version: 66.10
glider: 169
mission: 5
dive: 216
start: 12 20 111 15 47 4
data:
$ID,169
$MISSION,5
$DIVE,216
$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,-10993.473
$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
$GPS1,201211,153931,2331.010,12256.234,39,1.0,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.8
$GPS2,201211,154644,2331.065,12256.250,13,1.3,13,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2321.712,12302.132
$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,153.2,20000,-14.9,-9.429
$D_GRID,3072
$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,-72.12,0.000,2,0.000,0.000,117,2557,3047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.61,-194.6,3.5,-7.4,13,124,6.68,2.10,-14.02,0.000,4,0.222,0.043,1812,1169,3776,0,0,0,0,0,0,25.27,26.08,26.48
$GC,162,-0.48,-194.6,34.7,-42.6,25,169,0.17,2.28,0.00,0.000,6,0.152,0.045,1849,2651,3776,0,0,0,0,0,0,25.66,25.96,28.83
$GC,474,-0.38,-194.6,141.9,-28.5,86,481,0.12,2.17,0.00,0.000,4,0.181,0.028,1897,1184,3776,0,0,0,0,0,0,26.01,26.18,28.83
$GC,515,-0.36,-194.6,150.8,-18.0,93,522,0.00,2.25,0.00,0.000,6,0.000,0.043,1886,2655,3776,0,0,0,0,0,0,28.83,26.10,28.83
$GC,824,-0.33,-194.6,197.4,-14.6,154,831,0.00,2.17,0.00,0.000,4,0.000,0.030,1887,1180,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,852,-0.32,-194.6,200.7,-13.4,158,859,0.10,2.22,0.00,0.000,6,0.145,0.041,1907,2654,3776,0,0,0,0,0,0,26.06,26.18,28.83
$GC,1162,-0.34,-194.6,225.4,-8.3,189,1165,0.00,1.77,0.00,0.000,4,0.000,0.047,1898,3814,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1203,-0.39,-194.6,228.8,-7.8,193,1207,0.00,1.80,0.00,0.000,6,0.000,0.025,1898,2564,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1517,-0.42,-194.6,254.4,-8.4,224,1526,0.00,1.95,0.00,0.000,4,0.000,0.044,1889,3822,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1539,-0.46,-194.6,256.6,-8.8,226,1543,0.00,1.83,0.00,0.000,6,0.000,0.024,1889,2559,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1851,-0.49,-194.6,286.0,-8.6,257,1860,0.10,2.00,0.00,0.000,4,0.090,0.027,1815,1180,3776,0,0,0,0,0,0,26.61,26.34,28.83
$GC,1874,-0.50,-194.6,288.6,-10.1,259,1883,0.10,2.20,0.00,0.000,6,0.113,0.039,1842,2655,3776,0,0,0,0,0,0,26.04,26.27,28.83
$GC,2183,-0.46,-194.6,343.1,-16.8,290,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2656,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2487,-0.43,-194.6,389.3,-14.9,320,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2655,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-0.42,-194.6,431.1,-11.7,351,2804,0.10,1.77,0.00,0.000,4,0.161,0.046,1863,3820,3774,0,0,0,0,0,0,26.43,26.22,28.83
$GC,2827,-0.43,-194.6,434.5,-10.5,354,2831,0.00,1.80,0.00,0.000,6,0.000,0.026,1862,2572,3774,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3141,-0.46,-194.6,458.6,-7.8,385,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2562,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3450,-0.49,-194.6,482.5,-7.8,416,3459,0.00,2.00,0.00,0.000,4,0.000,0.031,1863,1188,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3472,-0.52,-194.6,484.3,-7.9,418,3481,0.00,2.20,0.00,0.000,6,0.000,0.041,1861,2653,3771,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3782,-0.55,-194.6,507.5,-7.9,449,3786,0.00,2.15,0.00,0.000,4,0.000,0.030,1861,1184,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3804,-0.59,-194.6,509.1,-7.5,451,3814,0.12,2.20,0.00,0.000,6,0.080,0.041,1789,2654,3769,0,0,0,0,0,0,26.27,26.25,28.83
$GC,4114,-0.54,-194.6,558.1,-16.7,482,4118,0.12,1.77,0.00,0.000,4,0.146,0.045,1822,3815,3767,0,0,0,0,0,0,26.31,26.20,28.83
