version: 66.10
glider: 169
mission: 5
dive: 487
start: 2 12 112 12 11 20
data:
$ID,169
$MISSION,5
$DIVE,487
$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,380
$T_MISSION,420
$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,150
$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,-12525.074
$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
$GPS1,120212,120254,2213.613,12405.511,26,1.3,43,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.3
$GPS2,120212,121055,2213.619,12405.494,41,1.0,41,-3.0
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,194.3,81336,-16.1,-8.684
$D_GRID,5224
$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,-0.58,-146.0,0.0,0.0,0,95,0.00,0.00,-75.18,0.000,2,0.000,0.000,123,2681,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-146.0,3.1,-5.2,13,125,7.20,2.35,-10.32,0.000,4,0.233,0.037,1820,1166,3577,0,0,0,0,0,0,24.69,26.10,26.58
$GC,199,-0.56,-146.0,33.3,-17.2,31,207,0.00,2.35,0.00,0.000,6,0.000,0.034,1809,2657,3577,0,0,0,0,0,0,28.83,26.01,28.83
$GC,514,-0.45,-146.0,119.5,-28.1,92,521,0.15,2.30,0.00,0.000,4,0.169,0.025,1865,1168,3577,0,0,0,0,0,0,25.97,26.13,28.83
$GC,627,-0.49,-146.0,137.4,-9.7,113,634,0.00,2.33,0.00,0.000,6,0.000,0.034,1854,2648,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,939,-0.44,-146.0,192.5,-17.9,174,946,0.00,1.80,0.00,0.000,4,0.000,0.041,1845,3826,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,953,-0.39,-146.0,195.0,-16.9,176,960,0.12,1.80,0.00,0.000,6,0.145,0.021,1880,2548,3577,0,0,0,0,0,0,26.01,26.37,28.83
$GC,1268,-0.39,-146.0,231.2,-10.4,210,1277,0.00,2.03,0.00,0.000,4,0.000,0.027,1880,1171,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1301,-0.41,-146.0,234.3,-10.3,213,1309,0.00,2.30,0.00,0.000,6,0.000,0.036,1872,2645,3577,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1612,-0.40,-146.0,271.7,-13.6,244,1620,0.00,2.22,0.00,0.000,4,0.000,0.028,1872,1169,3577,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1676,-0.44,-146.0,278.6,-9.4,250,1685,0.00,2.30,0.00,0.000,6,0.000,0.036,1862,2646,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1983,-0.42,-146.0,321.3,-13.9,281,1987,0.00,1.80,0.00,0.000,4,0.000,0.043,1853,3828,3577,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2008,-0.41,-146.0,324.0,-12.8,283,2016,0.00,1.80,0.00,0.000,6,0.000,0.021,1853,2565,3577,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2316,-0.40,-146.0,361.0,-11.3,314,2325,0.00,2.05,0.00,0.000,4,0.000,0.026,1853,1175,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2382,-0.43,-146.0,366.9,-8.1,320,2389,0.00,2.30,0.00,0.000,6,0.000,0.037,1845,2647,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2688,-0.41,-146.0,403.5,-12.0,351,2698,0.10,2.25,0.00,0.000,4,0.167,0.025,1875,1166,3576,0,0,0,0,0,0,26.32,26.18,28.83
$GC,2714,-0.41,-146.0,406.2,-11.8,353,2721,0.00,2.35,0.00,0.000,6,0.000,0.037,1869,2656,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3022,-0.43,-146.0,434.6,-8.6,384,3031,0.00,2.20,0.00,0.000,4,0.000,0.026,1869,1178,3575,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3088,-0.48,-146.0,439.7,-7.5,390,3095,0.00,2.30,0.00,0.000,6,0.000,0.037,1862,2647,3576,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3394,-0.49,-146.0,465.9,-8.7,421,3403,0.00,2.22,0.00,0.000,4,0.000,0.027,1862,1171,3574,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3437,-0.53,-146.0,469.1,-7.7,425,3446,0.00,2.33,0.00,0.000,6,0.000,0.037,1855,2648,3574,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3746,-0.54,-146.0,494.2,-9.0,456,3750,0.00,1.80,0.00,0.000,4,0.000,0.046,1846,3825,3572,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