version: 66.10
glider: 169
mission: 5
dive: 179
start: 12 13 111 16 58 38
data:
$ID,169
$MISSION,5
$DIVE,179
$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,280
$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,-8
$MAX_BUOY,250
$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,260
$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,-10944.936
$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,400
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$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
$GPS1,131211,165100,2316.670,12132.406,42,1.1,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.4
$GPS2,131211,165815,2317.001,12132.405,15,1.8,15,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,HEADING
$TGT_LATLONG,2315.126,12120.830
$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,263.1,20000,-16.1,-11.786
$D_GRID,665
$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,-0.70,-243.3,0.0,0.0,0,115,0.00,0.00,-96.55,0.000,2,0.000,0.000,117,2658,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.70,-243.3,3.2,-7.1,17,149,6.47,1.83,-15.82,0.000,4,0.220,0.065,1764,3825,3964,0,0,0,0,0,0,25.32,25.94,26.39
$GC,288,-0.63,-243.3,66.7,-26.4,49,295,0.12,1.85,0.00,0.000,6,0.164,0.027,1805,2568,3965,0,0,0,0,0,0,25.81,26.13,28.83
$GC,600,-0.57,-243.3,141.4,-21.2,110,606,0.00,2.03,0.00,0.000,4,0.000,0.029,1813,1179,3966,0,0,0,0,0,0,28.83,26.20,28.83
$GC,660,-0.56,-243.3,152.2,-15.0,121,666,0.00,2.25,0.00,0.000,6,0.000,0.042,1802,2654,3966,0,0,0,0,0,0,28.83,26.15,28.83
$GC,971,-0.51,-243.3,210.2,-19.6,177,980,0.12,2.15,0.00,0.000,4,0.158,0.029,1852,1190,3967,0,0,0,0,0,0,26.14,26.26,28.83
$GC,1024,-0.55,-243.3,216.8,-11.4,182,1032,0.00,2.20,0.00,0.000,6,0.000,0.042,1850,2653,3967,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1333,-0.58,-243.3,244.8,-8.9,213,1337,0.00,1.80,0.00,0.000,4,0.000,0.050,1841,3808,3967,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1378,-0.62,-243.3,248.3,-8.5,217,1385,0.00,1.80,0.00,0.000,6,0.000,0.028,1841,2557,3967,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1685,-0.64,-243.3,281.3,-11.6,248,1690,0.12,2.03,0.00,0.000,4,0.075,0.029,1754,1171,3965,0,0,0,0,0,0,26.53,26.32,28.83
$GC,1738,-0.62,-243.3,289.8,-17.2,253,1747,0.22,2.25,0.00,0.000,6,0.129,0.043,1813,2654,3965,0,0,0,0,0,0,25.98,26.25,28.83
$GC,2048,-0.60,-243.3,335.4,-13.1,284,2051,0.00,1.80,0.00,0.000,4,0.000,0.049,1804,3810,3962,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2089,-0.60,-243.3,340.7,-13.2,288,2092,0.00,1.80,0.00,0.000,6,0.000,0.026,1804,2565,3962,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2400,-0.59,-243.3,388.7,-15.7,319,2404,0.00,2.03,0.00,0.000,4,0.000,0.032,1804,1179,3960,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2441,-0.59,-243.3,394.8,-14.6,323,2450,0.00,2.28,0.00,0.000,6,0.000,0.043,1794,2658,3959,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2753,-0.57,-243.3,443.2,-14.8,354,2762,0.10,2.17,0.00,0.000,4,0.164,0.029,1822,1187,3957,0,0,0,0,0,0,26.36,26.32,28.83
$GC,2806,-0.60,-243.3,449.8,-11.5,359,2815,0.00,2.25,0.00,0.000,6,0.000,0.042,1814,2655,3957,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3115,-0.60,-243.3,486.5,-12.9,390,3118,0.00,1.75,0.00,0.000,4,0.000,0.049,1805,3813,3954,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3138,-0.60,-243.3,489.4,-13.0,392,3145,0.00,1.83,0.00,0.000,6,0.000,0.026,1805,2569,3954,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3447,-0.60,-243.3,533.9,-14.3,423,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2568,3951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3749,-0.60,-243.3,573.8,-12.4,453,3757,0.00,2.03,0.00,0.000,4,0.000,0.031,1805,1185,3949,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3780,-0.62,-243.3,578.0,-12.6,456,3789,0.00,2.25,0.00,0.000,6,0.000,0.045,1799,2650,3949,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4102,-0.62,-243.3,618.5,-12.7,481,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2651,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4400,-0.62,-243.3,657.0,-12.4,496,4406,0.00,2.20,0.00,0.000,4,0.000,0.033,1799,1183,3945,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4449,-0.63,-243.3,661.5,-11.9,498,4453,0.00,2.28,0.00,0.000,6,0.000,0.045,1799,2657,3945,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,4493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4493,begin apogee
