version: 66.11
glider: 169
mission: 8
dive: 31
start: 3 21 113 10 30 49
data:
$ID,169
$MISSION,8
$DIVE,31
$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,-20892.611
$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
$GPS1,210313,102135,1831.102,12443.440,26,1.2,26,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-71.2
$GPS2,210313,103020,1831.182,12443.429,11,8.7,30,-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,173.5,77702,-14.7,-8.462,-18.04,2986
$D_GRID,5319
$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,-165.5,124,2431,1282,980,0.0,0.0,0,100,0.00,0.00,-75.32,0.000,16386,0.000,0.000,124,2431,3065,2983,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-1.15,-165.5,124,2428,2983,3145,3.4,-7.2,10,129,7.53,2.50,-6.72,0.000,18948,0.231,0.047,2059,948,3440,3324,3556,0,0,0,0,0,0,26.02,26.22,26.49
$GC,216,-1.15,-165.5,2059,947,3325,3557,54.3,-39.9,22,222,0.00,2.45,0.00,0.000,1030,0.000,0.038,2048,2415,3440,3325,3556,0,0,0,0,0,0,28.83,26.30,28.83
$GC,536,-1.15,-165.5,2047,2413,3327,3557,198.9,-40.0,38,542,0.00,2.40,0.00,0.000,516,0.000,0.033,2048,949,3441,3326,3557,0,0,0,0,0,0,28.83,26.49,28.83
$GC,760,-1.15,-165.5,1252,948,3315,3555,265.5,-28.0,48,768,0.00,2.40,0.00,0.000,1030,0.000,0.035,2043,2416,3443,3329,3557,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1067,-1.15,-165.5,2043,2415,3334,3555,362.8,-30.3,64,1073,0.00,2.40,0.00,0.000,516,0.000,0.034,2044,940,3444,3334,3555,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1122,-1.15,-165.5,2043,940,3334,3555,375.3,-28.9,66,1129,0.00,2.42,0.00,0.000,1030,0.000,0.038,2033,2416,3444,3334,3555,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1439,-1.15,-165.5,2032,2419,3334,3555,462.5,-26.1,82,1444,0.00,2.38,0.00,0.000,516,0.000,0.033,2033,950,3445,3334,3556,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1539,-1.15,-165.5,2033,950,3334,3555,485.9,-26.0,86,1546,0.10,2.40,0.00,0.000,3078,0.184,0.035,2055,2421,3442,3329,3555,0,0,0,0,0,0,26.58,26.67,28.83
$GC,1857,-1.15,-165.5,2055,2419,3334,3554,562.0,-22.4,102,1864,0.00,2.40,0.00,0.000,516,0.000,0.033,2056,938,3444,3334,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1989,-1.15,-165.5,2053,938,3334,3554,589.5,-20.7,108,1995,0.00,2.42,0.00,0.000,1030,0.000,0.038,2046,2418,3444,3334,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2319,-1.15,-165.5,2046,2417,3333,3547,662.9,-22.6,120,2325,0.00,2.40,0.00,0.000,516,0.000,0.034,2047,939,3440,3334,3546,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2410,-1.15,-165.5,2046,939,3333,3545,677.6,-22.2,122,2418,0.00,2.40,0.00,0.000,1030,0.000,0.037,2037,2414,3439,3334,3544,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2718,-1.15,-165.5,2036,2413,3333,3538,752.1,-22.9,133,2724,0.00,2.40,0.00,0.000,516,0.000,0.037,2043,942,3435,3333,3538,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2821,-1.15,-165.5,2042,942,3334,3536,774.0,-22.5,136,2827,0.00,2.40,0.00,0.000,1030,0.000,0.038,2033,2410,3435,3334,3536,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3152,-1.15,-165.5,2033,2409,3333,3528,846.7,-20.4,147,3157,0.00,2.38,0.00,0.000,516,0.000,0.036,2033,948,3431,3334,3529,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3232,-1.15,-165.5,2033,948,3333,3528,860.2,-20.2,149,3240,0.10,2.38,0.00,0.000,3078,0.178,0.035,2056,2411,3430,3333,3527,0,0,0,0,0,0,26.64,26.73,28.83
$GC,3556,-1.15,-165.5,2056,2413,3333,3521,921.6,-18.0,160,3562,0.00,2.40,0.00,0.000,516,0.000,0.037,2057,941,3427,3333,3521,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3623,-1.15,-165.5,2056,941,3331,3521,933.5,-17.7,162,3628,0.00,2.40,0.00,0.000,1030,0.000,0.037,2045,2411,3425,3331,3520,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3956,begin apogee
$GC,3963,-0.25,0.0,2041,2782,3326,3517,994.3,-18.4,173,4109,0.93,0.10,139.95,1.048,10246,0.138,0.076,2344,2707,2762,2785,2740,0,0,0,0,0,0,26.62,24.93,24.30
$STATE,4111,end apogee,CONTROL_FINISHED_OK
$STATE,4112,begin climb
$GC,4114,1.15,165.5,2344,2707,2781,2728,999.8,0.0,177,4276,1.25,1.83,152.18,0.997,10500,0.054,0.037,2796,3846,2079,2189,1969,0,0,0,0,0,0,25.08,24.82,24.16
