version: 66.11
glider: 169
mission: 8
dive: 16
start: 3 19 113 15 4 22
data:
$ID,169
$MISSION,8
$DIVE,16
$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,330
$T_MISSION,360
$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,200
$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,450
$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,-20873.082
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2560
$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
$GPS1,190313,145505,1848.810,12442.341,14,1.9,24,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-72.0
$GPS2,190313,150355,1848.852,12442.323,31,2.0,31,-2.2
$SPEED_LIMITS,0.173,0.296
$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,184.4,109756,-15.7,-10.000,-18.68,2978
$D_GRID,5372
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.07,-194.6,131,2573,1080,779,0.0,0.0,0,106,0.00,0.00,-81.97,0.000,16386,0.000,0.000,130,2574,3033,2955,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-1.07,-194.6,131,2574,2955,3112,3.3,-6.5,11,136,7.57,2.67,-9.48,0.000,18948,0.229,0.049,2083,1147,3561,3425,3698,0,0,0,0,0,0,25.97,26.19,26.47
$GC,270,-1.07,-194.6,1280,1147,3415,3696,69.3,-38.7,24,278,0.00,2.78,0.00,0.000,1030,0.000,0.045,2072,2618,3562,3426,3698,0,0,0,0,0,0,28.83,26.31,28.83
$GC,577,-1.07,-194.6,2072,2617,3426,3698,211.9,-40.6,40,583,0.00,1.83,0.00,0.000,260,0.000,0.050,2063,3824,3562,3427,3697,0,0,0,0,0,0,28.83,26.47,28.83
$GC,755,-1.07,-194.6,2062,3824,3430,3698,267.7,-30.2,48,761,0.00,1.80,0.00,0.000,1030,0.000,0.031,2063,2575,3563,3430,3697,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1071,-1.07,-194.6,2062,2573,3433,3696,366.4,-29.5,64,1077,0.00,2.58,0.00,0.000,516,0.000,0.037,2062,1151,3564,3433,3696,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1315,-1.07,-194.6,2062,1151,3433,3696,427.6,-26.0,75,1322,0.12,2.72,0.00,0.000,3078,0.171,0.041,2087,2622,3564,3433,3696,0,0,0,0,0,0,26.54,26.63,28.83
$GC,1633,-1.07,-194.6,2086,2621,3433,3696,501.3,-21.1,91,1639,0.00,2.67,0.00,0.000,516,0.000,0.036,2087,1153,3564,3433,3696,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1873,-1.07,-194.6,2087,1153,3433,3692,545.9,-18.4,102,1879,0.00,2.70,0.00,0.000,1030,0.000,0.039,2076,2618,3562,3433,3692,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2188,-1.07,-194.6,2076,2616,3433,3687,615.4,-22.1,117,2194,0.00,2.65,0.00,0.000,516,0.000,0.036,2076,1154,3559,3432,3686,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2426,-1.07,-194.6,2076,1154,3432,3683,660.5,-20.3,124,2433,0.00,2.67,0.00,0.000,1030,0.000,0.038,2073,2621,3557,3432,3682,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2744,-1.07,-194.6,2073,2620,3432,3676,729.8,-20.0,135,2751,0.00,2.70,0.00,0.000,516,0.000,0.036,2073,1138,3553,3432,3675,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2982,-1.07,-194.6,2072,1138,3432,3671,769.6,-17.4,142,2988,0.00,2.67,0.00,0.000,1030,0.000,0.040,2061,2614,3551,3432,3670,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3300,-1.07,-194.6,2061,2613,3432,3664,832.4,-19.1,153,3306,0.00,2.65,0.00,0.000,516,0.000,0.034,2063,1140,3547,3431,3663,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3523,-1.07,-194.6,2066,1139,3432,3661,871.9,-17.8,160,3530,0.12,2.70,0.00,0.000,3078,0.164,0.041,2085,2612,3546,3432,3661,0,0,0,0,0,0,26.65,26.74,28.83
$GC,3854,-1.07,-194.6,2085,2613,3432,3650,928.3,-16.7,171,3861,0.00,2.65,0.00,0.000,516,0.000,0.034,2086,1152,3542,3431,3654,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4037,-1.07,-194.6,2085,1152,3432,3650,954.4,-15.8,176,4045,0.00,2.67,0.00,0.000,1030,0.000,0.040,2073,2615,3541,3432,3650,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4227,-0.19,0.0,2073,2533,3429,3650,990.6,-17.7,183,4407,0.88,0.12,169.35,1.011,10246,0.130,0.082,2364,2581,2758,2795,2722,0,0,0,0,0,0,26.64,24.82,24.20
$STATE,4409,end apogee,CONTROL_FINISHED_OK
$STATE,4409,begin climb
$GC,4412,1.07,194.6,2365,2580,2792,2714,998.4,0.0,188,4597,1.05,2.08,176.25,0.998,10500,0.025,0.041,2801,3827,1959,2064,1854,0,0,0,0,0,0,25.10,24.77,24.10
