version: 66.10
glider: 169
mission: 5
dive: 9
start: 11 9 111 23 18 23
data:
$ID,169
$MISSION,5
$DIVE,9
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,110
$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,250
$T_MISSION,280
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$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,-8761.8223
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,091111,231214,2303.323,12127.829,13,1.6,13,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-68.0
$GPS2,091111,231756,2303.379,12127.938,15,1.7,15,-3.0
$SPEED_LIMITS,0.152,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,40.1,263672,-13.1,-8.800
$D_GRID,835
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,107,0.00,0.00,-88.32,0.000,2,0.000,0.000,107,2167,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.53,-194.6,3.7,-7.3,11,137,6.50,0.00,-11.82,0.000,6,0.214,0.000,1853,2167,3775,0,0,0,0,0,0,26.01,28.83,26.62
$GC,508,-0.48,-194.6,121.8,-15.0,74,517,0.00,2.33,0.00,0.000,4,0.000,0.062,1842,3626,3775,0,0,0,0,0,0,28.83,26.42,28.83
$GC,588,-0.44,-194.6,135.0,-14.5,86,597,0.10,2.22,0.00,0.000,6,0.115,0.042,1881,2166,3775,0,0,0,0,0,0,26.41,26.51,28.83
$GC,968,-0.45,-194.6,167.5,-9.4,147,976,0.00,2.10,0.00,0.000,4,0.000,0.044,1881,769,3775,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1105,-0.61,-194.6,177.9,-8.5,169,1113,0.10,2.20,0.00,0.000,6,0.045,0.046,1803,2222,3774,0,0,0,0,0,0,26.61,26.59,28.83
$GC,1484,-0.54,-194.6,235.3,-17.0,230,1493,0.15,2.20,0.00,0.000,4,0.148,0.044,1853,769,3774,0,0,0,0,0,0,26.53,26.63,28.83
$GC,1589,-0.59,-194.6,245.4,-8.4,246,1598,0.00,2.22,0.00,0.000,6,0.000,0.052,1852,2221,3773,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1910,-0.59,-194.6,273.3,-8.2,281,1920,0.00,2.15,0.00,0.000,4,0.000,0.046,1852,771,3771,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2022,-0.64,-194.6,281.6,-7.8,291,2031,0.00,2.17,0.00,0.000,6,0.000,0.051,1852,2219,3771,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2330,-0.66,-194.6,310.0,-9.0,322,2338,0.00,2.15,0.00,0.000,4,0.000,0.046,1852,771,3770,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2433,-0.71,-194.6,318.4,-7.9,332,2443,0.15,2.20,0.00,0.000,6,0.070,0.052,1756,2222,3769,0,0,0,0,0,0,26.70,26.65,28.83
$GC,2743,-0.61,-194.6,371.0,-15.4,363,2752,0.22,2.17,0.00,0.000,4,0.146,0.060,1820,3625,3767,0,0,0,0,0,0,26.53,26.63,28.83
$GC,2941,-0.61,-194.6,390.7,-9.3,382,2949,0.00,2.15,0.00,0.000,6,0.000,0.041,1820,2182,3766,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3249,-0.59,-194.6,420.0,-8.0,413,3258,0.00,2.28,0.00,0.000,4,0.000,0.063,1811,3649,3764,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3438,-0.56,-194.6,437.4,-10.3,431,3445,0.12,2.22,0.00,0.000,6,0.130,0.043,1850,2165,3762,0,0,0,0,0,0,26.59,26.67,28.83
