version: 66.10
glider: 169
mission: 5
dive: 10
start: 11 10 111 2 57 36
data:
$ID,169
$MISSION,5
$DIVE,10
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,300
$T_MISSION,320
$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,-5
$MAX_BUOY,200
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$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,-8763.0771
$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,2020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$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,4
$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,8
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$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
$GPS1,101111,025030,2304.300,12129.360,38,1.0,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-67.5
$GPS2,101111,025708,2304.416,12129.394,15,1.0,15,-3.0
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,55.1,260714,-16.3,-11.000
$D_GRID,1122
$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,-0.60,-194.6,0.0,0.0,0,114,0.00,0.00,-95.07,0.000,2,0.000,0.000,121,2164,2960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.60,-194.6,3.1,-5.7,12,145,6.47,0.00,-14.60,0.000,6,0.223,0.000,1816,2164,3775,0,0,0,0,0,0,25.84,28.83,26.44
$GC,515,-0.54,-194.6,122.5,-16.9,75,524,0.10,1.98,0.00,0.000,4,0.181,0.043,1843,865,3775,0,0,0,0,0,0,26.27,26.33,28.83
$GC,651,-0.59,-194.6,139.2,-9.9,96,660,0.00,2.25,0.00,0.000,6,0.000,0.054,1836,2315,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1030,-0.57,-194.6,192.9,-14.5,157,1038,0.00,2.20,0.00,0.000,4,0.000,0.044,1837,865,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1157,-0.63,-194.6,206.0,-9.3,177,1165,0.00,2.25,0.00,0.000,6,0.000,0.054,1828,2317,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1526,-0.63,-194.6,256.7,-13.1,233,1534,0.00,2.15,0.00,0.000,4,0.000,0.045,1829,866,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1662,-0.69,-194.6,271.5,-10.0,245,1669,0.00,2.22,0.00,0.000,6,0.000,0.054,1826,2324,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1968,-0.69,-194.6,310.1,-11.7,276,1977,0.00,2.20,0.00,0.000,4,0.000,0.062,1816,3734,3770,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2136,-0.70,-194.6,329.9,-12.1,292,2144,0.00,2.20,0.00,0.000,6,0.000,0.040,1815,2256,3770,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2444,-0.70,-194.6,366.9,-11.3,323,2453,0.00,2.30,0.00,0.000,4,0.000,0.061,1804,3735,3768,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2590,-0.70,-194.6,383.6,-11.3,337,2598,0.00,2.17,0.00,0.000,6,0.000,0.041,1804,2273,3767,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2898,-0.70,-194.6,419.0,-11.1,368,2907,0.00,2.28,0.00,0.000,4,0.000,0.063,1794,3731,3765,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3036,-0.70,-194.6,435.5,-12.2,381,3043,0.00,2.20,0.00,0.000,6,0.000,0.042,1794,2260,3763,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3342,-0.68,-194.6,478.3,-13.6,412,3351,0.00,2.33,0.00,0.000,4,0.000,0.063,1782,3734,3761,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3477,-0.67,-194.6,496.0,-12.7,425,3486,0.00,2.20,0.00,0.000,6,0.000,0.042,1782,2274,3761,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3786,-0.64,-194.6,537.3,-13.5,456,3795,0.00,2.30,0.00,0.000,4,0.000,0.065,1771,3725,3759,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3922,-0.62,-194.6,556.8,-14.6,469,3931,0.12,2.17,0.00,0.000,6,0.117,0.044,1817,2278,3758,0,0,0,0,0,0,26.51,26.63,28.83
