version: 66.11
glider: 169
mission: 8
dive: 804
start: 9 1 113 12 24 59
data:
$ID,169
$MISSION,8
$DIVE,804
$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,320
$T_MISSION,350
$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,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$HEADING,270
$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,-23600.062
$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
$GPS1,010913,121705,2152.000,12229.911,34,1.0,34,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-67.3
$GPS2,010913,122431,2152.105,12230.015,15,1.3,16,-2.8
$SPEED_LIMITS,0.179,0.291
$TGT_NAME,HEADING
$TGT_LATLONG,2152.105,12218.378
$TGT_RADIUS,1852.000
$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,272.8,20000,-5.5,-10.312,-19.50,3191
$D_GRID,4759
$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,-0.78,-214.1,121,2513,627,247,0.0,0.0,0,109,0.00,0.00,-85.55,0.000,16386,0.000,0.000,122,2513,2641,2635,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.78,-214.1,122,2513,2636,2648,4.1,-7.9,9,150,8.38,2.67,-19.02,0.000,18948,0.228,0.041,2108,1083,3728,3544,3912,0,0,0,0,0,0,24.72,25.77,26.51
$GC,186,-0.78,-214.1,2108,1083,3545,3912,28.5,-30.0,16,191,0.00,2.70,0.00,0.000,1030,0.000,0.039,2099,2550,3728,3545,3912,0,0,0,0,0,0,28.83,25.58,28.83
$GC,507,-0.78,-214.1,2099,2548,3545,3912,127.4,-24.7,43,513,0.00,2.10,0.00,0.000,260,0.000,0.044,2089,3821,3728,3544,3912,0,0,0,0,0,0,28.83,25.56,28.83
$GC,538,-0.78,-214.1,2089,3821,3544,3912,132.2,-23.1,44,543,0.00,2.08,0.00,0.000,1030,0.000,0.024,2089,2510,3728,3545,3912,0,0,0,0,0,0,28.83,26.07,28.83
$GC,846,-0.78,-214.1,2089,2507,3545,3912,199.8,-19.5,60,852,0.00,2.33,0.00,0.000,260,0.000,0.044,2084,3844,3728,3544,3912,0,0,0,0,0,0,28.83,25.53,28.83
$GC,901,-0.78,-214.1,2084,3844,3545,3912,207.3,-18.9,62,907,0.00,2.10,0.00,0.000,1030,0.000,0.024,2084,2514,3728,3545,3912,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1228,-0.78,-214.1,2084,2514,3544,3912,266.2,-17.7,79,1234,0.00,2.25,0.00,0.000,260,0.000,0.046,2074,3820,3728,3544,3912,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1322,-0.78,-214.1,2074,3820,3544,3912,281.0,-18.4,83,1328,0.15,2.08,0.00,0.000,3078,0.148,0.024,2114,2514,3728,3544,3912,0,0,0,0,0,0,25.58,26.08,28.83
$GC,1649,-0.78,-214.1,2114,2514,3544,3911,331.2,-13.9,100,1654,0.00,2.30,0.00,0.000,260,0.000,0.048,2112,3822,3727,3544,3911,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1717,-0.78,-214.1,2113,3822,3544,3911,339.7,-13.9,103,1721,0.00,2.08,0.00,0.000,1030,0.000,0.023,2112,2509,3727,3544,3911,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2032,-0.78,-214.1,2112,2508,3544,3908,384.9,-14.0,119,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2508,3726,3544,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,-0.78,-214.1,2112,2508,3544,3904,425.3,-12.9,131,2335,0.00,2.30,0.00,0.000,260,0.000,0.045,2112,3826,3724,3544,3904,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2419,-0.78,-214.1,2111,3826,3544,3903,436.8,-12.8,134,2425,0.00,2.08,0.00,0.000,1030,0.000,0.023,2111,2503,3723,3544,3903,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2752,-0.78,-214.1,2111,2503,3543,3897,481.1,-13.3,145,2757,0.00,2.28,0.00,0.000,260,0.000,0.045,2103,3829,3720,3543,3897,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2883,-0.78,-214.1,2103,3829,3543,3895,497.1,-13.3,149,2887,0.00,2.08,0.00,0.000,1030,0.000,0.023,2103,2505,3719,3543,3895,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3208,-0.78,-214.1,2103,2505,3543,3890,537.4,-12.0,160,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2504,3716,3543,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3506,-0.78,-214.1,2103,2504,3543,3884,578.2,-14.1,170,3511,0.00,2.33,0.00,0.000,260,0.000,0.046,2099,3837,3713,3543,3884,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3575,-0.78,-214.1,2099,3837,3543,3882,587.3,-14.7,172,3579,0.00,2.10,0.00,0.000,1030,0.000,0.024,2099,2515,3712,3543,3882,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3899,-0.78,-214.1,2099,2511,3543,3876,633.6,-13.2,183,3905,0.00,2.30,0.00,0.000,260,0.000,0.049,2099,3820,3709,3543,3876,0,0,0,0,0,0,28.83,25.38,28.83
