version: 66.10
glider: 169
mission: 5
dive: 474
start: 2 9 112 15 42 19
data:
$ID,169
$MISSION,5
$DIVE,474
$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,-12507.67
$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
$GPS1,090212,153155,2250.972,12405.559,39,1.6,39,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.3
$GPS2,090212,154155,2250.970,12405.786,11,1.8,17,-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,232.0,150287,-16.1,-8.684
$D_GRID,5679
$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,19,-0.58,-146.0,0.0,0.0,0,91,0.00,0.00,-69.93,0.000,2,0.000,0.000,117,2597,2961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-146.0,3.2,-4.9,12,121,7.12,2.25,-13.20,0.000,4,0.228,0.042,1823,1175,3576,0,0,0,0,0,0,24.74,26.02,26.56
$GC,218,-0.56,-146.0,33.6,-16.9,34,225,0.00,2.35,0.00,0.000,6,0.000,0.037,1812,2649,3576,0,0,0,0,0,0,28.83,25.97,28.83
$GC,530,-0.45,-146.0,121.6,-29.2,95,536,0.15,0.00,0.00,0.000,6,0.168,0.000,1856,2649,3576,0,0,0,0,0,0,25.98,28.83,28.83
$GC,842,-0.42,-146.0,184.2,-18.1,156,849,0.00,2.25,0.00,0.000,4,0.000,0.025,1861,1168,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,918,-0.45,-146.0,195.0,-11.9,170,925,0.00,2.33,0.00,0.000,6,0.000,0.037,1851,2649,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1228,-0.41,-146.0,246.7,-15.7,204,1237,0.00,2.25,0.00,0.000,4,0.000,0.027,1851,1166,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1281,-0.41,-146.0,253.3,-12.6,209,1291,0.08,2.30,0.00,0.000,6,0.112,0.037,1872,2644,3576,0,0,0,0,0,0,25.88,26.09,28.83
$GC,1589,-0.41,-146.0,289.4,-12.1,240,1598,0.00,2.25,0.00,0.000,4,0.000,0.027,1872,1165,3576,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1627,-0.42,-146.0,292.9,-11.1,243,1633,0.00,2.33,0.00,0.000,6,0.000,0.037,1865,2647,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1931,-0.42,-146.0,328.4,-11.7,274,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2647,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2234,-0.42,-146.0,363.0,-10.9,304,2237,0.00,2.28,0.00,0.000,4,0.000,0.029,1865,1172,3576,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2278,-0.45,-146.0,367.4,-10.2,308,2285,0.00,2.35,0.00,0.000,6,0.000,0.039,1860,2652,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2585,-0.45,-146.0,400.5,-11.3,339,2589,0.00,2.25,0.00,0.000,4,0.000,0.028,1859,1183,3575,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2636,-0.48,-146.0,405.7,-10.1,344,2645,0.00,2.33,0.00,0.000,6,0.000,0.037,1851,2647,3575,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2946,-0.48,-146.0,440.1,-10.5,375,2955,0.00,2.22,0.00,0.000,4,0.000,0.026,1851,1167,3574,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2998,-0.51,-146.0,445.0,-9.2,380,3007,0.00,2.33,0.00,0.000,6,0.000,0.037,1842,2650,3574,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3309,-0.51,-146.0,478.8,-11.0,411,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2649,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3609,-0.51,-146.0,509.3,-9.8,441,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2649,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3911,-0.51,-146.0,535.9,-7.7,471,3915,0.00,2.25,0.00,0.000,4,0.000,0.028,1842,1175,3571,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3986,-0.55,-146.0,541.1,-6.0,478,3993,0.00,2.33,0.00,0.000,6,0.000,0.037,1833,2648,3570,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4293,-0.55,-146.0,571.3,-10.7,509,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2648,