version: 66.10
glider: 169
mission: 5
dive: 41
start: 11 16 111 19 39 58
data:
$ID,169
$MISSION,5
$DIVE,41
$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,400
$T_MISSION,430
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,13
$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,-10319.715
$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,2000
$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,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
$GPS1,161111,193137,2341.499,12314.157,26,1.1,26,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.0
$GPS2,161111,193932,2341.565,12314.209,13,1.1,13,-3.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.255,-0.049
$KALMAN_X,8647597.0,0.0,0.0,5172557.0,1549264.0
$KALMAN_Y,1658041.5,0.0,0.0,998853.8,296176.1
$MHEAD_RNG_PITCHd_Wd,80.6,70846,-13.2,-8.250
$D_GRID,4472
$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,-0.54,-170.3,0.0,0.0,0,95,0.00,0.00,-76.18,0.000,2,0.000,0.000,117,2680,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.54,-170.3,3.3,-5.5,10,131,6.75,2.30,-14.23,0.000,4,0.235,0.052,1829,1183,3675,0,0,0,0,0,0,25.82,26.11,26.41
$GC,146,-0.29,-170.3,26.4,-51.7,16,155,0.28,2.28,0.00,0.000,6,0.168,0.047,1902,2648,3675,0,0,0,0,0,0,25.94,26.13,28.83
$GC,504,-0.22,-170.3,128.9,-19.4,77,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2648,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-0.20,-170.3,185.6,-12.2,138,870,0.10,2.20,0.00,0.000,4,0.160,0.035,1936,1185,3675,0,0,0,0,0,0,26.41,26.45,28.83
$GC,891,-0.22,-170.3,188.6,-10.3,142,899,0.00,2.22,0.00,0.000,6,0.000,0.045,1932,2644,3675,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1249,-0.26,-170.3,212.7,-5.7,203,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2644,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,-0.30,-170.3,230.7,-6.0,264,1615,0.00,2.17,0.00,0.000,4,0.000,0.037,1932,1193,3675,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1636,-0.37,-170.3,232.5,-6.2,268,1646,0.12,2.22,0.00,0.000,6,0.050,0.045,1864,2655,3675,0,0,0,0,0,0,26.56,26.57,28.83
$GC,1967,-0.32,-170.3,275.7,-14.9,311,1976,0.10,1.73,0.00,0.000,4,0.162,0.050,1884,3812,3673,0,0,0,0,0,0,26.54,26.57,28.83
$GC,2000,-0.29,-170.3,280.4,-13.9,314,2004,0.00,1.80,0.00,0.000,6,0.000,0.030,1884,2576,3673,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2313,-0.29,-170.3,311.5,-9.8,345,2321,0.00,2.00,0.00,0.000,4,0.000,0.034,1884,1184,3672,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2367,-0.31,-170.3,316.3,-9.1,350,2374,0.00,2.20,0.00,0.000,6,0.000,0.044,1875,2655,3672,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2674,-0.31,-170.3,347.1,-9.9,381,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2655,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2976,-0.31,-170.3,374.6,-9.4,411,2984,0.00,2.12,0.00,0.000,4,0.000,0.036,1875,1197,3668,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3007,-0.31,-170.3,377.6,-9.1,414,3016,0.10,2.20,0.00,0.000,6,0.141,0.046,1900,2654,3669,0,0,0,0,0,0,26.56,26.63,28.83
$GC,3317,-0.35,-170.3,397.0,-6.1,445,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2654,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.38,-170.3,413.9,-5.4,475,3624,0.00,1.75,0.00,0.000,4,0.000,0.054,1892,3811,3665,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3652,-0.43,-170.3,415.8,-5.6,478,3656,0.00,1.77,0.00,0.000,6,0.000,0.031,1892,2575,3664,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3964,-0.54,-170.3,439.2,-7.9,509,3973,0.15,2.00,0.00,0.000,4,0.086,0.035,1804,1181,3662,0,0,0,0,0,0,26.70,26.65,28.83
