version: 66.11
glider: 169
mission: 8
dive: 789
start: 8 29 113 13 37 11
data:
$ID,169
$MISSION,8
$DIVE,789
$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,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$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,592.89008
$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,-23580.043
$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,2365
$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,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,0.003
$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,9.8000002
$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,0
$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
$GPS1,290813,133036,2119.380,12247.148,108,1.1,108,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-63.0
$GPS2,290813,133637,2119.438,12247.089,12,1.9,13,-2.7
$SPEED_LIMITS,0.163,0.265
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,337.6,237448,-5.0,-9.429,-19.60,3013
$D_GRID,4596
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.68,-184.9,121,2572,625,250,0.0,0.0,0,109,0.00,0.00,-85.32,0.000,16386,0.000,0.000,120,2572,2596,2589,2604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.68,-184.9,120,2572,2592,2604,3.4,-6.7,9,150,8.52,2.83,-19.27,0.000,18948,0.227,0.040,2137,1095,3607,3467,3748,0,0,0,0,0,0,24.66,25.81,26.53
$GC,234,-0.68,-184.9,2137,1095,3467,3748,32.0,-20.2,20,239,0.00,2.72,0.00,0.000,1030,0.000,0.034,2129,2566,3607,3467,3748,0,0,0,0,0,0,28.83,25.72,28.83
$GC,561,-0.68,-184.9,2129,2563,3467,3748,120.2,-23.2,49,567,0.00,2.03,0.00,0.000,260,0.000,0.047,2124,3823,3607,3467,3748,0,0,0,0,0,0,28.83,25.62,28.83
$GC,697,-0.68,-184.9,2124,3823,3467,3748,148.0,-21.7,55,700,0.00,2.03,0.00,0.000,1030,0.000,0.022,2125,2501,3607,3467,3748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1000,-0.68,-184.9,2124,2495,3467,3748,203.8,-16.4,71,1006,0.00,2.25,0.00,0.000,260,0.000,0.042,2116,3847,3607,3467,3748,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1117,-0.68,-184.9,2116,3847,3467,3748,220.6,-16.9,76,1122,0.00,2.05,0.00,0.000,1030,0.000,0.024,2117,2505,3607,3467,3748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1440,-0.68,-184.9,2116,2504,3467,3748,277.8,-16.1,93,1446,0.00,2.22,0.00,0.000,260,0.000,0.047,2114,3825,3608,3468,3748,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1477,-0.68,-184.9,2114,3825,3467,3748,281.1,-16.1,94,1482,0.12,2.03,0.00,0.000,3078,0.141,0.022,2149,2495,3607,3467,3748,0,0,0,0,0,0,25.82,26.20,28.83
$GC,1780,-0.68,-184.9,2149,2496,3467,3748,325.1,-13.1,110,1786,0.00,2.22,0.00,0.000,260,0.000,0.044,2142,3830,3607,3467,3748,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1865,-0.68,-184.9,2142,3830,3466,3748,335.6,-13.2,114,1871,0.00,2.03,0.00,0.000,1030,0.000,0.022,2142,2495,3607,3466,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2182,-0.68,-184.9,2142,2495,3466,3746,376.2,-12.7,130,2188,0.00,2.28,0.00,0.000,260,0.000,0.044,2142,3851,3606,3466,3746,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2281,-0.68,-184.9,2141,3851,3466,3745,389.2,-12.9,135,2285,0.00,2.05,0.00,0.000,1030,0.000,0.022,2142,2495,3605,3466,3744,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2595,-0.68,-184.9,2141,2494,3466,3741,425.7,-11.1,147,2601,0.00,2.28,0.00,0.000,260,0.000,0.044,2142,3822,3603,3466,3741,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2669,-0.68,-184.9,2141,3822,3466,3740,432.3,-10.9,149,2675,0.00,2.03,0.00,0.000,1030,0.000,0.022,2142,2493,3603,3466,3740,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2984,-0.68,-184.9,2141,2493,3466,3735,467.5,-10.8,160,2990,0.00,2.28,0.00,0.000,260,0.000,0.044,2141,3822,3600,3466,3735,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3051,-0.68,-184.9,2141,3822,3466,3735,474.