version: 66.10
glider: 169
mission: 5
dive: 183
start: 12 14 111 1 37 48
data:
$ID,169
$MISSION,5
$DIVE,183
$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,-10950.054
$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
$GPS1,141211,013044,2315.735,12130.517,14,2.0,15,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-62.3
$GPS2,141211,013722,2315.940,12130.516,15,2.3,34,-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,49.9,252764,-16.1,-11.786
$D_GRID,872
$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,-243.3,0.0,0.0,0,107,0.00,0.00,-88.38,0.000,2,0.000,0.000,128,2668,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.70,-243.3,3.6,-7.6,15,140,6.50,2.25,-16.30,0.000,4,0.226,0.038,1782,1166,3963,0,0,0,0,0,0,25.48,26.17,26.53
$GC,196,-0.65,-243.3,38.2,-25.1,29,203,0.00,2.28,0.00,0.000,6,0.000,0.044,1771,2651,3965,0,0,0,0,0,0,28.83,26.10,28.83
$GC,519,-0.57,-243.3,136.6,-24.9,90,526,0.15,1.80,0.00,0.000,4,0.164,0.044,1810,3814,3965,0,0,0,0,0,0,26.07,26.22,28.83
$GC,680,-0.56,-243.3,164.9,-16.4,120,689,0.00,1.77,0.00,0.000,6,0.000,0.024,1810,2566,3966,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1004,-0.53,-243.3,223.1,-17.9,169,1011,0.10,0.00,0.00,0.000,6,0.158,0.000,1837,2566,3966,0,0,0,0,0,0,26.39,28.83,28.83
$GC,1313,-0.54,-243.3,259.6,-9.6,200,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2565,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.55,-243.3,289.1,-10.5,230,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2565,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.56,-243.3,325.8,-10.5,261,1934,0.00,1.98,0.00,0.000,4,0.000,0.048,1827,3826,3962,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1958,-0.58,-243.3,329.1,-9.9,264,1968,0.00,1.83,0.00,0.000,6,0.000,0.026,1827,2555,3962,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2268,-0.58,-243.3,361.1,-10.6,295,2277,0.00,1.98,0.00,0.000,4,0.000,0.045,1818,3836,3959,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2301,-0.58,-243.3,364.8,-10.8,298,2309,0.00,1.83,0.00,0.000,6,0.000,0.024,1818,2559,3958,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2611,-0.58,-243.3,401.4,-12.4,329,2620,0.00,1.98,0.00,0.000,4,0.000,0.031,1818,1188,3956,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2642,-0.58,-243.3,405.1,-12.1,332,2653,0.00,2.20,0.00,0.000,6,0.000,0.041,1813,2656,3956,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2953,-0.57,-243.3,441.8,-12.3,363,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2657,3954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-0.57,-243.3,478.8,-12.0,393,3266,0.00,2.12,0.00,0.000,4,0.000,0.030,1813,1187,3951,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3309,-0.60,-243.3,484.8,-10.1,398,3318,0.00,2.22,0.00,0.000,6,0.000,0.042,1812,2655,3951,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3621,-0.60,-243.3,519.3,-12.2,429,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2655,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-0.60,-243.3,553.6,-10.4,460,3941,0.00,2.15,0.00,0.000,4,0.000,0.029,1812,1177,3946,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3968,-0.61,-243.3,556.3,-8.3,463,3974,0.00,2.25,0.00,0.000,6,0.000,0.043,1812,2657,3946,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4274,-0.61,-243.3,583.3,-8.9,494,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2657,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4585,-0.62,-243.3,614.8,-10.5,518,4591,0.00,2.12,0.00,0.000,4,0.000,0.031,1812,1189,3943,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4633,-0.64,-243.3,618.1,-9.3,520,4645,0.00,2.22,0.00,0.000,6,0.000,0.044,1812,2651,3943,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4945,-0.65,-243.3,642.7,-7.2,536,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2652,3942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5245,-0.66,-243.3,664.8,-8.0,551,5251,0.00,2.15,0.00,0.000,4,0.000,0.031,1812,1188,3939,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5267,-0.67,-243.3,667.0,-8.9,552,5271,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2655,3940,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5580,-0.69,-243.3,691.5,-7.1,568,5585,0.00,2.17,0.00,0.000,4,0.000,0.032,1813,1186,3938,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5609,-0.71,-243.3,692.6,-6.6,569,5618,0.00,2.25,0.00,0.000,6,0.000,0.046,1812,2651,3937,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5922,-0.72,-243.3,721.2,-11.1,585,5924,0.12,0.00,0.00,0.000,6,0.080,0.000,1738,2652,3935,0,0,0,0,0,0,26.58,28.83,28.83
$GC,6221,-0.65,-243.3,777.1,-18.1,600,6227,0.17,2.15,0.00,0.000,4,0.157,0.031,1803,1188,3934,0,0,0,0,0,0,26.03,26.26,28.83
