version: 66.10
glider: 169
mission: 5
dive: 23
start: 11 12 111 22 54 38
data:
$ID,169
$MISSION,5
$DIVE,23
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,380
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,1
$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,-10297.058
$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,2600
$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,8
$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
$GPS1,121111,224654,2321.272,12208.643,62,1.3,62,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-68.8
$GPS2,121111,225414,2321.442,12208.742,16,1.5,16,-3.1
$SPEED_LIMITS,0.163,0.289
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,76.7,187617,-14.0,-9.429
$D_GRID,3797
$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,16,-0.59,-194.6,0.0,0.0,0,111,0.00,0.00,-91.72,0.000,2,0.000,0.000,122,2639,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.59,-194.6,4.3,-8.8,12,140,7.10,2.22,-10.80,0.000,4,0.256,0.047,1822,1146,3773,0,0,0,0,0,0,25.76,26.09,26.37
$GC,259,-0.53,-194.6,63.3,-24.2,35,267,0.00,2.30,0.00,0.000,6,0.000,0.054,1812,2610,3774,0,0,0,0,0,0,28.83,26.16,28.83
$GC,617,-0.42,-194.6,170.4,-29.6,96,626,0.20,1.88,0.00,0.000,4,0.174,0.054,1862,3805,3774,0,0,0,0,0,0,26.20,26.32,28.83
$GC,721,-0.42,-194.6,190.1,-11.8,113,729,0.00,1.85,0.00,0.000,6,0.000,0.032,1871,2553,3774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1078,-0.41,-194.6,233.8,-12.9,174,1086,0.00,1.98,0.00,0.000,4,0.000,0.053,1862,3803,3773,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1170,-0.43,-194.6,244.0,-9.4,189,1178,0.00,1.85,0.00,0.000,6,0.000,0.032,1862,2551,3773,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1486,-0.42,-194.6,279.2,-10.2,224,1497,0.00,1.98,0.00,0.000,4,0.000,0.054,1852,3817,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1530,-0.42,-194.6,283.7,-10.2,228,1534,0.00,1.85,0.00,0.000,6,0.000,0.032,1852,2551,3773,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1835,-0.42,-194.6,316.9,-11.1,258,1839,0.00,1.95,0.00,0.000,4,0.000,0.054,1843,3813,3771,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1874,-0.42,-194.6,321.2,-12.0,261,1882,0.10,1.85,0.00,0.000,6,0.135,0.033,1874,2551,3771,0,0,0,0,0,0,26.48,26.58,28.83
$GC,2183,-0.44,-194.6,345.5,-7.7,292,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2551,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.47,-194.6,368.9,-7.9,322,2492,0.00,1.95,0.00,0.000,4,0.000,0.054,1865,3822,3768,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2525,-0.51,-194.6,372.2,-7.6,326,2534,0.00,1.85,0.00,0.000,6,0.000,0.034,1865,2553,3767,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2835,-0.54,-194.6,397.1,-7.7,357,2844,0.00,2.05,0.00,0.000,4,0.000,0.039,1865,1154,3765,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2870,-0.57,-194.6,399.4,-7.5,360,2877,0.00,2.22,0.00,0.000,6,0.000,0.049,1858,2632,3765,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3179,-0.59,-194.6,424.3,-7.4,391,3188,0.12,1.77,0.00,0.000,4,0.080,0.054,1762,3809,3762,0,0,0,0,0,0,26.69,26.59,28.83
$GC,3211,-0.57,-194.6,428.3,-11.1,394,3220,0.20,1.83,0.00,0.000,6,0.138,0.035,1826,2553,3762,0,0,0,0,0,0,26.51,26.64,28.83
$GC,3521,-0.56,-194.6,464.2,-10.7,425,3529,0.00,1.92,0.00,0.000,4,0.000,0.055,1817,3811,3759,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3552,-0.54,-194.6,467.8,-11.1,428,3556,0.00,1.85,0.00,0.000,6,0.000,0.035,1818,2556,3759,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3863,-0.52,-194.6,506.0,-11.6,459,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2554,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4165,-0.50,-194.6,540.0,-11.5,489,4174,0.10,1.92,0.00,0.000,4,0.150,0.055,1837,3803,3755,0,0,0,0,0,0,26.60,26.62,28.83
