version: 66.10
glider: 169
mission: 5
dive: 282
start: 1 2 112 15 13 13
data:
$ID,169
$MISSION,5
$DIVE,282
$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,-11076.722
$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
$GPS1,020112,150537,2128.281,12400.295,35,0.9,35,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.2
$GPS2,020112,151250,2128.207,12400.258,10,1.3,10,-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,355.2,3351,-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,-66.0,0.0,0.0,0,91,0.00,0.00,-72.18,0.000,2,0.000,0.000,120,2670,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.84,-112.7,3.2,-5.4,13,119,6.60,2.25,-8.90,0.000,4,0.230,0.040,1742,1174,3440,0,0,0,0,0,0,25.09,26.09,26.49
$GC,126,-0.60,-112.7,16.3,-41.1,18,133,0.32,2.22,0.00,0.000,6,0.197,0.032,1813,2658,3440,0,0,0,0,0,0,25.29,26.06,28.83
$GC,439,-0.57,-112.7,118.1,-28.8,79,445,0.00,1.80,0.00,0.000,4,0.000,0.039,1804,3825,3441,0,0,0,0,0,0,28.83,26.15,28.83
$GC,533,-0.57,-112.7,141.0,-20.8,97,540,0.00,1.83,0.00,0.000,6,0.000,0.022,1813,2565,3441,0,0,0,0,0,0,28.83,26.34,28.83
$GC,843,-0.57,-112.7,209.5,-22.2,154,852,0.00,2.00,0.00,0.000,4,0.000,0.028,1819,1166,3442,0,0,0,0,0,0,28.83,26.29,28.83
$GC,886,-0.58,-112.7,217.4,-19.5,158,894,0.00,2.20,0.00,0.000,6,0.000,0.039,1808,2647,3442,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1195,-0.59,-112.7,281.9,-21.2,189,1204,0.00,2.15,0.00,0.000,4,0.000,0.028,1809,1175,3442,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1322,-0.64,-112.7,300.5,-13.7,201,1329,0.00,2.22,0.00,0.000,6,0.000,0.039,1799,2657,3442,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1628,-0.66,-112.7,355.4,-17.6,232,1637,0.00,2.15,0.00,0.000,4,0.000,0.028,1799,1172,3442,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1692,-0.71,-112.7,365.0,-13.8,238,1701,0.00,2.17,0.00,0.000,6,0.000,0.037,1788,2647,3441,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2000,-0.73,-112.7,420.3,-18.3,269,2009,0.00,2.15,0.00,0.000,4,0.000,0.028,1789,1179,3442,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2052,-0.77,-112.7,429.1,-16.3,274,2061,0.00,2.17,0.00,0.000,6,0.000,0.040,1778,2645,3442,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2363,-0.79,-112.7,480.3,-14.3,305,2372,0.00,2.12,0.00,0.000,4,0.000,0.028,1780,1178,3441,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2455,-0.84,-112.7,493.3,-13.7,314,2464,0.00,2.20,0.00,0.000,6,0.000,0.041,1770,2658,3440,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2764,-0.85,-112.7,549.1,-19.3,345,2774,0.10,1.77,0.00,0.000,4,0.102,0.043,1714,3821,3438,0,0,0,0,0,0,26.57,26.21,28.83
$GC,2851,-0.84,-112.7,568.0,-22.9,353,2858,0.00,1.80,0.00,0.000,6,0.000,0.022,1722,2567,3437,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3168,-0.82,-112.7,634.2,-19.8,377,3174,0.00,1.92,0.00,0.000,4,0.000,0.044,1713,3817,3435,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3211,-0.81,-112.7,642.8,-20.5,379,3215,0.10,1.77,0.00,0.000,6,0.171,0.024,1744,2563,3435,0,0,0,0,0,0,26.11,26.43,28.83
$GC,3523,-0.81,-112.7,698.3,-18.2,395,3529,0.00,2.03,0.00,0.000,4,0.000,0.029,1754,1170,3433,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3627,-0.85,-112.7,713.1,-14.2,400,3631,0.00,2.22,0.00,0.000,6,0.000,0.039,1743,2656,3432,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3939,-0.86,-112.7,764.6,-15.9,416,3944,0.00,2.20,0.00,0.000,4,0.000,0.030,1745,1172,3429,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4028,-0.89,-112.7,775.0,-12.9,420,4032,0.00,2.22,0.00,0.000,6,0.000,0.039,1735,2654,3429,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