.00,2.70,0.00,0.000,1030,0.000,0.041,2075,2615,3547,3431,3663,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3809,-1.07,-194.6,2075,2614,3430,3658,941.8,-19.4,169,3815,0.00,2.65,0.00,0.000,516,0.000,0.036,2078,1148,3544,3431,3658,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4012,-1.07,-194.6,2078,1148,3430,3654,975.5,-17.6,175,4018,0.00,2.70,0.00,0.000,1030,0.000,0.044,2073,2614,3542,3430,3654,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4092,begin apogee
$GC,4098,-0.19,0.0,2073,2533,3430,3652,992.5,-17.8,178,4279,0.85,0.12,170.07,1.001,10246,0.125,0.081,2359,2581,2759,2795,2723,0,0,0,0,0,0,26.64,24.85,24.21
$STATE,4281,end apogee,CONTROL_FINISHED_OK
$STATE,4281,begin climb
$GC,4283,1.07,194.6,2359,2581,2793,2716,1001.5,0.0,183,4470,1.08,2.88,176.02,0.998,10756,0.026,0.026,2828,1097,1959,2064,1854,0,0,0,0,0,0,25.09,24.79,24.11
$GC,4484,1.07,194.6,2828,1096,2054,1848,973.1,23.4,190,4491,0.17,2.75,0.00,0.000,5126,0.209,0.028,2781,2572,1950,2053,1847,0,0,0,0,0,0,24.92,25.10,28.83
$GC,4800,1.07,194.6,2781,2571,2043,1844,864.6,31.2,201,4806,0.00,1.92,0.00,0.000,260,0.000,0.043,2771,3838,1943,2043,1844,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4963,1.07,194.6,2771,3838,2040,1844,812.5,33.7,206,4969,0.00,1.92,0.00,0.000,1030,0.000,0.019,2781,2530,1942,2040,1844,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5294,1.07,194.6,2781,2527,2037,1842,710.4,29.0,217,5300,0.00,2.08,0.00,0.000,260,0.000,0.042,2771,3835,1939,2037,1842,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5431,1.07,194.6,2771,3834,2032,1842,669.4,31.8,221,5437,0.00,1.92,0.00,0.000,1030,0.000,0.020,2781,2526,1939,2036,1842,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5746,1.07,194.6,2781,2523,2035,1840,572.8,28.8,233,5752,0.00,2.05,0.00,0.000,260,0.000,0.041,2772,3829,1937,2034,1840,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5858,1.07,194.6,2772,3830,2033,1840,540.6,30.4,238,5864,0.00,1.88,0.00,0.000,1030,0.000,0.020,2781,2523,1936,2033,1840,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6180,1.07,194.6,2782,2521,2031,1839,453.0,25.7,254,6186,0.00,2.08,0.00,0.000,260,0.000,0.041,2769,3850,1935,2031,1839,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6314,1.07,194.6,2772,3849,2031,1839,414.5,28.8,260,6320,0.00,1.92,0.00,0.000,1030,0.000,0.018,2782,2516,1934,2030,1839,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6636,1.07,194.6,2782,2514,2030,1834,331.2,25.2,276,6643,0.00,2.08,0.00,0.000,260,0.000,0.041,2772,3845,1934,2030,1838,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6774,1.07,194.6,2772,3846,2029,1837,297.8,25.6,282,6779,0.00,1.90,0.00,0.000,1030,0.000,0.018,2782,2521,1933,2029,1838,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7089,1.07,194.6,2782,2519,2029,1837,222.5,23.3,298,7094,0.00,2.05,0.00,0.000,260,0.000,0.040,2773,3840,1931,2029,1834,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7328,1.07,194.6,2771,3840,2028,1837,172.4,21.4,309,7334,0.00,1.90,0.00,0.000,1030,0.000,0.018,2782,2523,1933,2029,1837,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7643,1.07,194.6,2782,2521,2028,1837,122.6,13.8,325,7649,0.00,2.03,0.00,0.000,260,0.000,0.038,2774,3851,1933,2029,1837,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7884,1.07,194.6,2773,3851,2029,1837,90.3,13.5,336,7890,0.00,1.90,0.00,0.000,1030,0.000,0.017,2784,2513,1933,2029,1837,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8201,1.07,194.6,2783,2511,2029,1837,47.3,12.9,353,8207,0.00,2.05,0.00,0.000,260,0.000,0.037,2783,3849,1933,2029,1837,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8447,1.07,194.6,2783,3849,2031,1839,9.6,15.0,385,8456,0.00,1.90,0.00,0.000,1030,0.000,0.018,2793,2516,1934,2029,1839,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,8489,end climb,SURFACE_DEPTH_REACHED
$STATE,8489,begin surface coast
$FINISH,-0.2,1.022455
$STATE,8514,end surface coast,CONTROL_FINISHED_OK
$STATE,8514,begin surface
$SM_CCo,8532,141.30,0.504,1,0,926,450.13
$SM_GC,0.51,6.60,0.28,141.30,0.031,0.054,0.504,134,2630,926,-7.10,-0.34,450.13,0,0,0,0,1,0,26.74,26.77,25.12
$IRIDIUM_FIX,1846.42,12439.55,190313,090937
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.99
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4013280
$24V_AH,24.1,2.548
$10V_AH,10.5,1.615
$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,16.600,80.875,346.100,141.300,0.000,0.000,0.000,307.025,0.000,0.000,16.025,2125.628,4334.527,578.635,1762.775,376.999,0.000,1641.257,0.000,1361.198,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,82.620,1001.385,504.135,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8554.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.060,0.000,0.000,0.000
$MEM,329204
$DATA_FILE_SIZE,13456,396
$CAP_FILE_SIZE,253188,0
$CFSIZE,260034560,253960192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075,204.9,1
$GPS,190313,145505,1848.810,12442.341,14,1.9,24,-2.2