version: 66.11
glider: 169
mission: 8
dive: 29
start: 3 21 113 5 10 1
data:
$ID,169
$MISSION,8
$DIVE,29
$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,-20889.906
$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
$GPS1,210313,050031,1833.938,12443.146,12,1.9,12,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-71.3
$GPS2,210313,050931,1834.036,12443.109,17,1.8,17,-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,178.8,82798,-14.7,-8.462,-18.04,2986
$D_GRID,5061
$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,-1.15,-165.5,124,2435,1278,984,0.0,0.0,0,106,0.00,0.00,-82.07,0.000,16386,0.000,0.000,124,2436,3331,3215,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-1.15,-165.5,124,2436,3215,3448,5.4,-14.0,11,127,7.45,2.60,-1.77,0.000,18948,0.227,0.050,2059,938,3442,3320,3565,0,0,0,0,0,0,26.00,26.20,26.42
$GC,237,-1.15,-165.5,2059,938,3323,3566,66.8,-41.0,23,244,0.00,2.47,0.00,0.000,1030,0.000,0.042,2048,2412,3444,3323,3565,0,0,0,0,0,0,28.83,26.29,28.83
$GC,558,-1.15,-165.5,2048,2411,3324,3565,207.7,-37.5,39,564,0.00,2.42,0.00,0.000,516,0.000,0.037,2050,948,3444,3324,3565,0,0,0,0,0,0,28.83,26.48,28.83
$GC,750,-1.15,-165.5,2049,948,3326,3565,264.6,-26.6,48,755,0.00,2.40,0.00,0.000,1030,0.000,0.034,2041,2418,3445,3325,3565,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1070,-1.15,-165.5,2040,2418,3332,3562,365.5,-30.1,64,1076,0.00,2.28,0.00,0.000,260,0.000,0.046,2030,3827,3447,3332,3562,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1099,-1.15,-165.5,2030,3827,3332,3562,372.9,-29.0,65,1105,0.12,2.30,0.00,0.000,3078,0.187,0.028,2060,2370,3447,3332,3562,0,0,0,0,0,0,26.48,26.65,28.83
$GC,1422,-1.15,-165.5,2061,2370,3331,3562,450.8,-23.4,81,1428,0.00,2.30,0.00,0.000,516,0.000,0.039,2062,949,3446,3331,3562,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1545,-1.15,-165.5,2062,949,3331,3562,473.9,-20.0,86,1553,0.00,2.40,0.00,0.000,1030,0.000,0.036,2056,2416,3446,3331,3562,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1852,-1.15,-165.5,2056,2415,3331,3560,546.6,-23.6,102,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2415,3445,3331,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2171,-1.15,-165.5,2056,2415,3331,3554,617.4,-22.1,117,2177,0.00,2.40,0.00,0.000,516,0.000,0.036,2057,942,3442,3331,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2226,-1.15,-165.5,2056,941,3331,3554,624.9,-21.8,118,2232,0.00,2.40,0.00,0.000,1030,0.000,0.037,2046,2413,3442,3331,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2543,-1.15,-165.5,2046,2412,3331,3547,701.4,-23.0,129,2550,0.00,2.40,0.00,0.000,516,0.000,0.038,2046,940,3439,3331,3547,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2613,-1.15,-165.5,2051,940,3331,3546,716.7,-22.7,131,2619,0.00,2.40,0.00,0.000,1030,0.000,0.040,2036,2413,3438,3331,3545,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2944,-1.15,-165.5,2036,2412,3330,3540,793.4,-22.7,142,2950,0.00,2.40,0.00,0.000,516,0.000,0.038,2042,949,3434,3330,3538,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2980,-1.15,-165.5,2038,949,3330,3538,801.7,-22.8,143,2985,0.00,2.40,0.00,0.000,1030,0.000,0.034,2030,2421,3434,3331,3538,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3315,-1.15,-165.5,2030,2420,3330,3531,872.7,-20.5,154,3321,0.10,2.40,0.00,0.000,2564,0.185,0.036,2058,953,3430,3330,3531,0,0,0,0,0,0,26.65,26.72,28.83
$GC,3375,-1.15,-165.5,2058,953,3330,3530,880.3,-20.6,155,3383,0.00,2.38,0.00,0.000,1030,0.000,0.034,2047,2419,3429,3330,3529,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3683,-1.15,-165.5,2047,2418,3330,3524,941.2,-18.8,166,3690,0.00,2.40,0.00,0.000,516,0.000,0.038,2050,951,3426,3330,3523,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3713,-1.15,-165.5,2050,951,3330,3523,941.2,-18.8,166,3721,0.00,2.38,0.00,0.000,1030,0.000,0.035,2040,2415,3426,3330,3523,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3956,begin apogee
$GC,3964,-0.25,0.0,2035,2783,3327,3521,993.5,-19.3,175,4110,0.93,0.10,140.38,1.043,10246,0.140,0.076,2338,2706,2762,2785,2740,0,0,0,0,0,0,26.61,24.93,24.29
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4113,begin climb
$GC,4115,1.15,165.5,2338,2706,2781,2729,998.6,0.0,179,4277,1.27,1.83,151.88,1.001,10500,0.058,0.038,2794,3847,2079,2190,1969,0,0,0,0,0,0,25.07,24.81,24.15
