version: 66.10
glider: 169
mission: 5
dive: 184
start: 12 14 111 5 17 9
data:
$ID,169
$MISSION,5
$DIVE,184
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,1
$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,-10951.405
$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,400
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$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
$GPS1,141211,051007,2316.695,12132.170,37,1.2,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-63.7
$GPS2,141211,051644,2316.896,12132.162,12,1.5,12,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,52.2,249623,-16.1,-11.786
$D_GRID,870
$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,-0.70,-243.3,0.0,0.0,0,119,0.00,0.00,-99.28,0.000,2,0.000,0.000,117,2664,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.70,-243.3,3.7,-9.3,17,152,6.55,2.25,-15.60,0.000,4,0.223,0.039,1786,1167,3962,0,0,0,0,0,0,25.37,26.08,26.44
$GC,191,-0.64,-243.3,32.5,-29.4,28,198,0.00,2.28,0.00,0.000,6,0.000,0.044,1775,2651,3962,0,0,0,0,0,0,28.83,25.99,28.83
$GC,510,-0.54,-243.3,138.0,-27.9,89,517,0.17,1.77,0.00,0.000,4,0.163,0.047,1821,3817,3962,0,0,0,0,0,0,25.91,26.11,28.83
$GC,624,-0.54,-243.3,158.9,-12.3,110,630,0.00,1.80,0.00,0.000,6,0.000,0.024,1825,2569,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,940,-0.52,-243.3,211.7,-17.8,166,949,0.00,1.95,0.00,0.000,4,0.000,0.046,1816,3823,3964,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1035,-0.54,-243.3,224.5,-10.6,175,1039,0.00,1.83,0.00,0.000,6,0.000,0.024,1816,2569,3964,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1347,-0.51,-243.3,266.3,-15.9,206,1356,0.00,2.00,0.00,0.000,4,0.000,0.029,1816,1175,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1371,-0.49,-243.3,269.8,-16.0,208,1379,0.15,2.25,0.00,0.000,6,0.123,0.041,1855,2658,3963,0,0,0,0,0,0,26.10,26.26,28.83
$GC,1680,-0.52,-243.3,300.0,-8.4,239,1684,0.00,2.17,0.00,0.000,4,0.000,0.029,1855,1174,3961,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1705,-0.57,-243.3,301.8,-8.0,241,1712,0.00,2.25,0.00,0.000,6,0.000,0.041,1855,2659,3961,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2015,-0.61,-243.3,323.8,-7.6,272,2024,0.12,1.75,0.00,0.000,4,0.076,0.046,1751,3817,3959,0,0,0,0,0,0,26.56,26.24,28.83
$GC,2048,-0.62,-243.3,328.0,-10.4,275,2060,0.17,1.80,0.00,0.000,6,0.133,0.024,1806,2561,3959,0,0,0,0,0,0,26.06,26.44,28.83
$GC,2358,-0.60,-243.3,377.4,-15.6,306,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2561,3956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2663,-0.58,-243.3,429.3,-16.7,336,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2561,3954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.56,-243.3,475.4,-13.3,367,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2561,3952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.55,-243.3,515.8,-12.2,398,3289,0.00,1.98,0.00,0.000,4,0.000,0.048,1797,3816,3949,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3312,-0.54,-243.3,520.4,-12.9,401,3323,0.12,1.77,0.00,0.000,6,0.123,0.026,1836,2563,3949,0,0,0,0,0,0,26.20,26.44,28.83
