version: 66.10
glider: 169
mission: 5
dive: 410
start: 1 27 112 2 18 10
data:
$ID,169
$MISSION,5
$DIVE,410
$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,360
$T_MISSION,400
$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,180
$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,-11394.986
$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
$GPS1,270112,020937,2326.758,12301.633,32,1.2,32,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.7
$GPS2,270112,021732,2326.722,12301.762,16,1.9,16,-3.2
$SPEED_LIMITS,0.159,0.274
$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,67.7,99963,-15.4,-9.167
$D_GRID,3706
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.60,-175.2,0.0,0.0,0,100,0.00,0.00,-78.45,0.000,2,0.000,0.000,116,2668,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.60,-175.2,3.6,-7.2,14,133,7.15,1.88,-13.48,0.000,4,0.233,0.056,1796,3818,3696,0,0,0,0,0,0,24.76,25.98,26.56
$GC,156,-0.41,-175.2,28.4,-47.8,23,163,0.25,1.80,0.00,0.000,6,0.176,0.022,1871,2579,3696,0,0,0,0,0,0,25.39,26.17,28.83
$GC,468,-0.33,-175.2,108.9,-25.1,84,475,0.12,2.08,0.00,0.000,4,0.176,0.025,1919,1177,3696,0,0,0,0,0,0,26.07,26.20,28.83
$GC,585,-0.38,-175.2,122.7,-8.0,106,592,0.00,2.28,0.00,0.000,6,0.000,0.037,1909,2655,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,896,-0.50,-175.2,149.1,-9.4,167,903,0.15,1.80,0.00,0.000,4,0.101,0.043,1844,3815,3696,0,0,0,0,0,0,26.36,26.11,28.83
$GC,956,-0.63,-175.2,154.1,-7.8,178,963,0.12,1.80,0.00,0.000,6,0.112,0.025,1800,2575,3696,0,0,0,0,0,0,26.16,26.34,28.83
$GC,1274,-0.52,-175.2,230.3,-29.7,230,1278,0.12,2.05,0.00,0.000,4,0.168,0.023,1844,1176,3696,0,0,0,0,0,0,26.17,26.30,28.83
$GC,1330,-0.50,-175.2,240.2,-16.5,235,1337,0.00,2.28,0.00,0.000,6,0.000,0.036,1833,2651,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1638,-0.45,-175.2,291.4,-16.0,266,1646,0.00,2.17,0.00,0.000,4,0.000,0.027,1833,1177,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1669,-0.43,-175.2,296.3,-15.0,269,1679,0.15,2.25,0.00,0.000,6,0.125,0.039,1870,2651,3696,0,0,0,0,0,0,25.98,26.17,28.83
$GC,1979,-0.45,-175.2,324.7,-9.4,300,1988,0.00,2.20,0.00,0.000,4,0.000,0.028,1870,1168,3696,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2024,-0.49,-175.2,328.2,-8.3,304,2031,0.00,2.28,0.00,0.000,6,0.000,0.037,1864,2652,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2331,-0.50,-175.2,356.6,-9.3,335,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2651,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-0.53,-175.2,382.4,-7.9,365,2644,0.00,2.20,0.00,0.000,4,0.000,0.028,1864,1178,3694,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2677,-0.57,-175.2,386.0,-7.8,369,2686,0.00,2.28,0.00,0.000,6,0.000,0.037,1857,2652,3694,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2989,-0.59,-175.2,410.6,-8.0,400,2998,0.12,1.77,0.00,0.000,4,0.076,0.041,1763,3815,3692,0,0,0,0,0,0,26.55,26.13,28.83
$GC,3014,-0.59,-175.2,413.1,-9.0,402,3021,0.17,1.77,0.00,0.000,6,0.138,0.022,1818,2561,3692,0,0,0,0,0,0,25.94,26.40,28.83
$GC,3322,-0.57,-175.2,451.6,-11.9,433,3330,0.00,2.03,0.00,0.000,4,0.000,0.026,1818,1166,3690,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3383,-0.59,-175.2,458.3,-9.8,439,3392,0.00,2.28,0.00,0.000,6,0.000,0.037,1809,2655,3690,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3696,-0.57,-175.2,498.9,-12.4,470,3699,0.00,1.75,0.00,0.000,4,0.000,0.044,1801,3819,3688,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3717,-0.55,-175.2,502.0,-12.6,472,3722,0.08,1.83,0.00,0.000,6,0.110,0.023,1830,2568,3688,0,0,0,0,0,0,26.12,26.39,28.83
