version: 66.11
glider: 169
mission: 8
dive: 275
start: 5 13 113 14 45 28
data:
$ID,169
$MISSION,8
$DIVE,275
$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,-5
$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,-21756.959
$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
$GPS1,130513,143405,1840.956,12219.832,25,1.2,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-73.9
$GPS2,130513,144500,1841.394,12219.604,14,2.0,31,-2.1
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,166.2,19354,-3.2,-8.250,-19.13,2990
$D_GRID,655
$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,-160.6,129,2563,1248,964,0.0,0.0,0,94,0.00,0.00,-69.12,0.000,16386,0.000,0.000,129,2563,2876,2829,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.48,-160.6,134,2563,2830,2923,3.6,-7.6,9,125,8.23,2.70,-10.68,0.000,19204,0.222,0.046,2218,1094,3511,3385,3637,0,0,0,0,0,0,25.56,26.08,26.49
$GC,346,-0.48,-160.6,2218,1094,3387,3637,75.1,-24.0,28,352,0.00,2.58,0.00,0.000,1030,0.000,0.036,2211,2558,3512,3387,3637,0,0,0,0,0,0,28.83,26.20,28.83
$GC,663,-0.48,-160.6,2211,2556,3388,3637,156.0,-19.0,44,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2556,3512,3388,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,962,-0.48,-160.6,2211,2555,3392,3637,199.5,-14.4,59,968,0.00,2.55,0.00,0.000,516,0.000,0.030,2213,1079,3514,3392,3637,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1019,-0.48,-160.6,2212,1079,3392,3637,205.8,-13.9,61,1025,0.00,2.55,0.00,0.000,1030,0.000,0.033,2210,2557,3514,3392,3637,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1334,-0.48,-160.6,2210,2555,3392,3637,250.5,-14.1,77,1340,0.00,2.53,0.00,0.000,516,0.000,0.030,2211,1075,3514,3392,3636,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1363,-0.48,-160.6,1328,1074,3381,3635,254.0,-14.1,78,1370,0.00,2.55,0.00,0.000,1030,0.000,0.033,2209,2558,3514,3392,3636,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1686,-0.48,-160.6,2209,2555,3392,3636,300.1,-12.9,94,1692,0.00,2.17,0.00,0.000,260,0.000,0.046,2206,3838,3514,3392,3636,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1742,-0.48,-160.6,2206,3838,3392,3636,306.1,-12.5,96,1749,0.00,2.12,0.00,0.000,1030,0.000,0.024,2207,2532,3514,3392,3636,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2059,-0.48,-160.6,2206,2534,3391,3632,344.1,-10.3,112,2065,0.00,2.25,0.00,0.000,260,0.000,0.047,2206,3828,3512,3392,3632,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2079,-0.48,-160.6,2206,3828,3392,3631,344.1,-10.3,112,2087,0.00,2.10,0.00,0.000,1030,0.000,0.024,2206,2523,3511,3392,3631,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2385,-0.48,-160.6,2206,2523,3392,3626,379.0,-10.4,128,2391,0.00,2.42,0.00,0.000,516,0.000,0.032,2206,1089,3509,3392,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2427,-0.48,-160.6,2206,1088,3392,3626,381.9,-10.7,129,2435,0.00,2.53,0.00,0.000,1030,0.000,0.034,2206,2561,3508,3391,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2731,-0.48,-160.6,2206,2558,3392,3620,417.4,-11.0,145,2737,0.00,2.15,0.00,0.000,260,0.000,0.045,2197,3828,3505,3391,3619,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2767,-0.48,-160.6,2196,3827,3392,3618,420.3,-11.0,146,2772,0.00,2.12,0.00,0.000,1030,0.000,0.025,2197,2527,3504,3391,3618,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3082,-0.48,-160