$GC,4231,-0.65,-194.6,588.9,-9.5,500,4239,0.00,2.28,0.00,0.000,4,0.000,0.063,1807,3734,3755,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4370,-0.67,-194.6,601.8,-10.2,512,4377,0.00,2.20,0.00,0.000,6,0.000,0.042,1807,2275,3754,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4676,-0.67,-194.6,635.7,-10.3,528,4681,0.00,2.28,0.00,0.000,4,0.000,0.066,1796,3717,3753,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4823,-0.69,-194.6,651.1,-10.8,535,4827,0.00,2.20,0.00,0.000,6,0.000,0.044,1796,2264,3751,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5138,-0.69,-194.6,685.8,-10.6,551,5143,0.00,2.30,0.00,0.000,4,0.000,0.067,1785,3720,3748,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5245,-0.69,-194.6,695.8,-9.8,556,5249,0.00,2.20,0.00,0.000,6,0.000,0.045,1785,2273,3748,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5557,-0.67,-194.6,730.7,-11.2,572,5563,0.00,2.30,0.00,0.000,4,0.000,0.068,1774,3724,3746,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5707,-0.67,-194.6,747.0,-11.3,579,5711,0.00,2.22,0.00,0.000,6,0.000,0.046,1774,2260,3745,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6014,-0.65,-194.6,784.9,-11.7,594,6020,0.12,2.33,0.00,0.000,4,0.155,0.067,1804,3724,3743,0,0,0,0,0,0,26.53,26.58,28.83
$GC,6082,-0.65,-194.6,790.8,-10.1,597,6086,0.00,2.22,0.00,0.000,6,0.000,0.045,1804,2260,3742,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6390,-0.67,-194.6,821.8,-10.6,612,6395,0.00,2.33,0.00,0.000,4,0.000,0.067,1794,3723,3741,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6544,-0.68,-194.6,837.6,-11.3,619,6551,0.00,2.20,0.00,0.000,6,0.000,0.045,1794,2277,3740,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,6653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6653,begin apogee
$GC,6659,-0.11,0.0,851.9,-12.1,625,6832,0.52,0.08,161.65,1.079,6,0.106,0.122,1978,2481,2967,0,0,0,0,0,0,26.51,24.70,24.06
$STATE,6833,end apogee,CONTROL_FINISHED_OK
$STATE,6833,begin climb
$GC,6835,0.60,194.6,861.4,0.0,634,7025,0.60,2.28,179.90,1.051,4,0.034,0.062,2235,3810,2176,0,0,0,0,0,0,25.03,24.68,23.97
$GC,7178,0.44,194.6,808.8,25.1,651,7183,0.32,2.15,0.00,0.000,6,0.197,0.048,2163,2466,2152,0,0,0,0,0,0,25.45,25.60,28.83
$GC,7491,0.37,194.6,755.7,16.6,667,7497,0.00,2.17,0.00,0.000,4,0.000,0.067,2163,3809,2148,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7622,0.29,194.6,732.6,19.2,673,7632,0.20,2.08,0.00,0.000,6,0.179,0.047,2121,2482,2147,0,0,0,0,0,0,25.94,26.09,28.83
$GC,7933,0.29,194.6,691.9,11.3,689,7939,0.00,2.08,0.00,0.000,4,0.000,0.063,2120,3802,2146,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7965,0.28,194.6,689.5,11.4,690,7972,0.00,2.05,0.00,0.000,6,0.000,0.044,2130,2466,2146,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8273,0.26,194.6,653.1,11.3,706,8278,0.00,2.12,0.00,0.000,4,0.000,0.057,2141,1067,2145,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8295,0.25,194.6,650.9,11.1,707,8300,0.15,2.28,0.00,0.000,6,0.156,0.058,2100,2516,2144,0,0,0,0,0,0,26.19,26.29,28.83
$GC,8611,0.31,234.1,621.3,9.5,723,8652,0.00,2.12,30.67,0.901,4,0.000,0.065,2100,3803,2023,0,0,0,0,1,0,28.83,25.80,25.01
$GC,8700,0.37,262.1,613.1,9.9,727,8738,0.00,2.08,28.02,0.862,6,0.000,0.044,2110,2482,1910,0,0,0,0,1,0,28.83,25.91,24.65
$GC,9046,0.49,339.6,581.2,8.0,755,9136,0.17,0.00,80.53,0.998,6,0.066,0.000,2202,2482,1595,0,0,0,0,1,0,26.08,28.83,24.06
$GC,9438,0.45,339.6,515.8,17.9,794,9448,0.12,2.17,1.75,0.172,4,0.173,0.062,2166,3814,1594,0,0,0,0,0,0,25.77,25.84,25.73
