version: 66.11
glider: 169
mission: 8
dive: 22
start: 3 20 113 9 30 0
data:
$ID,169
$MISSION,8
$DIVE,22
$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,-20880.727
$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
$GPS1,200313,091857,1841.245,12443.582,11,2.1,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-71.7
$GPS2,200313,092930,1841.239,12443.653,42,1.4,42,-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,209.8,96113,-14.7,-8.462,-18.04,2986
$D_GRID,5440
$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,-165.5,123,2429,1062,768,0.0,0.0,0,108,0.00,0.00,-83.38,0.000,16386,0.000,0.000,122,2429,3059,2977,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.96,-165.5,123,2429,2977,3141,3.5,-7.6,11,137,7.88,2.53,-6.88,0.000,18948,0.236,0.050,2114,948,3441,3329,3554,0,0,0,0,0,0,25.96,26.15,26.44
$GC,167,1.07,-165.5,2114,948,3329,3554,30.3,-50.2,17,176,2.28,2.47,0.00,0.000,3078,0.177,0.038,2764,2417,3442,3329,3555,0,0,0,0,0,0,26.03,26.20,28.83
$GC,475,-1.60,-165.5,2764,2416,3333,3554,62.7,-9.4,42,487,2.83,2.45,0.00,0.000,4612,0.182,0.029,1928,948,3443,3333,3554,0,0,0,0,0,0,26.27,26.39,28.83
$GC,598,0.15,-165.5,1928,948,3333,3555,105.3,-47.8,47,609,1.98,2.47,0.00,0.000,3078,0.200,0.041,2470,2413,3443,3333,3554,0,0,0,0,0,0,26.25,26.43,28.83
$GC,905,-0.94,-165.5,2470,2412,3334,3553,149.6,-8.6,63,912,0.88,2.28,0.00,0.000,4356,0.062,0.041,2125,3829,3444,3334,3554,0,0,0,0,0,0,26.53,26.52,28.83
$GC,937,-1.67,-165.5,2124,3829,3334,3554,152.5,-9.3,64,944,0.60,2.30,0.00,0.000,5126,0.036,0.033,1876,2380,3444,3334,3554,0,0,0,0,0,0,26.55,26.55,28.83
$GC,1260,0.19,-165.5,1875,2379,3336,3554,302.8,-45.4,80,1268,2.05,2.42,0.00,0.000,2564,0.189,0.041,2482,950,3445,3336,3554,0,0,0,0,0,0,26.42,26.58,28.83
$GC,1373,-1.47,-165.5,2482,950,3337,3554,314.6,-5.5,85,1380,1.48,2.38,0.00,0.000,5126,0.091,0.026,1954,2429,3445,3337,3554,0,0,0,0,0,0,26.55,26.63,28.83
$GC,1696,-0.10,-165.5,1954,2427,3337,3554,418.3,-32.5,101,1704,1.40,2.28,0.00,0.000,2308,0.164,0.052,2375,3828,3445,3337,3554,0,0,0,0,0,0,26.50,26.62,28.83
$GC,1852,-1.90,-165.5,2375,3828,3339,3554,429.5,-6.2,108,1859,1.60,2.22,0.00,0.000,5126,0.093,0.019,1813,2346,3446,3339,3554,0,0,0,0,0,0,26.60,26.73,28.83
$GC,2175,-0.11,-165.5,1813,2346,3339,3554,546.5,-39.7,124,2183,1.88,2.55,0.00,0.000,2308,0.182,0.054,2373,3828,3446,3339,3554,0,0,0,0,0,0,26.51,26.65,28.83
$GC,2309,-1.50,-165.5,2372,3828,3339,3554,560.0,-7.1,130,2316,1.12,2.25,0.00,0.000,5126,0.051,0.021,1935,2351,3446,3339,3554,0,0,0,0,0,0,26.68,26.74,28.83
$GC,2621,-0.20,-165.5,1934,2352,3338,3550,644.9,-29.8,143,2628,1.35,2.28,0.00,0.000,2564,0.159,0.037,2359,944,3444,3339,3549,0,0,0,0,0,0,26.58,26.70,28.83
$GC,2692,0.06,-165.5,2359,944,3339,3549,651.0,-18.8,145,2699,0.25,2.38,0.00,0.000,3078,0.042,0.029,2521,2430,3444,3339,3549,0,0,0,0,0,0,26.77,26.71,28.83
$GC,3026,-1.46,-165.5,2522,2428,3339,3541,672.6,-6.2,156,3033,1.40,2.42,0.00,0.000,4612,0.037,0.031,1956,925,3440,3339,3541,0,0,0,0,0,0,26.72,26.71,28.83
