version: 66.11
glider: 169
mission: 8
dive: 24
start: 3 20 113 15 31 30
data:
$ID,169
$MISSION,8
$DIVE,24
$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,-20883.24
$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,0.059999999
$PITCH_ADJ_DBAND,1
$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
$GPS1,200313,152105,1839.349,12443.286,8,1.4,26,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-71.7
$GPS2,200313,153100,1839.334,12443.243,14,1.7,31,-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,212.7,92516,-14.7,-8.462,-18.04,2986
$D_GRID,5461
$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,-0.96,-165.5,134,2433,1264,1015,0.0,0.0,0,100,0.00,0.00,-75.22,0.000,16386,0.000,0.000,134,2434,3051,2969,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.96,-165.5,134,2434,2970,3133,3.1,-6.2,10,129,7.80,2.55,-7.00,0.000,18948,0.235,0.054,2111,955,3442,3326,3558,0,0,0,0,0,0,25.96,26.16,26.45
$GC,350,0.03,-165.5,2111,955,3329,3559,95.2,-33.6,28,357,1.10,2.45,0.00,0.000,3078,0.158,0.040,2433,2414,3444,3329,3559,0,0,0,0,0,0,26.19,26.34,28.83
$GC,668,-1.11,-165.5,2433,2413,3333,3559,127.7,-10.3,44,675,0.93,2.28,0.00,0.000,4356,0.051,0.043,2058,3823,3446,3333,3559,0,0,0,0,0,0,26.48,26.47,28.83
$GC,706,-1.79,-165.5,2058,3823,3333,3559,131.5,-11.2,45,712,0.52,2.30,0.00,0.000,5126,0.044,0.033,1843,2378,3446,3333,3559,0,0,0,0,0,0,26.51,26.50,28.83
$GC,1024,0.16,-165.5,1842,2377,3336,3558,289.0,-46.7,61,1030,2.15,2.40,0.00,0.000,2564,0.193,0.038,2468,949,3447,3336,3558,0,0,0,0,0,0,26.39,26.55,28.83
$GC,1135,-1.53,-165.5,2471,950,3337,3558,301.3,-5.4,66,1142,1.50,2.40,0.00,0.000,5126,0.090,0.027,1933,2433,3447,3337,3558,0,0,0,0,0,0,26.52,26.60,28.83
$GC,1458,-0.05,-165.5,1932,2431,3337,3558,411.1,-34.5,82,1466,1.52,2.33,0.00,0.000,2308,0.174,0.057,2397,3815,3447,3337,3558,0,0,0,0,0,0,26.46,26.59,28.83
$GC,1520,0.38,-165.5,2396,3815,3339,3558,418.7,-24.9,84,1529,0.38,2.22,0.00,0.000,3078,0.037,0.021,2600,2352,3448,3339,3558,0,0,0,0,0,0,26.69,26.69,28.83
$GC,1828,-1.79,-165.5,2601,2353,3338,3557,444.6,-8.8,100,1840,2.40,2.28,0.00,0.000,4612,0.177,0.025,1875,934,3447,3338,3557,0,0,0,0,0,0,26.51,26.66,28.83
$GC,2074,-0.27,-165.5,1875,933,3338,3555,513.8,-34.2,111,2083,1.55,2.47,0.00,0.000,3078,0.171,0.042,2334,2422,3446,3337,3555,0,0,0,0,0,0,26.51,26.66,28.83
$GC,2382,-1.37,-165.5,2334,2420,3338,3554,543.9,-8.7,127,2384,0.90,0.00,0.00,0.000,4102,0.051,0.000,1977,2420,3446,3338,3554,0,0,0,0,0,0,26.68,28.83,28.83
$GC,2680,-0.28,-165.5,1977,2420,3338,3549,617.8,-26.4,141,2687,1.10,2.47,0.00,0.000,2564,0.146,0.043,2333,956,3443,3338,3549,0,0,0,0,0,0,26.60,26.67,28.83
$GC,2751,-0.02,-165.5,2332,957,3344,3548,623.4,-17.3,143,2758,0.25,2.38,0.00,0.000,3078,0.048,0.028,2471,2432,3442,3338,3547,0,0,0,0,0,0,26.75,26.71,28.83
$GC,3084,-1.45,-165.5,2471,2430,3338,3542,642.5,-5.6,154,3090,1.30,2.42,0.00,0.000,4612,0.062,0.030,1969,927,3439,3337,3541,0,0,0,0,0,0,26.69,26.71,28.83
