version: 66.10
glider: 169
mission: 5
dive: 112
start: 11 30 111 15 6 58
data:
$ID,169
$MISSION,5
$DIVE,112
$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,360
$T_MISSION,400
$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,2
$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,-10419.99
$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
$GPS1,301111,145936,2204.254,12318.651,31,1.3,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.3
$GPS2,301111,150632,2204.178,12318.430,13,1.5,13,-2.9
$SPEED_LIMITS,0.159,0.270
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,347.7,221177,-14.8,-9.167
$D_GRID,5262
$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,-0.58,-170.3,0.0,0.0,0,111,0.00,0.00,-91.88,0.000,2,0.000,0.000,125,2676,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.58,-170.3,4.1,-10.4,15,142,6.70,1.80,-10.88,0.000,4,0.231,0.058,1802,3825,3675,0,0,0,0,0,0,25.61,26.06,26.42
$GC,167,-0.34,-170.3,31.6,-56.5,23,174,0.32,1.80,0.00,0.000,6,0.181,0.027,1898,2581,3675,0,0,0,0,0,0,25.73,26.13,28.83
$GC,490,-0.27,-170.3,139.4,-21.7,84,497,0.00,2.03,0.00,0.000,4,0.000,0.030,1908,1184,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,598,-0.32,-170.3,151.5,-5.6,104,605,0.00,2.20,0.00,0.000,6,0.000,0.042,1897,2654,3675,0,0,0,0,0,0,28.83,26.30,28.83
$GC,918,-0.29,-170.3,183.1,-11.6,165,925,0.00,1.77,0.00,0.000,4,0.000,0.047,1888,3822,3675,0,0,0,0,0,0,28.83,26.36,28.83
$GC,964,-0.28,-170.3,188.6,-11.6,173,971,0.00,1.80,0.00,0.000,6,0.000,0.025,1889,2560,3675,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1277,-0.27,-170.3,233.9,-15.5,213,1279,0.12,0.00,0.00,0.000,6,0.146,0.000,1925,2559,3675,0,0,0,0,0,0,26.37,28.83,28.83
$GC,1577,-0.32,-170.3,257.0,-6.2,243,1586,0.00,1.95,0.00,0.000,4,0.000,0.047,1916,3821,3675,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1612,-0.38,-170.3,258.9,-6.1,246,1620,0.00,1.80,0.00,0.000,6,0.000,0.027,1916,2554,3675,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1919,-0.51,-170.3,283.1,-7.6,277,1929,0.17,2.00,0.00,0.000,4,0.093,0.030,1848,1174,3675,0,0,0,0,0,0,26.50,26.51,28.83
$GC,2005,-0.63,-170.3,288.9,-6.6,285,2013,0.12,2.20,0.00,0.000,6,0.129,0.041,1809,2656,3675,0,0,0,0,0,0,26.36,26.49,28.83
$GC,2311,-0.65,-170.3,316.9,-11.0,316,2315,0.00,1.73,0.00,0.000,4,0.000,0.045,1801,3819,3673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2405,-0.62,-170.3,330.4,-16.1,325,2408,0.00,1.77,0.00,0.000,6,0.000,0.026,1801,2565,3673,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2716,-0.55,-170.3,393.4,-19.5,356,2726,0.12,1.92,0.00,0.000,4,0.157,0.045,1832,3820,3672,0,0,0,0,0,0,26.39,26.48,28.83
$GC,2770,-0.51,-170.3,402.6,-16.8,361,2774,0.00,1.83,0.00,0.000,6,0.000,0.028,1837,2567,3672,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3082,-0.48,-170.3,441.6,-13.1,392,3090,0.00,1.92,0.00,0.000,4,0.000,0.046,1827,3824,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3144,-0.48,-170.3,449.2,-12.5,398,3147,0.00,1.80,0.00,0.000,6,0.000,0.026,1827,2563,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3456,-0.46,-170.3,487.0,-10.4,429,3465,0.12,2.00,0.00,0.000,4,0.141,0.031,1872,1181,3668,0,0,0,0,0,0,26.45,26.53,28.83
