version: 66.10
glider: 169
mission: 5
dive: 494
start: 2 13 112 23 20 8
data:
$ID,169
$MISSION,5
$DIVE,494
$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,-12534.45
$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
$GPS1,130212,231206,2152.967,12402.440,35,1.0,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.5
$GPS2,130212,231943,2152.941,12402.315,15,1.8,32,-2.9
$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,143.3,42674,-16.1,-8.684
$D_GRID,5378
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.90,0.000,2,0.000,0.000,119,2677,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.3,-5.9,13,127,7.05,2.40,-9.27,0.000,4,0.226,0.041,1823,1174,3577,0,0,0,0,0,0,24.76,26.03,26.56
$GC,185,-0.55,-146.0,30.3,-19.0,28,192,0.00,2.35,0.00,0.000,6,0.000,0.037,1811,2649,3578,0,0,0,0,0,0,28.83,25.96,28.83
$GC,497,-0.46,-146.0,113.8,-28.0,89,504,0.15,2.28,0.00,0.000,4,0.169,0.026,1867,1173,3577,0,0,0,0,0,0,25.96,26.10,28.83
$GC,615,-0.49,-146.0,133.4,-11.6,111,623,0.00,2.33,0.00,0.000,6,0.000,0.036,1856,2646,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,928,-0.46,-146.0,193.7,-18.9,172,935,0.00,2.28,0.00,0.000,4,0.000,0.028,1857,1178,3578,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1003,-0.49,-146.0,205.3,-13.5,183,1013,0.00,2.33,0.00,0.000,6,0.000,0.037,1847,2646,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1316,-0.46,-146.0,259.3,-16.8,214,1324,0.00,2.25,0.00,0.000,4,0.000,0.028,1847,1178,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1367,-0.46,-146.0,267.3,-13.9,219,1377,0.00,2.33,0.00,0.000,6,0.000,0.037,1837,2650,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1679,-0.42,-146.0,318.6,-17.2,250,1688,0.12,2.28,0.00,0.000,4,0.158,0.027,1880,1174,3577,0,0,0,0,0,0,26.17,26.15,28.83
$GC,1744,-0.47,-146.0,326.2,-9.5,256,1751,0.00,2.33,0.00,0.000,6,0.000,0.036,1878,2645,3577,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2055,-0.48,-146.0,357.5,-8.3,287,2064,0.00,2.22,0.00,0.000,4,0.000,0.028,1877,1175,3577,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2100,-0.52,-146.0,360.7,-7.0,291,2108,0.00,2.33,0.00,0.000,6,0.000,0.037,1870,2644,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2410,-0.52,-146.0,379.3,-6.1,322,2419,0.00,2.22,0.00,0.000,4,0.000,0.027,1870,1172,3577,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2462,-0.57,-146.0,382.0,-4.8,327,2473,0.08,2.30,0.00,0.000,6,0.045,0.036,1777,2649,3577,0,0,0,0,0,0,26.03,26.08,28.83
$GC,2773,-0.50,-146.0,436.6,-20.0,358,2782,0.20,2.25,0.00,0.000,4,0.142,0.026,1843,1178,3577,0,0,0,0,0,0,25.96,26.15,28.83
$GC,2837,-0.52,-146.0,445.5,-11.6,364,2844,0.00,2.33,0.00,0.000,6,0.000,0.037,1833,2646,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3146,-0.51,-146.0,487.8,-14.7,395,3155,0.00,2.22,0.00,0.000,4,0.000,0.027,1834,1181,3575,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3181,-0.51,-146.0,492.4,-14.3,398,3187,0.00,2.33,0.00,0.000,6,0.000,0.038,1825,2643,3575,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3489,-0.50,-146.0,536.0,-12.7,429,3498,0.00,2.28,0.00,0.000,4,0.000,0.029,1825,1178,3574,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3531,-0.50,-146.0,541.0,-11.7,433,3540,0.10,2.35,0.00,0.000,6,0.141,0.038,1846,2647,3574,0,0,0,0,0,0,25.89,26.03,28.83
