version: 66.11
glider: 169
mission: 8
dive: 25
start: 3 20 113 18 28 28
data:
$ID,169
$MISSION,8
$DIVE,25
$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,-20884.5
$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,20
$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
$GPS1,200313,181840,1838.394,12443.002,24,1.7,30,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-70.3
$GPS2,200313,182800,1838.418,12442.945,41,1.1,41,-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,219.0,90758,-14.7,-8.462,-18.04,2986
$D_GRID,5341
$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,-1.15,-165.5,123,2432,1055,752,0.0,0.0,0,114,0.00,0.00,-88.68,0.000,16386,0.000,0.000,123,2434,3235,3129,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.15,-165.5,123,2434,3129,3343,4.5,-11.8,12,137,7.50,2.60,-3.38,0.000,18948,0.230,0.053,2058,954,3441,3321,3561,0,0,0,0,0,0,25.98,26.17,26.43
$GC,374,-1.15,-165.5,2058,954,3325,3561,116.4,-42.2,29,382,0.00,2.45,0.00,0.000,1030,0.000,0.037,2046,2417,3443,3325,3561,0,0,0,0,0,0,28.83,26.34,28.83
$GC,681,-1.15,-165.5,2046,2416,3328,3561,244.4,-34.1,45,686,0.00,2.47,0.00,0.000,516,0.000,0.038,2047,941,3444,3328,3561,0,0,0,0,0,0,28.83,26.46,28.83
$GC,914,-1.15,-165.5,2046,941,3330,3561,307.6,-26.7,56,920,0.00,2.47,0.00,0.000,1030,0.000,0.040,2036,2418,3447,3333,3561,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1236,-1.15,-165.5,2035,2417,3335,3559,400.3,-26.3,72,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2417,3447,3335,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1534,-1.15,-165.5,2035,2417,3334,3559,478.8,-26.4,87,1541,0.00,2.45,0.00,0.000,516,0.000,0.037,2040,947,3446,3334,3559,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1642,-1.15,-165.5,2040,946,3334,3555,504.7,-23.3,92,1649,0.00,2.42,0.00,0.000,1030,0.000,0.036,2030,2417,3446,3334,3558,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1970,-1.15,-165.5,2030,2416,3334,3554,582.2,-24.1,108,1976,0.10,2.42,0.00,0.000,2564,0.197,0.034,2056,938,3443,3333,3554,0,0,0,0,0,0,26.56,26.65,28.83
$GC,2036,-1.15,-165.5,2055,938,3334,3554,597.4,-23.2,111,2041,0.00,2.45,0.00,0.000,1030,0.000,0.038,2045,2421,3444,3334,3554,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2361,-1.15,-165.5,2045,2418,3333,3550,665.8,-20.6,122,2367,0.00,2.42,0.00,0.000,516,0.000,0.037,2045,950,3442,3334,3550,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2451,-1.15,-165.5,1280,949,3320,3545,679.3,-20.6,124,2459,0.00,2.42,0.00,0.000,1030,0.000,0.035,2037,2421,3440,3334,3547,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2762,-1.15,-165.5,2036,2420,3334,3542,750.5,-22.1,135,2768,0.00,2.42,0.00,0.000,516,0.000,0.037,2041,947,3438,3334,3542,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2864,-1.15,-165.5,2041,947,3334,3540,771.5,-21.0,138,2871,0.00,2.40,0.00,0.000,1030,0.000,0.034,2031,2418,3436,3334,3539,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3195,-1.15,-165.5,2030,2416,3334,3533,842.5,-20.8,149,3201,0.00,2.42,0.00,0.000,516,0.000,0.036,2031,942,3433,3334,3533,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3294,-1.15,-165.5,2031,942,3334,3531,862.4,-20.8,152,3300,0.15,2.45,0.00,0.000,3078,0.161,0.039,2062,2418,3432,3334,3530,0,0,0,0,0,0,26.60,26.69,28.83
$GC,3630,-1.15,-165.5,2062,2416,3334,3524,924.6,-18.2,163,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2416,3429,3334,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-1.15,-165.5,2062,2416,3331,3521,978.3,-17.6,173,3935,0.00,2.42,0.00,0.000,516,0.000,0.037,2066,948,3426,3331,3521,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3989,-1.15,-165.5,2066,947,3330,3521,984.6,-17.7,174,3998,0.00,2.42,0.00,0.000,1030,0.000,0.034,2056,2423,3425,3330,3521,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4023,begin apogee
$GC,4031,-0.25,0.0,2052,2782,3329,3521,996.2,-18.3,176,4187,0.88,0.10,147.57,0.985,10246,0.138,0.073,2339,2693,2756,2782,2731,0,0,0,0,0,0,26.58,24.84,24.19
$STATE,4191,end apogee,CONTROL_FINISHED_OK
$STATE,4191,begin climb
$GC,4193,1.15,165.5,2338,2693,2778,2724,1001.7,0.0,180,4356,1.27,1.77,151.45,1.017,10500,0.057,0.037,2795,3842,2077,2186,1968,0,0,0,0,0,0,25.03,24.70,24.02
