version: 66.10
glider: 169
mission: 5
dive: 51
start: 11 19 111 2 1 54
data:
$ID,169
$MISSION,5
$DIVE,51
$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,225
$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,-10332.29
$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
$GPS1,191111,015024,2344.704,12356.186,41,1.0,41,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.2
$GPS2,191111,020126,2344.765,12356.436,13,1.9,13,-3.4
$SPEED_LIMITS,0.143,0.288
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.003,-0.288
$KALMAN_X,8514289.0,0.0,0.0,5258299.5,8960.0
$KALMAN_Y,1609513.6,0.0,0.0,1029032.2,844.9
$MHEAD_RNG_PITCHd_Wd,227.0,249660,-11.2,-8.250
$D_GRID,3115
$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,18,-0.55,-219.0,0.0,0.0,0,105,0.00,0.00,-85.12,0.000,2,0.000,0.000,116,2680,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.55,-219.0,3.9,-8.3,12,142,6.78,2.28,-16.30,0.000,4,0.234,0.052,1835,1190,3873,0,0,0,0,0,0,25.81,26.13,26.44
$GC,169,-0.33,-219.0,35.8,-54.2,20,181,0.22,2.28,0.00,0.000,6,0.166,0.049,1893,2649,3874,0,0,0,0,0,0,25.95,26.15,28.83
$GC,547,-0.25,-219.0,152.2,-17.6,81,554,0.12,2.17,0.00,0.000,4,0.162,0.031,1941,1179,3874,0,0,0,0,0,0,26.26,26.37,28.83
$GC,576,-0.22,-219.0,157.1,-16.0,85,583,0.00,2.25,0.00,0.000,6,0.000,0.047,1934,2657,3874,0,0,0,0,0,0,28.83,26.36,28.83
$GC,934,-0.30,-219.0,183.3,-10.6,146,943,0.00,2.17,0.00,0.000,4,0.000,0.034,1940,1191,3873,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1008,-0.38,-219.0,191.7,-11.7,158,1017,0.12,2.20,0.00,0.000,6,0.049,0.042,1866,2654,3874,0,0,0,0,0,0,26.52,26.48,28.83
$GC,1366,-0.45,-219.0,225.6,-9.5,219,1373,0.00,2.15,0.00,0.000,4,0.000,0.034,1875,1182,3873,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1398,-0.55,-219.0,228.7,-9.4,224,1407,0.10,2.22,0.00,0.000,6,0.045,0.043,1799,2656,3872,0,0,0,0,0,0,26.55,26.54,28.83
$GC,1748,-0.56,-219.0,259.3,-9.4,276,1751,0.00,1.73,0.00,0.000,4,0.000,0.049,1792,3818,3871,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1878,-0.49,-219.0,279.7,-19.4,288,1887,0.15,1.80,0.00,0.000,6,0.114,0.029,1847,2580,3870,0,0,0,0,0,0,26.46,26.65,28.83
$GC,2185,-0.44,-219.0,330.3,-14.6,319,2196,0.00,2.00,0.00,0.000,4,0.000,0.034,1847,1182,3870,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2231,-0.43,-219.0,335.5,-12.3,323,2241,0.12,2.20,0.00,0.000,6,0.127,0.044,1880,2654,3870,0,0,0,0,0,0,26.53,26.60,28.83
$GC,2539,-0.44,-219.0,357.3,-6.6,354,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2653,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,-0.45,-219.0,376.3,-6.1,384,2851,0.00,2.12,0.00,0.000,4,0.000,0.034,1880,1194,3866,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2868,-0.47,-219.0,377.8,-6.0,386,2875,0.00,2.20,0.00,0.000,6,0.000,0.044,1880,2660,3866,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3174,-0.57,-219.0,404.3,-10.4,417,3176,0.17,0.00,0.00,0.000,6,0.111,0.000,1819,2660,3865,0,0,0,0,0,0,26.58,28.83,28.83
$GC,3474,-0.61,-219.0,431.2,-8.6,447,3482,0.00,2.15,0.00,0.000,4,0.000,0.037,1819,1179,3862,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3515,-0.66,-219.0,434.8,-8.8,451,3524,0.00,2.20,0.00,0.000,6,0.000,0.042,1818,2658,3862,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3827,-0.69,-219.0,459.5,-6.7,482,3830,0.00,1.73,0.00,0.000,4,0.000,0.050,1813,3820,3860,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3920,-0.67,-219.0,466.8,-8.5,491,3924,0.00,1.80,0.00,0.000,6,0.000,0.030,1813,2572,3859,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4231,-0.62,-219.0,504.6,-13.2,522,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2569,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4535,-0.58,-219.0,544.4,-13.3,552,4546,0.00,1.98,0.00,0.000,4,0.000,0.035,1812,1183,3855,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4571,-0.55,-219.0,549.2,-13.0,555,4578,0.00,2.20,0.00,0.000,6,0.000,0.047,1809,2652,3855,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4878,-0.51,-219.0,586.5,-12.3,586,4887,0.12,1.77,0.00,0.000,4,0.148,0.051,1843,3818,3852,0,0,0,0,0,0,26.55,26.60,28.83