$GC,3503,-0.48,-170.3,490.1,-7.3,433,3510,0.00,2.20,0.00,0.000,6,0.000,0.042,1864,2655,3668,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3812,-0.50,-170.3,512.5,-8.2,464,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2654,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4121,-0.52,-170.3,536.6,-7.4,495,4130,0.00,2.15,0.00,0.000,4,0.000,0.032,1864,1177,3663,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4156,-0.56,-170.3,539.2,-7.2,498,4163,0.00,2.22,0.00,0.000,6,0.000,0.044,1856,2657,3663,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4464,-0.58,-170.3,566.1,-9.1,529,4468,0.00,1.75,0.00,0.000,4,0.000,0.050,1847,3821,3661,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4490,-0.60,-170.3,568.3,-9.4,531,4497,0.00,1.80,0.00,0.000,6,0.000,0.028,1847,2557,3661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4796,-0.61,-170.3,597.7,-8.4,562,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2558,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5106,-0.62,-170.3,621.0,-7.1,579,5108,0.12,0.00,0.00,0.000,6,0.080,0.000,1770,2557,3656,0,0,0,0,0,0,26.66,28.83,28.83
$GC,5408,-0.56,-170.3,665.9,-14.7,594,5414,0.17,2.00,0.00,0.000,4,0.144,0.033,1836,1187,3654,0,0,0,0,0,0,26.29,26.49,28.83
$GC,5455,-0.53,-170.3,669.7,-11.8,596,5459,0.00,2.20,0.00,0.000,6,0.000,0.044,1825,2654,3654,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5762,-0.53,-170.3,688.9,-7.7,611,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2654,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6064,-0.53,-170.3,725.8,-13.8,626,6069,0.00,2.15,0.00,0.000,4,0.000,0.034,1825,1195,3648,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6090,-0.53,-170.3,728.7,-13.9,627,6094,0.00,2.20,0.00,0.000,6,0.000,0.045,1816,2656,3649,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6400,-0.52,-170.3,768.9,-11.1,642,6403,0.00,1.77,0.00,0.000,4,0.000,0.050,1808,3818,3647,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6424,-0.50,-170.3,771.4,-10.8,643,6428,0.10,1.83,0.00,0.000,6,0.103,0.028,1847,2571,3646,0,0,0,0,0,0,26.33,26.57,28.83
$GC,6744,-0.53,-170.3,788.2,-3.9,659,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2569,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7042,-0.55,-170.3,800.4,-4.5,674,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2569,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7342,-0.57,-170.3,816.6,-5.6,689,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2569,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7644,-0.60,-170.3,833.9,-6.1,704,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2569,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7942,-0.63,-170.3,850.6,-5.2,719,7944,0.12,0.00,0.00,0.000,6,0.077,0.000,1769,2569,3638,0,0,0,0,0,0,26.65,28.83,28.83
$GC,8242,-0.58,-170.3,886.9,-13.0,734,8244,0.17,0.00,0.00,0.000,6,0.139,0.000,1820,2569,3636,0,0,0,0,0,0,26.29,28.83,28.83
$GC,8542,-0.58,-170.3,912.6,-8.3,749,8547,0.00,1.92,0.00,0.000,4,0.000,0.053,1811,3817,3635,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8574,-0.58,-170.3,914.3,-8.3,750,8583,0.00,1.80,0.00,0.000,6,0.000,0.030,1811,2575,3634,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8882,-0.57,-170.3,941.9,-8.2,766,8888,0.00,2.00,0.00,0.000,4,0.000,0.034,1811,1195,3633,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8922,-0.57,-170.3,945.3,-8.2,768,8928,0.00,2.22,0.00,0.000,6,0.000,0.045,1801,2657,3633,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9242,-0.55,-170.3,970.8,-7.4,784,9248,0.00,2.17,0.00,0.000,4,0.000,0.034,1801,1180,3632,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9291,-0.54,-170.3,973.4,-6.8,786,9303,0.15,2.25,0.00,0.000,6,0.128,0.047,1840,2657,3631,0,0,0,0,0,0,26.22,26.36,28.83
$GC,9604,-0.57,-170.3,985.1,-3.8,802,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2657,3630,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9740,begin apogee
