version: 66.10
glider: 169
mission: 5
dive: 154
start: 12 9 111 3 38 30
data:
$ID,169
$MISSION,5
$DIVE,154
$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,300
$T_MISSION,340
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,225
$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,-10909.789
$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
$GPS1,091211,033101,2316.278,12156.353,44,1.4,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.1
$GPS2,091211,033806,2316.423,12156.292,14,1.1,30,-3.1
$SPEED_LIMITS,0.191,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,2308.787,12147.987
$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,228.1,20000,-13.7,-11.000
$D_GRID,3892
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-292.0,0.0,0.0,0,108,0.00,0.00,-88.93,0.000,2,0.000,0.000,116,2706,2759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.70,-292.0,3.0,-5.7,16,147,6.53,1.77,-23.52,0.000,4,0.225,0.059,1766,3823,3962,0,0,0,0,0,0,25.48,26.06,26.46
$GC,260,-0.69,-292.0,61.3,-18.0,44,266,0.00,1.83,0.00,0.000,6,0.000,0.027,1774,2582,3962,0,0,0,0,0,0,28.83,26.17,28.83
$GC,571,-0.57,-292.0,178.3,-33.0,105,578,0.15,2.03,0.00,0.000,4,0.179,0.026,1828,1175,3963,0,0,0,0,0,0,25.96,26.27,28.83
$GC,671,-0.57,-292.0,197.5,-13.9,124,678,0.00,2.25,0.00,0.000,6,0.000,0.042,1817,2658,3962,0,0,0,0,0,0,28.83,26.24,28.83
$GC,982,-0.52,-292.0,258.2,-18.1,156,986,0.00,1.77,0.00,0.000,4,0.000,0.047,1809,3815,3962,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1014,-0.46,-292.0,264.6,-19.1,159,1024,0.15,1.80,0.00,0.000,6,0.132,0.025,1860,2555,3962,0,0,0,0,0,0,26.13,26.42,28.83
$GC,1323,-0.46,-292.0,303.5,-11.9,190,1327,0.00,1.92,0.00,0.000,4,0.000,0.047,1850,3813,3962,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1393,-0.49,-292.0,310.4,-9.0,196,1400,0.00,1.80,0.00,0.000,6,0.000,0.026,1850,2554,3961,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1702,-0.49,-292.0,340.5,-10.0,227,1710,0.00,1.98,0.00,0.000,4,0.000,0.046,1841,3825,3959,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1734,-0.49,-292.0,343.8,-10.2,230,1737,0.00,1.80,0.00,0.000,6,0.000,0.025,1841,2567,3959,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2045,-0.49,-292.0,374.8,-9.9,261,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2560,3958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2348,-0.49,-292.0,404.5,-9.6,291,2357,0.00,1.95,0.00,0.000,4,0.000,0.048,1833,3814,3955,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2400,-0.51,-292.0,409.6,-9.0,296,2403,0.00,1.80,0.00,0.000,6,0.000,0.026,1833,2563,3955,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2711,-0.51,-292.0,440.5,-9.9,327,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2557,3952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3012,-0.51,-292.0,470.5,-9.4,357,3021,0.00,1.98,0.00,0.000,4,0.000,0.047,1825,3818,3949,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3065,-0.53,-292.0,475.1,-8.8,362,3069,0.00,1.80,0.00,0.000,6,0.000,0.026,1825,2570,3948,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3376,-0.53,-292.0,503.1,-9.1,393,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2560,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3678,-0.53,-292.0,530.3,-9.2,423,3682,0.00,1.98,0.00,0.000,4,0.000,0.048,1817,3812,3946,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3730,-0.55,-292.0,535.2,-9.3,428,3734,0.00,1.80,0.00,0.000,6,0.000,0.028,1817,2567,3945,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4043,-0.55,-292.0,568.2,-11.3,459,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2558,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4343,-0.55,-292.0,599.7,-10.1,489,4351,0.00,2.00,0.00,0.000,4,0.000