version: 66.11
glider: 169
mission: 8
dive: 278
start: 5 14 113 2 0 3
data:
$ID,169
$MISSION,8
$DIVE,278
$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,-5
$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,-21760.736
$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
$GPS1,140513,014829,1846.558,12221.104,36,1.6,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-74.2
$GPS2,140513,015936,1847.160,12220.935,12,1.6,17,-2.1
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,98.9,263181,-3.2,-8.250,-19.13,2990
$D_GRID,1047
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.48,-160.6,124,2569,1247,964,0.0,0.0,0,94,0.00,0.00,-67.28,0.000,16386,0.000,0.000,124,2569,2805,2766,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.48,-160.6,124,2569,2767,2844,3.1,-6.4,9,125,8.27,2.33,-12.38,0.000,18692,0.222,0.062,2202,3829,3510,3385,3636,0,0,0,0,0,0,25.52,26.01,26.45
$GC,178,-0.48,-160.6,2203,3829,3387,3636,34.6,-34.9,18,186,0.00,2.20,0.00,0.000,1030,0.000,0.027,2203,2542,3511,3387,3636,0,0,0,0,0,0,28.83,26.17,28.83
$GC,487,-0.48,-160.6,2202,2538,3388,3636,123.3,-28.3,36,494,0.00,2.42,0.00,0.000,516,0.000,0.028,2203,1077,3511,3387,3636,0,0,0,0,0,0,28.83,26.26,28.83
$GC,556,-0.48,-160.6,2202,1078,3389,3636,137.9,-22.0,39,564,0.00,2.53,0.00,0.000,1030,0.000,0.034,2197,2556,3512,3388,3636,0,0,0,0,0,0,28.83,26.26,28.83
$GC,885,-0.48,-160.6,2195,2553,3392,3636,197.2,-18.2,55,891,0.00,2.20,0.00,0.000,260,0.000,0.047,2197,3826,3514,3392,3636,0,0,0,0,0,0,28.83,26.27,28.83
$GC,946,-0.48,-160.6,2196,3826,3392,3635,205.4,-17.6,57,954,0.00,2.15,0.00,0.000,1030,0.000,0.025,2197,2531,3513,3392,3635,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1254,-0.48,-160.6,2196,2532,3392,3636,256.4,-14.7,73,1259,0.00,2.40,0.00,0.000,516,0.000,0.030,2197,1080,3513,3392,3635,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1342,-0.48,-160.6,2196,1080,3392,3635,267.1,-12.1,77,1348,0.10,2.50,0.00,0.000,3078,0.142,0.034,2224,2556,3513,3392,3635,0,0,0,0,0,0,26.25,26.38,28.83
$GC,1670,-0.48,-160.6,2224,2553,3392,3634,300.5,-10.2,93,1676,0.00,2.20,0.00,0.000,260,0.000,0.047,2220,3841,3513,3392,3635,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1761,-0.48,-160.6,2219,3841,3392,3634,311.2,-11.6,97,1767,0.00,2.15,0.00,0.000,1030,0.000,0.024,2220,2522,3514,3394,3634,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2089,-0.48,-160.6,2219,2523,3392,3630,346.7,-9.8,113,2096,0.00,2.38,0.00,0.000,260,0.000,0.047,2220,3834,3510,3392,3629,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2119,-0.48,-160.6,2219,3834,3392,3629,349.6,-9.8,114,2125,0.00,2.15,0.00,0.000,1030,0.000,0.024,2220,2525,3510,3392,3629,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2442,-0.48,-160.6,2219,2524,3391,3624,382.1,-10.0,130,2447,0.00,2.33,0.00,0.000,260,0.000,0.047,2220,3826,3507,3391,3623,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2510,-0.48,-160.6,2219,3826,3392,3621,389.0,-10.0,133,2515,0.00,2.15,0.00,0.000,1030,0.000,0.026,2220,2530,3506,3391,3621,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2837,-0.48,-160.6,2219,2530,3391,3615,422.2,-9.5,149,2842,0.00,2.30,0.00,0.000,260,0.000,0.047,2220,3835,3503,3391,3615,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2879,-0.48,-160.6,2219,3835,3391,3615,424.6,-9.3,150,2886,0.00,2.15,0.00,0.000,1030,0.000,0.024,2220,2522,3502,3391,3614,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3183,-0.48,-160.6,2220,2522,3392,3610,450.2,-7.3,166,3189,0.00,2.33,0.00,0.000,260,0.000,0.048,2220,3830,3500,3391,3609,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3233,-0.48,-160.6,2219,3830,3391,3608,453.6,-7.0,168,3238,0.00,2.15,0.00,0.000