4334,-0.90,-112.7,819.5,-14.0,435,4340,0.00,2.20,0.00,0.000,4,0.000,0.029,1738,1167,3426,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4456,-0.93,-112.7,835.1,-12.5,441,4461,0.00,2.25,0.00,0.000,6,0.000,0.043,1728,2653,3425,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4774,-0.93,-112.7,883.9,-15.7,457,4777,0.00,1.77,0.00,0.000,4,0.000,0.049,1719,3818,3423,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4797,-0.93,-112.7,887.3,-16.0,458,4801,0.00,1.83,0.00,0.000,6,0.000,0.025,1722,2568,3422,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5117,-0.93,-112.7,940.8,-17.2,474,5122,0.00,2.03,0.00,0.000,4,0.000,0.032,1724,1184,3420,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5168,-0.93,-112.7,947.6,-17.1,476,5174,0.00,2.25,0.00,0.000,6,0.000,0.041,1713,2657,3420,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,5413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5413,begin apogee
$GC,5419,-0.20,0.0,992.9,-17.2,489,5536,0.70,0.12,102.30,1.372,6,0.132,0.056,1936,2531,2986,0,0,0,0,1,0,25.44,24.89,23.52
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5540,0.84,112.7,998.2,0.0,495,5662,0.93,2.38,114.68,1.182,4,0.054,0.035,2295,1057,2512,0,0,0,0,0,0,25.13,24.77,23.56
$GC,5799,0.79,112.7,970.8,18.4,508,5805,0.08,2.28,0.00,0.000,6,0.203,0.039,2274,2526,2498,0,0,0,0,0,0,25.40,25.72,28.83
$GC,6119,0.73,112.7,909.0,19.3,524,6123,0.00,2.00,0.00,0.000,4,0.000,0.046,2273,3815,2494,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6244,0.64,112.7,882.2,22.2,530,6249,0.25,2.05,0.00,0.000,6,0.215,0.030,2222,2451,2491,0,0,0,0,0,0,25.41,26.15,28.83
$GC,6557,0.61,112.7,834.3,14.3,546,6563,0.00,2.15,0.00,0.000,4,0.000,0.047,2212,3815,2490,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6698,0.57,112.7,811.6,16.1,553,6703,0.00,2.03,0.00,0.000,6,0.000,0.030,2223,2458,2488,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7019,0.55,112.7,766.7,13.3,569,7025,0.12,2.08,0.00,0.000,4,0.214,0.036,2199,1059,2486,0,0,0,0,0,0,25.89,26.15,28.83
$GC,7041,0.53,112.7,764.0,13.2,570,7045,0.00,2.22,0.00,0.000,6,0.000,0.039,2199,2526,2485,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7358,0.53,112.8,728.6,10.3,586,7364,0.00,2.03,0.00,0.000,4,0.000,0.045,2199,3824,2484,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7467,0.50,112.8,715.5,13.6,591,7472,0.15,2.03,0.00,0.000,6,0.198,0.031,2174,2465,2484,0,0,0,0,0,0,25.71,26.25,28.83
$GC,7774,0.53,125.6,684.4,9.0,606,7784,0.00,2.17,4.07,0.750,4,0.000,0.035,2184,1054,2467,0,0,0,0,0,0,28.83,26.20,24.24
$GC,7827,0.57,139.6,680.8,8.9,608,7854,0.00,2.22,20.73,0.975,6,0.000,0.038,2183,2526,2407,0,0,0,0,0,0,28.83,26.17,24.59
$GC,8156,0.59,139.6,644.5,11.0,625,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2526,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8454,0.62,139.6,612.6,11.4,640,8460,0.00,2.00,0.00,0.000,4,0.000,0.046,2183,3815,2391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8575,0.62,139.6,595.9,14.7,647,8582,0.00,2.08,0.00,0.000,6,0.000,0.029,2194,2456,2389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8885,0.63,142.8,559.5,10.0,678,8894,0.00,2.08,0.00,0.000,4,0.000,0.040,2206,1059,2388,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8899,0.65,148.4,558.6,9.7,679,8907,0.00,2.25,2.60,0.457,6,0.000,0.039,2206,2530,2372,0,0,0,0,0,0,28.83,26.13,24.15
$GC,9208,0.67,156.1,529.8,9.5,710,9227,0.00,2.08,14.40,0.877,4,0.000,0.048,2206,3812,2336,0,0,0,0,0,0,28.83,26.08,24.76