$GC,4029,-0.55,-175.2,534.5,-10.6,503,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2566,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.56,-175.2,564.4,-10.0,533,4340,0.00,1.95,0.00,0.000,4,0.000,0.044,1821,3815,3683,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4376,-0.58,-175.2,568.7,-9.9,537,4383,0.00,1.83,0.00,0.000,6,0.000,0.024,1821,2581,3682,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4683,-0.58,-175.2,599.6,-10.3,568,4692,0.00,2.08,0.00,0.000,4,0.000,0.028,1821,1173,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4727,-0.59,-175.2,603.6,-9.8,571,4731,0.00,2.30,0.00,0.000,6,0.000,0.039,1813,2651,3679,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5040,-0.59,-175.2,636.1,-10.3,587,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2651,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5339,-0.59,-175.2,665.3,-9.6,602,5343,0.00,1.80,0.00,0.000,4,0.000,0.046,1804,3819,3675,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5388,-0.59,-175.2,668.8,-9.1,604,5392,0.00,1.80,0.00,0.000,6,0.000,0.024,1804,2578,3675,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5701,-0.59,-175.2,698.3,-9.4,620,5707,0.00,2.05,0.00,0.000,4,0.000,0.031,1804,1176,3672,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5733,-0.59,-175.2,700.2,-9.3,621,5740,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2650,3672,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6041,-0.58,-175.2,733.9,-10.6,637,6044,0.00,1.80,0.00,0.000,4,0.000,0.046,1785,3814,3670,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6066,-0.56,-175.2,736.1,-10.5,638,6070,0.15,1.80,0.00,0.000,6,0.120,0.024,1831,2565,3669,0,0,0,0,0,0,26.01,26.33,28.83
$GC,6380,-0.59,-175.2,756.6,-6.1,654,6385,0.00,2.03,0.00,0.000,4,0.000,0.029,1831,1182,3667,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6404,-0.61,-175.2,758.0,-6.2,655,6409,0.00,2.28,0.00,0.000,6,0.000,0.039,1824,2650,3667,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6719,-0.63,-175.2,781.0,-7.5,671,6722,0.00,1.80,0.00,0.000,4,0.000,0.048,1815,3819,3665,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6748,-0.64,-175.2,782.6,-7.5,672,6752,0.00,1.83,0.00,0.000,6,0.000,0.026,1815,2574,3665,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7056,-0.66,-175.2,807.9,-8.1,687,7060,0.00,2.08,0.00,0.000,4,0.000,0.030,1815,1175,3663,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7081,-0.67,-175.2,809.8,-8.1,688,7085,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2649,3663,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7395,-0.67,-175.2,836.6,-8.3,704,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2648,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7693,-0.67,-175.2,861.1,-8.2,719,7699,0.00,2.25,0.00,0.000,4,0.000,0.030,1806,1172,3660,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7726,-0.67,-175.2,862.9,-8.4,720,7733,0.00,2.33,0.00,0.000,6,0.000,0.041,1797,2651,3660,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8036,-0.67,-175.2,893.4,-10.0,736,8041,0.00,2.20,0.00,0.000,4,0.000,0.029,1797,1187,3659,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8063,-0.67,-175.2,895.6,-10.2,737,8067,0.00,2.28,0.00,0.000,6,0.000,0.041,1787,2650,3659,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8369,-0.66,-175.2,930.0,-11.0,752,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2650,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8672,-0.65,-175.2,962.1,-10.8,767,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2650,3655,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8946,begin apogee
$GC,8952,-0.20,0.0,991.2,-10.0,781,9115,0.45,0.15,155.48,1.181,6,0.106,0.076,1941,2533,2977,0,0,0,0,0,0,25.63,24.86,23.30
