version: 66.11
glider: 169
mission: 8
dive: 17
start: 3 19 113 17 44 21
data:
$ID,169
$MISSION,8
$DIVE,17
$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,-20874.334
$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,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
$GPS1,190313,173454,1848.066,12443.411,44,1.0,45,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-73.7
$GPS2,190313,174354,1848.119,12443.450,11,1.5,16,-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,191.5,108662,-14.7,-8.462,-18.04,2986
$D_GRID,5345
$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,23,-0.96,-165.5,143,2373,1082,778,0.0,0.0,0,111,0.00,0.00,-85.60,0.000,16386,0.000,0.000,137,2373,3132,3043,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.96,-165.5,141,2373,3042,3222,3.7,-9.0,12,141,7.75,2.38,-5.25,0.000,18948,0.232,0.050,2111,947,3441,3323,3560,0,0,0,0,0,0,25.98,26.18,26.46
$GC,202,-0.96,-165.5,1280,947,3311,3558,46.2,-35.9,21,209,0.00,2.42,0.00,0.000,1030,0.000,0.037,2100,2417,3442,3325,3560,0,0,0,0,0,0,28.83,26.26,28.83
$GC,518,-0.96,-165.5,2100,2415,3326,3560,176.2,-38.0,37,524,0.00,2.40,0.00,0.000,516,0.000,0.036,2100,951,3443,3326,3560,0,0,0,0,0,0,28.83,26.45,28.83
$GC,763,-0.96,-165.5,2100,951,3328,3560,242.7,-25.1,48,770,0.12,2.40,0.00,0.000,3078,0.173,0.035,2126,2416,3444,3329,3560,0,0,0,0,0,0,26.44,26.54,28.83
$GC,1081,-0.96,-165.5,2122,2415,3330,3560,320.2,-23.5,64,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2415,3445,3330,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-0.96,-165.5,2122,2415,3334,3556,385.3,-21.2,79,1385,0.00,2.40,0.00,0.000,516,0.000,0.037,2123,952,3445,3334,3556,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1467,-0.96,-165.5,2122,952,3334,3556,401.5,-18.5,83,1473,0.00,2.40,0.00,0.000,1030,0.000,0.037,2112,2411,3445,3334,3556,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1794,-0.96,-165.5,2112,2410,3333,3556,462.6,-19.9,99,1800,0.00,2.38,0.00,0.000,516,0.000,0.037,2112,936,3445,3334,3556,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1844,-0.96,-165.5,2116,937,3334,3555,471.6,-19.6,101,1850,0.00,2.40,0.00,0.000,1030,0.000,0.039,2102,2410,3444,3334,3554,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2166,-0.96,-165.5,2102,2408,3333,3553,537.1,-20.3,117,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2408,3443,3334,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,-0.96,-165.5,2102,2408,3334,3547,595.8,-18.9,132,2471,0.00,2.38,0.00,0.000,516,0.000,0.037,2102,951,3440,3334,3547,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2554,-0.96,-165.5,2102,951,3333,3546,608.0,-18.2,135,2562,0.00,2.38,0.00,0.000,1030,0.000,0.037,2093,2413,3439,3334,3545,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2862,-0.96,-165.5,2094,2411,3333,3540,668.5,-18.2,146,2869,0.00,2.33,0.00,0.000,260,0.000,0.050,2082,3825,3436,3334,3539,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2882,-0.96,-165.5,2082,3825,3333,3539,668.5,-18.2,146,2888,0.12,2.33,0.00,0.000,3078,0.161,0.031,2116,2377,3436,3334,3539,0,0,0,0,0,0,26.63,26.75,28.83
