version: 66.11
glider: 169
mission: 8
dive: 26
start: 3 20 113 21 10 37
data:
$ID,169
$MISSION,8
$DIVE,26
$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,-20885.854
$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
$GPS1,200313,210105,1837.204,12442.384,12,1.1,28,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-70.8
$GPS2,200313,211007,1837.243,12442.338,15,1.4,15,-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,179.0,88446,-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,-165.5,124,2423,1277,992,0.0,0.0,0,105,0.00,0.00,-81.10,0.000,16386,0.000,0.000,125,2424,3291,3178,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.15,-165.5,124,2424,3179,3405,4.9,-12.0,11,126,7.55,2.60,-2.45,0.000,18948,0.233,0.051,2057,945,3441,3320,3563,0,0,0,0,0,0,25.96,26.16,26.40
$GC,295,-1.15,-165.5,2056,945,3323,3563,91.4,-40.6,26,300,0.00,2.47,0.00,0.000,1030,0.000,0.041,2045,2413,3443,3323,3563,0,0,0,0,0,0,28.83,26.32,28.83
$GC,621,-1.15,-165.5,2045,2411,3325,3563,232.6,-37.5,42,627,0.00,2.42,0.00,0.000,516,0.000,0.034,2045,941,3444,3325,3563,0,0,0,0,0,0,28.83,26.48,28.83
$GC,824,-1.15,-165.5,2045,940,3327,3563,286.3,-25.6,51,832,0.00,2.45,0.00,0.000,1030,0.000,0.038,2034,2416,3445,3327,3563,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1131,-1.15,-165.5,2034,2416,3332,3561,377.8,-28.1,67,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2416,3446,3332,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-1.15,-165.5,2033,2415,3331,3561,457.1,-25.7,82,1437,0.00,2.42,0.00,0.000,516,0.000,0.036,2035,938,3446,3331,3561,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1663,-1.15,-165.5,2035,938,3331,3561,508.8,-21.9,93,1671,0.10,2.45,0.00,0.000,3078,0.192,0.040,2055,2412,3445,3331,3560,0,0,0,0,0,0,26.56,26.65,28.83
$GC,1992,-1.15,-165.5,2055,2412,3331,3554,581.1,-22.5,109,1998,0.00,2.40,0.00,0.000,516,0.000,0.036,2056,944,3442,3331,3554,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2059,-1.15,-165.5,2055,944,3331,3554,596.2,-22.2,112,2065,0.00,2.42,0.00,0.000,1030,0.000,0.036,2046,2420,3442,3331,3554,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2384,-1.15,-165.5,2046,2418,3331,3548,667.0,-21.7,123,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2418,3439,3331,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-1.15,-165.5,2046,2418,3331,3542,730.9,-21.0,133,2690,0.00,2.40,0.00,0.000,516,0.000,0.036,2047,949,3436,3331,3541,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2787,-1.15,-165.5,2046,950,3330,3539,751.0,-20.9,136,2793,0.00,2.40,0.00,0.000,1030,0.000,0.034,2036,2426,3435,3331,3539,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3117,-1.15,-165.5,2036,2423,3330,3533,821.9,-20.8,147,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2424,3432,3331,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,-1.15,-165.5,2036,2423,3330,3526,884.6,-20.9,157,3423,0.00,2.42,0.00,0.000,516,0.000,0.037,2042,945,3428,3330,3526,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3563,-1.15,-165.5,2042,945,3330,3524,909.8,-19.6,161,3569,0.00,2.40,0.00,0.000,1030,0.000,0.036,2031,2414,3426,3330,3523,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3881,-1.15,-165.5,2030,2413,3327,3521,978.9,-20.9,172,3883,0.10,0.00,0.00,0.000,2054,0.184,0.000,2056,2413,3424,3327,3521,0,0,0,0,0,0,26.65,28.83,28.83
$STATE,3936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3936,begin apogee
$GC,3943,-0.25,0.0,2052,2780,3326,3520,990.0,-19.9,174,4089,0.88,0.10,139.88,1.047,10246,0.138,0.076,2340,2706,2764,2786,2742,0,0,0,0,0,0,26.62,24.89,24.26
$STATE,4091,end apogee,CONTROL_FINISHED_OK
$STATE,4091,begin climb
$GC,4094,1.15,165.5,2340,2706,2780,2729,995.8,0.0,178,4257,1.27,1.75,150.38,1.010,10500,0.057,0.037,2797,3827,2079,2189,1969,0,0,0,0,0,0,25.03,24.77,24.10