$GC,6289,-0.63,-243.3,784.1,-13.6,603,6293,0.00,2.25,0.00,0.000,6,0.000,0.045,1799,2653,3934,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6596,-0.63,-243.3,816.6,-12.6,618,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2654,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6897,-0.60,-243.3,843.0,-0.1,633,6901,0.00,1.80,0.00,0.000,4,0.000,0.053,1791,3821,3930,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,6978,end dive,NO_VERTICAL_VELOCITY
$STATE,6978,begin apogee
$GC,6985,-0.20,0.0,842.9,0.0,637,7199,0.43,0.10,199.32,1.338,6,0.110,0.062,1937,2526,2981,0,0,0,0,1,0,25.84,24.52,23.62
$STATE,7200,end apogee,CONTROL_FINISHED_OK
$STATE,7200,begin climb
$GC,7202,0.70,243.3,842.8,0.0,648,7440,0.93,2.40,224.55,1.072,4,0.113,0.036,2241,1069,1973,0,0,0,0,0,0,24.64,24.34,23.52
$GC,7532,0.63,243.3,808.2,22.4,664,7536,0.00,2.33,0.00,0.000,6,0.000,0.041,2241,2530,1963,0,0,0,0,0,0,28.83,25.24,28.83
$GC,7840,0.53,243.3,736.2,25.2,679,7846,0.20,1.98,0.00,0.000,4,0.186,0.049,2184,3804,1960,0,0,0,0,0,0,25.53,25.86,28.83
$GC,7940,0.46,243.3,713.5,21.9,684,7946,0.15,2.03,0.00,0.000,6,0.181,0.030,2157,2466,1959,0,0,0,0,0,0,25.66,26.01,28.83
$GC,8261,0.43,243.3,656.9,17.7,700,8266,0.00,2.12,0.00,0.000,4,0.000,0.049,2157,3816,1958,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8301,0.40,243.3,649.2,18.4,702,8306,0.00,2.03,0.00,0.000,6,0.000,0.031,2167,2469,1958,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8611,0.36,243.3,594.9,16.7,719,8613,0.15,0.00,0.00,0.000,6,0.175,0.000,2128,2467,1957,0,0,0,0,0,0,25.94,28.83,28.83
$GC,8912,0.43,297.4,558.5,10.0,749,8964,0.00,0.00,49.75,0.886,6,0.000,0.000,2128,2468,1766,0,0,0,0,0,0,28.83,28.83,24.77
$GC,9262,0.52,358.5,523.0,9.8,784,9325,0.12,2.28,55.65,0.864,4,0.077,0.051,2209,3809,1506,0,0,0,0,0,0,26.15,25.34,24.61
$GC,9380,0.47,358.5,500.1,23.3,795,9389,0.15,2.08,0.00,0.000,6,0.151,0.034,2172,2466,1494,0,0,0,0,0,0,25.35,25.63,28.83
$GC,9691,0.46,358.5,448.3,16.1,826,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2465,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10001,0.46,358.5,401.9,14.3,857,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2465,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10312,0.46,358.5,355.3,14.5,888,10320,0.00,2.10,0.00,0.000,4,0.000,0.047,2171,3813,1488,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10364,0.46,358.5,346.8,15.6,893,10375,0.00,2.03,0.00,0.000,6,0.000,0.031,2182,2459,1487,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10674,0.44,358.5,300.9,13.8,924,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2458,1486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10977,0.43,358.5,256.6,15.1,954,10986,0.12,2.08,0.00,0.000,4,0.167,0.044,2143,3804,1486,0,0,0,0,0,0,26.10,26.15,28.83
$GC,11001,0.43,358.5,252.5,16.1,956,11008,0.00,2.05,0.00,0.000,6,0.000,0.029,2152,2454,1486,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11309,0.62,480.9,221.9,7.8,987,11423,0.12,2.25,104.93,0.676,4,0.078,0.040,2247,1056,1004,0,0,0,0,0,0,26.48,25.37,24.71
$GC,11479,0.66,480.9,192.2,14.0,1007,11485,0.00,2.30,0.00,0.000,6,0.000,0.040,2247,2524,990,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11799,0.66,480.9,132.9,18.0,1068,11805,0.00,2.03,0.00,0.000,4,0.000,0.047,2247,3820,988,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11855,0.69,480.9,123.2,15.7,1078,11861,0.00,2.05,0.00,0.000,6,0.000,0.030,2257,2463,986,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12172,0.78,529.6,82.6,10.2,1139,12224,0.00,2.12,44.58,0.262,4,0.000,0.044,2258,3812,833,0,0,0,0,0,0,28.83,25.98,25.44
$GC,12248,0.91,599.5,75.4,9.5,1151,12325,0.10,2.05,67.60,0.269,6,0.090,0.028,2352,2449,543,0,0,0,0,0,0,26.01,26.04,25.34
$STATE,12581,end climb,SURFACE_DEPTH_REACHED
$STATE,12581,begin surface coast
$FINISH,-0.2,1.022270
$STATE,12599,end surface coast,CONTROL_FINISHED_OK
$STATE,12599,begin surface
$SM_CCo,12674,0.00,0.000,0,0,554,594.85
$SM_GC,0.72,5.85,0.32,0.00,0.049,0.054,0.000,125,2661,554,-5.79,-0.31,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,2309.79,12131.22,131211,222204
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.61
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,473.1,0.0
$24V_AH,23.5,39.861
$10V_AH,10.3,26.362
$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,15.375,88.775,746.375,0.000,0.000,23.402,45.318,189.674,0.250,0.000,36.016,3136.949,6419.954,787.914,2445.293,272.522,0.000,1980.201,0.000,2039.007,0.000,2.869,0.000
$DEVICE_MAMPS,226.440,61.965,1337.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.977,1563.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,80252,1216
$CAP_FILE_SIZE,135799,0
$CFSIZE,260165632,206258176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.222,211.4,1
$GPS,141211,051007,2316.695,12132.170,37,1.2,37,-3.1