version: 66.11
glider: 169
mission: 8
dive: 607
start: 7 23 113 17 38 8
data:
$ID,169
$MISSION,8
$DIVE,607
$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,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,-23197.512
$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,2600
$C_ROLL_CLIMB,2575
$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
$GPS1,230713,172236,1825.259,12420.384,26,1.5,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-72.3
$GPS2,230713,173736,1825.237,12420.562,11,1.5,16,-2.1
$SPEED_LIMITS,0.163,0.258
$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,157.6,70048,-5.6,-9.429,-20.04,2855
$D_GRID,5824
$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,-175.2,122,2598,1285,926,0.0,0.0,0,100,0.00,0.00,-72.57,0.000,16386,0.000,0.000,122,2598,3027,2962,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.58,-175.2,122,2598,2963,3093,4.1,-10.0,9,131,9.15,2.92,-8.62,0.000,18948,0.239,0.043,2189,1145,3571,3441,3701,0,0,0,0,0,0,24.80,25.89,26.45
$GC,151,-0.58,-175.2,2188,1141,3442,3701,27.8,-48.8,14,159,0.00,2.90,0.00,0.000,1030,0.000,0.040,2181,2606,3572,3443,3701,0,0,0,0,0,0,28.83,25.80,28.83
$GC,459,-0.58,-175.2,2180,2603,3443,3701,97.7,-16.9,34,465,0.00,1.92,0.00,0.000,260,0.000,0.047,2181,3833,3572,3443,3701,0,0,0,0,0,0,28.83,25.89,28.83
$GC,588,-0.58,-175.2,2181,3833,3444,3701,116.0,-16.4,39,595,0.00,1.88,0.00,0.000,1030,0.000,0.024,2181,2567,3572,3444,3701,0,0,0,0,0,0,28.83,26.31,28.83
$GC,892,-0.58,-175.2,2181,2566,3445,3701,160.1,-12.8,55,898,0.00,2.08,0.00,0.000,260,0.000,0.047,2181,3822,3573,3445,3701,0,0,0,0,0,0,28.83,25.96,28.83
$GC,986,-0.58,-175.2,2180,3822,3444,3701,171.7,-12.7,59,991,0.00,1.85,0.00,0.000,1030,0.000,0.022,2181,2560,3572,3445,3700,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1314,-0.58,-175.2,2180,2560,3444,3701,211.5,-11.6,75,1321,0.00,2.67,0.00,0.000,516,0.000,0.027,2181,1115,3572,3444,3701,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1343,-0.58,-175.2,2181,1115,3444,3701,215.0,-11.7,76,1350,0.00,2.83,0.00,0.000,1030,0.000,0.031,2180,2614,3572,3444,3700,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1673,-0.58,-175.2,2181,2611,3444,3701,253.3,-11.2,92,1679,0.00,1.90,0.00,0.000,260,0.000,0.047,2180,3834,3573,3445,3701,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1764,-0.58,-175.2,2180,3833,3444,3700,263.4,-10.8,96,1770,0.00,1.88,0.00,0.000,1030,0.000,0.024,2181,2566,3572,3444,3701,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2096,-0.58,-175.2,2180,2565,3444,3700,297.2,-10.2,112,2102,0.00,2.08,0.00,0.000,260,0.000,0.047,2180,3831,3572,3444,3700,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2142,-0.58,-175.2,2180,3831,3444,3700,300.6,-10.3,113,2150,0.00,1.88,0.00,0.000,1030,0.000,0.023,2177,2558,3571,3443,3699,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2443,-0.58,-175.2,2180,2558,3444,3696,335.0,-11.0,129,2449,0.00,2.08,0.00,0.000,260,0.000,0.044,2180,3847,3570,3444,3696,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2479,-0.58,-175.2,2180,3847,3444,3695,337.9,-10.9,130,2485,0.00,1.90,0.00,0.000,1030,0.000,0.024,2181,2558,3569,3444,3695,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2795,-0.58,-175.2,2180,2556,3444,3691,370.5,-9.8,146,2801,0.00,2.05,0.00,0.000,260,0.000,0.045,2180,3832,3567,3443,3691,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2846,-0.58,-175.2,2180,3832,3444,3690,374.9,-9.5,148,2853,0.00,1.90,0.00,0.000,1030,0.000,0.024,2181,2556,3567,3444,3690,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3177,-0.58,-175.2,2180,2556,3444,3685,407.5,-10.3,164,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2555,3564,3443,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