version: 66.10
glider: 169
mission: 5
dive: 211
start: 12 19 111 15 16 54
data:
$ID,169
$MISSION,5
$DIVE,211
$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,350
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,-10987.185
$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
$GPS1,191211,150836,2337.337,12244.429,60,1.1,60,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.8
$GPS2,191211,151634,2337.437,12244.425,15,2.7,34,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2328.085,12250.311
$TGT_RADIUS,1852.000
$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,153.3,20000,-14.9,-9.429
$D_GRID,3127
$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,-0.61,-194.6,0.0,0.0,0,91,0.00,0.00,-72.32,0.000,2,0.000,0.000,105,2679,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.61,-194.6,3.0,-5.3,13,125,6.82,2.33,-17.75,0.000,4,0.226,0.047,1814,1189,3774,0,0,0,0,0,0,25.25,26.01,26.47
$GC,163,-0.47,-194.6,28.9,-40.0,25,170,0.20,2.22,0.00,0.000,6,0.158,0.041,1857,2653,3775,0,0,0,0,0,0,25.60,25.99,28.83
$GC,475,-0.39,-194.6,127.7,-24.6,86,482,0.00,2.20,0.00,0.000,4,0.000,0.031,1867,1180,3774,0,0,0,0,0,0,28.83,26.17,28.83
$GC,525,-0.37,-194.6,138.2,-17.0,95,532,0.12,2.22,0.00,0.000,6,0.138,0.041,1894,2655,3774,0,0,0,0,0,0,25.96,26.13,28.83
$GC,837,-0.36,-194.6,180.0,-13.0,156,844,0.00,2.17,0.00,0.000,4,0.000,0.029,1894,1175,3775,0,0,0,0,0,0,28.83,26.28,28.83
$GC,873,-0.38,-194.6,184.1,-10.6,162,880,0.00,2.25,0.00,0.000,6,0.000,0.041,1885,2658,3775,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1183,-0.37,-194.6,225.6,-13.3,205,1192,0.00,2.15,0.00,0.000,4,0.000,0.029,1885,1188,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1217,-0.37,-194.6,229.3,-11.9,208,1224,0.00,2.22,0.00,0.000,6,0.000,0.041,1876,2657,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1526,-0.36,-194.6,268.2,-12.5,239,1529,0.00,1.77,0.00,0.000,4,0.000,0.047,1867,3805,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1557,-0.36,-194.6,271.9,-11.8,242,1560,0.00,1.80,0.00,0.000,6,0.000,0.024,1866,2561,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1868,-0.35,-194.6,307.4,-12.5,273,1878,0.10,1.95,0.00,0.000,4,0.150,0.046,1886,3819,3774,0,0,0,0,0,0,26.44,26.22,28.83
$GC,1901,-0.36,-194.6,310.7,-10.6,276,1905,0.00,1.80,0.00,0.000,6,0.000,0.027,1886,2571,3774,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2214,-0.39,-194.6,335.3,-7.3,307,2223,0.00,1.98,0.00,0.000,4,0.000,0.030,1886,1186,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2237,-0.43,-194.6,337.0,-7.2,309,2241,0.00,2.22,0.00,0.000,6,0.000,0.039,1880,2658,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2549,-0.46,-194.6,362.7,-8.3,340,2552,0.00,1.77,0.00,0.000,4,0.000,0.046,1871,3822,3773,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2591,-0.50,-194.6,366.2,-8.5,344,2595,0.00,1.80,0.00,0.000,6,0.000,0.025,1871,2563,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2903,-0.53,-194.6,391.0,-7.4,375,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2555,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.56,-194.6,411.5,-7.7,405,3214,0.12,1.95,0.00,0.000,4,0.075,0.042,1771,3819,3770,0,0,0,0,0,0,26.62,26.25,28.83
$GC,3250,-0.54,-194.6,417.5,-13.6,409,3258,0.15,1.83,0.00,0.000,6,0.114,0.024,1837,2565,3770,0,0,0,0,0,0,26.00,26.46,28.83
