version: 66.10
glider: 169
mission: 5
dive: 225
start: 12 22 111 11 38 16
data:
$ID,169
$MISSION,5
$DIVE,225
$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,350
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,50
$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,-11004.801
$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
$GPS1,221211,112900,2330.004,12324.364,40,1.0,40,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.4
$GPS2,221211,113756,2329.964,12324.335,12,1.7,12,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2336.905,12333.364
$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,53.3,20000,-14.9,-9.429
$D_GRID,3196
$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,-0.61,-194.6,0.0,0.0,0,112,0.00,0.00,-90.38,0.000,2,0.000,0.000,116,2680,3025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.61,-194.6,3.2,-5.9,16,145,6.82,2.28,-15.23,0.000,4,0.228,0.046,1811,1172,3776,0,0,0,0,0,0,25.22,26.02,26.46
$GC,178,-0.47,-194.6,29.2,-42.2,27,185,0.20,2.30,0.00,0.000,6,0.162,0.045,1854,2657,3776,0,0,0,0,0,0,25.60,25.98,28.83
$GC,490,-0.38,-194.6,142.5,-29.2,88,498,0.12,2.17,0.00,0.000,4,0.177,0.024,1903,1177,3776,0,0,0,0,0,0,26.03,26.21,28.83
$GC,547,-0.42,-194.6,151.7,-8.8,98,553,0.00,2.25,0.00,0.000,6,0.000,0.040,1893,2658,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,858,-0.41,-194.6,189.2,-12.3,159,864,0.00,1.80,0.00,0.000,4,0.000,0.045,1884,3822,3776,0,0,0,0,0,0,28.83,26.18,28.83
$GC,917,-0.45,-194.6,195.3,-8.4,170,924,0.00,1.80,0.00,0.000,6,0.000,0.024,1884,2557,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1232,-0.44,-194.6,236.5,-13.7,206,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2556,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1534,-0.45,-194.6,270.3,-11.1,236,1543,0.00,1.95,0.00,0.000,4,0.000,0.044,1875,3814,3776,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1598,-0.50,-194.6,277.0,-10.0,242,1607,0.00,1.80,0.00,0.000,6,0.000,0.024,1875,2555,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1905,-0.50,-194.6,312.9,-11.8,273,1914,0.00,2.00,0.00,0.000,4,0.000,0.028,1875,1172,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1948,-0.52,-194.6,317.4,-10.8,277,1956,0.00,2.22,0.00,0.000,6,0.000,0.040,1865,2653,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2256,-0.52,-194.6,353.4,-11.1,308,2260,0.00,1.77,0.00,0.000,4,0.000,0.045,1856,3817,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2288,-0.53,-194.6,356.8,-11.0,311,2296,0.00,1.80,0.00,0.000,6,0.000,0.024,1856,2556,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2599,-0.53,-194.6,390.4,-10.4,342,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2556,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,-0.54,-194.6,420.0,-9.7,372,2908,0.00,1.98,0.00,0.000,4,0.000,0.044,1847,3824,3772,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2924,-0.55,-194.6,422.3,-10.1,374,2930,0.00,1.83,0.00,0.000,6,0.000,0.024,1847,2561,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3233,-0.56,-194.6,453.2,-8.7,405,3241,0.00,1.95,0.00,0.000,4,0.000,0.044,1838,3830,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3265,-0.57,-194.6,456.0,-8.5,408,3268,0.00,1.85,0.00,0.000,6,0.000,0.025,1838,2561,3771,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3576,-0.57,-194.6,487.8,-10.2,439,3584,0.00,1.95,0.00,0.000,4,0.000,0.045,1829,3816,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3610,-0.57,-194.6,490.9,-10.0,442,3617,0.00,1.80,0.00,0.000,6,0.000,0.024,1829,2560,3769,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3918,-0.57,-194.6,521.3,-10.8,473,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2560,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