version: 66.10
glider: 169
mission: 5
dive: 281
start: 1 2 112 11 6 18
data:
$ID,169
$MISSION,5
$DIVE,281
$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,320
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,-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,-11075.46
$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,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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
$GPS1,020112,105836,2128.659,12401.218,30,1.0,30,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.5
$GPS2,020112,110555,2128.631,12401.223,11,1.8,16,-2.8
$SPEED_LIMITS,0.179,0.329
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,323.1,3297,-27.9,-10.312
$D_GRID,4800
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.78,-66.0,0.0,0.0,0,124,0.00,0.00,-105.12,0.000,2,0.000,0.000,117,2688,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.80,-82.6,3.9,-8.6,19,141,6.65,1.80,-2.75,0.000,4,0.231,0.047,1734,3835,3318,0,0,0,0,0,0,25.07,26.10,26.43
$GC,204,-0.71,-82.6,39.6,-40.0,33,212,0.15,1.85,0.00,0.000,6,0.196,0.022,1777,2560,3319,0,0,0,0,0,0,25.64,26.20,28.83
$GC,516,-0.65,-82.6,150.8,-30.3,94,522,0.00,2.00,0.00,0.000,4,0.000,0.026,1787,1174,3318,0,0,0,0,0,0,28.83,26.26,28.83
$GC,726,-0.65,-82.6,197.9,-18.8,135,733,0.00,2.22,0.00,0.000,6,0.000,0.037,1776,2657,3318,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1041,-0.62,-82.6,267.4,-21.1,167,1050,0.12,2.17,0.00,0.000,4,0.189,0.027,1823,1180,3319,0,0,0,0,0,0,26.09,26.32,28.83
$GC,1224,-0.67,-82.6,292.4,-12.7,185,1233,0.00,2.25,0.00,0.000,6,0.000,0.041,1812,2659,3319,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1535,-0.68,-82.6,345.8,-17.5,216,1544,0.00,2.15,0.00,0.000,4,0.000,0.027,1813,1175,3318,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1630,-0.73,-82.6,358.3,-11.2,225,1636,0.00,2.22,0.00,0.000,6,0.000,0.037,1802,2659,3318,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1937,-0.75,-82.6,403.9,-16.7,256,1946,0.10,2.17,0.00,0.000,4,0.099,0.025,1760,1170,3317,0,0,0,0,0,0,26.57,26.35,28.83
$GC,1969,-0.76,-82.6,409.6,-17.7,259,1978,0.00,2.25,0.00,0.000,6,0.000,0.037,1749,2659,3317,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2281,-0.75,-82.6,472.8,-19.7,290,2289,0.00,2.12,0.00,0.000,4,0.000,0.026,1756,1174,3316,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2477,-0.77,-82.6,503.1,-14.7,309,2483,0.00,2.22,0.00,0.000,6,0.000,0.037,1745,2658,3315,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2784,-0.76,-82.6,554.7,-16.9,340,2788,0.00,1.75,0.00,0.000,4,0.000,0.042,1736,3827,3314,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2817,-0.75,-82.6,560.8,-18.2,343,2827,0.00,1.83,0.00,0.000,6,0.000,0.021,1739,2559,3313,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3127,-0.74,-82.6,619.9,-18.6,369,3131,0.12,1.98,0.00,0.000,4,0.168,0.041,1768,3822,3311,0,0,0,0,0,0,26.17,26.22,28.83
$GC,3223,-0.75,-82.6,633.3,-16.1,373,3230,0.00,1.80,0.00,0.000,6,0.000,0.023,1777,2567,3310,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3529,-0.78,-82.6,672.7,-12.3,389,3535,0.00,2.03,0.00,0.000,4,0.000,0.029,1782,1174,3308,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3572,-0.82,-82.6,677.6,-12.3,391,3576,0.00,2.25,0.00,0.000,6,0.000,0.038,1771,2660,3308,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3885,-0.84,-82.6,720.1,-13.6,407,3890,0.00,2.15,0.00,0.000,4,0.000,0.028,1774,1184,3305,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4008,-0.89,-82.6,735.3,-12.4,413,4013,0.12,2.22,0.00,0.000,6,0.085,0.039,1704,2654,3304,0,0,0,0,0,0,26.22,26.22,28.83
