version: 66.10
glider: 169
mission: 5
dive: 397
start: 1 24 112 7 0 35
data:
$ID,169
$MISSION,5
$DIVE,397
$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,-11378.635
$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
$GPS1,240112,065255,2321.779,12219.701,38,1.3,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.5
$GPS2,240112,070013,2321.912,12219.839,11,1.2,16,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2321.912,12231.603
$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,93.2,20000,-15.4,-9.167
$D_GRID,4566
$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,-0.60,-175.2,0.0,0.0,0,88,0.00,0.00,-68.30,0.000,2,0.000,0.000,117,2679,2961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-175.2,3.7,-7.6,12,121,7.12,2.33,-14.12,0.000,4,0.233,0.041,1815,1177,3695,0,0,0,0,0,0,24.80,26.06,26.54
$GC,281,-0.53,-175.2,69.7,-26.3,48,288,0.12,2.30,0.00,0.000,6,0.162,0.041,1836,2656,3697,0,0,0,0,0,0,25.76,26.02,28.83
$GC,594,-0.46,-175.2,148.8,-22.6,109,600,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2656,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-0.41,-175.2,209.6,-19.3,165,913,0.12,2.20,0.00,0.000,4,0.162,0.024,1886,1167,3696,0,0,0,0,0,0,26.18,26.25,28.83
$GC,957,-0.43,-175.2,216.4,-11.5,170,966,0.00,2.25,0.00,0.000,6,0.000,0.037,1878,2648,3696,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1266,-0.45,-175.2,245.2,-9.1,201,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2648,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-0.47,-175.2,273.8,-8.3,231,1574,0.00,1.80,0.00,0.000,4,0.000,0.045,1868,3822,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1594,-0.50,-175.2,275.8,-8.0,233,1601,0.00,1.80,0.00,0.000,6,0.000,0.022,1869,2565,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1902,-0.52,-175.2,301.7,-8.7,264,1910,0.00,2.03,0.00,0.000,4,0.000,0.027,1869,1165,3696,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1924,-0.54,-175.2,303.7,-8.8,266,1933,0.00,2.30,0.00,0.000,6,0.000,0.037,1863,2657,3696,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2233,-0.56,-175.2,331.7,-9.3,297,2237,0.00,1.83,0.00,0.000,4,0.000,0.044,1854,3818,3695,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2270,-0.58,-175.2,334.5,-8.9,300,2277,0.00,1.80,0.00,0.000,6,0.000,0.021,1854,2559,3694,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2575,-0.59,-175.2,362.7,-8.8,331,2585,0.10,2.03,0.00,0.000,4,0.090,0.024,1784,1170,3693,0,0,0,0,0,0,26.57,26.28,28.83
$GC,2598,-0.59,-175.2,365.2,-9.7,333,2607,0.15,2.28,0.00,0.000,6,0.133,0.037,1817,2653,3692,0,0,0,0,0,0,25.95,26.19,28.83
$GC,2908,-0.57,-175.2,407.5,-13.6,364,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2653,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-0.55,-175.2,444.5,-11.1,394,3213,0.00,1.77,0.00,0.000,4,0.000,0.045,1808,3818,3690,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3261,-0.55,-175.2,450.1,-10.8,399,3265,0.00,1.83,0.00,0.000,6,0.000,0.022,1809,2573,3689,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3573,-0.54,-175.2,487.0,-12.1,430,3581,0.00,2.05,0.00,0.000,4,0.000,0.028,1809,1176,3687,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3627,-0.55,-175.2,492.7,-10.7,435,3636,0.08,2.25,0.00,0.000,6,0.105,0.039,1832,2651,3686,0,0,0,0,0,0,25.97,26.15,28.83
