version: 66.10
glider: 169
mission: 5
dive: 134
start: 12 5 111 8 23 47
data:
$ID,169
$MISSION,5
$DIVE,134
$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,185
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,9
$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,-10448.531
$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
$GPS1,051211,081606,2302.358,12212.708,37,1.3,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.5
$GPS2,051211,082321,2302.511,12212.732,17,2.0,18,-3.1
$SPEED_LIMITS,0.159,0.276
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,229.5,79931,-14.3,-9.167
$D_GRID,4990
$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,-180.0,0.0,0.0,0,116,0.00,0.00,-97.00,0.000,2,0.000,0.000,117,2677,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.58,-180.0,3.7,-7.8,16,148,6.70,1.80,-12.88,0.000,4,0.226,0.063,1807,3811,3715,0,0,0,0,0,0,25.55,26.04,26.42
$GC,240,-0.47,-180.0,55.8,-30.8,37,248,0.15,1.83,0.00,0.000,6,0.162,0.025,1854,2564,3715,0,0,0,0,0,0,25.84,26.18,28.83
$GC,563,-0.39,-180.0,149.0,-23.8,98,571,0.00,2.00,0.00,0.000,4,0.000,0.030,1863,1182,3715,0,0,0,0,0,0,28.83,26.29,28.83
$GC,631,-0.39,-180.0,160.6,-13.3,110,641,0.10,2.22,0.00,0.000,6,0.148,0.042,1882,2655,3715,0,0,0,0,0,0,26.13,26.26,28.83
$GC,955,-0.36,-180.0,204.1,-13.4,168,956,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2655,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.36,-180.0,240.3,-10.3,198,1268,0.00,2.12,0.00,0.000,4,0.000,0.029,1883,1178,3715,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1304,-0.38,-180.0,244.5,-9.0,202,1313,0.00,2.22,0.00,0.000,6,0.000,0.042,1874,2657,3715,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1611,-0.36,-180.0,280.1,-13.0,233,1620,0.00,2.15,0.00,0.000,4,0.000,0.030,1874,1183,3714,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1634,-0.36,-180.0,282.6,-12.0,235,1643,0.00,2.20,0.00,0.000,6,0.000,0.042,1866,2655,3714,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1943,-0.35,-180.0,318.1,-11.6,266,1954,0.12,1.75,0.00,0.000,4,0.150,0.047,1900,3821,3713,0,0,0,0,0,0,26.35,26.37,28.83
$GC,1977,-0.36,-180.0,321.3,-9.9,269,1981,0.00,1.80,0.00,0.000,6,0.000,0.026,1900,2565,3713,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2289,-0.40,-180.0,338.9,-5.7,300,2298,0.00,1.95,0.00,0.000,4,0.000,0.048,1893,3813,3711,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2311,-0.45,-180.0,340.0,-5.5,302,2315,0.00,1.83,0.00,0.000,6,0.000,0.027,1893,2559,3711,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2622,-0.57,-180.0,366.9,-11.0,333,2632,0.15,2.00,0.00,0.000,4,0.099,0.031,1831,1172,3709,0,0,0,0,0,0,26.50,26.46,28.83
$GC,2695,-0.69,-180.0,374.1,-9.1,340,2705,0.12,2.22,0.00,0.000,6,0.082,0.039,1770,2661,3709,0,0,0,0,0,0,26.43,26.44,28.83
$GC,3006,-0.61,-180.0,432.5,-20.4,371,3013,0.15,0.00,0.00,0.000,6,0.151,0.000,1813,2661,3707,0,0,0,0,0,0,26.32,28.83,28.83
$GC,3315,-0.57,-180.0,477.2,-14.0,402,3319,0.00,1.77,0.00,0.000,4,0.000,0.047,1804,3821,3705,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3338,-0.53,-180.0,480.6,-13.9,404,3347,0.10,1.80,0.00,0.000,6,0.140,0.025,1834,2559,3704,0,0,0,0,0,0,26.34,26.54,28.83
