version: 66.11
glider: 169
mission: 8
dive: 28
start: 3 21 113 2 29 25
data:
$ID,169
$MISSION,8
$DIVE,28
$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,-20888.557
$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
$GPS1,210313,022006,1834.986,12442.748,38,1.0,39,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-70.3
$GPS2,210313,022855,1835.068,12442.674,17,1.8,17,-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,169.4,84556,-14.7,-8.462,-18.04,2986
$D_GRID,5061
$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,-165.5,135,2423,1279,984,0.0,0.0,0,105,0.00,0.00,-80.65,0.000,16386,0.000,0.000,135,2424,3257,3146,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.15,-165.5,134,2424,3146,3368,4.5,-11.0,11,127,7.45,2.55,-3.15,0.000,18948,0.228,0.050,2056,951,3442,3320,3564,0,0,0,0,0,0,26.01,26.20,26.44
$GC,246,-1.15,-165.5,2056,951,3324,3564,68.4,-40.0,23,253,0.00,2.45,0.00,0.000,1030,0.000,0.037,2045,2419,3443,3323,3564,0,0,0,0,0,0,28.83,26.31,28.83
$GC,567,-1.15,-165.5,2045,2417,3325,3564,208.2,-38.0,39,573,0.00,2.42,0.00,0.000,516,0.000,0.034,2046,947,3444,3325,3563,0,0,0,0,0,0,28.83,26.48,28.83
$GC,770,-1.15,-165.5,2045,948,3327,3564,266.7,-28.7,48,778,0.00,2.42,0.00,0.000,1030,0.000,0.034,2034,2417,3445,3326,3564,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1077,-1.15,-165.5,2034,2417,3332,3561,363.2,-30.4,64,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2417,3446,3332,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1376,-1.15,-165.5,2034,2417,3332,3561,442.0,-25.4,79,1383,0.00,2.40,0.00,0.000,516,0.000,0.034,2035,948,3446,3332,3561,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1514,-1.15,-165.5,2034,947,3332,3562,474.9,-24.9,85,1520,0.10,2.40,0.00,0.000,3078,0.190,0.035,2055,2416,3446,3331,3561,0,0,0,0,0,0,26.56,26.67,28.83
$GC,1831,-1.15,-165.5,2055,2414,3332,3560,551.0,-23.8,101,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2415,3446,3332,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2140,-1.15,-165.5,2055,2414,3329,3554,620.1,-21.8,115,2146,0.00,2.40,0.00,0.000,516,0.000,0.035,2056,952,3443,3332,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2242,-1.15,-165.5,2055,951,3331,3554,640.8,-21.3,118,2249,0.00,2.38,0.00,0.000,1030,0.000,0.034,2046,2415,3442,3331,3554,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2573,-1.15,-165.5,2046,2414,3331,3547,713.2,-21.0,129,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2414,3439,3331,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2874,-1.15,-165.5,2046,2414,3331,3541,775.2,-20.6,139,2880,0.00,2.40,0.00,0.000,516,0.000,0.038,2047,948,3435,3331,3540,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2929,-1.15,-165.5,2046,948,3331,3540,782.7,-20.7,140,2935,0.00,2.38,0.00,0.000,1030,0.000,0.034,2036,2418,3435,3331,3539,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3247,-1.15,-165.5,2036,2416,3331,3533,852.1,-20.9,151,3253,0.00,2.40,0.00,0.000,516,0.000,0.037,2040,947,3432,3331,3533,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3333,-1.15,-165.5,2040,948,3331,3531,866.5,-21.2,153,3339,0.00,2.40,0.00,0.000,1030,0.000,0.034,2033,2423,3430,3331,3530,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3650,-1.15,-165.5,2032,2426,3330,3525,937.3,-21.1,164,3655,0.00,2.40,0.00,0.000,516,0.000,0.035,2033,944,3427,3331,3524,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3730,-1.15,-165.5,2032,944,3330,3525,951.5,-20.9,166,3737,0.10,2.40,0.00,0.000,3078,0.181,0.038,2056,2414,3427,3331,3523,0,0,0,0,0,0,26.64,26.72,28.83
$STATE,3928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3928,begin apogee
$GC,3936,-0.25,0.0,2048,2784,3329,3520,992.6,-18.5,173,4126,0.88,0.10,181.88,0.867,10246,0.135,0.075,2341,2697,2761,2784,2738,0,0,0,0,0,0,26.62,24.96,24.42
$STATE,4128,end apogee,CONTROL_FINISHED_OK
$STATE,4128,begin climb
$GC,4130,1.15,165.5,2341,2696,2782,2731,999.2,0.0,178,4293,1.25,1.75,151.73,1.001,10500,0.054,0.036,2796,3838,2081,2192,1971,0,0,0,0,0,0,25.10,24.80,24.13
