version: 66.10
glider: 169
mission: 5
dive: 389
start: 1 22 112 13 42 31
data:
$ID,169
$MISSION,5
$DIVE,389
$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,360
$T_MISSION,400
$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,180
$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,90
$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,-11368.568
$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
$GPS1,220112,133340,2316.086,12157.228,40,1.7,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.7
$GPS2,220112,134209,2316.279,12157.205,12,2.4,31,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2316.279,12208.960
$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,93.1,20000,-15.4,-9.167
$D_GRID,4073
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.60,-175.2,0.0,0.0,0,94,0.00,0.00,-73.07,0.000,2,0.000,0.000,111,2672,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.60,-175.2,3.8,-8.7,13,127,7.07,2.33,-14.12,0.000,4,0.229,0.041,1816,1171,3697,0,0,0,0,0,0,24.79,26.03,26.54
$GC,216,-0.54,-175.2,49.0,-24.9,35,224,0.12,2.30,0.00,0.000,6,0.159,0.037,1837,2656,3697,0,0,0,0,0,0,25.75,26.01,28.83
$GC,528,-0.48,-175.2,130.4,-19.6,96,535,0.00,2.22,0.00,0.000,4,0.000,0.027,1841,1167,3697,0,0,0,0,0,0,28.83,26.20,28.83
$GC,554,-0.43,-175.2,134.8,-18.4,100,561,0.15,2.30,0.00,0.000,6,0.134,0.038,1874,2656,3697,0,0,0,0,0,0,25.88,26.10,28.83
$GC,867,-0.42,-175.2,176.8,-12.6,161,873,0.00,1.83,0.00,0.000,4,0.000,0.044,1866,3822,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,906,-0.44,-175.2,181.4,-10.6,168,912,0.00,1.80,0.00,0.000,6,0.000,0.021,1865,2563,3697,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1218,-0.44,-175.2,215.4,-10.6,215,1221,0.00,2.00,0.00,0.000,4,0.000,0.026,1866,1174,3697,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1270,-0.48,-175.2,219.9,-8.3,220,1279,0.00,2.28,0.00,0.000,6,0.000,0.037,1858,2657,3697,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1579,-0.48,-175.2,251.5,-10.5,251,1583,0.00,1.80,0.00,0.000,4,0.000,0.043,1849,3815,3696,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1613,-0.48,-175.2,254.7,-10.1,254,1620,0.00,1.83,0.00,0.000,6,0.000,0.022,1849,2566,3697,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1920,-0.48,-175.2,290.7,-11.8,285,1929,0.00,2.00,0.00,0.000,4,0.000,0.043,1839,3819,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1951,-0.48,-175.2,294.3,-11.7,288,1955,0.00,1.83,0.00,0.000,6,0.000,0.022,1839,2570,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2262,-0.48,-175.2,328.8,-10.4,319,2271,0.00,2.05,0.00,0.000,4,0.000,0.028,1840,1170,3695,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2318,-0.51,-175.2,333.4,-8.8,324,2325,0.00,2.28,0.00,0.000,6,0.000,0.039,1832,2653,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2624,-0.50,-175.2,368.4,-12.0,355,2627,0.00,1.80,0.00,0.000,4,0.000,0.045,1823,3824,3693,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2655,-0.50,-175.2,372.2,-12.0,358,2659,0.00,1.80,0.00,0.000,6,0.000,0.022,1823,2578,3692,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2967,-0.49,-175.2,411.6,-12.4,389,2975,0.00,1.98,0.00,0.000,4,0.000,0.044,1814,3821,3691,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2992,-0.48,-175.2,414.4,-12.9,391,2999,0.15,1.80,0.00,0.000,6,0.122,0.022,1860,2565,3691,0,0,0,0,0,0,26.08,26.39,28.83