$GC,4165,-0.54,-194.6,564.7,-11.6,487,4169,0.00,1.83,0.00,0.000,6,0.000,0.026,1822,2563,3766,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4478,-0.54,-194.6,596.4,-9.7,518,4486,0.00,2.00,0.00,0.000,4,0.000,0.031,1822,1180,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4503,-0.54,-194.6,598.6,-9.8,520,4509,0.00,2.25,0.00,0.000,6,0.000,0.042,1813,2658,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4820,-0.53,-194.6,632.2,-11.1,537,4824,0.00,2.17,0.00,0.000,4,0.000,0.029,1813,1177,3762,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4865,-0.53,-194.6,636.8,-10.8,539,4870,0.12,2.22,0.00,0.000,6,0.125,0.041,1845,2656,3762,0,0,0,0,0,0,26.08,26.21,28.83
$GC,5180,-0.56,-194.6,663.7,-8.8,555,5185,0.00,2.17,0.00,0.000,4,0.000,0.031,1845,1179,3759,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5207,-0.59,-194.6,665.5,-8.7,556,5211,0.00,2.25,0.00,0.000,6,0.000,0.042,1838,2655,3759,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5514,-0.61,-194.6,692.6,-8.2,571,5517,0.00,1.77,0.00,0.000,4,0.000,0.049,1830,3821,3757,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5544,-0.63,-194.6,694.5,-8.2,572,5548,0.00,1.83,0.00,0.000,6,0.000,0.028,1830,2567,3756,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5852,-0.65,-194.6,721.1,-8.3,587,5858,0.00,2.03,0.00,0.000,4,0.000,0.032,1830,1185,3754,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5879,-0.67,-194.6,722.9,-8.3,588,5883,0.00,2.25,0.00,0.000,6,0.000,0.042,1825,2659,3755,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6187,-0.68,-194.6,748.6,-8.0,603,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2659,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6486,-0.69,-194.6,771.4,-7.1,618,6492,0.12,2.15,0.00,0.000,4,0.080,0.030,1744,1189,3750,0,0,0,0,0,0,26.57,26.22,28.83
$GC,6541,-0.69,-194.6,775.6,-8.7,620,6549,0.17,2.25,0.00,0.000,6,0.139,0.043,1784,2658,3750,0,0,0,0,0,0,25.84,26.14,28.83
$GC,6846,-0.67,-194.6,812.3,-11.3,636,6852,0.00,2.17,0.00,0.000,4,0.000,0.031,1785,1183,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6907,-0.66,-194.6,818.7,-11.0,639,6912,0.00,2.22,0.00,0.000,6,0.000,0.044,1774,2653,3747,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7227,-0.63,-194.6,860.5,-13.7,655,7233,0.12,2.17,0.00,0.000,4,0.151,0.031,1817,1188,3745,0,0,0,0,0,0,26.25,26.19,28.83
$GC,7285,-0.63,-194.6,866.7,-11.2,658,7291,0.00,2.28,0.00,0.000,6,0.000,0.044,1812,2658,3744,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7607,-0.63,-194.6,897.8,-9.6,674,7610,0.00,1.77,0.00,0.000,4,0.000,0.050,1804,3818,3742,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7648,-0.64,-194.6,902.0,-9.8,676,7654,0.00,1.85,0.00,0.000,6,0.000,0.028,1803,2560,3742,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7969,-0.64,-194.6,932.7,-9.4,692,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2560,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8268,-0.64,-194.6,961.7,-9.7,707,8274,0.00,2.00,0.00,0.000,4,0.000,0.052,1794,3821,3738,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8296,-0.64,-194.6,963.7,-9.8,708,8300,0.00,1.85,0.00,0.000,6,0.000,0.030,1794,2574,3738,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,8546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8546,begin apogee
$GC,8553,-0.20,0.0,991.9,-11.2,721,8730,0.43,0.12,165.77,1.187,6,0.097,0.086,1944,2533,2969,0,0,0,0,0,0,25.83,24.74,23.78
$STATE,8731,end apogee,CONTROL_FINISHED_OK
$STATE,8731,begin climb
$GC,8733,0.61,194.6,1002.3,0.0,730,8931,0.70,2.25,183.07,1.191,4,0.047,0.049,2214,3809,2171,0,0,0,0,0,0,24.98,24.19,23.23
