version: 66.11
glider: 169
mission: 8
dive: 795
start: 8 30 113 19 18 48
data:
$ID,169
$MISSION,8
$DIVE,795
$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,-23588.164
$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
$GPS1,300813,191102,2133.119,12239.329,44,1.7,45,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-64.5
$GPS2,300813,191814,2133.250,12239.250,34,2.5,54,-2.8
$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,327.1,208919,-5.0,-9.429,-19.60,3013
$D_GRID,4594
$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,-184.9,121,2580,630,246,0.0,0.0,0,109,0.00,0.00,-85.43,0.000,16386,0.000,0.000,121,2580,2629,2625,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.68,-184.9,121,2580,2626,2635,4.0,-8.5,9,150,8.50,2.85,-17.85,0.000,18948,0.226,0.040,2139,1072,3608,3468,3749,0,0,0,0,0,0,24.73,25.76,26.53
$GC,218,-0.68,-184.9,2138,1072,3468,3749,34.4,-25.8,19,224,0.00,2.75,0.00,0.000,1030,0.000,0.037,2138,2561,3608,3468,3749,0,0,0,0,0,0,28.83,25.65,28.83
$GC,528,-0.68,-184.9,2138,2558,3469,3749,115.0,-21.7,47,533,0.00,2.05,0.00,0.000,260,0.000,0.047,2128,3819,3609,3469,3749,0,0,0,0,0,0,28.83,25.58,28.83
$GC,638,-0.68,-184.9,2128,3819,3468,3749,137.8,-22.0,52,644,0.00,2.00,0.00,0.000,1030,0.000,0.023,2128,2509,3608,3468,3749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,946,-0.68,-184.9,2128,2507,3469,3749,199.1,-19.0,68,952,0.00,2.25,0.00,0.000,260,0.000,0.044,2122,3839,3608,3468,3749,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1003,-0.68,-184.9,2122,3839,3468,3749,207.0,-19.3,70,1009,0.00,2.05,0.00,0.000,1030,0.000,0.023,2122,2507,3609,3469,3749,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1328,-0.68,-184.9,2122,2505,3469,3749,260.3,-15.4,87,1333,0.00,2.25,0.00,0.000,260,0.000,0.043,2117,3853,3608,3468,3749,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1377,-0.68,-184.9,2116,3853,3468,3749,266.8,-16.0,89,1383,0.00,2.05,0.00,0.000,1030,0.000,0.022,2116,2508,3608,3468,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1689,-0.68,-184.9,2115,2506,3469,3749,317.3,-15.5,105,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2506,3608,3468,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1987,-0.68,-184.9,2116,2506,3468,3749,364.0,-15.2,120,1993,0.00,2.28,0.00,0.000,260,0.000,0.044,2112,3830,3608,3468,3749,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2133,-0.68,-184.9,2111,3829,3467,3749,384.1,-13.9,127,2139,0.08,2.03,0.00,0.000,3078,0.117,0.022,2141,2504,3608,3467,3749,0,0,0,0,0,0,25.86,26.17,28.83
$GC,2442,-0.68,-184.9,2141,2504,3467,3745,418.8,-11.2,140,2448,0.00,2.25,0.00,0.000,260,0.000,0.044,2141,3829,3606,3467,3745,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2467,-0.68,-184.9,2141,3829,3467,3744,418.8,-11.2,140,2473,0.00,2.05,0.00,0.000,1030,0.000,0.022,2141,2492,3605,3467,3744,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2804,-0.68,-184.9,2141,2492,3467,3740,460.2,-11.6,152,2810,0.00,2.25,0.00,0.000,260,0.000,0.044,2141,3821,3603,3467,3740,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2843,-0.68,-184.9,2141,3821,3467,3739,463.8,-11.6,153,2848,0.00,2.03,0.00,0.000,1030,0.000,0.022,2141,2503,3603,3467,3739,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3163,-0.68,-184.9,2140,2503,3467,3735,501.0,-11.1,164,3169,0.00,2.28,0.00,0.000,260,0.000,0.045,2138,3842,3601,3467,3735,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3260,-0.68,-184.9,2138,3842,3467,3733,510.7,-10.9,167,3265,0.00,2.05,0.00,0.000,1030,0.000,0.025,2138,2507,3600,3467,3733,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3583