2,-11.0,162,3057,0.00,1.98,0.00,0.000,1030,0.000,0.023,2141,2505,3600,3466,3735,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3375,-0.68,-184.9,2141,2505,3466,3729,510.8,-11.0,173,3381,0.00,2.25,0.00,0.000,260,0.000,0.046,2141,3825,3597,3466,3729,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3415,-0.68,-184.9,2141,3825,3466,3728,514.1,-11.1,174,3421,0.00,2.03,0.00,0.000,1030,0.000,0.023,2141,2495,3597,3466,3728,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3737,-0.68,-184.9,2141,2495,3466,3723,549.6,-10.4,185,3743,0.00,2.25,0.00,0.000,260,0.000,0.046,2141,3827,3594,3466,3723,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3771,-0.68,-184.9,2141,3827,3466,3722,552.6,-10.2,186,3776,0.00,2.03,0.00,0.000,1030,0.000,0.023,2141,2501,3594,3466,3722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4098,-0.68,-184.9,2141,2501,3465,3716,581.8,-8.8,197,4104,0.00,2.28,0.00,0.000,260,0.000,0.049,2141,3816,3591,3466,3716,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4123,-0.68,-184.9,2141,3816,3465,3716,581.8,-8.8,197,4126,0.00,2.03,0.00,0.000,1030,0.000,0.024,2141,2502,3590,3465,3716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4428,-0.68,-184.9,2141,2498,3465,3711,617.3,-11.3,208,4433,0.00,2.22,0.00,0.000,260,0.000,0.047,2141,3818,3588,3465,3711,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4494,-0.68,-184.9,2141,3818,3463,3711,624.3,-11.5,210,4499,0.00,2.00,0.00,0.000,1030,0.000,0.024,2141,2498,3587,3463,3711,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4818,-0.68,-184.9,2141,2499,3462,3706,661.0,-10.3,221,4823,0.00,2.28,0.00,0.000,260,0.000,0.048,2141,3844,3584,3462,3706,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4893,-0.68,-184.9,2141,3844,3461,3706,666.9,-9.9,223,4898,0.00,2.05,0.00,0.000,1030,0.000,0.025,2141,2507,3583,3461,3706,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5212,-0.68,-184.9,2141,2507,3461,3701,697.8,-9.3,234,5218,0.00,2.20,0.00,0.000,260,0.000,0.046,2141,3834,3581,3461,3701,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5271,-0.68,-184.9,2141,3834,3460,3701,703.8,-9.5,236,5277,0.00,2.05,0.00,0.000,1030,0.000,0.024,2141,2499,3580,3460,3701,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5601,-0.68,-184.9,2141,2499,3460,3697,741.3,-12.1,247,5607,0.00,2.25,0.00,0.000,260,0.000,0.049,2138,3827,3578,3460,3697,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5678,-0.68,-184.9,2137,3828,3458,3697,748.6,-12.1,249,5683,0.00,2.00,0.00,0.000,1030,0.000,0.024,2138,2503,3578,3459,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5992,-0.68,-184.9,2138,2503,3458,3692,785.2,-10.4,260,5998,0.00,2.22,0.00,0.000,260,0.000,0.048,2129,3831,3575,3458,3692,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6032,-0.68,-184.9,2128,3831,3457,3691,788.2,-10.2,261,6037,0.00,2.05,0.00,0.000,1030,0.000,0.024,2129,2494,3574,3457,3692,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6355,-0.68,-184.9,2128,2494,3457,3688,820.9,-10.3,272,6360,0.00,2.55,0.00,0.000,516,0.000,0.031,2129,1084,3572,3457,3688,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6394,-0.68,-184.9,2128,1084,3456,3688,824.3,-10.5,273,6400,0.00,2.70,0.00,0.000,1030,0.000,0.031,2125,2568,3572,3456,3688,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6716,-0.68,-184.9,2125,2566,3454,3685,862.5,-12.2,284,6721,0.00,2.08,0.00,0.000,260,0.000,0.048,2125,3818,3570,3455,3685,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6825,-0.68,-184.9,2125,3818,3454,3684,873.7,-12.3,287,6830,0.00,2.08,0.00,0.000,1030,0.000,0.026,2125,2504,3569,3454,3684,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7135,-0.68,-184.9,2125,2503,3453,3681,913.8,-12.2,298,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2503,3567,3454,