$GC,3993,-0.78,-214.1,2099,3821,3542,3875,645.1,-12.7,186,3999,0.00,2.08,0.00,0.000,1030,0.000,0.024,2099,2508,3708,3542,3875,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4320,-0.78,-214.1,2099,2507,3542,3870,683.9,-11.4,197,4326,0.00,2.33,0.00,0.000,260,0.000,0.046,2093,3828,3705,3542,3869,0,0,0,0,0,0,28.83,25.42,28.83
$GC,4354,-0.78,-214.1,2093,3828,3542,3869,687.8,-11.6,198,4360,0.00,2.10,0.00,0.000,1030,0.000,0.024,2093,2507,3705,3542,3869,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4679,-0.78,-214.1,2092,2506,3541,3864,730.0,-12.9,209,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2506,3702,3541,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,-0.78,-214.1,2092,2506,3539,3860,767.2,-12.1,219,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2506,3699,3539,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.78,-214.1,2092,2506,3538,3856,806.3,-14.0,229,5285,0.00,2.33,0.00,0.000,260,0.000,0.047,2087,3823,3696,3538,3855,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5309,-0.78,-214.1,2087,3823,3537,3855,810.7,-14.3,230,5315,0.00,2.10,0.00,0.000,1030,0.000,0.024,2087,2506,3696,3537,3855,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5641,-0.78,-214.1,2087,2505,3537,3851,862.0,-15.7,241,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2505,3693,3536,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-0.78,-214.1,2087,2505,3535,3848,908.2,-15.1,251,5945,0.00,2.33,0.00,0.000,260,0.000,0.047,2086,3831,3691,3535,3848,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5966,-0.78,-214.1,2086,3831,3535,3847,908.2,-15.1,251,5971,0.00,2.10,0.00,0.000,1030,0.000,0.024,2086,2510,3691,3535,3847,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6301,-0.78,-214.1,2086,2510,3535,3843,960.5,-14.4,263,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2510,3689,3535,3843,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6505,begin apogee
$GC,6515,-0.12,0.0,2085,2608,3533,3841,991.0,-14.6,270,6723,0.70,0.08,200.82,0.893,10246,0.097,0.037,2321,2533,2849,2892,2807,0,0,0,0,0,0,24.94,24.81,23.72
$STATE,6724,end apogee,CONTROL_FINISHED_OK
$STATE,6724,begin climb
$GC,6731,0.78,214.1,2321,2533,2886,2781,1006.9,0.0,277,6951,0.75,2.28,209.00,0.952,10500,0.028,0.037,2645,3830,1972,2086,1858,0,0,0,0,0,0,25.31,25.03,23.69
$GC,6987,0.78,214.1,2645,3830,2060,1843,997.0,10.9,285,6993,0.15,2.05,0.00,0.000,5126,0.168,0.015,2617,2529,1951,2060,1842,0,0,0,0,0,0,25.12,25.68,28.83
$GC,7321,0.78,214.1,2617,2527,2050,1835,953.0,11.5,297,7327,0.00,2.55,0.00,0.000,516,0.000,0.024,2629,1105,1942,2051,1834,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7341,0.78,214.1,2629,1104,2046,1835,953.0,11.5,297,7347,0.00,2.65,0.00,0.000,1030,0.000,0.024,2618,2602,1940,2046,1835,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7653,0.78,214.1,2618,2600,2046,1834,915.7,11.2,308,7659,0.00,2.03,0.00,0.000,260,0.000,0.039,2608,3830,1940,2046,1834,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7682,0.78,214.1,2607,3830,2045,1834,912.0,11.2,309,7686,0.00,2.05,0.00,0.000,1030,0.000,0.015,2617,2529,1939,2045,1834,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8014,0.78,214.1,2619,2509,2044,1833,876