3475,-0.58,-175.2,2180,2555,3444,3681,439.5,-10.6,179,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2555,3563,3444,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.58,-175.2,2180,2555,3444,3676,469.5,-9.7,194,3780,0.00,2.10,0.00,0.000,260,0.000,0.045,2179,3848,3559,3443,3676,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3836,-0.58,-175.2,2179,3848,3443,3675,473.9,-9.4,196,3842,0.00,1.92,0.00,0.000,1030,0.000,0.025,2179,2559,3559,3444,3675,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4155,-0.58,-175.2,2179,2559,3444,3671,501.4,-8.2,212,4162,0.00,2.08,0.00,0.000,260,0.000,0.045,2170,3841,3557,3444,3670,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4193,-0.58,-175.2,2170,3841,3443,3669,504.1,-8.3,213,4200,0.00,1.90,0.00,0.000,1030,0.000,0.025,2170,2569,3559,3443,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4510,-0.58,-175.2,2169,2569,3443,3664,534.9,-10.0,229,4516,0.00,2.05,0.00,0.000,260,0.000,0.044,2167,3844,3553,3443,3664,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4547,-0.58,-175.2,2164,3844,3443,3666,537.6,-10.1,230,4553,0.00,1.90,0.00,0.000,1030,0.000,0.026,2164,2569,3553,3443,3663,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4863,-0.58,-175.2,2167,2569,3443,3664,572.9,-11.3,246,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2569,3551,3442,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5184,-0.58,-175.2,2167,2568,3441,3657,606.5,-9.9,261,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2569,3549,3442,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5484,-0.58,-175.2,2167,2568,3440,3653,634.4,-9.0,271,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2568,3547,3442,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5784,-0.58,-175.2,2167,2568,3438,3649,661.5,-9.2,281,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2568,3543,3438,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6083,-0.58,-175.2,2167,2568,3437,3647,690.2,-9.7,291,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2568,3542,3437,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6384,-0.58,-175.2,2167,2568,3436,3644,720.4,-10.1,301,6390,0.00,2.72,0.00,0.000,516,0.000,0.028,2167,1121,3539,3436,3643,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6411,-0.58,-175.2,2167,1121,3433,3644,720.4,-10.1,301,6417,0.10,2.80,0.00,0.000,3078,0.125,0.031,2196,2615,3539,3436,3643,0,0,0,0,0,0,25.93,26.05,28.83
$GC,6729,-0.58,-175.2,2196,2612,3434,3636,750.3,-8.4,312,6735,0.00,1.98,0.00,0.000,260,0.000,0.050,2193,3831,3537,3435,3639,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6759,-0.58,-175.2,2193,3831,3434,3639,750.3,-8.4,312,6767,0.00,1.95,0.00,0.000,1030,0.000,0.024,2193,2557,3537,3435,3639,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7069,-0.58,-175.2,2193,2554,3430,3636,778.2,-8.0,323,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2557,3535,3434,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7365,-0.58,-175.2,2193,2557,3431,3633,801.7,-7.8,333,7371,0.00,2.15,0.00,0.000,260,0.000,0.050,2194,3825,3532,3432,3633,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7410,-0.58,-175.2,2193,3825,3431,3633,804.6,-7.8,334,7416,0.00,1.95,0.00,0.000,1030,0.000,0.024,2194,2559,3531,3430,3633,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7742,-0.58,-175.2,2193,2560,3431,3630,830.0,-7.1,345,7748,0.00,2.62,0.00,0.000,516,0.000,0.028,2194,1121,3530,3431,3630,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7775,-0.58,-175.2,2193,1120,3430,3630,830.0,-7.1,345,7783,0.00,2.78,0.00,0.000,1030,0.000,0.031,2193,2612,3530,3430,3630,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8084,-0.58,-175.2,2193,2609,3430,3627,851.6,-