version: 66.11
glider: 169
mission: 8
dive: 19
start: 3 19 113 23 58 5
data:
$ID,169
$MISSION,8
$DIVE,19
$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,-20876.951
$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
$GPS1,190313,234827,1844.811,12443.461,10,3.5,30,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-71.1
$GPS2,190313,235735,1844.860,12443.486,14,1.1,30,-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,187.6,102697,-14.7,-8.462,-18.04,2986
$D_GRID,5411
$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,-165.5,122,2431,1273,998,0.0,0.0,0,100,0.00,0.00,-75.78,0.000,16386,0.000,0.000,122,2431,3076,2993,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.96,-165.5,123,2431,2992,3161,3.3,-6.8,10,129,7.72,2.55,-6.57,0.000,18948,0.230,0.054,2112,952,3442,3325,3560,0,0,0,0,0,0,26.05,26.24,26.52
$GC,171,-0.96,-165.5,2111,952,3327,3560,36.8,-43.7,18,177,0.00,2.42,0.00,0.000,1030,0.000,0.036,2101,2418,3443,3327,3560,0,0,0,0,0,0,28.83,26.29,28.83
$GC,488,-0.96,-165.5,2100,2417,3329,3560,175.8,-39.9,35,494,0.00,2.40,0.00,0.000,516,0.000,0.032,2101,935,3444,3329,3560,0,0,0,0,0,0,28.83,26.48,28.83
$GC,616,-0.96,-165.5,2100,935,3329,3560,215.7,-28.5,41,622,0.12,2.42,0.00,0.000,3078,0.171,0.037,2122,2416,3445,3330,3560,0,0,0,0,0,0,26.41,26.52,28.83
$GC,943,-0.96,-165.5,2121,2414,3333,3560,296.8,-23.7,57,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2414,3446,3333,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1242,-0.96,-165.5,2121,2415,3336,3556,363.1,-20.8,72,1248,0.00,2.40,0.00,0.000,516,0.000,0.034,2122,941,3446,3336,3556,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1336,-0.96,-165.5,2123,940,3336,3555,380.2,-19.0,76,1342,0.00,2.40,0.00,0.000,1030,0.000,0.038,2112,2416,3446,3336,3556,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1658,-0.96,-165.5,2112,2415,3336,3556,445.1,-19.9,92,1665,0.00,2.40,0.00,0.000,516,0.000,0.036,2112,937,3446,3336,3556,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1740,-0.96,-165.5,2112,937,3336,3556,458.4,-19.2,95,1747,0.00,2.40,0.00,0.000,1030,0.000,0.037,2102,2418,3446,3336,3556,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2046,-0.96,-165.5,2102,2416,3336,3554,518.5,-18.3,111,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2416,3445,3336,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,-0.96,-165.5,2102,2416,3336,3551,572.4,-17.7,126,2352,0.00,2.40,0.00,0.000,516,0.000,0.037,2102,948,3443,3336,3550,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2407,-0.96,-165.5,2102,948,3336,3550,580.3,-17.7,128,2415,0.00,2.38,0.00,0.000,1030,0.000,0.034,2091,2418,3442,3336,3549,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2723,-0.96,-165.5,2091,2417,3336,3544,640.0,-18.0,141,2729,0.10,2.40,0.00,0.000,2564,0.173,0.036,2121,950,3439,3336,3543,0,0,0,0,0,0,26.66,26.73,28.83
$GC,2783,-0.96,-165.5,2121,948,3337,3543,645.9,-17.7,142,2791,0.00,2.38,0.00,0.000,1030,0.000,0.033,2113,2417,3439,3336,3542,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3092,-0.96,-165.5,2113,2415,3336,3536,696.5,-15.2,153,3098,0.00,2.38,0.00,0.000,516,0.000,0.036,2113,944,3436,3336,3536,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3116,-0.96,-165.5,2112,944,3336,3536,696.5,-15.2,153,3123,0.00,2.40,0.00,0.000,1030,0.000,0.035,2102,2424,3436,3336,3536,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3434,-0.96,-165.5,2102,2422,3336,3529,750.4,-15.9,164,3441,0.00,2.38,0.00,0.000,516,0.000,0.034,2102,947,3432,3336,3529,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3464,-0.96,-165.5,2101,947,3336,3529,750.4,-15.9,164,3473,0.10,2.38,0.00,0.000,3078,0.168,0.033,2118,2418,3432,3336,3529,0,0,0,0,0,0,26.65,26.75,28.83
