version: 66.11
glider: 169
mission: 8
dive: 21
start: 3 20 113 6 22 6
data:
$ID,169
$MISSION,8
$DIVE,21
$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,390
$T_MISSION,410
$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,170
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,400
$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,-20879.467
$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,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2764
$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,49
$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
$GPS1,200313,061206,1841.948,12443.479,28,1.0,29,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-71.6
$GPS2,200313,062136,1841.979,12443.554,11,1.2,16,-2.2
$SPEED_LIMITS,0.147,0.260
$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,199.0,97440,-14.7,-8.462,-18.04,2986
$D_GRID,5440
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.96,-165.5,123,2436,1093,795,0.0,0.0,0,108,0.00,0.00,-83.05,0.000,16386,0.000,0.000,123,2436,3060,2980,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.96,-165.5,123,2436,2979,3141,3.2,-6.6,11,137,7.82,2.55,-6.95,0.000,18948,0.233,0.052,2111,948,3442,3328,3556,0,0,0,0,0,0,25.95,26.15,26.43
$GC,187,0.36,-165.5,2111,948,3329,3558,38.4,-44.3,20,193,1.50,2.47,0.00,0.000,3078,0.174,0.038,2536,2418,3443,3329,3558,0,0,0,0,0,0,26.04,26.20,28.83
$GC,503,-0.91,-165.5,2536,2416,3333,3558,69.8,-8.8,40,510,1.02,2.42,0.00,0.000,4612,0.054,0.030,2132,940,3445,3332,3558,0,0,0,0,0,0,26.41,26.41,28.83
$GC,648,-0.06,-165.5,2131,940,3332,3558,101.6,-29.5,46,657,0.93,2.47,0.00,0.000,3078,0.161,0.044,2405,2411,3445,3333,3558,0,0,0,0,0,0,26.32,26.44,28.83
$GC,956,-1.16,-165.5,2405,2409,3335,3558,128.7,-7.4,62,963,0.88,2.28,0.00,0.000,4356,0.052,0.040,2049,3821,3446,3335,3558,0,0,0,0,0,0,26.55,26.53,28.83
$GC,1073,0.23,-165.5,2049,3821,3335,3558,164.2,-39.7,67,1080,1.52,2.30,0.00,0.000,3078,0.174,0.033,2501,2377,3446,3335,3558,0,0,0,0,0,0,26.41,26.58,28.83
$GC,1392,-1.12,-165.5,2500,2376,3337,3558,196.1,-8.1,83,1398,1.12,2.38,0.00,0.000,4356,0.069,0.042,2068,3819,3447,3337,3558,0,0,0,0,0,0,26.59,26.60,28.83
$GC,1449,-1.52,-165.5,2068,3819,3337,3558,203.7,-11.8,85,1456,0.32,2.30,0.00,0.000,5126,0.051,0.034,1930,2375,3447,3337,3558,0,0,0,0,0,0,26.64,26.64,28.83
$GC,1768,0.05,-165.5,1929,2374,3338,3557,335.2,-37.1,101,1775,1.67,2.40,0.00,0.000,2564,0.182,0.040,2442,945,3448,3339,3557,0,0,0,0,0,0,26.48,26.64,28.83
$GC,1923,-1.49,-165.5,2441,946,3341,3557,349.7,-8.0,108,1930,1.38,2.40,0.00,0.000,5126,0.093,0.028,1950,2436,3448,3340,3557,0,0,0,0,0,0,26.60,26.68,28.83
$GC,2247,-0.13,-165.5,1950,2434,3340,3557,449.2,-33.4,124,2254,1.40,2.28,0.00,0.000,2308,0.171,0.054,2365,3829,3448,3339,3557,0,0,0,0,0,0,26.52,26.65,28.83
$GC,2427,-1.54,-165.5,2365,3833,3340,3557,464.7,-7.9,132,2434,1.27,2.22,0.00,0.000,5126,0.113,0.018,1941,2346,3448,3340,3557,0,0,0,0,0,0,26.61,26.77,28.83
$GC,2746,-0.24,-165.5,1940,2347,3339,3555,552.6,-29.6,148,2752,1.30,2.47,0.00,0.000,2308,0.164,0.054,2333,3816,3447,3340,3554,0,0,0,0,0,0,26.56,26.67,28.83
$GC,2986,-1.19,-165.5,2333,3816,3341,3554,570.8,-8.0,159,2993,0.77,2.25,0.00,0.000,5126,0.042,0.024,2016,2360,3446,3340,3553,0,0,0,0,0,0,26.74,26.76,28.83
