version: 66.11
glider: 169
mission: 8
dive: 27
start: 3 20 113 23 50 19
data:
$ID,169
$MISSION,8
$DIVE,27
$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,-20887.205
$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,20
$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
$GPS1,200313,234106,1835.971,12442.473,40,0.9,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-72.1
$GPS2,200313,234949,1836.023,12442.405,14,1.2,14,-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,172.3,86228,-14.7,-8.462,-18.04,2986
$D_GRID,5205
$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,-1.15,-165.5,123,2375,1281,986,0.0,0.0,0,105,0.00,0.00,-80.62,0.000,16386,0.000,0.000,123,2376,3241,3132,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.15,-165.5,123,2376,3132,3351,4.4,-10.5,11,126,7.55,2.42,-3.40,0.000,18948,0.232,0.050,2056,947,3441,3320,3563,0,0,0,0,0,0,26.00,26.19,26.44
$GC,280,-1.15,-165.5,2056,947,3323,3560,82.7,-41.1,26,285,0.00,2.45,0.00,0.000,1030,0.000,0.038,2042,2416,3445,3327,3564,0,0,0,0,0,0,28.83,26.33,28.83
$GC,600,-1.15,-165.5,2045,2414,3325,3563,226.1,-39.0,42,605,0.00,2.42,0.00,0.000,516,0.000,0.032,2046,932,3444,3325,3564,0,0,0,0,0,0,28.83,26.50,28.83
$GC,824,-1.15,-165.5,2045,933,3327,3564,291.4,-27.9,52,832,0.00,2.45,0.00,0.000,1030,0.000,0.037,2034,2421,3445,3326,3564,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1131,-1.15,-165.5,2033,2421,3332,3561,383.3,-26.3,68,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2421,3446,3332,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1432,-1.15,-165.5,2033,2421,3332,3561,463.5,-27.0,83,1438,0.00,2.42,0.00,0.000,516,0.000,0.037,2034,948,3447,3333,3561,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1651,-1.15,-165.5,2034,948,3331,3561,514.1,-22.8,93,1658,0.10,2.40,0.00,0.000,3078,0.189,0.036,2055,2416,3446,3332,3561,0,0,0,0,0,0,26.58,26.67,28.83
$GC,1974,-1.15,-165.5,2055,2414,3332,3555,584.6,-20.8,109,1980,0.00,2.40,0.00,0.000,516,0.000,0.034,2056,938,3443,3332,3555,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2078,-1.15,-165.5,2055,938,3332,3554,605.1,-20.2,114,2084,0.00,2.42,0.00,0.000,1030,0.000,0.038,2046,2418,3443,3332,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2408,-1.15,-165.5,2046,2416,3332,3549,677.7,-22.1,125,2414,0.00,2.40,0.00,0.000,516,0.000,0.036,2047,938,3440,3332,3549,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2437,-1.15,-165.5,2046,938,3332,3549,677.7,-22.1,125,2445,0.00,2.42,0.00,0.000,1030,0.000,0.038,2036,2420,3441,3335,3548,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2745,-1.15,-165.5,2036,2418,3332,3542,751.8,-21.8,136,2751,0.00,2.38,0.00,0.000,516,0.000,0.034,2039,950,3436,3332,3541,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2820,-1.15,-165.5,2038,950,3332,3540,766.0,-21.5,138,2826,0.00,2.38,0.00,0.000,1030,0.000,0.034,2033,2416,3436,3332,3540,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3147,-1.15,-165.5,2033,2415,3331,3534,836.6,-21.0,149,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2415,3433,3332,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3446,-1.15,-165.5,2033,2414,3331,3527,899.3,-20.8,159,3453,0.00,2.40,0.00,0.000,516,0.000,0.037,2033,952,3428,3331,3526,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3548,-1.15,-165.5,2033,951,3331,3525,918.9,-20.4,162,3555,0.12,2.38,0.00,0.000,3078,0.170,0.035,2065,2416,3428,3331,3525,0,0,0,0,0,0,26.64,26.73,28.83
$GC,3879,-1.15,-165.5,2065,2415,3329,3520,983.1,-18.8,173,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2415,3424,3329,3520,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3936,begin apogee
$GC,3943,-0.25,0.0,2061,2782,3328,3520,994.5,-19.0,175,4090,0.85,0.10,140.43,1.054,10246,0.138,0.074,2341,2703,2761,2784,2738,0,0,0,0,0,0,26.62,24.91,24.27
$STATE,4092,end apogee,CONTROL_FINISHED_OK
$STATE,4092,begin climb
$GC,4095,1.15,165.5,2341,2703,2780,2727,1002.6,0.0,179,4258,1.25,1.80,150.93,1.014,10500,0.057,0.038,2791,3832,2078,2188,1968,0,0,0,0,0,0,25.06,24.79,24.12
