version: 66.11
glider: 169
mission: 8
dive: 18
start: 3 19 113 20 53 29
data:
$ID,169
$MISSION,8
$DIVE,18
$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,390
$T_MISSION,410
$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,170
$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,400
$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,-20875.596
$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,2400
$C_ROLL_CLIMB,2750
$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
$GPS1,190313,204305,1846.531,12443.571,41,0.9,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-71.7
$GPS2,190313,205301,1846.589,12443.629,13,1.2,13,-2.2
$SPEED_LIMITS,0.147,0.260
$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,194.7,105902,-14.7,-8.462,-18.04,2986
$D_GRID,5351
$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,-0.96,-165.5,123,2422,1273,993,0.0,0.0,0,106,0.00,0.00,-81.97,0.000,16386,0.000,0.000,123,2422,3296,3182,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.96,-165.5,123,2422,3183,3411,4.9,-12.5,11,127,7.70,2.55,-2.35,0.000,18948,0.228,0.054,2112,945,3441,3318,3565,0,0,0,0,0,0,26.04,26.25,26.49
$GC,257,-0.96,-165.5,2111,945,3322,3565,71.0,-35.0,24,263,0.00,2.42,0.00,0.000,1030,0.000,0.038,2101,2414,3443,3322,3565,0,0,0,0,0,0,28.83,26.36,28.83
$GC,578,-0.96,-165.5,2100,2412,3324,3564,202.4,-34.9,40,583,0.00,2.40,0.00,0.000,516,0.000,0.036,2100,948,3444,3324,3564,0,0,0,0,0,0,28.83,26.52,28.83
$GC,653,-0.96,-165.5,2100,947,3324,3565,221.9,-29.9,43,661,0.12,2.40,0.00,0.000,3078,0.176,0.034,2118,2418,3444,3324,3564,0,0,0,0,0,0,26.44,26.55,28.83
$GC,971,-0.96,-165.5,2122,2417,3326,3564,301.5,-24.6,59,976,0.00,2.28,0.00,0.000,260,0.000,0.048,2111,3821,3445,3326,3564,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1012,-0.96,-165.5,2111,3821,3326,3564,307.5,-23.7,60,1020,0.00,2.30,0.00,0.000,1030,0.000,0.032,2111,2379,3445,3326,3564,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1316,-0.96,-165.5,2111,2377,3331,3561,378.8,-20.9,76,1323,0.00,2.30,0.00,0.000,516,0.000,0.037,2110,942,3446,3331,3561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1490,-0.96,-165.5,2111,942,3331,3561,409.3,-17.1,84,1496,0.00,2.40,0.00,0.000,1030,0.000,0.039,2102,2415,3446,3331,3561,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1812,-0.96,-165.5,2101,2414,3331,3559,473.5,-20.4,100,1818,0.00,2.40,0.00,0.000,516,0.000,0.038,2102,947,3445,3331,3559,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1869,-0.96,-165.5,2101,946,3331,3558,483.0,-20.2,102,1875,0.00,2.40,0.00,0.000,1030,0.000,0.037,2098,2422,3444,3331,3558,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2184,-0.96,-165.5,2098,2420,3330,3554,546.2,-18.9,118,2190,0.00,2.40,0.00,0.000,516,0.000,0.037,2098,940,3442,3330,3554,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2260,-0.96,-165.5,2098,941,3330,3554,558.9,-19.0,121,2267,0.12,2.40,0.00,0.000,3078,0.158,0.038,2121,2416,3441,3330,3553,0,0,0,0,0,0,26.64,26.72,28.83
$GC,2577,-0.96,-165.5,2121,2414,3330,3547,610.6,-15.3,136,2584,0.00,2.40,0.00,0.000,516,0.000,0.040,2122,939,3439,3331,3547,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2644,-0.96,-165.5,2122,939,3331,3546,621.1,-15.5,138,2651,0.00,2.42,0.00,0.000,1030,0.000,0.041,2113,2416,3437,3330,3545,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2980,-0.96,-165.5,2113,2414,3330,3538,675.2,-16.0,149,2986,0.00,2.30,0.00,0.000,260,0.000,0.052,2102,3817,3434,3330,3538,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3010,-0.96,-165.5,2101,3817,3331,3538,675.2,-16.0,149,3018,0.00,2.30,0.00,0.000,1030,0.000,0.034,2101