version: 66.10
glider: 169
mission: 5
dive: 182
start: 12 13 111 22 59 57
data:
$ID,169
$MISSION,5
$DIVE,182
$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,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,-10948.705
$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
$GPS1,131211,225336,2316.350,12129.280,11,1.7,27,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.6
$GPS2,131211,225934,2316.447,12129.300,9,2.4,28,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,79.0,254528,-16.1,-11.786
$D_GRID,601
$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,-243.3,0.0,0.0,0,104,0.00,0.00,-84.40,0.000,2,0.000,0.000,116,2681,3022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.70,-243.3,3.3,-5.7,13,140,6.53,2.30,-18.20,0.000,4,0.225,0.044,1786,1172,3963,0,0,0,0,0,0,25.54,26.18,26.56
$GC,228,-0.65,-243.3,44.0,-25.8,33,234,0.00,2.25,0.00,0.000,6,0.000,0.041,1776,2654,3964,0,0,0,0,0,0,28.83,26.19,28.83
$GC,550,-0.57,-243.3,143.6,-27.8,94,558,0.15,1.77,0.00,0.000,4,0.164,0.045,1814,3822,3964,0,0,0,0,0,0,26.12,26.27,28.83
$GC,682,-0.56,-243.3,164.0,-13.7,118,689,0.00,1.80,0.00,0.000,6,0.000,0.025,1822,2553,3965,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1005,-0.54,-243.3,214.3,-16.9,172,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2553,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-0.51,-243.3,262.2,-17.4,202,1315,0.00,1.98,0.00,0.000,4,0.000,0.042,1813,3827,3964,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1410,-0.54,-243.3,276.4,-11.6,212,1421,0.00,1.80,0.00,0.000,6,0.000,0.024,1814,2560,3964,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1720,-0.52,-243.3,321.6,-13.8,243,1729,0.00,2.00,0.00,0.000,4,0.000,0.028,1813,1177,3962,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1752,-0.51,-243.3,326.4,-15.2,246,1763,0.15,2.25,0.00,0.000,6,0.125,0.040,1850,2658,3961,0,0,0,0,0,0,26.22,26.39,28.83
$GC,2064,-0.54,-243.3,356.5,-7.9,277,2073,0.00,2.15,0.00,0.000,4,0.000,0.030,1850,1181,3959,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2088,-0.58,-243.3,358.3,-8.0,279,2095,0.00,2.22,0.00,0.000,6,0.000,0.041,1849,2657,3959,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2397,-0.62,-243.3,384.7,-7.0,310,2404,0.12,0.00,0.00,0.000,6,0.075,0.000,1760,2657,3957,0,0,0,0,0,0,26.63,28.83,28.83
$GC,2705,-0.55,-243.3,454.2,-23.1,341,2717,0.20,2.17,0.00,0.000,4,0.144,0.028,1828,1172,3955,0,0,0,0,0,0,26.14,26.41,28.83
$GC,2762,-0.56,-243.3,462.8,-14.2,346,2770,0.00,2.22,0.00,0.000,6,0.000,0.042,1825,2651,3954,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3071,-0.58,-243.3,494.0,-3.0,377,3074,0.00,1.80,0.00,0.000,4,0.000,0.049,1817,3812,3952,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3105,-0.60,-243.3,494.7,-2.2,380,3112,0.00,1.80,0.00,0.000,6,0.000,0.026,1817,2556,3951,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3414,-0.60,-243.3,514.3,-8.9,411,3422,0.00,1.98,0.00,0.000,4,0.000,0.029,1817,1182,3949,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3435,-0.61,-243.3,516.3,-8.8,413,3444,0.00,2.22,0.00,0.000,6,0.000,0.042,1812,2653,3949,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3746,-0.61,-243.3,551.9,-10.3,444,3750,0.00,2.17,0.00,0.000,4,0.000,0.031,1812,1175,3946,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3779,-0.62,-243.3,555.1,-10.0,447,3788,0.00,2.22,0.00,0.000,6,0.000,0.043,1812,2653,3946,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4087,-0.62,-243.3,586.6,-11.3,478,4098,0.00,2.15,0.00,0.000,4,0.000,0.031,1812,1183,3945,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4135,-0.63,-243.3,591.5,-11.5,482,4144,0.00,2.22,0.00,0.000,6,0.000,0.044,1812,2652,3944,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,4239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4239,begin apogee