$GC,4465,1.15,165.5,2791,3832,2170,1961,914.3,31.8,192,4471,0.00,1.60,0.00,0.000,1030,0.000,0.019,2799,2654,2065,2170,1961,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4801,1.15,165.5,2799,2649,2165,1958,813.1,30.4,203,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2649,2061,2164,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5101,1.15,165.5,2799,2647,2164,1956,725.0,29.5,213,5106,0.00,1.75,0.00,0.000,260,0.000,0.038,2792,3841,2060,2164,1956,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5232,1.15,165.5,2791,3841,2162,1956,685.2,31.1,217,5238,0.00,1.55,0.00,0.000,1030,0.000,0.018,2800,2655,2059,2162,1956,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5552,1.15,165.5,2800,2650,2159,1954,593.0,28.5,228,5558,0.00,1.73,0.00,0.000,260,0.000,0.039,2792,3849,2056,2159,1954,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5666,1.15,165.5,2792,3845,2158,1954,560.0,30.1,233,5672,0.00,1.55,0.00,0.000,1030,0.000,0.018,2800,2651,2056,2158,1954,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5987,1.15,165.5,2800,2647,2156,1953,471.9,26.2,249,5994,0.00,1.73,0.00,0.000,260,0.000,0.038,2792,3841,2052,2152,1953,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6167,1.15,165.5,2792,3840,2155,1953,424.1,27.0,257,6173,0.00,1.55,0.00,0.000,1030,0.000,0.018,2800,2644,2054,2155,1953,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6482,1.15,165.5,2800,2640,2153,1952,343.8,23.7,273,6488,0.00,2.45,0.00,0.000,516,0.000,0.025,2813,1302,2052,2153,1952,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6530,1.15,165.5,2813,1302,2152,1956,334.2,21.8,275,6536,0.00,2.72,0.00,0.000,1030,0.000,0.026,2810,2791,2051,2152,1950,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6857,1.15,165.5,2810,2790,2152,1950,264.1,20.3,291,6862,0.00,1.48,0.00,0.000,260,0.000,0.040,2809,3832,2051,2152,1950,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7096,1.15,165.5,2810,3833,2151,1950,210.8,20.3,302,7103,0.00,1.52,0.00,0.000,1030,0.000,0.018,2819,2640,2050,2151,1950,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7413,1.15,165.5,2818,2640,2151,1950,163.0,13.1,318,7418,0.00,1.73,0.00,0.000,260,0.000,0.037,2811,3855,2050,2151,1950,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7658,1.15,165.5,2810,3855,2151,1950,129.9,13.2,329,7664,0.00,1.55,0.00,0.000,1030,0.000,0.019,2819,2638,2050,2151,1950,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7973,1.15,165.5,2819,2638,2151,1950,98.7,10.3,345,7980,0.00,1.73,0.00,0.000,260,0.000,0.036,2811,3853,2050,2151,1950,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8214,1.15,165.5,2811,3853,2151,1950,70.3,12.4,356,8220,0.00,1.52,0.00,0.000,1030,0.000,0.019,2820,2635,2051,2151,1951,0,0,0,0,0,0,28.83,26.83,28.83
$GC,8531,1.15,165.5,2820,2636,2151,1951,31.5,12.3,379,8536,0.00,1.73,0.00,0.000,260,0.000,0.036,2813,3854,2051,2151,1952,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,8734,end climb,SURFACE_DEPTH_REACHED
$STATE,8734,begin surface coast
$FINISH,-0.4,1.022444
$STATE,8758,end surface coast,CONTROL_FINISHED_OK
$STATE,8758,begin surface
$SM_CCo,8778,130.75,0.490,1,0,1131,400.33
$SM_GC,0.42,6.70,2.35,130.75,0.035,0.022,0.490,140,2371,1131,-7.10,0.45,400.33,0,0,0,0,1,0,26.72,26.79,25.22
$IRIDIUM_FIX,1830.49,12443.87,200313,212135
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.08
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,4007904
$24V_AH,24.1,4.034
$10V_AH,10.4,2.441
$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,16.575,66.775,291.350,130.750,0.000,0.000,0.000,314.925,0.000,0.000,15.721,2041.961,4850.592,514.504,1647.929,373.592,0.000,1519.695,0.000,1249.610,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,86.445,1054.170,490.365,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8801.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.425,0.000,0.000,0.000
$MEM,329124
$DATA_FILE_SIZE,13435,417
$CAP_FILE_SIZE,243560,0
$CFSIZE,260034560,252563456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.107,253.8,1
$GPS,210313,022006,1834.986,12442.748,38,1.0,39,-2.2