version: 66.11
glider: 169
mission: 8
dive: 55
start: 3 26 113 8 22 12
data:
$ID,169
$MISSION,8
$DIVE,55
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,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,-20923.572
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,2575
$C_ROLL_CLIMB,2450
$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,2852
$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
$GPS1,260313,080954,1749.302,12419.508,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-72.5
$GPS2,260313,082143,1749.375,12419.544,9,1.6,9,-2.0
$SPEED_LIMITS,0.147,0.249
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,303.0,229916,-2.9,-8.462,-18.75,3180
$D_GRID,4070
$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,-0.52,-175.2,120,2553,1347,1099,0.0,0.0,0,91,0.00,0.00,-66.75,0.000,16386,0.000,0.000,120,2554,2919,2866,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.52,-175.2,120,2554,2866,2974,3.2,-6.6,9,121,8.15,2.10,-11.65,0.000,19204,0.228,0.064,2204,3835,3570,3437,3703,0,0,0,0,0,0,25.96,26.18,26.48
$GC,132,-0.52,-175.2,2204,3835,3437,3703,20.6,-44.3,13,140,0.00,1.88,0.00,0.000,1030,0.000,0.031,2205,2556,3570,3438,3703,0,0,0,0,0,0,28.83,26.26,28.83
$GC,449,-0.52,-175.2,2205,2557,3440,3703,131.5,-32.2,33,454,0.00,1.98,0.00,0.000,260,0.000,0.052,2196,3826,3571,3440,3702,0,0,0,0,0,0,28.83,26.41,28.83
$GC,483,-0.52,-175.2,2196,3826,3440,3703,139.1,-31.6,34,489,0.00,1.85,0.00,0.000,1030,0.000,0.030,2196,2554,3571,3440,3703,0,0,0,0,0,0,28.83,26.48,28.83
$GC,799,-0.52,-175.2,2196,2552,3442,3703,220.7,-21.7,50,805,0.00,2.58,0.00,0.000,516,0.000,0.033,2196,1128,3572,3441,3703,0,0,0,0,0,0,28.83,26.55,28.83
$GC,994,-0.52,-175.2,2196,1128,3442,3703,258.3,-16.9,59,1000,0.00,2.72,0.00,0.000,1030,0.000,0.038,2193,2586,3572,3442,3703,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1321,-0.52,-175.2,2193,2584,3442,3702,314.5,-17.6,75,1328,0.00,2.70,0.00,0.000,516,0.000,0.031,2193,1115,3572,3442,3703,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1409,-0.52,-175.2,2193,1115,3442,3703,328.5,-15.5,79,1416,0.00,2.72,0.00,0.000,1030,0.000,0.036,2193,2586,3573,3442,3704,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1737,-0.52,-175.2,2193,2583,3442,3702,377.7,-14.3,95,1743,0.00,2.70,0.00,0.000,516,0.000,0.031,2193,1108,3572,3442,3702,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1878,-0.52,-175.2,1344,1108,3433,3698,394.7,-12.4,101,1887,0.00,2.72,0.00,0.000,1030,0.000,0.032,2193,2589,3571,3443,3699,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2185,-0.52,-175.2,2193,2588,3443,3696,440.1,-14.4,117,2191,0.00,2.70,0.00,0.000,516,0.000,0.029,2193,1107,3569,3443,3696,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2282,-0.52,-175.2,2193,1106,3443,3695,451.8,-13.4,121,2290,0.00,2.72,0.00,0.000,1030,0.000,0.034,2193,2585,3568,3443,3694,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2600,-0.52,-175.2,2193,2583,3443,3689,492.7,-12.2,137,2606,0.00,2.70,0.00,0.000,516,0.000,0.031,2193,1110,3566,3443,3689,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2690,-0.52,-175.2,2193,1110,3443,3688,503.4,-11.9,141,2696,0.00,2.70,0.00,0.000,1030,0.000,0.034,2193,2583,3565,3443,3688,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3016,-0.52,-175.2,2193,2581,3443,3682,544.8,-13.2,157,3023,0.00,2.67,0.00,0.000,516,0.000,0.031,2193,1112,3562,3443,3682,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3099,-0.52,-175.2,2193,1112,3443,3680,554.0,-13.1,160,3106,0.00,2.70,0.00,0.000,1030,0.000,0.034,2193,2581,3561,3443,3680,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3405,-0.52,-175.2,2193,2579,3443,3674,592.6,-11.6,176,3412,0.10,2.67,0.00,0.000,2564,0.154,0.029,2223,1118,3557,3440,3674,0,0,0,0,0,0,26.68,26.72,28.83
