version: 66.10
glider: 169
mission: 5
dive: 47
start: 11 18 111 4 25 5
data:
$ID,169
$MISSION,5
$DIVE,47
$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,2
$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,-10327.262
$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
$GPS1,181111,041807,2343.531,12346.593,36,1.3,36,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-68.9
$GPS2,181111,042438,2343.548,12346.721,11,1.3,11,-3.4
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.190,0.176
$KALMAN_X,8487542.0,0.0,0.0,5267571.5,26819.0
$KALMAN_Y,1611893.2,0.0,0.0,1024586.6,452.1
$MHEAD_RNG_PITCHd_Wd,8.0,18426,-13.2,-8.250
$D_GRID,3507
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-170.3,0.0,0.0,0,98,0.00,0.00,-78.20,0.000,2,0.000,0.000,117,2682,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.54,-170.3,3.2,-4.8,9,130,6.82,1.80,-15.80,0.000,4,0.236,0.059,1822,3824,3676,0,0,0,0,0,0,25.82,26.11,26.42
$GC,244,-0.44,-170.3,60.7,-29.8,30,253,0.10,1.85,0.00,0.000,6,0.150,0.030,1862,2585,3676,0,0,0,0,0,0,26.03,26.22,28.83
$GC,623,-0.34,-170.3,180.5,-25.8,91,635,0.12,2.08,0.00,0.000,4,0.174,0.034,1910,1185,3677,0,0,0,0,0,0,26.25,26.38,28.83
$GC,741,-0.38,-170.3,194.9,-7.6,109,750,0.00,2.22,0.00,0.000,6,0.000,0.045,1900,2647,3677,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1120,-0.37,-170.3,234.1,-10.7,170,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2647,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1457,-0.37,-170.3,265.7,-7.8,213,1466,0.00,2.10,0.00,0.000,4,0.000,0.034,1900,1186,3677,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1505,-0.39,-170.3,269.0,-7.4,217,1512,0.00,2.20,0.00,0.000,6,0.000,0.044,1891,2656,3676,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1812,-0.39,-170.3,294.1,-8.3,248,1824,0.00,2.15,0.00,0.000,4,0.000,0.034,1891,1180,3676,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1840,-0.40,-170.3,296.2,-8.5,250,1849,0.00,2.22,0.00,0.000,6,0.000,0.044,1883,2653,3676,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2147,-0.40,-170.3,322.6,-8.1,281,2151,0.00,1.73,0.00,0.000,4,0.000,0.050,1874,3813,3674,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2192,-0.40,-170.3,326.0,-8.2,285,2199,0.00,1.77,0.00,0.000,6,0.000,0.030,1874,2573,3674,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2499,-0.40,-170.3,351.6,-8.4,316,2502,0.00,2.03,0.00,0.000,4,0.000,0.034,1874,1178,3673,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2556,-0.42,-170.3,356.3,-7.8,321,2565,0.00,2.20,0.00,0.000,6,0.000,0.044,1864,2655,3672,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2866,-0.41,-170.3,388.5,-10.4,352,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2655,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3167,-0.41,-170.3,419.1,-9.0,382,3178,0.00,2.15,0.00,0.000,4,0.000,0.035,1865,1181,3669,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3193,-0.41,-170.3,421.5,-9.2,384,3200,0.00,2.20,0.00,0.000,6,0.000,0.045,1855,2653,3669,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3502,-0.40,-170.3,450.4,-9.9,415,3511,0.00,2.10,0.00,0.000,4,0.000,0.034,1855,1183,3667,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3538,-0.40,-170.3,453.5,-9.7,418,3548,0.12,2.20,0.00,0.000,6,0.132,0.046,1887,2656,3667,0,0,0,0,0,0,26.55,26.62,28.83
$GC,3846,-0.43,-170.3,473.5,-6.3,449,3856,0.00,2.15,0.00,0.000,4,0.000,0.034,1887,1178,3665,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3880,-0.47,-170.3,475.7,-6.6,452,3889,0.00,2.15,0.00,0.000,6,0.000,0.045,1882,2647,3665,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4191,-0.58,-170.3,501.7,-9.2,483,4198,0.17,0.00,0.00,0.000,6,0.098,0.000,1815,2647,3662,0,0,0,0,0,0,26.61,28.83,28.83
