version: 66.10
glider: 169
mission: 5
dive: 49
start: 11 18 111 15 11 18
data:
$ID,169
$MISSION,5
$DIVE,49
$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,-10329.777
$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
$GPS1,181111,150407,2346.368,12353.106,39,0.9,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.1
$GPS2,181111,151050,2346.354,12353.270,13,0.9,13,-3.4
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,0.134
$KALMAN_X,8505126.0,0.0,0.0,5261583.0,17091.0
$KALMAN_Y,1608475.6,0.0,0.0,1033161.9,-1850.2
$MHEAD_RNG_PITCHd_Wd,341.9,7361,-13.2,-8.250
$D_GRID,2967
$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,-0.54,-170.3,0.0,0.0,0,118,0.00,0.00,-99.20,0.000,2,0.000,0.000,117,2681,3065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.54,-170.3,3.9,-6.9,12,150,6.80,1.73,-10.80,0.000,4,0.236,0.057,1818,3825,3675,0,0,0,0,0,0,25.84,26.14,26.44
$GC,282,-0.42,-170.3,75.0,-33.0,36,291,0.12,1.85,0.00,0.000,6,0.148,0.029,1866,2572,3675,0,0,0,0,0,0,26.09,26.27,28.83
$GC,662,-0.33,-170.3,181.2,-23.5,97,672,0.12,2.05,0.00,0.000,4,0.178,0.033,1913,1183,3675,0,0,0,0,0,0,26.25,26.40,28.83
$GC,720,-0.35,-170.3,190.0,-10.7,105,728,0.00,2.25,0.00,0.000,6,0.000,0.044,1908,2656,3675,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1098,-0.35,-170.3,230.7,-9.7,166,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,2656,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1453,-0.36,-170.3,262.3,-8.5,214,1463,0.00,2.12,0.00,0.000,4,0.000,0.034,1908,1192,3675,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1500,-0.39,-170.3,265.9,-7.7,218,1510,0.00,2.15,0.00,0.000,6,0.000,0.044,1908,2653,3675,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1813,-0.42,-170.3,288.7,-6.9,249,1822,0.10,1.73,0.00,0.000,4,0.093,0.047,1817,3815,3674,0,0,0,0,0,0,26.65,26.54,28.83
$GC,1861,-0.40,-170.3,294.4,-12.3,253,1869,0.12,1.80,0.00,0.000,6,0.119,0.028,1878,2574,3674,0,0,0,0,0,0,26.44,26.60,28.83
$GC,2168,-0.39,-170.3,327.6,-10.7,284,2179,0.00,2.00,0.00,0.000,4,0.000,0.033,1878,1183,3672,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2205,-0.39,-170.3,331.0,-10.7,287,2212,0.00,2.20,0.00,0.000,6,0.000,0.044,1870,2657,3672,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2513,-0.37,-170.3,363.8,-11.0,318,2522,0.00,2.15,0.00,0.000,4,0.000,0.035,1870,1183,3671,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2540,-0.36,-170.3,366.2,-10.8,320,2550,0.12,2.20,0.00,0.000,6,0.134,0.044,1901,2655,3670,0,0,0,0,0,0,26.52,26.59,28.83
$GC,2848,-0.39,-170.3,385.5,-5.6,351,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,2656,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-0.43,-170.3,401.1,-5.2,381,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,2655,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3459,-0.47,-170.3,419.7,-5.7,412,3470,0.12,2.12,0.00,0.000,4,0.077,0.033,1795,1188,3664,0,0,0,0,0,0,26.71,26.63,28.83
$GC,3556,-0.43,-170.3,431.4,-13.4,421,3565,0.22,2.17,0.00,0.000,6,0.113,0.045,1865,2654,3664,0,0,0,0,0,0,26.51,26.62,28.83
$GC,3866,-0.43,-170.3,456.4,-6.9,452,3870,0.00,1.75,0.00,0.000,4,0.000,0.052,1857,3821,3662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3898,-0.43,-170.3,459.0,-7.6,455,3901,0.00,1.80,0.00,0.000,6,0.000,0.031,1857,2571,3661,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4209,-0.43,-170.3,484.1,-8.4,486,4217,0.00,2.00,0.00,0.000,4,0.000,0.036,1857,1185,3660,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4231,-0.43,-170.3,485.9,-8.1,488,4239,0.00,2.20,0.00,0.000,6,0.000,0.046,1848,2651,3660,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4543,-0.42,-170.3,515.1,-9.9,519,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2651,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4852,-0.41,-170.3,544.3,-9.1,550,4863,0.10,2.12,0.00,0.000,4,0.161,0.034,1877,1200,3655,0,0,0,0,0,0,26.58,26.63,28.83