$GC,3322,-0.27,-165.5,2016,2360,3339,3547,645.6,-24.2,173,3329,0.98,2.45,0.00,0.000,2308,0.142,0.051,2322,3822,3446,3345,3547,0,0,0,0,0,0,26.60,26.70,28.83
$GC,3390,-0.13,-165.5,2322,3822,3340,3546,650.9,-16.0,175,3396,0.17,2.25,0.00,0.000,3078,0.054,0.021,2531,2350,3443,3340,3546,0,0,0,0,0,0,26.78,26.78,28.83
$GC,3727,-1.60,-165.5,2531,2350,3339,3539,672.5,-6.2,186,3734,1.88,2.30,0.00,0.000,4612,0.157,0.028,1935,925,3439,3339,3539,0,0,0,0,0,0,26.59,26.73,28.83
$GC,3971,-0.41,-165.5,1934,923,3339,3535,725.1,-27.1,193,3978,1.20,2.45,0.00,0.000,3078,0.166,0.039,2287,2419,3437,3339,3535,0,0,0,0,0,0,26.57,26.72,28.83
$GC,4288,-1.60,-165.5,2287,2418,3339,3529,752.5,-7.1,204,4294,0.95,2.28,0.00,0.000,4356,0.057,0.044,1910,3835,3433,3339,3528,0,0,0,0,0,0,26.72,26.72,28.83
$GC,4329,-2.27,-165.5,1910,3835,3336,3528,758.1,-9.4,205,4336,0.55,2.33,0.00,0.000,5126,0.057,0.037,1695,2381,3432,3337,3528,0,0,0,0,0,0,26.72,26.74,28.83
$GC,4661,-0.20,-165.5,1695,2379,3333,3528,892.1,-40.6,216,4672,2.25,2.40,0.00,0.000,2564,0.197,0.044,2357,949,3431,3334,3528,0,0,0,0,0,0,26.53,26.70,28.83
$GC,4836,-1.58,-165.5,2356,949,3333,3525,907.1,-6.9,221,4843,1.23,2.35,0.00,0.000,5126,0.097,0.028,1923,2423,3429,3333,3525,0,0,0,0,0,0,26.66,26.74,28.83
$STATE,5155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5155,begin apogee
$GC,5162,-0.19,0.0,1920,2773,3330,3521,991.5,-28.5,232,5318,1.42,0.10,149.77,1.000,10246,0.169,0.075,2355,2690,2764,2787,2741,0,0,0,0,0,0,26.58,24.86,24.20
$STATE,5322,end apogee,CONTROL_FINISHED_OK
$STATE,5322,begin climb
$GC,5325,0.96,165.5,2359,2690,2777,2722,1001.2,0.0,236,5488,1.00,2.78,151.38,1.029,10756,0.033,0.024,2774,1307,2075,2187,1964,0,0,0,0,0,0,25.06,24.77,24.06
$GC,5548,-0.40,165.5,2774,1307,2174,1949,969.4,21.9,244,5555,1.62,2.85,0.00,0.000,5126,0.183,0.029,2311,2780,2063,2174,1953,0,0,0,0,0,0,25.26,25.41,28.83
$GC,5865,0.77,218.5,2311,2779,2170,1939,944.4,6.6,255,5923,0.98,1.58,48.25,0.945,10500,0.070,0.042,2667,3839,1865,1985,1745,0,0,0,0,0,0,26.07,25.29,24.65
$GC,5976,0.64,218.5,2667,3839,1972,1731,926.9,15.1,258,5983,0.15,1.60,0.00,0.000,5126,0.189,0.018,2640,2659,1851,1972,1731,0,0,0,0,0,0,25.48,25.70,28.83
$GC,6302,0.02,218.5,2640,2658,1971,1722,857.8,20.3,269,6309,0.62,2.53,0.00,0.000,4612,0.145,0.024,2455,1303,1847,1972,1722,0,0,0,0,0,0,26.05,26.17,28.83
$GC,6327,-0.60,218.5,2455,1303,1970,1720,857.8,20.3,269,6334,0.60,2.80,0.00,0.000,5126,0.063,0.034,2228,2780,1844,1970,1719,0,0,0,0,0,0,26.15,26.17,28.83
$GC,6644,0.85,241.9,2227,2778,1968,1718,831.0,7.7,280,6677,1.30,1.52,22.00,0.885,11012,0.091,0.043,2687,3834,1767,1891,1643,0,0,0,0,0,0,26.29,25.94,25.36
$GC,6871,-0.05,241.9,2686,3834,1882,1637,778.3,26.0,287,6878,0.88,1.60,0.00,0.000,5126,0.159,0.018,2415,2671,1757,1882,1633,0,0,0,0,0,0,26.06,26.28,28.83
$GC,7208,0.95,241.9,2415,2669,1882,1626,747.6,9.9,298,7216,0.82,2.55,0.00,0.000,2564,0.053,0.027,2748,1288,1753,1881,1626,0,0,0,0,0,0,26.37,26.39,28.83
$GC,7279,1.16,241.9,2747,1292,1881,1626,735.9,13.2,300,7287,0.17,2.78,0.00,0.000,3078,0.080,0.032,2818,2779,1754,1882,1626,0,0,0,0,0,0,26.39,26.39,28.83
$GC,7612,-0.27,241.9,2818,2778,1885,1625,619.8,35.6,311,7619,1.55,1.55,0.00,0.000,4356,0.190,0.042,2343,3838,1753,1881,1625,0,0,0,0,0,0,26.33,26.48,28.83