$GC,4500,-0.60,-170.3,526.4,-7.8,514,4503,0.00,1.77,0.00,0.000,4,0.000,0.053,1809,3821,3661,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4510,-0.62,-170.3,527.1,-7.7,515,4514,0.00,1.77,0.00,0.000,6,0.000,0.031,1809,2574,3660,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4822,-0.58,-170.3,566.8,-13.7,546,4825,0.00,2.00,0.00,0.000,4,0.000,0.036,1809,1184,3658,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4875,-0.56,-170.3,573.5,-12.6,551,4884,0.08,2.17,0.00,0.000,6,0.122,0.047,1829,2654,3658,0,0,0,0,0,0,26.53,26.63,28.83
$GC,5194,-0.53,-170.3,608.9,-11.0,579,5199,0.00,2.15,0.00,0.000,4,0.000,0.035,1829,1183,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5255,-0.53,-170.3,614.8,-10.1,582,5260,0.00,2.17,0.00,0.000,6,0.000,0.047,1820,2654,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5576,-0.51,-170.3,649.7,-10.8,598,5581,0.00,2.10,0.00,0.000,4,0.000,0.036,1820,1193,3653,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5602,-0.48,-170.3,651.9,-10.8,599,5607,0.15,2.17,0.00,0.000,6,0.132,0.048,1859,2651,3654,0,0,0,0,0,0,26.53,26.61,28.83
$GC,5910,-0.50,-170.3,671.8,-6.0,614,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2651,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,-0.52,-170.3,689.4,-5.8,629,6215,0.00,2.12,0.00,0.000,4,0.000,0.037,1859,1195,3648,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6243,-0.54,-170.3,690.6,-5.8,630,6250,0.00,2.20,0.00,0.000,6,0.000,0.048,1850,2655,3648,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6552,-0.55,-170.3,710.8,-6.7,646,6556,0.00,2.15,0.00,0.000,4,0.000,0.037,1851,1183,3646,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6582,-0.56,-170.3,712.4,-6.7,647,6586,0.00,2.20,0.00,0.000,6,0.000,0.048,1842,2656,3646,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6890,-0.56,-170.3,736.7,-7.9,662,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2655,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7189,-0.56,-170.3,760.2,-7.7,677,7195,0.00,2.15,0.00,0.000,4,0.000,0.037,1842,1183,3642,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7218,-0.56,-170.3,761.9,-7.7,678,7222,0.00,2.20,0.00,0.000,6,0.000,0.049,1837,2654,3642,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7525,-0.56,-170.3,786.3,-8.1,693,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2653,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7825,-0.56,-170.3,810.5,-8.0,708,7831,0.00,2.15,0.00,0.000,4,0.000,0.037,1837,1183,3639,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7866,-0.57,-170.3,813.7,-8.0,710,7872,0.00,2.20,0.00,0.000,6,0.000,0.049,1827,2654,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8187,-0.57,-170.3,840.1,-7.9,726,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2654,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8485,-0.57,-170.3,863.5,-8.0,741,8491,0.00,2.17,0.00,0.000,4,0.000,0.037,1827,1182,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8538,-0.57,-170.3,866.8,-8.0,743,8545,0.00,2.22,0.00,0.000,6,0.000,0.050,1825,2651,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8846,-0.57,-170.3,895.3,-9.2,759,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2650,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9146,-0.57,-170.3,924.3,-9.8,774,9152,0.00,2.12,0.00,0.000,4,0.000,0.038,1825,1186,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9185,-0.57,-170.3,927.9,-9.5,776,9189,0.00,2.25,0.00,0.000,6,0.000,0.050,1817,2657,3633,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9507,-0.55,-170.3,959.0,-9.7,792,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2657,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9807,-0.54,-170.3,985.3,-8.2,807,9813,0.00,2.15,0.00,0.000,4,0.000,0.038,1817,1179,3630,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9841,-0.54,-170.3,986.8,-7.9,808,9847,0.00,2.25,0.00,0.000,6,0.000,0.051,1812,2656,3630,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,9884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9884,begin apogee
