version: 66.11
glider: 169
mission: 8
dive: 33
start: 3 21 113 15 58 11
data:
$ID,169
$MISSION,8
$DIVE,33
$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,-20895.125
$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
$GPS1,210313,154829,1827.809,12443.743,42,1.4,43,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-71.1
$GPS2,210313,155743,1827.813,12443.696,29,1.8,29,-2.1
$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,174.4,71689,-14.7,-8.462,-18.04,2986
$D_GRID,5495
$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,-165.5,124,2425,1278,986,0.0,0.0,0,105,0.00,0.00,-80.62,0.000,16386,0.000,0.000,124,2425,3241,3133,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-1.15,-165.5,124,2425,3133,3349,4.5,-11.7,11,128,7.55,2.58,-3.33,0.000,18948,0.232,0.050,2058,942,3441,3321,3562,0,0,0,0,0,0,26.02,26.22,26.47
$GC,213,-1.15,-165.5,2057,942,3324,3565,59.2,-41.1,22,219,0.00,2.47,0.00,0.000,1030,0.000,0.042,2046,2414,3444,3324,3565,0,0,0,0,0,0,28.83,26.29,28.83
$GC,539,-1.15,-165.5,2046,2413,3325,3565,203.4,-39.4,38,545,0.00,2.42,0.00,0.000,516,0.000,0.037,2048,949,3445,3325,3565,0,0,0,0,0,0,28.83,26.48,28.83
$GC,737,-1.15,-165.5,2046,949,3327,3565,262.6,-27.7,47,743,0.00,2.40,0.00,0.000,1030,0.000,0.035,2035,2416,3446,3327,3566,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1053,-1.15,-165.5,2035,2415,3333,3562,366.2,-30.2,63,1059,0.00,2.40,0.00,0.000,516,0.000,0.034,2040,944,3447,3333,3562,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1184,-1.15,-165.5,2040,943,3333,3562,403.0,-26.9,69,1190,0.00,2.42,0.00,0.000,1030,0.000,0.038,2032,2419,3447,3333,3562,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1511,-1.15,-165.5,2032,2418,3332,3562,486.8,-24.1,85,1518,0.00,2.40,0.00,0.000,516,0.000,0.034,2033,938,3448,3334,3562,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1603,-1.15,-165.5,2032,938,3332,3562,507.4,-22.9,89,1609,0.10,2.42,0.00,0.000,3078,0.186,0.040,2059,2416,3447,3332,3562,0,0,0,0,0,0,26.58,26.67,28.83
$GC,1925,-1.15,-165.5,2054,2414,3332,3559,577.0,-21.5,105,1931,0.00,2.40,0.00,0.000,516,0.000,0.036,2055,950,3445,3332,3559,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1987,-1.15,-165.5,2055,950,3332,3560,586.9,-21.2,107,1994,0.00,2.38,0.00,0.000,1030,0.000,0.034,2046,2416,3444,3332,3557,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2293,-1.15,-165.5,2045,2415,3332,3553,656.2,-21.4,119,2299,0.00,2.40,0.00,0.000,516,0.000,0.038,2046,950,3442,3332,3553,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2373,-1.15,-165.5,2046,950,3332,3552,669.8,-20.8,121,2379,0.00,2.38,0.00,0.000,1030,0.000,0.034,2035,2416,3441,3332,3551,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2693,-1.15,-165.5,2035,2415,3332,3545,741.5,-22.2,132,2699,0.00,2.40,0.00,0.000,516,0.000,0.037,2042,949,3437,3332,3543,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2759,-1.15,-165.5,2041,948,3332,3543,755.6,-21.7,134,2765,0.00,2.38,0.00,0.000,1030,0.000,0.034,2031,2418,3437,3332,3542,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3094,-1.15,-165.5,2031,2417,3331,3536,831.5,-23.5,145,3100,0.00,2.40,0.00,0.000,516,0.000,0.038,2031,950,3434,3332,3536,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3178,-1.15,-165.5,1264,950,3318,3532,846.0,-22.4,147,3185,0.10,2.38,0.00,0.000,3078,0.180,0.036,2056,2412,3432,3332,3533,0,0,0,0,0,0,26.63,26.72,28.83
$GC,3494,-1.15,-165.5,2056,2411,3331,3526,912.5,-19.3,158,3500,0.00,2.40,0.00,0.000,516,0.000,0.037,2056,939,3428,3331,3526,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3535,-1.15,-165.5,2056,938,3331,3526,919.3,-19.3,159,3541,0.00,2.40,0.00,0.000,1030,0.000,0.037,2046,2413,3428,3331,3525,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3865,-1.15,-165.5,2045,2412,3327,3522,983.1,-18.7,170,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2412,3425,3328,3522,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3923,begin apogee
$GC,3930,-0.25,0.0,2041,2783,3326,3521,994.3,-18.7,172,4081,0.93,0.10,141.27,1.047,10246,0.142,0.076,2342,2710,2757,2782,2732,0,0,0,0,0,0,26.61,24.93,24.30
$STATE,4083,end apogee,CONTROL_FINISHED_OK
$STATE,4085,begin climb
$GC,4088,1.15,165.5,2343,2710,2780,2724,999.8,0.0,176,4251,1.25,1.75,151.73,0.998,10500,0.053,0.035,2799,3828,2080,2190,1970,0,0,0,0,0,0,25.15,24.82,24.15