$GC,4715,1.07,194.6,2801,3827,2044,1849,929.7,35.3,197,4721,0.15,1.95,0.00,0.000,5126,0.234,0.019,2779,2533,1947,2045,1849,0,0,0,0,0,0,25.48,25.71,28.83
$GC,5030,1.07,194.6,2779,2533,2040,1845,825.2,29.5,208,5036,0.00,2.05,0.00,0.000,260,0.000,0.041,2770,3831,1942,2040,1845,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5177,1.07,194.6,2770,3831,2037,1845,783.9,32.7,212,5183,0.00,1.90,0.00,0.000,1030,0.000,0.019,2779,2528,1941,2037,1845,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5494,1.07,194.6,2780,2526,2036,1843,685.1,29.0,223,5500,0.00,2.05,0.00,0.000,260,0.000,0.041,2770,3846,1939,2036,1843,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5724,1.07,194.6,2770,3846,2034,1842,615.7,31.6,230,5730,0.00,1.92,0.00,0.000,1030,0.000,0.018,2779,2524,1938,2034,1843,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6040,1.07,194.6,2780,2522,2031,1841,523.2,28.4,245,6046,0.00,2.03,0.00,0.000,260,0.000,0.041,2770,3833,1936,2031,1841,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6175,1.07,194.6,2770,3833,2031,1840,485.3,28.9,251,6180,0.00,1.90,0.00,0.000,1030,0.000,0.019,2779,2519,1935,2031,1840,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6496,1.07,194.6,2779,2517,2030,1839,403.6,25.3,267,6503,0.00,2.05,0.00,0.000,260,0.000,0.041,2770,3844,1935,2030,1840,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6670,1.07,194.6,2770,3844,2030,1841,358.3,25.8,275,6676,0.00,1.88,0.00,0.000,1030,0.000,0.018,2779,2520,1934,2029,1839,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6992,1.07,194.6,2780,2518,2028,1838,282.9,23.0,291,6998,0.00,2.05,0.00,0.000,260,0.000,0.041,2770,3829,1933,2029,1838,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7069,1.07,194.6,2770,3829,2028,1838,266.6,23.2,294,7075,0.00,1.88,0.00,0.000,1030,0.000,0.018,2779,2518,1933,2028,1838,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7384,1.07,194.6,2780,2516,2027,1838,195.5,20.9,310,7390,0.00,2.08,0.00,0.000,260,0.000,0.039,2770,3844,1933,2028,1838,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7623,1.07,194.6,2770,3844,2028,1838,150.5,18.1,321,7629,0.00,1.90,0.00,0.000,1030,0.000,0.017,2780,2524,1933,2028,1838,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7939,1.07,194.6,2780,2523,2028,1838,107.4,13.0,337,7945,0.00,2.05,0.00,0.000,260,0.000,0.037,2770,3849,1933,2028,1838,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8184,1.07,194.6,2770,3849,2028,1839,78.7,12.6,348,8189,0.00,1.88,0.00,0.000,1030,0.000,0.018,2780,2513,1933,2028,1838,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8499,1.07,194.6,2780,2515,2029,1838,37.0,13.0,369,8505,0.00,2.03,0.00,0.000,260,0.000,0.037,2771,3834,1933,2029,1838,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8749,1.07,194.6,1744,3834,1987,1834,3.8,13.1,407,8757,0.00,1.88,0.00,0.000,1030,0.000,0.018,2780,2527,1935,2029,1841,0,0,0,0,0,0,28.83,26.81,28.83
$STATE,8763,end climb,SURFACE_DEPTH_REACHED
$STATE,8763,begin surface coast
$FINISH,-0.2,1.022416
$STATE,8787,end surface coast,CONTROL_FINISHED_OK
$STATE,8788,begin surface
$SM_CCo,8806,142.50,0.503,1,0,927,450.13
$SM_GC,0.54,6.57,0.25,142.50,0.032,0.057,0.503,140,2632,927,-7.09,-0.31,450.13,0,0,0,0,1,0,26.74,26.78,25.12
$IRIDIUM_FIX,1841.87,12522.47,190313,121255
$TT8_MAMPS,0.021721,0.021721
$HUMID,43.10
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4012832
$24V_AH,24.1,2.676
$10V_AH,10.4,1.683
$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,16.475,77.300,345.600,142.500,0.000,0.000,0.000,309.050,0.000,0.000,31.917,2225.871,4443.385,588.669,1826.869,384.743,0.000,1666.985,0.000,1418.079,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,82.620,1010.565,502.605,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.321,0.000,0.000,0.000
$MEM,329168
$DATA_FILE_SIZE,16746,413
$CAP_FILE_SIZE,263808,0
$CFSIZE,260034560,253833216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,5,0
$CURRENT,0.058,181.1,1
$GPS,190313,173454,1848.066,12443.411,44,1.0,45,-2.2