$GC,3747,-0.59,-194.6,464.7,-8.3,462,3756,0.00,2.25,0.00,0.000,4,0.000,0.062,1839,3623,3761,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3873,-0.62,-194.6,475.0,-7.6,474,3882,0.00,2.15,0.00,0.000,6,0.000,0.041,1839,2178,3759,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4180,-0.62,-194.6,501.3,-8.0,505,4189,0.00,2.28,0.00,0.000,4,0.000,0.063,1830,3626,3757,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4267,-0.64,-194.6,508.1,-8.0,513,4273,0.00,2.17,0.00,0.000,6,0.000,0.042,1830,2168,3756,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4574,-0.64,-194.6,533.4,-8.9,544,4583,0.00,2.25,0.00,0.000,4,0.000,0.064,1820,3622,3755,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4759,-0.64,-194.6,551.3,-9.9,562,4768,0.00,2.17,0.00,0.000,6,0.000,0.044,1820,2173,3754,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5070,-0.64,-194.6,579.2,-7.8,593,5079,0.00,2.30,0.00,0.000,4,0.000,0.064,1812,3630,3751,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5215,-0.64,-194.6,591.8,-8.7,607,5225,0.00,2.17,0.00,0.000,6,0.000,0.044,1812,2185,3750,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5537,-0.62,-194.6,619.1,-8.2,628,5542,0.00,2.22,0.00,0.000,4,0.000,0.063,1801,3624,3749,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5705,-0.61,-194.6,633.2,-8.6,636,5710,0.12,2.20,0.00,0.000,6,0.129,0.044,1840,2167,3747,0,0,0,0,0,0,26.57,26.66,28.83
$GC,6014,-0.62,-194.6,652.2,-6.1,651,6019,0.00,2.25,0.00,0.000,4,0.000,0.063,1829,3622,3746,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,6132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6132,begin apogee
$GC,6139,-0.11,0.0,660.7,-6.9,657,6302,0.45,0.05,156.38,0.945,6,0.090,0.086,1996,2412,2975,0,0,0,0,0,0,26.58,24.88,24.32
$STATE,6303,end apogee,CONTROL_FINISHED_OK
$STATE,6304,begin climb
$GC,6305,0.53,194.6,666.2,0.0,665,6488,0.52,2.38,171.62,0.920,4,0.034,0.059,2224,3797,2172,0,0,0,0,0,0,25.18,24.91,24.26
$GC,6640,0.35,194.6,616.7,24.0,682,6645,0.32,2.25,0.00,0.000,6,0.187,0.044,2149,2378,2155,0,0,0,0,0,0,25.62,25.77,28.83
$GC,6953,0.29,194.6,572.1,13.1,708,6962,0.00,2.30,0.00,0.000,4,0.000,0.063,2149,3813,2150,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7038,0.21,194.6,559.3,15.8,716,7047,0.17,2.22,0.00,0.000,6,0.156,0.046,2104,2376,2149,0,0,0,0,0,0,26.04,26.20,28.83
$GC,7347,0.21,194.6,529.6,8.8,747,7356,0.00,2.30,0.00,0.000,4,0.000,0.065,2104,3806,2148,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7464,0.18,194.6,517.1,11.2,758,7473,0.00,2.20,0.00,0.000,6,0.000,0.044,2115,2373,2148,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7773,0.18,202.6,488.3,8.6,789,7781,0.00,2.28,0.00,0.000,4,0.000,0.063,2116,3809,2148,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7898,0.14,202.6,475.0,10.9,801,7908,0.15,2.20,0.00,0.000,6,0.163,0.045,2078,2372,2147,0,0,0,0,0,0,26.30,26.44,28.83
$GC,8207,0.30,310.0,456.6,5.5,832,8310,0.15,2.42,87.85,1.011,4,0.070,0.060,2162,3811,1715,0,0,0,0,1,0,26.57,25.10,24.33
$GC,8335,0.26,310.0,441.6,13.3,844,8344,0.17,2.28,0.00,0.000,6,0.131,0.044,2117,2377,1722,0,0,0,0,0,0,25.33,25.42,28.83
$GC,8644,0.30,336.1,416.0,8.0,875,8683,0.00,2.35,24.27,0.828,4,0.000,0.066,2117,3804,1611,0,0,0,0,1,0,28.83,25.63,24.85
$GC,8728,0.34,336.1,409.0,9.3,883,8738,0.00,2.20,1.77,0.171,6,0.000,0.042,2127,2390,1607,0,0,0,0,0,0,28.83,25.83,25.66
