version: 66.10
glider: 169
mission: 5
dive: 551
start: 2 26 112 9 28 40
data:
$ID,169
$MISSION,5
$DIVE,551
$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,-8
$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,-13603.814
$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
$GPS1,260212,092007,2259.317,12200.607,28,1.7,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.0
$GPS2,260212,092816,2259.418,12200.636,14,2.2,33,-3.0
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,235.4,59797,-16.1,-8.684
$D_GRID,4665
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.88,0.000,2,0.000,0.000,117,2572,2876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-146.0,3.2,-5.9,11,117,7.12,2.08,-14.40,0.000,4,0.230,0.055,1799,3823,3576,0,0,1,0,0,0,24.75,24.99,26.55
$GC,285,-0.51,-146.0,61.5,-23.8,48,292,0.12,1.80,0.00,0.000,6,0.157,0.022,1840,2588,3576,0,0,0,0,0,0,25.72,26.13,28.83
$GC,600,-0.45,-146.0,136.2,-17.8,109,608,0.00,1.95,0.00,0.000,4,0.000,0.041,1831,3822,3577,0,0,0,0,0,0,28.83,25.83,28.83
$GC,721,-0.45,-146.0,152.4,-10.8,132,729,0.12,1.77,0.00,0.000,6,0.128,0.021,1868,2580,3577,0,0,0,0,0,0,25.93,26.25,28.83
$GC,1034,-0.43,-146.0,189.0,-10.8,193,1041,0.00,1.98,0.00,0.000,4,0.000,0.040,1860,3817,3577,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1172,-0.46,-146.0,201.9,-8.7,217,1176,0.00,1.77,0.00,0.000,6,0.000,0.021,1860,2582,3577,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1484,-0.45,-146.0,242.9,-13.7,248,1494,0.00,2.15,0.00,0.000,4,0.000,0.026,1860,1173,3576,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1540,-0.47,-146.0,248.6,-10.1,253,1548,0.00,2.40,0.00,0.000,6,0.000,0.033,1849,2652,3577,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1847,-0.46,-146.0,284.3,-11.8,284,1856,0.00,2.35,0.00,0.000,4,0.000,0.026,1849,1166,3576,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1922,-0.49,-146.0,291.6,-9.0,291,1929,0.00,2.40,0.00,0.000,6,0.000,0.035,1838,2647,3576,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2230,-0.47,-146.0,329.3,-12.2,322,2239,0.00,2.30,0.00,0.000,4,0.000,0.025,1838,1174,3576,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2255,-0.46,-146.0,332.1,-12.0,324,2263,0.12,2.40,0.00,0.000,6,0.129,0.035,1866,2648,3576,0,0,0,0,0,0,25.70,25.88,28.83
$GC,2562,-0.48,-146.0,358.3,-8.0,355,2571,0.00,2.28,0.00,0.000,4,0.000,0.026,1866,1181,3574,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2605,-0.52,-146.0,361.3,-7.3,359,2613,0.00,2.35,0.00,0.000,6,0.000,0.036,1865,2639,3574,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2915,-0.55,-146.0,383.9,-7.6,390,2924,0.00,2.30,0.00,0.000,4,0.000,0.026,1865,1166,3573,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2971,-0.60,-146.0,387.9,-7.5,395,2978,0.12,2.40,0.00,0.000,6,0.074,0.036,1764,2647,3572,0,0,0,0,0,0,25.89,25.87,28.83
$GC,3278,-0.53,-146.0,441.2,-18.1,426,3287,0.22,2.30,0.00,0.000,4,0.141,0.024,1843,1177,3571,0,0,0,0,0,0,25.77,26.00,28.83
$GC,3313,-0.50,-146.0,445.8,-15.1,429,3321,0.00,2.40,0.00,0.000,6,0.000,0.037,1833,2647,3571,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3620,-0.50,-146.0,476.4,-9.6,460,3629,0.00,2.30,0.00,0.000,4,0.000,0.026,1833,1174,3569,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3675,-0.53,-146.0,480.9,-8.6,465,3683,0.00,2.40,0.00,0.000,6,0.000,0.037,1824,2647,3568,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3982,-0.53,-146.0,510.8,-9.9,496,3991,0.00,2.33,0.00,0.000,4,0.000,0.027,1824,1176,3567,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4048,-0.56,-146.0,516.6,-8.6,502,4055,0.00,2.40,0.00,0.000,6,0.000,0.037,1814,2646,3566,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4356,-0.54,-146.0,551.8,-11.4,533,4365,0.00,2.33,0.00,0.000,4,0.000,0.026,1814,1173,3563,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4391,-0.54,-146.0,555.5,-11.2,536,4398,0.00,2.42,0.00,0.000,6,0.000,0.037,1804,2650,3563,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4698,-0.52,-146.0,590.8,-12.4,567,4708,0.12,2.33,0.00,0.000,4,0.148,0.025,1846,1174,3561,0,0,0,0,0,0,26.13,25.94,28.83