,0.032,1817,1186,3941,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4373,-0.55,-292.0,602.0,-10.3,491,4377,0.00,2.22,0.00,0.000,6,0.000,0.042,1813,2655,3941,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4679,-0.55,-292.0,634.1,-10.3,506,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2655,3938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,-0.55,-292.0,664.3,-10.2,521,4986,0.00,2.15,0.00,0.000,4,0.000,0.032,1813,1187,3935,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5008,-0.55,-292.0,666.4,-10.1,522,5012,0.00,2.22,0.00,0.000,6,0.000,0.044,1813,2652,3935,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5314,-0.55,-292.0,699.5,-11.0,537,5317,0.00,1.80,0.00,0.000,4,0.000,0.050,1804,3818,3933,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5335,-0.55,-292.0,701.9,-11.1,538,5338,0.00,1.83,0.00,0.000,6,0.000,0.028,1804,2568,3933,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5656,-0.55,-292.0,738.9,-11.5,554,5659,0.00,2.00,0.00,0.000,4,0.000,0.033,1804,1186,3930,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5705,-0.55,-292.0,743.1,-10.8,556,5710,0.12,2.25,0.00,0.000,6,0.123,0.044,1841,2658,3930,0,0,0,0,0,0,26.17,26.28,28.83
$GC,6015,-0.58,-292.0,765.9,-6.9,571,6018,0.00,1.80,0.00,0.000,4,0.000,0.051,1833,3819,3928,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6036,-0.61,-292.0,767.6,-7.0,572,6040,0.00,1.83,0.00,0.000,6,0.000,0.028,1832,2569,3928,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6359,-0.64,-292.0,789.4,-6.5,588,6365,0.00,2.00,0.00,0.000,4,0.000,0.034,1832,1187,3926,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6382,-0.67,-292.0,790.7,-6.5,589,6386,0.00,2.22,0.00,0.000,6,0.000,0.042,1825,2655,3926,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6694,-0.69,-292.0,813.1,-6.9,605,6700,0.12,1.77,0.00,0.000,4,0.079,0.049,1738,3818,3924,0,0,0,0,0,0,26.58,26.20,28.83
$GC,6747,-0.69,-292.0,817.7,-8.8,607,6754,0.15,1.83,0.00,0.000,6,0.138,0.028,1784,2556,3924,0,0,0,0,0,0,26.08,26.44,28.83
$GC,7054,-0.67,-292.0,855.1,-11.5,623,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2556,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7354,-0.66,-292.0,888.0,-10.6,638,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2556,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,-0.64,-292.0,919.6,-10.6,653,7658,0.00,1.98,0.00,0.000,4,0.000,0.050,1775,3814,3918,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7677,-0.63,-292.0,922.1,-10.6,654,7680,0.00,1.83,0.00,0.000,6,0.000,0.028,1778,2571,3918,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7999,-0.61,-292.0,958.0,-11.3,670,8005,0.12,2.00,0.00,0.000,4,0.139,0.031,1822,1186,3917,0,0,0,0,0,0,26.32,26.27,28.83
$GC,8038,-0.61,-292.0,961.7,-10.3,672,8043,0.00,2.25,0.00,0.000,6,0.000,0.044,1814,2652,3917,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8358,-0.62,-292.0,987.9,-8.5,688,8362,0.00,1.80,0.00,0.000,4,0.000,0.051,1805,3813,3916,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,8397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8397,begin apogee
$GC,8405,-0.20,0.0,991.4,-8.3,690,8620,0.38,0.12,206.93,1.162,6,0.086,0.086,1944,2531,2971,0,0,0,0,0,0,26.09,24.63,23.85
$STATE,8621,end apogee,CONTROL_FINISHED_OK
$STATE,8621,begin climb
$GC,8624,0.70,292.0,1003.8,0.0,701,8903,0.77,2.25,269.45,1.161,4,0.042,0.052,2245,3801,1779,0,0,0,0,0,0,24.83,24.07,23.29
$GC,8931,0.60,292.0,961.7,24.0,716,8940,0.20,2.17,0.00,0.000,6,0.181,0.032,2208,2472,1761,0,0,0,0,0,0,24.37,24.55,28.83
$GC,9242,0.54,292.0,896.0,19.9,732,9248,0.00,2.15,0.00,0.000,4,0.000,0.050,2208,3811,1754,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9275,0.47,292.0,891.7,20.2,733,9282,0.20,2.08,0.00,0.000,6,0.160,0.034,2164,2467,1753,0,0,0,0,0,0,25.50,25.77,28.83
