version: 66.11
glider: 169
mission: 8
dive: 23
start: 3 20 113 12 26 10
data:
$ID,169
$MISSION,8
$DIVE,23
$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,-20881.984
$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
$GPS1,200313,121606,1840.340,12443.348,37,1.0,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-72.8
$GPS2,200313,122542,1840.286,12443.356,10,1.3,15,-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,204.7,94289,-14.7,-8.462,-18.04,2986
$D_GRID,5443
$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,-165.5,124,2428,1204,889,0.0,0.0,0,104,0.00,0.00,-79.10,0.000,16386,0.000,0.000,124,2428,3067,2982,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.96,-165.5,124,2428,2979,3153,3.2,-7.0,11,133,7.88,2.58,-6.65,0.000,18948,0.236,0.050,2112,946,3441,3324,3558,0,0,0,0,0,0,25.90,26.12,26.39
$GC,281,0.17,-165.5,2111,946,3327,3559,77.1,-37.2,25,288,1.27,2.47,0.00,0.000,3078,0.164,0.037,2480,2422,3443,3327,3559,0,0,0,0,0,0,26.10,26.26,28.83
$GC,600,-1.12,-165.5,2480,2420,3330,3559,108.3,-8.2,41,607,1.08,2.42,0.00,0.000,4612,0.069,0.028,2081,944,3444,3330,3559,0,0,0,0,0,0,26.40,26.44,28.83
$GC,762,0.07,-165.5,2081,944,3329,3558,154.6,-37.1,48,769,1.23,2.50,0.00,0.000,3078,0.158,0.043,2448,2424,3444,3329,3559,0,0,0,0,0,0,26.33,26.47,28.83
$GC,1080,-1.34,-165.5,2448,2423,3334,3559,189.2,-8.7,64,1087,1.15,2.45,0.00,0.000,4612,0.054,0.033,1989,930,3446,3334,3559,0,0,0,0,0,0,26.57,26.56,28.83
$GC,1137,-1.61,-165.5,1989,930,3333,3558,197.9,-13.1,66,1143,0.20,2.47,0.00,0.000,5126,0.073,0.040,1897,2419,3448,3337,3559,0,0,0,0,0,0,26.57,26.56,28.83
$GC,1455,0.13,-165.5,1895,2417,3337,3557,336.7,-42.3,82,1462,1.90,2.50,0.00,0.000,2564,0.188,0.039,2465,948,3446,3336,3557,0,0,0,0,0,0,26.45,26.60,28.83
$GC,1578,-1.58,-165.5,2465,948,3337,3557,349.9,-5.7,87,1587,1.45,2.38,0.00,0.000,5126,0.063,0.026,1912,2426,3447,3337,3557,0,0,0,0,0,0,26.60,26.65,28.83
$GC,1886,-0.08,-165.5,1912,2424,3337,3557,453.1,-34.5,103,1893,1.55,2.30,0.00,0.000,2308,0.172,0.049,2385,3818,3447,3337,3557,0,0,0,0,0,0,26.50,26.63,28.83
$GC,2031,-1.71,-165.5,2385,3818,3337,3557,464.1,-5.7,109,2041,1.45,2.25,0.00,0.000,5126,0.090,0.022,1877,2347,3447,3337,3557,0,0,0,0,0,0,26.60,26.72,28.83
$GC,2337,-0.15,-165.5,1877,2347,3337,3557,559.0,-34.5,125,2345,1.60,2.55,0.00,0.000,2308,0.176,0.056,2362,3823,3447,3337,3557,0,0,0,0,0,0,26.52,26.65,28.83
$GC,2467,-1.73,-165.5,2362,3823,3337,3556,570.8,-6.2,131,2474,1.33,2.25,0.00,0.000,5126,0.062,0.021,1860,2356,3446,3337,3555,0,0,0,0,0,0,26.67,26.74,28.83
$GC,2804,-0.17,-165.5,1861,2356,3337,3553,677.1,-35.0,144,2812,1.65,2.50,0.00,0.000,2308,0.177,0.050,2362,3830,3445,3337,3553,0,0,0,0,0,0,26.53,26.67,28.83
$GC,2934,-1.06,-165.5,2362,3829,3337,3550,689.0,-8.5,148,2941,0.75,2.25,0.00,0.000,5126,0.059,0.021,2079,2354,3443,3337,3549,0,0,0,0,0,0,26.69,26.75,28.83
$GC,3270,-0.50,-165.5,2078,2355,3337,3543,745.8,-18.1,159,3277,0.55,2.30,0.00,0.000,2564,0.128,0.037,2263,942,3440,3337,3543,0,0,0,0,0,0,26.60,26.70,28.83