$GC,9890,-0.20,0.0,991.3,-7.4,811,10040,0.38,0.10,142.40,1.166,6,0.104,0.103,1946,2525,2972,0,0,0,0,0,0,26.48,24.79,24.12
$STATE,10041,end apogee,CONTROL_FINISHED_OK
$STATE,10041,begin climb
$GC,10044,0.54,170.3,994.9,0.0,818,10207,0.62,0.00,159.35,1.157,6,0.041,0.000,2196,2525,2282,0,0,0,0,0,0,25.03,28.83,23.94
$GC,10508,0.44,170.3,926.5,18.7,842,10514,0.15,2.03,0.00,0.000,4,0.193,0.051,2154,3809,2253,0,0,0,0,0,0,25.65,25.79,28.83
$GC,10609,0.35,170.3,908.9,16.9,847,10614,0.15,2.05,0.00,0.000,6,0.188,0.037,2128,2461,2251,0,0,0,0,0,0,25.75,25.93,28.83
$GC,10933,0.30,170.3,870.8,11.4,863,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2460,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11234,0.26,170.3,836.8,11.5,878,11235,0.12,0.00,0.00,0.000,6,0.184,0.000,2096,2459,2248,0,0,0,0,0,0,26.10,28.83,28.83
$GC,11532,0.24,171.4,810.8,8.2,893,11536,0.00,2.10,0.00,0.000,4,0.000,0.055,2096,3809,2247,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11616,0.21,171.4,802.7,9.7,897,11622,0.00,1.98,0.00,0.000,6,0.000,0.036,2106,2469,2247,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11935,0.19,171.4,773.3,9.4,913,11937,0.12,0.00,0.00,0.000,6,0.169,0.000,2073,2466,2246,0,0,0,0,0,0,26.25,28.83,28.83
$GC,12235,0.26,225.3,752.9,6.5,928,12297,0.00,2.20,52.90,0.959,4,0.000,0.057,2073,3809,2047,0,0,0,0,0,0,28.83,25.46,24.79
$GC,12341,0.30,255.2,745.3,7.3,933,12382,0.00,2.08,29.15,0.959,6,0.000,0.036,2082,2460,1925,0,0,0,0,0,0,28.83,25.68,24.54
$GC,12682,0.35,271.5,720.0,7.7,950,12703,0.12,2.22,13.93,0.957,4,0.076,0.043,2175,1054,1863,0,0,0,0,0,0,26.03,25.69,24.96
$GC,12734,0.35,271.5,714.5,9.8,952,12739,0.17,2.28,0.00,0.000,6,0.145,0.049,2126,2517,1855,0,0,0,0,0,0,25.66,25.76,28.83
$GC,13043,0.34,271.5,678.7,10.7,967,13049,0.00,2.00,0.00,0.000,4,0.000,0.055,2126,3803,1852,0,0,0,0,0,0,28.83,26.05,28.83
$GC,13094,0.32,271.5,673.8,11.3,969,13101,0.00,2.03,0.00,0.000,6,0.000,0.035,2136,2460,1851,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,15839,0.42,319.7,388.9,9.0,1210,15846,0.00,2.22,0.00,0.000,6,0.000,0.046,2144,2522,1651,0,0,0,0,0,0,28.83,26.37,28.83
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$STATE,19342,end climb,SURFACE_DEPTH_REACHED
$STATE,19342,begin surface coast
$FINISH,1.2,1.021980
$STATE,19387,end surface coast,CONTROL_FINISHED_OK
$STATE,19387,begin surface
$SM_CCo,19461,0.00,0.000,0,0,1049,473.43
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$IRIDIUM_FIX,2333.28,12345.32,171111,232305
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.47
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,11.519
$10V_AH,10.3,10.727
$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
$DEVICE_SECS,15.900,152.375,580.500,0.000,0.000,23.956,20.656,212.299,0.000,0.000,12.365,4467.245,9988.954,721.195,4263.711,386.743,0.376,2325.076,0.000,3896.028,0.000,0.543,0.000
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$SENSOR_SECS,1139.472,2802.328,1795.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330360
$DATA_FILE_SIZE,110308,1673
$CAP_FILE_SIZE,199103,0
$CFSIZE,260165632,218386432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.483,145.6,1
$GPS,181111,095037,2345.166,12350.181,43,1.5,43,-3.4