3790,-0.56,-146.0,498.0,-9.1,460,3794,0.00,1.77,0.00,0.000,6,0.000,0.024,1846,2586,3573,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4101,-0.56,-146.0,530.8,-10.7,491,4111,0.00,2.12,0.00,0.000,4,0.000,0.028,1846,1170,3572,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4179,-0.61,-146.0,537.2,-8.1,498,4185,0.00,2.33,0.00,0.000,6,0.000,0.037,1838,2647,3571,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4485,-0.61,-146.0,568.5,-10.0,529,4494,0.00,2.20,0.00,0.000,4,0.000,0.028,1838,1179,3570,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4561,-0.65,-146.0,574.4,-7.4,536,4568,0.00,2.30,0.00,0.000,6,0.000,0.037,1828,2647,3569,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4868,-0.65,-146.0,602.8,-9.3,566,4872,0.00,2.25,0.00,0.000,4,0.000,0.027,1828,1177,3568,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4924,-0.66,-146.0,606.6,-9.2,568,4930,0.00,2.33,0.00,0.000,6,0.000,0.037,1819,2645,3568,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5230,-0.65,-146.0,640.0,-10.7,584,5236,0.00,2.22,0.00,0.000,4,0.000,0.028,1819,1172,3566,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5259,-0.65,-146.0,642.3,-10.7,585,5268,0.00,2.35,0.00,0.000,6,0.000,0.038,1810,2653,3566,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5571,-0.63,-146.0,676.8,-11.1,601,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2654,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,-0.62,-146.0,713.0,-12.4,616,5875,0.00,2.25,0.00,0.000,4,0.000,0.028,1810,1175,3562,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5939,-0.63,-146.0,719.9,-11.9,619,5949,0.00,2.35,0.00,0.000,6,0.000,0.039,1801,2649,3562,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6251,-0.61,-146.0,761.5,-13.2,635,6255,0.00,1.80,0.00,0.000,4,0.000,0.046,1792,3825,3560,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6332,-0.61,-146.0,772.1,-12.8,639,6336,0.00,1.80,0.00,0.000,6,0.000,0.024,1792,2585,3559,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6656,-0.60,-146.0,808.6,-10.7,655,6661,0.00,2.10,0.00,0.000,4,0.000,0.030,1792,1182,3557,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6759,-0.60,-146.0,817.6,-8.5,660,6763,0.12,2.33,0.00,0.000,6,0.130,0.040,1819,2646,3557,0,0,0,0,0,0,25.78,25.95,28.83
$GC,7080,-0.60,-146.0,841.3,-7.5,676,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2646,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7377,-0.61,-146.0,865.0,-8.0,691,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2646,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7677,-0.62,-146.0,888.8,-8.1,706,7682,0.00,2.25,0.00,0.000,4,0.000,0.028,1819,1179,3550,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7737,-0.65,-146.0,893.6,-7.9,709,7742,0.00,2.33,0.00,0.000,6,0.000,0.039,1811,2642,3549,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8056,-0.65,-146.0,923.7,-9.5,725,8062,0.00,2.25,0.00,0.000,4,0.000,0.028,1811,1172,3549,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8098,-0.67,-146.0,927.3,-9.3,727,8103,0.00,2.35,0.00,0.000,6,0.000,0.040,1801,2643,3548,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8416,-0.67,-146.0,962.1,-10.9,743,8419,0.00,1.83,0.00,0.000,4,0.000,0.047,1792,3823,3546,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8457,-0.67,-146.0,966.7,-11.1,745,8460,0.00,1.83,0.00,0.000,6,0.000,0.025,1792,2584,3546,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,8676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8676,begin apogee
$GC,8682,-0.20,0.0,990.9,-10.9,756,8826,0.43,0.12,131.38,1.413,6,0.103,0.085,1939,2537,2981,0,0,0,0,1,0,25.60,24.70,22.94
$STATE,8827,end apogee,CONTROL_FINISHED_OK