$GC,4404,1.15,165.5,2795,3838,2176,1965,935.9,33.9,187,4411,0.00,1.60,0.00,0.000,1030,0.000,0.018,2804,2642,2070,2176,1965,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4736,1.15,165.5,2804,2639,2170,1959,830.4,30.7,198,4742,0.00,1.77,0.00,0.000,260,0.000,0.038,2796,3845,2064,2170,1959,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4791,1.15,165.5,2796,3845,2169,1959,818.9,30.8,199,4797,0.00,1.58,0.00,0.000,1030,0.000,0.018,2805,2644,2064,2169,1960,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5109,1.15,165.5,2804,2641,2165,1959,718.3,29.4,210,5114,0.00,1.75,0.00,0.000,260,0.000,0.038,2796,3839,2061,2164,1959,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5224,1.15,165.5,2796,3839,2164,1959,686.6,31.3,213,5230,0.00,1.55,0.00,0.000,1030,0.000,0.018,2804,2651,2065,2171,1959,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5549,1.15,165.5,2805,2648,2163,1958,586.8,28.5,225,5555,0.00,1.73,0.00,0.000,260,0.000,0.038,2796,3848,2060,2163,1958,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5701,1.15,165.5,2796,3848,2161,1957,541.2,31.0,232,5707,0.00,1.55,0.00,0.000,1030,0.000,0.018,2805,2651,2059,2161,1957,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6028,1.15,165.5,2805,2649,2159,1956,455.1,26.4,248,6034,0.00,1.70,0.00,0.000,260,0.000,0.038,2797,3834,2057,2159,1956,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6137,1.15,165.5,2796,3835,2158,1956,426.2,26.1,253,6142,0.00,1.52,0.00,0.000,1030,0.000,0.018,2805,2642,2056,2158,1955,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6463,1.15,165.5,2805,2642,2157,1955,344.5,24.8,269,6469,0.00,1.73,0.00,0.000,260,0.000,0.038,2797,3850,2053,2152,1955,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6491,1.15,165.5,1808,3849,2116,1947,337.6,24.9,270,6497,0.00,1.55,0.00,0.000,1030,0.000,0.018,2806,2635,2056,2157,1955,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6814,1.15,165.5,2805,2634,2155,1951,270.0,19.4,286,6819,0.00,1.75,0.00,0.000,260,0.000,0.038,2797,3848,2054,2155,1954,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7059,1.15,165.5,2797,3848,2154,1954,215.9,22.2,297,7065,0.00,1.55,0.00,0.000,1030,0.000,0.018,2806,2627,2054,2154,1954,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7374,1.15,165.5,2807,2627,2154,1955,164.9,15.3,313,7381,0.00,1.75,0.00,0.000,260,0.000,0.037,2797,3853,2054,2155,1953,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7615,1.15,165.5,2797,3855,2154,1954,131.6,14.1,324,7621,0.00,1.55,0.00,0.000,1030,0.000,0.018,2806,2634,2054,2154,1954,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7930,1.15,167.7,2806,2633,2154,1955,102.2,8.4,340,7936,0.00,1.73,0.00,0.000,260,0.000,0.037,2797,3851,2056,2154,1958,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8171,1.15,167.7,2797,3851,2154,1955,77.7,11.1,351,8176,0.00,1.52,0.00,0.000,1030,0.000,0.017,2806,2626,2054,2154,1955,0,0,0,0,0,0,28.83,26.83,28.83
$GC,8486,1.15,167.7,2809,2627,2155,1955,42.6,11.1,370,8492,0.00,1.77,0.00,0.000,260,0.000,0.035,2798,3840,2056,2156,1956,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8737,1.15,167.7,1744,3839,2110,1949,13.0,11.4,403,8744,0.00,1.52,0.00,0.000,1030,0.000,0.016,2807,2632,2056,2155,1958,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,8831,end climb,SURFACE_DEPTH_REACHED
$STATE,8831,begin surface coast
$FINISH,-0.4,1.022275
$STATE,8860,end surface coast,CONTROL_FINISHED_OK
$STATE,8861,begin surface
$SM_CCo,8880,134.20,0.490,1,0,1131,400.08
$SM_GC,0.46,6.70,0.57,134.20,0.037,0.026,0.490,128,2364,1131,-7.11,0.34,400.08,0,0,0,0,1,0,26.77,26.83,25.20
$IRIDIUM_FIX,1825.94,12442.57,200313,232335
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.53
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4007456
$24V_AH,24.1,4.150
$10V_AH,10.4,2.507
$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,16.475,68.325,333.600,134.200,0.000,0.000,0.000,317.700,0.000,0.000,18.546,2022.657,4934.075,562.563,1634.051,386.764,0.000,1570.024,0.000,1225.177,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,81.855,1000.620,490.365,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8913.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.623,0.000,0.000,0.000
$MEM,329052
$DATA_FILE_SIZE,16821,425
$CAP_FILE_SIZE,246897,0
$CFSIZE,260034560,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.076,241.6,1
$GPS,210313,050031,1833.938,12443.146,12,1.9,12,-2.2