version: 66.10
glider: 169
mission: 5
dive: 96
start: 11 27 111 10 46 20
data:
$ID,169
$MISSION,5
$DIVE,96
$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,300
$T_MISSION,330
$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,210
$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,-10397.22
$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
$GPS1,271111,103900,2129.696,12401.953,39,1.0,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.4
$GPS2,271111,104550,2129.678,12402.005,15,1.0,15,-2.8
$SPEED_LIMITS,0.191,0.311
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.271,-0.119
$KALMAN_X,8587625.0,0.0,0.0,5194845.5,1282.0
$KALMAN_Y,2528053.5,0.0,0.0,-139464.8,2633.2
$MHEAD_RNG_PITCHd_Wd,249.2,3506,-27.4,-11.000
$D_GRID,4800
$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,-0.77,-72.6,0.0,0.0,0,119,0.00,0.00,-99.45,0.000,2,0.000,0.000,117,2684,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.81,-102.7,3.7,-7.9,16,140,6.47,1.80,-5.72,0.000,4,0.233,0.054,1735,3826,3400,0,0,0,0,0,0,25.70,26.12,26.42
$GC,306,-0.73,-102.7,86.6,-37.8,49,314,0.12,1.83,0.00,0.000,6,0.196,0.028,1772,2581,3400,0,0,0,0,0,0,25.96,26.25,28.83
$GC,634,-0.67,-102.7,194.5,-31.0,110,641,0.00,2.03,0.00,0.000,4,0.000,0.029,1781,1172,3401,0,0,0,0,0,0,28.83,26.37,28.83
$GC,670,-0.63,-102.7,204.6,-26.8,115,679,0.08,2.20,0.00,0.000,6,0.160,0.040,1797,2653,3401,0,0,0,0,0,0,26.16,26.36,28.83
$GC,982,-0.61,-102.7,278.4,-19.5,146,990,0.00,2.10,0.00,0.000,4,0.000,0.031,1807,1185,3402,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1107,-0.64,-102.7,300.0,-15.5,158,1116,0.00,2.17,0.00,0.000,6,0.000,0.041,1796,2651,3401,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1416,-0.64,-102.7,366.1,-20.6,189,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2650,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-0.65,-102.7,425.1,-20.3,219,1726,0.00,2.10,0.00,0.000,4,0.000,0.031,1806,1185,3399,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1883,-0.69,-102.7,451.5,-14.7,235,1891,0.00,2.17,0.00,0.000,6,0.000,0.041,1796,2653,3398,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2192,-0.71,-102.7,500.7,-15.7,266,2201,0.00,2.15,0.00,0.000,4,0.000,0.031,1804,1180,3395,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2369,-0.77,-102.7,523.9,-11.9,283,2378,0.00,2.22,0.00,0.000,6,0.000,0.043,1794,2657,3394,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2679,-0.79,-102.7,566.8,-13.9,314,2688,0.12,2.12,0.00,0.000,4,0.088,0.030,1724,1183,3392,0,0,0,0,0,0,26.61,26.54,28.83
$GC,2773,-0.79,-102.7,583.0,-17.7,323,2783,0.15,2.20,0.00,0.000,6,0.173,0.043,1753,2655,3390,0,0,0,0,0,0,26.27,26.52,28.83
$GC,3095,-0.79,-102.7,643.0,-18.6,344,3100,0.00,2.12,0.00,0.000,4,0.000,0.032,1763,1187,3388,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3174,-0.81,-102.7,656.3,-16.3,348,3180,0.00,2.20,0.00,0.000,6,0.000,0.042,1752,2657,3387,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3493,-0.81,-102.7,712.7,-17.9,364,3499,0.00,2.15,0.00,0.000,4,0.000,0.034,1762,1175,3383,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3578,-0.83,-102.7,725.4,-15.6,368,3582,0.00,2.22,0.00,0.000,6,0.000,0.044,1751,2655,3383,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3890,-0.83,-102.7,775