version: 66.11
glider: 169
mission: 8
dive: 20
start: 3 20 113 3 7 13
data:
$ID,169
$MISSION,8
$DIVE,20
$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,-20878.209
$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,0.059999999
$PITCH_ADJ_DBAND,1
$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
$GPS1,200313,025706,1842.897,12443.517,42,1.6,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-71.8
$GPS2,200313,030645,1842.915,12443.551,14,2.2,33,-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,189.2,99151,-14.7,-8.462,-18.04,2986
$D_GRID,5433
$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,-165.5,122,2429,1271,997,0.0,0.0,0,100,0.00,0.00,-75.53,0.000,16386,0.000,0.000,122,2429,3055,2974,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.96,-165.5,122,2429,2975,3137,3.1,-5.8,10,129,7.75,2.53,-7.10,0.000,18948,0.231,0.052,2111,940,3443,3329,3558,0,0,0,0,0,0,26.08,26.27,26.55
$GC,236,0.14,-165.5,2111,941,3330,3560,57.8,-37.9,23,243,1.23,2.47,0.00,0.000,3078,0.160,0.043,2470,2415,3444,3329,3560,0,0,0,0,0,0,26.22,26.36,28.83
$GC,554,-1.23,-165.5,2470,2414,3333,3559,91.9,-9.6,39,561,1.05,2.40,0.00,0.000,4612,0.023,0.028,1995,936,3445,3332,3559,0,0,0,0,0,0,26.60,26.53,28.83
$GC,801,0.25,-165.5,1995,934,3332,3560,188.1,-44.3,50,808,1.75,2.47,0.00,0.000,3078,0.179,0.041,2498,2421,3446,3333,3560,0,0,0,0,0,0,26.43,26.57,28.83
$GC,1120,-0.95,-165.5,2498,2420,3335,3559,219.0,-7.4,66,1127,0.95,2.40,0.00,0.000,4612,0.058,0.028,2122,928,3446,3334,3559,0,0,0,0,0,0,26.65,26.66,28.83
$GC,1320,-0.38,-165.5,2122,928,3334,3560,254.8,-21.3,75,1327,0.60,2.42,0.00,0.000,3078,0.142,0.037,2305,2415,3447,3334,3560,0,0,0,0,0,0,26.57,26.67,28.83
$GC,1644,-0.80,-165.5,2305,2414,3335,3559,281.7,-6.9,91,1651,0.32,2.28,0.00,0.000,4356,0.042,0.045,2133,3830,3449,3335,3564,0,0,0,0,0,0,26.74,26.70,28.83
$GC,1776,-0.20,-165.5,2133,3830,3335,3559,306.7,-21.3,97,1783,0.70,2.28,0.00,0.000,3078,0.132,0.031,2360,2379,3447,3335,3559,0,0,0,0,0,0,26.62,26.74,28.83
$GC,2099,-1.34,-165.5,2360,2377,3335,3559,330.6,-8.6,113,2106,0.93,2.38,0.00,0.000,4356,0.056,0.040,1990,3834,3449,3340,3559,0,0,0,0,0,0,26.74,26.74,28.83
$GC,2136,-2.01,-165.5,1990,3834,3334,3557,334.1,-9.8,114,2143,0.55,2.30,0.00,0.000,5126,0.056,0.034,1773,2383,3445,3334,3557,0,0,0,0,0,0,26.74,26.76,28.83
$GC,2455,-0.00,-165.5,1772,2381,3335,3555,479.1,-44.3,130,2461,2.25,2.40,0.00,0.000,2564,0.201,0.041,2425,946,3445,3335,3555,0,0,0,0,0,0,26.58,26.73,28.83
$GC,2599,-1.67,-165.5,2424,945,3335,3554,493.8,-7.5,136,2609,1.35,2.35,0.00,0.000,5126,0.034,0.029,1858,2424,3445,3336,3555,0,0,0,0,0,0,26.78,26.76,28.83
$GC,2906,-0.03,-165.5,1858,2423,3334,3554,591.8,-33.8,152,2913,1.83,2.35,0.00,0.000,2308,0.184,0.054,2403,3835,3444,3335,3554,0,0,0,0,0,0,26.59,26.73,28.83
$GC,3039,-1.70,-165.5,2402,3835,3335,3552,602.3,-6.2,158,3045,1.38,2.25,0.00,0.000,5126,0.050,0.021,1866,2370,3443,3335,3552,0,0,0,0,0,0,26.76,26.81,28.83
$GC,3371,-0.11,-165.5,1861,2370,3334,3545,707.9,-35.1,169,3378,1.70,2.50,0.00,0.000,2308,0.181,0.054,2374,3829,3440,3335,3545,0,0,0,0,0,0,26.60,26.72,28.83
$GC,3510,-0.96,-165.5,2373,3829,3335,3543,719.5,-8.2,173,3517,0.73,2.25,0.00,0.000,5126,0.090,0.020,2122,2365,3439,3335,3543,0,0,0,0,0,0,26.71,26.82,28.83