$GC,4741,-0.55,-146.0,594.7,-9.2,571,4751,0.00,2.42,0.00,0.000,6,0.000,0.037,1836,2650,3561,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5054,-0.57,-146.0,619.7,-7.8,590,5059,0.00,2.33,0.00,0.000,4,0.000,0.028,1837,1183,3559,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5081,-0.58,-146.0,621.3,-7.6,591,5085,0.00,2.40,0.00,0.000,6,0.000,0.037,1827,2645,3559,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5389,-0.59,-146.0,646.9,-8.4,606,5394,0.00,2.33,0.00,0.000,4,0.000,0.027,1827,1179,3557,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5412,-0.61,-146.0,648.5,-8.4,607,5418,0.00,2.40,0.00,0.000,6,0.000,0.038,1825,2645,3557,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5728,-0.61,-146.0,674.0,-7.9,623,5733,0.00,2.33,0.00,0.000,4,0.000,0.027,1825,1177,3554,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5762,-0.63,-146.0,675.6,-7.9,624,5769,0.00,2.42,0.00,0.000,6,0.000,0.037,1816,2648,3554,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6067,-0.63,-146.0,702.9,-8.6,640,6073,0.00,2.35,0.00,0.000,4,0.000,0.030,1816,1176,3552,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6108,-0.64,-146.0,706.3,-8.5,642,6114,0.00,2.40,0.00,0.000,6,0.000,0.037,1812,2637,3552,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6429,-0.64,-146.0,734.7,-8.7,658,6434,0.00,2.33,0.00,0.000,4,0.000,0.026,1812,1167,3550,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6456,-0.64,-146.0,736.7,-8.9,659,6461,0.00,2.45,0.00,0.000,6,0.000,0.038,1812,2644,3550,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6764,-0.64,-146.0,766.7,-9.9,674,6770,0.00,2.33,0.00,0.000,4,0.000,0.027,1812,1180,3549,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6788,-0.64,-146.0,768.6,-9.8,675,6794,0.00,2.42,0.00,0.000,6,0.000,0.039,1812,2643,3548,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7104,-0.64,-146.0,800.4,-10.3,691,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2643,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7404,-0.64,-146.0,831.2,-10.5,706,7410,0.00,2.33,0.00,0.000,4,0.000,0.028,1812,1184,3545,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7468,-0.66,-146.0,837.2,-10.1,709,7474,0.00,2.42,0.00,0.000,6,0.000,0.039,1812,2642,3545,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7783,-0.66,-146.0,867.8,-9.1,725,7787,0.00,1.80,0.00,0.000,4,0.000,0.046,1804,3814,3542,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7826,-0.67,-146.0,871.5,-9.1,727,7830,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2581,3542,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8147,-0.67,-146.0,903.1,-10.0,743,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2576,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8449,-0.67,-146.0,934.7,-10.8,758,8455,0.00,2.17,0.00,0.000,4,0.000,0.029,1804,1186,3539,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8492,-0.68,-146.0,938.9,-10.7,760,8498,0.00,2.42,0.00,0.000,6,0.000,0.038,1798,2644,3539,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8807,-0.68,-146.0,973.2,-10.7,776,8813,0.00,2.38,0.00,0.000,4,0.000,0.030,1798,1180,3537,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8848,-0.69,-146.0,977.2,-10.3,778,8854,0.00,2.42,0.00,0.000,6,0.000,0.041,1787,2638,3537,0,0,0,0,0,0,28.83,25.54,28.83