$GC,3650,-0.53,-180.0,515.0,-11.1,435,3654,0.00,2.00,0.00,0.000,4,0.000,0.031,1835,1176,3703,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3702,-0.54,-180.0,520.4,-9.9,440,3711,0.00,2.25,0.00,0.000,6,0.000,0.043,1825,2656,3702,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4015,-0.53,-180.0,554.9,-10.4,471,4024,0.00,2.12,0.00,0.000,4,0.000,0.030,1825,1185,3700,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4080,-0.54,-180.0,561.4,-9.8,477,4088,0.00,2.20,0.00,0.000,6,0.000,0.042,1816,2651,3699,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4388,-0.51,-180.0,596.7,-11.7,508,4396,0.00,2.15,0.00,0.000,4,0.000,0.031,1816,1184,3697,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4438,-0.51,-180.0,601.2,-10.9,512,4443,0.10,2.22,0.00,0.000,6,0.145,0.044,1844,2654,3697,0,0,0,0,0,0,26.27,26.39,28.83
$GC,4749,-0.52,-180.0,626.1,-7.9,527,4753,0.00,1.77,0.00,0.000,4,0.000,0.050,1835,3818,3694,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4805,-0.54,-180.0,629.7,-8.1,529,4811,0.00,1.80,0.00,0.000,6,0.000,0.028,1835,2558,3693,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5110,-0.54,-180.0,656.8,-9.2,545,5116,0.00,2.00,0.00,0.000,4,0.000,0.032,1835,1184,3690,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5139,-0.55,-180.0,658.8,-9.5,546,5143,0.00,2.22,0.00,0.000,6,0.000,0.042,1825,2655,3690,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5446,-0.55,-180.0,689.3,-9.3,561,5450,0.00,2.17,0.00,0.000,4,0.000,0.031,1825,1174,3688,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5475,-0.55,-180.0,691.4,-9.5,562,5479,0.00,2.25,0.00,0.000,6,0.000,0.043,1816,2654,3687,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5784,-0.54,-180.0,722.9,-9.9,577,5789,0.00,2.12,0.00,0.000,4,0.000,0.032,1816,1187,3685,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5830,-0.54,-180.0,726.8,-10.1,579,5834,0.00,2.22,0.00,0.000,6,0.000,0.044,1811,2653,3684,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6138,-0.53,-180.0,759.9,-10.8,594,6143,0.00,2.17,0.00,0.000,4,0.000,0.032,1811,1184,3682,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6162,-0.52,-180.0,762.0,-10.9,595,6166,0.12,2.22,0.00,0.000,6,0.129,0.044,1840,2653,3682,0,0,0,0,0,0,26.22,26.34,28.83
$GC,6476,-0.54,-180.0,786.8,-7.4,611,6482,0.00,2.12,0.00,0.000,4,0.000,0.033,1841,1191,3680,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6509,-0.56,-180.0,788.5,-7.5,612,6516,0.00,2.22,0.00,0.000,6,0.000,0.044,1833,2655,3680,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6819,-0.57,-180.0,814.2,-7.7,628,6822,0.00,1.77,0.00,0.000,4,0.000,0.050,1824,3813,3678,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6840,-0.58,-180.0,816.0,-7.7,629,6844,0.00,1.83,0.00,0.000,6,0.000,0.028,1824,2575,3678,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7162,-0.58,-180.0,842.1,-7.9,645,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2573,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7463,-0.58,-180.0,865.5,-7.6,660,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2573,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7762,-0.59,-180.0,888.3,-7.7,675,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2573,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8064,-0.59,-180.0,913.8,-9.0,690,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2573,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8362,-0.60,-180.0,942.3,-9.4,705,8367,0.00,1.92,0.00,0.000,4,0.000,0.050,1815,3811,3670,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8395,-0.61,-180.0,944.2,-9.4,706,8402,0.00,1.80,0.00,0.000,6,0.000,0.028,1815,2558,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8702,-0.61,-180.0,974.3,-9.0,722,8708,0.00,1.98,0.00,0.000,4,0.000,0.034,1815,1190,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8750,-0.62,-180.0,977.7,-8.7,724,8754,0.00,2.25,0.00,0.000,6,0.000,0.046,1813,2655,3669,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,8894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8894,begin apogee
