version: 66.11
glider: 169
mission: 8
dive: 253
start: 5 9 113 2 45 4
data:
$ID,169
$MISSION,8
$DIVE,253
$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,400
$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,165
$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,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$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,-21728.807
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2550
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$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,48
$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
$GPS1,090513,023305,1818.096,12309.375,36,1.4,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-73.2
$GPS2,090513,024436,1818.320,12309.392,10,1.9,15,-2.0
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,271.5,96248,-3.2,-8.250,-19.13,2990
$D_GRID,4125
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.48,-160.6,126,2560,1236,976,0.0,0.0,0,103,0.00,0.00,-76.62,0.000,16386,0.000,0.000,122,2561,3155,3064,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.48,-160.6,122,2561,3064,3248,4.6,-11.0,10,131,8.62,2.58,-5.47,0.000,18948,0.237,0.047,2219,1087,3511,3382,3641,0,0,0,0,0,0,25.60,26.10,26.47
$GC,220,-0.48,-160.6,2219,1087,3385,3641,51.8,-24.6,21,227,0.00,2.55,0.00,0.000,1030,0.000,0.034,2208,2560,3513,3385,3641,0,0,0,0,0,0,28.83,26.17,28.83
$GC,542,-0.48,-160.6,2208,2558,3385,3641,157.0,-29.8,37,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2558,3513,3385,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.48,-160.6,2208,2558,3386,3637,232.9,-20.9,52,848,0.00,2.50,0.00,0.000,516,0.000,0.030,2208,1075,3513,3386,3641,0,0,0,0,0,0,28.83,26.41,28.83
$GC,916,-0.48,-160.6,2208,1074,3386,3645,245.5,-18.6,55,922,0.00,2.53,0.00,0.000,1030,0.000,0.036,2207,2560,3514,3387,3641,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1238,-0.48,-160.6,2206,2558,3387,3641,299.9,-17.4,71,1245,0.00,2.47,0.00,0.000,516,0.000,0.031,2207,1085,3514,3387,3641,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1291,-0.48,-160.6,2207,1085,3387,3641,307.6,-16.9,73,1297,0.00,2.50,0.00,0.000,1030,0.000,0.033,2205,2563,3513,3387,3639,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1613,-0.48,-160.6,2205,2561,3386,3642,359.7,-15.9,89,1619,0.00,2.47,0.00,0.000,516,0.000,0.028,2206,1075,3513,3386,3640,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1664,-0.48,-160.6,2206,1075,3387,3640,366.2,-14.5,91,1671,0.00,2.53,0.00,0.000,1030,0.000,0.034,2205,2559,3513,3386,3640,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1988,-0.48,-160.6,2204,2557,3387,3637,408.3,-12.9,107,1994,0.00,2.20,0.00,0.000,260,0.000,0.047,2196,3836,3511,3386,3637,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2016,-0.48,-160.6,1328,3835,3374,3635,411.8,-12.8,108,2022,0.00,2.12,0.00,0.000,1030,0.000,0.024,2197,2525,3512,3387,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2340,-0.48,-160.6,2196,2524,3387,3627,453.8,-13.4,124,2346,0.00,2.40,0.00,0.000,516,0.000,0.033,2197,1077,3509,3387,3631,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2374,-0.48,-160.6,2197,1077,3387,3631,457.6,-13.3,125,2380,0.00,2.50,0.00,0.000,1030,0.000,0.036,2194,2554,3508,3386,3631,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2690,-0.48,-160.6,2193,2551,3386,3625,497.4,-12.2,141,2697,0.10,2.17,0.00,0.000,2308,0.150,0.044,2219,3826,3505,3386,3625,0,0,0,0,0,0,26.52,26.39,28.83