.6,2196,2527,3391,3613,454.2,-10.6,162,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2527,3504,3396,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3382,-0.48,-160.6,2196,2527,3390,3606,489.9,-11.5,177,3388,0.00,2.45,0.00,0.000,516,0.000,0.034,2197,1081,3499,3392,3606,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3425,-0.48,-160.6,2196,1081,3390,3605,492.8,-11.3,178,3434,0.00,2.55,0.00,0.000,1030,0.000,0.035,2194,2561,3497,3390,3605,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3728,-0.48,-160.6,2190,2558,3391,3601,530.4,-12.7,194,3735,0.00,2.20,0.00,0.000,260,0.000,0.050,2194,3826,3496,3391,3601,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3764,-0.48,-160.6,2193,3826,3390,3601,533.6,-12.4,195,3770,0.00,2.15,0.00,0.000,1030,0.000,0.027,2194,2532,3495,3390,3600,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4080,-0.48,-160.6,2193,2532,3389,3595,569.9,-11.0,211,4086,0.10,2.30,0.00,0.000,2308,0.139,0.044,2220,3832,3492,3388,3596,0,0,0,0,0,0,26.51,26.26,28.83
$GC,4127,-0.48,-160.6,2219,3832,3388,3596,574.6,-10.5,213,4133,0.00,2.17,0.00,0.000,1030,0.000,0.024,2219,2519,3491,3387,3596,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4452,-0.48,-160.6,2220,2518,3387,3590,608.5,-11.2,228,4458,0.00,2.35,0.00,0.000,260,0.000,0.047,2218,3844,3489,3387,3591,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4530,-0.48,-160.6,2216,3844,3386,3591,616.2,-11.3,230,4535,0.00,2.17,0.00,0.000,1030,0.000,0.024,2217,2517,3488,3386,3591,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4855,-0.48,-160.6,2217,2517,3386,3586,651.5,-9.6,241,4861,0.00,2.33,0.00,0.000,260,0.000,0.047,2208,3826,3485,3385,3586,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4880,-0.48,-160.6,2207,3826,3385,3587,651.5,-9.6,241,4886,0.00,2.15,0.00,0.000,1030,0.000,0.025,2208,2530,3485,3385,3586,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,4892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4892,begin apogee
$GC,4899,-0.12,0.0,2207,2669,3384,3592,655.4,-9.4,242,5036,0.35,0.08,130.48,0.809,10246,0.101,0.093,2333,2622,2844,2850,2839,0,0,0,0,0,0,26.09,25.17,24.55
$STATE,5039,end apogee,CONTROL_FINISHED_OK
$STATE,5040,begin climb
$GC,5042,0.48,160.6,2333,2621,2847,2831,661.4,0.0,246,5195,0.52,2.15,140.35,0.790,10500,0.064,0.040,2523,3834,2185,2300,2070,0,0,0,0,0,0,25.32,25.07,24.41
$GC,5231,0.78,280.1,2523,3834,2293,2064,655.7,4.1,251,5344,0.28,1.92,103.32,0.787,11270,0.043,0.016,2670,2597,1703,1856,1551,0,0,0,0,0,0,25.51,25.56,24.42
$GC,5660,0.78,280.1,2674,2596,1841,1526,566.6,23.7,267,5666,0.12,2.10,0.00,0.000,4356,0.184,0.037,2623,3855,1683,1841,1526,0,0,0,0,0,0,25.82,26.01,28.83
$GC,5710,0.78,280.1,2622,3855,1840,1526,555.6,23.4,269,5716,0.00,1.90,0.00,0.000,1030,0.000,0.015,2632,2596,1683,1840,1526,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6033,0.78,280.1,2633,2596,1838,1523,495.2,17.1,285,6040,0.00,2.08,0.00,0.000,260,0.000,0.039,2624,3844,1680,1838,1523,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6053,0.78,280.1,2623,3846,1838,1523,495.2,17.1,285,6061,0.00,1.88,0.00,0.000,1030,0.000,0.015,2634,2592,1679,1837,1522,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6360,0.78,280.1,2634,2591,1835,1523,429.6,19.9,301,6366,0.00,2.50,0.00,0.000,516,0.000,0.023,2646,1181,1678,1835,1522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