version: 66.11
glider: 169
mission: 8
dive: 138
start: 4 13 113 15 24 34
data:
$ID,169
$MISSION,8
$DIVE,138
$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,400
$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,165
$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,430
$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,-21032.764
$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,2380
$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,2500
$C_ROLL_CLIMB,2600
$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
$GPS1,130413,151123,2003.792,12404.480,25,1.3,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-70.7
$GPS2,130413,152405,2003.723,12404.475,16,1.1,26,-2.5
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,85.7,34116,-3.2,-8.250,-19.13,2990
$D_GRID,5534
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.48,-160.6,121,2513,1268,930,0.0,0.0,0,110,0.00,0.00,-84.65,0.000,16386,0.000,0.000,122,2514,3323,3210,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.48,-160.6,122,2513,3211,3437,4.6,-12.0,11,131,8.43,2.65,-3.05,0.000,18948,0.237,0.047,2219,1033,3509,3380,3639,0,0,0,0,0,0,25.81,26.15,26.44
$GC,151,-0.48,-160.6,2219,1033,3382,3639,25.7,-57.5,15,159,0.00,2.58,0.00,0.000,1030,0.000,0.040,2208,2510,3512,3382,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,460,-0.48,-160.6,2207,2507,3385,3639,119.3,-24.8,34,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2507,3512,3385,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,759,-0.48,-160.6,2207,2506,3386,3639,180.0,-18.6,49,765,0.00,2.47,0.00,0.000,516,0.000,0.031,2208,1038,3512,3386,3639,0,0,0,0,0,0,28.83,26.48,28.83
$GC,850,-0.48,-160.6,2207,1038,3386,3639,194.0,-15.4,53,855,0.00,2.50,0.00,0.000,1030,0.000,0.035,2206,2511,3512,3386,3639,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1176,-0.48,-160.6,2206,2508,3386,3639,249.8,-17.4,69,1183,0.00,2.22,0.00,0.000,260,0.000,0.047,2203,3834,3512,3386,3639,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1203,-0.48,-160.6,2202,3834,3386,3639,254.8,-17.6,70,1210,0.00,2.20,0.00,0.000,1030,0.000,0.024,2202,2480,3512,3386,3639,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1531,-0.48,-160.6,2202,2477,3386,3638,307.6,-15.5,86,1536,0.00,2.33,0.00,0.000,260,0.000,0.049,2197,3819,3512,3386,3639,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1578,-0.48,-160.6,2197,3819,3386,3639,315.0,-15.4,88,1584,0.00,2.17,0.00,0.000,1030,0.000,0.025,2197,2477,3512,3386,3639,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1905,-0.48,-160.6,2197,2476,3385,3635,364.4,-14.1,104,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2476,3512,3386,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2204,-0.48,-160.6,2197,2475,3385,3636,402.4,-10.9,119,2210,0.00,2.40,0.00,0.000,516,0.000,0.033,2198,1022,3511,3386,3637,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2344,-0.48,-160.6,2197,1021,3385,3635,415.2,-9.6,125,2350,0.00,2.47,0.00,0.000,1030,0.000,0.033,2194,2513,3510,3386,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2660,-0.48,-160.6,2193,2510,3385,3632,453.0,-12.3,141,2667,0.00,2.22,0.00,0.000,260,0.000,0.047,2183,3830,3507,3386,3629,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2686,-0.48,-160.6,2183,3830,3386,3632,456.4,-12.4,142,2694,0.15,2.20,0.00,0.000,3078,0.126,0.025,2229,2471,3508,3385,3631,0,0,0,0,0,0,26.51,26.69,28.83
