version: 66.10
glider: 169
mission: 5
dive: 181
start: 12 13 111 21 29 43
data:
$ID,169
$MISSION,5
$DIVE,181
$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,-10947.449
$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
$GPS1,131211,212307,2316.749,12130.246,34,1.0,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.6
$GPS2,131211,212920,2316.853,12130.281,13,1.1,13,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,HEADING
$TGT_LATLONG,2314.978,12118.706
$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,329
$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,-0.70,-243.3,0.0,0.0,0,114,0.00,0.00,-93.62,0.000,2,0.000,0.000,117,2682,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.70,-243.3,3.5,-7.6,17,148,6.40,1.75,-16.58,0.000,4,0.220,0.060,1762,3817,3962,0,0,0,0,0,0,25.44,26.06,26.51
$GC,243,-0.62,-243.3,54.3,-30.6,40,251,0.12,1.80,0.00,0.000,6,0.169,0.024,1802,2556,3963,0,0,0,0,0,0,25.91,26.26,28.83
$GC,555,-0.56,-243.3,136.7,-22.3,101,562,0.00,2.00,0.00,0.000,4,0.000,0.026,1813,1165,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,601,-0.54,-243.3,145.4,-17.4,109,608,0.12,2.25,0.00,0.000,6,0.141,0.041,1838,2654,3963,0,0,0,0,0,0,26.10,26.25,28.83
$GC,911,-0.53,-243.3,193.2,-14.3,170,918,0.00,2.17,0.00,0.000,4,0.000,0.030,1839,1177,3964,0,0,0,0,0,0,28.83,26.34,28.83
$GC,951,-0.56,-243.3,198.0,-11.1,177,957,0.00,2.22,0.00,0.000,6,0.000,0.041,1834,2654,3964,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1267,-0.55,-243.3,239.3,-12.0,210,1270,0.00,1.75,0.00,0.000,4,0.000,0.047,1825,3816,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1301,-0.55,-243.3,243.4,-12.4,213,1308,0.00,1.77,0.00,0.000,6,0.000,0.024,1825,2562,3964,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1608,-0.53,-243.3,285.2,-13.3,244,1617,0.00,1.98,0.00,0.000,4,0.000,0.047,1816,3820,3962,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1643,-0.52,-243.3,289.5,-13.8,247,1646,0.00,1.80,0.00,0.000,6,0.000,0.024,1816,2567,3962,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1903,begin apogee
$GC,1908,-0.20,0.0,329.8,-15.9,273,2106,0.38,0.12,187.43,0.715,6,0.112,0.048,1944,2540,2971,0,0,0,0,0,0,26.09,25.25,24.61
$STATE,2107,end apogee,CONTROL_FINISHED_OK
$STATE,2108,begin climb
$GC,2110,0.70,243.3,343.4,0.0,293,2317,0.77,2.35,199.43,0.709,4,0.046,0.037,2257,1052,1978,0,0,0,0,0,0,25.39,25.20,24.56
$GC,2370,0.63,243.3,322.0,19.3,319,2380,0.17,2.30,0.00,0.000,6,0.173,0.039,2214,2524,1966,0,0,0,0,0,0,25.34,25.58,28.83
$GC,2682,0.56,243.3,265.5,18.5,350,2690,0.00,1.98,0.00,0.000,4,0.000,0.044,2213,3813,1962,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2723,0.49,243.3,257.2,19.3,354,2733,0.20,2.03,0.00,0.000,6,0.174,0.030,2171,2463,1962,0,0,0,0,0,0,25.76,26.14,28.83
$GC,3034,0.48,251.9,218.8,11.5,385,3037,0.00,2.10,0.00,0.000,4,0.000,0.050,2170,3815,1960,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3148,0.45,251.9,201.6,16.8,396,3156,0.00,2.00,0.00,0.000,6,0.000,0.028,2181,2453,1959,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3457,0.43,257.9,160.8,11.6,456,3475,0.12,0.00,11.32,0.586,6,0.174,0.000,2144,2452,1917,0,0,0,0,0,0,26.13,28.83,25.47
$GC,3781,0.62,382.6,137.7,7.7,519,3889,0.15,0.00,100.12,0.591,6,0.068,0.000,2244,2453,1407,0,0,0,0,0,0,26.46,28.83,24.96
$GC,4194,0.63,386.2,79.2,11.7,598,4201,0.00,2.10,0.00,0.000,4,0.000,0.037,2254,1057,1393,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4279,0.79,487.0,70.8,8.5,614,4381,0.00,2.22,94.15,0.251,6,0.000,0.036,2255,2534,997,0,0,0,0,0,0,28.83,26.15,25.42
$GC,4687,0.84,507.1,25.2,11.1,692,4711,0.00,2.03,15.68,0.168,4,0.000,0.044,2255,3817,919,0,0,0,0,0,0,28.83,26.11,25.69
$GC,4724,0.87,507.1,20.2,13.8,698,4732,0.00,2.03,2.22,0.161,6,0.000,0.028,2265,2456,909,0,0,0,0,0,0,28.83,26.19,25.78
$STATE,4878,end climb,SURFACE_DEPTH_REACHED
$STATE,4878,begin surface coast
$FINISH,0.6,1.023050
$STATE,4904,end surface coast,CONTROL_FINISHED_OK
$STATE,4904,begin surface
$SM_CCo,4978,0.00,0.000,0,0,924,504.09
$SM_GC,1.26,5.35,0.32,0.00,0.030,0.049,0.000,118,2680,924,-5.78,-0.06,504.09,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12130.00,131211,191906
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,197.6,999.0
$24V_AH,24.6,39.503
$10V_AH,10.3,26.191
$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,13.800,41.200,610.350,0.000,0.000,24.382,46.742,187.397,0.250,0.000,14.711,1535.789,1576.879,589.925,1471.066,170.630,0.000,1302.300,0.000,1161.843,0.000,2.756,0.000
$DEVICE_MAMPS,219.555,77.265,715.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.296,722.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,47017,733
$CAP_FILE_SIZE,74104,0
$CFSIZE,260165632,206471168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131211,225336,2316.350,12129.280,11,1.7,27,-3.1