.9,10.4,320,8020,0.00,2.30,0.00,0.000,260,0.000,0.039,2608,3838,1938,2044,1833,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8061,0.78,214.1,2608,3837,2043,1833,873.3,10.7,321,8065,0.00,2.08,0.00,0.000,1030,0.000,0.016,2618,2529,1938,2043,1833,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8378,0.78,214.1,2618,2516,2042,1832,837.1,11.0,332,8384,0.00,2.47,0.00,0.000,516,0.000,0.025,2630,1101,1937,2042,1832,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8408,0.78,214.1,2630,1100,2039,1833,833.7,11.1,333,8414,0.00,2.65,0.00,0.000,1030,0.000,0.024,2623,2599,1936,2039,1833,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8740,0.78,214.1,2622,2597,2039,1833,794.3,12.0,344,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2597,1935,2039,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9038,0.78,214.1,2622,2596,2039,1832,759.5,11.4,354,9043,0.00,2.08,0.00,0.000,260,0.000,0.039,2613,3852,1935,2039,1832,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9123,0.78,214.1,2613,3852,2038,1831,751.8,12.1,356,9126,0.00,2.10,0.00,0.000,1030,0.000,0.016,2622,2501,1935,2038,1832,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9430,0.78,214.1,2623,2499,2038,1831,714.9,11.2,367,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2499,1935,2038,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9728,0.78,214.1,2623,2499,2038,1831,678.8,12.0,377,9734,0.00,2.30,0.00,0.000,260,0.000,0.038,2613,3837,1934,2038,1831,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9773,0.78,214.1,2613,3837,2038,1831,674.9,12.3,378,9778,0.00,2.05,0.00,0.000,1030,0.000,0.015,2623,2517,1934,2038,1831,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10091,0.78,214.1,2623,2515,2038,1831,633.2,12.4,389,10096,0.00,2.25,0.00,0.000,260,0.000,0.038,2613,3827,1934,2038,1831,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10145,0.78,214.1,2613,3827,2038,1831,629.2,12.5,390,10150,0.00,2.05,0.00,0.000,1030,0.000,0.015,2623,2514,1934,2038,1831,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10480,0.78,214.1,2623,2513,2038,1831,589.4,10.9,402,10486,0.00,2.28,0.00,0.000,260,0.000,0.038,2614,3830,1934,2038,1831,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10507,0.78,214.1,2613,3830,2038,1831,589.4,10.9,402,10510,0.00,2.05,0.00,0.000,1030,0.000,0.015,2623,2533,1934,2038,1831,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10811,0.84,234.9,2624,2513,2038,1831,556.3,9.6,413,10846,0.00,2.35,24.00,0.636,8452,0.000,0.038,2614,3833,1889,1992,1786,0,0,0,0,1,0,28.83,25.57,23.36
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$GC,12522,0.98,281.7,2685,1111,1867,1635,352.1,9.9,477,12559,0.00,2.65,24.98,0.517,9222,0.000,0.024,2673,2597,1699,1819,1579,0,0,0,0,1,0,28.83,25.63,24.49
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$STATE,15733,end climb,SURFACE_DEPTH_REACHED
$STATE,15733,begin surface coast
$FINISH,-0.1,0.000000
$STATE,15753,end surface coast,CONTROL_FINISHED_OK
$STATE,15753,begin surface
$SM_CCo,15778,121.97,0.116,0,0,432,592.89
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$IRIDIUM_FIX,2141.13,12230.59,010913,070738
$TT8_MAMPS,0.02247,0.02247
$HUMID,53.46
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.4,112.296
$10V_AH,10.0,80.855
$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
$DEVICE_SECS,17.250,151.000,691.975,121.975,0.000,0.000,0.000,233.125,0.000,0.000,17.065,671.803,12317.933,788.081,1962.907,586.935,0.000,2138.624,0.000,1694.223,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,26750,682
$CAP_FILE_SIZE,138554,0
$CFSIZE,260034560,128020480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,010913,165106,2153.661,12228.565,27,2.0,27,-2.8