$GC,7651,-1.14,241.9,2343,3840,1881,1624,613.7,30.9,312,7658,0.73,1.58,0.00,0.000,5126,0.032,0.031,2029,2708,1751,1881,1622,0,0,0,0,0,0,26.53,26.53,28.83
$GC,7979,0.42,241.9,2029,2709,1871,1623,573.0,12.8,326,7986,1.52,2.67,0.00,0.000,2564,0.122,0.034,2568,1301,1747,1871,1623,0,0,0,0,0,0,26.45,26.54,28.83
$GC,8061,1.42,241.9,2568,1304,1871,1625,566.5,10.1,329,8071,0.80,2.75,0.00,0.000,3078,0.027,0.031,2924,2785,1747,1871,1624,0,0,0,0,0,0,26.60,26.54,28.83
$GC,8369,-0.36,241.9,2923,2784,1871,1625,443.9,41.4,345,8376,2.10,1.52,0.00,0.000,4356,0.209,0.042,2313,3831,1748,1871,1625,0,0,0,0,0,0,26.39,26.59,28.83
$GC,8445,-0.18,241.9,2313,3832,1871,1624,435.3,18.4,348,8452,0.17,1.55,0.00,0.000,3078,0.110,0.028,2372,2693,1748,1871,1625,0,0,0,0,0,0,26.53,26.63,28.83
$GC,8764,1.01,252.5,2372,2693,1870,1622,408.6,8.1,364,8775,1.02,2.60,2.05,0.233,10756,0.081,0.027,2765,1304,1736,1858,1615,0,0,0,0,0,0,26.56,26.61,25.22
$GC,8897,0.14,252.5,2763,1304,1858,1626,382.8,23.0,370,8904,0.90,2.75,0.00,0.000,5126,0.170,0.032,2482,2781,1742,1858,1627,0,0,0,0,0,0,26.46,26.60,28.83
$GC,9226,1.12,252.5,2482,2781,1858,1626,357.9,8.7,386,9233,0.80,2.70,0.00,0.000,2564,0.060,0.027,2797,1303,1742,1858,1626,0,0,0,0,0,0,26.62,26.65,28.83
$GC,9284,1.33,252.5,2796,1302,1858,1626,350.8,11.5,388,9291,0.20,2.72,0.00,0.000,3078,0.070,0.031,2871,2778,1742,1858,1626,0,0,0,0,0,0,26.65,26.64,28.83
$GC,9603,-0.19,252.5,2870,2776,1858,1627,245.6,32.1,404,9610,1.67,1.52,0.00,0.000,4356,0.197,0.042,2365,3846,1742,1858,1627,0,0,0,0,0,0,26.48,26.65,28.83
$GC,9748,1.58,311.8,2365,3847,1858,1627,235.1,6.4,410,9814,1.55,1.58,59.25,0.604,11270,0.073,0.031,2944,2684,1490,1621,1360,0,0,0,0,0,0,26.63,26.72,25.47
$GC,10131,-0.01,311.8,2943,2684,1602,1323,102.7,35.2,429,10139,1.77,2.62,0.00,0.000,4612,0.202,0.025,2447,1303,1462,1602,1322,0,0,0,0,0,0,26.11,26.29,28.83
$GC,10249,1.92,457.5,2447,1303,1602,1317,94.0,3.4,434,10382,1.65,2.78,123.07,0.279,11270,0.073,0.032,3052,2779,898,1058,738,0,0,0,0,0,0,26.32,26.35,25.60
$STATE,10460,end climb,SURFACE_DEPTH_REACHED
$STATE,10460,begin surface coast
$FINISH,0.3,1.022341
$STATE,10466,end surface coast,CONTROL_FINISHED_OK
$STATE,10467,begin surface
$SM_CCo,10548,0.00,0.000,0,0,912,454.30
$SM_GC,0.32,7.55,0.85,0.00,0.037,0.024,0.000,142,2357,912,-7.10,0.40,454.30,0,0,0,0,0,0,25.98,26.06,28.83
$IRIDIUM_FIX,1837.32,12442.00,200313,030345
$TT8_MAMPS,0.021721,0.021721
$HUMID,49.21
$INTERNAL_PRESSURE,9.33009
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,4010592
$24V_AH,24.1,3.274
$10V_AH,10.0,2.038
$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,65.700,107.350,555.775,0.000,0.000,0.000,0.000,344.850,0.000,0.000,16.794,2267.969,5880.259,634.238,1869.519,447.018,0.000,1829.174,0.000,1417.799,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,74.970,1028.925,0.000,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10528.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.749,0.000,0.000,0.000
$MEM,329108
$DATA_FILE_SIZE,16786,452
$CAP_FILE_SIZE,294698,0
$CFSIZE,260034560,253218816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 89.6,1
$GPS,200313,091857,1841.245,12443.582,11,2.1,31,-2.2