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,-0.68,-184.9,2125,2503,3452,3677,947.2,-10.7,308,7442,0.00,2.30,0.00,0.000,260,0.000,0.052,2125,3821,3565,3453,3677,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7496,-0.68,-184.9,2125,3821,3452,3677,953.9,-10.8,310,7502,0.00,2.08,0.00,0.000,1030,0.000,0.026,2125,2505,3564,3452,3677,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,7822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7834,-0.12,0.0,2125,2603,3451,3674,990.7,-11.8,321,8049,0.57,0.10,208.55,0.793,10246,0.093,0.073,2323,2527,2851,2881,2821,0,0,0,0,0,0,25.21,24.87,23.68
$STATE,8050,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8055,0.68,184.9,2323,2528,2874,2796,1006.6,0.0,328,8253,0.65,2.65,186.23,0.929,11012,0.022,0.022,2701,1112,2091,2215,1967,0,0,0,0,0,0,25.38,25.08,23.66
$GC,8291,0.68,184.9,2701,1110,2190,1946,997.0,11.3,336,8298,0.35,2.75,0.00,0.000,5126,0.152,0.024,2588,2609,2068,2190,1946,0,0,0,0,0,0,24.84,25.51,28.83
$GC,8603,0.68,184.9,2588,2608,2185,1939,962.2,10.0,347,8609,0.00,2.00,0.00,0.000,260,0.000,0.040,2578,3832,2062,2185,1940,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8637,0.68,184.9,2578,3832,2182,1941,958.9,10.2,348,8642,0.00,2.03,0.00,0.000,1030,0.000,0.015,2588,2515,2061,2182,1940,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8962,0.68,184.9,2589,2512,2181,1939,926.2,10.1,359,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2512,2060,2181,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,0.68,184.9,2589,2512,2179,1939,896.5,10.2,369,9270,0.00,2.20,0.00,0.000,260,0.000,0.039,2579,3825,2058,2178,1939,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9308,0.68,184.9,2579,3825,2176,1940,893.1,10.3,370,9313,0.00,2.00,0.00,0.000,1030,0.000,0.017,2589,2518,2058,2176,1940,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9623,0.68,184.9,2589,2516,2176,1939,858.4,10.7,381,9629,0.00,2.22,0.00,0.000,260,0.000,0.039,2579,3836,2057,2176,1939,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9660,0.68,184.9,2579,3836,2175,1940,855.0,10.9,382,9665,0.00,2.00,0.00,0.000,1030,0.000,0.016,2589,2516,2057,2175,1940,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9983,0.68,184.9,2589,2514,2174,1939,820.4,10.3,393,9989,0.00,2.22,0.00,0.000,260,0.000,0.039,2579,3845,2056,2174,1939,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10048,0.68,184.9,2579,3845,2172,1939,813.8,10.6,395,10052,0.00,2.03,0.00,0.000,1030,0.000,0.016,2589,2526,2056,2172,1940,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10377,0.68,184.9,2590,2518,2172,1939,782.2,9.4,406,10383,0.00,2.53,0.00,0.000,516,0.000,0.025,2602,1100,2055,2172,1939,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,17738,end climb,SURFACE_DEPTH_REACHED
$STATE,17738,begin surface coast
$FINISH,-0.7,0.000000
$STATE,17759,end surface coast,CONTROL_FINISHED_OK
$STATE,17759,begin surface
$SM_CCo,17782,119.78,0.117,1,0,435,592.89
$SM_GC,0.23,7.07,0.15,119.78,0.039,0.056,0.117,135,2506,435,-6.91,0.42,592.89,0,0,0,0,1,0,25.79,26.37,24.37
$IRIDIUM_FIX,2111.01,12246.89,290813,080842
$TT8_MAMPS,0.02247,0.02247
$HUMID,52.04
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,25.20
$XPDR_PINGS,13
$24V_AH,23.7,110.068
$10V_AH,10.1,79.998
$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,18.250,192.000,729.025,119.775,0.000,0.000,0.000,211.450,3.250,0.000,13.778,776.928,13783.043,815.098,2239.654,642.749,0.000,2324.594,0.000,1979.273,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,73.440,929.475,117.045,0.000,0.000,0.000,110.160,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323312
$DATA_FILE_SIZE,30074,762
$CAP_FILE_SIZE,160712,0
$CFSIZE,260034560,128942080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.281,322.5,1
$GPS,290813,183723,2121.606,12245.305,65,1.7,65,-2.7