$GC,4477,1.15,165.5,2797,3827,2169,1963,897.3,33.1,190,4482,0.00,1.58,0.00,0.000,1030,0.000,0.020,2805,2659,2065,2169,1962,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4802,1.15,165.5,2805,2657,2165,1959,793.5,30.1,201,4808,0.00,1.75,0.00,0.000,260,0.000,0.040,2797,3846,2062,2165,1959,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4913,1.15,165.5,2797,3845,2164,1959,762.4,31.6,204,4919,0.00,1.58,0.00,0.000,1030,0.000,0.018,2806,2649,2061,2164,1958,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5233,1.15,165.5,2803,2646,2167,1957,664.2,29.0,215,5239,0.00,1.73,0.00,0.000,260,0.000,0.039,2798,3837,2059,2161,1957,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5318,1.15,165.5,2797,3837,2160,1956,644.2,29.2,217,5324,0.00,1.55,0.00,0.000,1030,0.000,0.019,2806,2646,2058,2160,1956,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5633,1.15,165.5,2806,2643,2158,1956,550.4,26.8,231,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2643,2057,2158,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5934,1.15,165.5,2806,2643,2157,1955,468.2,27.2,246,5939,0.00,1.75,0.00,0.000,260,0.000,0.040,2798,3838,2055,2156,1955,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6080,1.15,165.5,2797,3838,2155,1954,431.3,27.6,252,6088,0.00,1.55,0.00,0.000,1030,0.000,0.019,2807,2640,2055,2155,1955,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6386,1.15,165.5,2807,2640,2154,1955,349.7,25.7,268,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2640,2053,2154,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6686,1.15,165.5,2807,2640,2153,1952,286.0,20.8,283,6692,0.00,1.77,0.00,0.000,260,0.000,0.039,2798,3834,2052,2153,1952,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6927,1.15,165.5,2798,3834,2152,1952,232.0,24.2,294,6933,0.00,1.52,0.00,0.000,1030,0.000,0.018,2807,2656,2051,2151,1952,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7242,1.15,165.5,2807,2652,2151,1952,178.6,13.4,310,7247,0.00,1.73,0.00,0.000,260,0.000,0.040,2799,3853,2051,2151,1952,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7481,1.15,165.5,2798,3853,2151,1952,147.6,13.8,321,7487,0.00,1.55,0.00,0.000,1030,0.000,0.019,2808,2634,2051,2151,1952,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7797,1.15,165.5,2807,2635,2151,1952,114.0,9.4,337,7803,0.00,1.75,0.00,0.000,260,0.000,0.037,2807,3851,2052,2152,1952,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7921,1.15,165.5,2807,3851,2151,1952,102.1,10.9,342,7930,0.00,1.52,0.00,0.000,1030,0.000,0.017,2816,2618,2051,2151,1952,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8228,1.15,165.5,2816,2618,2152,1952,66.8,11.1,358,8235,0.00,1.75,0.00,0.000,260,0.000,0.037,2813,3844,2052,2153,1952,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8361,1.15,165.5,2813,3844,2151,1953,49.9,13.1,364,8369,0.00,1.52,0.00,0.000,1030,0.000,0.018,2822,2614,2052,2151,1953,0,0,0,0,0,0,28.83,26.84,28.83
$GC,8673,1.15,165.5,1760,2615,2106,1946,14.6,10.3,404,8681,0.00,2.38,0.00,0.000,516,0.000,0.022,2834,1289,2052,2151,1954,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,8778,end climb,SURFACE_DEPTH_REACHED
$STATE,8779,begin surface coast
$FINISH,0.5,1.022467
$STATE,8803,end surface coast,CONTROL_FINISHED_OK
$STATE,8803,begin surface
$SM_CCo,8822,127.47,0.490,1,0,1131,400.08
$SM_GC,0.50,6.70,2.00,127.47,0.032,0.027,0.490,134,2425,1131,-7.10,-0.40,400.08,0,0,0,0,1,0,26.74,26.77,25.25
$IRIDIUM_FIX,1832.77,12445.74,200313,181826
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.06
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4008352
$24V_AH,24.1,3.921
$10V_AH,10.0,2.377
$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,16.600,61.075,290.250,127.475,0.000,0.000,0.000,329.825,0.000,0.000,16.571,2033.241,4926.919,520.768,1637.510,368.697,0.000,1520.116,0.000,1225.090,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,75.735,1047.285,490.365,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8848.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.652,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,16789,427
$CAP_FILE_SIZE,244675,0
$CFSIZE,260034560,252669952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.095,248.7,1
$GPS,200313,234106,1835.971,12442.473,40,0.9,40,-2.2