version: 66.10
glider: 169
mission: 5
dive: 171
start: 12 12 111 6 49 36
data:
$ID,169
$MISSION,5
$DIVE,171
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,280
$T_MISSION,320
$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,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,260
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-10934.674
$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,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$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,3
$VBD_PUMP_AD_RATE_APOGEE,3
$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,9.5
$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,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
$DEVICE1,2
$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
$GPS1,121211,063936,2313.676,12146.194,38,1.2,38,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.1
$GPS2,121211,064914,2313.896,12146.183,14,1.2,14,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,HEADING
$TGT_LATLONG,2312.020,12134.611
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,263.1,20000,-16.1,-11.786
$D_GRID,2407
$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,17,-0.70,-243.3,0.0,0.0,0,114,0.00,0.00,-94.65,0.000,2,0.000,0.000,117,2660,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.70,-243.3,3.3,-7.6,17,148,6.65,1.85,-17.83,0.000,4,0.231,0.055,1764,3830,3963,0,0,0,0,0,0,25.40,25.98,26.38
$GC,251,-0.62,-243.3,59.7,-30.2,42,259,0.12,1.85,0.00,0.000,6,0.168,0.027,1803,2584,3964,0,0,0,0,0,0,25.79,26.09,28.83
$GC,563,-0.53,-243.3,161.4,-28.6,103,570,0.12,2.05,0.00,0.000,4,0.176,0.028,1850,1183,3965,0,0,0,0,0,0,26.01,26.20,28.83
$GC,583,-0.45,-243.3,167.0,-27.0,106,590,0.00,2.22,0.00,0.000,6,0.000,0.041,1839,2653,3965,0,0,0,0,0,0,28.83,26.16,28.83
$GC,899,-0.42,-243.3,224.2,-17.6,155,909,0.12,2.17,0.00,0.000,4,0.155,0.029,1888,1185,3965,0,0,0,0,0,0,26.17,26.27,28.83
$GC,933,-0.42,-243.3,228.9,-14.9,158,941,0.00,2.25,0.00,0.000,6,0.000,0.043,1886,2649,3965,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1243,-0.48,-243.3,248.4,-6.2,189,1252,0.00,2.15,0.00,0.000,4,0.000,0.030,1886,1182,3965,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1270,-0.54,-243.3,249.9,-6.4,191,1277,0.15,2.22,0.00,0.000,6,0.076,0.040,1817,2658,3965,0,0,0,0,0,0,26.27,26.27,28.83
$GC,1575,-0.52,-243.3,295.4,-14.7,222,1584,0.00,2.15,0.00,0.000,4,0.000,0.030,1816,1179,3964,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1649,-0.55,-243.3,304.4,-10.8,229,1656,0.00,2.22,0.00,0.000,6,0.000,0.042,1812,2652,3964,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1958,-0.54,-243.3,349.8,-13.9,260,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2652,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.53,-243.3,392.7,-14.1,291,2277,0.00,2.15,0.00,0.000,4,0.000,0.031,1812,1179,3959,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2299,-0.53,-243.3,397.2,-13.8,294,2308,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2656,3959,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2611,-0.53,-243.3,437.9,-12.6,325,2614,0.00,1.75,0.00,0.000,4,0.000,0.049,1804,3813,3957,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2643,-0.53,-243.3,442.0,-12.6,328,2652,0.12,1.80,0.00,0.000,6,0.119,0.025,1844,2556,3956,0,0,0,0,0,0,26.25,26.47,28.83
$GC,2953,-0.56,-243.3,465.4,-7.2,359,2961,0.00,2.00,0.00,0.000,4,0.000,0.030,1844,1181,3954,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2985,-0.61,-243.3,467.6,-6.9,362,2994,0.00,2.22,0.00,0.000,6,0.000,0.042,1841,2656,3953,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3295,-0.74,-243.3,492.9,-9.0,393,3297,0.22,0.00,0.00,0.000,6,0.105,0.000,1764,2657,3950,0,0,0,0,0,0,26.25,28.83,28.83