$GC,3843,-0.51,-146.0,565.7,-6.7,464,3852,0.00,2.28,0.00,0.000,4,0.000,0.029,1846,1178,3572,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3898,-0.55,-146.0,569.1,-5.9,469,3905,0.00,2.35,0.00,0.000,6,0.000,0.038,1839,2651,3572,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4209,-0.56,-146.0,592.3,-8.5,500,4218,0.00,2.25,0.00,0.000,4,0.000,0.028,1839,1179,3570,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4243,-0.58,-146.0,595.0,-7.9,503,4251,0.00,2.35,0.00,0.000,6,0.000,0.037,1836,2652,3570,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4551,-0.59,-146.0,621.5,-9.1,522,4556,0.00,2.25,0.00,0.000,4,0.000,0.028,1836,1179,3568,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4592,-0.62,-146.0,625.5,-9.4,524,4598,0.00,2.30,0.00,0.000,6,0.000,0.038,1827,2643,3568,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4911,-0.62,-146.0,661.1,-11.6,540,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2643,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.62,-146.0,690.6,-8.9,555,5217,0.00,2.25,0.00,0.000,4,0.000,0.030,1827,1181,3563,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5252,-0.64,-146.0,693.7,-8.4,557,5258,0.00,2.30,0.00,0.000,6,0.000,0.041,1825,2637,3563,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5571,-0.65,-146.0,718.5,-7.8,573,5575,0.00,1.80,0.00,0.000,4,0.000,0.046,1817,3813,3561,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5614,-0.66,-146.0,721.9,-8.0,575,5617,0.00,1.80,0.00,0.000,6,0.000,0.024,1817,2581,3560,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5935,-0.66,-146.0,750.1,-9.0,591,5940,0.00,2.12,0.00,0.000,4,0.000,0.028,1817,1168,3558,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5983,-0.68,-146.0,753.6,-8.9,593,5987,0.00,2.35,0.00,0.000,6,0.000,0.039,1812,2642,3558,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6292,-0.68,-146.0,783.9,-10.0,608,6297,0.00,2.28,0.00,0.000,4,0.000,0.029,1812,1174,3556,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6330,-0.68,-146.0,787.9,-10.2,610,6336,0.00,2.35,0.00,0.000,6,0.000,0.039,1812,2643,3555,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6651,-0.68,-146.0,820.6,-10.0,626,6656,0.00,2.25,0.00,0.000,4,0.000,0.031,1812,1187,3553,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6713,-0.70,-146.0,826.0,-9.3,629,6717,0.00,2.35,0.00,0.000,6,0.000,0.040,1811,2643,3552,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7025,-0.70,-146.0,853.1,-7.8,645,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2643,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7327,-0.70,-146.0,874.4,-7.0,660,7332,0.00,2.28,0.00,0.000,4,0.000,0.032,1811,1177,3550,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7379,-0.71,-146.0,877.2,-7.1,662,7385,0.00,2.38,0.00,0.000,6,0.000,0.041,1803,2642,3549,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7687,-0.71,-146.0,903.9,-8.7,678,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2642,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7985,-0.71,-146.0,932.3,-9.9,693,7991,0.00,2.28,0.00,0.000,4,0.000,0.030,1803,1174,3546,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8048,-0.72,-146.0,937.8,-9.4,696,8052,0.00,2.38,0.00,0.000,6,0.000,0.041,1799,2650,3546,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8362,-0.72,-146.0,970.0,-10.3,712,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2650,3544,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8558,begin apogee
$GC,8563,-0.20,0.0,992.1,-11.3,722,8704,0.40,0.15,130.07,1.184,6,0.103,0.077,1938,2533,2971,0,0,0,0,0,0,25.60,24.85,23.25
$STATE,8705,end apogee,CONTROL_FINISHED_OK
$STATE,8705,begin climb
$GC,8707,0.58,146.0,999.8,0.0,729,8852,0.70,0.00,140.82,1.197,6,0.055,0.000,2206,2532,2382,0,0,0,0,0,0,25.26,28.83,23.29