$GC,9038,0.35,337.4,380.8,8.8,914,9050,0.00,2.28,2.45,0.383,4,0.000,0.059,2127,3809,1603,0,0,0,0,0,0,28.83,26.10,25.22
$GC,9082,0.37,337.4,376.4,9.5,918,9094,0.00,2.22,0.00,0.000,6,0.000,0.044,2138,2373,1610,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9392,0.37,337.4,340.9,11.9,949,9403,0.00,2.33,1.60,0.194,4,0.000,0.060,2138,3804,1608,0,0,0,0,0,0,28.83,26.26,26.13
$GC,9426,0.37,337.4,336.7,12.4,952,9437,0.00,2.20,1.73,0.193,6,0.000,0.041,2149,2372,1605,0,0,0,0,0,0,28.83,26.31,26.13
$GC,9738,0.37,337.4,302.5,10.6,983,9748,0.00,2.22,1.65,0.194,4,0.000,0.059,2149,3813,1606,0,0,0,0,0,0,28.83,26.34,26.21
$GC,9770,0.37,337.4,298.7,11.3,986,9785,0.00,2.17,1.52,0.198,6,0.000,0.042,2160,2373,1604,0,0,0,0,0,0,28.83,26.39,26.20
$GC,10085,0.37,337.4,262.9,12.2,1017,10095,0.00,2.25,1.60,0.194,4,0.000,0.059,2159,3803,1607,0,0,0,0,0,0,28.83,26.39,26.26
$GC,10163,0.37,337.4,253.0,12.3,1024,10175,0.00,2.17,1.65,0.194,6,0.000,0.041,2171,2373,1604,0,0,0,0,0,0,28.83,26.45,26.27
$GC,10536,0.36,337.4,207.9,12.8,1083,10547,0.00,2.25,1.58,0.193,4,0.000,0.059,2170,3806,1609,0,0,0,0,0,0,28.83,26.44,26.32
$GC,10635,0.36,337.4,194.4,12.3,1098,10645,0.10,2.20,1.58,0.173,6,0.135,0.042,2146,2373,1602,0,0,0,0,0,0,26.36,26.50,26.32
$GC,11015,0.40,355.0,160.5,8.3,1159,11050,0.00,2.33,18.05,0.627,4,0.000,0.059,2146,3806,1533,0,0,0,0,1,0,28.83,26.26,25.53
$GC,11098,0.45,364.0,153.4,8.5,1170,11123,0.00,2.20,13.30,0.621,6,0.000,0.041,2156,2375,1490,0,0,0,0,1,0,28.83,26.34,25.60
$GC,11492,0.54,408.0,122.4,7.4,1233,11545,0.12,2.35,39.72,0.601,4,0.077,0.060,2241,3803,1301,0,0,0,0,0,0,26.45,25.86,25.34
$GC,11566,0.47,408.0,110.7,19.6,1242,11578,0.22,2.25,0.00,0.000,6,0.139,0.042,2179,2372,1296,0,0,0,0,0,0,25.84,25.97,28.83
$GC,11950,0.63,496.5,74.9,6.1,1303,12034,0.12,2.38,77.93,0.268,4,0.079,0.057,2274,3809,960,0,0,0,0,0,0,26.35,25.87,25.62
$GC,12092,0.63,496.5,51.4,14.7,1322,12105,0.12,2.25,2.53,0.154,6,0.118,0.044,2239,2376,962,0,0,0,0,0,0,25.91,26.01,25.81
$GC,12474,0.86,615.4,20.9,5.2,1383,12551,0.15,2.35,69.20,0.156,4,0.071,0.058,2346,3807,471,0,0,0,0,0,0,26.36,26.06,25.94
$STATE,12570,end climb,SURFACE_DEPTH_REACHED
$STATE,12571,begin surface coast
$FINISH,-0.6,1.012942
$STATE,12585,end surface coast,CONTROL_FINISHED_OK
$STATE,12586,begin surface
$SM_CCo,12662,0.00,0.000,0,0,480,613.00
$SM_GC,0.37,5.72,2.58,0.00,0.044,0.041,0.000,134,2167,480,-5.85,0.08,613.00,0,0,0,0,0,0
$IRIDIUM_FIX,2253.38,12126.33,091111,212108
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,24.3,3.763
$10V_AH,10.4,3.327
$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,16.000,125.525,677.975,0.000,0.000,29.645,28.282,173.226,0.000,0.000,16.259,3611.722,4197.073,752.273,4119.313,319.815,0.000,2210.201,0.000,3824.205,0.000,0.546,0.000
$DEVICE_MAMPS,214.200,86.445,1010.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.741,2345.942,2161.328,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324692
$DATA_FILE_SIZE,93710,1397
$CAP_FILE_SIZE,154063,0
$CFSIZE,260165632,222277632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.171,215.6,1
$GPS,101111,025030,2304.300,12129.360,38,1.0,38,-3.0