$GC,4238,-0.53,-194.6,546.8,-8.0,496,4246,0.00,1.83,0.00,0.000,6,0.000,0.035,1837,2553,3755,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4548,-0.53,-194.6,575.5,-10.0,527,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2553,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4858,-0.54,-194.6,606.3,-9.4,555,4862,0.00,1.95,0.00,0.000,4,0.000,0.057,1828,3818,3750,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4900,-0.55,-194.6,610.3,-9.5,557,4906,0.00,1.85,0.00,0.000,6,0.000,0.036,1828,2556,3750,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5220,-0.55,-194.6,643.6,-10.3,573,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2555,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,-0.55,-194.6,674.4,-10.1,588,5527,0.00,1.95,0.00,0.000,4,0.000,0.058,1820,3808,3746,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5573,-0.55,-194.6,678.5,-10.1,590,5580,0.00,1.85,0.00,0.000,6,0.000,0.037,1820,2550,3745,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5881,-0.55,-194.6,710.3,-9.6,606,5887,0.00,1.95,0.00,0.000,4,0.000,0.058,1811,3827,3743,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5909,-0.55,-194.6,712.3,-9.5,607,5913,0.00,1.88,0.00,0.000,6,0.000,0.037,1811,2556,3744,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6216,-0.54,-194.6,744.0,-10.0,622,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2553,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6515,-0.52,-194.6,774.0,-10.0,637,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2553,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6815,-0.52,-194.6,803.2,-9.5,652,6822,0.10,1.95,0.00,0.000,4,0.155,0.057,1831,3811,3739,0,0,0,0,0,0,26.61,26.62,28.83
$GC,6856,-0.52,-194.6,806.4,-8.8,654,6859,0.00,1.88,0.00,0.000,6,0.000,0.038,1831,2560,3738,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7177,-0.53,-194.6,830.7,-7.7,670,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2558,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-0.54,-194.6,853.9,-7.9,685,7485,0.00,1.95,0.00,0.000,4,0.000,0.060,1822,3827,3735,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7518,-0.55,-194.6,857.3,-8.3,687,7523,0.00,1.90,0.00,0.000,6,0.000,0.037,1822,2550,3734,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7839,-0.55,-194.6,886.1,-9.4,703,7844,0.00,1.95,0.00,0.000,4,0.000,0.060,1813,3825,3733,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7871,-0.55,-194.6,887.9,-9.3,704,7878,0.00,1.88,0.00,0.000,6,0.000,0.037,1813,2553,3733,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8177,-0.55,-194.6,919.6,-9.9,720,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2553,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8479,-0.55,-194.6,948.6,-9.6,735,8484,0.00,1.95,0.00,0.000,4,0.000,0.060,1804,3811,3730,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8511,-0.55,-194.6,950.6,-9.7,736,8518,0.00,1.85,0.00,0.000,6,0.000,0.038,1804,2558,3730,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8818,-0.54,-194.6,984.2,-10.6,752,8824,0.10,1.95,0.00,0.000,4,0.158,0.060,1824,3811,3728,0,0,0,0,0,0,26.60,26.60,28.83
$GC,8858,-0.54,-194.6,987.9,-9.9,754,8863,0.00,1.85,0.00,0.000,6,0.000,0.038,1824,2558,3728,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,8895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8895,begin apogee
$GC,8901,-0.20,0.0,991.3,-8.8,756,9071,0.32,0.08,163.73,1.161,6,0.103,0.073,1941,2523,2976,0,0,0,0,0,0,26.57,24.65,23.96
$STATE,9072,end apogee,CONTROL_FINISHED_OK
$STATE,9072,begin climb
$GC,9075,0.59,194.6,1000.4,0.0,764,9266,0.70,2.22,181.80,1.154,4,0.043,0.057,2214,3806,2175,0,0,0,0,0,0,24.89,24.54,23.80
