version: 66.10
glider: 169
mission: 5
dive: 402
start: 1 25 112 8 47 17
data:
$ID,169
$MISSION,5
$DIVE,402
$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,-11384.922
$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
$GPS1,250112,083855,2322.825,12235.205,69,1.0,69,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.3
$GPS2,250112,084655,2322.849,12235.242,8,1.7,13,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2322.849,12247.007
$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,4245
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.05,0.000,2,0.000,0.000,117,2705,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.8,-8.7,14,131,7.03,2.38,-13.23,0.000,4,0.228,0.041,1819,1177,3697,0,0,0,0,0,0,24.78,26.04,26.55
$GC,189,-0.53,-175.2,39.9,-27.3,30,196,0.12,2.30,0.00,0.000,6,0.165,0.040,1840,2655,3697,0,0,0,0,0,0,25.73,25.99,28.83
$GC,501,-0.44,-175.2,128.1,-22.1,91,508,0.00,2.20,0.00,0.000,4,0.000,0.026,1849,1176,3697,0,0,0,0,0,0,28.83,26.21,28.83
$GC,546,-0.41,-175.2,136.4,-15.6,99,553,0.12,2.28,0.00,0.000,6,0.142,0.039,1874,2652,3697,0,0,0,0,0,0,25.92,26.12,28.83
$GC,857,-0.39,-175.2,177.5,-13.7,160,864,0.00,2.20,0.00,0.000,4,0.000,0.026,1874,1166,3697,0,0,0,0,0,0,28.83,26.27,28.83
$GC,886,-0.39,-175.2,181.6,-12.8,165,893,0.00,2.30,0.00,0.000,6,0.000,0.038,1864,2653,3697,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1197,-0.37,-175.2,221.9,-13.3,210,1205,0.00,2.17,0.00,0.000,4,0.000,0.027,1864,1180,3697,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1220,-0.36,-175.2,224.8,-13.1,212,1228,0.12,2.28,0.00,0.000,6,0.132,0.038,1893,2654,3697,0,0,0,0,0,0,26.01,26.17,28.83
$GC,1529,-0.39,-175.2,251.6,-9.0,243,1538,0.00,2.17,0.00,0.000,4,0.000,0.027,1893,1176,3697,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1571,-0.44,-175.2,255.2,-8.3,247,1580,0.00,2.25,0.00,0.000,6,0.000,0.037,1887,2653,3697,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1882,-0.57,-175.2,281.3,-9.1,278,1889,0.17,0.00,0.00,0.000,6,0.089,0.000,1812,2653,3697,0,0,0,0,0,0,26.41,28.83,28.83
$GC,2191,-0.52,-175.2,327.0,-17.9,309,2200,0.10,2.17,0.00,0.000,4,0.158,0.025,1843,1174,3696,0,0,0,0,0,0,26.39,26.27,28.83
$GC,2298,-0.56,-175.2,337.6,-7.4,319,2305,0.00,2.25,0.00,0.000,6,0.000,0.038,1833,2652,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2605,-0.54,-175.2,376.1,-12.7,350,2608,0.00,1.77,0.00,0.000,4,0.000,0.044,1824,3821,3695,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2638,-0.53,-175.2,380.2,-12.2,353,2642,0.00,1.80,0.00,0.000,6,0.000,0.022,1824,2576,3695,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2949,-0.51,-175.2,423.8,-14.7,384,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2567,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.51,-175.2,462.7,-11.9,414,3261,0.00,2.03,0.00,0.000,4,0.000,0.028,1824,1175,3692,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3284,-0.52,-175.2,466.4,-11.1,417,3293,0.00,2.28,0.00,0.000,6,0.000,0.037,1816,2656,3692,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3594,-0.51,-175.2,499.7,-9.9,448,3598,0.00,1.80,0.00,0.000,4,0.000,0.044,1808,3810,3690,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3636,-0.51,-175.2,503.6,-9.3,452,3641,0.12,1.80,0.00,0.000,6,0.119,0.022,1847,2564,3689,0,0,0,0,0,0,26.15,26.40,28.83
