version: 66.10
glider: 169
mission: 5
dive: 226
start: 12 22 111 16 32 10
data:
$ID,169
$MISSION,5
$DIVE,226
$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,-9
$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,50
$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,-11006.061
$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
$GPS1,221211,162330,2329.363,12327.664,35,1.2,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.6
$GPS2,221211,163150,2329.276,12327.646,12,1.7,12,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2336.217,12336.674
$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,53.3,20000,-14.9,-9.429
$D_GRID,3378
$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,-194.6,0.0,0.0,0,96,0.00,0.00,-77.32,0.000,2,0.000,0.000,116,2681,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.61,-194.6,3.1,-6.2,14,130,6.72,2.28,-16.38,0.000,4,0.223,0.042,1810,1182,3773,0,0,0,0,0,0,25.23,26.02,26.47
$GC,178,-0.52,-194.6,32.1,-31.4,28,185,0.15,2.28,0.00,0.000,6,0.154,0.044,1840,2654,3773,0,0,0,0,0,0,25.72,25.98,28.83
$GC,490,-0.40,-194.6,140.8,-32.7,89,497,0.12,2.17,0.00,0.000,4,0.184,0.027,1887,1179,3773,0,0,0,0,0,0,26.01,26.22,28.83
$GC,525,-0.36,-194.6,149.9,-22.6,95,532,0.00,2.25,0.00,0.000,6,0.000,0.041,1876,2657,3773,0,0,0,0,0,0,28.83,26.13,28.83
$GC,841,-0.32,-194.6,207.6,-16.6,153,845,0.00,1.75,0.00,0.000,4,0.000,0.046,1867,3814,3773,0,0,0,0,0,0,28.83,26.18,28.83
$GC,875,-0.28,-194.6,213.0,-17.2,156,882,0.12,1.83,0.00,0.000,6,0.107,0.023,1924,2557,3773,0,0,0,0,0,0,26.02,26.41,28.83
$GC,1184,-0.34,-194.6,233.1,-5.2,187,1193,0.00,1.98,0.00,0.000,4,0.000,0.028,1925,1179,3773,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1211,-0.41,-194.6,234.3,-5.2,189,1219,0.15,2.20,0.00,0.000,6,0.074,0.037,1854,2657,3773,0,0,0,0,0,0,26.27,26.27,28.83
$GC,1517,-0.36,-194.6,281.2,-16.6,220,1526,0.12,1.75,0.00,0.000,4,0.150,0.043,1887,3818,3773,0,0,0,0,0,0,26.27,26.24,28.83
$GC,1543,-0.33,-194.6,284.3,-15.6,222,1549,0.00,1.80,0.00,0.000,6,0.000,0.024,1887,2558,3773,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1850,-0.36,-194.6,310.2,-8.9,253,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2557,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-0.39,-194.6,334.5,-8.0,284,2170,0.00,1.98,0.00,0.000,4,0.000,0.045,1878,3825,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2203,-0.44,-194.6,337.9,-7.7,288,2212,0.00,1.83,0.00,0.000,6,0.000,0.024,1877,2557,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2513,-0.46,-194.6,364.5,-8.0,319,2522,0.00,1.92,0.00,0.000,4,0.000,0.043,1870,3815,3771,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2545,-0.50,-194.6,366.9,-7.6,322,2548,0.00,1.80,0.00,0.000,6,0.000,0.025,1869,2562,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2858,-0.52,-194.6,390.4,-7.2,353,2867,0.00,1.95,0.00,0.000,4,0.000,0.028,1869,1181,3771,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2880,-0.55,-194.6,392.1,-7.0,355,2884,0.00,2.20,0.00,0.000,6,0.000,0.039,1862,2656,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3192,-0.57,-194.6,417.6,-8.7,386,3194,0.10,0.00,0.00,0.000,6,0.091,0.000,1788,2657,3770,0,0,0,0,0,0,26.63,28.83,28.83
$GC,3491,-0.51,-194.6,473.9,-17.0,416,3501,0.15,2.17,0.00,0.000,4,0.146,0.027,1839,1170,3769,0,0,0,0,0,0,26.22,26.35,28.83