$GC,4901,-0.47,-219.0,588.8,-11.3,588,4904,0.00,1.80,0.00,0.000,6,0.000,0.030,1843,2566,3852,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5223,-0.47,-219.0,612.1,-7.3,612,5228,0.00,2.00,0.00,0.000,4,0.000,0.035,1843,1173,3850,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5251,-0.47,-219.0,613.7,-7.4,613,5255,0.00,2.22,0.00,0.000,6,0.000,0.046,1838,2654,3850,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5558,-0.47,-219.0,637.6,-7.5,628,5561,0.00,1.77,0.00,0.000,4,0.000,0.054,1830,3818,3847,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5607,-0.47,-219.0,640.9,-7.6,630,5611,0.00,1.80,0.00,0.000,6,0.000,0.031,1829,2569,3847,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5920,-0.47,-219.0,668.3,-9.1,646,5924,0.00,2.00,0.00,0.000,4,0.000,0.036,1830,1182,3844,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5949,-0.47,-219.0,670.3,-9.2,647,5954,0.12,2.22,0.00,0.000,6,0.122,0.046,1865,2656,3844,0,0,0,0,0,0,26.56,26.62,28.83
$GC,6258,-0.56,-219.0,700.5,-11.3,662,6260,0.12,0.00,0.00,0.000,6,0.103,0.000,1811,2655,3842,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6557,-0.62,-219.0,727.2,-8.6,677,6560,0.00,1.77,0.00,0.000,4,0.000,0.053,1810,3818,3840,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6578,-0.67,-219.0,728.9,-8.4,678,6581,0.00,1.83,0.00,0.000,6,0.000,0.031,1810,2564,3840,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6900,-0.72,-219.0,753.1,-7.2,694,6905,0.00,1.98,0.00,0.000,4,0.000,0.037,1810,1186,3838,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7050,-0.82,-219.0,763.3,-7.9,701,7059,0.15,2.20,0.00,0.000,6,0.063,0.047,1742,2655,3836,0,0,0,0,0,0,26.58,26.61,28.83
$GC,7360,-0.73,-219.0,812.0,-17.3,717,7366,0.10,1.77,0.00,0.000,4,0.171,0.051,1760,3816,3835,0,0,0,0,0,0,26.55,26.58,28.83
$GC,7421,-0.66,-219.0,821.0,-15.7,720,7425,0.08,1.83,0.00,0.000,6,0.118,0.032,1790,2578,3834,0,0,0,0,0,0,26.50,26.67,28.83
$GC,7745,-0.62,-219.0,857.3,-11.3,736,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2577,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8043,-0.58,-219.0,892.0,-11.9,751,8049,0.10,1.92,0.00,0.000,4,0.162,0.053,1810,3815,3831,0,0,0,0,0,0,26.56,26.57,28.83
$GC,8066,-0.55,-219.0,894.3,-11.8,752,8069,0.00,1.80,0.00,0.000,6,0.000,0.032,1810,2572,3831,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8385,-0.53,-219.0,925.2,-10.0,768,8391,0.00,1.92,0.00,0.000,4,0.000,0.054,1801,3809,3829,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8411,-0.52,-219.0,927.1,-9.8,769,8416,0.12,1.80,0.00,0.000,6,0.117,0.031,1842,2566,3828,0,0,0,0,0,0,26.53,26.66,28.83
$GC,8722,-0.54,-219.0,947.9,-5.9,784,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2564,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9019,-0.56,-219.0,966.4,-6.2,799,9024,0.00,1.95,0.00,0.000,4,0.000,0.055,1834,3820,3825,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9042,-0.58,-219.0,967.8,-6.3,800,9046,0.00,1.80,0.00,0.000,6,0.000,0.032,1833,2576,3825,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9318,begin apogee