,2378,3434,3330,3538,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3317,-0.96,-165.5,2101,2377,3330,3532,730.5,-16.1,160,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2376,3431,3330,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3617,-0.96,-165.5,2101,2376,3330,3526,778.6,-16.1,170,3622,0.00,2.30,0.00,0.000,516,0.000,0.041,2101,946,3428,3330,3526,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3665,-0.96,-165.5,2104,946,3330,3525,784.4,-16.0,171,3671,0.00,2.38,0.00,0.000,1030,0.000,0.037,2093,2417,3427,3330,3525,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3986,-0.96,-165.5,2093,2415,3330,3519,837.3,-15.6,182,3992,0.00,2.40,0.00,0.000,516,0.000,0.040,2094,937,3424,3330,3519,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4026,-0.96,-165.5,1252,937,3316,3516,843.7,-15.9,183,4033,0.12,2.40,0.00,0.000,3078,0.163,0.041,2121,2409,3424,3330,3518,0,0,0,0,0,0,26.66,26.74,28.83
$GC,4357,-0.96,-165.5,2120,2408,3327,3515,890.3,-14.0,194,4363,0.00,2.33,0.00,0.000,260,0.000,0.053,2110,3823,3420,3326,3515,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4392,-0.96,-165.5,2109,3824,3326,3515,895.6,-14.2,195,4399,0.00,2.33,0.00,0.000,1030,0.000,0.034,2110,2377,3420,3325,3515,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4728,-0.96,-165.5,2109,2375,3325,3512,947.1,-15.4,206,4735,0.00,2.30,0.00,0.000,516,0.000,0.041,2109,941,3418,3324,3512,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4795,-0.96,-165.5,2109,941,3324,3512,957.4,-15.3,208,4801,0.00,2.40,0.00,0.000,1030,0.000,0.041,2101,2411,3418,3324,3512,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5008,begin apogee
$GC,5015,-0.19,0.0,2097,2779,3322,3509,993.0,-16.4,215,5165,0.80,0.08,140.98,1.034,10246,0.127,0.037,2365,2696,2755,2781,2729,0,0,0,0,0,0,26.64,24.89,24.27
$STATE,5167,end apogee,CONTROL_FINISHED_OK
$STATE,5169,begin climb
$GC,5172,0.96,165.5,2365,2696,2779,2722,999.8,0.0,219,5332,0.95,1.85,152.12,1.003,10500,0.024,0.043,2771,3825,2081,2194,1969,0,0,0,0,0,0,25.18,24.77,24.12
$GC,5417,0.96,165.5,2770,3825,2172,1958,954.7,27.8,228,5424,0.17,1.60,0.00,0.000,5126,0.220,0.018,2740,2674,2065,2172,1958,0,0,0,0,0,0,25.35,25.60,28.83
$GC,5748,0.96,165.5,2740,2672,2167,1953,869.6,25.5,239,5754,0.00,1.73,0.00,0.000,260,0.000,0.044,2732,3835,2060,2167,1953,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5789,0.96,165.5,2732,3835,2165,1953,859.6,26.2,240,5795,0.00,1.58,0.00,0.000,1030,0.000,0.018,2740,2659,2059,2165,1953,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6119,0.96,165.5,2740,2656,2164,1952,775.7,24.9,251,6125,0.00,1.75,0.00,0.000,260,0.000,0.044,2732,3833,2058,2164,1952,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6168,0.96,165.5,2732,3833,2163,1952,766.3,25.4,252,6174,0.00,1.60,0.00,0.000,1030,0.000,0.019,2741,2643,2057,2163,1952,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6491,0.96,165.5,2740,2643,2160,1950,685.0,24.0,263,6496,0.00,1.75,0.00,0.000,260,0.000,0.044,2732,3833,2055,2160,1950,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6557,0.96,165.5,2732,3830,2159,1950,667.5,24.7,265,6563,0.00,1.55,0.00,0.000,1030,0.000,0.020,2741,2654,2054,2159,1950,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6882,0.96,165.5,2740,2652,2158,1950,589.8,23.8,276,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2652,2054,2158,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7182,0.96,165.5,2740,2652,2157,1949,518.8,22.7,291,7188,0.00,1.75,0.00,0.000,260,0.000,0.044,2732,3840,2053,2157,1949,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7216,0.96,165.5,2732,3841,2156,1949,512