$GC,4321,-0.86,-82.6,790.3,-17.5,429,4327,0.00,2.15,0.00,0.000,4,0.000,0.029,1704,1173,3301,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4420,-0.85,-82.6,806.1,-15.6,434,4427,0.15,2.25,0.00,0.000,6,0.177,0.038,1731,2655,3300,0,0,0,0,0,0,25.80,26.22,28.83
$GC,4741,-0.85,-82.6,854.2,-14.8,450,4746,0.00,2.17,0.00,0.000,4,0.000,0.030,1741,1175,3298,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4782,-0.85,-82.6,859.9,-14.5,452,4786,0.00,2.25,0.00,0.000,6,0.000,0.041,1731,2653,3297,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5100,-0.85,-82.6,904.1,-14.8,468,5106,0.00,2.20,0.00,0.000,4,0.000,0.031,1732,1171,3295,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5149,-0.85,-82.6,909.9,-14.7,470,5153,0.00,2.25,0.00,0.000,6,0.000,0.041,1722,2653,3294,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5457,-0.84,-82.6,961.9,-16.9,485,5462,0.00,2.17,0.00,0.000,4,0.000,0.031,1725,1184,3292,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5524,-0.84,-82.6,971.8,-16.7,488,5528,0.00,2.22,0.00,0.000,6,0.000,0.040,1715,2657,3292,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,5628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5628,begin apogee
$GC,5633,-0.20,0.0,990.7,-16.7,493,5711,0.73,0.15,73.12,1.151,6,0.138,0.076,1943,2543,2977,0,0,0,0,0,0,25.44,25.25,23.97
$STATE,5712,end apogee,CONTROL_FINISHED_OK
$STATE,5712,begin climb
$GC,5715,0.80,82.6,994.0,0.0,497,5799,0.90,0.00,79.80,1.170,6,0.057,0.000,2274,2543,2642,0,0,0,0,0,0,25.37,28.83,23.75
$GC,6093,0.73,82.6,946.7,16.5,516,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2543,2617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6390,0.66,82.6,901.9,14.8,531,6397,0.15,1.98,0.00,0.000,4,0.216,0.044,2225,3815,2612,0,0,0,0,0,0,25.67,26.03,28.83
$GC,6538,0.59,82.6,882.0,13.7,538,6543,0.12,2.05,0.00,0.000,6,0.230,0.031,2209,2459,2611,0,0,0,0,0,0,25.66,26.17,28.83
$GC,6847,0.57,85.0,847.1,10.1,553,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2457,2609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7147,0.55,87.2,817.6,10.1,568,7153,0.00,2.12,0.00,0.000,4,0.000,0.047,2207,3810,2607,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7268,0.50,87.2,803.3,11.9,574,7274,0.12,2.03,0.00,0.000,6,0.192,0.032,2181,2471,2606,0,0,0,0,0,0,25.62,26.22,28.83
$GC,7590,0.50,90.2,771.9,10.0,590,7595,0.00,2.10,0.00,0.000,4,0.000,0.036,2191,1058,2604,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7630,0.51,96.5,768.1,9.7,592,7639,0.00,2.25,3.95,0.766,6,0.000,0.040,2190,2535,2584,0,0,0,0,0,0,28.83,26.15,24.14
$GC,7949,0.54,122.0,741.6,7.6,608,7988,0.00,2.10,33.45,1.014,4,0.000,0.048,2190,3814,2472,0,0,0,0,0,0,28.83,25.75,24.48
$GC,8073,0.53,130.0,731.2,9.5,614,8080,0.00,2.08,2.50,0.437,6,0.000,0.031,2200,2459,2448,0,0,0,0,0,0,28.83,25.91,23.96
$GC,8388,0.53,130.0,700.2,10.8,630,8393,0.00,2.10,0.00,0.000,4,0.000,0.038,2211,1059,2451,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8470,0.55,130.0,691.4,11.1,634,8474,0.00,2.25,0.00,0.000,6,0.000,0.040,2211,2526,2451,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8785,0.55,130.0,650.1,13.3,650,8790,0.00,2.00,0.00,0.000,4,0.000,0.046,2211,3814,2451,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8812,0.53,130.0,647.4,13.3,651,8822,0.15,2.05,0.00,0.000,6,0.199,0.030,2186,2457,2451,0,0,0,0,0,0,25.64,26.19,28.83
$GC,9123,0.58,159.4,618.8,7.2,667,9165,0.00,2.25,35.50,0.936,4,0.000,0.046,2186,3826,2318,0,0,0,0,0,0,28.83,25.76,24.56