,1030,0.000,0.024,2220,2523,3499,3391,3607,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3560,-0.48,-160.6,2219,2523,3391,3603,478.6,-7.5,184,3567,0.00,2.33,0.00,0.000,260,0.000,0.049,2220,3824,3496,3391,3602,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3630,-0.48,-160.6,2219,3824,3390,3602,483.7,-7.2,187,3637,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2528,3496,3391,3602,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3959,-0.48,-160.6,2219,2529,3390,3596,509.5,-8.5,203,3964,0.00,2.33,0.00,0.000,260,0.000,0.050,2220,3837,3493,3390,3596,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3993,-0.48,-160.6,2219,3837,3389,3592,511.8,-8.5,204,3999,0.00,2.15,0.00,0.000,1030,0.000,0.024,2220,2525,3492,3388,3596,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4309,-0.48,-160.6,2219,2525,3387,3593,538.3,-8.1,220,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2525,3490,3387,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4609,-0.48,-160.6,2219,2525,3386,3590,562.3,-8.5,235,4615,0.00,2.35,0.00,0.000,260,0.000,0.052,2219,3839,3487,3386,3589,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4661,-0.48,-160.6,2219,3839,3385,3589,566.3,-8.5,237,4667,0.00,2.17,0.00,0.000,1030,0.000,0.026,2219,2521,3488,3386,3590,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4984,-0.48,-160.6,2219,2521,3385,3586,593.8,-8.1,253,4990,0.00,2.33,0.00,0.000,260,0.000,0.049,2219,3826,3485,3385,3586,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5033,-0.48,-160.6,2219,3826,3383,3586,597.7,-8.1,255,5040,0.00,2.15,0.00,0.000,1030,0.000,0.027,2220,2529,3484,3383,3585,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5350,-0.48,-160.6,2219,2530,3383,3581,621.4,-7.2,266,5356,0.00,2.42,0.00,0.000,516,0.000,0.034,2219,1092,3481,3382,3581,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5387,-0.48,-160.6,2220,1092,3382,3581,624.1,-7.3,267,5394,0.00,2.50,0.00,0.000,1030,0.000,0.032,2219,2559,3481,3382,3581,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5723,-0.48,-160.6,2219,2557,3381,3579,651.3,-8.5,278,5730,0.00,2.22,0.00,0.000,260,0.000,0.049,2208,3829,3479,3380,3579,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5851,-0.48,-160.6,2208,3829,3380,3579,662.8,-9.0,282,5858,0.00,2.22,0.00,0.000,1030,0.000,0.028,2208,2514,3479,3380,3579,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6188,-0.48,-160.6,2208,2514,3379,3576,695.5,-9.3,293,6195,0.00,2.38,0.00,0.000,260,0.000,0.047,2206,3833,3477,3380,3575,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6264,-0.48,-160.6,2207,3833,3378,3575,701.5,-9.0,295,6270,0.00,2.20,0.00,0.000,1030,0.000,0.026,2207,2514,3477,3379,3575,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6590,-0.48,-160.6,2207,2514,3378,3572,732.2,-9.9,306,6596,0.00,2.38,0.00,0.000,260,0.000,0.048,2207,3829,3475,3378,3572,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6688,-0.48,-160.6,1312,3829,3364,3569,740.8,-9.1,309,6695,0.00,2.22,0.00,0.000,1030,0.000,0.028,2207,2531,3474,3377,3572,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7024,-0.48,-160.6,2207,2531,3376,3570,774.7,-10.6,320,7030,0.00,2.35,0.00,0.000,260,0.000,0.050,2207,3829,3473,3376,3570,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7069,-0.48,-160.6,2206,3829,3376,3569,778.5,-10.9,321,7075,0.00,2.20,0.00,0.000,1030,0.000,0.028,2207,2528,3472,3376,3569,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7396,-0.48,-160.6,2206,2528,3375,3566,815.5,-11.2,332,7402,0.00,2.35,0.00,0.000,260,0.000,0.051,2207,3821,3470,3375,3566,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7420,-0.48,-160.6,2206,3821,3375,3566,815.5,-11.2,332,7427,0.00,2.20