$GC,4515,1.15,165.5,2794,3847,2170,1962,897.3,34.4,191,4523,0.00,1.62,0.00,0.000,1030,0.000,0.018,2803,2654,2066,2171,1962,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4824,1.15,165.5,2803,2654,2167,1959,792.9,30.6,202,4829,0.00,1.75,0.00,0.000,260,0.000,0.038,2795,3847,2063,2167,1959,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4951,1.15,165.5,2794,3847,2165,1959,750.9,32.2,206,4957,0.00,1.62,0.00,0.000,1030,0.000,0.018,2803,2649,2062,2165,1959,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5287,1.15,165.5,2803,2648,2163,1957,653.1,28.6,217,5293,0.00,1.73,0.00,0.000,260,0.000,0.037,2795,3837,2060,2163,1957,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5347,1.15,165.5,2795,3837,2162,1957,642.8,28.7,218,5356,0.00,1.58,0.00,0.000,1030,0.000,0.018,2803,2653,2059,2162,1957,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5664,1.15,165.5,2803,2653,2160,1956,548.6,27.0,232,5669,0.00,1.70,0.00,0.000,260,0.000,0.038,2795,3837,2057,2159,1956,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5787,1.15,165.5,2795,3837,2158,1956,517.5,28.8,237,5795,0.00,1.55,0.00,0.000,1030,0.000,0.018,2804,2632,2057,2159,1956,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6093,1.15,165.5,2803,2631,2161,1955,434.8,24.6,253,6099,0.00,1.75,0.00,0.000,260,0.000,0.038,2795,3840,2056,2158,1955,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6338,1.15,165.5,2795,3840,2155,1955,370.8,27.0,264,6344,0.00,1.52,0.00,0.000,1030,0.000,0.018,2803,2641,2055,2156,1954,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6653,1.15,165.5,2803,2641,2155,1953,293.7,21.3,280,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2640,2054,2155,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6953,1.15,165.5,2803,2640,2154,1952,232.0,19.5,295,6959,0.00,1.73,0.00,0.000,260,0.000,0.038,2795,3850,2053,2154,1952,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7193,1.15,165.5,2795,3850,2154,1952,188.2,17.4,306,7199,0.00,1.55,0.00,0.000,1030,0.000,0.016,2804,2633,2053,2154,1952,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7508,1.15,165.5,2804,2632,2154,1952,140.8,12.8,322,7514,0.00,1.73,0.00,0.000,260,0.000,0.037,2796,3847,2053,2154,1953,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7748,1.15,165.5,2795,3847,2154,1954,111.7,11.8,333,7754,0.00,1.52,0.00,0.000,1030,0.000,0.018,2804,2634,2053,2154,1953,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8064,1.15,165.5,2804,2638,2154,1953,82.6,8.9,349,8070,0.00,1.73,0.00,0.000,260,0.000,0.036,2796,3854,2053,2154,1953,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8217,1.15,165.5,2796,3854,2154,1953,66.3,11.1,356,8223,0.00,1.58,0.00,0.000,1030,0.000,0.018,2805,2635,2053,2154,1953,0,0,0,0,0,0,28.83,26.84,28.83
$GC,8535,1.15,165.5,2804,2634,2154,1953,32.1,11.0,379,8540,0.00,1.73,0.00,0.000,260,0.000,0.036,2794,3854,2053,2154,1953,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8786,1.15,165.5,2796,3854,2154,1956,3.1,12.1,419,8793,0.00,1.58,0.00,0.000,1030,0.000,0.017,2805,2644,2055,2154,1956,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,8799,end climb,SURFACE_DEPTH_REACHED
$STATE,8799,begin surface coast
$FINISH,-0.4,1.015675
$STATE,8824,end surface coast,CONTROL_FINISHED_OK
$STATE,8824,begin surface
$SM_CCo,8842,131.50,0.491,1,0,1129,400.08
$SM_GC,0.53,6.65,0.60,131.50,0.034,0.026,0.491,136,2365,1129,-7.10,0.28,400.08,0,0,0,0,1,0,26.74,26.83,25.23
$IRIDIUM_FIX,1830.49,12443.87,210313,020232
$TT8_MAMPS,0.02247,0.02247
$HUMID,42.20
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4007008
$24V_AH,24.1,4.263
$10V_AH,10.1,2.571
$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,16.525,74.575,292.250,131.500,0.000,0.000,0.000,328.425,0.000,0.000,18.210,2017.845,4934.634,548.543,1632.399,376.742,0.000,1556.620,0.000,1220.365,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,75.735,1043.460,491.130,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8868.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.507,0.000,0.000,0.000
$MEM,329060
$DATA_FILE_SIZE,16795,425
$CAP_FILE_SIZE,246785,0
$CFSIZE,260034560,252334080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.057,205.9,1
$GPS,210313,074054,1832.711,12443.626,40,1.2,40,-2.2