version: 66.11
glider: 169
mission: 8
dive: 30
start: 3 21 113 7 50 12
data:
$ID,169
$MISSION,8
$DIVE,30
$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,-20891.26
$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,20
$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,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
$GPS1,210313,074054,1832.711,12443.626,40,1.2,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-71.8
$GPS2,210313,074942,1832.760,12443.613,12,1.9,17,-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,189.7,80634,-14.7,-8.462,-18.04,2986
$D_GRID,5163
$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,-1.15,-165.5,124,2429,1284,979,0.0,0.0,0,106,0.00,0.00,-81.20,0.000,16386,0.000,0.000,124,2431,3267,3154,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.15,-165.5,124,2431,3155,3380,4.7,-12.2,11,128,7.53,2.58,-2.92,0.000,18948,0.230,0.054,2061,954,3441,3319,3564,0,0,0,0,0,0,26.01,26.20,26.45
$GC,280,-1.15,-165.5,2061,953,3322,3564,81.9,-41.0,25,286,0.00,2.42,0.00,0.000,1030,0.000,0.038,2050,2416,3443,3322,3564,0,0,0,0,0,0,28.83,26.34,28.83
$GC,595,-1.15,-165.5,2050,2414,3322,3564,218.3,-37.7,41,601,0.00,2.40,0.00,0.000,516,0.000,0.034,2053,951,3444,3324,3564,0,0,0,0,0,0,28.83,26.50,28.83
$GC,794,-1.15,-165.5,2053,951,3326,3564,274.7,-28.0,50,800,0.00,2.40,0.00,0.000,1030,0.000,0.034,2044,2418,3445,3326,3564,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1109,-1.15,-165.5,2044,2417,3330,3567,375.0,-28.6,66,1115,0.00,2.40,0.00,0.000,516,0.000,0.033,2044,936,3446,3331,3561,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1123,-1.15,-165.5,2044,936,3330,3561,375.0,-28.6,66,1130,0.00,2.42,0.00,0.000,1030,0.000,0.036,2033,2417,3445,3330,3561,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1440,-1.15,-165.5,2033,2415,3330,3561,463.6,-26.1,82,1446,0.00,2.40,0.00,0.000,516,0.000,0.034,2033,940,3445,3330,3561,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1523,-1.15,-165.5,2033,939,3330,3561,480.4,-24.3,85,1533,0.12,2.45,0.00,0.000,3078,0.173,0.039,2058,2422,3446,3331,3561,0,0,0,0,0,0,26.57,26.67,28.83
$GC,1830,-1.15,-165.5,2057,2421,3330,3559,553.4,-22.2,101,1836,0.00,2.40,0.00,0.000,516,0.000,0.034,2058,946,3444,3330,3559,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1856,-1.15,-165.5,2058,946,3330,3559,559.0,-22.0,102,1862,0.00,2.40,0.00,0.000,1030,0.000,0.035,2046,2420,3444,3330,3559,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2192,-1.15,-165.5,2046,2418,3330,3553,634.6,-22.4,116,2198,0.00,2.40,0.00,0.000,516,0.000,0.035,2047,947,3442,3330,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2259,-1.15,-165.5,2046,947,3330,3553,650.0,-23.0,118,2265,0.00,2.40,0.00,0.000,1030,0.000,0.034,2035,2422,3441,3330,3553,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2595,-1.15,-165.5,2038,2420,3330,3545,726.1,-22.8,129,2600,0.00,2.40,0.00,0.000,516,0.000,0.035,2042,944,3437,3330,3545,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2697,-1.15,-165.5,2042,944,3330,3543,747.4,-22.0,132,2704,0.00,2.40,0.00,0.000,1030,0.000,0.037,2032,2416,3436,3330,3543,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3028,-1.15,-165.5,2032,2414,3330,3542,819.1,-21.0,143,3034,0.00,2.40,0.00,0.000,516,0.000,0.037,2032,944,3433,3330,3536,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3113,-1.15,-165.5,2032,944,3330,3535,832.7,-20.7,145,3120,0.12,2.40,0.00,0.000,3078,0.167,0.037,2062,2416,3430,3330,3530,0,0,0,0,0,0,26.64,26.72,28.83
$GC,3430,-1.15,-165.5,2061,2415,3330,3527,893.8,-18.1,156,3436,0.00,2.40,0.00,0.000,516,0.000,0.037,2068,944,3428,3330,3527,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3477,-1.15,-165.5,2067,944,3329,3526,900.5,-18.2,157,3482,0.00,2.40,0.00,0.000,1030,0.000,0.036,2056,2420,3428,3330,3526,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3802,-1.15,-165.5,2056,2419,3329,3520,963.0,-18.8,168,3808,0.00,2.40,0.00,0.000,516,0.000,0.037,2056,944,3424,3328,3520,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3879,-1.15,-165.5,2056,944,3327,3520,975.1,-18.1,170,3885,0.00,2.38,0.00,0.000,1030,0.000,0.036,2046,2415,3423,3327,3520,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3964,begin apogee
$GC,3971,-0.25,0.0,2041,2770,3325,3520,992.9,-18.6,173,4122,0.93,0.08,140.68,1.040,10246,0.140,0.093,2343,2700,2756,2782,2730,0,0,0,0,0,0,26.61,24.91,24.31
$STATE,4124,end apogee,CONTROL_FINISHED_OK
$STATE,4126,begin climb
$GC,4128,1.15,165.5,2343,2700,2779,2725,999.6,0.0,177,4291,1.25,1.75,151.50,1.002,10500,0.053,0.035,2798,3837,2080,2190,1970,0,0,0,0,0,0,25.15,24.81,24.14