$GC,3836,-0.63,-165.5,2122,2364,3334,3538,764.2,-14.6,184,3843,0.30,2.28,0.00,0.000,2564,0.132,0.036,2224,946,3434,3334,3535,0,0,0,0,0,0,26.67,26.74,28.83
$GC,3947,-0.63,-165.5,2224,947,3334,3534,773.1,-10.3,187,3954,0.00,2.38,0.00,0.000,1030,0.000,0.033,2220,2417,3433,3334,3533,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4270,-0.83,-165.5,2218,2415,3334,3526,799.1,-7.6,198,4277,0.12,2.33,0.00,0.000,4356,0.076,0.052,2125,3836,3427,3329,3526,0,0,0,0,0,0,26.82,26.74,28.83
$GC,4432,-0.51,-165.5,2125,3836,3334,3523,820.8,-14.1,203,4439,0.43,2.33,0.00,0.000,3078,0.122,0.031,2264,2379,3428,3334,3523,0,0,0,0,0,0,26.67,26.77,28.83
$GC,4769,-0.99,-165.5,2264,2378,3334,3516,839.4,-4.8,214,4776,0.38,2.42,0.00,0.000,4356,0.035,0.050,2046,3834,3425,3334,3516,0,0,0,0,0,0,26.84,26.74,28.83
$GC,4869,-0.71,-165.5,2046,3837,3330,3516,856.1,-14.5,217,4876,0.47,2.33,0.00,0.000,3078,0.144,0.032,2193,2374,3424,3330,3519,0,0,0,0,0,0,26.65,26.77,28.83
$GC,5205,-0.71,-165.5,2193,2373,3330,3512,891.5,-10.1,228,5211,0.00,2.42,0.00,0.000,260,0.000,0.052,2182,3823,3420,3330,3511,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5276,-0.71,-165.5,2182,3823,3329,3511,898.7,-10.7,230,5281,0.00,2.30,0.00,0.000,1030,0.000,0.029,2182,2381,3419,3328,3511,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5606,-0.71,-165.5,2182,2379,3327,3508,933.3,-10.1,241,5612,0.00,2.42,0.00,0.000,260,0.000,0.054,2172,3830,3417,3327,3508,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5646,-0.71,-165.5,2172,3831,3326,3508,937.4,-10.5,242,5652,0.00,2.30,0.00,0.000,1030,0.000,0.029,2172,2377,3417,3326,3508,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5977,-0.71,-165.5,2171,2377,3324,3504,971.5,-10.2,253,5982,0.00,2.45,0.00,0.000,260,0.000,0.056,2168,3834,3414,3325,3503,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6062,-0.71,-165.5,2167,3834,3324,3503,978.9,-10.9,255,6068,0.12,2.33,0.00,0.000,3078,0.132,0.029,2206,2370,3413,3324,3503,0,0,0,0,0,0,26.69,26.80,28.83
$STATE,6167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6167,begin apogee
$GC,6174,-0.19,0.0,2202,2773,3323,3502,990.3,-9.1,259,6324,0.45,0.05,142.57,1.030,10246,0.098,0.045,2367,2700,2755,2783,2728,0,0,0,0,0,0,26.69,24.86,24.27
$STATE,6326,end apogee,CONTROL_FINISHED_OK
$STATE,6328,begin climb
$GC,6331,0.96,165.5,2367,2701,2780,2721,996.6,0.0,263,6495,0.95,1.83,153.82,1.009,10500,0.021,0.040,2783,3826,2080,2194,1967,0,0,0,0,0,0,25.18,24.77,24.11
$GC,6561,-0.62,165.5,2783,3826,2175,1956,957.5,26.2,270,6567,2.03,1.60,0.00,0.000,5126,0.192,0.018,2240,2665,2065,2174,1956,0,0,0,0,0,0,25.31,25.53,28.83
$GC,6882,0.84,231.3,2240,2665,2169,1942,930.7,6.2,281,6953,1.35,1.85,60.65,0.929,10500,0.118,0.044,2684,3819,1807,1935,1679,0,0,0,0,0,0,26.03,25.18,24.56
$GC,7025,0.22,231.3,2684,3819,1925,1670,903.7,21.1,285,7032,0.65,1.58,0.00,0.000,5126,0.164,0.018,2508,2662,1797,1925,1669,0,0,0,0,0,0,25.49,25.72,28.83
$GC,7353,0.35,231.3,2508,2661,1925,1660,869.0,8.8,296,7359,0.10,2.53,0.00,0.000,2564,0.089,0.026,2610,1305,1792,1925,1660,0,0,0,0,0,0,26.22,26.17,28.83
$GC,7464,0.25,231.3,2609,1305,1923,1659,856.7,11.6,299,7472,0.30,2.78,0.00,0.000,5126,0.134,0.031,2511,2784,1791,1923,1659,0,0,0,0,0,0,26.13,26.23,28.83