$GC,8901,-0.20,0.0,990.4,-8.4,731,9059,0.38,0.12,150.48,1.181,6,0.101,0.086,1946,2531,2973,0,0,0,0,0,0,26.07,24.81,24.03
$STATE,9060,end apogee,CONTROL_FINISHED_OK
$STATE,9060,begin climb
$GC,9062,0.58,180.0,995.9,0.0,739,9238,0.68,2.45,168.62,1.180,4,0.044,0.041,2223,1070,2236,0,0,0,0,0,0,25.00,24.51,23.70
$GC,9245,0.46,180.0,981.8,15.7,748,9251,0.25,2.38,0.00,0.000,6,0.166,0.042,2159,2521,2226,0,0,0,0,0,0,24.54,24.68,28.83
$GC,9560,0.39,180.0,931.4,14.7,764,9565,0.00,2.03,0.00,0.000,4,0.000,0.048,2159,3815,2215,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9602,0.32,180.0,924.7,15.5,766,9607,0.20,2.08,0.00,0.000,6,0.171,0.031,2117,2455,2213,0,0,0,0,0,0,25.51,25.84,28.83
$GC,9915,0.30,180.0,889.1,10.9,782,9920,0.00,2.15,0.00,0.000,4,0.000,0.047,2116,3818,2211,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9989,0.27,180.0,881.3,12.5,785,9996,0.00,2.05,0.00,0.000,6,0.000,0.030,2127,2457,2210,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10297,0.24,180.0,842.5,12.0,801,10303,0.12,2.10,0.00,0.000,4,0.172,0.045,2089,3816,2209,0,0,0,0,0,0,25.95,26.08,28.83
$GC,10345,0.22,180.0,837.9,11.7,803,10349,0.00,2.05,0.00,0.000,6,0.000,0.031,2099,2452,2209,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10652,0.22,184.9,808.9,9.0,818,10658,0.00,2.08,0.00,0.000,4,0.000,0.048,2099,3804,2208,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10700,0.21,184.9,804.9,9.4,820,10704,0.00,2.03,0.00,0.000,6,0.000,0.030,2109,2451,2208,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11009,0.20,186.2,776.2,9.1,835,11011,0.12,0.00,0.00,0.000,6,0.163,0.000,2076,2449,2208,0,0,0,0,0,0,26.13,28.83,28.83
$GC,11307,0.33,270.8,756.3,6.3,850,11400,0.12,2.25,85.78,0.996,4,0.083,0.050,2158,3816,1866,0,0,0,0,0,0,26.43,25.10,24.39
$GC,11508,0.30,270.8,728.6,15.5,859,11513,0.22,2.10,0.00,0.000,6,0.145,0.031,2106,2461,1848,0,0,0,0,0,0,25.39,25.63,28.83
$GC,11825,0.35,297.8,701.4,8.2,875,11861,0.00,2.22,26.27,0.916,4,0.000,0.039,2117,1053,1750,0,0,0,0,0,0,28.83,25.60,24.82
$GC,11905,0.43,338.9,695.0,7.8,879,11951,0.00,2.30,39.55,0.945,6,0.000,0.042,2117,2523,1595,0,0,0,0,0,0,28.83,25.70,24.49
$GC,12264,0.48,353.5,663.7,8.7,897,12284,0.15,0.00,12.65,0.929,6,0.066,0.000,2203,2522,1527,0,0,0,0,0,0,26.02,28.83,24.91
$GC,12584,0.44,353.5,605.9,18.5,913,12590,0.15,2.00,0.00,0.000,4,0.148,0.046,2156,3816,1516,0,0,0,0,0,0,25.83,25.96,28.83
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$STATE,17559,end climb,SURFACE_DEPTH_REACHED
$STATE,17559,begin surface coast
$FINISH,0.1,1.022436
$STATE,17633,end surface coast,CONTROL_FINISHED_OK
$STATE,17633,begin surface
$SM_CCo,17707,0.00,0.000,0,0,1176,442.28
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$IRIDIUM_FIX,2253.38,12213.73,051211,030310
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.11
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.7,29.248
$10V_AH,10.3,21.373
$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,16.075,158.925,552.300,0.000,0.000,25.978,52.416,215.275,0.000,0.000,19.814,4248.327,9675.237,747.045,3080.216,364.116,0.000,2228.222,0.000,2623.270,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,85.680,1181.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1062.779,2006.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,103801,1565
$CAP_FILE_SIZE,192417,0
$CFSIZE,260165632,210436096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.600, 33.3,1
$GPS,051211,132007,2303.046,12212.073,45,1.3,45,-3.1