version: 66.10
glider: 169
mission: 5
dive: 634
start: 3 11 112 7 34 55
data:
$ID,169
$MISSION,5
$DIVE,634
$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,330
$T_MISSION,360
$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,300
$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,270
$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,-13720.325
$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
$GPS1,110312,072637,2336.130,12139.539,37,1.3,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-62.5
$GPS2,110312,073428,2336.252,12139.552,16,2.3,35,-3.2
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,2336.252,12127.767
$TGT_RADIUS,1852.000
$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,258.6,20000,-12.5,-10.000
$D_GRID,836
$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,-0.67,-292.0,0.0,0.0,0,116,0.00,0.00,-96.78,0.000,2,0.000,0.000,123,2666,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.67,-292.0,3.9,-8.1,17,153,7.18,1.80,-18.17,0.000,4,0.243,0.052,1775,3826,3963,0,0,0,0,0,0,24.94,25.63,26.45
$GC,227,-0.55,-292.0,51.8,-34.5,36,236,0.17,1.75,0.00,0.000,6,0.167,0.020,1826,2588,3964,0,0,0,0,0,0,25.20,25.91,28.83
$GC,545,-0.47,-292.0,135.5,-20.5,97,552,0.12,2.30,0.00,0.000,4,0.161,0.024,1876,1179,3964,0,0,0,0,0,0,25.80,25.53,28.83
$GC,617,-0.53,-292.0,144.2,-8.1,110,623,0.00,2.50,0.00,0.000,6,0.000,0.035,1871,2647,3964,0,0,0,0,0,0,28.83,25.39,28.83
$GC,933,-0.62,-292.0,177.1,-9.4,171,941,0.15,1.80,0.00,0.000,4,0.103,0.043,1808,3821,3965,0,0,0,0,0,0,25.98,25.23,28.83
$GC,1007,-0.70,-292.0,184.3,-9.9,184,1015,0.00,1.77,0.00,0.000,6,0.000,0.023,1813,2587,3964,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1320,-0.82,-292.0,212.0,-10.1,232,1329,0.17,2.30,0.00,0.000,4,0.096,0.027,1752,1169,3963,0,0,0,0,0,0,25.96,25.53,28.83
$GC,1345,-0.91,-292.0,214.4,-10.3,234,1353,0.12,2.50,0.00,0.000,6,0.081,0.033,1694,2650,3963,0,0,0,0,0,0,25.36,25.40,28.83
$GC,1653,-0.74,-292.0,316.6,-36.6,265,1662,0.25,2.42,0.00,0.000,4,0.158,0.024,1778,1175,3963,0,0,0,0,0,0,25.20,25.48,28.83
$GC,1757,-0.75,-292.0,337.2,-11.0,275,1767,0.00,2.50,0.00,0.000,6,0.000,0.035,1767,2647,3962,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2066,-0.66,-292.0,399.8,-20.8,306,2074,0.00,2.40,0.00,0.000,4,0.000,0.028,1768,1176,3961,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2140,-0.65,-292.0,411.2,-12.6,313,2148,0.15,2.50,0.00,0.000,6,0.116,0.036,1804,2646,3960,0,0,0,0,0,0,25.10,25.30,28.83
$GC,2450,-0.62,-292.0,453.0,-12.8,344,2459,0.00,2.40,0.00,0.000,4,0.000,0.026,1804,1176,3958,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2502,-0.63,-292.0,458.9,-10.8,349,2511,0.00,2.50,0.00,0.000,6,0.000,0.036,1799,2640,3957,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2812,-0.59,-292.0,496.5,-11.3,380,2821,0.00,2.40,0.00,0.000,4,0.000,0.027,1799,1185,3954,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2855,-0.58,-292.0,500.5,-9.4,384,2864,0.00,2.50,0.00,0.000,6,0.000,0.037,1799,2643,3954,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3164,-0.55,-292.0,533.1,-11.7,415,3174,0.12,2.42,0.00,0.000,4,0.142,0.027,1843,1178,3951,0,0,0,0,0,0,25.91,25.41,28.83
$GC,3200,-0.55,-292.0,536.0,-9.2,418,3207,0.00,2.53,0.00,0.000,6,0.000,0.037,1843,2645,3950,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3508,-0.66,-292.0,561.6,-9.1,449,3510,0.15,0.00,0.00,0.000,6,0.108,0.000,1789,2644,3948,0,0,0,0,0,0,26.00,28.83,28.83