$GC,2741,-0.48,-160.6,1360,3825,3375,3621,502.6,-11.4,143,2747,0.00,2.15,0.00,0.000,1030,0.000,0.026,2219,2520,3504,3386,3623,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3064,-0.48,-160.6,2218,2519,3386,3616,532.1,-8.8,159,3070,0.00,2.30,0.00,0.000,260,0.000,0.044,2210,3842,3500,3386,3615,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3132,-0.48,-160.6,2210,3842,3386,3615,538.5,-9.2,162,3138,0.00,2.17,0.00,0.000,1030,0.000,0.024,2210,2509,3500,3386,3615,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3459,-0.48,-160.6,2210,2509,3386,3608,570.1,-9.1,178,3465,0.00,2.35,0.00,0.000,516,0.000,0.034,2210,1088,3496,3386,3607,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3507,-0.48,-160.6,2210,1088,3386,3607,574.7,-9.6,180,3512,0.00,2.47,0.00,0.000,1030,0.000,0.031,2207,2557,3496,3386,3607,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3832,-0.48,-160.6,2206,2554,3386,3601,606.7,-9.6,195,3838,0.00,2.17,0.00,0.000,260,0.000,0.047,2206,3825,3493,3386,3601,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3923,-0.48,-160.6,2206,3825,3385,3599,613.1,-9.5,197,3931,0.00,2.15,0.00,0.000,1030,0.000,0.026,2206,2521,3492,3386,3599,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4231,-0.48,-160.6,2206,2520,3386,3593,642.5,-8.8,208,4238,0.00,2.35,0.00,0.000,516,0.000,0.031,2207,1088,3489,3386,3593,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4257,-0.48,-160.6,2206,1088,3386,3593,642.5,-8.8,208,4263,0.00,2.47,0.00,0.000,1030,0.000,0.032,2206,2557,3489,3386,3593,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4577,-0.48,-160.6,2206,2555,3384,3589,672.5,-8.9,219,4583,0.00,2.17,0.00,0.000,260,0.000,0.046,2196,3828,3486,3383,3589,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4627,-0.48,-160.6,2196,3828,3382,3589,676.1,-8.9,220,4633,0.00,2.15,0.00,0.000,1030,0.000,0.026,2196,2521,3485,3382,3589,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4947,-0.48,-160.6,2196,2521,3381,3586,705.6,-8.7,231,4953,0.10,2.33,0.00,0.000,2308,0.134,0.044,2220,3835,3483,3380,3586,0,0,0,0,0,0,26.53,26.31,28.83
$GC,4985,-0.48,-160.6,2220,3835,3382,3586,708.4,-8.5,232,4992,0.00,2.17,0.00,0.000,1030,0.000,0.025,2225,2516,3483,3380,3586,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5323,-0.48,-160.6,2220,2516,3380,3579,732.3,-7.4,243,5330,0.00,2.35,0.00,0.000,260,0.000,0.051,2220,3831,3479,3379,3580,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5400,-0.48,-160.6,2219,3831,3378,3580,737.5,-7.6,245,5406,0.00,2.17,0.00,0.000,1030,0.000,0.028,2220,2520,3479,3378,3580,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5727,-0.48,-160.6,2220,2520,3377,3577,763.6,-8.2,256,5734,0.00,2.33,0.00,0.000,260,0.000,0.046,2212,3842,3477,3377,3577,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5789,-0.48,-160.6,2212,3841,3376,3577,766.9,-8.3,257,5797,0.00,2.17,0.00,0.000,1030,0.000,0.025,2212,2515,3476,3376,3577,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6097,-0.48,-160.6,2212,2515,3375,3573,795.3,-8.3,268,6103,0.00,2.35,0.00,0.000,260,0.000,0.050,2206,3829,3474,3376,3573,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6167,-0.48,-160.6,1348,3828,3362,3569,801.1,-8.4,270,6172,0.00,2.17,0.00,0.000,1030,0.000,0.028,2207,2522,3472,3374,3570,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6497,-0.48,-160.6,2207,2522,3373,3570,829.5,-8.8,281,6503,0.00,2.33,0.00,0.000,260,0.000,0.049,2207,3826,3471,3372,3570,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6547,-0.48,-160.6,2206,3826,3372,3570,832.8,-9.1,282,6553,0.00,2.17,0.00,0.000,1030,0.000,0.027,2207,2520,3471,3372,3570,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6867,-0.48,-160.6,2206,2520,3372,3566,862.9,-8.7,293,6874,0.00,2.33,0.00,0.000,260,0.000,0.048,2207,3833,3469,3372,3566,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6908,-0.48,-160.6,2206,3833,3370,3566,866.0,-8.6,294,6914,0.00,2.17,0.00,0.000,1030,0.000,0.026,2206,2518,3468,3371,3566,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7239,-0.48,-160.6,2206,2518,3370,3563,896.7,-9.3,305