$GC,9492,0.44,339.6,506.6,15.9,799,9501,0.00,2.08,0.00,0.000,6,0.000,0.044,2176,2480,1602,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9802,0.43,339.6,462.6,13.5,830,9806,0.00,2.12,0.00,0.000,4,0.000,0.064,2176,3805,1602,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9864,0.42,339.6,453.4,14.9,836,9875,0.00,2.05,0.00,0.000,6,0.000,0.044,2186,2479,1602,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10175,0.40,339.6,409.9,14.0,867,10177,0.15,0.00,0.00,0.000,6,0.173,0.000,2147,2478,1602,0,0,0,0,0,0,26.13,28.83,28.83
$GC,10475,0.42,339.6,376.0,12.0,897,10486,0.00,2.17,0.00,0.000,4,0.000,0.053,2157,1066,1602,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10508,0.46,339.6,372.2,11.7,900,10517,0.00,2.25,0.00,0.000,6,0.000,0.055,2157,2514,1601,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10819,0.48,339.6,334.8,11.8,931,10827,0.00,2.05,0.00,0.000,4,0.000,0.063,2157,3809,1601,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10853,0.50,339.6,330.7,12.5,934,10860,0.00,2.05,0.00,0.000,6,0.000,0.046,2167,2475,1601,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11164,0.50,339.6,293.9,12.0,965,11175,0.00,2.10,0.00,0.000,4,0.000,0.053,2178,1071,1601,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11191,0.51,339.6,290.6,12.4,967,11198,0.00,2.25,0.00,0.000,6,0.000,0.057,2178,2514,1601,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11500,0.51,339.6,250.4,12.6,998,11511,0.00,2.00,0.00,0.000,4,0.000,0.063,2178,3803,1601,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11643,0.51,339.6,230.0,15.8,1020,11651,0.00,2.05,0.00,0.000,6,0.000,0.044,2188,2477,1601,0,0,0,0,0,0,28.83,26.47,28.83
$GC,12020,0.51,339.6,176.5,13.3,1081,12029,0.00,2.17,0.00,0.000,4,0.000,0.052,2199,1067,1601,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12046,0.51,339.6,173.3,13.5,1084,12054,0.00,2.25,0.00,0.000,6,0.000,0.054,2199,2514,1601,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12422,0.51,339.6,120.6,14.7,1145,12431,0.00,2.05,0.00,0.000,4,0.000,0.060,2199,3809,1601,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12482,0.51,339.6,111.2,14.4,1154,12491,0.00,2.05,0.00,0.000,6,0.000,0.045,2209,2483,1601,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12864,0.74,499.8,72.7,4.9,1215,13006,0.12,2.20,134.90,0.251,4,0.082,0.058,2290,3815,944,0,0,0,0,0,0,26.63,25.91,25.68
$GC,13060,0.73,499.8,41.9,16.4,1240,13072,0.12,2.10,2.25,0.151,6,0.132,0.042,2256,2481,941,0,0,0,0,0,0,25.90,26.04,25.82
$GC,13442,0.89,573.3,6.2,8.2,1301,13479,0.12,0.00,34.80,0.130,2,0.076,0.000,2347,2480,666,0,0,0,0,0,0,26.36,28.83,28.83
$STATE,13480,end climb,SURFACE_DEPTH_REACHED
$STATE,13480,begin surface coast
$FINISH,-0.6,1.022201
$STATE,13512,end surface coast,CONTROL_FINISHED_OK
$STATE,13512,begin surface
$SM_CCo,13587,0.00,0.000,0,0,674,565.42
$SM_GC,0.47,5.65,0.32,0.00,0.036,0.056,0.000,132,2256,674,-5.82,0.14,565.42,0,0,0,0,0,0
$IRIDIUM_FIX,2255.72,12100.24,091111,232355
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.9,9.4
$24V_AH,24.0,3.929
$10V_AH,10.3,3.505
$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,15.100,122.825,654.475,0.000,0.000,23.490,41.535,203.555,3.500,0.000,16.565,3480.778,5529.767,710.180,3939.760,306.213,0.000,2131.020,0.000,3576.915,0.000,27.286,0.000
$DEVICE_MAMPS,223.380,121.635,1078.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.788,2214.506,1856.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,87111,1310
$CAP_FILE_SIZE,154978,0
$CFSIZE,260165632,222191616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.107,252.8,1
$GPS,101111,064507,2305.238,12131.446,36,1.1,36,-3.0