$GC,3626,-0.58,-243.3,545.4,-7.6,432,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2562,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-0.62,-243.3,570.8,-7.7,463,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2562,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4246,-0.66,-243.3,595.0,-7.4,494,4252,0.12,0.00,0.00,0.000,6,0.076,0.000,1746,2562,3943,0,0,0,0,0,0,26.58,28.83,28.83
$GC,4563,-0.59,-243.3,662.2,-20.6,512,4565,0.25,0.00,0.00,0.000,6,0.140,0.000,1820,2562,3942,0,0,0,0,0,0,25.96,28.83,28.83
$GC,4863,-0.61,-243.3,698.3,-9.9,527,4869,0.00,1.98,0.00,0.000,4,0.000,0.054,1812,3809,3940,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4892,-0.63,-243.3,700.6,-10.1,528,4895,0.00,1.80,0.00,0.000,6,0.000,0.028,1812,2573,3940,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5203,-0.64,-243.3,742.2,-13.0,544,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2563,3938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5503,-0.66,-243.3,780.0,-11.1,559,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2563,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5804,-0.68,-243.3,812.4,-10.4,574,5809,0.00,2.03,0.00,0.000,4,0.000,0.034,1811,1187,3934,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5826,-0.70,-243.3,814.5,-10.4,575,5830,0.00,2.25,0.00,0.000,6,0.000,0.043,1804,2655,3933,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6139,-0.71,-243.3,846.9,-10.3,591,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2655,3932,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6396,begin apogee
$GC,6401,-0.20,0.0,871.4,-9.2,604,6612,0.40,0.10,202.43,1.096,6,0.100,0.057,1945,2531,2969,0,0,0,0,0,0,25.93,24.70,23.89
$STATE,6613,end apogee,CONTROL_FINISHED_OK
$STATE,6613,begin climb
$GC,6615,0.70,243.3,881.5,0.0,614,6842,0.77,2.20,218.30,1.097,4,0.047,0.048,2240,3811,1979,0,0,0,0,0,0,24.90,24.20,23.38
$GC,6891,0.59,243.3,849.7,24.3,628,6899,0.20,2.17,0.00,0.000,6,0.196,0.034,2204,2465,1961,0,0,0,0,0,0,24.56,24.85,28.83
$GC,7198,0.52,243.3,783.4,19.8,644,7201,0.00,2.15,0.00,0.000,4,0.000,0.047,2204,3820,1955,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7233,0.44,243.3,778.7,19.6,645,7240,0.22,2.08,0.00,0.000,6,0.172,0.031,2154,2464,1954,0,0,0,0,0,0,25.47,25.86,28.83
$GC,7539,0.41,243.3,730.1,13.8,661,7545,0.00,2.12,0.00,0.000,4,0.000,0.047,2154,3823,1953,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7561,0.38,243.3,727.1,13.7,662,7566,0.12,2.08,0.00,0.000,6,0.174,0.030,2134,2457,1953,0,0,0,0,0,0,25.75,26.06,28.83
$GC,7875,0.38,244.7,687.6,11.7,678,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2456,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,0.38,244.7,650.4,13.2,693,8180,0.00,2.12,0.00,0.000,4,0.000,0.048,2133,3813,1950,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8216,0.37,244.7,644.9,13.5,695,8220,0.00,2.05,0.00,0.000,6,0.000,0.030,2144,2453,1950,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8535,0.36,244.7,604.4,11.9,711,8540,0.00,2.12,0.00,0.000,4,0.000,0.047,2144,3808,1950,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8590,0.34,244.7,597.4,13.0,714,8598,0.12,2.03,0.00,0.000,6,0.167,0.032,2123,2466,1949,0,0,0,0,0,0,25.88,26.20,28.83
$GC,8897,0.40,283.9,565.7,10.5,745,8937,0.00,2.20,29.35,0.893,4,0.000,0.037,2133,1058,1821,0,0,0,0,1,0,28.83,25.87,24.85
$GC,8963,0.47,319.4,558.9,10.6,751,9012,0.00,2.28,34.28,0.956,6,0.000,0.041,2133,2524,1686,0,0,0,0,1,0,28.83,25.84,24.41