$GC,3809,-0.71,-292.0,582.7,-6.6,479,3818,0.00,2.40,0.00,0.000,4,0.000,0.028,1789,1176,3945,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3884,-0.71,-292.0,588.3,-8.1,486,3892,0.00,2.53,0.00,0.000,6,0.000,0.037,1778,2647,3945,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4193,-0.66,-292.0,630.0,-14.3,507,4198,0.00,2.42,0.00,0.000,4,0.000,0.028,1778,1184,3943,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4225,-0.61,-292.0,632.7,-14.1,508,4232,0.15,2.53,0.00,0.000,6,0.108,0.039,1816,2645,3943,0,0,0,0,0,0,24.99,25.15,28.83
$GC,4533,-0.61,-292.0,657.4,-7.4,524,4539,0.00,2.42,0.00,0.000,4,0.000,0.028,1816,1176,3942,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4555,-0.61,-292.0,659.0,-7.5,525,4559,0.00,2.55,0.00,0.000,6,0.000,0.038,1813,2648,3941,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4867,-0.61,-292.0,685.8,-8.5,541,4873,0.00,2.45,0.00,0.000,4,0.000,0.029,1813,1182,3938,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4897,-0.61,-292.0,687.6,-8.7,542,4907,0.00,2.55,0.00,0.000,6,0.000,0.039,1813,2644,3938,0,0,0,0,0,0,28.83,25.11,28.83
$GC,5207,-0.61,-292.0,711.1,-7.1,558,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2644,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5507,-0.61,-292.0,732.9,-7.4,573,5513,0.00,2.42,0.00,0.000,4,0.000,0.028,1813,1186,3934,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5537,-0.61,-292.0,734.3,-7.4,574,5547,0.00,2.55,0.00,0.000,6,0.000,0.038,1813,2650,3933,0,0,0,0,0,0,28.83,25.09,28.83
$GC,5847,-0.61,-292.0,757.7,-8.2,590,5853,0.00,2.47,0.00,0.000,4,0.000,0.031,1813,1178,3931,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5875,-0.61,-292.0,759.3,-8.1,591,5880,0.00,2.55,0.00,0.000,6,0.000,0.037,1813,2644,3931,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6184,-0.61,-292.0,785.4,-8.6,606,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2643,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6482,-0.61,-292.0,810.4,-8.7,621,6488,0.00,2.42,0.00,0.000,4,0.000,0.028,1813,1188,3928,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6527,-0.63,-292.0,813.9,-9.0,623,6532,0.00,2.53,0.00,0.000,6,0.000,0.037,1812,2643,3928,0,0,0,0,0,0,28.83,25.07,28.83
$STATE,6784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6784,begin apogee
$GC,6790,-0.20,0.0,836.5,-9.2,636,7000,0.32,0.15,203.65,1.092,6,0.044,0.072,1974,2533,2978,0,0,0,0,0,0,25.87,24.15,23.17
$STATE,7001,end apogee,CONTROL_FINISHED_OK
$STATE,7001,begin climb
$GC,7003,0.67,292.0,850.8,0.0,646,7293,0.68,2.33,279.55,1.063,4,0.038,0.042,2241,3814,1776,0,0,1,0,0,0,24.37,22.96,22.08
$GC,7370,0.57,292.0,803.5,24.5,664,7375,0.22,2.25,0.00,0.000,6,0.162,0.026,2198,2466,1761,0,0,0,0,0,0,23.18,23.82,28.83
$GC,7678,0.51,292.0,744.3,17.9,679,7683,0.00,2.17,0.00,0.000,4,0.000,0.043,2198,3808,1757,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7765,0.45,292.0,729.2,18.9,683,7769,0.20,2.10,0.00,0.000,6,0.145,0.028,2153,2465,1756,0,0,0,0,0,0,24.97,25.51,28.83
$GC,8073,0.43,292.0,689.3,12.3,698,8078,0.00,2.17,0.00,0.000,4,0.000,0.043,2153,3811,1755,0,0,0,0,0,0,28.83,25.26,28.83
$GC,8113,0.41,292.0,683.8,12.8,700,8118,0.00,2.10,0.00,0.000,6,0.000,0.028,2163,2463,1755,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8433,0.39,292.0,645.9,12.2,716,8438,0.00,2.20,0.00,0.000,4,0.000,0.042,2163,3821,1754,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8467,0.36,292.0,643.1,12.8,717,8475,0.15,2.10,0.00,0.000,6,0.138,0.026,2132,2458,1754,0,0,0,0,0,0,25.17,25.58,28.83