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-0.55,-146.0,600.7,-9.5,539,4600,0.00,2.25,0.00,0.000,4,0.000,0.030,1833,1178,3567,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4625,-0.55,-146.0,602.6,-9.5,540,4632,0.00,2.33,0.00,0.000,6,0.000,0.038,1824,2646,3567,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4934,-0.55,-146.0,637.6,-11.2,556,4939,0.00,2.22,0.00,0.000,4,0.000,0.027,1824,1183,3565,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4965,-0.55,-146.0,639.8,-11.2,557,4975,0.00,2.33,0.00,0.000,6,0.000,0.037,1814,2649,3565,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5275,-0.54,-146.0,675.2,-11.0,573,5280,0.00,2.22,0.00,0.000,4,0.000,0.028,1814,1183,3562,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5315,-0.54,-146.0,679.7,-11.4,575,5320,0.00,2.33,0.00,0.000,6,0.000,0.038,1807,2646,3562,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5628,-0.53,-146.0,717.7,-12.3,591,5634,0.10,2.28,0.00,0.000,4,0.158,0.025,1835,1165,3560,0,0,0,0,0,0,26.32,26.12,28.83
$GC,5657,-0.53,-146.0,719.9,-12.0,592,5666,0.00,2.35,0.00,0.000,6,0.000,0.038,1825,2647,3560,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5968,-0.54,-146.0,749.2,-8.7,608,5974,0.00,2.25,0.00,0.000,4,0.000,0.028,1826,1177,3558,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6016,-0.56,-146.0,752.3,-8.1,610,6021,0.00,2.33,0.00,0.000,6,0.000,0.037,1817,2647,3558,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6324,-0.56,-146.0,779.0,-9.0,625,6328,0.00,1.80,0.00,0.000,4,0.000,0.044,1809,3823,3556,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6346,-0.56,-146.0,781.2,-9.1,626,6349,0.00,1.83,0.00,0.000,6,0.000,0.024,1808,2582,3555,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6667,-0.56,-146.0,813.0,-9.6,642,6673,0.00,2.12,0.00,0.000,4,0.000,0.029,1808,1179,3553,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6696,-0.56,-146.0,815.0,-9.6,643,6701,0.10,2.33,0.00,0.000,6,0.143,0.038,1829,2646,3553,0,0,0,0,0,0,25.83,25.98,28.83
$GC,7004,-0.58,-146.0,838.9,-7.5,658,7010,0.00,2.22,0.00,0.000,4,0.000,0.028,1829,1182,3551,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7044,-0.60,-146.0,841.9,-7.6,660,7049,0.00,2.33,0.00,0.000,6,0.000,0.039,1819,2646,3551,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7363,-0.61,-146.0,869.6,-8.9,676,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2646,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7663,-0.62,-146.0,895.5,-8.5,691,7667,0.00,2.28,0.00,0.000,4,0.000,0.032,1820,1186,3548,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7694,-0.64,-146.0,897.6,-8.6,692,7703,0.00,2.35,0.00,0.000,6,0.000,0.041,1811,2645,3548,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8004,-0.64,-146.0,925.6,-8.6,708,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2645,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8307,-0.64,-146.0,951.5,-8.6,723,8313,0.00,2.22,0.00,0.000,4,0.000,0.028,1811,1180,3544,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8354,-0.65,-146.0,955.0,-8.5,725,8358,0.00,2.35,0.00,0.000,6,0.000,0.038,1802,2652,3544,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8662,-0.65,-146.0,983.2,-9.0,740,8667,0.00,2.28,0.00,0.000,4,0.000,0.029,1802,1180,3542,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8695,-0.65,-146.0,985.1,-9.2,741,8703,0.00,2.35,0.00,0.000,6,0.000,0.039,1799,2647,3542,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,8740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8740,begin apogee