$GC,4918,-0.46,-170.3,549.3,-6.6,556,4927,0.00,2.17,0.00,0.000,6,0.000,0.047,1869,2658,3655,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5229,-0.57,-170.3,573.5,-9.2,587,5236,0.12,0.00,0.00,0.000,6,0.093,0.000,1800,2658,3652,0,0,0,0,0,0,26.68,28.83,28.83
$GC,5542,-0.52,-170.3,609.7,-13.9,615,5548,0.12,1.75,0.00,0.000,4,0.145,0.051,1834,3823,3650,0,0,0,0,0,0,26.55,26.60,28.83
$GC,5603,-0.51,-170.3,616.2,-11.3,618,5607,0.00,1.83,0.00,0.000,6,0.000,0.031,1834,2577,3650,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5921,-0.50,-170.3,644.8,-8.8,634,5927,0.00,2.03,0.00,0.000,4,0.000,0.036,1834,1184,3647,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5955,-0.49,-170.3,646.5,-8.8,635,5962,0.00,2.22,0.00,0.000,6,0.000,0.047,1825,2657,3647,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6263,-0.47,-170.3,677.6,-9.7,651,6269,0.12,1.75,0.00,0.000,4,0.146,0.053,1860,3815,3645,0,0,0,0,0,0,26.55,26.59,28.83
$GC,6295,-0.46,-170.3,679.3,-9.4,652,6303,0.00,1.80,0.00,0.000,6,0.000,0.031,1861,2568,3645,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6603,-0.48,-170.3,695.7,-4.8,668,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2568,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6904,-0.51,-170.3,710.2,-4.9,683,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2568,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7204,-0.53,-170.3,726.1,-5.7,698,7209,0.00,2.00,0.00,0.000,4,0.000,0.037,1860,1193,3639,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7225,-0.56,-170.3,727.3,-5.6,699,7229,0.00,2.22,0.00,0.000,6,0.000,0.047,1853,2657,3639,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7545,-0.58,-170.3,747.9,-6.6,715,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2657,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7843,-0.59,-170.3,767.8,-6.6,730,7845,0.10,0.00,0.00,0.000,6,0.096,0.000,1785,2657,3636,0,0,0,0,0,0,26.72,28.83,28.83
$GC,8143,-0.54,-170.3,807.9,-14.3,745,8149,0.15,2.17,0.00,0.000,4,0.148,0.035,1835,1184,3635,0,0,0,0,0,0,26.49,26.61,28.83
$GC,8185,-0.51,-170.3,812.3,-12.6,747,8190,0.00,2.17,0.00,0.000,6,0.000,0.049,1825,2649,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8505,-0.50,-170.3,842.7,-9.8,763,8508,0.00,2.17,0.00,0.000,4,0.000,0.038,1825,1182,3633,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8549,-0.50,-170.3,846.9,-9.7,765,8553,0.00,2.25,0.00,0.000,6,0.000,0.049,1817,2656,3633,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8862,-0.49,-170.3,876.5,-9.2,781,8864,0.12,0.00,0.00,0.000,6,0.149,0.000,1854,2655,3631,0,0,0,0,0,0,26.53,28.83,28.83
$GC,9162,-0.51,-170.3,893.3,-5.3,796,9167,0.00,2.17,0.00,0.000,4,0.000,0.037,1854,1183,3630,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9186,-0.54,-170.3,894.5,-5.3,797,9192,0.00,2.22,0.00,0.000,6,0.000,0.049,1847,2650,3630,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9502,-0.55,-170.3,912.4,-5.9,813,9505,0.00,1.77,0.00,0.000,4,0.000,0.057,1838,3810,3629,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9526,-0.57,-170.3,913.7,-5.9,814,9530,0.00,1.80,0.00,0.000,6,0.000,0.033,1838,2582,3629,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9844,-0.58,-170.3,936.4,-7.1,830,9848,0.00,2.05,0.00,0.000,4,0.000,0.040,1838,1183,3628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9879,-0.60,