$GC,4000,-0.60,-170.3,442.0,-8.9,512,4006,0.00,2.20,0.00,0.000,6,0.000,0.044,1796,2654,3661,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4306,-0.53,-170.3,492.8,-16.8,543,4316,0.12,2.15,0.00,0.000,4,0.164,0.034,1843,1187,3660,0,0,0,0,0,0,26.55,26.65,28.83
$GC,4369,-0.53,-170.3,500.2,-10.1,549,4378,0.00,2.17,0.00,0.000,6,0.000,0.047,1833,2652,3660,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4680,-0.50,-170.3,537.0,-12.2,580,4689,0.00,2.15,0.00,0.000,4,0.000,0.037,1832,1182,3658,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4735,-0.50,-170.3,543.0,-11.6,585,4742,0.00,2.20,0.00,0.000,6,0.000,0.048,1825,2653,3658,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5042,-0.47,-170.3,581.8,-12.2,616,5045,0.00,1.75,0.00,0.000,4,0.000,0.054,1816,3811,3655,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5066,-0.44,-170.3,584.5,-12.1,618,5073,0.12,1.77,0.00,0.000,6,0.132,0.032,1854,2578,3655,0,0,0,0,0,0,26.56,26.67,28.83
$GC,5385,-0.44,-170.3,611.7,-7.7,643,5390,0.00,1.90,0.00,0.000,4,0.000,0.054,1845,3821,3653,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5411,-0.44,-170.3,613.2,-7.7,644,5414,0.00,1.80,0.00,0.000,6,0.000,0.032,1845,2580,3653,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5718,-0.44,-170.3,637.8,-7.8,659,5722,0.00,2.03,0.00,0.000,4,0.000,0.038,1845,1186,3650,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5761,-0.44,-170.3,640.9,-7.6,661,5767,0.00,2.20,0.00,0.000,6,0.000,0.049,1837,2650,3650,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6080,-0.43,-170.3,667.1,-8.7,677,6083,0.00,1.75,0.00,0.000,4,0.000,0.057,1828,3809,3648,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6104,-0.43,-170.3,669.1,-8.8,678,6109,0.12,1.80,0.00,0.000,6,0.124,0.032,1868,2573,3647,0,0,0,0,0,0,26.57,26.68,28.83
$GC,6420,-0.45,-170.3,690.4,-6.7,694,6425,0.00,2.00,0.00,0.000,4,0.000,0.037,1868,1192,3645,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6462,-0.49,-170.3,693.0,-6.4,696,6466,0.00,2.22,0.00,0.000,6,0.000,0.048,1865,2658,3644,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6775,-0.60,-170.3,717.9,-8.7,712,6777,0.17,0.00,0.00,0.000,6,0.102,0.000,1801,2658,3642,0,0,0,0,0,0,26.61,28.83,28.83
$GC,7074,-0.62,-170.3,741.2,-7.6,727,7080,0.00,2.12,0.00,0.000,4,0.000,0.037,1800,1188,3640,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7166,-0.62,-170.3,748.3,-8.9,731,7173,0.00,2.25,0.00,0.000,6,0.000,0.051,1791,2662,3639,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7473,-0.57,-170.3,785.3,-11.8,747,7479,0.00,2.20,0.00,0.000,4,0.000,0.041,1791,1183,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7516,-0.54,-170.3,789.7,-11.5,749,7521,0.15,2.25,0.00,0.000,6,0.138,0.051,1826,2657,3637,0,0,0,0,0,0,26.53,26.63,28.83
$GC,7829,-0.53,-170.3,817.7,-9.0,765,7835,0.00,2.15,0.00,0.000,4,0.000,0.039,1826,1189,3636,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7871,-0.53,-170.3,821.2,-9.0,767,7875,0.00,2.25,0.00,0.000,6,0.000,0.051,1821,2649,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8190,-0.51,-170.3,850.2,-9.1,783,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2650,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8489,-0.50,-170.3,875.7,-8.7,798,8495,0.00,2.17,0.00,0.000,4,0.000,0.041,1820,1186,3632,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8557,-0.50,-170.3,880.5,-8.3,801,8561,0.00,2.25,0.00,0.000,6,0.000,0.052,1812,2655,3632,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8866,-0.48,-170.3,909.7,-9.3,816,8868,0.12,0.00,0.00,0.000,6,0.148,0.000,1850,2655,3630,0,0,0,0,0,0,26.55,28.83,28.83