.2,-15.1,384,3895,0.00,2.15,0.00,0.000,4,0.000,0.034,1761,1176,3380,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4035,-0.86,-102.7,794.0,-13.0,391,4040,0.00,2.20,0.00,0.000,6,0.000,0.046,1750,2650,3378,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4353,-0.86,-102.7,839.6,-14.2,407,4358,0.00,2.17,0.00,0.000,4,0.000,0.035,1757,1180,3375,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4402,-0.87,-102.7,844.8,-13.7,409,4406,0.00,2.22,0.00,0.000,6,0.000,0.046,1746,2652,3375,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4709,-0.87,-102.7,889.6,-14.6,424,4715,0.00,2.15,0.00,0.000,4,0.000,0.034,1750,1181,3373,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4863,-0.89,-102.7,909.7,-14.0,431,4870,0.00,2.22,0.00,0.000,6,0.000,0.047,1740,2655,3372,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5171,-0.89,-102.7,962.5,-17.6,447,5176,0.00,2.15,0.00,0.000,4,0.000,0.034,1744,1184,3369,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5284,-0.91,-102.7,979.4,-16.2,452,5293,0.00,2.22,0.00,0.000,6,0.000,0.045,1733,2656,3367,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,5349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5355,-0.20,0.0,993.5,-17.7,456,5452,0.62,0.12,84.53,1.358,6,0.137,0.090,1935,2526,2985,0,0,0,0,1,0,26.18,24.94,24.12
$STATE,5453,end apogee,CONTROL_FINISHED_OK
$STATE,5455,begin climb
$GC,5457,0.81,102.7,1000.6,0.0,461,5572,0.93,2.15,104.35,1.181,4,0.060,0.050,2273,3803,2550,0,0,0,0,0,0,25.15,24.82,24.09
$GC,5589,0.81,176.7,998.3,3.5,467,5665,0.00,2.10,69.07,1.159,6,0.000,0.033,2283,2463,2251,0,0,0,0,0,0,28.83,25.17,24.04
$GC,5974,0.75,176.7,905.2,26.5,487,5981,0.12,2.12,0.00,0.000,4,0.228,0.048,2247,3811,2231,0,0,0,0,0,0,25.63,25.86,28.83
$GC,6058,0.69,176.7,883.0,27.3,491,6062,0.00,2.08,0.00,0.000,6,0.000,0.037,2257,2463,2228,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6370,0.65,176.7,800.6,25.6,507,6377,0.12,2.10,0.00,0.000,4,0.216,0.047,2225,3815,2226,0,0,0,0,0,0,25.90,26.13,28.83
$GC,6454,0.61,176.7,779.9,25.7,511,6458,0.00,2.05,0.00,0.000,6,0.000,0.035,2234,2464,2225,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6766,0.59,176.7,710.0,20.7,527,6772,0.12,2.12,0.00,0.000,4,0.208,0.047,2201,3818,2224,0,0,0,0,0,0,26.02,26.24,28.83
$GC,6800,0.57,176.7,705.8,20.8,528,6809,0.00,2.05,0.00,0.000,6,0.000,0.034,2211,2458,2223,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7106,0.57,176.7,649.6,16.6,544,7111,0.00,2.12,0.00,0.000,4,0.000,0.048,2211,3821,2222,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7147,0.56,176.7,641.8,17.8,546,7153,0.12,2.05,0.00,0.000,6,0.210,0.034,2193,2459,2222,0,0,0,0,0,0,26.03,26.35,28.83
$GC,7459,0.57,176.7,590.7,16.5,564,7463,0.00,2.10,0.00,0.000,4,0.000,0.048,2193,3816,2221,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7514,0.56,176.7,580.8,18.7,569,7521,0.00,2.03,0.00,0.000,6,0.000,0.033,2203,2462,2220,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7822,0.57,176.7,531.3,14.1,600,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2462,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8123,0.58,176.7,487.1,15.2,630,8131,0.00,2.05,0.00,0.000,4,0.000,0.049,2203,3803,2219,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8217,0.57,176.7,469.8,19.0,639,