$GC,8774,0.42,329.3,612.2,9.1,733,8812,0.00,0.00,28.30,0.876,6,0.000,0.000,2132,2457,1636,0,0,0,0,1,0,28.83,28.83,24.27
$GC,9116,0.52,396.3,581.3,8.5,760,9204,0.12,2.30,75.53,0.885,4,0.075,0.044,2224,3813,1347,0,0,0,0,0,0,26.15,25.34,24.37
$GC,9237,0.46,396.3,559.3,20.3,772,9248,0.25,2.10,0.00,0.000,6,0.138,0.028,2163,2464,1340,0,0,0,0,0,0,24.95,25.50,28.83
$GC,9548,0.49,412.5,525.8,9.6,803,9569,0.00,2.35,14.62,0.833,4,0.000,0.035,2173,1053,1289,0,0,0,0,0,0,28.83,25.67,24.68
$GC,9602,0.59,466.0,520.7,8.8,808,9662,0.00,2.38,53.15,0.835,6,0.000,0.033,2173,2522,1074,0,0,0,0,0,0,28.83,25.60,24.39
$GC,9962,0.70,466.0,484.3,10.5,844,9972,0.15,2.35,0.00,0.000,4,0.135,0.032,2235,1059,1053,0,0,0,0,0,0,25.70,25.54,28.83
$GC,10176,0.81,471.0,462.7,9.9,865,10185,0.00,2.35,0.00,0.000,6,0.000,0.033,2236,2520,1052,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10487,0.86,471.0,431.9,10.4,896,10496,0.12,2.08,0.00,0.000,4,0.078,0.042,2333,3816,1051,0,0,0,0,0,0,26.10,25.22,28.83
$GC,10512,0.90,471.0,428.8,11.8,898,10521,0.17,2.10,0.00,0.000,6,0.177,0.028,2300,2460,1051,0,0,0,0,0,0,24.86,25.54,28.83
$GC,10820,0.78,471.0,333.7,32.1,929,10830,0.12,2.20,0.00,0.000,4,0.198,0.041,2263,3814,1050,0,0,0,0,0,0,25.54,25.13,28.83
$GC,10896,0.71,471.0,310.6,28.7,936,10905,0.10,2.08,0.00,0.000,6,0.131,0.028,2240,2469,1050,0,0,0,0,0,0,25.08,25.51,28.83
$GC,11204,0.66,471.0,250.8,18.2,967,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2468,1050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11505,0.63,471.0,193.4,15.8,1000,11512,0.00,2.20,0.00,0.000,4,0.000,0.042,2239,3821,1050,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11555,0.62,471.0,185.8,13.7,1009,11563,0.15,2.10,0.00,0.000,6,0.115,0.027,2202,2465,1050,0,0,0,0,0,0,25.20,25.48,28.83
$GC,11872,0.69,507.7,159.8,9.2,1070,11915,0.00,2.28,35.65,0.633,4,0.000,0.033,2214,1050,897,0,0,0,0,0,0,28.83,25.72,24.72
$GC,11977,0.87,584.3,151.5,8.2,1088,12052,0.25,2.38,63.95,0.799,6,0.108,0.031,2284,2525,595,0,0,0,0,1,0,25.24,25.60,24.31
$GC,12360,0.98,584.3,109.3,10.2,1160,12369,0.12,2.12,1.60,0.155,4,0.122,0.044,2329,3817,596,0,0,0,0,0,0,25.93,25.58,25.08
$GC,12511,1.14,607.5,92.3,9.5,1188,12550,0.12,2.08,29.10,0.307,6,0.074,0.025,2423,2450,507,0,0,0,0,0,0,25.69,25.75,25.07
$STATE,12830,end climb,SURFACE_DEPTH_REACHED
$STATE,12830,begin surface coast
$FINISH,0.0,1.022154
$STATE,12836,end surface coast,CONTROL_FINISHED_OK
$STATE,12836,begin surface
$SM_CCo,12913,0.00,0.000,0,0,515,604.17
$SM_GC,0.58,5.88,0.43,0.00,0.026,0.050,0.000,118,2653,515,-5.79,-0.28,604.17,0,0,0,0,0,0,25.74,25.83,28.83
$IRIDIUM_FIX,2328.57,12220.52,110312,030336
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.05
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,22.1,129.711
$10V_AH,9.8,76.564
$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,17.900,129.875,785.100,0.000,0.000,24.504,29.122,247.728,0.000,0.000,37.604,3062.145,6458.292,850.800,2596.147,393.812,0.000,2127.153,0.000,2150.220,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,71.910,1091.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.797,1539.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,83778,1250
$CAP_FILE_SIZE,161028,0
$CFSIZE,260165632,163229696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$CURRENT,0.244, 54.2,1
$GPS,110312,111107,2336.277,12138.468,29,1.4,29,-3.2