$GC,3395,-0.58,-165.5,2263,941,3337,3541,753.9,-10.3,162,3403,0.00,2.40,0.00,0.000,1030,0.000,0.035,2263,2418,3438,3337,3540,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3704,-1.22,-165.5,2262,2417,3337,3534,772.3,-5.1,173,3711,0.55,2.30,0.00,0.000,4356,0.026,0.045,1948,3832,3435,3337,3534,0,0,0,0,0,0,26.81,26.70,28.83
$GC,3843,-0.35,-165.5,1948,3833,3334,3533,802.0,-23.0,177,3849,1.20,2.33,0.00,0.000,3078,0.169,0.033,2312,2377,3434,3335,3533,0,0,0,0,0,0,26.55,26.74,28.83
$GC,4170,-1.49,-165.5,2312,2376,3335,3527,824.8,-6.9,188,4177,0.93,2.42,0.00,0.000,4356,0.055,0.047,1942,3833,3430,3334,3526,0,0,0,0,0,0,26.72,26.70,28.83
$GC,4283,-1.14,-165.5,1200,3832,3318,3523,845.0,-17.3,191,4290,0.40,2.33,0.00,0.000,3078,0.174,0.035,2057,2378,3429,3332,3526,0,0,0,0,0,0,26.57,26.73,28.83
$GC,4604,-0.47,-165.5,2057,2376,3332,3522,909.5,-18.2,202,4611,0.65,2.33,0.00,0.000,2564,0.141,0.039,2273,949,3427,3332,3522,0,0,0,0,0,0,26.60,26.71,28.83
$GC,4675,-0.32,-165.5,2272,949,3332,3521,915.3,-13.3,204,4683,0.17,2.38,0.00,0.000,3078,0.099,0.029,2330,2425,3426,3332,3521,0,0,0,0,0,0,26.70,26.72,28.83
$GC,5008,-1.48,-165.5,2330,2423,3332,3515,942.4,-9.1,215,5014,0.98,2.28,0.00,0.000,4356,0.058,0.046,1943,3830,3421,3332,3511,0,0,0,0,0,0,26.72,26.71,28.83
$GC,5126,-1.16,-165.5,1938,3830,3323,3515,963.1,-18.5,218,5133,0.38,2.33,0.00,0.000,3078,0.174,0.036,2051,2383,3421,3328,3515,0,0,0,0,0,0,26.58,26.74,28.83
$STATE,5232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5232,begin apogee
$GC,5239,-0.19,0.0,2047,2767,3327,3515,991.0,-21.5,222,5404,0.95,0.08,154.68,1.061,10246,0.141,0.091,2359,2694,2755,2781,2729,0,0,0,0,0,0,26.60,24.73,24.10
$STATE,5406,end apogee,CONTROL_FINISHED_OK
$STATE,5406,begin climb
$GC,5409,0.96,165.5,2359,2694,2775,2718,999.3,0.0,227,5575,0.98,1.85,154.80,1.082,10500,0.028,0.040,2758,3827,2078,2190,1967,0,0,0,0,0,0,25.03,24.68,23.97
$GC,5779,-0.50,165.5,2762,3827,2164,1952,913.9,31.5,238,5785,1.77,1.58,0.00,0.000,5126,0.192,0.018,2277,2660,2061,2164,1958,0,0,0,0,0,0,25.64,25.89,28.83
$GC,6100,0.93,222.1,2276,2659,2161,1940,886.7,6.5,249,6169,1.12,1.88,52.47,0.968,10500,0.030,0.041,2763,3831,1840,1960,1721,0,0,0,0,0,0,26.23,25.27,24.61
$GC,6329,-0.47,222.1,2763,3831,1951,1713,820.3,33.5,256,6336,1.73,1.60,0.00,0.000,5126,0.188,0.018,2287,2663,1832,1951,1713,0,0,0,0,0,0,25.70,25.94,28.83
$GC,6666,0.99,268.3,2287,2657,1950,1701,795.5,6.9,267,6714,1.23,0.00,44.83,0.920,10246,0.054,0.000,2762,2657,1666,1801,1531,0,0,0,0,0,0,26.22,28.83,24.82
$GC,6996,-0.19,268.3,2762,2657,1781,1502,698.3,32.3,278,7002,1.30,1.77,0.00,0.000,4356,0.173,0.040,2366,3844,1641,1781,1501,0,0,0,0,0,0,25.91,26.06,28.83
$GC,7038,-0.89,268.3,2366,3844,1781,1500,692.9,28.1,279,7044,0.57,1.60,0.00,0.000,5126,0.031,0.030,2102,2705,1640,1781,1499,0,0,0,0,0,0,26.15,26.14,28.83
$GC,7369,0.94,268.3,2101,2704,1773,1498,662.2,9.4,290,7376,1.52,2.70,0.00,0.000,2564,0.024,0.031,2763,1302,1636,1774,1498,0,0,0,0,0,0,26.34,26.31,28.83
$GC,7544,0.02,268.3,2763,1302,1774,1498,627.7,25.6,295,7551,1.02,2.78,0.00,0.000,5126,0.163,0.031,2443,2785,1636,1774,1499,0,0,0,0,0,0,26.23,26.37,28.83
