version: 66.11
glider: 169
mission: 8
dive: 161
start: 4 18 113 21 42 35
data:
$ID,169
$MISSION,8
$DIVE,161
$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,400
$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,165
$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,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$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,-21421.68
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2550
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$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,48
$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
$GPS1,180413,212935,1945.677,12425.956,28,0.8,28,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-72.9
$GPS2,180413,214207,1945.763,12425.967,14,2.0,14,-2.4
$SPEED_LIMITS,0.143,0.238
$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,192.6,214984,-3.2,-8.250,-19.13,2990
$D_GRID,5657
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.48,-160.6,125,2525,1264,936,0.0,0.0,0,108,0.00,0.00,-82.85,0.000,16386,0.000,0.000,123,2526,3253,3146,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.48,-160.6,123,2526,3146,3360,4.4,-11.1,11,130,8.73,0.00,-4.30,0.000,18694,0.248,0.000,2213,2526,3511,3382,3640,0,0,0,0,0,0,25.74,28.83,26.43
$GC,453,-0.48,-160.6,2213,2526,3387,3639,103.5,-22.3,35,459,0.00,2.40,0.00,0.000,516,0.000,0.031,2214,1069,3513,3387,3639,0,0,0,0,0,0,28.83,26.35,28.83
$GC,521,-0.48,-160.6,2214,1068,3387,3639,116.2,-19.1,38,527,0.00,2.55,0.00,0.000,1030,0.000,0.036,2210,2562,3511,3387,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,848,-0.48,-160.6,2209,2560,3387,3639,178.7,-18.3,54,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2560,3513,3387,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-0.48,-160.6,2210,2559,3387,3640,231.8,-17.7,69,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2559,3512,3386,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1446,-0.48,-160.6,2209,2559,3386,3642,282.5,-16.9,84,1453,0.00,2.50,0.00,0.000,516,0.000,0.031,2210,1088,3513,3387,3639,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1473,-0.48,-160.6,2210,1088,3387,3639,286.7,-16.8,85,1480,0.00,2.50,0.00,0.000,1030,0.000,0.033,2207,2558,3513,3387,3639,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1801,-0.48,-160.6,2206,2556,3387,3639,339.7,-15.8,101,1807,0.00,2.47,0.00,0.000,516,0.000,0.032,2206,1077,3513,3387,3639,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1864,-0.48,-160.6,2206,1076,3387,3639,346.9,-15.6,103,1871,0.00,2.53,0.00,0.000,1030,0.000,0.037,2206,2562,3513,3387,3639,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2169,-0.48,-160.6,2206,2560,3387,3638,390.8,-13.4,119,2175,0.00,2.15,0.00,0.000,260,0.000,0.045,2198,3843,3512,3386,3638,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2211,-0.48,-160.6,2198,3845,3387,3637,394.3,-13.3,120,2219,0.00,2.15,0.00,0.000,1030,0.000,0.024,2198,2517,3512,3387,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2515,-0.48,-160.6,2197,2517,3387,3634,439.0,-13.6,136,2521,0.00,2.35,0.00,0.000,516,0.000,0.031,2198,1088,3510,3387,3634,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2593,-0.48,-160.6,2198,1085,3387,3633,447.6,-12.5,139,2599,0.00,2.47,0.00,0.000,1030,0.000,0.033,2196,2564,3510,3387,3633,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2909,-0.48,-160.6,2196,2561,3386,3630,485.0,-11.2,155,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2561,3508,3387,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.48,-160.6,2196,2561,3387,3626,519.8,-12.1,170,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2561,3506,3387,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3509,-0.48,-160.6,2195,2561,3386,3621,557.7,-12.6,185,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2560,3503,3386,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-0.48,-160.6,2195,2560,3387,3616,592.1,-10.9,200,3815,0.00,2.20,0.00,0.000,260,0.000,0.049,2194,3827,3501,3386,3616,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3861,-0.48,-160.6,2194,3827,3386,3615,597.2,-10.8,202,3868,0.10,2.15,0.00,0.000,3078,0.139,0.027,2223,2526,3501,3387,3615,0,0,0,0,0,0,26.50,26.67,28.83