$GC,8745,-0.20,0.0,990.4,-9.0,744,8884,0.40,0.15,130.38,1.184,6,0.102,0.076,1939,2534,2974,0,0,0,0,0,0,25.65,24.90,23.23
$STATE,8885,end apogee,CONTROL_FINISHED_OK
$STATE,8885,begin climb
$GC,8887,0.58,146.0,995.9,0.0,751,9042,0.70,2.45,140.38,1.191,4,0.049,0.035,2222,1063,2370,0,0,0,0,0,0,25.27,25.05,23.35
$GC,9105,0.51,146.0,981.9,13.3,762,9111,0.12,2.30,0.00,0.000,6,0.154,0.037,2182,2524,2360,0,0,0,0,0,0,25.32,25.68,28.83
$GC,9426,0.44,146.0,938.8,13.7,778,9432,0.00,2.03,0.00,0.000,4,0.000,0.044,2182,3815,2355,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9498,0.37,146.0,929.5,15.2,781,9506,0.22,2.05,0.00,0.000,6,0.171,0.027,2132,2460,2353,0,0,0,0,0,0,25.46,26.10,28.83
$GC,9806,0.35,146.0,895.6,10.0,797,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2459,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10105,0.33,146.0,866.8,9.6,812,10110,0.00,2.15,0.00,0.000,4,0.000,0.044,2132,3812,2351,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10160,0.30,146.0,862.5,10.4,814,10168,0.12,2.05,0.00,0.000,6,0.171,0.027,2111,2455,2349,0,0,0,0,0,0,25.75,26.15,28.83
$GC,10465,0.30,146.0,834.1,8.9,830,10471,0.00,2.17,0.00,0.000,4,0.000,0.044,2111,3813,2349,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10492,0.30,146.0,832.2,9.1,831,10496,0.00,2.08,0.00,0.000,6,0.000,0.026,2121,2452,2348,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10801,0.30,146.0,802.8,9.1,846,10806,0.00,2.12,0.00,0.000,4,0.000,0.044,2122,3811,2348,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10820,0.29,146.0,801.0,9.0,847,10823,0.00,2.05,0.00,0.000,6,0.000,0.027,2132,2458,2348,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11143,0.27,146.1,772.7,8.7,863,11149,0.12,2.17,0.00,0.000,4,0.168,0.042,2094,3823,2347,0,0,0,0,0,0,26.03,25.86,28.83
$GC,11210,0.29,158.0,767.7,8.2,866,11222,0.00,2.08,7.30,0.924,6,0.000,0.028,2105,2456,2332,0,0,0,0,0,0,28.83,26.10,24.14
$GC,11524,0.33,185.0,743.8,7.6,882,11562,0.00,2.22,30.38,1.006,4,0.000,0.044,2105,3815,2214,0,0,0,0,0,0,28.83,25.65,23.89
$GC,11586,0.36,195.5,738.4,8.3,885,11597,0.00,2.08,4.50,0.786,6,0.000,0.028,2115,2459,2181,0,0,0,0,0,0,28.83,25.84,23.82
$GC,11907,0.40,214.7,711.4,7.9,901,11939,0.00,2.20,27.00,0.977,4,0.000,0.034,2126,1059,2096,0,0,0,0,0,0,28.83,25.67,23.94
$GC,11997,0.45,232.6,705.3,8.0,904,12023,0.00,2.30,17.88,0.972,6,0.000,0.037,2126,2524,2022,0,0,0,0,0,0,28.83,25.77,23.96
$GC,12324,0.51,263.2,678.3,7.5,921,12362,0.12,2.08,30.23,0.972,4,0.077,0.041,2206,3815,1894,0,0,0,0,0,0,26.27,25.60,23.96
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$STATE,18613,end climb,SURFACE_DEPTH_REACHED
$STATE,18613,begin surface coast
$FINISH,0.4,1.023243
$STATE,18640,end surface coast,CONTROL_FINISHED_OK
$STATE,18640,begin surface
$SM_CCo,18655,35.42,0.119,0,0,1244,425.10
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$IRIDIUM_FIX,2241.69,12407.99,090212,151520
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.2,97.737
$10V_AH,9.9,58.709
$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,15.625,184.875,466.500,35.425,0.000,54.821,88.934,240.576,0.000,0.000,17.999,4233.972,10496.762,678.344,3403.944,448.679,0.000,2273.694,0.000,2850.090,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,75.735,1191.105,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1141.528,2157.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,110357,1682
$CAP_FILE_SIZE,205141,0
$CFSIZE,260165632,178106368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,126.1,1
$GPS,090212,205506,2247.893,12405.635,43,1.1,43,-3.2