version: 66.11
glider: 169
mission: 8
dive: 520
start: 7 3 113 10 25 15
data:
$ID,169
$MISSION,8
$DIVE,520
$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,350
$T_MISSION,370
$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,180
$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,1
$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,-22991.168
$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
$GPS1,030713,101105,1952.147,12334.319,29,0.9,29,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-71.9
$GPS2,030713,102443,1952.167,12334.358,13,1.1,13,-2.4
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,75.2,89874,-5.6,-9.429,-20.04,2855
$D_GRID,5253
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.58,-175.2,121,2570,1267,953,0.0,0.0,0,97,0.00,0.00,-69.30,0.000,16386,0.000,0.000,121,2570,2947,2895,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-175.2,121,2570,2895,3000,4.5,-10.2,9,129,8.85,2.28,-9.93,0.000,18692,0.233,0.062,2170,3837,3572,3443,3701,0,0,0,0,0,0,24.94,25.84,26.45
$GC,257,-0.58,-175.2,2170,3837,3444,3701,58.1,-28.0,22,263,0.00,2.15,0.00,0.000,1030,0.000,0.027,2170,2527,3572,3444,3701,0,0,0,0,0,0,28.83,26.18,28.83
$GC,573,-0.58,-175.2,2170,2526,3445,3701,127.5,-19.4,38,580,0.00,2.53,0.00,0.000,516,0.000,0.029,2170,1086,3572,3444,3701,0,0,0,0,0,0,28.83,26.15,28.83
$GC,627,-0.58,-175.2,2170,1086,3445,3700,136.0,-19.1,40,634,0.00,2.65,0.00,0.000,1030,0.000,0.032,2167,2558,3573,3445,3701,0,0,0,0,0,0,28.83,26.13,28.83
$GC,949,-0.58,-175.2,2168,2555,3445,3700,190.2,-16.2,56,954,0.00,2.12,0.00,0.000,260,0.000,0.044,2161,3841,3573,3445,3701,0,0,0,0,0,0,28.83,26.12,28.83
$GC,976,-0.58,-175.2,2161,3841,3445,3697,194.6,-16.6,57,982,0.12,2.10,0.00,0.000,3078,0.134,0.024,2198,2521,3573,3445,3701,0,0,0,0,0,0,26.10,26.40,28.83
$GC,1305,-0.58,-175.2,2198,2520,3445,3700,237.6,-12.5,73,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2520,3573,3445,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.58,-175.2,2198,2520,3445,3700,274.5,-13.0,88,1609,0.00,2.25,0.00,0.000,260,0.000,0.046,2196,3838,3572,3445,3700,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1647,-0.58,-175.2,2196,3837,3445,3700,278.0,-12.9,89,1656,0.00,2.10,0.00,0.000,1030,0.000,0.024,2197,2519,3572,3445,3700,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1950,-0.58,-175.2,2196,2519,3445,3699,320.2,-12.8,105,1957,0.00,2.28,0.00,0.000,260,0.000,0.047,2194,3834,3572,3445,3699,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2025,-0.58,-175.2,2194,3833,3445,3698,328.8,-12.2,108,2030,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2511,3571,3444,3698,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2349,-0.58,-175.2,2194,2510,3445,3694,367.5,-11.7,124,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2510,3570,3446,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-0.58,-175.2,2193,2510,3445,3690,404.2,-12.3,139,2651,0.00,2.33,0.00,0.000,260,0.000,0.044,2194,3822,3567,3445,3689,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2736,-0.58,-175.2,2193,3822,3445,3688,414.0,-10.8,143,2741,0.00,2.08,0.00,0.000,1030,0.000,0.022,2194,2510,3566,3445,3688,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3066,-0.58,-175.2,2194,2509,3445,3684,449.9,-10.4,159,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2510,3564,3445,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3361,-0.58,-175.2,2194,2510,3445,3680,479.5,-10.2,174,3368,0.00,2.33,0.00,0.000,260,0.000,0.044,2194,3827,3562,3445,3679,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3416,-0.58,-175.2,2193,3827,3444,3679,484.2,-10.1,176,3422,0.00,2.12,0.00,0.000,1030,0.000,0.023,2193,