4219,-0.57,-194.6,554.8,-10.6,503,4227,0.00,1.95,0.00,0.000,4,0.000,0.047,1821,3812,3765,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4252,-0.57,-194.6,558.4,-10.7,506,4261,0.00,1.83,0.00,0.000,6,0.000,0.024,1820,2560,3765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4562,-0.57,-194.6,588.2,-9.3,537,4570,0.00,1.95,0.00,0.000,4,0.000,0.046,1812,3823,3763,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4595,-0.57,-194.6,591.7,-10.2,540,4602,0.00,1.85,0.00,0.000,6,0.000,0.024,1812,2562,3762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4913,-0.57,-194.6,626.0,-10.2,560,4919,0.00,1.95,0.00,0.000,4,0.000,0.046,1803,3819,3761,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4967,-0.57,-194.6,630.2,-10.3,562,4973,0.00,1.80,0.00,0.000,6,0.000,0.026,1802,2570,3759,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5273,-0.55,-194.6,667.4,-11.6,578,5279,0.00,2.03,0.00,0.000,4,0.000,0.030,1803,1181,3758,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5306,-0.54,-194.6,669.5,-11.3,579,5314,0.15,2.22,0.00,0.000,6,0.123,0.041,1841,2654,3758,0,0,0,0,0,0,26.03,26.21,28.83
$GC,5616,-0.56,-194.6,689.0,-5.0,595,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2654,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5914,-0.58,-194.6,710.2,-8.2,610,5919,0.00,2.15,0.00,0.000,4,0.000,0.030,1842,1185,3753,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5957,-0.62,-194.6,713.5,-8.3,612,5961,0.00,2.25,0.00,0.000,6,0.000,0.041,1834,2659,3753,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6269,-0.64,-194.6,743.1,-9.3,628,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2659,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6570,-0.66,-194.6,767.2,-7.5,643,6576,0.12,1.75,0.00,0.000,4,0.076,0.045,1739,3815,3747,0,0,0,0,0,0,26.58,26.11,28.83
$GC,6602,-0.66,-194.6,769.3,-8.1,644,6609,0.17,1.80,0.00,0.000,6,0.137,0.024,1798,2560,3747,0,0,0,0,0,0,25.94,26.39,28.83
$GC,6909,-0.65,-194.6,808.0,-11.5,660,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2560,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,-0.64,-194.6,842.3,-11.3,675,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2560,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7508,-0.64,-194.6,876.8,-11.5,690,7514,0.00,2.03,0.00,0.000,4,0.000,0.031,1798,1185,3742,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7548,-0.64,-194.6,881.2,-11.3,692,7554,0.00,2.28,0.00,0.000,6,0.000,0.042,1789,2658,3742,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7870,-0.62,-194.6,920.0,-12.0,708,7875,0.00,2.17,0.00,0.000,4,0.000,0.030,1788,1182,3740,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7897,-0.61,-194.6,922.4,-12.1,709,7902,0.12,2.25,0.00,0.000,6,0.132,0.043,1817,2653,3740,0,0,0,0,0,0,25.94,26.09,28.83
$GC,8206,-0.63,-194.6,952.1,-9.2,724,8210,0.00,2.17,0.00,0.000,4,0.000,0.030,1818,1186,3738,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8231,-0.64,-194.6,954.2,-8.9,725,8235,0.00,2.25,0.00,0.000,6,0.000,0.043,1813,2651,3738,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8544,-0.65,-194.6,979.1,-7.2,741,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2651,3737,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8702,begin apogee
$GC,8709,-0.20,0.0,990.3,-7.0,749,8885,0.38,0.10,165.95,1.185,6,0.096,0.057,1946,2534,2969,0,0,0,0,0,0,25.91,24.74,23.78
$STATE,8886,end apogee,CONTROL_FINISHED_OK
$STATE,8886,begin climb
$GC,8889,0.61,194.6,996.7,0.0,758,9085,0.70,2.47,182.95,1.184,4,0.047,0.039,2228,1071,2170,0,0,0,0,0,0,25.00,24.25,23.23
$GC,9183,0.54,194.6,965.5,17.9,772,9191,0.15,2.30,0.00,0.000,6,0.167,0.041,2191,2522,2156,0,0,0,0,0,0,25.01,25.27,28.83