$GC,3942,-0.54,-175.2,526.4,-8.5,482,3951,0.00,2.00,0.00,0.000,4,0.000,0.043,1838,3819,3687,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3974,-0.57,-175.2,529.2,-8.7,485,3978,0.00,1.85,0.00,0.000,6,0.000,0.024,1838,2565,3686,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4286,-0.59,-175.2,557.6,-9.5,516,4295,0.00,2.03,0.00,0.000,4,0.000,0.028,1838,1173,3684,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4330,-0.63,-175.2,561.3,-8.6,520,4337,0.00,2.25,0.00,0.000,6,0.000,0.037,1829,2653,3684,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4637,-0.64,-175.2,592.4,-10.2,551,4641,0.00,1.75,0.00,0.000,4,0.000,0.045,1820,3816,3681,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4679,-0.66,-175.2,596.4,-9.8,555,4682,0.00,1.83,0.00,0.000,6,0.000,0.024,1820,2573,3680,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5000,-0.66,-175.2,630.0,-10.3,573,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2563,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,-0.67,-175.2,659.2,-9.7,588,5305,0.00,2.00,0.00,0.000,4,0.000,0.044,1812,3816,3675,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5371,-0.69,-175.2,665.1,-9.5,591,5375,0.00,1.83,0.00,0.000,6,0.000,0.024,1812,2565,3676,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5679,-0.69,-175.2,695.4,-9.4,606,5684,0.00,1.98,0.00,0.000,4,0.000,0.044,1803,3819,3672,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5707,-0.69,-175.2,697.4,-9.5,607,5711,0.00,1.83,0.00,0.000,6,0.000,0.024,1803,2566,3672,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6013,-0.69,-175.2,728.6,-10.1,622,6018,0.00,2.03,0.00,0.000,4,0.000,0.028,1803,1180,3670,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6040,-0.69,-175.2,730.5,-9.9,623,6045,0.00,2.30,0.00,0.000,6,0.000,0.040,1794,2654,3670,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6349,-0.68,-175.2,763.6,-10.6,638,6353,0.00,1.77,0.00,0.000,4,0.000,0.046,1785,3819,3667,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6373,-0.67,-175.2,766.3,-10.9,639,6376,0.00,1.80,0.00,0.000,6,0.000,0.024,1785,2571,3667,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6692,-0.65,-175.2,804.4,-12.0,655,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2569,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,-0.64,-175.2,841.9,-12.4,670,6996,0.00,2.05,0.00,0.000,4,0.000,0.030,1785,1174,3664,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7018,-0.62,-175.2,844.3,-12.3,671,7023,0.12,2.30,0.00,0.000,6,0.129,0.041,1813,2652,3663,0,0,0,0,0,0,25.86,26.02,28.83
$GC,7327,-0.64,-175.2,874.9,-9.4,686,7330,0.00,2.22,0.00,0.000,4,0.000,0.029,1814,1179,3662,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7350,-0.65,-175.2,876.9,-9.3,687,7355,0.00,2.33,0.00,0.000,6,0.000,0.041,1813,2655,3662,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7665,-0.66,-175.2,905.2,-8.7,703,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2654,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-0.68,-175.2,928.8,-7.6,718,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2654,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,-0.69,-175.2,950.6,-7.3,733,8269,0.00,2.22,0.00,0.000,4,0.000,0.029,1812,1177,3658,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8305,-0.71,-175.2,953.4,-7.0,735,8310,0.00,2.33,0.00,0.000,6,0.000,0.042,1812,2649,3657,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8624,-0.72,-175.2,976.3,-7.1,751,8630,0.10,1.85,0.00,0.000,4,0.093,0.047,1743,3820,3655,0,0,0,0,0,0,26.51,25.88,28.83
$GC,8667,-0.72,-175.2,980.6,-8.7,753,8671,0.12,1.80,0.00,0.000,6,0.140,0.024,1778,2569,3656,0,0,0,0,0,0,25.93,26.27,28.83
$STATE,8757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8757,begin apogee
$GC,8762,-0.20,0.0,991.0,-10.5,758,8925,0.47,0.12,154.98,1.183,6,0.102,0.083,1942,2535,2978,0,0,0,0,0,0,25.66,24.81,23.29
$STATE,8926,end apogee,CONTROL_FINISHED_OK