,-0.68,-184.9,2138,2507,3467,3726,542.8,-9.5,178,3589,0.00,2.53,0.00,0.000,516,0.000,0.029,2138,1093,3596,3467,3725,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3620,-0.68,-184.9,2138,1092,3467,3725,545.8,-9.5,179,3625,0.00,2.65,0.00,0.000,1030,0.000,0.032,2138,2566,3595,3466,3725,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3943,-0.68,-184.9,2137,2563,3466,3720,582.3,-12.0,190,3949,0.00,2.12,0.00,0.000,260,0.000,0.049,2129,3842,3593,3467,3720,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3983,-0.68,-184.9,2128,3842,3466,3720,586.0,-12.2,191,3989,0.00,2.10,0.00,0.000,1030,0.000,0.025,2129,2501,3593,3466,3720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4306,-0.68,-184.9,2129,2501,3465,3714,624.5,-10.7,202,4311,0.00,2.28,0.00,0.000,260,0.000,0.047,2125,3819,3589,3465,3714,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4359,-0.68,-184.9,2125,3819,3464,3714,627.7,-10.6,203,4365,0.00,2.08,0.00,0.000,1030,0.000,0.024,2125,2500,3589,3464,3714,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4694,-0.68,-184.9,2125,2500,3463,3708,667.1,-11.5,215,4700,0.00,2.30,0.00,0.000,260,0.000,0.048,2125,3827,3585,3463,3708,0,0,0,0,0,0,28.83,25.42,28.83
$GC,4771,-0.68,-184.9,2125,3826,3462,3707,674.2,-11.8,217,4777,0.00,2.05,0.00,0.000,1030,0.000,0.024,2125,2504,3584,3462,3707,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5086,-0.68,-184.9,2125,2504,3462,3704,714.4,-12.4,228,5092,0.00,2.28,0.00,0.000,260,0.000,0.048,2125,3826,3582,3462,3703,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5157,-0.68,-184.9,2125,3826,3461,3703,721.5,-12.2,230,5162,0.00,2.05,0.00,0.000,1030,0.000,0.024,2125,2503,3581,3461,3702,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5477,-0.68,-184.9,2125,2503,3461,3698,758.7,-11.1,241,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2503,3579,3461,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5779,-0.68,-184.9,2125,2503,3459,3694,791.9,-11.0,251,5784,0.00,2.28,0.00,0.000,260,0.000,0.049,2125,3827,3576,3459,3694,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5862,-0.68,-184.9,2124,3827,3458,3694,798.4,-10.9,253,5866,0.00,2.10,0.00,0.000,1030,0.000,0.025,2124,2497,3576,3458,3694,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6168,-0.68,-184.9,2124,2497,3457,3689,834.5,-11.0,264,6173,0.00,2.50,0.00,0.000,516,0.000,0.030,2124,1091,3573,3457,3689,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6192,-0.68,-184.9,2124,1091,3457,3689,834.5,-11.0,264,6198,0.00,2.67,0.00,0.000,1030,0.000,0.031,2116,2572,3573,3457,3689,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6530,-0.68,-184.9,2116,2569,3456,3685,873.9,-11.0,276,6535,0.00,2.10,0.00,0.000,260,0.000,0.050,2112,3818,3570,3456,3685,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6618,-0.68,-184.9,2112,3817,3454,3685,884.4,-11.5,279,6625,0.12,2.12,0.00,0.000,3078,0.127,0.028,2149,2508,3570,3455,3685,0,0,0,0,0,0,25.60,25.91,28.83
$GC,6950,-0.68,-184.9,2149,2508,3455,3681,916.5,-10.1,290,6956,0.00,2.30,0.00,0.000,260,0.000,0.048,2142,3824,3567,3454,3681,0,0,0,0,0,0,28.83,25.26,28.83
$GC,7039,-0.68,-184.9,2141,3824,3453,3681,926.2,-10.6,293,7044,0.00,2.10,0.00,0.000,1030,0.000,0.025,2142,2507,3567,3454,3681,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7369,-0.68,-184.9,2142,2507,3453,3676,962.3,-11.0,304,7375,0.00,2.30,0.00,0.000,260,0.000,0.048,2142,3821,3565,3453,3677,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7416,-0.68,-184.9,2142,3820,3453,3676,965.6,-11.0,305,7421,0.00,2.08,0.00,0.000,1030,0.000,0.026,2142,2511,3565,3453,3677,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,7636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7636,begin apogee
