version: 66.10
glider: 169
mission: 5
dive: 24
start: 11 13 111 3 59 44
data:
$ID,169
$MISSION,5
$DIVE,24
$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,-10298.315
$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
$GPS1,131111,035206,2323.587,12212.891,34,1.0,34,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.8
$GPS2,131111,035920,2323.729,12212.894,16,1.9,16,-3.2
$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,77.5,179688,-14.0,-9.429
$D_GRID,4490
$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,-0.59,-194.6,0.0,0.0,0,111,0.00,0.00,-91.60,0.000,2,0.000,0.000,120,2638,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.59,-194.6,3.6,-6.2,12,147,7.65,2.28,-13.93,0.000,4,0.277,0.051,1823,1155,3775,0,0,0,0,0,0,25.79,26.08,26.37
$GC,248,-0.53,-194.6,58.9,-24.6,33,257,0.00,2.28,0.00,0.000,6,0.000,0.050,1812,2614,3775,0,0,0,0,0,0,28.83,26.15,28.83
$GC,606,-0.38,-194.6,193.1,-34.9,94,615,0.22,2.17,0.00,0.000,4,0.182,0.034,1888,1158,3775,0,0,0,0,0,0,26.18,26.35,28.83
$GC,660,-0.36,-194.6,206.3,-17.6,102,668,0.00,2.25,0.00,0.000,6,0.000,0.050,1877,2614,3775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1017,-0.34,-194.6,256.9,-12.6,159,1020,0.00,1.85,0.00,0.000,4,0.000,0.055,1868,3803,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1050,-0.32,-194.6,261.4,-12.8,162,1060,0.00,1.80,0.00,0.000,6,0.000,0.031,1876,2552,3775,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1361,-0.32,-194.6,294.2,-10.0,193,1371,0.00,2.03,0.00,0.000,4,0.000,0.036,1877,1152,3775,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1396,-0.33,-194.6,297.4,-9.4,196,1407,0.08,2.20,0.00,0.000,6,0.090,0.049,1909,2616,3774,0,0,0,0,0,0,26.47,26.51,28.83
$GC,1705,-0.39,-194.6,313.4,-5.2,227,1708,0.00,1.83,0.00,0.000,4,0.000,0.055,1903,3809,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1739,-0.45,-194.6,315.2,-5.7,230,1747,0.05,1.85,0.00,0.000,6,0.067,0.034,1843,2553,3773,0,0,0,0,0,0,26.55,26.60,28.83
$GC,2046,-0.52,-194.6,337.1,-6.1,261,2055,0.00,2.05,0.00,0.000,4,0.000,0.037,1842,1145,3771,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2171,-0.63,-194.6,344.5,-7.0,273,2181,0.08,2.20,0.00,0.000,6,0.116,0.047,1812,2623,3770,0,0,0,0,0,0,26.51,26.59,28.83
$GC,2479,-0.66,-194.6,367.0,-8.7,304,2483,0.00,1.80,0.00,0.000,4,0.000,0.054,1805,3816,3768,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2501,-0.69,-194.6,369.1,-9.0,306,2509,0.00,1.85,0.00,0.000,6,0.000,0.033,1805,2547,3768,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2812,-0.65,-194.6,417.3,-15.9,337,2821,0.00,2.00,0.00,0.000,4,0.000,0.038,1804,1154,3766,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2903,-0.65,-194.6,429.7,-12.1,346,2912,0.00,2.20,0.00,0.000,6,0.000,0.050,1796,2617,3766,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3214,-0.60,-194.6,479.0,-15.8,377,3223,0.00,1.83,0.00,0.000,4,0.000,0.057,1787,3818,3763,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3236,-0.55,-194.6,482.7,-16.4,379,3245,0.15,1.85,0.00,0.000,6,0.139,0.034,1832,2552,3763,0,0,0,0,0,0,26.54,26.66,28.83