$STATE,8926,begin climb
$GC,8928,0.60,175.2,996.8,0.0,766,9105,0.70,2.25,167.25,1.190,4,0.047,0.047,2212,3819,2256,0,0,0,0,0,0,25.13,24.78,23.25
$GC,9239,0.50,175.2,958.1,21.5,782,9245,0.15,2.08,0.00,0.000,6,0.174,0.031,2178,2471,2236,0,0,0,0,0,0,25.36,25.82,28.83
$GC,9553,0.45,175.2,907.3,15.1,798,9559,0.00,2.12,0.00,0.000,4,0.000,0.044,2178,3813,2232,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9582,0.39,175.2,904.0,15.4,799,9587,0.17,2.08,0.00,0.000,6,0.167,0.028,2143,2456,2231,0,0,0,0,0,0,25.63,26.10,28.83
$GC,9890,0.37,175.2,867.5,10.8,814,9895,0.00,2.08,0.00,0.000,4,0.000,0.036,2152,1058,2229,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9911,0.35,175.2,865.4,10.8,815,9915,0.00,2.25,0.00,0.000,6,0.000,0.039,2152,2524,2228,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10224,0.31,175.2,829.6,11.2,831,10226,0.15,0.00,0.00,0.000,6,0.152,0.000,2112,2525,2228,0,0,0,0,0,0,26.02,28.83,28.83
$GC,10523,0.34,195.9,803.4,8.4,846,10550,0.00,2.28,16.67,1.010,4,0.000,0.036,2122,1053,2172,0,0,0,0,1,0,28.83,25.96,23.95
$GC,10592,0.37,209.3,798.3,8.7,849,10615,0.00,2.30,15.95,0.998,6,0.000,0.040,2122,2531,2120,0,0,0,0,0,0,28.83,25.94,24.17
$GC,10924,0.38,222.9,767.8,8.7,866,10942,0.00,0.00,13.30,0.989,6,0.000,0.000,2122,2531,2064,0,0,0,0,0,0,28.83,28.83,24.20
$GC,11246,0.40,226.5,739.4,9.0,882,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2531,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11543,0.46,270.5,715.4,7.6,897,11604,0.10,2.38,49.05,0.978,4,0.091,0.036,2201,1055,1862,0,0,0,0,0,0,26.41,25.51,23.99
$GC,11650,0.44,270.5,702.6,12.9,902,11656,0.12,2.28,0.00,0.000,6,0.115,0.040,2157,2519,1854,0,0,0,0,0,0,25.45,25.68,28.83
$GC,11969,0.44,270.5,666.4,11.1,918,11975,0.00,2.05,0.00,0.000,4,0.000,0.045,2157,3820,1850,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12017,0.44,270.5,661.5,11.8,920,12021,0.00,2.08,0.00,0.000,6,0.000,0.028,2167,2453,1850,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12325,0.43,270.5,623.6,12.4,935,12331,0.00,2.15,0.00,0.000,4,0.000,0.045,2167,3817,1849,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12357,0.41,270.5,620.9,12.5,936,12364,0.12,2.05,0.00,0.000,6,0.153,0.028,2144,2460,1849,0,0,0,0,0,0,25.82,26.13,28.83
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$GC,14721,0.51,305.0,361.8,8.7,1161,14740,0.00,2.17,12.38,0.754,4,0.000,0.034,2178,1060,1729,0,0,0,0,0,0,28.83,26.05,24.25
$GC,14777,0.55,317.9,357.2,8.7,1166,14795,0.00,2.25,12.93,0.747,6,0.000,0.037,2178,2529,1682,0,0,0,0,0,0,28.83,26.03,24.34
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$STATE,17539,end climb,SURFACE_DEPTH_REACHED
$STATE,17539,begin surface coast
$FINISH,1.1,1.022752
$STATE,17566,end surface coast,CONTROL_FINISHED_OK
$STATE,17566,begin surface
$SM_CCo,17640,0.00,0.000,0,0,1009,483.24
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$IRIDIUM_FIX,2314.48,12230.43,250112,030344
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,84.192
$10V_AH,9.9,50.170
$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,16.525,173.025,597.650,0.000,0.000,31.004,21.812,265.561,0.000,0.000,16.295,3710.445,10118.520,715.205,3141.305,401.836,0.000,2231.028,0.000,2647.879,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,83.385,1190.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.109,2037.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324720
$DATA_FILE_SIZE,103569,1575
$CAP_FILE_SIZE,195544,0
$CFSIZE,260165632,186155008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250112,134225,2322.517,12238.178,40,1.1,40,-3.2