$GC,3220,-0.35,-165.5,1955,925,3338,3537,716.4,-26.7,162,3227,1.17,2.45,0.00,0.000,3078,0.161,0.041,2308,2421,3437,3338,3537,0,0,0,0,0,0,26.56,26.71,28.83
$GC,3557,-1.50,-165.5,2308,2421,3338,3530,740.1,-7.7,173,3563,0.90,2.28,0.00,0.000,4356,0.049,0.044,1939,3833,3433,3338,3529,0,0,0,0,0,0,26.73,26.70,28.83
$GC,3675,-1.14,-165.5,1938,3832,3336,3529,761.6,-18.7,176,3683,0.43,2.33,0.00,0.000,3078,0.170,0.035,2063,2379,3433,3336,3530,0,0,0,0,0,0,26.58,26.74,28.83
$GC,3994,-0.48,-165.5,2063,2378,3336,3524,829.5,-18.7,187,4002,0.62,2.33,0.00,0.000,2564,0.137,0.039,2271,947,3430,3336,3524,0,0,0,0,0,0,26.61,26.71,28.83
$GC,4070,-0.33,-165.5,2270,947,3336,3523,835.7,-13.6,189,4077,0.17,2.38,0.00,0.000,3078,0.102,0.029,2330,2428,3429,3336,3523,0,0,0,0,0,0,26.70,26.73,28.83
$GC,4397,-1.49,-165.5,2331,2427,3336,3517,862.9,-9.2,200,4404,0.98,2.28,0.00,0.000,4356,0.056,0.048,1940,3824,3426,3335,3517,0,0,0,0,0,0,26.73,26.71,28.83
$GC,4464,-1.66,-165.5,1939,3824,3333,3516,875.9,-14.0,202,4472,0.12,2.33,0.00,0.000,5126,0.098,0.034,1887,2379,3424,3333,3516,0,0,0,0,0,0,26.72,26.72,28.83
$GC,4801,-0.24,-165.5,1887,2376,3328,3516,977.3,-29.9,213,4809,1.48,2.40,0.00,0.000,2564,0.171,0.044,2343,954,3420,3325,3516,0,0,0,0,0,0,26.56,26.70,28.83
$STATE,4990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4990,begin apogee
$GC,4999,-0.19,0.0,2342,2787,3328,3514,991.0,-7.2,219,5147,0.00,0.10,143.60,1.003,8198,0.000,0.073,2342,2696,2764,2788,2741,0,0,0,0,0,0,28.83,24.87,24.23
$STATE,5149,end apogee,CONTROL_FINISHED_OK
$STATE,5149,begin climb
$GC,5152,0.96,165.5,2343,2696,2781,2724,997.9,0.0,223,5316,1.05,1.80,152.88,1.011,10500,0.035,0.040,2750,3836,2079,2190,1968,0,0,0,0,0,0,25.03,24.72,24.06
$GC,5387,-0.46,165.5,2750,3836,2169,1957,958.2,25.9,230,5394,1.70,1.60,0.00,0.000,5126,0.186,0.018,2290,2669,2064,2169,1959,0,0,0,0,0,0,25.29,25.52,28.83
$GC,5704,1.08,210.8,2290,2668,2165,1943,928.9,6.9,241,5750,1.38,0.00,41.53,0.934,10246,0.087,0.000,2774,2666,1903,2013,1793,0,0,0,0,0,0,26.03,28.83,24.75
$GC,6034,-0.22,210.8,2774,2665,1991,1762,834.5,31.5,252,6040,1.40,1.75,0.00,0.000,4356,0.185,0.041,2360,3841,1876,1991,1762,0,0,0,0,0,0,25.89,26.06,28.83
$GC,6076,-1.04,210.8,2356,3842,1991,1758,829.5,27.0,253,6082,0.68,1.60,0.00,0.000,5126,0.028,0.028,2050,2694,1873,1990,1757,0,0,0,0,0,0,26.15,26.15,28.83
$GC,6407,1.17,210.8,2049,2694,1978,1756,794.1,11.4,264,6414,2.00,1.75,0.00,0.000,2820,0.073,0.054,2797,3815,1867,1979,1756,0,0,0,0,0,0,26.24,26.29,28.83
$GC,6427,3.37,210.8,2796,3815,1980,1757,794.1,11.4,264,6434,1.77,1.58,0.00,0.000,3078,0.040,0.019,3527,2658,1868,1979,1757,0,0,0,0,0,0,26.32,26.41,28.83
$GC,6749,0.32,210.8,3526,2658,1978,1760,609.9,59.6,275,6761,4.07,2.55,0.00,0.000,4612,0.265,0.026,2549,1301,1869,1978,1760,0,0,0,0,0,0,26.19,26.42,28.83