$GC,3545,-0.55,-194.6,515.9,-9.8,410,3554,0.00,2.05,0.00,0.000,4,0.000,0.038,1832,1152,3761,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3567,-0.55,-194.6,517.8,-9.5,412,3576,0.00,2.20,0.00,0.000,6,0.000,0.051,1824,2620,3760,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3878,-0.54,-194.6,549.3,-10.9,443,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2620,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.53,-194.6,580.6,-9.7,473,4182,0.00,1.83,0.00,0.000,4,0.000,0.058,1815,3808,3755,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4229,-0.53,-194.6,585.9,-10.1,478,4233,0.00,1.83,0.00,0.000,6,0.000,0.037,1815,2551,3755,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4547,-0.51,-194.6,620.7,-11.4,500,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2551,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-0.50,-194.6,655.8,-11.5,515,4851,0.12,1.95,0.00,0.000,4,0.138,0.056,1850,3815,3750,0,0,0,0,0,0,26.60,26.63,28.83
$GC,4877,-0.50,-194.6,657.8,-11.2,516,4884,0.00,1.85,0.00,0.000,6,0.000,0.037,1850,2553,3749,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5187,-0.53,-194.6,681.0,-7.0,532,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2554,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5485,-0.57,-194.6,699.7,-5.8,547,5491,0.00,1.98,0.00,0.000,4,0.000,0.058,1843,3819,3744,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5509,-0.60,-194.6,700.7,-5.7,548,5512,0.00,1.88,0.00,0.000,6,0.000,0.037,1843,2551,3744,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5821,-0.62,-194.6,718.9,-5.5,564,5827,0.10,2.05,0.00,0.000,4,0.092,0.040,1767,1158,3742,0,0,0,0,0,0,26.73,26.65,28.83
$GC,5853,-0.64,-194.6,720.3,-5.8,565,5861,0.15,2.22,0.00,0.000,6,0.142,0.053,1801,2623,3742,0,0,0,0,0,0,26.56,26.64,28.83
$GC,6162,-0.62,-194.6,754.2,-10.7,581,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2623,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,-0.60,-194.6,787.6,-11.0,596,6465,0.00,1.83,0.00,0.000,4,0.000,0.060,1792,3816,3738,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6481,-0.58,-194.6,789.7,-10.9,597,6487,0.10,1.85,0.00,0.000,6,0.146,0.037,1821,2551,3738,0,0,0,0,0,0,26.58,26.68,28.83
$GC,6802,-0.58,-194.6,817.3,-8.4,613,6807,0.00,2.03,0.00,0.000,4,0.000,0.042,1821,1162,3736,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6841,-0.59,-194.6,820.5,-8.2,615,6846,0.00,2.22,0.00,0.000,6,0.000,0.054,1813,2618,3736,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7162,-0.59,-194.6,848.4,-8.9,631,7166,0.00,1.85,0.00,0.000,4,0.000,0.061,1804,3809,3734,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7216,-0.59,-194.6,852.2,-8.7,633,7223,0.00,1.85,0.00,0.000,6,0.000,0.039,1804,2557,3733,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7526,-0.58,-194.6,882.1,-9.6,649,7531,0.00,2.05,0.00,0.000,4,0.000,0.044,1804,1161,3732,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7547,-0.57,-194.6,884.0,-9.6,650,7551,0.00,2.22,0.00,0.000,6,0.000,0.056,1799,2614,3732,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7859,-0.55,-194.6,916.2,-10.5,666,7861,0.12,0.00,0.00,0.000,6,0.151,0.000,1836,2614,3731,0,0,0,0,0,0,26.58,28.83,28.83
$GC,8160,-0.57,-194.6,937.6,-7.0,681,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2614,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8461,-0.60,-194.6,959.1,-7.1,696,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2614,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8760,-0.62,-194.6,980.4,-7.2,711,8765,0.00,1.88,0.00,0.000,4,0.000,0.062,1828,3815,3726,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8792,-0.65,-194.6,981.8,-7.2,712,8799,0.00,1.88,0.00,0.000,6,0.000,0.040,1828,2554,3726,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,8898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8898,begin apogee
$GC,8903,-0.20,0.0,990.4,-7.2,718,9073,0.32,0.08,161.38,1.171,6,0.095,0.073,1948,2522,2973,0,0,0,0,0,0,26.60,24.68,24.00