$GC,3299,-0.50,-175.2,440.6,-7.5,422,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2564,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-0.53,-175.2,463.8,-7.5,452,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2564,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-0.57,-175.2,485.4,-6.6,483,3918,0.00,2.00,0.00,0.000,4,0.000,0.028,1860,1181,3685,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3935,-0.61,-175.2,487.0,-6.4,485,3942,0.12,2.28,0.00,0.000,6,0.080,0.037,1787,2657,3685,0,0,0,0,0,0,26.15,26.15,28.83
$GC,4241,-0.57,-175.2,528.8,-13.9,516,4243,0.12,0.00,0.00,0.000,6,0.142,0.000,1823,2657,3683,0,0,0,0,0,0,26.30,28.83,28.83
$GC,4541,-0.57,-175.2,558.3,-9.7,546,4550,0.00,2.22,0.00,0.000,4,0.000,0.027,1823,1174,3681,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4613,-0.61,-175.2,564.2,-7.4,553,4622,0.00,2.28,0.00,0.000,6,0.000,0.038,1814,2652,3680,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4922,-0.61,-175.2,595.8,-10.4,584,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2651,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.61,-175.2,627.6,-10.1,602,5238,0.00,2.22,0.00,0.000,4,0.000,0.028,1814,1169,3676,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5282,-0.62,-175.2,631.4,-9.9,604,5286,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2654,3675,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5588,-0.61,-175.2,664.2,-10.8,619,5591,0.00,1.77,0.00,0.000,4,0.000,0.047,1798,3815,3672,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5609,-0.61,-175.2,666.6,-11.0,620,5614,0.00,1.80,0.00,0.000,6,0.000,0.024,1797,2571,3672,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5930,-0.60,-175.2,703.8,-11.4,636,5934,0.00,2.08,0.00,0.000,4,0.000,0.030,1797,1168,3671,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5992,-0.60,-175.2,710.0,-10.3,639,5997,0.00,2.33,0.00,0.000,6,0.000,0.041,1788,2654,3670,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6313,-0.58,-175.2,747.2,-11.9,655,6319,0.12,1.80,0.00,0.000,4,0.148,0.047,1821,3821,3668,0,0,0,0,0,0,26.21,25.98,28.83
$GC,6346,-0.57,-175.2,749.2,-11.7,656,6352,0.00,1.83,0.00,0.000,6,0.000,0.026,1821,2568,3668,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6653,-0.58,-175.2,774.4,-7.9,672,6659,0.00,2.08,0.00,0.000,4,0.000,0.031,1822,1183,3666,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6681,-0.60,-175.2,776.0,-8.0,673,6686,0.00,2.28,0.00,0.000,6,0.000,0.042,1813,2654,3666,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6990,-0.60,-175.2,803.4,-8.9,688,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2654,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7290,-0.61,-175.2,828.2,-8.0,703,7295,0.00,2.20,0.00,0.000,4,0.000,0.029,1813,1183,3662,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7336,-0.62,-175.2,831.3,-8.0,705,7340,0.00,2.30,0.00,0.000,6,0.000,0.042,1805,2654,3662,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7643,-0.62,-175.2,860.5,-9.9,720,7648,0.00,2.20,0.00,0.000,4,0.000,0.030,1805,1182,3661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7667,-0.62,-175.2,862.6,-10.1,721,7671,0.00,2.30,0.00,0.000,6,0.000,0.042,1796,2654,3661,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7978,-0.62,-175.2,897.4,-11.5,737,7984,0.00,2.22,0.00,0.000,4,0.000,0.031,1796,1171,3660,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8006,-0.62,-175.2,899.8,-11.8,738,8010,0.00,2.33,0.00,0.000,6,0.000,0.042,1787,2655,3660,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8315,-0.61,-175.2,936.9,-11.2,753,8318,0.00,1.83,0.00,0.000,4,0.000,0.048,1777,3818,3657,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8339,-0.60,-175.2,939.5,-11.3,754,8343,0.12,1.83,0.00,0.000,6,0.126,0.024,1816,2566,3657,0,0,0,0,0,0,25.99,26.28,28.83