$GC,3202,-0.96,-165.5,2116,2374,3333,3534,723.9,-15.7,157,3209,0.00,2.47,0.00,0.000,260,0.000,0.053,2107,3829,3433,3334,3533,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3249,-0.96,-165.5,2107,3829,3333,3532,729.8,-15.9,158,3255,0.00,2.33,0.00,0.000,1030,0.000,0.031,2108,2370,3432,3333,3532,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3575,-0.96,-165.5,2107,2370,3334,3526,783.5,-15.4,169,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2369,3429,3333,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3875,-0.96,-165.5,2107,2369,3333,3521,829.7,-15.5,179,3881,0.00,2.30,0.00,0.000,516,0.000,0.041,2108,942,3426,3333,3520,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3899,-0.96,-165.5,2108,942,3333,3521,829.7,-15.5,179,3906,0.00,2.38,0.00,0.000,1030,0.000,0.039,2099,2409,3426,3333,3520,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4217,-0.96,-165.5,2099,2408,3330,3516,882.3,-15.5,190,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2408,3423,3330,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4515,-0.96,-165.5,2099,2408,3327,3515,928.3,-15.4,200,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2407,3421,3327,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4815,-0.96,-165.5,2099,2407,3325,3511,975.2,-15.5,210,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2407,3418,3325,3511,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4932,begin apogee
$GC,4940,-0.19,0.0,2095,2771,3325,3510,993.4,-15.2,214,5095,0.80,0.05,146.43,0.998,10246,0.129,0.050,2362,2704,2758,2786,2731,0,0,0,0,0,0,26.64,24.84,24.26
$STATE,5099,end apogee,CONTROL_FINISHED_OK
$STATE,5099,begin climb
$GC,5102,0.96,165.5,2362,2704,2784,2726,999.5,0.0,218,5265,0.98,1.85,152.88,0.996,10500,0.024,0.041,2781,3831,2080,2190,1970,0,0,0,0,0,0,25.16,24.77,24.12
$GC,5366,0.96,165.5,2781,3832,2172,1963,949.1,30.9,226,5374,0.15,1.65,0.00,0.000,5126,0.216,0.019,2743,2684,2067,2171,1963,0,0,0,0,0,0,25.41,25.67,28.83
$GC,5675,0.96,165.5,2742,2681,2167,1959,853.9,27.2,237,5680,0.00,1.73,0.00,0.000,260,0.000,0.044,2735,3833,2063,2168,1959,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5703,0.96,165.5,2734,3833,2166,1959,853.9,27.2,237,5711,0.00,1.62,0.00,0.000,1030,0.000,0.020,2743,2678,2062,2166,1958,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6013,0.96,165.5,2743,2676,2164,1958,765.3,26.2,248,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2677,2061,2164,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,0.96,165.5,2743,2677,2162,1956,686.3,26.5,258,6316,0.00,1.70,0.00,0.000,260,0.000,0.045,2735,3833,2059,2162,1956,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6395,0.96,165.5,2735,3833,2160,1956,668.0,27.0,260,6401,0.00,1.58,0.00,0.000,1030,0.000,0.020,2743,2682,2058,2160,1956,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6710,0.96,165.5,2743,2678,2158,1956,582.7,24.9,272,6716,0.00,1.70,0.00,0.000,260,0.000,0.044,2735,3848,2057,2158,1956,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6744,0.96,165.5,2734,3846,2158,1956,576.2,25.2,273,6750,0.00,1.58,0.00,0.000,1030,0.000,0.019,2743,2664,2059,2162,1956,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7059,0.96,165.5,2743,2661,2158,1955,498.9,23.5,289,7065,0.00,2.47,0.00,0.000,516,0.000,0.028,2756,1303,2056,2157,1955,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7110,0.96,165.5,2755,1303,2156,1954,488.7,23.2,291,7117,0.00,2.72,0.00,0.000,1030,0.000,0.031,2743,2786,2054,2156,1953,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7433,0.96,165.5,2742,2785,2156,1953,413.2,22.9,307,7438,0.00,1.50,0.00,0.000,260,0.000,0.044,2735,3859,2054,2156,1