$GC,9143,0.50,146.0,963.2,12.4,751,9148,0.12,2.03,0.00,0.000,4,0.193,0.044,2164,3815,2357,0,0,0,0,0,0,25.75,25.86,28.83
$GC,9215,0.42,146.0,956.0,12.0,754,9222,0.00,2.08,0.00,0.000,6,0.000,0.027,2173,2453,2355,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9523,0.37,146.0,924.7,9.9,770,9525,0.15,0.00,0.00,0.000,6,0.175,0.000,2135,2452,2353,0,0,0,0,0,0,25.86,28.83,28.83
$GC,9823,0.35,146.0,899.4,9.3,785,9829,0.00,2.15,0.00,0.000,4,0.000,0.045,2135,3808,2352,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9902,0.31,146.0,889.9,12.0,789,9908,0.12,2.05,0.00,0.000,6,0.172,0.027,2115,2461,2350,0,0,0,0,0,0,25.71,26.11,28.83
$GC,10222,0.31,146.0,855.1,11.6,805,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2460,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10522,0.31,146.0,819.4,11.7,820,10528,0.00,2.20,0.00,0.000,4,0.000,0.046,2115,3811,2349,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10535,0.31,146.0,819.4,11.7,820,10541,0.00,2.05,0.00,0.000,6,0.000,0.027,2125,2457,2348,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10846,0.30,146.0,784.3,9.7,836,10851,0.00,2.12,0.00,0.000,4,0.000,0.034,2136,1057,2348,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10863,0.30,146.0,782.4,9.5,837,10869,0.00,2.33,0.00,0.000,6,0.000,0.038,2136,2524,2347,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11184,0.37,213.1,757.6,6.0,853,11255,0.00,2.40,64.30,1.024,4,0.000,0.034,2147,1057,2100,0,0,0,0,0,0,28.83,25.35,23.58
$GC,11275,0.45,291.3,753.2,5.6,857,11363,0.00,2.35,78.03,0.998,6,0.000,0.039,2147,2524,1778,0,0,0,0,0,0,28.83,25.53,23.51
$GC,11664,0.49,303.1,724.6,8.2,877,11676,0.00,0.00,10.02,0.927,6,0.000,0.000,2147,2524,1742,0,0,0,0,0,0,28.83,28.83,24.04
$GC,11964,0.50,303.1,696.9,9.7,892,11970,0.00,2.00,0.00,0.000,4,0.000,0.046,2147,3807,1724,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12005,0.52,303.1,692.7,10.2,894,12010,0.00,2.03,0.00,0.000,6,0.000,0.027,2157,2460,1724,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12324,0.54,303.1,661.5,9.9,910,12330,0.00,2.15,0.00,0.000,4,0.000,0.037,2168,1057,1723,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12352,0.55,303.1,659.6,9.8,911,12356,0.00,2.33,0.00,0.000,6,0.000,0.039,2168,2529,1721,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12660,0.55,303.1,625.2,10.6,926,12664,0.00,2.05,0.00,0.000,4,0.000,0.047,2168,3812,1721,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,17706,end climb,SURFACE_DEPTH_REACHED
$STATE,17707,begin surface coast
$FINISH,0.3,1.023619
$STATE,17730,end surface coast,CONTROL_FINISHED_OK
$STATE,17730,begin surface
$SM_CCo,17745,6.03,0.129,0,0,1243,425.10
$SM_GC,1.92,5.40,0.32,6.03,0.031,0.041,0.129,116,2662,1243,-5.78,-0.51,425.10,0,0,0,0,0,0,26.26,26.41,25.09
$IRIDIUM_FIX,2148.09,12400.73,130212,181840
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,101.020
$10V_AH,9.9,61.141
$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
$DEVICE_SECS,15.150,185.525,522.000,6.025,0.000,29.513,44.118,217.326,0.000,0.000,33.210,3935.626,9967.620,713.158,3150.551,417.185,0.000,2234.187,0.000,2668.155,0.000,0.543,0.000
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$SENSOR_SECS,1064.272,2011.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,103686,1569
$CAP_FILE_SIZE,194962,0
$CFSIZE,260165632,176115712
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,234.0,1
$GPS,140212,041707,2150.057,12402.607,36,1.3,36,-2.9