$GC,3015,-0.48,-160.6,2229,2469,3385,3628,486.5,-8.7,158,3021,0.00,2.35,0.00,0.000,516,0.000,0.032,2229,1041,3506,3386,3627,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3044,-0.48,-160.6,2229,1040,3385,3627,488.9,-8.7,159,3050,0.00,2.47,0.00,0.000,1030,0.000,0.034,2225,2517,3506,3385,3627,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3367,-0.48,-160.6,2224,2515,3385,3622,516.2,-7.9,175,3373,0.00,2.22,0.00,0.000,260,0.000,0.047,2220,3822,3503,3385,3622,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3418,-0.48,-160.6,2220,3822,3385,3621,520.0,-7.8,177,3424,0.00,2.20,0.00,0.000,1030,0.000,0.024,2220,2459,3503,3385,3621,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3742,-0.48,-160.6,2220,2458,3385,3616,543.6,-7.1,193,3748,0.00,2.40,0.00,0.000,260,0.000,0.050,2220,3826,3500,3385,3616,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3801,-0.48,-160.6,2220,3826,3385,3615,547.1,-7.1,195,3807,0.00,2.20,0.00,0.000,1030,0.000,0.026,2220,2462,3500,3385,3615,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4116,-0.48,-160.6,2220,2464,3389,3611,572.8,-8.4,211,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2464,3498,3386,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.48,-160.6,2220,2464,3385,3606,599.4,-9.3,226,4422,0.00,2.38,0.00,0.000,260,0.000,0.049,2220,3824,3495,3385,3606,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4486,-0.48,-160.6,2219,3824,3385,3605,605.5,-9.2,229,4493,0.00,2.20,0.00,0.000,1030,0.000,0.027,2220,2463,3495,3385,3605,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4817,-0.48,-160.6,2219,2464,3385,3602,635.5,-8.9,240,4823,0.00,2.40,0.00,0.000,260,0.000,0.050,2216,3841,3493,3385,3602,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4878,-0.48,-160.6,2220,3838,3385,3601,638.6,-8.9,241,4886,0.00,2.22,0.00,0.000,1030,0.000,0.026,2220,2462,3495,3385,3605,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5186,-0.48,-160.6,2220,2462,3385,3596,667.5,-8.6,252,5192,0.00,2.40,0.00,0.000,260,0.000,0.051,2219,3837,3490,3385,3596,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5236,-0.48,-160.6,2218,3837,3385,3593,670.6,-8.5,253,5242,0.00,2.22,0.00,0.000,1030,0.000,0.026,2219,2464,3491,3386,3596,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5557,-0.48,-160.6,2218,2464,3385,3591,700.0,-8.5,264,5563,0.00,2.38,0.00,0.000,260,0.000,0.050,2210,3824,3488,3385,3591,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5627,-0.48,-160.6,2210,3823,3385,3590,706.1,-8.7,266,5634,0.00,2.22,0.00,0.000,1030,0.000,0.027,2210,2461,3487,3385,3590,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5959,-0.48,-160.6,2210,2461,3385,3587,737.3,-9.4,277,5964,0.00,2.40,0.00,0.000,260,0.000,0.052,2207,3828,3486,3385,3587,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6009,-0.48,-160.6,2207,3827,3385,3587,740.8,-9.6,278,6015,0.00,2.22,0.00,0.000,1030,0.000,0.028,2207,2467,3485,3384,3586,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6330,-0.48,-160.6,2207,2467,3384,3583,774.1,-9.9,289,6336,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3833,3483,3383,3583,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6380,-0.48,-160.6,2207,3833,3382,3583,777.9,-10.1,290,6386,0.00,2.22,0.00,0.000,1030,0.000,0.028,2207,2467,3482,3382,3583,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6700,-0.48,-160.6,2207,2466,3381,3580,814.2,-11.2,301,6706,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3825,3480,3381,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6778,-0.48,-160.6,2206,3826,3380,3580,821.8,-11.3,303,6784,0.00,2.22,0.00,0.000,1030,0.000,0.028,2207,2466,3480,3380,3581,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7103,-0.48,-160.6,2206,2465,3380,3579,856.8,-10.1,314,7109,0.00,2.40,0.00,0.000,260,0.000,0.052,2206,3830,3479,3380,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7127,-0.48,-160.6,2206,3829,3380,3579,856.8,-10.1,314,7133,0.00,2.25,0.00,0.000,1030,0.000,0.028,2206,2462,3479,3380,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7445,-0.48,-160.6,2206,2461,3380,3577,888.5,-8.7,325,7451,0