$GC,8994,0.51,194.6,976.4,20.3,743,9001,0.17,2.15,0.00,0.000,6,0.186,0.037,2182,2467,2161,0,0,0,0,0,0,24.73,25.03,28.83
$GC,9315,0.45,194.6,925.4,15.9,759,9321,0.00,2.12,0.00,0.000,4,0.000,0.048,2181,3803,2155,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9443,0.38,194.6,903.7,18.2,765,9448,0.20,2.05,0.00,0.000,6,0.165,0.031,2138,2461,2154,0,0,0,0,0,0,25.57,25.99,28.83
$GC,9750,0.36,194.6,865.0,11.5,780,9754,0.00,2.12,0.00,0.000,4,0.000,0.047,2138,3813,2152,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9795,0.33,194.6,859.3,12.3,782,9800,0.12,2.03,0.00,0.000,6,0.164,0.031,2117,2466,2151,0,0,0,0,0,0,25.79,26.10,28.83
$GC,10108,0.33,194.6,828.4,9.5,798,10113,0.00,2.10,0.00,0.000,4,0.000,0.037,2127,1051,2150,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10129,0.33,194.6,826.5,9.5,799,10133,0.00,2.28,0.00,0.000,6,0.000,0.041,2126,2532,2149,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10447,0.32,194.6,794.3,10.2,815,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2532,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10748,0.30,194.6,762.5,10.5,830,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2532,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11048,0.30,194.6,731.9,9.8,845,11053,0.00,2.03,0.00,0.000,4,0.000,0.050,2127,3817,2149,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11061,0.29,194.6,731.9,9.8,845,11068,0.12,2.05,0.00,0.000,6,0.161,0.032,2105,2463,2149,0,0,0,0,0,0,25.86,26.18,28.83
$GC,11369,0.36,244.0,705.8,7.8,861,11420,0.00,2.17,46.50,0.975,4,0.000,0.047,2105,3813,1976,0,0,0,0,0,0,28.83,25.59,24.60
$GC,11453,0.41,282.1,699.6,8.2,864,11497,0.00,2.08,38.78,0.949,6,0.000,0.031,2115,2460,1827,0,0,0,0,0,0,28.83,25.69,24.34
$GC,11798,0.47,306.7,668.7,8.6,881,11825,0.12,0.00,23.62,0.947,6,0.076,0.000,2195,2460,1727,0,0,0,0,0,0,26.08,28.83,24.62
$GC,12140,0.44,306.7,613.8,16.9,898,12146,0.12,2.15,0.00,0.000,4,0.157,0.046,2156,3803,1702,0,0,0,0,0,0,25.82,25.87,28.83
$GC,12212,0.42,306.7,604.7,15.5,901,12219,0.00,2.05,0.00,0.000,6,0.000,0.031,2166,2458,1701,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12519,0.42,306.7,564.9,12.2,931,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2456,1700,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14269,0.54,374.3,360.2,12.7,1105,14278,0.00,2.15,0.00,0.000,4,0.000,0.046,2187,3817,1429,0,0,0,0,0,0,28.83,25.93,28.83
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$STATE,17267,end climb,SURFACE_DEPTH_REACHED
$STATE,17267,begin surface coast
$FINISH,0.4,1.023269
$STATE,17288,end surface coast,CONTROL_FINISHED_OK
$STATE,17288,begin surface
$SM_CCo,17362,0.00,0.000,0,0,1206,434.92
$SM_GC,1.18,5.35,0.17,0.00,0.034,0.068,0.000,121,2680,1206,-5.78,-0.42,434.92,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12249.90,201211,101026
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.17
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.2,46.581
$10V_AH,10.2,30.090
$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,16.350,154.500,567.325,0.000,0.000,27.704,17.238,251.542,0.000,0.000,14.749,3714.971,9907.745,674.963,3097.405,370.287,0.000,2176.770,0.000,2643.003,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,86.445,1191.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1063.801,2007.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324560
$DATA_FILE_SIZE,103685,1567
$CAP_FILE_SIZE,191652,0
$CFSIZE,260165632,203042816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201211,203730,2329.057,12258.528,37,1.3,37,-3.2