$GC,3461,-0.52,-175.2,2223,1118,3443,3673,597.0,-10.5,178,3467,0.00,2.70,0.00,0.000,1030,0.000,0.034,2221,2584,3558,3443,3673,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3797,-0.52,-175.2,2221,2581,3443,3666,625.3,-8.2,190,3803,0.00,2.67,0.00,0.000,516,0.000,0.031,2221,1120,3554,3443,3666,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3852,-0.52,-175.2,2221,1120,3443,3664,628.5,-8.3,191,3859,0.00,2.70,0.00,0.000,1030,0.000,0.035,2220,2579,3553,3443,3664,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4171,-0.52,-175.2,2220,2577,3442,3660,658.3,-9.1,202,4178,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1113,3551,3443,3660,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4212,-0.52,-175.2,2220,1112,3444,3660,662.0,-9.1,203,4218,0.00,2.70,0.00,0.000,1030,0.000,0.034,2220,2580,3551,3443,3660,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4542,-0.52,-175.2,2220,2578,3439,3655,692.2,-9.1,214,4549,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1112,3547,3439,3655,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4597,-0.52,-175.2,2220,1112,3439,3654,695.5,-9.2,215,4604,0.00,2.70,0.00,0.000,1030,0.000,0.033,2220,2582,3546,3439,3654,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4915,-0.52,-175.2,2220,2580,3437,3651,724.5,-8.4,226,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2580,3544,3437,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5214,-0.52,-175.2,2220,2580,3435,3648,749.7,-8.4,236,5220,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1112,3541,3435,3648,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5263,-0.52,-175.2,2219,1112,3435,3647,752.8,-8.4,237,5269,0.00,2.70,0.00,0.000,1030,0.000,0.034,2221,2581,3541,3435,3647,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5583,-0.52,-175.2,2219,2578,3433,3644,781.7,-8.9,248,5590,0.00,2.65,0.00,0.000,516,0.000,0.031,2220,1123,3538,3433,3644,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5620,-0.52,-175.2,2219,1122,3433,3644,785.1,-9.0,249,5625,0.00,2.70,0.00,0.000,1030,0.000,0.034,2219,2583,3538,3433,3644,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5955,-0.52,-175.2,2219,2581,3431,3640,815.2,-9.0,260,5960,0.00,2.67,0.00,0.000,516,0.000,0.032,2220,1109,3535,3430,3640,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5995,-0.52,-175.2,2219,1109,3431,3640,818.5,-9.0,261,6001,0.00,2.70,0.00,0.000,1030,0.000,0.033,2220,2584,3535,3431,3640,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6326,-0.52,-175.2,2219,2582,3430,3637,844.3,-7.2,272,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2581,3533,3430,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,-0.52,-175.2,2219,2580,3428,3634,863.5,-6.2,282,6632,0.00,2.67,0.00,0.000,516,0.000,0.032,2220,1113,3531,3429,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6692,-0.52,-175.2,2219,1113,3429,3634,867.7,-6.4,284,6698,0.00,2.70,0.00,0.000,1030,0.000,0.034,2219,2579,3530,3428,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7028,-0.52,-175.2,2219,2576,3426,3631,889.8,-6.9,295,7033,0.00,2.67,0.00,0.000,516,0.000,0.032,2219,1109,3528,3426,3631,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7074,-0.52,-175.2,2219,1109,3426,3630,892.4,-7.1,296,7080,0.00,2.67,0.00,0.000,1030,0.000,0.032,2218,2581,3528,3426,3631,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7399,-0.52,-175.2,2218,2583,3425,3628,916.8,-7.3,307,7406,0.00,2.67,0.00,0.000,516,0.000,0.032,2218,1114,3526,3425,3628,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7430,-0.52,-175.2,2218,1113,3425,3628,916.8,-7.3,307,7438,0.00,2.70,0.00,0.000,1030,0.000,0.032,2207,2580,3527,3425,3629,