2505,3561,3444,3679,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3740,-0.58,-175.2,2193,2505,3444,3675,517.5,-9.9,192,3746,0.00,2.53,0.00,0.000,516,0.000,0.028,2194,1074,3559,3445,3674,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3767,-0.58,-175.2,2194,1074,3445,3674,520.3,-9.7,193,3773,0.00,2.65,0.00,0.000,1030,0.000,0.031,2194,2569,3559,3444,3674,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4096,-0.58,-175.2,2193,2566,3444,3668,549.2,-8.3,209,4102,0.00,2.12,0.00,0.000,260,0.000,0.046,2194,3831,3556,3444,3668,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4155,-0.58,-175.2,2193,3831,3444,3667,553.2,-8.3,211,4162,0.00,2.12,0.00,0.000,1030,0.000,0.022,2193,2508,3555,3444,3667,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4476,-0.58,-175.2,2193,2508,3444,3662,580.7,-8.7,227,4482,0.00,2.33,0.00,0.000,260,0.000,0.044,2194,3844,3553,3444,3662,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4513,-0.58,-175.2,2193,3844,3444,3661,583.3,-8.7,228,4519,0.00,2.12,0.00,0.000,1030,0.000,0.023,2193,2513,3552,3444,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4830,-0.58,-175.2,2193,2513,3443,3659,611.7,-8.7,242,4836,0.00,2.33,0.00,0.000,260,0.000,0.047,2193,3841,3551,3443,3659,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4882,-0.58,-175.2,2193,3841,3443,3659,614.9,-8.7,243,4888,0.00,2.12,0.00,0.000,1030,0.000,0.024,2193,2518,3551,3443,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5204,-0.58,-175.2,2193,2518,3442,3653,645.2,-9.3,254,5210,0.00,2.47,0.00,0.000,516,0.000,0.031,2193,1085,3547,3442,3653,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5230,-0.58,-175.2,2193,1085,3442,3653,645.2,-9.3,254,5236,0.00,2.62,0.00,0.000,1030,0.000,0.031,2193,2568,3548,3442,3654,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5553,-0.58,-175.2,2193,2566,3439,3650,677.2,-9.1,265,5559,0.00,2.15,0.00,0.000,260,0.000,0.048,2184,3830,3545,3440,3650,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5601,-0.58,-175.2,2179,3830,3438,3649,681.0,-9.2,266,5608,0.00,2.12,0.00,0.000,1030,0.000,0.024,2183,2515,3544,3438,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5928,-0.58,-175.2,2183,2514,3437,3646,713.7,-9.8,277,5934,0.00,2.33,0.00,0.000,260,0.000,0.047,2181,3824,3541,3438,3645,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6011,-0.58,-175.2,2181,3823,3437,3645,720.7,-10.1,279,6017,0.00,2.12,0.00,0.000,1030,0.000,0.024,2181,2515,3541,3437,3645,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6332,-0.58,-175.2,2181,2516,3436,3641,753.6,-9.6,290,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2516,3538,3436,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6633,-0.58,-175.2,2181,2516,3435,3638,781.0,-9.0,300,6639,0.00,2.35,0.00,0.000,260,0.000,0.047,2180,3840,3535,3434,3637,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6665,-0.58,-175.2,2180,3840,3430,3638,781.0,-9.0,300,6673,0.00,2.15,0.00,0.000,1030,0.000,0.024,2181,2516,3536,3434,3638,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6974,-0.58,-175.2,2180,2517,3433,3634,811.3,-8.9,311,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2517,3533,3433,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,-0.58,-175.2,2181,2517,3431,3632,837.1,-8.2,321,7277,0.00,2.35,0.00,0.000,260,0.000,0.049,2179,3825,3532,3432,3632,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7314,-0.58,-175.2,2178,3825,3431,3632,841.0,-8.8,322,7320,0.00,2.15,0.00,0.000,1030,0.000,0.024,2179,2515,3531,3431,3632,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7647,-0.58,-175.2,2178,2516,3430,3629,869.2,-8.5,333,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2516,