$GC,9488,0.48,194.6,912.4,16.1,788,9494,0.00,2.00,0.00,0.000,4,0.000,0.047,2190,3813,2153,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9556,0.40,194.6,901.4,17.8,791,9561,0.22,2.08,0.00,0.000,6,0.171,0.031,2141,2455,2151,0,0,0,0,0,0,25.53,25.98,28.83
$GC,9864,0.37,194.6,861.9,12.1,806,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2453,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10163,0.35,194.6,822.1,13.7,821,10169,0.00,2.12,0.00,0.000,4,0.000,0.047,2141,3815,2150,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10212,0.32,194.6,816.1,14.3,823,10216,0.12,2.05,0.00,0.000,6,0.168,0.031,2119,2461,2149,0,0,0,0,0,0,25.83,26.15,28.83
$GC,10519,0.33,200.4,782.8,9.2,838,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2459,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10818,0.34,211.0,755.8,9.1,853,10838,0.00,2.15,12.80,0.980,4,0.000,0.044,2119,3821,2111,0,0,0,0,0,0,28.83,26.07,24.86
$GC,10916,0.33,211.0,747.2,10.4,857,10923,0.00,2.05,0.00,0.000,6,0.000,0.029,2129,2461,2100,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11223,0.32,211.0,714.8,9.5,873,11228,0.00,2.08,0.00,0.000,4,0.000,0.046,2129,3806,2098,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11250,0.30,211.0,712.8,9.6,874,11254,0.00,2.03,0.00,0.000,6,0.000,0.030,2139,2465,2098,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11561,0.29,211.0,679.9,9.7,890,11568,0.12,2.10,0.00,0.000,4,0.168,0.034,2112,1054,2097,0,0,0,0,0,0,26.04,26.12,28.83
$GC,11604,0.33,244.0,677.1,8.4,892,11644,0.00,2.25,34.85,0.923,6,0.000,0.039,2112,2531,1983,0,0,0,0,0,0,28.83,26.11,24.74
$GC,11957,0.41,287.3,651.8,8.0,910,12005,0.00,2.28,42.20,0.939,4,0.000,0.037,2122,1059,1799,0,0,0,0,0,0,28.83,25.51,24.53
$GC,12034,0.51,343.4,646.0,7.6,914,12094,0.12,2.28,53.08,0.939,6,0.034,0.040,2218,2520,1574,0,0,0,0,0,0,25.63,25.60,24.22
$GC,12393,0.47,343.4,580.9,18.3,937,12403,0.17,2.03,0.00,0.000,4,0.155,0.046,2163,3822,1549,0,0,0,0,0,0,25.62,25.83,28.83
$GC,12469,0.48,343.4,570.3,12.6,944,12476,0.00,2.05,0.00,0.000,6,0.000,0.030,2174,2465,1548,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12777,0.48,343.4,529.9,12.9,975,12785,0.00,2.08,0.00,0.000,4,0.000,0.037,2184,1063,1546,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,13848,0.60,388.5,410.2,8.0,1081,13895,0.00,2.22,39.58,0.785,6,0.000,0.038,2170,2531,1387,0,0,0,0,0,0,28.83,26.14,24.87
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$GC,16744,0.80,449.0,29.1,9.9,1486,16752,0.00,2.08,2.55,0.155,4,0.000,0.042,2253,3822,1150,0,0,0,0,0,0,28.83,26.13,25.49
$GC,16769,0.83,467.4,26.5,8.8,1490,16793,0.00,2.03,14.95,0.169,6,0.000,0.028,2264,2457,1074,0,0,0,0,0,0,28.83,26.26,25.56
$STATE,16954,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FINISH,0.3,1.023239
$STATE,16971,end surface coast,CONTROL_FINISHED_OK
$STATE,16971,begin surface
$SM_CCo,17046,0.00,0.000,0,0,1086,464.35
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$IRIDIUM_FIX,2321.52,12320.55,221211,060641
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.80
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.2,48.297
$10V_AH,10.1,31.097
$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
$DEVICE_SECS,15.850,149.350,602.100,0.000,0.000,54.425,60.862,227.205,0.250,0.000,13.199,3588.664,9802.046,727.801,3077.529,359.037,0.000,2202.059,0.000,2577.245,0.000,0.544,0.000
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$SENSOR_SECS,1036.187,1970.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330380
$DATA_FILE_SIZE,100234,1529
$CAP_FILE_SIZE,185681,0
$CFSIZE,260165632,202199040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221211,162330,2329.363,12327.664,35,1.2,41,-3.3