$GC,9453,0.66,156.1,494.6,16.7,734,9461,0.00,2.05,0.00,0.000,6,0.000,0.031,2216,2461,2329,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9760,0.67,156.1,456.4,10.5,765,9769,0.00,2.10,0.00,0.000,4,0.000,0.037,2227,1059,2327,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9842,0.69,156.1,447.8,10.7,773,9851,0.00,2.20,0.00,0.000,6,0.000,0.038,2227,2523,2326,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10151,0.69,156.1,407.4,13.2,804,10160,0.00,2.20,0.00,0.000,4,0.000,0.037,2238,1058,2326,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10278,0.71,156.1,393.0,11.3,816,10285,0.00,2.22,0.00,0.000,6,0.000,0.039,2239,2526,2326,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10584,0.71,156.1,355.4,11.1,847,10593,0.00,1.98,0.00,0.000,4,0.000,0.045,2238,3812,2326,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10747,0.68,156.1,335.2,13.6,863,10756,0.00,2.03,0.00,0.000,6,0.000,0.031,2248,2456,2326,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11057,0.68,156.1,297.5,11.9,894,11065,0.00,2.17,0.00,0.000,4,0.000,0.046,2249,3822,2326,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11139,0.65,156.1,286.0,14.9,902,11144,0.15,2.05,0.00,0.000,6,0.198,0.030,2225,2453,2326,0,0,0,0,0,0,25.69,26.27,28.83
$GC,11453,0.68,162.9,254.9,9.6,933,11461,0.00,0.00,1.80,0.182,6,0.000,0.000,2224,2452,2314,0,0,0,0,0,0,28.83,28.83,25.25
$GC,11764,0.74,193.2,228.5,7.2,964,11804,0.00,2.17,34.05,0.663,4,0.000,0.037,2235,1059,2181,0,0,0,0,0,0,28.83,26.01,24.84
$GC,11887,0.79,196.9,217.8,9.9,976,11894,0.00,2.25,0.00,0.000,6,0.000,0.037,2234,2531,2172,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12192,0.82,196.9,180.9,13.2,1022,12200,0.12,2.03,0.00,0.000,4,0.088,0.044,2300,3818,2171,0,0,0,0,0,0,26.35,26.03,28.83
$GC,12300,0.78,196.9,161.5,19.0,1042,12307,0.20,2.05,0.00,0.000,6,0.196,0.029,2261,2453,2170,0,0,0,0,0,0,25.49,26.20,28.83
$GC,12615,0.80,202.1,119.5,9.8,1103,12623,0.00,2.22,2.10,0.238,4,0.000,0.044,2261,3818,2158,0,0,0,0,0,0,28.83,26.14,24.08
$GC,12761,0.80,202.1,103.0,10.5,1131,12769,0.00,2.03,1.92,0.172,6,0.000,0.028,2271,2460,2154,0,0,0,0,0,0,28.83,26.28,25.44
$GC,13076,0.83,215.3,80.5,8.9,1192,13101,0.00,2.15,18.20,0.272,4,0.000,0.041,2272,3824,2110,0,0,0,0,0,0,28.83,26.21,25.36
$GC,13197,0.83,215.3,66.1,13.7,1214,13204,0.00,2.03,2.15,0.167,6,0.000,0.029,2283,2459,2101,0,0,0,0,0,0,28.83,26.27,25.42
$GC,13511,0.85,215.3,32.1,10.8,1275,13518,0.00,2.15,1.95,0.164,4,0.000,0.035,2294,1059,2105,0,0,0,0,0,0,28.83,26.20,25.44
$GC,13557,0.88,215.3,27.0,10.5,1283,13564,0.00,2.20,1.77,0.166,6,0.000,0.037,2294,2528,2101,0,0,0,0,0,0,28.83,26.21,25.52
$STATE,13784,end climb,SURFACE_DEPTH_REACHED
$STATE,13784,begin surface coast
$FINISH,0.2,1.023451
$STATE,13807,end surface coast,CONTROL_FINISHED_OK
$STATE,13807,begin surface
$SM_CCo,13822,98.03,0.119,0,0,1243,425.10
$SM_GC,1.17,5.47,0.17,98.03,0.034,0.070,0.119,121,2666,1243,-5.80,-0.51,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2120.26,12359.39,020112,111133
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.86
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.5,60.106
$10V_AH,10.1,37.297
$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,15.300,134.875,322.725,98.025,0.000,27.267,38.991,238.703,0.000,0.000,11.817,3210.022,7369.328,567.256,2848.818,338.766,0.000,1889.844,0.000,2433.795,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,70.380,1372.410,118.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.720,1650.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330376
$DATA_FILE_SIZE,90481,1332
$CAP_FILE_SIZE,163379,0
$CFSIZE,260165632,197042176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020112,190624,2128.749,12359.587,40,1.1,40,-2.8