953,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7466,0.96,165.5,2735,3860,2155,1953,407.0,22.8,308,7473,0.00,1.60,0.00,0.000,1030,0.000,0.018,2744,2659,2054,2155,1953,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7782,0.96,165.5,2743,2655,2154,1952,341.5,19.3,324,7788,0.00,1.73,0.00,0.000,260,0.000,0.044,2735,3838,2053,2154,1952,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7852,0.96,165.5,2735,3837,2154,1952,327.0,20.8,327,7857,0.00,1.55,0.00,0.000,1030,0.000,0.018,2743,2666,2053,2154,1952,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8178,0.96,165.5,2744,2664,2153,1954,269.4,16.8,343,8185,0.00,2.47,0.00,0.000,516,0.000,0.027,2756,1298,2052,2153,1952,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8220,0.96,165.5,2756,1298,2151,1951,264.8,16.6,344,8228,0.00,2.72,0.00,0.000,1030,0.000,0.031,2743,2777,2052,2152,1952,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8525,0.96,165.5,2743,2776,2152,1952,210.8,15.5,360,8531,0.00,1.52,0.00,0.000,260,0.000,0.044,2736,3859,2052,2152,1952,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8765,0.96,165.5,2735,3859,2151,1951,176.3,14.9,371,8771,0.00,1.55,0.00,0.000,1030,0.000,0.019,2745,2644,2052,2152,1952,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9080,0.96,165.5,2744,2643,2151,1952,142.1,10.2,387,9086,0.00,1.73,0.00,0.000,260,0.000,0.042,2736,3835,2051,2152,1951,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9233,0.96,165.5,2736,3834,2152,1952,127.7,9.1,394,9239,0.00,1.58,0.00,0.000,1030,0.000,0.019,2745,2639,2052,2152,1952,0,0,0,0,0,0,28.83,26.82,28.83
$GC,9556,1.04,198.0,2745,2639,2152,1952,103.8,7.3,410,9604,0.00,2.47,35.35,0.286,8708,0.000,0.027,2757,1294,1967,2062,1872,0,0,0,0,0,0,28.83,26.54,26.23
$GC,9673,1.04,198.0,2757,1294,2063,1874,94.3,8.5,415,9684,0.00,2.75,2.08,0.183,9222,0.000,0.028,2752,2793,1956,2051,1862,0,0,0,0,0,0,28.83,26.57,26.38
$GC,9996,1.04,198.0,2751,2792,2060,1875,59.8,11.2,431,10002,0.00,0.00,1.88,0.175,8454,0.000,0.000,2752,2792,1958,2051,1866,0,0,0,0,0,0,28.83,28.83,26.48
$GC,10312,1.04,198.0,2752,2792,2059,1876,25.1,11.1,457,10321,0.00,0.00,2.05,0.172,8198,0.000,0.000,2752,2792,1960,2051,1870,0,0,0,0,0,0,28.83,28.83,26.51
$STATE,10502,end climb,SURFACE_DEPTH_REACHED
$STATE,10502,begin surface coast
$FINISH,-0.3,1.022504
$STATE,10531,end surface coast,CONTROL_FINISHED_OK
$STATE,10531,begin surface
$SM_CCo,10549,98.57,0.120,0,0,1129,400.08
$SM_GC,0.51,6.53,0.85,98.57,0.034,0.024,0.120,138,2375,1129,-7.09,0.45,400.08,0,0,0,0,0,0,26.68,26.75,26.36
$IRIDIUM_FIX,1841.87,12443.29,190313,141434
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.24
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,4012384
$24V_AH,24.1,2.778
$10V_AH,10.0,1.752
$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,16.450,82.150,340.650,98.575,0.000,0.000,0.000,327.850,0.000,0.000,17.718,2078.077,6501.429,570.238,1605.664,418.689,0.000,1595.822,0.000,1194.923,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,52.785,997.560,120.105,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10582.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.372,0.000,0.000,0.000
$MEM,329288
$DATA_FILE_SIZE,16790,497
$CAP_FILE_SIZE,264527,0
$CFSIZE,260034560,253714432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019, 90.4,1
$GPS,190313,204305,1846.531,12443.571,41,0.9,42,-2.2