$GC,7787,0.42,254.0,2511,2783,1922,1657,827.1,7.7,310,7820,0.12,2.83,21.17,0.874,10756,0.074,0.027,2623,1313,1713,1849,1577,0,0,0,0,0,0,26.45,26.03,25.41
$GC,7920,0.20,254.0,2623,1313,1843,1565,808.4,14.1,314,7927,0.40,2.78,0.00,0.000,5126,0.128,0.031,2493,2775,1704,1843,1565,0,0,0,0,0,0,26.04,26.14,28.83
$GC,8258,0.59,302.0,2496,2771,1842,1562,784.0,6.8,325,8314,0.30,2.83,47.00,0.829,10756,0.038,0.024,2694,1302,1523,1667,1379,0,0,0,0,0,0,26.43,25.60,25.01
$GC,8419,0.14,302.0,2694,1302,1656,1358,755.9,21.4,329,8428,0.68,2.83,0.00,0.000,5126,0.142,0.031,2481,2782,1506,1656,1357,0,0,0,0,0,0,25.79,25.90,28.83
$GC,8724,1.36,302.0,2481,2781,1656,1352,723.9,9.9,340,8731,1.00,2.75,0.00,0.000,2564,0.047,0.024,2884,1298,1504,1656,1352,0,0,0,0,0,0,26.23,26.24,28.83
$GC,8769,1.89,302.0,2884,1298,1656,1352,716.7,12.4,341,8776,0.45,2.78,0.00,0.000,3078,0.052,0.031,3053,2773,1504,1657,1352,0,0,0,0,0,0,26.27,26.26,28.83
$GC,9096,-0.27,302.0,3053,2772,1654,1353,531.6,56.9,354,9103,2.60,1.55,0.00,0.000,4356,0.223,0.041,2341,3834,1503,1654,1352,0,0,0,0,0,0,26.20,26.39,28.83
$GC,9233,1.35,302.0,2340,3835,1653,1351,513.8,8.7,360,9240,1.50,1.58,0.00,0.000,3078,0.103,0.034,2859,2709,1500,1653,1348,0,0,0,0,0,0,26.35,26.46,28.83
$GC,9551,-0.12,302.0,2859,2709,1653,1351,394.2,41.2,376,9558,1.52,2.65,0.00,0.000,4612,0.190,0.026,2418,1302,1502,1653,1351,0,0,0,0,0,0,26.32,26.49,28.83
$GC,9669,1.40,370.3,2412,1303,1653,1347,381.9,6.1,381,9739,1.35,2.78,62.10,0.649,11270,0.103,0.034,2879,2779,1253,1402,1104,0,0,0,0,0,0,26.43,26.50,25.25
$GC,10054,-0.13,370.3,2879,2778,1379,1063,218.0,44.3,400,10061,1.65,1.58,0.00,0.000,4356,0.194,0.044,2390,3844,1221,1379,1063,0,0,0,0,0,0,26.01,26.18,28.83
$GC,10178,1.09,401.9,2390,3844,1379,1060,204.4,7.4,405,10216,1.12,1.60,27.58,0.571,11270,0.100,0.035,2777,2705,1118,1281,956,0,0,0,0,0,0,26.20,26.30,25.53
$GC,10536,0.29,401.9,2777,2705,1266,933,113.2,25.2,423,10543,0.77,2.60,0.00,0.000,4612,0.148,0.024,2545,1304,1099,1266,933,0,0,0,0,0,0,26.15,26.28,28.83
$GC,10675,1.52,451.6,2545,1304,1266,930,104.1,6.8,429,10737,1.02,2.78,48.00,0.326,11270,0.067,0.033,2925,2774,927,1087,767,0,0,0,0,0,0,26.32,26.34,25.76
$STATE,10945,end climb,SURFACE_DEPTH_REACHED
$STATE,10945,begin surface coast
$FINISH,-0.5,1.022362
$STATE,10954,end surface coast,CONTROL_FINISHED_OK
$STATE,10954,begin surface
$SM_CCo,11033,0.00,0.000,0,0,940,447.43
$SM_GC,0.34,7.10,0.85,0.00,0.033,0.026,0.000,141,2355,940,-7.10,0.14,447.43,0,0,0,0,0,0,26.26,26.34,28.83
$IRIDIUM_FIX,1837.32,12442.00,190313,232344
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.27
$INTERNAL_PRESSURE,9.33009
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,4011040
$24V_AH,24.1,3.136
$10V_AH,10.4,1.965
$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,54.300,114.225,562.900,0.000,0.000,0.000,0.000,339.350,0.000,0.000,34.828,2358.351,6191.541,646.813,1939.203,457.895,0.000,1856.667,0.000,1474.739,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,96.390,1030.455,0.000,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11008.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.414,0.000,0.000,0.000
$MEM,329116
$DATA_FILE_SIZE,16780,454
$CAP_FILE_SIZE,304408,0
$CFSIZE,260034560,253329408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,127.1,1
$GPS,200313,061206,1841.948,12443.479,28,1.0,29,-2.2