$GC,9419,0.47,194.6,952.0,22.7,782,9425,0.22,2.10,0.00,0.000,6,0.200,0.043,2169,2471,2153,0,0,0,0,0,0,25.34,25.49,28.83
$GC,9739,0.40,194.6,896.3,17.3,798,9745,0.00,2.15,0.00,0.000,4,0.000,0.057,2169,3809,2150,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9793,0.33,194.6,888.9,17.9,800,9800,0.22,2.08,0.00,0.000,6,0.178,0.042,2120,2468,2148,0,0,0,0,0,0,25.83,25.98,28.83
$GC,10099,0.31,194.6,846.6,12.6,816,10105,0.00,2.15,0.00,0.000,4,0.000,0.057,2119,3817,2147,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10147,0.28,194.6,840.9,13.4,818,10151,0.00,2.05,0.00,0.000,6,0.000,0.039,2130,2464,2146,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10455,0.24,194.6,798.9,12.9,833,10457,0.15,0.00,0.00,0.000,6,0.171,0.000,2090,2462,2146,0,0,0,0,0,0,26.14,28.83,28.83
$GC,10754,0.25,198.8,770.0,9.3,848,10760,0.00,2.15,0.00,0.000,4,0.000,0.060,2090,3816,2145,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10783,0.25,201.6,768.0,9.3,849,10786,0.00,2.03,0.00,0.000,6,0.000,0.040,2100,2473,2144,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11090,0.24,201.6,736.3,10.3,864,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2471,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11389,0.24,201.6,704.4,10.8,879,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2471,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11690,0.25,205.0,674.8,9.3,894,11695,0.00,2.12,0.00,0.000,4,0.000,0.058,2100,3818,2144,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11722,0.24,207.8,672.9,9.3,895,11736,0.00,2.05,8.23,0.903,6,0.000,0.041,2111,2461,2128,0,0,0,0,0,0,28.83,26.45,25.51
$GC,12051,0.23,212.3,640.4,9.3,912,12057,0.00,2.08,0.00,0.000,4,0.000,0.057,2111,3806,2114,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12104,0.22,212.3,636.1,9.9,914,12111,0.15,2.03,0.00,0.000,6,0.162,0.039,2081,2462,2113,0,0,0,0,0,0,26.25,26.38,28.83
$GC,12410,0.31,271.2,612.1,7.5,930,12472,0.00,2.25,51.40,1.050,4,0.000,0.049,2091,1070,1874,0,0,0,0,1,0,28.83,25.39,24.51
$GC,12495,0.42,336.0,606.2,7.3,934,12571,0.15,2.30,59.67,1.103,6,0.066,0.050,2181,2516,1611,0,0,0,0,1,0,25.57,25.51,23.99
$GC,12871,0.37,336.0,541.2,18.5,969,12881,0.15,2.03,1.33,0.177,4,0.168,0.057,2137,3802,1609,0,0,0,0,0,0,25.72,25.81,25.69
$GC,12955,0.38,336.0,528.8,12.8,977,12964,0.00,2.05,0.00,0.000,6,0.000,0.040,2146,2464,1613,0,0,0,0,0,0,28.83,25.91,28.83
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$GC,13961,0.39,338.3,409.2,9.4,1077,13970,0.00,2.15,1.77,0.194,4,0.000,0.050,2139,1061,1601,0,0,0,0,0,0,28.83,26.29,26.14
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$GC,14369,0.49,358.9,369.9,9.6,1117,14376,0.00,2.05,0.00,0.000,6,0.000,0.039,2149,2462,1524,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,17677,end climb,SURFACE_DEPTH_REACHED
$STATE,17677,begin surface coast
$FINISH,-0.0,1.022015
$STATE,17713,end surface coast,CONTROL_FINISHED_OK
$STATE,17713,begin surface
$SM_CCo,17787,0.00,0.000,0,0,589,586.27
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$IRIDIUM_FIX,2309.79,12203.80,121111,171738
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.00
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.8,6.862
$10V_AH,10.3,6.044
$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
$DEVICE_SECS,16.350,150.325,719.075,0.000,0.000,29.288,50.880,224.040,0.000,0.000,17.300,3724.056,9027.781,735.275,4340.529,374.010,0.000,2378.750,0.000,3938.397,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1084.942,2628.558,1958.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,107039,1595
$CAP_FILE_SIZE,191841,0
$CFSIZE,260165632,220848128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,131111,035206,2323.587,12212.891,34,1.0,34,-3.2