.8,23.0,292,7222,0.00,1.55,0.00,0.000,1030,0.000,0.019,2741,2643,2053,2157,1949,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7532,0.96,165.5,2741,2642,2156,1955,440.8,21.7,308,7537,0.00,1.75,0.00,0.000,260,0.000,0.042,2732,3845,2051,2154,1949,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7566,0.96,165.5,2732,3845,2155,1949,435.2,21.5,309,7572,0.00,1.55,0.00,0.000,1030,0.000,0.018,2741,2662,2052,2155,1949,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7881,0.96,165.5,2741,2659,2154,1948,370.1,19.6,325,7888,0.00,1.73,0.00,0.000,260,0.000,0.043,2735,3850,2051,2154,1948,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7916,0.96,165.5,2732,3850,2153,1948,365.1,19.0,326,7922,0.00,1.58,0.00,0.000,1030,0.000,0.018,2741,2650,2051,2154,1948,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8231,0.96,165.5,2741,2646,2152,1948,300.7,19.3,342,8237,0.00,2.42,0.00,0.000,516,0.000,0.026,2753,1304,2050,2152,1948,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8256,0.96,165.5,2753,1304,2151,1944,295.9,19.2,343,8262,0.00,2.70,0.00,0.000,1030,0.000,0.031,2741,2777,2048,2150,1947,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8583,0.96,165.5,2741,2775,2151,1947,237.7,17.3,359,8589,0.00,1.50,0.00,0.000,260,0.000,0.044,2733,3855,2049,2151,1947,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8816,0.96,165.5,2733,3855,2150,1947,198.3,17.0,370,8822,0.00,1.55,0.00,0.000,1030,0.000,0.020,2742,2649,2048,2150,1947,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9138,0.96,165.5,2741,2648,2151,1948,159.6,10.6,386,9144,0.00,1.73,0.00,0.000,260,0.000,0.041,2733,3832,2049,2151,1947,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9209,0.96,165.5,1712,3832,2109,1939,151.6,11.5,389,9215,0.00,1.52,0.00,0.000,1030,0.000,0.018,2742,2629,2049,2151,1947,0,0,0,0,0,0,28.83,26.82,28.83
$GC,9531,1.04,197.9,2742,2629,2151,1948,125.7,7.3,405,9578,0.00,2.47,33.95,0.339,8708,0.000,0.025,2754,1303,1970,2067,1873,0,0,0,0,0,0,28.83,26.51,26.15
$GC,9591,1.11,225.7,2754,1303,2071,1876,122.1,7.5,407,9651,0.12,2.70,46.17,0.381,11270,0.092,0.026,2802,2781,1854,1960,1749,0,0,0,0,0,0,26.50,26.51,25.83
$GC,9943,1.11,225.7,2802,2780,1963,1754,63.4,18.0,425,9947,0.00,0.00,2.55,0.170,8198,0.000,0.000,2802,2781,1843,1952,1735,0,0,0,0,0,0,28.83,28.83,26.22
$GC,10247,1.11,225.7,1760,2778,1926,1749,13.6,17.5,457,10255,0.00,0.00,2.50,0.164,8198,0.000,0.000,2802,2779,1845,1951,1740,0,0,0,0,0,0,28.83,28.83,26.39
$STATE,10310,end climb,SURFACE_DEPTH_REACHED
$STATE,10310,begin surface coast
$FINISH,-0.3,1.022496
$STATE,10327,end surface coast,CONTROL_FINISHED_OK
$STATE,10328,begin surface
$SM_CCo,10346,86.93,0.123,0,0,1131,400.08
$SM_GC,0.44,6.68,0.85,86.93,0.031,0.026,0.123,138,2366,1131,-7.09,0.31,400.08,0,0,0,0,0,0,26.53,26.60,26.25
$IRIDIUM_FIX,1839.59,12443.29,190313,171721
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.50
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,4011936
$24V_AH,24.1,2.886
$10V_AH,9.9,1.821
$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,16.800,98.625,378.275,86.925,0.000,0.000,0.000,379.650,0.000,0.000,14.389,2037.102,6302.781,588.943,1635.796,450.250,0.000,1691.108,0.000,1207.810,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,95.625,1033.515,123.165,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10381.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.877,0.000,0.000,0.000
$MEM,329180
$DATA_FILE_SIZE,16747,471
$CAP_FILE_SIZE,263984,0
$CFSIZE,260034560,253599744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,229.8,1
$GPS,190313,234827,1844.811,12443.461,10,3.5,30,-2.2