.00,2.40,0.00,0.000,260,0.000,0.051,2197,3831,3478,3380,3577,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7505,-0.48,-160.6,1344,3831,3367,3575,891.9,-8.7,326,7513,0.00,2.25,0.00,0.000,1030,0.000,0.028,2195,2467,3478,3379,3577,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7815,-0.48,-160.6,2195,2467,3379,3575,918.4,-7.4,337,7821,0.00,2.40,0.00,0.000,260,0.000,0.051,2194,3830,3476,3378,3575,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7844,-0.48,-160.6,2194,3830,3385,3575,918.4,-7.4,337,7852,0.00,2.25,0.00,0.000,1030,0.000,0.028,2194,2465,3476,3377,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8153,-0.48,-160.6,2194,2465,3377,3573,942.2,-6.8,348,8159,0.00,2.40,0.00,0.000,260,0.000,0.052,2183,3835,3475,3377,3573,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8214,-0.48,-160.6,2183,3835,3376,3573,945.0,-6.9,349,8223,0.12,2.25,0.00,0.000,3078,0.125,0.028,2222,2463,3474,3376,3573,0,0,0,0,0,0,26.48,26.65,28.83
$GC,8523,-0.48,-160.6,2222,2463,3376,3571,963.1,-5.3,360,8528,0.00,2.40,0.00,0.000,260,0.000,0.052,2220,3832,3473,3376,3571,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8609,-0.48,-160.6,2220,3832,3375,3571,967.2,-5.7,362,8615,0.00,2.25,0.00,0.000,1030,0.000,0.028,2220,2464,3473,3376,3571,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8928,-0.48,-160.6,2225,2465,3376,3569,989.1,-6.9,373,8934,0.00,2.40,0.00,0.000,260,0.000,0.051,2210,3837,3472,3376,3569,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,8961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8962,begin apogee
$GC,8970,-0.12,0.0,2210,2579,3375,3569,992.0,-7.1,374,9115,0.35,0.10,139.60,0.990,10246,0.091,0.090,2338,2616,2852,2860,2845,0,0,0,0,0,0,26.49,24.98,24.38
$STATE,9117,end apogee,CONTROL_FINISHED_OK
$STATE,9117,begin climb
$GC,9120,0.48,160.6,2338,2616,2854,2828,998.2,0.0,378,9281,0.52,2.88,152.48,1.000,10756,0.047,0.024,2560,1136,2189,2312,2066,0,0,0,0,0,0,25.15,24.82,24.17
$GC,9300,0.62,216.9,2565,1134,2302,2054,991.6,6.3,385,9368,0.00,2.75,53.78,0.978,9222,0.000,0.027,2548,2603,1950,2084,1817,0,0,0,0,0,0,28.83,25.13,24.15
$GC,9662,0.62,216.9,2548,2602,2070,1806,956.0,9.9,397,9669,0.00,2.03,0.00,0.000,260,0.000,0.043,2539,3841,1938,2070,1806,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9704,0.62,216.9,1568,3841,2027,1799,952.8,9.6,398,9710,0.10,1.98,0.00,0.000,3078,0.092,0.017,2606,2571,1937,2068,1806,0,0,0,0,0,0,25.96,26.04,28.83
$GC,10034,0.62,216.9,2611,2570,2062,1806,904.5,14.5,409,10040,0.00,2.15,0.00,0.000,260,0.000,0.041,2596,3847,1935,2065,1806,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,17681,end climb,SURFACE_DEPTH_REACHED
$STATE,17681,begin surface coast
$FINISH,-0.6,1.023083
$STATE,17711,end surface coast,CONTROL_FINISHED_OK
$STATE,17711,begin surface
$SM_CCo,17729,62.20,0.125,0,0,1096,430.01
$SM_GC,0.15,6.57,0.35,62.20,0.054,0.032,0.125,133,2441,1096,-6.95,0.45,430.01,0,0,0,0,0,0,26.55,26.65,26.22
$IRIDIUM_FIX,1952.70,12404.30,130413,090930
$TT8_MAMPS,0.02247,0.02247
$HUMID,44.64
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3951648
$24V_AH,24.2,18.138
$10V_AH,10.3,14.335
$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,16.700,192.725,417.175,62.200,0.000,0.000,0.000,457.900,0.000,0.000,27.522,3364.241,11218.280,745.160,2465.654,729.782,0.000,2262.789,0.000,1842.740,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,89.505,999.855,124.695,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17794.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.591,0.000,0.000,0.000
$MEM,329068
$DATA_FILE_SIZE,30123,793
$CAP_FILE_SIZE,426547,0
$CFSIZE,260034560,233435136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198, 61.2,1
$GPS,130413,202224,2004.845,12408.141,43,1.4,43,-2.5