$STATE,9116,end apogee,CONTROL_FINISHED_OK
$STATE,9116,begin climb
$GC,9118,0.60,175.2,997.7,0.0,789,9297,0.70,2.22,168.65,1.187,4,0.049,0.045,2208,3817,2254,0,0,0,0,0,0,25.13,24.83,23.29
$GC,9347,0.50,175.2,976.9,18.6,801,9353,0.15,2.10,0.00,0.000,6,0.172,0.029,2175,2474,2239,0,0,0,0,0,0,25.13,25.54,28.83
$GC,9667,0.45,175.2,929.0,14.3,817,9672,0.00,2.12,0.00,0.000,4,0.000,0.046,2174,3818,2233,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9708,0.39,175.2,922.9,14.8,819,9713,0.17,2.08,0.00,0.000,6,0.167,0.029,2138,2461,2232,0,0,0,0,0,0,25.61,26.06,28.83
$GC,10023,0.37,175.2,887.8,10.6,835,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2459,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10321,0.34,175.2,857.2,10.3,850,10326,0.00,2.10,0.00,0.000,4,0.000,0.037,2149,1058,2229,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10344,0.33,175.2,855.1,10.5,851,10349,0.12,2.28,0.00,0.000,6,0.147,0.041,2114,2523,2229,0,0,0,0,0,0,25.79,26.02,28.83
$GC,10658,0.36,200.2,827.8,8.3,867,10688,0.00,2.08,19.20,0.942,4,0.000,0.046,2115,3810,2158,0,0,0,0,1,0,28.83,25.90,23.82
$GC,10725,0.38,223.6,822.6,8.3,870,10759,0.00,2.05,22.92,0.990,6,0.000,0.028,2125,2454,2065,0,0,0,0,1,0,28.83,26.00,23.75
$GC,11078,0.40,239.7,790.4,8.6,888,11105,0.00,0.00,25.08,1.000,6,0.000,0.000,2126,2455,2000,0,0,0,0,0,0,28.83,28.83,24.11
$GC,11400,0.45,274.4,764.5,7.9,904,11441,0.00,2.22,36.15,0.996,4,0.000,0.046,2125,3814,1852,0,0,0,0,0,0,28.83,25.52,24.01
$GC,11467,0.47,293.6,759.8,8.5,907,11494,0.00,2.10,19.33,1.000,6,0.000,0.030,2136,2462,1773,0,0,0,0,0,0,28.83,25.70,23.92
$GC,11798,0.48,293.6,729.1,9.5,924,11803,0.00,2.12,0.00,0.000,4,0.000,0.037,2147,1066,1761,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11856,0.52,298.1,723.6,9.0,927,11862,0.00,2.28,0.00,0.000,6,0.000,0.039,2147,2526,1757,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12176,0.52,298.1,688.5,11.4,943,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2526,1757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12477,0.52,298.1,654.5,11.2,958,12483,0.00,2.22,0.00,0.000,4,0.000,0.036,2158,1057,1757,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12509,0.53,298.1,652.3,11.0,959,12516,0.00,2.25,0.00,0.000,6,0.000,0.040,2158,2524,1756,0,0,0,0,0,0,28.83,26.00,28.83
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$GC,14828,0.55,321.2,376.4,8.7,1169,14853,0.00,2.22,15.82,0.773,4,0.000,0.034,2178,1066,1657,0,0,0,0,0,0,28.83,26.00,24.30
$GC,14876,0.60,347.8,372.0,8.2,1174,14908,0.00,2.25,26.02,0.767,6,0.000,0.037,2178,2530,1556,0,0,0,0,0,0,28.83,25.98,24.21
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$STATE,17818,end climb,SURFACE_DEPTH_REACHED
$STATE,17818,begin surface coast
$FINISH,0.2,1.022712
$STATE,17834,end surface coast,CONTROL_FINISHED_OK
$STATE,17834,begin surface
$SM_CCo,17908,0.00,0.000,0,0,1209,434.18
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$IRIDIUM_FIX,2321.52,12300.35,260112,202051
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,85.658
$10V_AH,9.9,51.127
$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,16.100,159.600,570.050,0.000,0.000,23.817,42.501,264.378,0.000,0.000,17.051,3782.924,10330.557,709.585,3122.755,422.424,0.000,2208.730,0.000,2646.357,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,76.500,1186.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1087.658,2056.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330612
$DATA_FILE_SIZE,107049,1601
$CAP_FILE_SIZE,192180,0
$CFSIZE,260165632,185364480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270112,071737,2327.000,12304.970,31,1.0,31,-3.2