$GC,4533,1.15,165.5,2795,3842,2164,1958,919.5,33.5,192,4539,0.00,1.60,0.00,0.000,1030,0.000,0.018,2804,2643,2061,2164,1958,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4854,1.15,165.5,2803,2642,2159,1954,814.7,29.8,203,4860,0.00,1.77,0.00,0.000,260,0.000,0.041,2796,3842,2056,2158,1954,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4900,1.15,165.5,2796,3842,2158,1954,803.5,30.1,204,4906,0.00,1.58,0.00,0.000,1030,0.000,0.018,2805,2637,2056,2158,1954,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5225,1.15,165.5,2805,2636,2155,1953,703.0,29.0,215,5231,0.00,1.75,0.00,0.000,260,0.000,0.040,2797,3840,2054,2155,1953,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5271,1.15,165.5,2796,3840,2154,1953,692.0,29.6,216,5277,0.00,1.55,0.00,0.000,1030,0.000,0.018,2805,2645,2053,2154,1953,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5597,1.15,165.5,2805,2645,2151,1952,594.4,28.5,227,5602,0.00,1.75,0.00,0.000,260,0.000,0.040,2797,3853,2049,2147,1952,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5692,1.15,165.5,2795,3853,2150,1952,568.4,28.9,231,5697,0.00,1.55,0.00,0.000,1030,0.000,0.019,2806,2644,2051,2150,1952,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6014,1.15,165.5,2805,2644,2149,1950,476.2,27.4,247,6020,0.00,1.73,0.00,0.000,260,0.000,0.040,2797,3845,2049,2149,1950,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6075,1.15,165.5,2797,3845,2149,1950,462.5,28.3,249,6084,0.00,1.58,0.00,0.000,1030,0.000,0.018,2806,2644,2049,2149,1950,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6382,1.15,165.5,2805,2644,2148,1949,381.9,24.0,265,6387,0.00,1.73,0.00,0.000,260,0.000,0.040,2797,3845,2048,2148,1949,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6463,1.15,165.5,2797,3847,2147,1949,363.9,26.0,268,6470,0.00,1.55,0.00,0.000,1030,0.000,0.018,2806,2635,2048,2147,1949,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6769,1.15,165.5,2806,2634,2147,1948,291.6,21.5,284,6775,0.00,1.73,0.00,0.000,260,0.000,0.039,2798,3836,2047,2147,1948,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6886,1.15,165.5,2797,3836,2146,1948,265.1,24.9,289,6893,0.00,1.58,0.00,0.000,1030,0.000,0.019,2807,2643,2047,2147,1948,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7202,1.15,165.5,2807,2644,2146,1948,196.9,18.4,305,7208,0.00,2.45,0.00,0.000,516,0.000,0.024,2819,1301,2047,2146,1948,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7447,1.15,165.5,2819,1301,2145,1947,159.8,14.3,316,7453,0.00,2.70,0.00,0.000,1030,0.000,0.027,2815,2782,2046,2145,1947,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7762,1.15,165.5,2815,2780,2145,1947,123.2,9.5,332,7769,0.00,2.67,0.00,0.000,516,0.000,0.024,2829,1300,2046,2145,1947,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8003,1.15,165.5,2828,1300,2145,1948,102.4,9.3,343,8009,0.00,2.70,0.00,0.000,1030,0.000,0.025,2828,2789,2046,2145,1948,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8319,1.15,165.5,2828,2787,2145,1948,67.5,11.4,359,8325,0.00,2.70,0.00,0.000,516,0.000,0.024,2842,1296,2046,2145,1948,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8460,1.15,165.5,1856,1295,2103,1940,52.4,12.0,365,8468,0.15,2.70,0.00,0.000,5126,0.192,0.025,2805,2786,2047,2146,1948,0,0,0,0,0,0,26.60,26.74,28.83
$GC,8772,1.15,165.5,2805,2784,2146,1949,17.1,9.5,403,8781,0.00,2.67,0.00,0.000,516,0.000,0.024,2818,1299,2047,2145,1950,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8827,1.15,165.5,1760,1298,2100,1942,11.4,10.8,412,8835,0.00,2.70,0.00,0.000,1030,0.000,0.024,2818,2792,2048,2146,1950,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,8911,end climb,SURFACE_DEPTH_REACHED
$STATE,8911,begin surface coast
$FINISH,-0.4,1.022502
$STATE,8944,end surface coast,CONTROL_FINISHED_OK
$STATE,8944,begin surface
$SM_CCo,8963,126.97,0.492,1,0,1132,400.08
$SM_GC,0.47,6.72,0.88,126.97,0.037,0.027,0.492,135,2345,1132,-7.11,0.14,400.08,0,0,0,0,1,0,26.72,26.79,25.22
$IRIDIUM_FIX,1832.77,12440.70,200313,151556
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.21
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4008800
$24V_AH,24.0,3.808
$10V_AH,10.4,2.313
$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,16.775,85.525,299.025,126.975,0.000,0.000,0.000,316.675,0.000,0.000,42.481,2063.343,4930.217,556.736,1697.080,393.289,0.000,1585.446,0.000,1267.888,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,83.385,1016.685,491.895,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9001.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.549,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,16767,433
$CAP_FILE_SIZE,253576,0
$CFSIZE,260034560,252772352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.063,244.3,1
$GPS,200313,210105,1837.204,12442.384,12,1.1,28,-2.2