$GC,3934,-0.55,-175.2,521.7,-9.4,466,3938,0.00,1.80,0.00,0.000,4,0.000,0.046,1824,3815,3684,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3970,-0.57,-175.2,524.7,-9.4,469,3976,0.00,1.80,0.00,0.000,6,0.000,0.024,1823,2571,3684,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4276,-0.57,-175.2,553.1,-8.9,500,4284,0.00,2.00,0.00,0.000,4,0.000,0.044,1814,3821,3682,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4290,-0.57,-175.2,553.9,-8.9,501,4296,0.00,1.83,0.00,0.000,6,0.000,0.024,1814,2567,3682,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4597,-0.57,-175.2,582.7,-9.0,532,4606,0.00,2.05,0.00,0.000,4,0.000,0.028,1814,1175,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4649,-0.59,-175.2,586.9,-8.2,537,4658,0.00,2.28,0.00,0.000,6,0.000,0.039,1806,2655,3679,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4971,-0.58,-175.2,619.5,-11.0,560,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2654,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.57,-175.2,652.2,-10.8,575,5274,0.00,2.22,0.00,0.000,4,0.000,0.029,1805,1179,3675,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5317,-0.57,-175.2,656.3,-10.6,577,5321,0.00,2.28,0.00,0.000,6,0.000,0.040,1797,2650,3675,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5624,-0.56,-175.2,691.6,-11.5,592,5630,0.12,1.80,0.00,0.000,4,0.150,0.045,1831,3816,3672,0,0,0,0,0,0,26.21,26.01,28.83
$GC,5671,-0.57,-175.2,695.2,-10.5,594,5675,0.00,1.83,0.00,0.000,6,0.000,0.025,1831,2566,3671,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5980,-0.59,-175.2,718.6,-7.7,609,5986,0.00,2.03,0.00,0.000,4,0.000,0.029,1830,1176,3670,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6012,-0.62,-175.2,720.2,-7.9,610,6019,0.00,2.28,0.00,0.000,6,0.000,0.039,1823,2651,3669,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6320,-0.63,-175.2,749.5,-9.9,626,6323,0.00,1.83,0.00,0.000,4,0.000,0.047,1814,3817,3667,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6349,-0.65,-175.2,751.7,-9.9,627,6353,0.00,1.83,0.00,0.000,6,0.000,0.024,1813,2569,3666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6656,-0.66,-175.2,782.5,-9.5,642,6662,0.00,2.00,0.00,0.000,4,0.000,0.046,1805,3818,3665,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6684,-0.66,-175.2,784.4,-9.5,643,6688,0.00,1.83,0.00,0.000,6,0.000,0.024,1805,2570,3664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6991,-0.66,-175.2,814.0,-9.1,658,6997,0.00,2.00,0.00,0.000,4,0.000,0.046,1796,3821,3663,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7014,-0.66,-175.2,815.6,-8.9,659,7018,0.00,1.85,0.00,0.000,6,0.000,0.024,1796,2573,3662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7332,-0.66,-175.2,847.3,-10.0,675,7337,0.00,2.05,0.00,0.000,4,0.000,0.031,1796,1181,3661,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7370,-0.66,-175.2,851.2,-10.1,677,7376,0.00,2.28,0.00,0.000,6,0.000,0.041,1786,2652,3661,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7691,-0.65,-175.2,886.8,-11.5,693,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2651,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7993,-0.64,-175.2,920.9,-11.2,708,7998,0.00,2.20,0.00,0.000,4,0.000,0.029,1786,1185,3658,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8050,-0.64,-175.2,927.0,-10.5,711,8056,0.00,2.30,0.00,0.000,6,0.000,0.041,1775,2651,3658,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8374,-0.62,-175.2,964.5,-11.7,727,8380,0.12,1.80,0.00,0.000,4,0.150,0.047,1809,3812,3656,0,0,0,0,0,0,26.16,25.88,28.83
$GC,8436,-0.63,-175.2,970.0,-9.7,730,8439,0.00,1.85,0.00,0.000,6,0.000,0.025,1809,2571,3655,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,8670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8670,begin apogee
