version: 66.10
glider: 169
mission: 5
dive: 472
start: 2 9 112 4 51 17
data:
$ID,169
$MISSION,5
$DIVE,472
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,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,-12505.058
$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
$GPS1,090212,044300,2256.323,12403.580,40,1.3,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.9
$GPS2,090212,045052,2256.311,12403.635,15,2.6,34,-3.2
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,230.4,159970,-16.1,-8.684
$D_GRID,5571
$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,-0.58,-146.0,0.0,0.0,0,96,0.00,0.00,-76.47,0.000,2,0.000,0.000,118,2687,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.5,-6.6,13,126,7.32,2.38,-8.95,0.000,4,0.239,0.037,1823,1171,3577,0,0,0,0,0,0,24.82,26.09,26.55
$GC,269,-0.57,-146.0,46.6,-13.4,45,276,0.00,2.35,0.00,0.000,6,0.000,0.037,1812,2651,3576,0,0,0,0,0,0,28.83,26.00,28.83
$GC,583,-0.46,-146.0,129.3,-27.8,106,590,0.12,2.28,0.00,0.000,4,0.178,0.025,1860,1178,3577,0,0,0,0,0,0,26.05,26.15,28.83
$GC,711,-0.50,-146.0,146.8,-6.6,130,717,0.00,2.33,0.00,0.000,6,0.000,0.036,1849,2656,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1021,-0.46,-146.0,195.4,-16.3,191,1028,0.00,2.28,0.00,0.000,4,0.000,0.026,1849,1165,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1098,-0.47,-146.0,205.5,-11.3,201,1106,0.00,2.33,0.00,0.000,6,0.000,0.037,1838,2650,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1407,-0.43,-146.0,253.6,-15.9,232,1409,0.12,0.00,0.00,0.000,6,0.157,0.000,1873,2649,3577,0,0,0,0,0,0,26.24,28.83,28.83
$GC,1708,-0.43,-146.0,288.0,-10.4,262,1716,0.00,2.25,0.00,0.000,4,0.000,0.027,1873,1170,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1773,-0.47,-146.0,293.6,-7.7,268,1780,0.00,2.33,0.00,0.000,6,0.000,0.036,1865,2647,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2079,-0.47,-146.0,328.7,-12.9,299,2089,0.00,2.22,0.00,0.000,4,0.000,0.027,1865,1174,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2113,-0.48,-146.0,332.5,-12.2,302,2121,0.00,2.30,0.00,0.000,6,0.000,0.037,1856,2645,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2423,-0.48,-146.0,370.0,-11.8,333,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2645,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2724,-0.48,-146.0,404.7,-10.4,363,2733,0.00,2.22,0.00,0.000,4,0.000,0.026,1856,1173,3576,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2756,-0.49,-146.0,408.0,-10.1,366,2765,0.00,2.33,0.00,0.000,6,0.000,0.037,1846,2650,3576,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3066,-0.49,-146.0,438.9,-10.0,397,3075,0.00,2.25,0.00,0.000,4,0.000,0.028,1846,1177,3575,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3111,-0.50,-146.0,442.7,-9.0,401,3117,0.00,2.33,0.00,0.000,6,0.000,0.037,1837,2655,3575,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3418,-0.50,-146.0,476.0,-10.1,432,3427,0.00,2.22,0.00,0.000,4,0.000,0.027,1837,1175,3574,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3483,-0.52,-146.0,481.6,-8.0,438,3489,0.00,2.33,0.00,0.000,6,0.000,0.037,1827,2651,3573,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3790,-0.51,-146.0,517.2,-12.4,469,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2650,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.51,-146.0,552.6,-11.4,499,4102,0.00,2.22,0.00,0.000,4,0.000,0.028,1827,1169,3571,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4146,-0.53,-146.0,558.7,-10.8,504,4155,0.00,2.33,0.00,0.000,6,0.000,0.039,1819,2648,3571,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4455,-0.52,-146.0,595.4,-11.5,535,4464,0.00,2.22,0.00,0.000,4,0.000,0.029,1819,1178,3569,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4497,-0.53,-146.0,599.9,-10.6,539,4507,0.00,2.33,0.00,0.000,6,0.000,0.039,1811,2648,3568,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4809,-0.51,-146.0,634.4,-10.7,555,4815,0.12,2.22,0.00,0.000,4,0.145,0.027,1854,1177,3567,0,0,0,0,0,0,26.21,26.13,28.83