$GC,9746,-0.20,0.0,990.7,-4.2,809,9897,0.28,0.10,144.30,1.182,6,0.097,0.103,1942,2530,2977,0,0,0,0,0,0,26.27,24.79,24.07
$STATE,9898,end apogee,CONTROL_FINISHED_OK
$STATE,9898,begin climb
$GC,9900,0.58,170.3,994.2,0.0,816,10072,0.70,2.20,161.25,1.174,4,0.046,0.052,2206,3809,2273,0,0,0,0,0,0,24.98,24.53,23.77
$GC,10099,0.46,170.3,975.6,18.0,826,10106,0.22,2.15,0.00,0.000,6,0.189,0.036,2161,2464,2260,0,0,0,0,0,0,24.78,24.96,28.83
$GC,10422,0.40,170.3,924.9,15.7,842,10427,0.00,2.12,0.00,0.000,4,0.000,0.050,2159,3805,2252,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10480,0.33,170.3,913.9,17.5,845,10487,0.20,2.08,0.00,0.000,6,0.173,0.035,2118,2465,2251,0,0,0,0,0,0,25.57,25.88,28.83
$GC,10802,0.30,170.3,870.6,13.4,861,10807,0.00,2.10,0.00,0.000,4,0.000,0.050,2118,3803,2249,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10870,0.26,170.3,861.8,14.2,864,10874,0.12,2.03,0.00,0.000,6,0.172,0.032,2097,2463,2249,0,0,0,0,0,0,25.85,26.11,28.83
$GC,11179,0.29,203.4,830.6,8.0,879,11217,0.00,2.17,30.80,1.027,4,0.000,0.048,2097,3809,2141,0,0,0,0,0,0,28.83,25.63,24.89
$GC,11271,0.32,232.1,823.8,8.1,883,11306,0.00,2.05,28.98,1.022,6,0.000,0.032,2107,2449,2026,0,0,0,0,0,0,28.83,25.79,24.59
$GC,11621,0.32,232.1,792.5,9.4,901,11626,0.00,2.10,0.00,0.000,4,0.000,0.043,2118,1069,2004,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11662,0.33,232.1,788.8,9.3,903,11668,0.00,2.25,0.00,0.000,6,0.000,0.044,2117,2520,2003,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11980,0.33,232.1,751.0,12.5,919,11986,0.00,2.03,0.00,0.000,4,0.000,0.050,2118,3813,2002,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12055,0.32,232.1,742.9,13.2,922,12062,0.00,2.05,0.00,0.000,6,0.000,0.034,2128,2462,2000,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12361,0.31,232.1,707.3,9.9,938,12367,0.00,2.10,0.00,0.000,4,0.000,0.050,2128,3810,1999,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12451,0.29,232.1,698.6,10.7,942,12455,0.12,2.03,0.00,0.000,6,0.165,0.034,2107,2457,1998,0,0,0,0,0,0,26.01,26.24,28.83
$GC,12760,0.33,255.0,673.5,8.3,957,12786,0.00,2.12,21.12,0.943,4,0.000,0.040,2117,1059,1932,0,0,0,0,0,0,28.83,25.96,25.20
$GC,12802,0.37,274.7,670.5,8.5,959,12826,0.00,2.25,19.27,0.946,6,0.000,0.043,2117,2525,1858,0,0,0,0,0,0,28.83,25.96,24.94
$GC,13131,0.38,274.7,639.4,9.9,975,13136,0.00,2.22,0.00,0.000,4,0.000,0.044,2127,1070,1835,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,18443,end climb,SURFACE_DEPTH_REACHED
$STATE,18444,begin surface coast
$FINISH,0.2,1.009949
$STATE,18472,end surface coast,CONTROL_FINISHED_OK
$STATE,18472,begin surface
$SM_CCo,18546,0.00,0.000,0,0,1192,438.35
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$IRIDIUM_FIX,2150.42,12320.14,301111,090915
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.17
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.8,25.118
$10V_AH,10.2,18.760
$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,16.150,152.150,579.050,0.000,0.000,23.381,40.273,217.146,0.000,0.000,15.624,4365.981,10269.353,726.888,3192.117,381.974,0.000,2271.738,0.000,2749.531,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,102.510,1181.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1111.365,2099.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,106872,1636
$CAP_FILE_SIZE,198510,0
$CFSIZE,260165632,212574208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.305,193.4,1
$GPS,301111,201707,2206.115,12315.776,35,1.1,35,-2.9