$GC,6898,0.32,210.8,2549,1301,1978,1755,583.9,9.3,282,6905,0.00,2.75,0.00,0.000,1030,0.000,0.031,2544,2775,1866,1978,1755,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7227,0.32,210.8,2543,2773,1978,1754,551.4,10.3,298,7233,0.00,2.70,0.00,0.000,516,0.000,0.027,2556,1308,1866,1978,1754,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7334,0.32,210.8,2556,1308,1978,1753,540.3,10.2,303,7340,0.00,2.75,0.00,0.000,1030,0.000,0.031,2556,2785,1866,1978,1754,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7662,0.20,210.8,2556,2783,1978,1754,504.5,10.6,319,7668,0.17,2.72,0.00,0.000,4612,0.138,0.025,2510,1303,1866,1978,1754,0,0,0,0,0,0,26.48,26.57,28.83
$GC,7739,0.42,237.9,2507,1303,1980,1752,499.7,7.5,322,7770,0.15,2.75,24.88,0.762,11270,0.063,0.032,2641,2780,1794,1914,1674,0,0,0,0,0,0,26.63,26.57,25.63
$GC,8080,-0.11,237.9,2641,2779,1894,1648,445.8,16.1,339,8087,0.75,2.72,0.00,0.000,4612,0.138,0.025,2412,1308,1770,1894,1646,0,0,0,0,0,0,26.26,26.37,28.83
$GC,8142,0.04,237.9,2411,1308,1893,1643,443.4,10.2,341,8152,0.00,2.80,0.00,0.000,1030,0.000,0.039,2412,2778,1768,1893,1643,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8449,1.02,237.9,2411,2777,1893,1643,416.2,10.0,357,8456,0.90,1.52,0.00,0.000,2308,0.062,0.050,2756,3834,1768,1894,1643,0,0,0,0,0,0,26.48,26.46,28.83
$GC,8506,1.21,237.9,2756,3834,1894,1643,408.3,13.3,359,8513,0.15,1.52,0.00,0.000,3078,0.083,0.018,2828,2644,1768,1894,1643,0,0,0,0,0,0,26.49,26.58,28.83
$GC,8824,-0.18,237.9,2827,2643,1894,1643,302.7,32.3,375,8832,1.50,1.80,0.00,0.000,4356,0.184,0.039,2374,3847,1768,1893,1643,0,0,0,0,0,0,26.39,26.55,28.83
$GC,8969,1.55,287.2,2373,3849,1892,1642,292.0,6.8,381,9024,1.40,1.60,42.42,0.656,11270,0.055,0.027,2935,2695,1580,1709,1452,0,0,0,0,0,0,26.54,26.63,25.50
$GC,9314,-0.11,287.2,2935,2695,1699,1431,164.9,36.3,399,9322,1.85,1.70,0.00,0.000,4356,0.197,0.039,2390,3838,1564,1699,1430,0,0,0,0,0,0,26.11,26.29,28.83
$GC,9433,1.67,412.1,2390,3839,1700,1426,156.0,4.2,404,9545,1.60,1.58,100.88,0.526,11270,0.083,0.027,2963,2683,1079,1242,917,0,0,0,0,0,0,26.29,26.40,25.06
$STATE,9809,end climb,SURFACE_DEPTH_REACHED
$STATE,9809,begin surface coast
$FINISH,-0.5,1.022378
$STATE,9818,end surface coast,CONTROL_FINISHED_OK
$STATE,9818,begin surface
$SM_CCo,9897,0.00,0.000,0,0,1050,420.44
$SM_GC,0.29,7.28,0.70,0.00,0.035,0.030,0.000,135,2365,1050,-7.11,0.23,420.44,0,0,0,0,0,0,26.09,26.15,28.83
$IRIDIUM_FIX,1835.04,12447.03,200313,060656
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.39
$INTERNAL_PRESSURE,9.33009
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,4010144
$24V_AH,24.1,3.411
$10V_AH,10.2,2.106
$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,64.625,100.150,506.175,0.000,0.000,0.000,0.000,376.725,0.000,0.000,43.773,2083.957,5598.309,624.280,1780.827,423.116,0.000,1759.283,0.000,1270.884,0.000,0.541,0.000
$DEVICE_MAMPS,265.455,74.205,1010.565,0.000,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9876.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.497,0.000,0.000,0.000
$MEM,329092
$DATA_FILE_SIZE,16807,432
$CAP_FILE_SIZE,273659,0
$CFSIZE,260034560,253112320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,130.0,1
$GPS,200313,121606,1840.340,12443.348,37,1.0,38,-2.2