,0.00,0.000,1030,0.000,0.028,2208,2531,3470,3374,3566,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7739,-0.48,-160.6,2206,2531,3374,3564,856.0,-11.7,343,7746,0.00,2.35,0.00,0.000,260,0.000,0.050,2207,3827,3469,3374,3564,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7775,-0.48,-160.6,1328,3826,3360,3561,859.8,-11.3,344,7781,0.00,2.22,0.00,0.000,1030,0.000,0.028,2206,2518,3468,3373,3564,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8111,-0.48,-160.6,2205,2519,3373,3562,892.5,-8.9,355,8117,0.00,2.38,0.00,0.000,260,0.000,0.050,2206,3823,3467,3372,3562,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8181,-0.48,-160.6,2206,3823,3371,3562,898.4,-9.0,357,8187,0.00,2.22,0.00,0.000,1030,0.000,0.027,2206,2517,3466,3371,3562,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8512,-0.48,-160.6,2206,2517,3372,3560,924.8,-7.7,368,8517,0.00,2.38,0.00,0.000,260,0.000,0.048,2195,3833,3465,3371,3560,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8553,-0.48,-160.6,2199,3833,3371,3560,927.7,-7.6,369,8558,0.00,2.20,0.00,0.000,1030,0.000,0.027,2195,2524,3465,3370,3560,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8885,-0.48,-160.6,2199,2524,3371,3557,955.3,-8.5,380,8892,0.00,2.38,0.00,0.000,260,0.000,0.050,2185,3834,3463,3370,3557,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8985,-0.48,-160.6,2185,3834,3368,3557,963.7,-8.5,383,8991,0.12,2.22,0.00,0.000,3078,0.122,0.028,2226,2518,3462,3368,3557,0,0,0,0,0,0,26.13,26.39,28.83
$GC,9321,-0.48,-160.6,2226,2518,3369,3555,982.8,-6.3,394,9327,0.00,2.38,0.00,0.000,260,0.000,0.049,2220,3829,3461,3368,3554,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9371,-0.48,-160.6,2220,3829,3368,3555,985.7,-6.9,395,9377,0.00,2.20,0.00,0.000,1030,0.000,0.027,2220,2521,3461,3368,3555,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,9448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9450,begin apogee
$GC,9457,-0.12,0.0,2220,2661,3368,3555,990.4,-5.6,398,9605,0.32,0.00,143.18,0.985,10246,0.095,0.000,2338,2661,2851,2859,2843,0,0,0,0,0,0,26.02,28.83,24.14
$STATE,9607,end apogee,CONTROL_FINISHED_OK
$STATE,9607,begin climb
$GC,9611,0.48,160.6,2338,2661,2852,2826,994.0,0.0,402,9777,0.52,2.03,155.48,0.972,10500,0.042,0.041,2544,3829,2185,2308,2062,0,0,0,0,0,0,25.07,24.58,23.84
$GC,9829,0.51,172.7,2543,3829,2298,2051,982.2,7.8,408,9848,0.00,1.98,11.55,0.895,9222,0.000,0.018,2554,2613,2140,2265,2016,0,0,0,0,0,0,28.83,25.22,24.22
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$STATE,18974,end climb,SURFACE_DEPTH_REACHED
$STATE,18974,begin surface coast
$FINISH,-0.3,1.020895
$STATE,19016,end surface coast,CONTROL_FINISHED_OK
$STATE,19016,begin surface
$SM_CCo,19034,38.62,0.121,0,0,1097,430.01
$SM_GC,0.42,6.53,0.38,38.62,0.036,0.033,0.121,137,2507,1097,-6.93,0.28,430.01,0,0,0,0,0,0,26.32,26.46,25.91
$IRIDIUM_FIX,1837.32,12220.59,130513,212142
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.51
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.60
$XPDR_PINGS,0
$SC_FREEKB,3880384
$24V_AH,23.8,36.349
$10V_AH,10.2,28.953
$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,16.475,183.950,503.300,38.625,0.000,0.000,0.000,398.650,0.000,0.000,18.123,3707.323,11781.862,760.369,2627.436,836.762,0.000,2361.026,0.000,2110.700,0.000,0.545,0.000
$DEVICE_MAMPS,221.850,61.965,985.320,120.870,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19082.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.491,0.000,0.000,0.000
$MEM,323376
$DATA_FILE_SIZE,30071,847
$CAP_FILE_SIZE,465069,0
$CFSIZE,260034560,210038784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,350.0,1
$GPS,140513,071906,1849.030,12222.406,35,1.2,35,-2.1