,7245,0.00,2.35,0.00,0.000,260,0.000,0.050,2207,3838,3466,3370,3563,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7314,-0.48,-160.6,2206,3838,3369,3563,902.9,-9.3,307,7321,0.00,2.17,0.00,0.000,1030,0.000,0.027,2207,2523,3466,3369,3563,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7641,-0.48,-160.6,2206,2524,3368,3561,931.6,-8.3,318,7646,0.00,2.33,0.00,0.000,260,0.000,0.048,2196,3835,3464,3368,3561,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7681,-0.48,-160.6,2195,3835,3363,3561,935.4,-8.8,319,7687,0.00,2.17,0.00,0.000,1030,0.000,0.026,2195,2520,3464,3367,3561,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8012,-0.48,-160.6,2195,2520,3367,3559,962.0,-7.9,330,8019,0.00,2.33,0.00,0.000,260,0.000,0.047,2184,3836,3462,3367,3558,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8060,-0.48,-160.6,2184,3836,3367,3558,965.0,-7.9,331,8067,0.12,2.17,0.00,0.000,3078,0.120,0.027,2222,2521,3462,3367,3558,0,0,0,0,0,0,26.22,26.47,28.83
$GC,8387,-0.48,-160.6,2224,2521,3367,3555,985.2,-5.3,342,8393,0.00,2.33,0.00,0.000,260,0.000,0.047,2220,3834,3461,3367,3555,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8454,-0.48,-160.6,2220,3834,3366,3555,988.1,-4.6,344,8460,0.00,2.17,0.00,0.000,1030,0.000,0.026,2220,2521,3461,3367,3555,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,8487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8487,begin apogee
$GC,8494,-0.12,0.0,2220,2669,3366,3555,990.1,-4.7,345,8642,0.32,0.08,140.52,1.038,10246,0.091,0.094,2340,2627,2847,2857,2838,0,0,0,0,0,0,26.15,24.91,24.20
$STATE,8644,end apogee,CONTROL_FINISHED_OK
$STATE,8644,begin climb
$GC,8646,0.48,160.6,2339,2627,2851,2826,993.8,0.0,349,8807,0.50,0.00,154.12,0.978,10502,0.036,0.000,2557,2624,2196,2318,2074,0,0,0,0,0,0,25.15,28.83,23.99
$GC,9089,0.48,160.6,2556,2627,2289,2044,952.1,11.8,365,9096,0.00,2.03,0.00,0.000,260,0.000,0.042,2547,3834,2166,2289,2044,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9147,0.48,160.6,2547,3834,2287,2043,947.5,11.9,366,9153,0.00,1.88,0.00,0.000,1030,0.000,0.017,2557,2597,2165,2287,2043,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9464,0.48,160.6,2557,2597,2284,2043,908.9,11.0,377,9470,0.00,2.10,0.00,0.000,260,0.000,0.041,2548,3844,2163,2283,2043,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9505,0.48,160.6,2549,3844,2289,2043,905.1,10.8,378,9511,0.00,1.88,0.00,0.000,1030,0.000,0.015,2558,2593,2163,2283,2043,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9836,0.48,160.6,2557,2593,2280,2042,866.5,11.2,389,9843,0.00,2.12,0.00,0.000,260,0.000,0.041,2548,3840,2161,2280,2042,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,19098,end climb,SURFACE_DEPTH_REACHED
$STATE,19098,begin surface coast
$FINISH,-0.4,1.021329
$STATE,19143,end surface coast,CONTROL_FINISHED_OK
$STATE,19143,begin surface
$SM_CCo,19161,43.88,0.119,0,0,1096,430.01
$SM_GC,0.19,6.38,0.15,43.88,0.027,0.054,0.119,135,2497,1096,-6.95,0.42,430.01,0,0,0,0,0,0,26.38,26.61,26.03
$IRIDIUM_FIX,1812.31,12313.71,080513,222202
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.64
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3892864
$24V_AH,24.0,33.194
$10V_AH,10.2,26.679
$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
$DEVICE_SECS,17.325,198.200,487.375,43.875,0.000,0.000,0.000,411.150,0.000,0.000,16.546,3587.873,12130.061,810.176,2528.709,810.631,0.000,2365.421,0.000,1983.326,0.000,0.545,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19218.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.444,0.000,0.000,0.000
$MEM,329088
$DATA_FILE_SIZE,33356,849
$CAP_FILE_SIZE,456951,0
$CFSIZE,260034560,213975040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,303.3,1
$GPS,090513,080623,1818.703,12306.879,37,1.4,37,-2.0