$GC,9581,0.45,292.0,841.1,15.0,749,9586,0.00,2.15,0.00,0.000,4,0.000,0.051,2163,3814,1752,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9624,0.42,292.0,834.6,15.6,751,9628,0.00,2.08,0.00,0.000,6,0.000,0.033,2173,2462,1752,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9937,0.39,292.0,786.9,14.9,767,9943,0.12,2.10,0.00,0.000,4,0.168,0.046,2135,3817,1751,0,0,0,0,0,0,25.94,26.03,28.83
$GC,9996,0.38,292.0,778.6,14.0,770,10002,0.00,2.05,0.00,0.000,6,0.000,0.031,2145,2464,1751,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10317,0.37,292.0,739.6,12.1,786,10320,0.00,2.12,0.00,0.000,4,0.000,0.039,2155,1055,1750,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10346,0.37,292.0,736.9,12.1,787,10350,0.00,2.25,0.00,0.000,6,0.000,0.041,2155,2522,1750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10656,0.36,292.0,697.4,12.3,802,10661,0.00,1.98,0.00,0.000,4,0.000,0.050,2155,3812,1750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10698,0.34,292.0,691.9,13.1,804,10702,0.15,2.05,0.00,0.000,6,0.148,0.032,2124,2460,1749,0,0,0,0,0,0,25.91,26.20,28.83
$GC,11013,0.43,355.3,661.1,9.4,820,11071,0.00,2.25,47.30,1.056,4,0.000,0.048,2124,3815,1532,0,0,0,0,1,0,28.83,25.44,24.51
$GC,11088,0.51,419.9,655.6,9.4,823,11161,0.12,2.10,60.80,1.147,6,0.076,0.031,2205,2457,1268,0,0,0,0,1,0,25.57,25.56,24.05
$GC,11465,0.49,419.9,589.4,18.4,845,11475,0.12,2.10,1.60,0.174,4,0.159,0.037,2176,1066,1264,0,0,0,0,0,0,25.68,25.82,25.48
$GC,11491,0.48,419.9,585.5,17.4,847,11498,0.00,2.25,0.00,0.000,6,0.000,0.040,2176,2524,1268,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11798,0.48,419.9,541.0,14.3,878,11807,0.00,2.03,0.00,0.000,4,0.000,0.047,2176,3820,1273,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11842,0.48,419.9,534.7,15.2,882,11849,0.00,2.05,0.00,0.000,6,0.000,0.031,2186,2465,1273,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12150,0.46,419.9,488.5,14.7,913,12159,0.00,2.12,0.00,0.000,4,0.000,0.039,2197,1057,1273,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12172,0.46,419.9,485.4,14.5,915,12181,0.10,2.22,0.00,0.000,6,0.107,0.041,2159,2518,1273,0,0,0,0,0,0,25.92,26.10,28.83
$GC,12484,0.47,419.9,451.0,11.0,946,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2518,1273,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14953,0.76,599.9,132.7,15.2,1241,14960,0.15,2.30,0.00,0.000,6,0.121,0.041,2256,2523,509,0,0,0,0,0,0,25.51,25.61,28.83
$GC,15267,0.78,599.9,91.9,11.3,1302,15273,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2524,508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15577,0.81,599.9,58.0,11.1,1363,15584,0.00,2.20,0.00,0.000,4,0.000,0.036,2266,1063,508,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15638,1.09,759.1,53.5,7.0,1374,15663,0.25,2.17,18.60,0.181,6,0.060,0.033,2376,2528,438,0,0,0,0,0,0,26.17,26.18,25.59
$STATE,15899,end climb,SURFACE_DEPTH_REACHED
$STATE,15899,begin surface coast
$FINISH,-0.0,1.009195
$STATE,15912,end surface coast,CONTROL_FINISHED_OK
$STATE,15913,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,33.864
$10V_AH,10.1,23.490
$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
$DEVICE_SECS,16.150,138.925,762.475,0.000,0.000,29.502,40.095,204.290,0.000,0.000,31.405,3336.897,9063.863,798.484,2863.989,327.994,0.000,2209.760,0.000,2416.871,0.000,0.542,0.000
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$SENSOR_SECS,968.443,1851.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324740
$DATA_FILE_SIZE,93574,1427
$CAP_FILE_SIZE,173911,0
$CFSIZE,260165632,208670720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091211,080600,2315.794,12154.612,36,1.4,36,-3.1