$STATE,9074,end apogee,CONTROL_FINISHED_OK
$STATE,9074,begin climb
$GC,9076,0.59,194.6,997.7,0.0,726,9268,0.68,2.22,181.35,1.152,4,0.045,0.057,2208,3806,2174,0,0,0,0,0,0,24.93,24.56,23.82
$GC,9324,0.48,194.6,969.9,21.2,739,9329,0.20,2.12,0.00,0.000,6,0.200,0.041,2171,2464,2156,0,0,0,0,0,0,25.03,25.18,28.83
$GC,9638,0.41,194.6,913.4,17.0,755,9643,0.00,2.15,0.00,0.000,4,0.000,0.060,2171,3809,2150,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9740,0.33,194.6,894.3,19.4,760,9745,0.22,2.05,0.00,0.000,6,0.177,0.042,2122,2480,2149,0,0,0,0,0,0,25.81,25.96,28.83
$GC,10053,0.30,194.6,853.6,12.6,776,10058,0.00,2.15,0.00,0.000,4,0.000,0.047,2132,1061,2147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10073,0.27,194.6,851.0,12.8,777,10079,0.08,2.28,0.00,0.000,6,0.138,0.053,2106,2524,2146,0,0,0,0,0,0,26.04,26.13,28.83
$GC,10394,0.25,194.6,815.8,10.5,793,10398,0.00,2.03,0.00,0.000,4,0.000,0.062,2105,3809,2146,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10489,0.23,194.6,806.0,11.8,797,10496,0.00,2.05,0.00,0.000,6,0.000,0.041,2115,2463,2145,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10795,0.21,194.6,772.0,10.2,813,10802,0.12,2.12,0.00,0.000,4,0.176,0.047,2087,1061,2145,0,0,0,0,0,0,26.23,26.32,28.83
$GC,10828,0.20,194.6,770.2,10.0,814,10835,0.00,2.25,0.00,0.000,6,0.000,0.054,2087,2517,2144,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11136,0.30,275.3,747.2,6.8,830,11208,0.00,2.12,62.12,1.157,4,0.000,0.058,2087,3811,1856,0,0,0,0,1,0,28.83,25.10,24.23
$GC,11255,0.41,353.6,739.3,6.9,835,11339,0.12,2.10,70.97,1.213,6,0.076,0.041,2167,2462,1540,0,0,0,0,1,0,25.48,25.45,23.84
$GC,11652,0.37,353.6,679.7,15.4,855,11658,0.12,2.15,0.00,0.000,4,0.171,0.047,2140,1068,1545,0,0,0,0,0,0,25.73,25.82,28.83
$GC,11692,0.36,353.6,674.5,14.3,857,11698,0.00,2.25,0.00,0.000,6,0.000,0.053,2141,2508,1543,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12012,0.36,353.6,635.2,12.7,873,12017,0.00,2.05,0.00,0.000,4,0.000,0.060,2141,3810,1543,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12051,0.36,353.6,629.7,13.2,875,12057,0.00,2.08,0.00,0.000,6,0.000,0.041,2150,2462,1541,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12364,0.35,353.6,586.2,14.3,895,12372,0.00,2.12,0.00,0.000,4,0.000,0.048,2161,1067,1541,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12415,0.35,353.6,579.4,12.5,900,12424,0.12,2.25,0.00,0.000,6,0.147,0.053,2126,2518,1540,0,0,0,0,0,0,26.15,26.22,28.83
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$STATE,17050,end climb,SURFACE_DEPTH_REACHED
$STATE,17050,begin surface coast
$FINISH,-0.2,1.021882
$STATE,17069,end surface coast,CONTROL_FINISHED_OK
$STATE,17069,begin surface
$SM_CCo,17146,0.00,0.000,0,0,839,524.94
$SM_GC,0.80,5.45,1.90,0.00,0.035,0.033,0.000,109,2552,839,-5.80,0.40,524.94,0,0,0,0,0,0
$IRIDIUM_FIX,2312.13,12205.05,121111,222258
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.38
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.8,7.058
$10V_AH,10.3,6.226
$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
$DEVICE_SECS,16.950,164.875,647.275,0.000,0.000,32.617,39.042,226.145,0.000,0.000,17.719,3534.652,8886.284,715.322,4053.296,363.223,0.000,2290.534,0.000,3657.272,0.000,0.544,0.000
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$SENSOR_SECS,1018.435,2472.383,1683.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,100502,1495
$CAP_FILE_SIZE,189095,0
$CFSIZE,260165632,220753920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,131111,084636,2325.864,12215.773,39,1.2,39,-3.2