$GC,3558,-0.53,-194.6,458.6,-13.5,440,3566,0.00,2.03,0.00,0.000,4,0.000,0.031,1838,1180,3768,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3589,-0.53,-194.6,462.6,-13.2,443,3598,0.00,2.22,0.00,0.000,6,0.000,0.040,1828,2657,3768,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3901,-0.52,-194.6,500.8,-11.0,474,3909,0.00,2.15,0.00,0.000,4,0.000,0.028,1828,1182,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3932,-0.52,-194.6,504.2,-10.4,477,3941,0.00,2.22,0.00,0.000,6,0.000,0.040,1819,2657,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4242,-0.50,-194.6,540.6,-12.1,508,4246,0.00,1.77,0.00,0.000,4,0.000,0.045,1810,3808,3765,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4267,-0.48,-194.6,543.1,-12.1,510,4274,0.15,1.77,0.00,0.000,6,0.116,0.024,1858,2559,3764,0,0,0,0,0,0,26.17,26.47,28.83
$GC,4574,-0.51,-194.6,565.8,-7.5,541,4578,0.00,2.03,0.00,0.000,4,0.000,0.031,1858,1170,3763,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4599,-0.55,-194.6,567.4,-7.3,543,4606,0.00,2.25,0.00,0.000,6,0.000,0.042,1853,2654,3763,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4908,-0.57,-194.6,589.4,-6.5,574,4911,0.00,1.77,0.00,0.000,4,0.000,0.049,1844,3824,3761,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4949,-0.61,-194.6,592.2,-6.7,578,4953,0.00,1.83,0.00,0.000,6,0.000,0.026,1844,2561,3760,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5273,-0.63,-194.6,615.4,-7.7,600,5279,0.12,1.98,0.00,0.000,4,0.077,0.028,1758,1185,3758,0,0,0,0,0,0,26.60,26.32,28.83
$GC,5324,-0.63,-194.6,620.3,-9.6,602,5332,0.20,2.22,0.00,0.000,6,0.128,0.041,1809,2655,3757,0,0,0,0,0,0,25.94,26.22,28.83
$GC,5632,-0.62,-194.6,659.0,-12.0,618,5638,0.00,2.15,0.00,0.000,4,0.000,0.030,1809,1179,3755,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5680,-0.62,-194.6,663.5,-11.9,620,5684,0.00,2.22,0.00,0.000,6,0.000,0.041,1799,2656,3755,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5989,-0.59,-194.6,703.3,-12.9,635,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2656,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6288,-0.58,-194.6,739.0,-11.4,650,6293,0.00,2.12,0.00,0.000,4,0.000,0.032,1799,1192,3751,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6347,-0.58,-194.6,745.3,-10.8,653,6353,0.12,2.22,0.00,0.000,6,0.131,0.041,1828,2657,3751,0,0,0,0,0,0,26.03,26.18,28.83
$GC,6670,-0.59,-194.6,771.9,-8.0,669,6676,0.00,2.17,0.00,0.000,4,0.000,0.030,1828,1179,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6710,-0.61,-194.6,775.0,-7.7,671,6715,0.00,2.20,0.00,0.000,6,0.000,0.043,1820,2649,3748,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7031,-0.62,-194.6,801.5,-8.5,687,7034,0.00,1.77,0.00,0.000,4,0.000,0.050,1811,3814,3746,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7056,-0.63,-194.6,803.5,-8.6,688,7060,0.00,1.83,0.00,0.000,6,0.000,0.027,1811,2568,3745,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7372,-0.63,-194.6,834.3,-9.7,704,7378,0.00,2.05,0.00,0.000,4,0.000,0.032,1811,1173,3744,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7392,-0.63,-194.6,836.3,-9.6,705,7398,0.00,2.25,0.00,0.000,6,0.000,0.043,1802,2653,3744,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7713,-0.63,-194.6,869.6,-10.7,721,7718,0.00,2.15,0.00,0.000,4,0.000,0.032,1802,1185,3742,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7760,-0.63,-194.6,873.8,-10.6,723,7764,0.00,2.25,0.00,0.000,6,0.000,0.044,1793,2651,3742,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8069,-0.61,-194.6,909.0,-11.5,738,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2651,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-0.60,-194.6,943.4,-11.5,753,8374,0.00,2.17,0.00,0.000,4,0.000,0.032,1792,1184,3738,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8469,-0.61,-194.6,953.6,-9.8,758,8474,0.00,2.22,0.00,0.000,6,0.000,0.045,1782,2647,3738,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8790,-0.59,-194.6,989.5,-11.2,774,8796,0.12,2.17,0.00,0.000,4,0.148,0.030,1826,1187,3736,0,0,0,0,0,0,26.25,26.16,28.83