$GC,4498,-0.20,0.0,667.0,-10.3,500,4701,0.40,0.12,195.80,0.971,6,0.100,0.087,1940,2531,2973,0,0,0,0,0,0,26.00,24.86,24.10
$STATE,4702,end apogee,CONTROL_FINISHED_OK
$STATE,4702,begin climb
$GC,4705,0.70,243.3,679.5,0.0,510,4930,0.80,2.22,212.32,0.955,4,0.044,0.050,2250,3808,1972,0,0,0,0,0,0,25.03,24.51,23.75
$GC,4994,0.59,243.3,640.3,26.9,525,5000,0.20,2.12,0.00,0.000,6,0.186,0.034,2206,2471,1961,0,0,0,0,0,0,24.84,25.18,28.83
$GC,5304,0.51,243.3,579.4,19.1,546,5314,0.12,2.12,0.00,0.000,4,0.193,0.048,2170,3803,1957,0,0,0,0,0,0,25.64,25.82,28.83
$GC,5368,0.46,243.3,567.3,18.5,552,5376,0.00,2.03,0.00,0.000,6,0.000,0.028,2180,2459,1956,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5677,0.41,243.3,515.2,16.9,583,5686,0.12,2.15,0.00,0.000,4,0.181,0.045,2144,3816,1954,0,0,0,0,0,0,25.85,26.00,28.83
$GC,5722,0.38,243.3,508.7,15.6,587,5729,0.00,2.05,0.00,0.000,6,0.000,0.029,2154,2455,1953,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6029,0.36,243.3,466.7,13.0,618,6038,0.00,2.15,0.00,0.000,4,0.000,0.047,2155,3817,1953,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6082,0.33,243.3,459.1,15.2,623,6091,0.12,2.03,0.00,0.000,6,0.145,0.028,2124,2470,1953,0,0,0,0,0,0,25.79,26.19,28.83
$GC,6391,0.43,318.5,426.7,9.3,654,6462,0.00,0.00,68.20,0.797,6,0.000,0.000,2125,2470,1678,0,0,0,0,0,0,28.83,28.83,24.68
$GC,6761,0.63,449.7,397.7,7.5,691,6882,0.20,0.00,115.47,0.775,6,0.057,0.000,2239,2470,1139,0,0,0,0,0,0,26.08,28.83,24.44
$GC,7181,0.59,449.7,301.0,23.6,733,7191,0.12,2.15,0.00,0.000,4,0.164,0.048,2201,3810,1114,0,0,0,0,0,0,25.72,25.84,28.83
$GC,7236,0.57,449.7,290.0,20.6,738,7243,0.00,2.05,0.00,0.000,6,0.000,0.031,2212,2464,1112,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7545,0.56,449.7,235.0,18.2,769,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2463,1112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7853,0.56,449.7,184.0,16.4,810,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2463,1110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,0.57,449.7,136.3,13.4,871,8170,0.00,2.12,0.00,0.000,4,0.000,0.047,2212,3820,1111,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8222,0.59,449.7,128.3,13.6,882,8229,0.00,2.03,0.00,0.000,6,0.000,0.028,2223,2458,1110,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8532,0.64,460.6,92.4,11.4,943,8539,0.00,2.10,0.00,0.000,4,0.000,0.037,2234,1057,1109,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8646,1.00,664.4,83.8,5.2,965,8808,0.28,2.20,153.02,0.271,6,0.079,0.034,2337,2526,435,0,0,0,0,0,0,26.15,26.27,25.30
$STATE,9080,end climb,SURFACE_DEPTH_REACHED
$STATE,9080,begin surface coast
$FINISH,0.4,1.023010
$STATE,9096,end surface coast,CONTROL_FINISHED_OK
$STATE,9096,begin surface
$SM_CCo,9171,0.00,0.000,0,0,455,619.14
$SM_GC,0.78,5.53,0.20,0.00,0.022,0.064,0.000,119,2663,455,-5.80,-0.14,619.14,0,0,0,0,0,0
$IRIDIUM_FIX,2305.10,12135.22,131211,121200
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.4,0.0
$24V_AH,23.8,39.254
$10V_AH,10.3,26.080
$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,15.075,74.950,744.825,0.000,0.000,30.756,43.153,227.292,0.250,0.000,15.979,2327.769,4141.654,737.848,2140.650,237.405,0.000,1779.028,0.000,1739.307,0.000,3.096,0.000
$DEVICE_MAMPS,219.555,87.210,970.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.375,1265.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,70366,1050
$CAP_FILE_SIZE,113265,0
$CFSIZE,260165632,206536704
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131211,193228,2316.919,12131.211,12,2.1,32,-3.1