3529,3430,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,-0.58,-175.2,2178,2516,3430,3626,895.7,-8.9,343,7953,0.00,2.33,0.00,0.000,260,0.000,0.046,2168,3824,3527,3429,3626,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8003,-0.58,-175.2,2167,3824,3429,3626,899.3,-9.1,344,8010,0.00,2.15,0.00,0.000,1030,0.000,0.025,2168,2513,3527,3428,3626,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8324,-0.58,-175.2,2168,2513,3428,3624,933.4,-10.3,355,8330,0.00,2.33,0.00,0.000,260,0.000,0.047,2160,3827,3526,3428,3624,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8362,-0.58,-175.2,2160,3827,3426,3624,937.8,-10.6,356,8369,0.12,2.15,0.00,0.000,3078,0.116,0.026,2201,2520,3525,3426,3624,0,0,0,0,0,0,26.06,26.30,28.83
$GC,8699,-0.58,-175.2,2200,2520,3425,3621,967.1,-8.6,367,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2521,3523,3426,3621,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8996,begin apogee
$GC,9004,-0.12,0.0,2199,2662,3425,3619,992.3,-8.3,377,9165,0.38,0.00,156.90,0.998,10246,0.083,0.000,2338,2662,2851,2878,2825,0,0,0,0,0,0,25.97,28.83,23.51
$STATE,9168,end apogee,CONTROL_FINISHED_OK
$STATE,9168,begin climb
$GC,9175,0.58,175.2,2338,2662,2867,2803,1001.8,0.0,381,9357,0.57,2.97,170.02,0.953,10756,0.031,0.024,2612,1189,2124,2257,1991,0,0,0,0,0,0,25.16,24.78,23.49
$GC,9381,0.77,252.1,2612,1188,2242,1981,998.0,6.7,389,9465,0.00,2.83,76.30,0.905,9222,0.000,0.028,2601,2655,1820,1975,1666,0,0,0,0,0,0,28.83,25.19,23.62
$GC,9799,0.77,252.1,2600,2654,1959,1633,939.6,13.7,403,9805,0.00,2.75,0.00,0.000,516,0.000,0.024,2613,1178,1795,1957,1633,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9829,0.77,252.1,2612,1177,1956,1632,939.6,13.7,403,9837,0.00,2.78,0.00,0.000,1030,0.000,0.028,2600,2660,1792,1952,1632,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10138,0.77,252.1,2600,2658,1953,1631,893.5,13.5,414,10144,0.00,1.90,0.00,0.000,260,0.000,0.042,2591,3829,1792,1953,1632,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10176,0.77,252.1,2591,3829,1953,1632,887.9,13.7,415,10181,0.00,1.90,0.00,0.000,1030,0.000,0.016,2600,2589,1792,1953,1631,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10511,0.77,252.1,2601,2586,1951,1632,844.5,12.3,426,10517,0.00,2.15,0.00,0.000,260,0.000,0.042,2591,3837,1791,1951,1632,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10536,0.77,252.1,2591,3837,1951,1632,844.5,12.3,426,10542,0.00,1.90,0.00,0.000,1030,0.000,0.018,2601,2594,1791,1951,1632,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,18117,end climb,SURFACE_DEPTH_REACHED
$STATE,18117,begin surface coast
$FINISH,-0.2,1.021208
$STATE,18159,end surface coast,CONTROL_FINISHED_OK
$STATE,18159,begin surface
$SM_CCo,18181,22.20,0.121,0,0,1098,430.01
$SM_GC,0.19,6.47,0.35,22.20,0.021,0.031,0.121,133,2502,1098,-6.94,0.34,430.01,0,0,0,0,0,0,26.17,26.46,25.39
$IRIDIUM_FIX,1943.54,12335.05,030713,040440
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.77
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,25.00
$XPDR_PINGS,-1
$SC_FREEKB,3757792
$24V_AH,23.5,69.652
$10V_AH,9.9,52.341
$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,16.975,182.325,530.650,22.200,0.000,0.000,0.000,456.925,0.000,0.000,14.463,3261.503,11525.907,757.464,2373.949,1064.008,0.000,2267.402,0.000,1795.366,0.000,1.058,0.000
$DEVICE_MAMPS,232.560,70.380,997.560,120.870,0.000,0.000,0.000,123.165,0.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.515,0.000,0.000,0.000
$MEM,328864
$DATA_FILE_SIZE,30060,811
$CAP_FILE_SIZE,418897,0
$CFSIZE,260034560,171569152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,162.0,1
$GPS,030713,152959,1952.384,12336.397,38,1.4,43,-2.4