8225,0.00,2.00,0.00,0.000,6,0.000,0.033,2214,2462,2219,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8525,0.57,176.7,419.7,14.9,670,8534,0.00,2.10,0.00,0.000,4,0.000,0.041,2225,1055,2218,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8609,0.60,176.7,409.0,12.5,678,8618,0.00,2.22,0.00,0.000,6,0.000,0.045,2225,2525,2217,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8921,0.60,176.7,367.4,14.4,709,8930,0.00,2.17,0.00,0.000,4,0.000,0.043,2236,1069,2217,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8947,0.60,176.7,364.0,14.2,711,8955,0.12,2.20,0.00,0.000,6,0.183,0.043,2205,2526,2217,0,0,0,0,0,0,26.17,26.44,28.83
$GC,9253,0.62,176.7,321.8,12.0,742,9261,0.00,1.98,0.00,0.000,4,0.000,0.050,2205,3822,2218,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9369,0.62,176.7,306.8,13.3,753,9376,0.00,2.03,0.00,0.000,6,0.000,0.034,2215,2462,2217,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9676,0.64,176.7,268.6,14.7,784,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2462,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9978,0.66,176.7,228.5,11.8,814,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2462,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10288,0.70,188.0,196.6,9.9,848,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2462,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10611,0.74,198.1,164.5,10.0,909,10638,0.00,2.12,15.95,0.610,4,0.000,0.040,2226,1068,2157,0,0,0,0,0,0,28.83,26.37,25.72
$GC,10729,0.80,205.1,151.9,10.3,930,10738,0.12,2.20,1.52,0.174,6,0.085,0.041,2293,2531,2141,0,0,0,0,0,0,26.37,26.36,26.16
$GC,11054,0.79,205.1,106.9,11.6,991,11060,0.00,1.98,0.00,0.000,4,0.000,0.047,2293,3818,2148,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11250,0.87,293.7,94.8,2.0,1028,11366,0.00,2.00,107.88,0.319,6,0.000,0.031,2304,2458,1787,0,0,0,0,0,0,28.83,26.48,25.48
$GC,11679,0.91,309.5,47.8,9.4,1106,11701,0.00,2.15,15.70,0.207,4,0.000,0.037,2315,1067,1718,0,0,0,0,0,0,28.83,26.13,25.74
$GC,11714,0.93,309.5,44.0,11.3,1111,11722,0.00,2.20,1.77,0.176,6,0.000,0.039,2315,2522,1718,0,0,0,0,0,0,28.83,26.15,25.88
$STATE,11971,end climb,SURFACE_DEPTH_REACHED
$STATE,11971,begin surface coast
$FINISH,0.2,1.022293
$STATE,11988,end surface coast,CONTROL_FINISHED_OK
$STATE,11988,begin surface
$SM_CCo,12003,54.45,0.118,0,0,1244,425.10
$SM_GC,0.87,5.60,0.20,54.45,0.041,0.069,0.118,104,2686,1244,-5.79,-0.25,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2124.90,12357.47,271111,060634
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.21
$INTERNAL_PRESSURE,9.584
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.0,22.010
$10V_AH,10.2,16.946
$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,14.850,106.375,400.775,54.450,0.000,27.410,39.198,213.536,0.000,0.000,17.685,3119.743,5991.993,615.477,2466.808,259.969,0.375,1746.858,0.000,2067.532,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,90.270,1357.875,117.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.400,1440.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330396
$DATA_FILE_SIZE,77177,1163
$CAP_FILE_SIZE,137286,0
$CFSIZE,260165632,214138880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,182.8,1
$GPS,271111,140836,2127.726,12400.320,48,1.2,48,-2.8