$GC,3772,-0.96,-165.5,2118,2416,3336,3523,800.6,-14.6,175,3779,0.00,2.30,0.00,0.000,260,0.000,0.052,2108,3823,3429,3335,3523,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3848,-0.96,-165.5,2108,3823,3334,3523,811.5,-15.3,177,3854,0.00,2.30,0.00,0.000,1030,0.000,0.031,2108,2383,3428,3334,3523,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4173,-0.96,-165.5,2108,2381,3333,3520,861.0,-14.9,188,4180,0.00,2.30,0.00,0.000,516,0.000,0.038,2108,948,3425,3332,3519,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4209,-0.96,-165.5,2108,948,3332,3519,866.5,-15.0,189,4215,0.00,2.38,0.00,0.000,1030,0.000,0.034,2100,2416,3425,3332,3519,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4544,-0.96,-165.5,2100,2414,3329,3516,919.4,-16.1,200,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2414,3422,3329,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.96,-165.5,2100,2414,3327,3512,967.1,-15.8,210,4851,0.00,2.40,0.00,0.000,516,0.000,0.038,2100,947,3419,3327,3512,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4869,-0.96,-165.5,2099,946,3327,3512,967.1,-15.8,210,4876,0.10,2.38,0.00,0.000,3078,0.164,0.034,2117,2417,3419,3327,3512,0,0,0,0,0,0,26.67,26.75,28.83
$STATE,5002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5003,begin apogee
$GC,5010,-0.19,0.0,2114,2771,3326,3510,991.3,-14.7,215,5159,0.73,0.05,141.05,1.032,10246,0.122,0.044,2360,2700,2758,2784,2733,0,0,0,0,0,0,26.65,24.83,24.25
$STATE,5161,end apogee,CONTROL_FINISHED_OK
$STATE,5163,begin climb
$GC,5166,0.96,165.5,2360,2695,2782,2725,997.6,0.0,219,5330,1.00,1.85,153.38,0.999,10500,0.034,0.041,2752,3828,2080,2193,1967,0,0,0,0,0,0,25.12,24.75,24.09
$GC,5410,0.96,165.5,2752,3828,2173,1956,951.7,27.3,227,5416,0.00,1.62,0.00,0.000,1030,0.000,0.019,2760,2654,2064,2172,1956,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5746,0.96,165.5,2760,2653,2166,1952,858.9,27.8,238,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2653,2059,2166,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6046,0.96,165.5,2760,2653,2164,1952,776.5,26.8,248,6052,0.00,1.75,0.00,0.000,260,0.000,0.041,2752,3841,2057,2164,1951,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6126,0.96,165.5,2752,3840,2162,1951,757.8,27.5,250,6132,0.00,1.60,0.00,0.000,1030,0.000,0.019,2760,2664,2056,2162,1951,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6447,0.96,165.5,2760,2661,2159,1950,671.3,25.0,261,6452,0.00,1.73,0.00,0.000,260,0.000,0.041,2752,3834,2054,2159,1950,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6465,0.96,165.5,2752,3834,2159,1950,671.3,25.0,261,6471,0.00,1.55,0.00,0.000,1030,0.000,0.020,2760,2660,2057,2159,1956,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6785,0.96,165.5,2760,2656,2157,1950,584.3,25.8,273,6792,0.00,1.73,0.00,0.000,260,0.000,0.043,2753,3837,2056,2157,1956,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6867,0.96,165.5,2752,3837,2157,1950,565.6,27.2,276,6875,0.00,1.60,0.00,0.000,1030,0.000,0.019,2761,2649,2053,2157,1950,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7173,0.96,165.5,2761,2648,2156,1949,486.1,24.5,292,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2648,2052,2156,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7473