$GC,3299,-0.40,-165.5,1969,927,3338,3538,683.3,-24.7,160,3305,1.08,2.45,0.00,0.000,3078,0.155,0.039,2300,2420,3437,3338,3537,0,0,0,0,0,0,26.57,26.70,28.83
$GC,3616,-1.50,-165.5,2300,2418,3338,3532,711.5,-8.2,171,3622,0.90,2.28,0.00,0.000,4356,0.053,0.044,1937,3831,3434,3338,3531,0,0,0,0,0,0,26.72,26.70,28.83
$GC,3715,-1.16,-165.5,1937,3832,3336,3531,734.1,-19.7,174,3722,0.40,2.33,0.00,0.000,3078,0.172,0.035,2053,2375,3433,3336,3531,0,0,0,0,0,0,26.58,26.72,28.83
$GC,4051,-0.46,-165.5,2053,2375,3336,3526,803.7,-19.7,185,4058,0.68,2.33,0.00,0.000,2564,0.138,0.040,2276,949,3431,3336,3526,0,0,0,0,0,0,26.61,26.70,28.83
$GC,4122,-0.29,-165.5,2276,949,3336,3529,810.0,-14.7,187,4129,0.20,2.38,0.00,0.000,3078,0.090,0.030,2342,2426,3430,3336,3525,0,0,0,0,0,0,26.70,26.73,28.83
$GC,4454,-1.37,-165.5,2342,2424,3336,3520,838.2,-8.8,198,4461,0.90,2.28,0.00,0.000,4356,0.055,0.047,1979,3822,3427,3336,3519,0,0,0,0,0,0,26.72,26.71,28.83
$GC,4522,-1.56,-165.5,1979,3821,3333,3519,850.3,-13.0,200,4528,0.15,2.33,0.00,0.000,5126,0.087,0.034,1918,2375,3426,3334,3519,0,0,0,0,0,0,26.72,26.73,28.83
$GC,4859,-0.27,-165.5,1917,2374,3329,3519,943.7,-27.4,211,4865,1.35,2.35,0.00,0.000,2564,0.167,0.043,2342,951,3424,3329,3519,0,0,0,0,0,0,26.57,26.70,28.83
$GC,4962,-0.52,-165.5,2342,951,3329,3518,950.8,-11.1,214,4968,0.22,2.38,0.00,0.000,5126,0.065,0.033,2243,2421,3423,3329,3518,0,0,0,0,0,0,26.72,26.72,28.83
$GC,5293,-1.14,-165.5,2244,2419,3329,3513,966.4,-4.5,225,5300,0.45,2.30,0.00,0.000,4356,0.030,0.050,1979,3829,3421,3329,3513,0,0,0,0,0,0,26.82,26.68,28.83
$GC,5370,-1.08,-165.5,1978,3829,3327,3513,977.3,-10.3,227,5377,0.35,2.33,0.00,0.000,3078,0.161,0.036,2082,2379,3419,3326,3512,0,0,0,0,0,0,26.59,26.73,28.83
$STATE,5425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5426,begin apogee
$GC,5433,-0.19,0.0,2079,2779,3328,3513,990.4,-18.9,229,5596,0.88,0.08,150.90,0.977,10246,0.137,0.034,2366,2694,2752,2780,2724,0,0,0,0,0,0,26.60,24.82,24.18
$STATE,5598,end apogee,CONTROL_FINISHED_OK
$STATE,5598,begin climb
$GC,5601,0.96,165.5,2366,2694,2776,2719,994.6,0.0,234,5767,0.95,1.85,153.40,1.001,10500,0.022,0.040,2788,3840,2077,2189,1965,0,0,0,0,0,0,25.12,24.70,24.03
$GC,5888,-0.61,165.5,2788,3840,2170,1956,934.0,33.2,242,5898,2.03,1.60,0.00,0.000,5126,0.194,0.018,2243,2658,2062,2169,1955,0,0,0,0,0,0,25.44,25.67,28.83
$GC,6197,0.84,242.7,2242,2658,2167,1943,904.7,5.8,253,6278,1.25,2.67,71.55,0.931,10756,0.086,0.026,2703,1307,1761,1893,1630,0,0,0,0,0,0,26.03,25.05,24.40
$GC,6299,0.84,242.7,2703,1307,1885,1617,888.4,13.3,256,6305,0.00,2.90,0.00,0.000,1030,0.000,0.030,2697,2780,1750,1884,1616,0,0,0,0,0,0,28.83,25.28,28.83
$GC,6635,-0.09,242.7,2697,2779,1880,1610,801.1,25.5,267,6638,0.98,0.00,0.00,0.000,4102,0.155,0.000,2403,2779,1745,1880,1610,0,0,0,0,0,0,25.91,28.83,28.83
$GC,6937,0.90,242.7,2403,2779,1880,1604,776.2,9.1,277,6944,0.82,2.75,0.00,0.000,2564,0.056,0.025,2730,1303,1742,1880,1604,0,0,0,0,0,0,26.25,26.27,28.83
$GC,6994,1.50,242.7,2730,1303,1877,1604,771.7,9.6,278,7001,0.50,2.78,0.00,0.000,3078,0.045,0.031,2928,2777,1740,1877,1604,0,0,0,0,0,0,26.30,26.28,28.83