$GC,9165,-0.50,-170.3,929.7,-6.5,831,9170,0.00,2.12,0.00,0.000,4,0.000,0.040,1850,1198,3629,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9204,-0.52,-170.3,932.5,-6.7,833,9210,0.00,2.22,0.00,0.000,6,0.000,0.053,1842,2650,3629,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9525,-0.59,-170.3,953.8,-6.5,849,9530,0.00,2.17,0.00,0.000,4,0.000,0.040,1842,1183,3628,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9754,-0.70,-170.3,969.5,-7.7,860,9764,0.20,2.22,0.00,0.000,6,0.073,0.050,1759,2651,3627,0,0,0,0,0,0,26.62,26.60,28.83
$STATE,9942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9942,begin apogee
$GC,9948,-0.20,0.0,992.1,-13.8,870,10098,0.50,0.08,142.18,1.164,6,0.119,0.070,1929,2522,2973,0,0,0,0,0,0,26.46,24.78,24.11
$STATE,10099,end apogee,CONTROL_FINISHED_OK
$STATE,10099,begin climb
$GC,10101,0.54,170.3,998.1,0.0,877,10269,0.68,2.40,158.23,1.161,4,0.064,0.043,2184,1072,2275,0,0,0,0,0,0,24.98,24.68,23.94
$GC,10320,0.46,170.3,981.6,15.4,888,10328,0.15,2.35,0.00,0.000,6,0.171,0.050,2148,2521,2258,0,0,0,0,0,0,25.10,25.21,28.83
$GC,10628,0.39,170.3,936.4,14.0,904,10633,0.00,2.03,0.00,0.000,4,0.000,0.054,2148,3813,2252,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10660,0.32,170.3,933.2,14.6,905,10668,0.20,2.08,0.00,0.000,6,0.179,0.037,2107,2460,2251,0,0,0,0,0,0,25.77,25.94,28.83
$GC,10969,0.29,170.3,896.5,10.7,921,10974,0.00,2.12,0.00,0.000,4,0.000,0.055,2106,3809,2249,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10997,0.25,170.3,894.2,10.9,922,11007,0.12,2.05,0.00,0.000,6,0.174,0.036,2085,2459,2249,0,0,0,0,0,0,26.00,26.15,28.83
$GC,11308,0.26,180.9,866.3,7.9,938,11313,0.00,2.12,0.00,0.000,4,0.000,0.055,2085,3816,2248,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11348,0.24,180.9,862.6,8.5,940,11352,0.00,2.03,0.00,0.000,6,0.000,0.036,2096,2464,2247,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11670,0.22,180.9,835.0,8.5,956,11675,0.00,2.08,0.00,0.000,4,0.000,0.057,2096,3803,2247,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11689,0.20,180.9,833.1,8.7,957,11695,0.15,2.03,0.00,0.000,6,0.164,0.036,2066,2463,2247,0,0,0,0,0,0,26.19,26.35,28.83
$GC,12013,0.27,235.6,812.0,6.5,973,12075,0.00,2.28,50.50,1.190,4,0.000,0.056,2065,3806,2023,0,0,0,0,1,0,28.83,25.29,24.39
$GC,12119,0.35,283.9,805.3,6.7,978,12182,0.12,2.08,56.22,1.019,6,0.076,0.036,2150,2468,1816,0,0,0,0,0,0,25.58,25.56,24.26
$GC,12489,0.31,283.9,753.2,14.5,997,12496,0.15,2.15,0.00,0.000,4,0.161,0.044,2114,1067,1795,0,0,0,0,0,0,25.78,25.89,28.83
$GC,12532,0.30,283.9,748.8,13.0,999,12536,0.00,2.25,0.00,0.000,6,0.000,0.049,2115,2519,1793,0,0,0,0,0,0,28.83,25.92,28.83
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$GC,16290,0.56,411.7,363.2,7.1,1290,16329,0.10,2.28,28.50,0.750,4,0.095,0.045,2230,1070,1285,0,0,0,0,0,0,26.51,26.00,25.36
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$STATE,19523,end climb,SURFACE_DEPTH_REACHED
$STATE,19523,begin surface coast
$FINISH,0.2,1.015894
$STATE,19549,end surface coast,CONTROL_FINISHED_OK
$STATE,19549,begin surface
$SM_CCo,19623,0.00,0.000,0,0,673,565.66
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$IRIDIUM_FIX,2330.93,12308.14,161111,131308
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.79
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.9,10.421
$10V_AH,10.3,9.530
$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
$DEVICE_SECS,17.575,182.225,658.125,0.000,0.000,25.212,25.759,282.924,0.000,0.000,14.503,4161.597,9847.231,733.177,4904.246,419.784,0.377,2523.895,0.000,4475.902,0.000,0.544,0.000
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$SENSOR_SECS,1200.282,2898.885,2284.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330372
$DATA_FILE_SIZE,116829,1765
$CAP_FILE_SIZE,214394,0
$CFSIZE,260165632,218996736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171111,010807,2341.969,12319.582,38,1.1,38,-3.3