-170.3,938.1,-7.3,831,9886,0.00,2.22,0.00,0.000,6,0.000,0.050,1829,2656,3627,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10187,-0.60,-170.3,960.9,-6.8,847,10190,0.00,1.77,0.00,0.000,4,0.000,0.057,1820,3810,3626,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10221,-0.60,-170.3,962.4,-6.9,848,10228,0.00,1.80,0.00,0.000,6,0.000,0.033,1821,2567,3625,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10530,-0.60,-170.3,984.6,-7.0,864,10535,0.00,2.00,0.00,0.000,4,0.000,0.037,1821,1199,3625,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10562,-0.60,-170.3,986.1,-7.1,865,10568,0.00,2.22,0.00,0.000,6,0.000,0.050,1813,2657,3625,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,10607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10607,begin apogee
$GC,10613,-0.20,0.0,990.6,-7.4,868,10762,0.38,0.08,141.85,1.164,6,0.104,0.070,1946,2525,2973,0,0,0,0,0,0,26.46,24.77,24.10
$STATE,10763,end apogee,CONTROL_FINISHED_OK
$STATE,10763,begin climb
$GC,10765,0.54,170.3,995.6,0.0,875,10933,0.62,2.35,158.73,1.164,4,0.045,0.041,2202,1069,2275,0,0,0,0,0,0,25.01,24.64,23.91
$GC,10956,0.43,170.3,984.3,13.6,885,10961,0.20,2.35,0.00,0.000,6,0.171,0.047,2152,2517,2260,0,0,0,0,0,0,24.87,24.98,28.83
$GC,11262,0.36,170.3,943.2,12.2,900,11268,0.00,2.03,0.00,0.000,4,0.000,0.054,2152,3808,2253,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11303,0.29,170.3,937.4,13.0,902,11309,0.22,2.05,0.00,0.000,6,0.178,0.036,2104,2463,2252,0,0,0,0,0,0,25.70,25.89,28.83
$GC,11625,0.26,170.3,908.2,9.1,918,11630,0.00,2.10,0.00,0.000,4,0.000,0.054,2104,3815,2250,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11666,0.23,170.3,903.7,10.2,920,11670,0.00,2.03,0.00,0.000,6,0.000,0.035,2113,2463,2249,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11978,0.20,170.3,870.2,10.8,936,11984,0.12,2.10,0.00,0.000,4,0.181,0.053,2077,3806,2248,0,0,0,0,0,0,26.08,26.20,28.83
$GC,12026,0.17,170.3,865.9,10.8,938,12030,0.00,2.03,0.00,0.000,6,0.000,0.036,2086,2462,2248,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12339,0.17,170.3,838.1,9.0,954,12344,0.00,2.12,0.00,0.000,4,0.000,0.054,2086,3808,2248,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12366,0.16,170.3,836.1,9.3,955,12371,0.12,2.03,0.00,0.000,6,0.168,0.035,2063,2462,2247,0,0,0,0,0,0,26.15,26.32,28.83
$GC,12675,0.21,198.4,813.4,7.3,970,12704,0.00,0.00,26.52,0.981,6,0.000,0.000,2063,2460,2169,0,0,0,0,0,0,28.83,28.83,25.10
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$STATE,20677,end climb,SURFACE_DEPTH_REACHED
$STATE,20678,begin surface coast
$FINISH,0.1,1.021704
$STATE,20702,end surface coast,CONTROL_FINISHED_OK
$STATE,20702,begin surface
$SM_CCo,20777,0.00,0.000,0,0,589,586.27
$SM_GC,0.97,5.68,0.17,0.00,0.030,0.066,0.000,101,2682,589,-5.80,-0.51,586.27,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12346.63,181111,090948
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.12
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,11.903
$10V_AH,10.3,11.120
$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,17.250,174.250,639.075,0.000,0.000,31.829,20.091,215.264,0.000,0.000,14.157,4775.791,10632.061,791.047,4549.836,407.718,0.376,2531.438,0.000,4153.475,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,70.380,1164.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.701,2917.101,1875.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330320
$DATA_FILE_SIZE,117065,1774
$CAP_FILE_SIZE,216984,0
$CFSIZE,260165632,218161152
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.495,140.5,1
$GPS,181111,205854,2347.385,12354.766,52,1.1,52,-3.4