$GC,4841,-0.51,-146.0,636.4,-10.6,556,4848,0.00,2.33,0.00,0.000,6,0.000,0.040,1851,2645,3567,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5151,-0.54,-146.0,658.8,-7.2,572,5156,0.00,2.25,0.00,0.000,4,0.000,0.028,1851,1169,3565,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5178,-0.57,-146.0,660.3,-7.1,573,5182,0.00,2.35,0.00,0.000,6,0.000,0.039,1843,2647,3565,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5485,-0.60,-146.0,682.1,-6.4,588,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2647,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-0.62,-146.0,700.9,-6.5,603,5790,0.00,2.25,0.00,0.000,4,0.000,0.029,1842,1186,3560,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5831,-0.65,-146.0,703.8,-6.6,605,5836,0.12,2.33,0.00,0.000,6,0.076,0.039,1752,2646,3560,0,0,0,0,0,0,26.02,26.00,28.83
$GC,6145,-0.60,-146.0,750.2,-14.6,621,6152,0.17,2.25,0.00,0.000,4,0.145,0.027,1811,1181,3559,0,0,0,0,0,0,25.97,26.09,28.83
$GC,6193,-0.57,-146.0,754.7,-13.1,623,6197,0.00,2.35,0.00,0.000,6,0.000,0.040,1801,2655,3558,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6501,-0.57,-146.0,785.4,-10.1,638,6505,0.00,2.28,0.00,0.000,4,0.000,0.028,1801,1183,3556,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6555,-0.57,-146.0,789.7,-10.1,640,6562,0.00,2.35,0.00,0.000,6,0.000,0.041,1797,2645,3555,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6863,-0.56,-146.0,823.9,-11.1,656,6865,0.12,0.00,0.00,0.000,6,0.143,0.000,1835,2645,3553,0,0,0,0,0,0,26.25,28.83,28.83
$GC,7164,-0.58,-146.0,846.8,-7.2,671,7170,0.00,2.28,0.00,0.000,4,0.000,0.032,1835,1180,3552,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7185,-0.61,-146.0,848.4,-7.4,672,7189,0.00,2.35,0.00,0.000,6,0.000,0.041,1826,2644,3551,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7500,-0.63,-146.0,875.0,-8.4,688,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2643,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,-0.64,-146.0,898.4,-7.4,703,7804,0.00,2.22,0.00,0.000,4,0.000,0.029,1826,1183,3548,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7841,-0.67,-146.0,901.3,-7.3,705,7845,0.00,2.35,0.00,0.000,6,0.000,0.040,1820,2650,3548,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8155,-0.69,-146.0,926.6,-8.2,721,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2649,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8454,-0.70,-146.0,951.8,-8.7,736,8460,0.10,2.28,0.00,0.000,4,0.093,0.029,1759,1183,3545,0,0,0,0,0,0,26.48,25.98,28.83
$GC,8514,-0.70,-146.0,958.7,-11.0,739,8520,0.08,2.33,0.00,0.000,6,0.120,0.040,1777,2642,3544,0,0,0,0,0,0,25.64,25.88,28.83
$STATE,8771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8771,begin apogee
$GC,8776,-0.20,0.0,991.1,-12.3,752,8916,0.47,0.17,130.43,1.189,6,0.106,0.068,1939,2531,2973,0,0,0,0,0,0,25.51,24.94,23.27
$STATE,8917,end apogee,CONTROL_FINISHED_OK
$STATE,8917,begin climb
$GC,8919,0.58,146.0,996.8,0.0,759,9069,0.70,2.38,140.15,1.195,4,0.054,0.031,2219,1062,2375,0,0,0,0,0,0,25.26,25.06,23.37