$GC,7646,-0.12,0.0,2142,2602,3453,3674,991.6,-10.8,313,7828,0.50,0.10,169.93,0.908,10246,0.087,0.072,2319,2528,2851,2883,2819,0,0,0,0,0,0,25.37,24.85,23.71
$STATE,7829,end apogee,CONTROL_FINISHED_OK
$STATE,7829,begin climb
$GC,7834,0.68,184.9,2319,2528,2876,2787,1005.0,0.0,319,8035,0.68,2.65,189.15,0.910,10756,0.028,0.024,2632,1090,2082,2211,1954,0,0,0,0,0,0,25.34,25.06,23.67
$GC,8096,0.68,184.9,2632,1091,2194,1941,994.6,10.7,328,8102,0.12,2.72,0.00,0.000,5126,0.137,0.024,2586,2596,2067,2194,1941,0,0,0,0,0,0,25.10,25.52,28.83
$GC,8421,0.68,184.9,2586,2594,2191,1936,960.3,10.6,339,8427,0.00,2.05,0.00,0.000,260,0.000,0.040,2577,3827,2063,2190,1937,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8572,0.68,184.9,2576,3827,2185,1939,946.1,11.9,343,8576,0.00,2.03,0.00,0.000,1030,0.000,0.015,2586,2524,2061,2184,1939,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8870,0.68,184.9,2587,2512,2184,1937,911.0,10.2,354,8876,0.00,2.25,0.00,0.000,260,0.000,0.039,2577,3829,2060,2184,1937,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8900,0.68,184.9,2576,3829,2181,1939,907.6,10.4,355,8906,0.00,2.03,0.00,0.000,1030,0.000,0.015,2587,2509,2060,2181,1939,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9233,0.73,203.1,2587,2507,2181,1938,876.9,8.8,366,9257,0.00,2.33,18.02,0.796,8452,0.000,0.039,2577,3828,2017,2135,1899,0,0,0,0,0,0,28.83,25.70,24.37
$GC,9320,0.73,203.1,2577,3828,2124,1886,867.8,9.7,369,9324,0.00,2.05,0.00,0.000,1030,0.000,0.016,2586,2526,2005,2124,1886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9655,0.79,220.5,2587,2517,2124,1882,837.5,8.8,380,9684,0.00,2.33,22.62,0.692,8452,0.000,0.040,2577,3840,1946,2058,1834,0,0,0,0,0,0,28.83,25.70,24.32
$GC,9707,0.86,244.6,2577,3840,2048,1824,835.3,8.6,381,9744,0.15,2.05,29.42,0.763,11270,0.067,0.016,2673,2518,1849,1969,1730,0,0,0,0,0,0,25.89,26.03,23.96
$GC,10072,0.86,244.6,2673,2518,1958,1697,777.2,15.6,394,10079,0.12,2.53,0.00,0.000,4612,0.168,0.024,2647,1097,1827,1958,1697,0,0,0,0,0,0,25.75,25.72,28.83
$GC,10117,0.86,244.6,2647,1096,1955,1698,772.9,15.4,395,10123,0.00,2.67,0.00,0.000,1030,0.000,0.024,2637,2596,1826,1954,1698,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10433,0.86,244.6,2637,2593,1954,1697,729.0,13.0,406,10438,0.00,2.08,0.00,0.000,260,0.000,0.039,2626,3851,1825,1954,1697,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,17280,end climb,SURFACE_DEPTH_REACHED
$STATE,17280,begin surface coast
$FINISH,-0.6,0.000000
$STATE,17290,end surface coast,CONTROL_FINISHED_OK
$STATE,17290,begin surface
$SM_CCo,17315,47.62,0.118,0,0,433,592.89
$SM_GC,0.19,7.05,0.17,47.62,0.021,0.047,0.118,133,2513,433,-6.91,0.31,592.89,0,0,0,0,0,0,25.71,26.23,25.25
$IRIDIUM_FIX,2122.58,12240.36,300813,141453
$TT8_MAMPS,0.02247,0.02247
$HUMID,53.03
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,110.935
$10V_AH,10.0,80.356
$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,18.075,187.775,681.450,47.625,0.000,0.000,0.000,240.100,0.000,0.000,56.037,770.320,13390.904,701.993,2286.238,632.373,0.000,2218.333,0.000,1958.183,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,71.910,910.350,117.810,0.000,0.000,0.000,110.160,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$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,323316
$DATA_FILE_SIZE,26766,745
$CAP_FILE_SIZE,157476,0
$CFSIZE,260034560,128557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.344,340.8,1
$GPS,310813,000935,2136.309,12238.104,40,1.3,45,-2.8