$GC,9324,-0.20,0.0,990.6,-8.8,814,9513,0.28,0.12,179.85,1.168,6,0.053,0.090,1966,2538,2972,0,0,0,0,0,0,26.65,24.79,24.10
$STATE,9514,end apogee,CONTROL_FINISHED_OK
$STATE,9514,begin climb
$GC,9517,0.55,219.0,1001.3,0.0,823,9726,0.57,2.15,201.02,1.145,4,0.032,0.051,2218,3803,2076,0,0,0,0,0,0,25.04,24.63,23.94
$GC,9830,0.41,219.0,957.1,24.9,839,9840,0.32,2.10,0.00,0.000,6,0.187,0.034,2144,2460,2053,0,0,0,0,0,0,25.26,25.41,28.83
$GC,10142,0.35,219.0,907.6,14.6,855,10147,0.00,2.10,0.00,0.000,4,0.000,0.052,2144,3808,2048,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10205,0.29,219.0,897.8,15.8,858,10209,0.17,2.05,0.00,0.000,6,0.168,0.035,2109,2462,2046,0,0,0,0,0,0,25.84,26.01,28.83
$GC,10518,0.26,219.0,863.4,10.5,874,10524,0.00,2.10,0.00,0.000,4,0.000,0.052,2108,3814,2046,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10561,0.22,219.0,858.7,11.0,876,10566,0.12,2.05,0.00,0.000,6,0.166,0.034,2086,2459,2045,0,0,0,0,0,0,26.05,26.20,28.83
$GC,10875,0.21,219.0,831.2,8.5,892,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2457,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11175,0.21,221.1,805.9,8.2,907,11181,0.00,2.10,0.00,0.000,4,0.000,0.051,2086,3810,2043,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11237,0.20,221.1,800.2,9.2,910,11242,0.00,2.00,0.00,0.000,6,0.000,0.033,2096,2469,2042,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11555,0.18,221.1,772.1,9.0,926,11560,0.00,2.10,0.00,0.000,4,0.000,0.043,2106,1068,2042,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11589,0.17,221.1,770.4,9.0,927,11596,0.15,2.22,0.00,0.000,6,0.132,0.047,2060,2523,2042,0,0,0,0,0,0,26.28,26.38,28.83
$GC,11895,0.34,343.0,752.6,5.1,943,12008,0.15,2.17,99.12,1.234,4,0.069,0.054,2158,3806,1587,0,0,0,0,1,0,26.52,24.86,24.03
$GC,12065,0.29,343.0,730.0,15.3,951,12077,0.22,2.10,1.60,0.186,6,0.141,0.034,2105,2462,1584,0,0,0,0,0,0,25.31,25.41,25.28
$GC,12380,0.31,343.0,700.6,8.8,967,12384,0.00,2.12,0.00,0.000,4,0.000,0.041,2115,1068,1588,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12422,0.33,343.0,696.6,8.9,969,12428,0.00,2.25,0.00,0.000,6,0.000,0.044,2115,2529,1587,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12741,0.33,343.0,666.2,9.3,985,12747,0.00,2.00,0.00,0.000,4,0.000,0.054,2115,3817,1586,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12784,0.34,343.0,662.2,9.6,987,12789,0.00,2.03,0.00,0.000,6,0.000,0.035,2124,2472,1586,0,0,0,0,0,0,28.83,26.21,28.83
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$GC,13810,0.34,348.1,562.8,8.1,1058,13822,0.00,2.12,3.88,0.729,4,0.000,0.039,2127,1055,1564,0,0,0,0,0,0,28.83,26.35,25.32
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$STATE,17401,end climb,SURFACE_DEPTH_REACHED
$STATE,17401,begin surface coast
$FINISH,-0.1,1.017469
$STATE,17430,end surface coast,CONTROL_FINISHED_OK
$STATE,17430,begin surface
$SM_CCo,17504,0.00,0.000,0,0,713,555.85
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$TT8_MAMPS,0.026964,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.9,12.347
$10V_AH,10.3,11.418
$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
$DEVICE_SECS,17.325,152.800,681.025,0.000,0.000,54.239,88.550,303.719,0.000,0.000,13.937,4017.134,9281.171,751.718,3705.571,390.368,0.377,2303.753,0.000,3227.431,0.000,0.543,0.000
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$SENSOR_SECS,1033.569,1356.491,902.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,100418,1522
$CAP_FILE_SIZE,194294,0
$CFSIZE,260165632,217989120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.536, 81.9,1
$GPS,191111,065436,2341.845,12357.960,31,1.4,31,-3.4