$STATE,8828,begin climb
$GC,8831,0.58,146.0,997.5,0.0,763,8987,0.68,2.17,145.95,1.203,4,0.046,0.046,2204,3813,2374,0,0,0,0,0,0,25.19,25.06,23.37
$GC,9163,0.48,146.0,963.6,18.5,780,9168,0.17,2.08,0.00,0.000,6,0.184,0.027,2171,2451,2360,0,0,0,0,0,0,25.46,25.96,28.83
$GC,9476,0.43,146.0,922.4,12.9,796,9482,0.00,2.20,0.00,0.000,4,0.000,0.044,2170,3823,2355,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9530,0.37,146.0,916.5,13.7,798,9538,0.17,2.08,0.00,0.000,6,0.165,0.027,2135,2453,2354,0,0,0,0,0,0,25.62,26.12,28.83
$GC,9836,0.34,146.0,883.5,9.6,814,9842,0.00,2.12,0.00,0.000,4,0.000,0.034,2146,1063,2353,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9856,0.32,146.0,881.7,9.4,815,9863,0.12,2.28,0.00,0.000,6,0.150,0.037,2113,2528,2352,0,0,0,0,0,0,25.75,26.01,28.83
$GC,10177,0.34,161.2,855.7,8.1,831,10196,0.00,2.03,12.60,1.034,4,0.000,0.043,2113,3817,2314,0,0,0,0,0,0,28.83,25.89,24.03
$GC,10220,0.35,165.3,852.0,8.5,833,10225,0.00,2.08,0.00,0.000,6,0.000,0.027,2123,2455,2308,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10541,0.37,181.0,824.3,8.1,849,10567,0.00,2.20,21.33,1.059,4,0.000,0.044,2123,3818,2232,0,0,0,0,0,0,28.83,25.76,23.98
$GC,10657,0.36,181.0,813.2,10.0,855,10662,0.00,2.08,0.00,0.000,6,0.000,0.028,2133,2461,2221,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10977,0.37,201.3,786.4,7.9,871,11002,0.00,2.22,19.88,1.033,4,0.000,0.037,2145,1056,2150,0,0,0,0,0,0,28.83,25.81,24.02
$GC,11055,0.41,233.0,780.5,7.4,875,11096,0.00,2.30,31.88,1.034,6,0.000,0.039,2145,2524,2019,0,0,0,0,0,0,28.83,25.84,23.82
$GC,11398,0.41,233.0,747.6,10.4,892,11403,0.00,2.03,0.00,0.000,4,0.000,0.044,2145,3816,2005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11443,0.41,233.0,742.8,11.0,894,11447,0.00,2.08,0.00,0.000,6,0.000,0.028,2155,2457,2004,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11751,0.40,233.0,708.4,10.7,909,11757,0.00,2.15,0.00,0.000,4,0.000,0.045,2155,3808,2003,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11812,0.39,233.0,701.0,12.1,912,11816,0.00,2.03,0.00,0.000,6,0.000,0.027,2166,2466,2003,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12134,0.38,233.0,661.8,12.3,928,12141,0.12,2.17,0.00,0.000,4,0.164,0.033,2138,1053,2002,0,0,0,0,0,0,26.03,25.97,28.83
$GC,12157,0.38,233.0,659.5,12.2,929,12161,0.00,2.28,0.00,0.000,6,0.000,0.037,2138,2525,2001,0,0,0,0,0,0,28.83,25.96,28.83
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$GC,12523,0.40,233.0,625.3,10.0,947,12530,0.00,2.05,0.00,0.000,6,0.000,0.028,2149,2456,2000,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,18039,end climb,SURFACE_DEPTH_REACHED
$STATE,18042,begin surface coast
$FINISH,0.5,1.023705
$STATE,18058,end surface coast,CONTROL_FINISHED_OK
$STATE,18058,begin surface
$SM_CCo,18132,0.00,0.000,0,0,1188,439.33
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$IRIDIUM_FIX,2206.70,12407.24,120212,060618
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.66
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.9,99.816
$10V_AH,9.9,60.316
$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,15.650,190.075,550.100,0.000,0.000,29.029,52.517,223.041,0.000,0.000,42.754,4077.536,9991.156,715.424,3358.518,439.799,0.000,2328.256,0.000,2850.787,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,84.915,1412.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.036,2107.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330464
$DATA_FILE_SIZE,106786,1624
$CAP_FILE_SIZE,203920,0
$CFSIZE,260165632,176795648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.112,199.4,1
$GPS,120212,171437,2210.294,12405.056,36,1.1,36,-3.0