$GC,3594,-0.71,-243.3,525.7,-16.9,423,3598,0.00,1.75,0.00,0.000,4,0.000,0.048,1755,3814,3948,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3698,-0.71,-243.3,541.7,-14.8,433,3705,0.00,1.80,0.00,0.000,6,0.000,0.025,1755,2567,3947,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4007,-0.67,-243.3,598.5,-17.7,464,4016,0.15,2.00,0.00,0.000,4,0.145,0.028,1805,1181,3946,0,0,0,0,0,0,26.22,26.34,28.83
$GC,4069,-0.67,-243.3,605.8,-11.3,468,4075,0.00,2.28,0.00,0.000,6,0.000,0.044,1799,2658,3946,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4390,-0.67,-243.3,640.4,-10.9,484,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2658,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4689,-0.67,-243.3,673.6,-11.2,499,4695,0.00,2.17,0.00,0.000,4,0.000,0.032,1799,1177,3942,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4754,-0.69,-243.3,679.6,-10.2,502,4758,0.00,2.28,0.00,0.000,6,0.000,0.044,1799,2658,3941,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5066,-0.69,-243.3,714.8,-11.3,518,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2658,3939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-0.70,-243.3,748.2,-11.2,533,5372,0.00,2.17,0.00,0.000,4,0.000,0.033,1799,1185,3937,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5415,-0.71,-243.3,752.4,-10.8,535,5419,0.00,2.22,0.00,0.000,6,0.000,0.045,1799,2650,3936,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5723,-0.72,-243.3,786.2,-11.3,550,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2650,3934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6022,-0.74,-243.3,819.6,-11.4,565,6027,0.00,2.17,0.00,0.000,4,0.000,0.034,1799,1182,3932,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6089,-0.76,-243.3,825.8,-10.5,568,6094,0.10,2.28,0.00,0.000,6,0.091,0.046,1725,2657,3932,0,0,0,0,0,0,26.22,26.19,28.83
$GC,6397,-0.71,-243.3,886.4,-20.3,583,6399,0.20,0.00,0.00,0.000,6,0.151,0.000,1782,2657,3930,0,0,0,0,0,0,26.03,28.83,28.83
$GC,6697,-0.71,-243.3,923.2,-10.9,598,6703,0.00,2.17,0.00,0.000,4,0.000,0.032,1782,1188,3929,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6749,-0.72,-243.3,927.5,-11.0,600,6756,0.00,2.25,0.00,0.000,6,0.000,0.044,1772,2656,3928,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7057,-0.71,-243.3,963.8,-11.6,616,7062,0.00,2.17,0.00,0.000,4,0.000,0.031,1772,1188,3927,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7084,-0.71,-243.3,966.0,-11.4,617,7088,0.00,2.25,0.00,0.000,6,0.000,0.044,1763,2654,3927,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,7289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7289,begin apogee
$GC,7295,-0.20,0.0,992.3,-12.7,627,7511,0.52,0.12,205.60,1.186,6,0.109,0.086,1941,2531,2967,0,0,0,0,0,0,25.80,24.58,23.75
$STATE,7512,end apogee,CONTROL_FINISHED_OK
$STATE,7512,begin climb
$GC,7514,0.70,243.3,1003.0,0.0,638,7745,0.82,0.00,226.12,1.176,6,0.044,0.000,2249,2529,1985,0,0,0,0,0,0,24.79,28.83,23.20
$GC,8032,0.60,243.3,897.4,26.2,664,8039,0.15,2.08,0.00,0.000,4,0.197,0.049,2206,3814,1956,0,0,0,0,0,0,25.35,25.60,28.83
$GC,8101,0.52,243.3,882.6,25.1,667,8106,0.15,2.08,0.00,0.000,6,0.190,0.033,2180,2466,1954,0,0,0,0,0,0,25.44,25.77,28.83
$GC,8407,0.48,243.3,828.6,16.5,682,8413,0.00,2.12,0.00,0.000,4,0.000,0.050,2180,3813,1952,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8480,0.43,243.3,817.8,17.7,685,8488,0.15,2.05,0.00,0.000,6,0.167,0.032,2151,2465,1951,0,0,0,0,0,0,25.70,26.02,28.83
$GC,8790,0.41,243.3,773.4,13.5,701,8795,0.00,2.10,0.00,0.000,4,0.000,0.050,2151,3804,1951,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8829,0.39,243.3,767.3,14.3,703,8834,0.00,2.03,0.00,0.000,6,0.000,0.030,2161,2462,1950,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9150,0.36,243.3,721.3,14.8,719,9156,0.12,2.12,0.00,0.000,4,0.178,0.047,2124,3815,1950,0,0,0,0,0,0,25.98,26.06,28.83