$GC,4244,-0.20,0.0,602.7,-11.0,492,4447,0.38,0.12,193.82,0.904,6,0.097,0.083,1947,2546,2974,0,0,0,0,0,0,26.14,25.11,24.39
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4450,0.70,243.3,613.3,0.0,502,4673,0.77,2.38,208.60,0.899,4,0.047,0.037,2256,1052,1973,0,0,0,0,0,0,25.26,25.01,24.29
$GC,4740,0.63,243.3,577.0,21.9,521,4748,0.10,2.33,0.00,0.000,6,0.152,0.041,2216,2520,1962,0,0,0,0,0,0,25.32,25.56,28.83
$GC,5050,0.54,243.3,507.2,21.8,552,5059,0.12,1.98,0.00,0.000,4,0.197,0.046,2181,3811,1959,0,0,0,0,0,0,25.82,26.01,28.83
$GC,5115,0.48,243.3,492.9,20.8,558,5122,0.00,2.03,0.00,0.000,6,0.000,0.031,2191,2463,1958,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5423,0.42,243.3,439.7,18.8,589,5425,0.15,0.00,0.00,0.000,6,0.174,0.000,2151,2462,1956,0,0,0,0,0,0,25.98,28.83,28.83
$GC,5723,0.41,243.3,399.9,13.1,619,5734,0.00,2.10,0.00,0.000,4,0.000,0.047,2151,3823,1955,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5799,0.39,243.3,389.8,13.2,626,5808,0.00,2.03,0.00,0.000,6,0.000,0.029,2161,2453,1954,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6108,0.37,243.3,342.7,14.9,657,6117,0.12,2.10,0.00,0.000,4,0.172,0.034,2134,1051,1954,0,0,0,0,0,0,26.14,26.28,28.83
$GC,6155,0.38,243.3,337.4,12.7,661,6161,0.00,2.22,0.00,0.000,6,0.000,0.040,2134,2522,1952,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6463,0.46,298.2,305.5,10.0,692,6515,0.00,2.03,47.17,0.725,4,0.000,0.044,2135,3821,1754,0,0,0,0,0,0,28.83,25.82,25.09
$GC,6551,0.50,302.6,295.3,11.6,700,6555,0.00,2.05,0.00,0.000,6,0.000,0.028,2145,2451,1742,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6864,0.57,340.2,261.5,10.6,731,6905,0.12,2.20,35.08,0.699,4,0.076,0.039,2236,1055,1583,0,0,0,0,0,0,26.31,25.79,25.10
$GC,6953,0.54,340.2,247.6,17.5,739,6963,0.17,2.28,0.00,0.000,6,0.145,0.043,2187,2521,1569,0,0,0,0,0,0,25.64,25.84,28.83
$GC,7262,0.52,340.2,202.5,14.9,770,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2521,1566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7568,0.51,340.2,160.2,12.5,827,7577,0.00,2.00,0.00,0.000,4,0.000,0.047,2186,3822,1566,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7625,0.51,340.2,152.7,12.3,837,7631,0.00,2.03,0.00,0.000,6,0.000,0.029,2196,2464,1565,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7945,0.57,368.2,117.1,10.9,898,7978,0.00,2.15,24.05,0.601,4,0.000,0.046,2197,3807,1464,0,0,0,0,0,0,28.83,26.12,25.42
$GC,8028,0.62,384.8,108.6,11.2,912,8046,0.00,2.03,11.68,0.297,6,0.000,0.028,2208,2447,1414,0,0,0,0,0,0,28.83,26.15,25.41
$GC,8356,0.84,521.4,84.2,7.3,975,8497,0.17,2.20,132.85,0.281,4,0.060,0.045,2317,3812,855,0,0,0,0,0,0,26.39,25.75,25.34
$GC,8578,0.82,521.4,44.4,18.0,1012,8586,0.20,2.05,2.20,0.164,6,0.148,0.030,2270,2462,852,0,0,0,0,0,0,25.63,25.94,25.54
$GC,8898,0.84,525.1,3.5,11.7,1073,8906,0.00,1.73,3.85,0.145,3,0.000,0.033,2279,1322,835,0,0,0,0,0,0,28.83,28.83,25.76
$STATE,8907,end climb,SURFACE_DEPTH_REACHED
$STATE,8907,begin surface coast
$FINISH,0.1,1.022922
$STATE,8929,end surface coast,CONTROL_FINISHED_OK
$STATE,8929,begin surface
$SM_CCo,9006,0.00,0.000,0,0,845,523.47
$SM_GC,0.93,5.38,2.05,0.00,0.026,0.032,0.000,138,2662,845,-5.78,-0.14,523.47,0,0,0,0,0,0
$IRIDIUM_FIX,2309.79,12136.45,131211,212143
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,361.4,0.0
$24V_AH,24.3,39.650
$10V_AH,10.3,26.270
$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,14.850,83.825,659.300,0.000,0.000,27.651,39.175,169.506,0.250,0.000,30.608,2743.735,3554.984,724.853,2094.952,239.529,0.000,1742.672,0.000,1749.674,0.000,3.097,0.000
$DEVICE_MAMPS,224.910,82.620,904.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.782,1281.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324516
$DATA_FILE_SIZE,70315,1078
$CAP_FILE_SIZE,115620,0
$CFSIZE,260165632,206360576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.292,220.9,1
$GPS,141211,013044,2315.735,12130.517,14,2.0,15,-3.1