$GC,3547,-0.51,-194.6,479.8,-10.1,421,3553,0.00,2.25,0.00,0.000,6,0.000,0.041,1834,2659,3769,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3853,-0.51,-194.6,510.9,-10.4,452,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2659,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4156,-0.51,-194.6,544.1,-10.3,482,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2659,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4465,-0.51,-194.6,573.9,-9.5,513,4468,0.00,1.75,0.00,0.000,4,0.000,0.046,1826,3819,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4510,-0.52,-194.6,578.1,-10.1,517,4516,0.00,1.80,0.00,0.000,6,0.000,0.026,1826,2561,3762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4817,-0.52,-194.6,611.1,-11.0,543,4822,0.00,1.95,0.00,0.000,4,0.000,0.048,1817,3816,3760,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4849,-0.52,-194.6,613.3,-11.1,544,4856,0.00,1.80,0.00,0.000,6,0.000,0.025,1817,2561,3759,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5156,-0.52,-194.6,648.2,-10.6,560,5161,0.00,1.98,0.00,0.000,4,0.000,0.047,1808,3814,3758,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5208,-0.52,-194.6,652.5,-10.6,562,5216,0.12,1.80,0.00,0.000,6,0.120,0.025,1847,2558,3757,0,0,0,0,0,0,26.20,26.46,28.83
$GC,5519,-0.55,-194.6,674.0,-5.9,578,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2558,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-0.57,-194.6,688.3,-4.9,593,5822,0.00,1.95,0.00,0.000,4,0.000,0.047,1838,3815,3753,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5850,-0.60,-194.6,689.3,-5.1,594,5857,0.00,1.80,0.00,0.000,6,0.000,0.026,1838,2556,3753,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6157,-0.63,-194.6,711.8,-7.9,610,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2557,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6456,-0.65,-194.6,735.3,-7.5,625,6462,0.12,1.98,0.00,0.000,4,0.074,0.044,1742,3823,3747,0,0,0,0,0,0,26.60,26.13,28.83
$GC,6490,-0.66,-194.6,737.1,-7.9,626,6497,0.17,1.83,0.00,0.000,6,0.138,0.024,1793,2556,3747,0,0,0,0,0,0,25.95,26.42,28.83
$GC,6798,-0.64,-194.6,779.4,-13.5,642,6803,0.00,1.98,0.00,0.000,4,0.000,0.047,1784,3822,3745,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6845,-0.62,-194.6,785.0,-13.6,644,6849,0.00,1.83,0.00,0.000,6,0.000,0.025,1784,2563,3745,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7152,-0.60,-194.6,827.2,-13.1,659,7156,0.12,2.03,0.00,0.000,4,0.141,0.029,1828,1171,3743,0,0,0,0,0,0,26.29,26.23,28.83
$GC,7195,-0.60,-194.6,831.4,-11.6,661,7200,0.00,2.22,0.00,0.000,6,0.000,0.042,1819,2653,3743,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7515,-0.61,-194.6,856.6,-7.4,677,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2654,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7816,-0.62,-194.6,879.8,-8.0,692,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2653,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,-0.64,-194.6,903.5,-7.7,707,8121,0.00,2.15,0.00,0.000,4,0.000,0.031,1819,1180,3738,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8157,-0.66,-194.6,906.4,-7.6,709,8161,0.00,2.25,0.00,0.000,6,0.000,0.043,1811,2652,3737,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8470,-0.66,-194.6,931.9,-7.9,725,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2653,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,-0.67,-194.6,955.9,-8.4,740,8776,0.00,2.17,0.00,0.000,4,0.000,0.031,1811,1180,3735,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8813,-0.69,-194.6,959.0,-8.2,742,8817,0.00,2.25,0.00,0.000,6,0.000,0.042,1802,2653,3734,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9125,-0.69,-194.6,989.9,-10.2,758,9129,0.00,1.80,0.00,0.000,4,0.000,0.050,1793,3812,3733,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,9144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9144,begin apogee
$GC,9151,-0.20,0.0,992.3,-10.5,759,9329,0.43,0.10,166.20,1.182,6,0.093,0.060,1945,2526,2969,0,0,0,0,0,0,25.87,24.74,23.76