$GC,9182,0.34,243.3,718.2,14.8,720,9189,0.00,2.03,0.00,0.000,6,0.000,0.030,2133,2465,1950,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9489,0.36,259.2,680.9,11.3,736,9509,0.00,2.15,12.80,0.916,4,0.000,0.048,2133,3813,1913,0,0,0,0,0,0,28.83,26.04,25.15
$GC,9572,0.36,259.2,670.7,12.4,740,9578,0.00,2.05,0.00,0.000,6,0.000,0.031,2144,2461,1903,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9892,0.36,259.2,631.4,12.2,756,9898,0.00,2.15,0.00,0.000,4,0.000,0.050,2144,3811,1902,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9926,0.35,259.2,628.9,12.3,757,9933,0.00,2.05,0.00,0.000,6,0.000,0.031,2154,2454,1901,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10232,0.34,259.2,585.4,13.6,778,10242,0.12,2.17,0.00,0.000,4,0.173,0.047,2116,3822,1901,0,0,0,0,0,0,26.01,26.06,28.83
$GC,10274,0.34,259.2,580.1,12.4,782,10283,0.00,2.05,0.00,0.000,6,0.000,0.030,2126,2459,1900,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10585,0.43,317.3,548.4,9.9,813,10667,0.00,2.25,75.62,0.794,4,0.000,0.049,2126,3808,1677,0,0,0,0,0,0,28.83,25.35,24.65
$GC,10687,0.53,376.1,538.3,9.9,823,10755,0.10,2.08,57.65,0.854,6,0.041,0.029,2209,2460,1431,0,0,0,0,0,0,25.51,25.51,24.36
$GC,11056,0.49,376.1,469.9,20.2,860,11065,0.12,2.12,0.00,0.000,4,0.176,0.037,2182,1067,1415,0,0,0,0,0,0,25.65,25.81,28.83
$GC,11100,0.49,376.1,462.9,15.9,864,11107,0.00,2.28,0.00,0.000,6,0.000,0.040,2182,2522,1413,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11408,0.49,376.1,418.5,13.9,895,11416,0.00,2.03,0.00,0.000,4,0.000,0.048,2182,3817,1413,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11452,0.49,376.1,412.3,15.2,899,11460,0.00,2.05,0.00,0.000,6,0.000,0.029,2192,2461,1413,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11759,0.48,376.1,363.6,16.7,930,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2459,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12063,0.46,376.1,311.2,16.9,960,12072,0.12,2.10,0.00,0.000,4,0.168,0.036,2164,1054,1411,0,0,0,0,0,0,26.03,26.12,28.83
$GC,12084,0.46,376.1,307.2,16.5,962,12093,0.00,2.25,0.00,0.000,6,0.000,0.038,2164,2534,1410,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12395,0.55,419.3,273.8,10.4,993,12439,0.00,2.25,38.33,0.707,4,0.000,0.037,2174,1055,1260,0,0,0,0,0,0,28.83,25.83,25.10
$GC,12476,0.72,516.6,266.6,8.6,1000,12566,0.20,2.28,83.68,0.701,6,0.055,0.039,2289,2528,871,0,0,0,0,0,0,25.91,25.84,24.57
$GC,12870,0.65,516.6,152.1,30.0,1054,12878,0.20,2.03,0.00,0.000,4,0.171,0.049,2229,3810,842,0,0,0,0,0,0,25.54,25.81,28.83
$GC,12956,0.73,528.2,135.5,11.4,1070,12969,0.00,2.05,7.22,0.575,6,0.000,0.031,2239,2460,823,0,0,0,0,0,0,28.83,25.97,25.08
$GC,13273,0.81,567.3,94.0,10.5,1132,13315,0.00,2.20,36.15,0.311,4,0.000,0.037,2250,1053,668,0,0,0,0,0,0,28.83,25.91,25.33
$GC,13344,1.03,676.1,87.4,8.2,1144,13414,0.25,2.22,62.08,0.298,6,0.057,0.036,2363,2523,438,0,0,0,0,0,0,25.96,25.94,25.20
$STATE,13641,end climb,SURFACE_DEPTH_REACHED
$STATE,13643,begin surface coast
$FINISH,-0.3,1.022783
$STATE,13648,end surface coast,CONTROL_FINISHED_OK
$STATE,13648,begin surface
$SM_CCo,13723,0.00,0.000,0,0,458,618.40
$SM_GC,0.54,5.78,0.20,0.00,0.038,0.060,0.000,124,2679,458,-5.79,-0.20,618.40,0,0,0,0,0,0
$IRIDIUM_FIX,2305.10,12143.67,121211,060637
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.2,37.436
$10V_AH,10.2,25.271
$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,16.800,123.300,805.250,0.000,0.000,55.425,45.352,270.172,0.000,0.000,15.439,2777.871,7760.666,867.169,2580.606,292.143,0.000,2098.029,0.000,2073.615,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,85.680,1185.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.341,1581.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324528
$DATA_FILE_SIZE,80592,1202
$CAP_FILE_SIZE,153925,0
$CFSIZE,260165632,207171584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121211,103925,2313.817,12144.338,38,1.1,38,-3.1