$GC,7867,1.03,268.3,2442,2785,1774,1495,593.6,10.4,307,7874,0.82,2.75,0.00,0.000,2564,0.060,0.027,2769,1293,1634,1773,1495,0,0,0,0,0,0,26.44,26.46,28.83
$GC,7970,0.54,268.3,2769,1293,1773,1495,575.5,20.4,311,7979,0.50,2.78,0.00,0.000,5126,0.165,0.033,2610,2780,1634,1773,1495,0,0,0,0,0,0,26.32,26.47,28.83
$GC,8278,0.21,268.3,2610,2779,1774,1494,521.2,15.3,327,8286,0.32,2.72,0.00,0.000,4612,0.131,0.025,2515,1303,1634,1774,1494,0,0,0,0,0,0,26.42,26.52,28.83
$GC,8321,0.04,268.3,2514,1303,1773,1494,517.9,14.1,328,8330,0.22,2.75,0.00,0.000,5126,0.092,0.034,2434,2772,1633,1774,1493,0,0,0,0,0,0,26.47,26.51,28.83
$GC,8628,1.02,268.3,2434,2770,1773,1493,491.8,9.6,344,8635,0.82,2.72,0.00,0.000,2564,0.055,0.028,2769,1296,1633,1774,1493,0,0,0,0,0,0,26.55,26.57,28.83
$GC,8666,1.67,268.3,2769,1296,1773,1493,488.6,10.0,345,8672,0.55,2.78,0.00,0.000,3078,0.045,0.033,2987,2782,1633,1774,1493,0,0,0,0,0,0,26.58,26.56,28.83
$GC,8984,-0.28,268.3,2987,2780,1774,1493,346.0,46.4,361,8992,2.30,1.52,0.00,0.000,4356,0.216,0.042,2338,3831,1632,1772,1493,0,0,0,0,0,0,26.40,26.58,28.83
$GC,9145,1.60,304.7,2338,3834,1773,1492,331.6,7.2,368,9187,1.67,1.55,31.23,0.684,11270,0.086,0.027,2942,2683,1511,1646,1377,0,0,0,0,0,0,26.54,26.65,25.64
$GC,9507,-0.08,304.7,2942,2683,1630,1353,188.6,43.7,386,9515,1.85,2.62,0.00,0.000,4612,0.200,0.024,2419,1297,1490,1630,1351,0,0,0,0,0,0,26.18,26.37,28.83
$GC,9663,1.47,305.5,2419,1297,1630,1345,174.6,8.4,393,9669,1.25,2.80,0.00,0.000,3078,0.044,0.035,2918,2781,1487,1630,1345,0,0,0,0,0,0,26.44,26.41,28.83
$GC,9986,0.01,305.5,2918,2778,1630,1346,77.0,31.1,409,9992,1.60,1.52,0.00,0.000,4356,0.187,0.041,2427,3831,1488,1630,1346,0,0,0,0,0,0,26.34,26.51,28.83
$GC,10087,1.20,355.1,2427,3832,1630,1346,69.8,6.8,413,10134,1.05,1.58,38.42,0.257,11270,0.098,0.028,2814,2703,1315,1469,1162,0,0,0,0,0,0,26.45,26.58,26.08
$STATE,10377,end climb,SURFACE_DEPTH_REACHED
$STATE,10377,begin surface coast
$FINISH,-0.4,1.022418
$STATE,10392,end surface coast,CONTROL_FINISHED_OK
$STATE,10392,begin surface
$SM_CCo,10411,24.27,0.132,0,0,1131,400.08
$SM_GC,0.72,6.78,0.70,24.27,0.034,0.027,0.132,137,2356,1131,-7.10,0.31,400.08,0,0,0,0,0,0,26.44,26.51,26.27
$IRIDIUM_FIX,1835.04,12442.00,200313,090945
$TT8_MAMPS,0.021721,0.021721
$HUMID,49.76
$INTERNAL_PRESSURE,9.34962
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,4009696
$24V_AH,24.0,3.553
$10V_AH,10.1,2.178
$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,62.225,102.875,476.425,24.275,0.000,0.000,0.000,357.350,0.000,0.000,16.353,2284.306,5778.295,626.334,1858.078,449.163,0.000,1788.890,0.000,1403.595,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,91.035,1082.475,131.580,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10426.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.643,0.000,0.000,0.000
$MEM,329068
$DATA_FILE_SIZE,16807,446
$CAP_FILE_SIZE,292775,0
$CFSIZE,260034560,252973056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,144.0,1
$GPS,200313,152105,1839.349,12443.286,8,1.4,26,-2.2