6379,0.78,280.1,2646,1181,1833,1522,429.6,19.9,301,6387,0.00,2.67,0.00,0.000,1030,0.000,0.026,2634,2659,1677,1833,1522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6686,0.78,280.1,2633,2657,1833,1522,372.4,17.3,317,6692,0.00,1.85,0.00,0.000,260,0.000,0.040,2624,3840,1677,1833,1521,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6747,0.78,280.1,2624,3840,1833,1522,363.8,18.1,319,6755,0.00,1.85,0.00,0.000,1030,0.000,0.015,2636,2595,1680,1833,1527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7054,0.78,280.1,2630,2593,1833,1521,308.6,17.0,335,7060,0.00,2.10,0.00,0.000,260,0.000,0.039,2625,3836,1677,1833,1521,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7102,0.78,280.1,2624,3836,1833,1521,300.2,17.3,337,7108,0.00,1.85,0.00,0.000,1030,0.000,0.016,2634,2594,1677,1833,1521,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7430,0.78,280.1,2635,2593,1833,1519,252.5,13.8,353,7437,0.00,2.10,0.00,0.000,260,0.000,0.041,2625,3845,1676,1833,1519,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7563,0.78,280.1,2624,3845,1832,1519,228.6,18.5,359,7569,0.00,1.85,0.00,0.000,1030,0.000,0.015,2635,2584,1676,1834,1519,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7886,0.78,280.1,2635,2582,1832,1519,179.6,12.1,375,7892,0.00,2.12,0.00,0.000,260,0.000,0.038,2625,3854,1675,1831,1519,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8092,0.78,280.1,1604,3853,1796,1514,155.1,13.2,384,8100,0.00,1.88,0.00,0.000,1030,0.000,0.016,2635,2598,1674,1831,1518,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8395,0.78,280.1,2635,2598,1831,1519,117.0,10.9,400,8401,0.00,2.47,0.00,0.000,516,0.000,0.023,2648,1162,1675,1831,1519,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8506,0.85,308.0,2648,1161,1828,1519,108.7,7.3,405,8544,0.00,2.70,28.00,0.272,9222,0.000,0.024,2646,2666,1607,1753,1462,0,0,0,0,0,0,28.83,26.41,25.77
$GC,8858,1.09,404.4,2646,2665,1756,1477,80.1,4.9,422,8966,0.20,0.00,104.80,0.278,10758,0.054,0.000,2765,2665,1203,1375,1031,0,0,0,0,0,0,26.53,28.83,25.56
$GC,9259,1.09,404.4,2765,2665,1378,1054,18.0,14.2,456,9268,0.12,0.00,2.20,0.148,12550,0.164,0.000,2727,2665,1206,1369,1043,0,0,0,0,0,0,26.02,28.83,25.80
$STATE,9399,end climb,SURFACE_DEPTH_REACHED
$STATE,9399,begin surface coast
$FINISH,0.1,1.021318
$STATE,9430,end surface coast,CONTROL_FINISHED_OK
$STATE,9430,begin surface
$SM_CCo,9448,15.38,0.129,0,0,1097,430.01
$SM_GC,0.67,6.50,0.38,15.38,0.027,0.034,0.129,135,2504,1097,-6.95,0.37,430.01,0,0,0,0,0,0,26.26,26.40,25.90
$IRIDIUM_FIX,1832.77,12219.37,130513,101038
$TT8_MAMPS,0.02247,0.02247
$HUMID,52.36
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3881888
$24V_AH,24.4,35.970
$10V_AH,10.3,28.687
$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,16.425,95.100,509.150,15.375,0.000,0.000,0.000,377.250,0.000,0.000,32.359,1986.547,5359.703,626.866,1638.862,483.187,0.000,1701.355,0.000,1151.177,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,92.565,809.370,129.285,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9481.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.137,0.000,0.000,0.000
$MEM,323332
$DATA_FILE_SIZE,16786,486
$CAP_FILE_SIZE,258000,0
$CFSIZE,260034560,210657280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240,323.4,1
$GPS,130513,172418,1841.386,12219.204,14,1.7,31,-2.1