$GC,9121,0.49,146.0,985.7,11.9,768,9132,0.17,2.33,0.00,0.000,6,0.164,0.037,2173,2524,2361,0,0,0,0,0,0,25.27,25.61,28.83
$GC,9433,0.44,146.0,945.2,12.5,784,9438,0.00,1.98,0.00,0.000,4,0.000,0.045,2173,3806,2356,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9513,0.36,146.0,933.1,15.2,788,9519,0.15,2.03,0.00,0.000,6,0.157,0.028,2136,2471,2354,0,0,0,0,0,0,25.54,26.10,28.83
$GC,9832,0.34,146.0,898.4,10.6,804,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2469,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10132,0.32,146.0,866.9,10.2,819,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2470,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10433,0.30,146.0,837.1,9.8,834,10437,0.00,2.15,0.00,0.000,4,0.000,0.044,2136,3812,2350,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10537,0.26,146.0,825.2,11.8,839,10542,0.17,2.05,0.00,0.000,6,0.162,0.027,2099,2459,2349,0,0,0,0,0,0,25.60,26.15,28.83
$GC,10852,0.33,200.9,803.0,6.5,855,10909,0.00,0.00,52.88,1.054,6,0.000,0.000,2099,2457,2153,0,0,0,0,0,0,28.83,28.83,23.73
$GC,11210,0.42,246.1,778.8,6.9,873,11258,0.12,0.00,44.55,1.034,6,0.078,0.000,2174,2457,1974,0,0,0,0,0,0,26.25,28.83,23.78
$GC,11552,0.40,246.1,734.3,13.5,890,11558,0.12,2.22,0.00,0.000,4,0.158,0.044,2136,3806,1948,0,0,0,0,0,0,25.87,25.81,28.83
$GC,11574,0.38,246.1,731.3,13.7,891,11578,0.00,2.05,0.00,0.000,6,0.000,0.028,2146,2462,1947,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11887,0.38,246.1,699.3,9.6,907,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2461,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12186,0.38,246.1,670.0,10.2,922,12191,0.00,2.20,0.00,0.000,4,0.000,0.044,2146,3814,1945,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12208,0.38,246.1,667.9,10.5,923,12212,0.00,2.05,0.00,0.000,6,0.000,0.026,2157,2455,1946,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12522,0.38,246.1,634.0,10.4,939,12525,0.00,2.22,0.00,0.000,4,0.000,0.045,2157,3822,1945,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12556,0.38,246.1,631.6,10.5,940,12564,0.12,2.05,0.00,0.000,6,0.151,0.028,2134,2462,1944,0,0,0,0,0,0,25.78,26.09,28.83
$GC,12864,0.41,256.6,603.7,8.3,956,12871,0.00,2.17,2.45,0.405,4,0.000,0.031,2144,1052,1931,0,0,0,0,0,0,28.83,25.96,23.88
$GC,12888,0.45,266.3,602.5,8.3,957,12919,0.00,2.30,16.67,0.906,6,0.000,0.037,2144,2528,1880,0,0,0,0,1,0,28.83,25.97,23.87
$GC,13221,0.47,270.3,572.6,8.5,989,13225,0.00,2.03,0.00,0.000,4,0.000,0.044,2144,3815,1876,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,18524,end climb,SURFACE_DEPTH_REACHED
$STATE,18524,begin surface coast
$FINISH,0.4,1.023846
$STATE,18585,end surface coast,CONTROL_FINISHED_OK
$STATE,18585,begin surface
$SM_CCo,18599,44.60,0.117,0,0,1244,425.10
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$IRIDIUM_FIX,2251.04,12405.43,080212,232309
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,97.427
$10V_AH,9.9,58.456
$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
$DEVICE_SECS,15.950,168.575,451.275,44.600,0.000,30.260,23.356,248.720,0.000,0.000,36.089,4279.738,10382.454,696.050,3311.506,421.157,0.000,2241.836,0.000,2815.441,0.000,0.543,0.000
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$SENSOR_SECS,1160.378,2153.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,113807,1709
$CAP_FILE_SIZE,199907,0
$CFSIZE,260165632,178315264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.233,105.9,1
$GPS,090212,100307,2253.681,12404.264,35,1.9,35,-3.2