$GC,8677,-0.20,0.0,990.8,-8.7,742,8838,0.38,0.15,154.27,1.185,6,0.096,0.076,1942,2536,2977,0,0,0,0,0,0,25.83,24.82,23.30
$STATE,8839,end apogee,CONTROL_FINISHED_OK
$STATE,8839,begin climb
$GC,8841,0.60,175.2,998.5,0.0,750,9015,0.70,0.00,170.18,1.190,6,0.048,0.000,2210,2536,2263,0,0,0,0,0,0,25.08,28.83,23.20
$GC,9308,0.52,175.2,941.4,16.4,774,9314,0.12,2.05,0.00,0.000,4,0.187,0.043,2169,3819,2234,0,0,0,0,0,0,25.75,25.89,28.83
$GC,9381,0.44,175.2,931.9,15.9,777,9388,0.00,2.08,0.00,0.000,6,0.000,0.028,2179,2458,2234,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9689,0.38,175.2,887.5,13.8,793,9691,0.17,0.00,0.00,0.000,6,0.171,0.000,2133,2457,2231,0,0,0,0,0,0,25.79,28.83,28.83
$GC,9989,0.37,175.2,856.8,9.9,808,9993,0.00,2.20,0.00,0.000,4,0.000,0.046,2132,3819,2230,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10044,0.34,175.2,851.8,11.0,810,10051,0.00,2.08,0.00,0.000,6,0.000,0.028,2143,2455,2229,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10351,0.32,175.2,814.9,11.3,826,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2454,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10652,0.29,175.2,780.3,11.3,841,10658,0.12,2.15,0.00,0.000,4,0.171,0.043,2105,3813,2228,0,0,0,0,0,0,26.04,25.98,28.83
$GC,10685,0.27,175.2,778.0,11.1,842,10692,0.00,2.05,0.00,0.000,6,0.000,0.027,2116,2459,2227,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10991,0.30,193.8,749.5,8.5,858,11014,0.00,2.22,16.52,0.978,4,0.000,0.046,2116,3812,2180,0,0,0,0,0,0,28.83,25.91,24.06
$GC,11040,0.32,211.7,745.9,8.5,860,11064,0.00,2.05,19.05,0.974,6,0.000,0.028,2126,2458,2115,0,0,0,0,0,0,28.83,26.04,24.06
$GC,11369,0.32,211.7,713.8,9.7,876,11374,0.00,2.12,0.00,0.000,4,0.000,0.046,2126,3806,2093,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11400,0.32,211.7,711.5,10.1,877,11407,0.00,2.05,0.00,0.000,6,0.000,0.028,2137,2463,2093,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11708,0.32,211.7,677.1,10.6,893,11713,0.00,2.12,0.00,0.000,4,0.000,0.040,2148,1056,2092,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11740,0.32,211.7,675.0,10.4,894,11747,0.12,2.28,0.00,0.000,6,0.140,0.042,2114,2521,2091,0,0,0,0,0,0,25.77,25.96,28.83
$GC,12048,0.39,252.3,648.8,7.7,910,12095,0.00,2.08,41.72,0.926,4,0.000,0.047,2113,3810,1943,0,0,0,0,0,0,28.83,25.60,24.06
$GC,12133,0.45,285.1,642.7,8.0,914,12173,0.00,2.08,33.62,0.923,6,0.000,0.028,2123,2458,1810,0,0,0,0,0,0,28.83,25.78,23.89
$GC,12485,0.54,335.8,615.2,7.4,932,12543,0.15,2.20,49.75,0.916,4,0.067,0.038,2226,1063,1596,0,0,0,0,0,0,26.20,25.40,23.98
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$STATE,17527,end climb,SURFACE_DEPTH_REACHED
$STATE,17527,begin surface coast
$FINISH,0.3,1.022529
$STATE,17555,end surface coast,CONTROL_FINISHED_OK
$STATE,17556,begin surface
$SM_CCo,17630,0.00,0.000,0,0,1062,470.24
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$IRIDIUM_FIX,2314.48,12235.65,240112,010137
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.2,83.264
$10V_AH,9.9,49.572
$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
$DEVICE_SECS,15.825,170.675,587.825,0.000,0.000,23.866,19.559,248.128,0.000,0.000,17.434,3748.228,10031.377,734.821,3116.616,407.375,0.000,2250.430,0.000,2663.111,0.000,0.542,0.000
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$SENSOR_SECS,1078.489,2044.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324692
$DATA_FILE_SIZE,103719,1587
$CAP_FILE_SIZE,194695,0
$CFSIZE,260165632,186650624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240112,115536,2321.943,12222.419,38,1.2,43,-3.2