6.2,356,8090,0.00,2.75,0.00,0.000,516,0.000,0.028,2193,1129,3529,3430,3628,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8133,-0.58,-175.2,2193,1128,3429,3628,854.4,-6.3,357,8140,0.00,2.80,0.00,0.000,1030,0.000,0.032,2193,2613,3528,3430,3627,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8462,-0.58,-175.2,2193,2612,3429,3625,876.5,-6.6,368,8468,0.00,1.98,0.00,0.000,260,0.000,0.047,2188,3849,3526,3428,3625,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8526,-0.58,-175.2,2188,3849,3427,3625,879.1,-6.8,369,8534,0.00,1.98,0.00,0.000,1030,0.000,0.027,2188,2564,3526,3427,3625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8835,-0.58,-175.2,2187,2564,3426,3623,902.9,-7.1,380,8840,0.00,2.60,0.00,0.000,516,0.000,0.028,2188,1130,3524,3426,3623,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8915,-0.58,-175.2,2188,1130,3426,3623,908.6,-7.4,382,8921,0.00,2.78,0.00,0.000,1030,0.000,0.032,2184,2615,3524,3426,3622,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9243,-0.58,-175.2,2183,2613,3426,3620,933.6,-7.4,393,9248,0.00,1.98,0.00,0.000,260,0.000,0.048,2181,3837,3523,3426,3621,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9302,-0.58,-175.2,2181,3837,3425,3617,936.4,-7.5,394,9308,0.00,1.98,0.00,0.000,1030,0.000,0.025,2181,2555,3523,3425,3621,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9623,-0.58,-175.2,2181,2555,3425,3619,962.7,-7.7,405,9629,0.00,2.15,0.00,0.000,260,0.000,0.048,2181,3826,3522,3425,3619,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9683,-0.58,-175.2,2180,3826,3425,3618,965.9,-7.7,406,9689,0.00,1.95,0.00,0.000,1030,0.000,0.026,2181,2563,3521,3425,3618,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,10002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10002,begin apogee
$GC,10010,-0.12,0.0,2181,2563,3425,3617,990.8,-7.1,417,10183,0.43,0.00,157.85,0.971,10246,0.072,0.000,2343,2562,2839,2869,2809,0,0,0,0,0,0,25.90,28.83,23.42
$STATE,10185,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin climb
$GC,10189,0.58,175.2,2342,2563,2866,2801,1001.7,0.0,422,10370,0.57,2.25,169.38,0.952,10500,0.034,0.041,2586,3828,2124,2257,1991,0,0,0,0,0,0,25.29,24.93,23.54
$GC,10490,0.58,175.2,2586,3828,2244,1977,980.2,13.5,432,10496,0.00,2.03,0.00,0.000,1030,0.000,0.017,2596,2525,2110,2244,1976,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10811,0.58,175.2,2597,2524,2240,1971,936.4,12.6,443,10818,0.12,2.22,0.00,0.000,4356,0.158,0.039,2548,3845,2105,2240,1971,0,0,0,0,0,0,25.88,25.87,28.83
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$STATE,19399,end climb,SURFACE_DEPTH_REACHED
$STATE,19400,begin surface coast
$FINISH,-0.5,1.021404
$STATE,19429,end surface coast,CONTROL_FINISHED_OK
$STATE,19429,begin surface
$SM_CCo,19513,0.00,0.000,0,0,942,468.52
$SM_GC,0.24,6.85,2.92,0.00,0.024,0.028,0.000,131,2615,942,-6.95,-0.20,468.52,0,0,0,0,0,0,26.03,25.96,28.83
$IRIDIUM_FIX,1816.86,12420.45,230713,111157
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.61
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3713312
$24V_AH,23.4,82.345
$10V_AH,9.6,61.718
$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,18.650,191.475,625.250,0.000,0.000,0.000,0.000,498.500,0.000,0.000,20.381,3430.521,12317.839,792.074,2549.088,1275.220,0.000,2466.474,0.000,1928.059,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,49.725,970.785,0.000,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19527.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.751,0.000,0.000,0.000
$MEM,328980
$DATA_FILE_SIZE,33318,851
$CAP_FILE_SIZE,445871,0
$CFSIZE,260034560,156553216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,116.8,1
$GPS,230713,230435,1823.614,12421.351,39,0.8,39,-2.1