$GC,8654,-0.62,-175.2,966.0,-8.0,770,8659,0.00,1.98,0.00,0.000,4,0.000,0.047,1806,3817,3656,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8672,-0.63,-175.2,967.7,-7.8,771,8676,0.00,1.85,0.00,0.000,6,0.000,0.025,1806,2571,3656,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,8933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8933,begin apogee
$GC,8939,-0.20,0.0,990.5,-8.9,784,9104,0.38,0.15,155.55,1.180,6,0.096,0.074,1941,2545,2972,0,0,0,0,0,0,25.83,24.80,23.24
$STATE,9105,end apogee,CONTROL_FINISHED_OK
$STATE,9105,begin climb
$GC,9107,0.60,175.2,998.0,0.0,792,9283,0.70,2.40,168.90,1.185,4,0.049,0.034,2220,1053,2255,0,0,0,0,0,0,25.09,24.68,23.15
$GC,9296,0.50,175.2,986.1,14.3,802,9301,0.17,2.40,0.00,0.000,6,0.160,0.039,2175,2530,2242,0,0,0,0,0,0,24.72,24.98,28.83
$GC,9609,0.45,175.2,938.4,14.9,818,9615,0.00,2.03,0.00,0.000,4,0.000,0.047,2175,3818,2234,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9693,0.38,175.2,925.2,16.5,822,9698,0.17,2.08,0.00,0.000,6,0.173,0.029,2140,2456,2231,0,0,0,0,0,0,25.59,26.06,28.83
$GC,10007,0.36,175.2,890.1,10.5,838,10013,0.00,2.17,0.00,0.000,4,0.000,0.047,2140,3816,2230,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10069,0.33,175.2,882.8,11.7,841,10073,0.12,2.05,0.00,0.000,6,0.167,0.030,2118,2466,2229,0,0,0,0,0,0,25.79,26.13,28.83
$GC,10382,0.35,186.9,854.7,8.8,857,10394,0.00,2.15,7.07,0.948,4,0.000,0.044,2118,3815,2215,0,0,0,0,0,0,28.83,25.98,24.05
$GC,10419,0.35,186.9,851.2,9.2,858,10423,0.00,2.08,0.00,0.000,6,0.000,0.028,2128,2452,2208,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10735,0.34,186.9,819.2,10.3,874,10740,0.00,2.05,0.00,0.000,4,0.000,0.035,2138,1067,2206,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10755,0.34,186.9,817.1,10.1,875,10759,0.00,2.25,0.00,0.000,6,0.000,0.039,2139,2524,2205,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11074,0.32,186.9,780.8,11.6,891,11079,0.00,2.00,0.00,0.000,4,0.000,0.046,2139,3810,2205,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11161,0.29,186.9,770.3,13.2,895,11165,0.17,2.05,0.00,0.000,6,0.155,0.028,2102,2457,2204,0,0,0,0,0,0,25.70,26.17,28.83
$GC,11470,0.36,227.8,743.6,7.7,910,11521,0.00,2.17,46.33,0.965,4,0.000,0.035,2112,1058,2042,0,0,0,0,0,0,28.83,25.58,23.97
$GC,11546,0.43,270.1,737.9,7.7,913,11593,0.08,2.30,41.92,0.993,6,0.049,0.039,2188,2523,1876,0,0,0,0,0,0,25.63,25.65,23.76
$GC,11902,0.40,270.1,685.7,14.6,931,11908,0.15,2.00,0.00,0.000,4,0.151,0.044,2141,3812,1851,0,0,0,0,0,0,25.78,25.85,28.83
$GC,11944,0.38,270.1,680.0,14.7,933,11947,0.00,2.08,0.00,0.000,6,0.000,0.028,2151,2461,1850,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,17373,end climb,SURFACE_DEPTH_REACHED
$STATE,17374,begin surface coast
$FINISH,-0.0,1.022607
$STATE,17403,end surface coast,CONTROL_FINISHED_OK
$STATE,17404,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.0,48.607
$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
$DEVICE_SECS,16.525,175.975,689.250,0.000,0.000,31.045,39.010,271.377,0.000,0.000,32.979,3690.021,9901.198,784.876,3177.822,402.249,0.000,2307.413,0.000,2654.481,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,103820,1574
$CAP_FILE_SIZE,194099,0
$CFSIZE,260165632,187449344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220112,183515,2317.052,12159.910,36,3.5,55,-3.1