,0.96,165.5,2761,2648,2154,1948,418.0,21.5,307,7479,0.00,1.73,0.00,0.000,260,0.000,0.042,2755,3830,2051,2154,1948,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7580,0.96,165.5,2754,3830,2154,1948,393.8,23.2,312,7586,0.00,1.55,0.00,0.000,1030,0.000,0.019,2763,2649,2051,2154,1948,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7907,0.96,165.5,2763,2646,2152,1948,323.8,22.1,328,7913,0.00,1.73,0.00,0.000,260,0.000,0.042,2755,3831,2050,2152,1948,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7926,0.96,165.5,2755,3831,2152,1948,323.8,22.1,328,7934,0.00,1.55,0.00,0.000,1030,0.000,0.019,2763,2650,2050,2152,1948,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8232,0.96,165.5,2763,2649,2150,1948,261.4,17.9,344,8239,0.00,1.75,0.00,0.000,260,0.000,0.041,2755,3864,2049,2151,1948,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8383,0.96,165.5,2756,3864,2151,1948,230.6,21.0,351,8390,0.00,1.58,0.00,0.000,1030,0.000,0.019,2764,2656,2049,2151,1948,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8711,0.96,165.5,2763,2655,2151,1948,178.6,13.2,367,8717,0.00,2.45,0.00,0.000,516,0.000,0.026,2775,1295,2049,2151,1948,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8792,0.96,165.5,2775,1295,2150,1948,169.7,12.8,370,8800,0.00,2.70,0.00,0.000,1030,0.000,0.028,2763,2783,2048,2150,1947,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9099,0.98,172.7,2763,2780,2150,1947,137.9,8.2,386,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2781,2048,2150,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9400,0.99,178.4,2763,2779,2150,1947,114.8,8.3,401,9437,0.00,2.70,25.30,0.155,8708,0.000,0.026,2776,1296,2037,2138,1936,0,0,0,0,1,0,28.83,26.66,26.10
$GC,9514,1.00,182.2,2776,1296,2138,1939,105.5,8.3,406,9532,0.00,2.70,9.20,0.138,9222,0.000,0.028,2767,2781,2031,2130,1932,0,0,0,0,0,0,28.83,26.67,26.46
$GC,9832,1.00,182.2,2767,2780,2135,1941,73.4,10.4,422,9838,0.00,0.00,3.50,0.165,8198,0.000,0.000,2768,2780,2022,2122,1923,0,0,0,0,0,0,28.83,28.83,26.49
$GC,10130,1.00,182.2,2767,2780,2135,1943,41.4,9.7,441,10140,0.00,0.00,3.97,0.171,8198,0.000,0.000,2767,2780,2023,2121,1926,0,0,0,0,0,0,28.83,28.83,26.51
$GC,10450,1.00,182.2,2767,2779,2135,1943,10.1,10.3,486,10460,0.00,1.55,4.05,0.148,8452,0.000,0.040,2767,3849,2024,2120,1929,0,0,0,0,0,0,28.83,26.71,26.59
$STATE,10510,end climb,SURFACE_DEPTH_REACHED
$STATE,10510,begin surface coast
$FINISH,-0.2,1.022431
$STATE,10532,end surface coast,CONTROL_FINISHED_OK
$STATE,10532,begin surface
$SM_CCo,10552,112.93,0.121,0,0,1130,400.08
$SM_GC,0.54,6.53,2.35,112.93,0.030,0.022,0.121,142,2373,1130,-7.10,0.28,400.08,0,0,0,0,0,0,26.68,26.74,26.35
$IRIDIUM_FIX,1837.32,12442.00,190313,202045
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.25
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,4011488
$24V_AH,24.1,2.986
$10V_AH,9.8,1.890
$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,16.400,91.225,340.450,112.925,0.000,0.000,0.000,317.025,0.000,0.000,31.482,2056.036,6547.923,595.330,1595.350,407.216,0.000,1600.040,0.000,1164.250,0.000,0.546,0.000
$DEVICE_MAMPS,229.500,82.620,1031.985,120.870,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10584.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.379,0.000,0.000,0.000
$MEM,329072
$DATA_FILE_SIZE,16766,500
$CAP_FILE_SIZE,264613,0
$CFSIZE,260034560,253485056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.048,198.3,1
$GPS,200313,025706,1842.897,12443.517,42,1.6,42,-2.2