version: 66.10
glider: 169
mission: 5
dive: 387
start: 1 22 112 3 11 42
data:
$ID,169
$MISSION,5
$DIVE,387
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$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,90
$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,-11366.051
$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
$GPS1,220112,030307,2315.115,12151.442,35,0.9,35,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.0
$GPS2,220112,031120,2315.245,12151.469,13,1.5,13,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2315.245,12203.223
$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,93.1,20000,-15.4,-9.167
$D_GRID,3596
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.60,-175.2,0.0,0.0,0,94,0.00,0.00,-73.20,0.000,2,0.000,0.000,111,2684,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.60,-175.2,3.7,-8.8,13,123,6.90,2.35,-12.68,0.000,4,0.220,0.038,1822,1162,3697,0,0,0,0,0,0,24.77,26.05,26.51
$GC,241,-0.56,-175.2,48.1,-18.4,40,248,0.00,2.33,0.00,0.000,6,0.000,0.043,1812,2650,3698,0,0,0,0,0,0,28.83,25.96,28.83
$GC,553,-0.46,-175.2,147.2,-31.7,101,560,0.15,2.20,0.00,0.000,4,0.168,0.024,1867,1174,3698,0,0,0,0,0,0,25.99,26.20,28.83
$GC,665,-0.50,-175.2,162.9,-9.8,122,672,0.00,2.28,0.00,0.000,6,0.000,0.039,1856,2654,3698,0,0,0,0,0,0,28.83,26.11,28.83
$GC,977,-0.49,-175.2,204.0,-12.7,180,980,0.00,1.77,0.00,0.000,4,0.000,0.045,1847,3819,3698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1048,-0.50,-175.2,212.3,-10.6,187,1056,0.00,1.80,0.00,0.000,6,0.000,0.022,1847,2564,3698,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1358,-0.50,-175.2,251.3,-11.5,218,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2564,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1659,-0.50,-175.2,285.8,-11.2,248,1667,0.00,2.00,0.00,0.000,4,0.000,0.043,1837,3817,3698,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1691,-0.50,-175.2,289.5,-11.1,251,1695,0.00,1.80,0.00,0.000,6,0.000,0.022,1837,2567,3698,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1996,-0.49,-175.2,327.4,-12.1,281,2005,0.00,1.98,0.00,0.000,4,0.000,0.042,1827,3825,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2022,-0.48,-175.2,329.9,-11.7,283,2028,0.00,1.80,0.00,0.000,6,0.000,0.023,1828,2569,3696,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2329,-0.47,-175.2,364.9,-11.2,314,2336,0.10,0.00,0.00,0.000,6,0.142,0.000,1858,2568,3694,0,0,0,0,0,0,26.41,28.83,28.83
$GC,2638,-0.49,-175.2,388.9,-7.2,345,2647,0.00,2.00,0.00,0.000,4,0.000,0.045,1848,3817,3693,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2660,-0.52,-175.2,390.4,-7.0,347,2669,0.00,1.80,0.00,0.000,6,0.000,0.025,1848,2566,3693,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2970,-0.54,-175.2,416.9,-8.8,378,2974,0.00,2.03,0.00,0.000,4,0.000,0.029,1848,1170,3691,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3012,-0.58,-175.2,420.6,-8.8,382,3021,0.00,2.28,0.00,0.000,6,0.000,0.039,1839,2655,3691,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3322,-0.59,-175.2,450.6,-9.6,413,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2655,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3625,-0.60,-175.2,478.6,-8.6,443,3634,0.00,2.17,0.00,0.000,4,0.000,0.029,1839,1172,3686,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3660,-0.63,-175.2,481.6,-8.5,446,3667,0.00,2.28,0.00,0.000,6,0.000,0.039,1836,2653,3687,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3967,-0.64,-175.2,507.7,-9.1,477,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2653,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4271,-0.65,-175.2,536.0,-9.5,507,4280,0.12,2.17,0.00,0.000,4,0.076,0.026,1748,1169,3682,0,0,0,0,0,0,26.53,26.21,28.83