$GC,4460,1.15,165.5,2798,3838,2172,1962,924.7,33.5,187,4468,0.00,1.60,0.00,0.000,1030,0.000,0.017,2807,2645,2067,2172,1962,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4767,1.15,165.5,2807,2644,2168,1959,825.3,29.1,198,4773,0.00,1.77,0.00,0.000,260,0.000,0.037,2798,3853,2063,2168,1958,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4843,1.15,165.5,2798,3853,2166,1959,804.1,29.6,200,4848,0.00,1.58,0.00,0.000,1030,0.000,0.018,2807,2658,2062,2166,1959,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5170,1.15,165.5,2807,2651,2164,1957,707.2,28.8,211,5175,0.00,1.73,0.00,0.000,260,0.000,0.037,2799,3839,2060,2164,1957,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5245,1.15,165.5,2798,3839,2163,1957,685.4,30.6,213,5251,0.00,1.60,0.00,0.000,1030,0.000,0.018,2807,2643,2060,2163,1957,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5561,1.15,165.5,2809,2640,2156,1956,590.2,29.1,224,5567,0.00,1.73,0.00,0.000,260,0.000,0.038,2799,3835,2057,2160,1955,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5685,1.15,165.5,2798,3835,2159,1955,555.9,31.1,229,5694,0.00,1.55,0.00,0.000,1030,0.000,0.018,2808,2642,2057,2159,1956,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5992,1.15,165.5,2808,2642,2158,1955,465.9,28.8,245,5999,0.00,1.77,0.00,0.000,260,0.000,0.039,2799,3842,2056,2158,1955,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6092,1.15,165.5,2799,3842,2157,1955,440.0,29.5,249,6098,0.00,1.55,0.00,0.000,1030,0.000,0.018,2808,2643,2056,2157,1955,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6407,1.15,165.5,2808,2640,2155,1953,357.3,23.2,265,6413,0.00,1.73,0.00,0.000,260,0.000,0.037,2799,3839,2053,2155,1952,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6488,1.15,165.5,1808,3838,2115,1946,339.8,25.6,268,6495,0.00,1.55,0.00,0.000,1030,0.000,0.018,2808,2637,2053,2154,1953,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6794,1.15,165.5,2808,2637,2154,1952,272.0,20.4,284,6800,0.00,1.75,0.00,0.000,260,0.000,0.038,2799,3846,2053,2155,1952,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7034,1.15,165.5,2799,3846,2153,1952,218.3,22.5,295,7041,0.00,1.55,0.00,0.000,1030,0.000,0.017,2808,2630,2052,2153,1952,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7350,1.15,165.5,2808,2630,2153,1952,164.3,16.3,311,7356,0.00,1.73,0.00,0.000,260,0.000,0.036,2799,3841,2052,2153,1952,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7419,1.15,165.5,2799,3841,2153,1952,153.0,16.3,314,7425,0.00,1.52,0.00,0.000,1030,0.000,0.017,2809,2631,2052,2153,1952,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7746,1.15,165.5,2808,2631,2153,1952,115.4,8.9,330,7753,0.00,1.73,0.00,0.000,260,0.000,0.036,2799,3846,2052,2153,1952,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7781,1.15,165.5,2799,3846,2153,1952,113.1,8.5,331,7787,0.00,1.52,0.00,0.000,1030,0.000,0.018,2809,2632,2051,2153,1950,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8096,1.15,165.5,2809,2631,2153,1952,84.5,9.6,347,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2631,2052,2153,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,1.15,165.5,2808,2631,2153,1952,54.6,10.0,362,8402,0.00,1.75,0.00,0.000,260,0.000,0.035,2799,3853,2053,2154,1952,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8639,1.15,165.5,2799,3853,2154,1954,26.5,12.0,383,8646,0.00,1.52,0.00,0.000,1030,0.000,0.018,2809,2633,2053,2153,1954,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,8847,end climb,SURFACE_DEPTH_REACHED
$STATE,8847,begin surface coast
$FINISH,0.1,1.022303
$STATE,8871,end surface coast,CONTROL_FINISHED_OK
$STATE,8871,begin surface
$SM_CCo,8888,129.68,0.489,1,0,1131,400.08
$SM_GC,0.53,6.70,0.57,129.68,0.036,0.026,0.489,135,2362,1131,-7.12,0.40,400.08,0,0,0,0,1,0,26.74,26.83,25.25
$IRIDIUM_FIX,1825.94,12442.57,210313,050558
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.53
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,4006560
$24V_AH,24.1,4.375
$10V_AH,10.3,2.636
$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,16.650,82.825,292.175,129.675,0.000,0.000,0.000,316.650,0.000,0.000,18.597,1993.668,5013.729,556.125,1594.174,384.839,0.000,1550.583,0.000,1191.941,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,92.565,1039.635,488.835,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8916.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.577,0.000,0.000,0.000
$MEM,329152
$DATA_FILE_SIZE,16804,425
$CAP_FILE_SIZE,246803,0
$CFSIZE,260034560,252223488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.124,235.9,1
$GPS,210313,102135,1831.102,12443.440,26,1.2,26,-2.2