$GC,4172,-0.48,-160.6,2225,2526,3386,3611,623.9,-8.3,213,4178,0.00,2.30,0.00,0.000,260,0.000,0.052,2220,3826,3498,3386,3611,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4208,-0.48,-160.6,2220,3826,3387,3610,627.1,-8.6,214,4213,0.00,2.15,0.00,0.000,1030,0.000,0.028,2220,2529,3498,3386,3610,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4543,-0.48,-160.6,2220,2529,3386,3604,657.7,-9.3,225,4549,0.00,2.28,0.00,0.000,260,0.000,0.048,2220,3831,3493,3382,3604,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4579,-0.48,-160.6,2220,3831,3386,3604,661.1,-9.4,226,4585,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2525,3495,3386,3604,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4914,-0.48,-160.6,2219,2526,3386,3600,691.2,-8.8,237,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2526,3493,3386,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.48,-160.6,2219,2526,3386,3595,718.6,-9.3,247,5221,0.00,2.30,0.00,0.000,260,0.000,0.051,2209,3830,3490,3386,3594,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5291,-0.48,-160.6,2210,3830,3385,3594,725.1,-9.4,249,5297,0.00,2.15,0.00,0.000,1030,0.000,0.028,2209,2529,3489,3386,3593,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5617,-0.48,-160.6,2209,2529,3385,3589,758.2,-9.9,260,5623,0.00,2.28,0.00,0.000,260,0.000,0.048,2206,3836,3487,3385,3589,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5667,-0.48,-160.6,2206,3836,3384,3590,761.9,-10.1,261,5673,0.00,2.15,0.00,0.000,1030,0.000,0.026,2207,2521,3486,3384,3589,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5988,-0.48,-160.6,2207,2522,3383,3586,794.9,-9.6,272,5994,0.00,2.30,0.00,0.000,260,0.000,0.050,2205,3829,3484,3383,3586,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6029,-0.48,-160.6,2204,3829,3381,3587,798.4,-9.7,273,6035,0.00,2.15,0.00,0.000,1030,0.000,0.027,2205,2518,3484,3382,3586,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6361,-0.48,-160.6,2205,2519,3381,3583,831.5,-9.9,284,6367,0.00,2.30,0.00,0.000,260,0.000,0.049,2196,3828,3482,3381,3583,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6437,-0.48,-160.6,2196,3828,3380,3583,838.5,-9.9,286,6443,0.00,2.17,0.00,0.000,1030,0.000,0.028,2196,2521,3481,3380,3583,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6763,-0.48,-160.6,2196,2521,3380,3580,873.9,-10.6,297,6769,0.00,2.33,0.00,0.000,260,0.000,0.051,2194,3839,3480,3380,3580,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6788,-0.48,-160.6,2193,3839,3380,3580,873.9,-10.6,297,6793,0.00,2.17,0.00,0.000,1030,0.000,0.027,2194,2517,3480,3380,3580,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7105,-0.48,-160.6,2193,2517,3379,3578,908.7,-10.0,308,7111,0.00,2.30,0.00,0.000,260,0.000,0.048,2183,3827,3478,3379,3578,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7146,-0.48,-160.6,2182,3827,3378,3578,913.3,-10.5,309,7153,0.12,2.15,0.00,0.000,3078,0.123,0.027,2222,2523,3478,3378,3578,0,0,0,0,0,0,26.45,26.64,28.83
$GC,7478,-0.48,-160.6,2222,2523,3378,3576,937.6,-6.9,320,7484,0.00,2.30,0.00,0.000,260,0.000,0.051,2219,3825,3477,3378,3576,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7519,-0.48,-160.6,2219,3825,3377,3576,940.1,-6.9,321,7525,0.00,2.15,0.00,0.000,1030,0.000,0.028,2220,2524,3476,3377,3575,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7851,-0.48,-160.6,2219,2524,3377,3573,962.7,-6.8,332,7856,0.00,2.30,0.00,0.000,260,0.000,0.050,2208,3831,3475,3377,3573,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7919,-0.48,-160.6,2208,3831,3376,3572,967.9,-7.2,334,7925,0.00,2.17,0.00,0.000,1030,0.000,0.029,2208,2524,3474,3376,3573,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,8222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8222,begin apogee