$GC,4303,-0.65,-175.2,540.6,-12.2,510,4312,0.20,2.30,0.00,0.000,6,0.126,0.039,1798,2657,3682,0,0,0,0,0,0,25.81,26.10,28.83
$GC,4613,-0.63,-175.2,579.9,-12.0,541,4617,0.00,1.80,0.00,0.000,4,0.000,0.046,1790,3811,3680,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4635,-0.61,-175.2,582.5,-11.8,543,4638,0.00,1.83,0.00,0.000,6,0.000,0.023,1790,2568,3680,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4958,-0.59,-175.2,622.4,-12.2,566,4963,0.00,2.03,0.00,0.000,4,0.000,0.028,1791,1181,3677,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4999,-0.58,-175.2,627.0,-11.9,568,5004,0.15,2.28,0.00,0.000,6,0.118,0.040,1830,2652,3677,0,0,0,0,0,0,25.91,26.08,28.83
$GC,5313,-0.59,-175.2,653.2,-8.4,584,5316,0.00,1.80,0.00,0.000,4,0.000,0.047,1821,3813,3675,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5344,-0.61,-175.2,655.1,-8.4,585,5353,0.00,1.83,0.00,0.000,6,0.000,0.024,1821,2563,3674,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5654,-0.62,-175.2,685.6,-9.9,601,5660,0.00,2.05,0.00,0.000,4,0.000,0.029,1821,1180,3672,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5677,-0.63,-175.2,687.6,-9.9,602,5681,0.00,2.30,0.00,0.000,6,0.000,0.040,1813,2657,3672,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5990,-0.63,-175.2,720.0,-10.3,618,5993,0.00,1.80,0.00,0.000,4,0.000,0.047,1804,3821,3670,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6011,-0.63,-175.2,722.3,-10.4,619,6014,0.00,1.85,0.00,0.000,6,0.000,0.024,1804,2572,3671,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6333,-0.63,-175.2,758.5,-11.4,635,6338,0.00,2.05,0.00,0.000,4,0.000,0.031,1804,1187,3668,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6386,-0.63,-175.2,762.9,-11.1,637,6393,0.00,2.28,0.00,0.000,6,0.000,0.040,1796,2653,3668,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6692,-0.63,-175.2,797.0,-10.3,653,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2653,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6995,-0.63,-175.2,826.2,-9.5,668,7000,0.00,2.20,0.00,0.000,4,0.000,0.031,1796,1178,3665,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7053,-0.64,-175.2,831.6,-9.0,671,7059,0.00,2.30,0.00,0.000,6,0.000,0.041,1787,2654,3665,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7373,-0.63,-175.2,864.8,-10.7,687,7378,0.00,2.22,0.00,0.000,4,0.000,0.030,1787,1181,3663,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7413,-0.63,-175.2,869.2,-10.9,689,7419,0.08,2.28,0.00,0.000,6,0.105,0.041,1809,2647,3663,0,0,0,0,0,0,25.80,25.98,28.83
$GC,7733,-0.63,-175.2,897.8,-8.5,705,7736,0.00,1.80,0.00,0.000,4,0.000,0.049,1801,3817,3662,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7763,-0.63,-175.2,899.6,-8.4,706,7767,0.00,1.83,0.00,0.000,6,0.000,0.025,1800,2570,3660,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8069,-0.63,-175.2,927.4,-9.1,721,8074,0.00,2.05,0.00,0.000,4,0.000,0.032,1800,1185,3660,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8102,-0.63,-175.2,929.0,-9.0,722,8108,0.00,2.28,0.00,0.000,6,0.000,0.042,1792,2650,3660,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8411,-0.63,-175.2,959.8,-9.7,738,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2650,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8708,-0.63,-175.2,989.9,-10.7,753,8714,0.00,2.20,0.00,0.000,4,0.000,0.031,1792,1185,3657,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,8727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8727,begin apogee