$GC,4410,1.15,165.5,2798,3828,2172,1962,922.8,34.1,186,4416,0.00,1.58,0.00,0.000,1030,0.000,0.018,2807,2666,2067,2172,1962,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4733,1.15,165.5,2807,2665,2167,1959,817.7,30.7,197,4739,0.00,1.73,0.00,0.000,260,0.000,0.038,2798,3847,2063,2167,1959,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4782,1.15,165.5,2799,3846,2166,1959,805.7,30.9,198,4788,0.00,1.62,0.00,0.000,1030,0.000,0.018,2808,2647,2062,2166,1959,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5102,1.15,165.5,2807,2643,2164,1958,704.6,29.7,209,5108,0.00,1.75,0.00,0.000,260,0.000,0.038,2799,3852,2061,2164,1958,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5169,1.15,165.5,2798,3850,2163,1957,682.8,31.2,211,5175,0.00,1.58,0.00,0.000,1030,0.000,0.018,2808,2638,2060,2163,1958,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5484,1.15,165.5,2808,2637,2160,1956,588.1,28.9,222,5490,0.00,1.75,0.00,0.000,260,0.000,0.038,2799,3847,2058,2160,1956,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5571,1.15,165.5,2799,3847,2159,1956,562.4,29.5,226,5577,0.00,1.55,0.00,0.000,1030,0.000,0.018,2808,2659,2057,2159,1956,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5898,1.15,165.5,2808,2654,2158,1955,474.7,27.0,242,5903,0.00,1.70,0.00,0.000,260,0.000,0.037,2799,3838,2056,2158,1954,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6054,1.15,165.5,1792,3837,2115,1947,434.5,26.9,249,6061,0.00,1.58,0.00,0.000,1030,0.000,0.018,2808,2648,2055,2156,1955,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6371,1.15,165.5,2808,2647,2155,1952,356.9,21.4,265,6377,0.00,1.73,0.00,0.000,260,0.000,0.037,2799,3852,2054,2155,1953,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6505,1.15,165.5,2798,3852,2154,1952,324.6,24.4,271,6511,0.00,1.55,0.00,0.000,1030,0.000,0.017,2808,2648,2053,2154,1953,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6827,1.15,165.5,2808,2645,2153,1952,252.8,21.6,287,6834,0.00,1.73,0.00,0.000,260,0.000,0.038,2799,3852,2052,2153,1951,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7039,1.15,165.5,2799,3852,2152,1952,205.4,20.2,297,7046,0.00,1.55,0.00,0.000,1030,0.000,0.017,2808,2633,2052,2153,1952,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7367,1.15,165.5,2808,2633,2152,1952,153.6,13.9,313,7373,0.00,2.40,0.00,0.000,516,0.000,0.024,2821,1302,2052,2152,1952,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7570,1.15,165.5,2820,1300,2151,1951,129.8,12.1,322,7579,0.00,2.72,0.00,0.000,1030,0.000,0.024,2808,2799,2051,2151,1951,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7875,1.15,165.5,2808,2798,2151,1951,98.8,10.5,338,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2798,2051,2151,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,1.15,165.5,2808,2797,2151,1951,66.6,10.9,353,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2797,2051,2151,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8475,1.15,165.5,2808,2797,2151,1953,33.2,11.2,375,8481,0.00,1.48,0.00,0.000,260,0.000,0.037,2801,3848,2052,2152,1953,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8544,1.15,165.5,2800,3848,2148,1954,24.8,12.6,381,8552,0.00,1.55,0.00,0.000,1030,0.000,0.017,2810,2620,2053,2152,1954,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,8745,end climb,SURFACE_DEPTH_REACHED
$STATE,8745,begin surface coast
$FINISH,-0.3,1.022407
$STATE,8775,end surface coast,CONTROL_FINISHED_OK
$STATE,8775,begin surface
$SM_CCo,8793,128.60,0.490,1,0,1132,400.08
$SM_GC,0.49,6.68,0.55,128.60,0.034,0.028,0.490,133,2365,1132,-7.11,0.45,400.08,0,0,0,0,1,0,26.74,26.82,25.24
$IRIDIUM_FIX,1821.40,12443.15,210313,131359
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.67
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4005216
$24V_AH,24.2,4.712
$10V_AH,10.0,2.831
$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,16.600,76.325,293.000,128.600,0.000,0.000,0.000,327.400,0.000,0.000,29.905,1975.958,4961.819,537.109,1604.836,388.891,0.000,1530.697,0.000,1183.156,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,76.500,1047.285,490.365,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8824.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.577,0.000,0.000,0.000
$MEM,329120
$DATA_FILE_SIZE,16809,423
$CAP_FILE_SIZE,243623,0
$CFSIZE,260034560,251895808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,5,0
$CURRENT,0.133,236.5,1
$GPS,210313,182805,1826.227,12443.782,34,1.0,34,-2.1