$STATE,8985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8985,begin apogee
$GC,8992,-0.20,0.0,992.1,-10.8,785,9130,0.45,0.12,127.20,1.203,6,0.102,0.051,1941,2531,2970,0,0,0,0,0,0,25.34,24.74,23.42
$STATE,9131,end apogee,CONTROL_FINISHED_OK
$STATE,9131,begin climb
$GC,9134,0.58,146.0,997.0,0.0,792,9289,0.70,2.53,140.80,1.197,4,0.052,0.032,2220,1052,2370,0,0,0,0,0,0,25.15,24.89,23.34
$GC,9354,0.50,146.0,980.5,14.8,803,9360,0.12,2.38,0.00,0.000,6,0.154,0.037,2181,2516,2360,0,0,0,0,0,0,25.17,25.58,28.83
$GC,9674,0.44,146.0,933.2,14.9,819,9680,0.00,2.03,0.00,0.000,4,0.000,0.044,2181,3809,2355,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9728,0.37,146.0,926.8,15.1,821,9736,0.22,2.08,0.00,0.000,6,0.171,0.028,2132,2461,2354,0,0,0,0,0,0,25.25,25.96,28.83
$GC,10034,0.35,146.0,890.7,10.7,837,10038,0.00,2.22,0.00,0.000,4,0.000,0.044,2131,3818,2352,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10089,0.32,146.0,885.6,11.2,839,10096,0.00,2.08,0.00,0.000,6,0.000,0.027,2141,2463,2351,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10398,0.29,146.0,852.3,9.9,855,10404,0.12,2.17,0.00,0.000,4,0.179,0.044,2105,3805,2351,0,0,0,0,0,0,25.88,25.65,28.83
$GC,10480,0.27,146.0,844.4,9.8,859,10484,0.00,2.08,0.00,0.000,6,0.000,0.027,2116,2457,2349,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10792,0.27,146.0,818.2,8.7,875,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2455,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11094,0.33,188.2,795.7,7.0,890,11140,0.00,2.28,40.83,1.047,4,0.000,0.042,2116,3815,2202,0,0,0,0,0,0,28.83,25.43,23.87
$GC,11202,0.33,193.7,787.7,8.5,895,11209,0.00,2.10,0.00,0.000,6,0.000,0.028,2126,2467,2189,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11509,0.33,193.7,759.8,9.1,911,11514,0.00,2.20,0.00,0.000,4,0.000,0.034,2137,1055,2184,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11548,0.34,193.7,756.1,9.3,913,11554,0.00,2.35,0.00,0.000,6,0.000,0.037,2137,2520,2183,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11869,0.34,193.7,724.5,9.8,929,11875,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3811,2183,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11956,0.32,193.7,715.4,11.4,933,11961,0.12,2.08,0.00,0.000,6,0.157,0.027,2116,2466,2182,0,0,0,0,0,0,25.58,25.94,28.83
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$STATE,18625,end climb,SURFACE_DEPTH_REACHED
$STATE,18625,begin surface coast
$FINISH,0.5,1.022982
$STATE,18650,end surface coast,CONTROL_FINISHED_OK
$STATE,18650,begin surface
$SM_CCo,18665,12.50,0.125,0,0,1246,425.10
$SM_GC,0.89,5.38,0.38,12.50,0.024,0.038,0.125,129,2667,1246,-5.78,-0.28,425.10,0,0,0,0,0,0,26.01,26.31,25.14
$IRIDIUM_FIX,2248.70,12158.83,260212,030300
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.3,110.369
$10V_AH,9.8,68.182
$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,16.050,196.675,512.750,12.500,0.000,25.134,28.878,255.763,0.000,0.000,35.052,4266.214,10279.225,701.055,3395.768,491.114,0.000,2328.107,0.000,2896.070,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,55.080,1202.580,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.264,2158.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,113701,1701
$CAP_FILE_SIZE,207870,0
$CFSIZE,260165632,170348544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.356, 25.5,1
$GPS,260212,144154,2300.945,12200.649,64,2.7,83,-3.0