$GC,9256,0.59,159.4,607.4,10.5,673,9263,0.00,2.10,0.00,0.000,6,0.000,0.031,2196,2464,2308,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9567,0.62,159.4,572.1,12.4,701,9576,0.00,2.12,0.00,0.000,4,0.000,0.046,2196,3804,2305,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9759,0.62,159.4,542.6,15.0,720,9768,0.00,2.05,0.00,0.000,6,0.000,0.032,2207,2452,2304,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10069,0.63,159.4,506.2,11.8,751,10078,0.00,2.17,0.00,0.000,4,0.000,0.048,2207,3819,2303,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10241,0.63,159.4,478.7,16.5,768,10250,0.00,2.05,0.00,0.000,6,0.000,0.030,2218,2457,2303,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10552,0.65,159.4,437.8,11.1,799,10561,0.00,2.08,0.00,0.000,4,0.000,0.038,2229,1060,2302,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10618,0.69,170.2,431.8,9.2,805,10626,0.00,2.22,2.85,0.480,6,0.000,0.038,2229,2528,2283,0,0,0,0,0,0,28.83,26.13,24.24
$GC,10923,0.69,170.2,396.1,13.5,836,10934,0.00,2.20,1.33,0.200,4,0.000,0.034,2240,1058,2285,0,0,0,0,0,0,28.83,26.15,25.41
$GC,10950,0.70,170.2,393.0,13.7,838,10957,0.00,2.22,0.00,0.000,6,0.000,0.038,2240,2526,2290,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11256,0.70,170.2,350.9,13.0,869,11265,0.00,2.03,0.00,0.000,4,0.000,0.044,2240,3822,2292,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11440,0.67,170.2,325.5,12.6,887,11449,0.00,2.05,0.00,0.000,6,0.000,0.030,2251,2455,2293,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11749,0.67,170.2,286.1,13.3,918,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2454,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12052,0.67,170.2,253.5,10.7,948,12060,0.00,2.08,0.00,0.000,4,0.000,0.039,2261,1057,2293,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12226,0.69,170.2,235.0,10.5,965,12233,0.00,2.22,0.00,0.000,6,0.000,0.037,2262,2529,2293,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12532,0.69,170.2,197.5,10.6,998,12540,0.00,2.08,1.60,0.173,4,0.000,0.044,2262,3815,2286,0,0,0,0,0,0,28.83,26.08,25.41
$GC,12679,0.66,170.2,179.8,11.1,1026,12687,0.17,2.03,1.67,0.168,6,0.190,0.028,2229,2451,2285,0,0,0,0,0,0,25.65,26.29,25.41
$GC,12992,0.74,206.5,157.8,6.5,1087,13039,0.00,2.10,39.53,0.604,4,0.000,0.034,2239,1056,2123,0,0,0,0,0,0,28.83,26.01,24.91
$GC,13119,0.81,215.7,147.0,9.3,1110,13127,0.00,2.25,2.20,0.261,6,0.000,0.037,2239,2536,2097,0,0,0,0,0,0,28.83,25.99,24.39
$GC,13435,0.88,227.3,117.4,9.1,1171,13460,0.12,2.00,17.00,0.567,4,0.086,0.043,2309,3815,2041,0,0,0,0,0,0,26.36,26.06,25.02
$GC,13635,0.86,227.3,84.0,17.6,1209,13642,0.12,2.05,0.00,0.000,6,0.200,0.028,2291,2448,2034,0,0,0,0,0,0,25.72,26.16,28.83
$GC,13947,0.87,227.3,38.3,16.0,1270,13954,0.00,2.15,0.00,0.000,4,0.000,0.042,2291,3815,2033,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13996,0.87,227.3,29.4,18.1,1279,14003,0.00,2.03,0.00,0.000,6,0.000,0.027,2302,2452,2033,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,14172,end climb,SURFACE_DEPTH_REACHED
$STATE,14172,begin surface coast
$FINISH,0.6,1.023449
$STATE,14189,end surface coast,CONTROL_FINISHED_OK
$STATE,14189,begin surface
$SM_CCo,14205,88.20,0.119,0,0,1245,425.10
$SM_GC,1.13,5.47,0.32,88.20,0.033,0.053,0.119,132,2666,1245,-5.78,-0.34,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2122.58,12405.82,020112,060606
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.33
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.7,59.989
$10V_AH,10.1,37.196
$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,15.500,131.500,294.500,88.200,0.000,29.178,39.710,236.737,0.000,0.000,17.228,3173.792,7808.004,570.148,2818.347,341.483,0.000,1853.637,0.000,2394.747,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,76.500,1170.450,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.126,1653.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,86787,1317
$CAP_FILE_SIZE,162319,0
$CFSIZE,260165632,197132288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020112,150537,2128.281,12400.295,35,0.9,35,-2.8