$STATE,9330,end apogee,CONTROL_FINISHED_OK
$STATE,9330,begin climb
$GC,9332,0.61,194.6,1002.2,0.0,768,9526,0.70,0.00,184.15,1.188,6,0.048,0.000,2213,2526,2171,0,0,0,0,0,0,24.98,28.83,23.22
$GC,9829,0.52,194.6,932.0,18.2,793,9835,0.12,2.03,0.00,0.000,4,0.203,0.044,2177,3816,2153,0,0,0,0,0,0,25.56,25.78,28.83
$GC,9888,0.44,194.6,921.4,17.7,796,9894,0.12,2.08,0.00,0.000,6,0.192,0.030,2158,2466,2152,0,0,0,0,0,0,25.56,25.91,28.83
$GC,10208,0.40,194.6,878.4,13.9,812,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2465,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10509,0.36,194.6,836.8,14.3,827,10511,0.12,0.00,0.00,0.000,6,0.178,0.000,2126,2464,2150,0,0,0,0,0,0,25.98,28.83,28.83
$GC,10809,0.35,194.6,804.2,10.4,842,10815,0.00,2.10,0.00,0.000,4,0.000,0.046,2126,3803,2148,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10909,0.32,194.6,792.2,12.1,847,10914,0.00,2.03,0.00,0.000,6,0.000,0.029,2136,2455,2147,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11228,0.30,194.6,758.1,10.2,863,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2454,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11529,0.28,194.6,726.3,11.0,878,11535,0.12,2.15,0.00,0.000,4,0.168,0.044,2098,3818,2146,0,0,0,0,0,0,26.06,26.06,28.83
$GC,11590,0.28,194.6,720.3,10.3,881,11594,0.00,2.05,0.00,0.000,6,0.000,0.028,2108,2449,2146,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11903,0.34,233.3,693.2,8.2,897,11942,0.00,0.00,27.23,0.953,6,0.000,0.000,2108,2448,2034,0,0,0,0,1,0,28.83,28.83,24.61
$GC,12244,0.40,271.7,665.4,8.2,914,12302,0.00,2.28,47.67,0.928,4,0.000,0.047,2108,3810,1859,0,0,0,0,0,0,28.83,25.47,24.51
$GC,12334,0.46,307.4,658.6,8.3,918,12377,0.12,2.08,34.97,0.944,6,0.074,0.031,2190,2466,1718,0,0,0,0,0,0,25.64,25.64,24.28
$GC,12685,0.43,307.4,600.6,15.5,936,12691,0.12,2.12,0.00,0.000,4,0.168,0.034,2163,1053,1699,0,0,0,0,0,0,25.75,25.89,28.83
$GC,12724,0.43,307.4,596.0,13.0,939,12734,0.00,2.25,0.00,0.000,6,0.000,0.039,2162,2532,1696,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13035,0.43,308.7,565.5,9.4,970,13044,0.00,2.22,0.00,0.000,4,0.000,0.039,2174,1055,1696,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13059,0.44,314.6,563.4,9.2,972,13066,0.00,2.25,0.00,0.000,6,0.000,0.039,2174,2525,1695,0,0,0,0,0,0,28.83,26.02,28.83
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$GC,15054,0.53,337.4,343.4,11.8,1171,15063,0.00,2.00,0.00,0.000,4,0.000,0.045,2182,3822,1582,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,17743,end climb,SURFACE_DEPTH_REACHED
$STATE,17743,begin surface coast
$FINISH,0.2,1.023209
$STATE,17760,end surface coast,CONTROL_FINISHED_OK
$STATE,17760,begin surface
$SM_CCo,17835,0.00,0.000,0,0,1117,456.75
$SM_GC,1.11,5.45,0.20,0.00,0.037,0.060,0.000,112,2687,1117,-5.80,-0.17,456.75,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12325.76,221211,111148
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.65
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.2,48.487
$10V_AH,10.2,31.213
$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,16.750,144.125,582.050,0.000,0.000,22.483,41.600,300.980,0.000,0.000,13.025,3719.710,10338.063,729.964,3149.174,368.556,0.000,2209.623,0.000,2626.545,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,60.435,1188.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.817,2069.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330480
$DATA_FILE_SIZE,103555,1579
$CAP_FILE_SIZE,190267,0
$CFSIZE,260165632,202096640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221211,213030,2328.366,12330.766,38,1.1,38,-3.3