$GC,4478,1.15,165.5,2796,3846,2171,1962,911.1,34.6,188,4483,0.00,1.60,0.00,0.000,1030,0.000,0.018,2805,2649,2066,2171,1962,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4794,1.15,165.5,2805,2646,2166,1958,806.3,30.1,199,4800,0.00,1.77,0.00,0.000,260,0.000,0.037,2797,3851,2062,2167,1958,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4884,1.15,165.5,2796,3852,2165,1958,784.6,31.3,201,4893,0.00,1.58,0.00,0.000,1030,0.000,0.018,2806,2636,2064,2165,1964,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5192,1.15,165.5,2806,2637,2163,1956,686.1,29.8,212,5198,0.00,1.77,0.00,0.000,260,0.000,0.038,2797,3850,2060,2163,1957,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5309,1.15,165.5,2796,3849,2162,1956,654.9,31.4,215,5314,0.00,1.58,0.00,0.000,1030,0.000,0.018,2806,2647,2059,2162,1956,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5623,1.15,165.5,2805,2644,2159,1956,558.9,27.2,228,5629,0.00,1.73,0.00,0.000,260,0.000,0.037,2797,3839,2057,2159,1956,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5734,1.15,165.5,1792,3838,2117,1948,526.7,30.4,233,5741,0.00,1.55,0.00,0.000,1030,0.000,0.018,2805,2657,2057,2158,1956,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6058,1.15,165.5,2806,2653,2157,1954,442.8,25.0,249,6063,0.00,1.73,0.00,0.000,260,0.000,0.037,2797,3855,2055,2157,1954,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6166,1.15,165.5,2797,3855,2156,1954,413.5,26.6,254,6172,0.00,1.62,0.00,0.000,1030,0.000,0.018,2806,2653,2055,2156,1954,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6494,1.15,165.5,2806,2649,2154,1952,336.1,23.4,270,6500,0.00,1.75,0.00,0.000,260,0.000,0.037,2797,3835,2053,2154,1952,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6535,1.15,165.5,2796,3835,2154,1952,329.5,23.6,271,6544,0.00,1.58,0.00,0.000,1030,0.000,0.017,2806,2651,2053,2154,1952,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6840,1.15,165.5,2805,2651,2153,1952,262.3,19.1,287,6846,0.00,1.73,0.00,0.000,260,0.000,0.037,2795,3850,2053,2154,1952,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7081,1.15,165.5,2797,3850,2153,1952,210.8,20.9,298,7086,0.00,1.55,0.00,0.000,1030,0.000,0.017,2806,2636,2052,2153,1952,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7396,1.15,165.5,2806,2636,2153,1952,163.8,12.4,314,7401,0.00,1.73,0.00,0.000,260,0.000,0.037,2797,3836,2052,2153,1952,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7446,1.15,165.5,2797,3836,2152,1952,157.5,13.3,316,7452,0.00,1.52,0.00,0.000,1030,0.000,0.018,2806,2639,2052,2153,1952,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7769,1.15,165.5,2806,2639,2153,1952,118.4,9.5,332,7775,0.00,1.73,0.00,0.000,260,0.000,0.036,2797,3848,2052,2152,1952,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7782,1.15,165.5,2797,3848,2153,1951,118.4,9.5,332,7789,0.00,1.55,0.00,0.000,1030,0.000,0.017,2806,2632,2052,2152,1952,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8099,1.15,165.5,2806,2633,2153,1952,87.7,10.4,348,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2632,2052,2153,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,1.15,165.5,2806,2632,2153,1952,55.5,10.1,363,8404,0.00,1.73,0.00,0.000,260,0.000,0.035,2798,3838,2053,2153,1953,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8644,1.15,165.5,2798,3838,2153,1954,27.9,11.6,383,8649,0.00,1.52,0.00,0.000,1030,0.000,0.016,2807,2618,2053,2153,1954,0,0,0,0,0,0,28.83,26.85,28.83
$STATE,8897,end climb,SURFACE_DEPTH_REACHED
$STATE,8898,begin surface coast
$FINISH,-0.2,1.022373
$STATE,8927,end surface coast,CONTROL_FINISHED_OK
$STATE,8927,begin surface
$SM_CCo,8945,128.98,0.483,1,0,1131,400.08
$SM_GC,0.39,6.65,0.55,128.98,0.034,0.028,0.483,144,2361,1131,-7.10,0.37,400.08,0,0,0,0,1,0,26.73,26.82,25.26
$IRIDIUM_FIX,1823.67,12442.57,210313,070725
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.80
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,4006112
$24V_AH,24.2,4.486
$10V_AH,10.5,2.701
$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,16.550,78.050,292.125,128.975,0.000,0.000,0.000,300.350,0.000,0.000,32.025,2031.950,5004.380,547.656,1618.271,392.053,0.000,1531.163,0.000,1215.134,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,76.500,1048.050,483.480,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8970.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.595,0.000,0.000,0.000
$MEM,329096
$DATA_FILE_SIZE,16797,433
$CAP_FILE_SIZE,249309,0
$CFSIZE,260034560,252112896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.170,226.6,1
$GPS,210313,130323,1829.462,12443.597,24,0.9,41,-2.2