$GC,8734,-0.20,0.0,992.1,-10.8,754,8899,0.45,0.08,156.62,1.174,6,0.097,0.097,1940,2458,2977,0,0,0,0,0,0,25.68,24.70,23.23
$STATE,8900,end apogee,CONTROL_FINISHED_OK
$STATE,8900,begin climb
$GC,8902,0.60,175.2,1001.2,0.0,762,9084,0.70,2.38,169.80,1.182,4,0.049,0.049,2209,3812,2252,0,0,0,0,0,0,25.03,24.56,23.04
$GC,9165,0.50,175.2,979.8,18.5,775,9172,0.17,2.10,0.00,0.000,6,0.187,0.030,2176,2466,2238,0,0,0,0,0,0,25.15,25.57,28.83
$GC,9472,0.45,175.2,932.2,14.6,791,9477,0.00,2.12,0.00,0.000,4,0.000,0.045,2176,3813,2232,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9521,0.38,175.2,925.4,15.9,793,9525,0.17,2.08,0.00,0.000,6,0.170,0.029,2140,2461,2232,0,0,0,0,0,0,25.58,26.04,28.83
$GC,9827,0.36,175.2,886.7,11.2,808,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2458,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10128,0.34,175.2,853.9,10.6,823,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2458,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10427,0.32,175.2,824.0,9.6,838,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2459,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10727,0.30,175.2,794.6,10.2,853,10734,0.12,2.25,0.00,0.000,4,0.173,0.045,2100,3819,2228,0,0,0,0,0,0,26.01,25.95,28.83
$GC,10770,0.28,175.2,790.9,9.7,855,10775,0.00,2.03,0.00,0.000,6,0.000,0.028,2110,2469,2227,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11088,0.32,201.6,765.2,8.2,871,11120,0.00,2.22,20.00,0.922,4,0.000,0.036,2121,1052,2153,0,0,0,0,1,0,28.83,25.92,23.80
$GC,11149,0.35,224.7,760.1,8.4,874,11187,0.00,2.28,23.40,0.952,6,0.000,0.038,2121,2516,2062,0,0,0,0,1,0,28.83,25.91,23.74
$GC,11491,0.41,259.9,731.3,7.9,891,11541,0.00,2.10,45.33,0.965,4,0.000,0.046,2121,3810,1911,0,0,0,0,0,0,28.83,25.41,23.94
$GC,11569,0.45,287.8,725.0,8.2,894,11605,0.00,2.10,28.73,0.968,6,0.000,0.029,2131,2463,1798,0,0,0,0,0,0,28.83,25.63,23.83
$GC,11906,0.49,303.2,696.5,8.6,911,11926,0.12,2.22,13.57,0.949,4,0.077,0.039,2223,1064,1738,0,0,0,0,0,0,26.19,25.79,24.13
$GC,11969,0.49,303.2,687.8,12.5,914,11976,0.15,2.30,0.00,0.000,6,0.140,0.041,2175,2523,1728,0,0,0,0,0,0,25.54,25.79,28.83
$GC,12290,0.48,303.2,644.1,13.8,930,12295,0.00,2.03,0.00,0.000,4,0.000,0.046,2175,3810,1726,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12330,0.46,303.2,637.9,14.6,932,12335,0.00,2.05,0.00,0.000,6,0.000,0.029,2184,2468,1725,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12639,0.45,303.2,593.2,14.2,949,12647,0.00,2.15,0.00,0.000,4,0.000,0.037,2196,1063,1724,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,17985,end climb,SURFACE_DEPTH_REACHED
$STATE,17985,begin surface coast
$FINISH,0.8,1.022636
$STATE,18014,end surface coast,CONTROL_FINISHED_OK
$STATE,18014,begin surface
$SM_CCo,18028,5.22,0.134,0,0,1244,425.10
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$IRIDIUM_FIX,2305.10,12130.00,210112,212152
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.0,81.458
$10V_AH,9.8,48.364
$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
$DEVICE_SECS,15.225,176.700,553.150,5.225,0.000,31.994,42.598,271.916,0.000,0.000,14.536,3913.366,10173.942,699.164,3286.929,423.659,0.000,2275.907,0.000,2776.808,0.000,0.543,0.000
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$SENSOR_SECS,1128.891,2112.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,110391,1658
$CAP_FILE_SIZE,199272,0
$CFSIZE,260165632,187645952
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220112,081355,2315.274,12154.257,69,1.6,69,-3.1