$GC,7311,-0.37,242.7,2927,2776,1875,1604,634.5,43.6,289,7318,2.17,1.55,0.00,0.000,4356,0.211,0.041,2312,3833,1739,1875,1604,0,0,0,0,0,0,26.20,26.39,28.83
$GC,7367,-0.37,242.7,2312,3834,1873,1603,626.4,38.0,290,7372,0.00,1.58,0.00,0.000,1030,0.000,0.034,2312,2708,1738,1873,1603,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7685,0.97,242.7,2312,2708,1873,1597,600.5,9.2,301,7692,1.23,1.65,0.00,0.000,2308,0.106,0.050,2740,3824,1737,1873,1601,0,0,0,0,0,0,26.39,26.46,28.83
$GC,7741,1.27,242.7,2739,3823,1874,1601,592.6,12.1,303,7747,0.25,1.52,0.00,0.000,3078,0.067,0.018,2844,2637,1735,1873,1597,0,0,0,0,0,0,26.47,26.55,28.83
$GC,8059,-0.21,242.7,2844,2635,1873,1601,471.4,37.5,319,8067,1.60,1.83,0.00,0.000,4356,0.194,0.041,2357,3847,1737,1873,1601,0,0,0,0,0,0,26.35,26.52,28.83
$GC,8193,1.53,262.7,2356,3847,1871,1600,458.5,7.8,325,8217,1.42,1.58,15.88,0.781,11270,0.028,0.026,2985,2683,1687,1815,1559,0,0,0,0,0,0,26.60,26.60,25.68
$GC,8537,-0.41,262.7,2985,2683,1796,1540,316.3,43.9,342,8545,2.42,1.73,0.00,0.000,4356,0.211,0.037,2301,3851,1667,1796,1539,0,0,0,0,0,0,26.22,26.41,28.83
$GC,8661,1.42,368.1,2300,3851,1796,1535,306.2,4.8,347,8767,1.67,1.60,94.32,0.630,11270,0.096,0.031,2888,2692,1255,1408,1103,0,0,0,0,0,0,26.38,26.48,24.94
$GC,9088,0.04,368.1,2887,2692,1393,1068,142.3,38.4,368,9096,1.50,2.67,0.00,0.000,4612,0.180,0.026,2464,1299,1230,1393,1068,0,0,0,0,0,0,25.94,26.10,28.83
$GC,9179,0.88,378.0,2463,1299,1393,1063,133.7,8.1,372,9186,0.70,2.80,0.00,0.000,3078,0.073,0.034,2718,2776,1226,1393,1059,0,0,0,0,0,0,26.13,26.17,28.83
$GC,9507,0.51,378.0,2718,2774,1393,1063,91.4,15.5,388,9515,0.35,2.72,0.00,0.000,4612,0.134,0.024,2614,1304,1228,1393,1063,0,0,0,0,0,0,26.25,26.36,28.83
$GC,9648,1.23,461.8,2614,1303,1393,1062,82.3,5.6,394,9737,0.55,2.75,81.10,0.263,11270,0.032,0.031,2877,2773,881,1049,713,0,0,0,0,0,0,26.46,26.41,25.78
$STATE,9883,end climb,SURFACE_DEPTH_REACHED
$STATE,9883,begin surface coast
$FINISH,0.1,1.022434
$STATE,9891,end surface coast,CONTROL_FINISHED_OK
$STATE,9891,begin surface
$SM_CCo,9970,0.00,0.000,0,0,897,457.98
$SM_GC,0.31,7.00,0.85,0.00,0.033,0.028,0.000,134,2370,897,-7.11,0.28,457.98,0,0,0,0,0,0,26.19,26.22,28.83
$IRIDIUM_FIX,1835.04,12438.83,200313,121254
$TT8_MAMPS,0.021721,0.021721
$HUMID,47.44
$INTERNAL_PRESSURE,9.33985
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,4009248
$24V_AH,24.0,3.696
$10V_AH,10.2,2.246
$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,58.350,97.150,567.150,0.000,0.000,0.000,0.000,352.975,0.000,0.000,32.072,2062.287,5655.852,639.127,1758.099,431.416,0.000,1774.456,0.000,1290.296,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,72.675,1001.385,0.000,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.523,0.000,0.000,0.000
$MEM,329108
$DATA_FILE_SIZE,16776,417
$CAP_FILE_SIZE,273669,0
$CFSIZE,260034560,252866560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 71.7,1
$GPS,200313,181840,1838.394,12443.002,24,1.7,30,-2.2