$GC,8228,-0.12,0.0,2207,2669,3375,3571,992.0,-7.9,344,8373,0.35,0.08,138.48,1.029,10246,0.096,0.092,2335,2626,2848,2857,2839,0,0,0,0,0,0,26.40,24.98,24.36
$STATE,8375,end apogee,CONTROL_FINISHED_OK
$STATE,8375,begin climb
$GC,8378,0.48,160.6,2335,2625,2851,2827,997.2,0.0,348,8539,0.52,0.00,150.27,1.013,10502,0.054,0.000,2538,2625,2183,2307,2060,0,0,0,0,0,0,25.15,28.83,24.13
$GC,8819,0.48,160.6,2537,2625,2291,2048,963.8,9.8,363,8825,0.00,2.03,0.00,0.000,260,0.000,0.044,2529,3832,2169,2291,2048,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8854,0.48,160.6,2533,3832,2288,2048,959.7,10.2,364,8860,0.00,1.88,0.00,0.000,1030,0.000,0.017,2539,2601,2168,2288,2048,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9189,0.48,160.6,2539,2601,2285,2048,925.6,10.1,375,9195,0.00,2.05,0.00,0.000,260,0.000,0.042,2529,3831,2166,2284,2048,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9245,0.48,160.6,2529,3831,2283,2048,921.8,10.3,376,9251,0.00,1.85,0.00,0.000,1030,0.000,0.017,2539,2597,2166,2284,2048,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9564,0.48,160.6,2539,2597,2281,2048,887.4,10.5,387,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2597,2164,2281,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9860,0.48,160.6,2539,2597,2279,2048,857.2,9.8,397,9866,0.00,2.08,0.00,0.000,260,0.000,0.043,2530,3842,2163,2279,2048,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9889,0.48,160.6,2529,3842,2279,2047,857.2,9.8,397,9899,0.00,1.85,0.00,0.000,1030,0.000,0.018,2539,2603,2163,2279,2048,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10199,0.48,160.6,2540,2604,2278,2048,826.5,8.4,408,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2604,2163,2278,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10497,0.48,160.6,2539,2604,2277,2047,799.5,9.1,418,10502,0.00,2.03,0.00,0.000,260,0.000,0.043,2530,3838,2162,2277,2047,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10552,0.48,160.6,2529,3838,2276,2047,795.7,9.5,419,10558,0.00,1.85,0.00,0.000,1030,0.000,0.018,2540,2598,2161,2276,2047,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10870,0.48,160.6,2539,2598,2275,2047,762.3,9.6,430,10876,0.00,2.05,0.00,0.000,260,0.000,0.042,2530,3835,2161,2275,2047,0,0,0,0,0,0,28.83,26.45,28.83
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$STATE,19369,end climb,SURFACE_DEPTH_REACHED
$STATE,19369,begin surface coast
$FINISH,-0.9,1.021840
$STATE,19393,end surface coast,CONTROL_FINISHED_OK
$STATE,19393,begin surface
$SM_CCo,19412,39.10,0.125,0,0,1097,430.01
$SM_GC,-0.07,6.47,0.40,39.10,0.028,0.030,0.125,129,2507,1097,-6.96,0.25,430.01,0,0,0,0,0,0,26.43,26.54,26.15
$IRIDIUM_FIX,1936.66,12423.32,180413,151555
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.48
$INTERNAL_PRESSURE,9.36915
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3939904
$24V_AH,24.1,21.145
$10V_AH,10.2,17.071
$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,16.775,168.300,448.675,39.100,0.000,0.000,0.000,445.450,0.000,0.000,15.281,3525.602,12644.585,715.591,2519.075,763.508,0.000,2263.982,0.000,1920.951,0.000,0.544,0.000
$DEVICE_MAMPS,247.860,102.510,1028.925,124.695,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19488.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.488,0.000,0.000,0.000
$MEM,329088
$DATA_FILE_SIZE,30078,861
$CAP_FILE_SIZE,447915,0
$CFSIZE,260034560,229359616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,102.5,1
$GPS,190413,030800,1943.785,12426.071,38,1.3,38,-2.4