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7739,-0.52,-175.2,2206,2578,3425,3626,943.4,-8.0,318,7746,0.00,2.67,0.00,0.000,516,0.000,0.032,2207,1111,3525,3424,3626,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7775,-0.52,-175.2,1344,1108,3414,3624,946.7,-8.2,319,7781,0.00,2.72,0.00,0.000,1030,0.000,0.034,2206,2579,3525,3425,3626,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8110,-0.52,-175.2,2206,2577,3424,3621,976.1,-8.8,330,8116,0.00,2.67,0.00,0.000,516,0.000,0.032,2207,1112,3523,3422,3624,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8160,-0.52,-175.2,2207,1112,3419,3624,978.5,-8.4,331,8166,0.00,2.70,0.00,0.000,1030,0.000,0.033,2206,2580,3524,3424,3624,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,8270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8270,begin apogee
$GC,8277,-0.14,0.0,2206,2405,3424,3622,990.4,-9.4,335,8436,0.38,0.15,151.38,0.972,10246,0.096,0.073,2345,2478,2844,2857,2831,0,0,0,0,0,0,26.65,24.93,24.29
$STATE,8439,end apogee,CONTROL_FINISHED_OK
$STATE,8439,begin climb
$GC,8442,0.52,175.2,2344,2478,2853,2821,997.1,0.0,339,8613,0.55,0.00,165.95,0.982,10758,0.035,0.000,2582,2477,2136,2260,2013,0,0,0,0,0,0,25.15,28.83,24.12
$GC,8900,0.52,175.2,2582,2477,2233,1991,954.1,13.1,356,8906,0.00,2.22,0.00,0.000,260,0.000,0.041,2571,3842,2109,2233,1986,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9005,0.52,175.2,2571,3842,2231,1986,940.7,13.6,359,9011,0.00,2.22,0.00,0.000,1030,0.000,0.017,2582,2397,2108,2231,1986,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9331,0.52,175.2,2583,2395,2228,1985,894.1,13.6,370,9337,0.00,2.40,0.00,0.000,260,0.000,0.041,2572,3844,2106,2228,1985,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9492,0.52,175.2,2571,3844,2227,1985,870.6,15.4,375,9498,0.00,2.22,0.00,0.000,1030,0.000,0.019,2586,2399,2106,2227,1985,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9827,0.52,175.2,2583,2398,2224,1985,826.8,13.0,386,9833,0.00,2.38,0.00,0.000,260,0.000,0.040,2576,3836,2105,2225,1985,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9994,0.52,175.2,2575,3836,2224,1985,804.0,14.4,391,10000,0.00,2.20,0.00,0.000,1030,0.000,0.018,2587,2389,2104,2224,1985,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10319,0.52,175.2,2588,2388,2223,1985,760.9,12.8,402,10326,0.12,2.40,0.00,0.000,4356,0.168,0.039,2537,3837,2104,2223,1985,0,0,0,0,0,0,26.40,26.49,28.83
$GC,10481,0.52,175.2,2537,3837,2222,1985,742.6,11.3,407,10487,0.00,2.20,0.00,0.000,1030,0.000,0.019,2547,2399,2103,2222,1985,0,0,0,0,0,0,28.83,26.58,28.83
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$STATE,17685,end climb,SURFACE_DEPTH_REACHED
$STATE,17685,begin surface coast
$FINISH,-0.3,1.021939
$STATE,17709,end surface coast,CONTROL_FINISHED_OK
$STATE,17709,begin surface
$SM_CCo,17727,20.67,0.124,0,0,1219,400.08
$SM_GC,0.61,6.47,0.52,20.67,0.028,0.040,0.124,137,2605,1219,-6.97,-0.34,400.08,0,0,0,0,0,0,26.48,26.52,26.32
$IRIDIUM_FIX,1745.10,12420.95,260313,020200
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.34
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3993984
$24V_AH,24.1,7.329
$10V_AH,10.2,5.321
$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,16.525,197.275,475.275,20.675,0.000,0.000,0.000,421.100,0.000,0.000,10.256,3696.393,10591.378,704.714,2741.963,686.364,0.000,2335.619,0.000,2161.192,0.000,0.546,0.000
$DEVICE_MAMPS,227.970,72.675,982.260,123.930,0.000,0.000,0.000,125.460,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.151,0.000,0.000,0.000
$MEM,329688
$DATA_FILE_SIZE,30009,764
$CAP_FILE_SIZE,453322,0
$CFSIZE,260034560,247791616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,246.4,1
$GPS,260313,131905,1749.108,12417.075,30,1.6,30,-2.0