$STATE,8807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8807,begin apogee
$GC,8814,-0.20,0.0,991.7,-11.1,775,8991,0.35,0.08,165.52,1.184,6,0.089,0.111,1948,2464,2968,0,0,0,0,0,0,26.01,24.72,23.81
$STATE,8992,end apogee,CONTROL_FINISHED_OK
$STATE,8993,begin climb
$GC,8995,0.61,194.6,1000.3,0.0,784,9191,0.70,2.33,182.32,1.187,4,0.044,0.037,2230,1069,2169,0,0,0,0,0,0,25.01,24.25,23.27
$GC,9323,0.54,194.6,965.1,16.8,800,9333,0.17,2.30,0.00,0.000,6,0.168,0.041,2185,2522,2154,0,0,0,0,0,0,25.10,25.40,28.83
$GC,9634,0.48,194.6,915.0,15.4,816,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2522,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9936,0.42,194.6,865.4,16.6,831,9942,0.12,1.98,0.00,0.000,4,0.184,0.046,2148,3808,2150,0,0,0,0,0,0,25.84,25.96,28.83
$GC,10028,0.37,194.6,852.4,16.0,835,10035,0.00,2.03,0.00,0.000,6,0.000,0.031,2158,2464,2149,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10337,0.33,194.6,809.7,12.8,851,10343,0.12,2.10,0.00,0.000,4,0.182,0.045,2121,3811,2147,0,0,0,0,0,0,25.92,26.01,28.83
$GC,10384,0.30,194.6,804.5,12.7,853,10388,0.00,2.03,0.00,0.000,6,0.000,0.031,2131,2453,2147,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10692,0.28,194.6,773.3,9.5,868,10696,0.00,2.12,0.00,0.000,4,0.000,0.047,2132,3811,2146,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10778,0.26,194.6,763.8,11.4,872,10785,0.17,2.03,0.00,0.000,6,0.155,0.031,2095,2456,2146,0,0,0,0,0,0,25.75,26.17,28.83
$GC,11096,0.37,270.8,740.6,6.9,888,11177,0.10,2.22,73.70,0.975,4,0.093,0.037,2170,1058,1864,0,0,0,0,0,0,26.45,25.32,24.37
$GC,11217,0.35,270.8,726.7,12.4,894,11222,0.15,2.30,0.00,0.000,6,0.132,0.042,2128,2523,1851,0,0,0,0,0,0,25.34,25.51,28.83
$GC,11537,0.37,274.2,696.5,9.3,910,11542,0.00,2.00,0.00,0.000,4,0.000,0.048,2128,3815,1847,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11575,0.37,274.2,692.1,10.1,912,11581,0.00,2.05,0.00,0.000,6,0.000,0.029,2139,2457,1845,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11895,0.37,274.2,659.0,10.5,928,11900,0.00,2.08,0.00,0.000,4,0.000,0.035,2149,1057,1843,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11929,0.38,274.2,657.0,10.4,929,11936,0.00,2.25,0.00,0.000,6,0.000,0.041,2149,2523,1843,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,16793,end climb,SURFACE_DEPTH_REACHED
$STATE,16794,begin surface coast
$FINISH,0.2,0.999256
$STATE,16817,end surface coast,CONTROL_FINISHED_OK
$STATE,16817,begin surface
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$IRIDIUM_FIX,2326.22,12242.70,191211,101045
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.3,45.661
$10V_AH,10.1,29.519
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.750,179.875,689.625,0.000,0.000,29.194,37.225,252.396,0.000,0.000,36.341,3597.019,9443.880,772.695,3152.858,372.877,0.000,2317.726,0.000,2655.539,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,110.925,1187.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1030.953,1961.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,100273,1522
$CAP_FILE_SIZE,195044,0
$CFSIZE,260165632,203526144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191211,200007,2336.205,12246.633,73,1.5,73,-3.3