$GC,9310,0.53,352.2,518.5,10.7,786,9361,0.12,2.08,41.22,0.859,4,0.077,0.049,2208,3811,1530,0,0,0,0,0,0,26.08,25.43,24.64
$GC,9399,0.48,352.2,502.7,21.6,794,9406,0.20,2.08,0.00,0.000,6,0.163,0.031,2164,2467,1521,0,0,0,0,0,0,25.34,25.61,28.83
$GC,9704,0.48,352.2,456.6,13.9,825,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2465,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10006,0.48,352.2,416.5,13.1,855,10017,0.00,2.10,0.00,0.000,4,0.000,0.047,2164,3804,1517,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10042,0.48,352.2,411.6,13.8,858,10049,0.00,2.03,0.00,0.000,6,0.000,0.030,2174,2461,1516,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10350,0.47,352.2,364.9,15.7,889,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2459,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10650,0.47,352.2,322.5,14.2,919,10661,0.00,2.08,0.00,0.000,4,0.000,0.048,2174,3804,1515,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10715,0.47,352.2,312.6,15.1,925,10724,0.00,2.03,0.00,0.000,6,0.000,0.029,2185,2455,1514,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11026,0.46,352.2,265.5,15.9,956,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2453,1514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11328,0.46,352.2,218.8,13.3,986,11337,0.00,2.12,0.00,0.000,4,0.000,0.047,2185,3815,1514,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11363,0.46,352.2,213.7,14.3,989,11370,0.12,2.03,0.00,0.000,6,0.159,0.030,2162,2463,1514,0,0,0,0,0,0,25.97,26.27,28.83
$GC,11677,0.66,483.0,186.9,7.5,1036,11796,0.12,2.25,111.22,0.652,4,0.079,0.046,2246,3815,997,0,0,0,0,0,0,26.49,25.35,24.70
$GC,11848,0.66,483.0,158.6,17.9,1064,11856,0.12,2.08,0.00,0.000,6,0.161,0.030,2225,2465,983,0,0,0,0,0,0,25.37,25.58,28.83
$GC,12168,0.70,495.4,114.7,11.4,1125,12189,0.00,2.17,9.32,0.580,4,0.000,0.037,2235,1065,947,0,0,0,0,0,0,28.83,25.94,25.10
$GC,12202,0.86,581.9,111.1,9.0,1130,12304,0.15,2.22,94.60,0.567,6,0.067,0.036,2331,2529,603,0,0,0,0,0,0,25.96,25.93,24.73
$GC,12615,0.84,581.9,33.1,19.0,1206,12623,0.15,2.03,0.00,0.000,4,0.155,0.044,2283,3818,584,0,0,0,0,0,0,25.75,25.89,28.83
$GC,12667,0.89,581.9,25.2,13.0,1215,12676,0.00,2.05,0.00,0.000,6,0.000,0.028,2293,2459,584,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,12845,end climb,SURFACE_DEPTH_REACHED
$STATE,12846,begin surface coast
$FINISH,-0.0,1.019443
$STATE,12880,end surface coast,CONTROL_FINISHED_OK
$STATE,12880,begin surface
$SM_CCo,12956,0.00,0.000,0,0,583,587.74
$SM_GC,0.72,5.57,0.30,0.00,0.039,0.052,0.000,135,2670,583,-5.78,-0.42,587.74,0,0,0,0,0,0
$IRIDIUM_FIX,2309.79,12148.13,141211,010128
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,470.1,0.0
$24V_AH,23.4,40.069
$10V_AH,10.1,26.455
$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,16.100,91.500,740.725,0.000,0.000,23.498,43.705,208.908,0.250,0.000,13.806,3222.406,6596.027,797.858,2442.641,279.549,0.000,1993.817,0.000,2040.701,0.000,2.872,0.000
$DEVICE_MAMPS,223.380,56.610,1097.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.323,1596.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324380
$DATA_FILE_SIZE,83644,1255
$CAP_FILE_SIZE,140303,0
$CFSIZE,260165632,206176256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.198,213.2,1
$GPS,141211,085406,2318.170,12134.233,33,1.1,33,-3.1