version: 66.10
glider: 169
mission: 5
dive: 76
start: 11 23 111 19 37 40
data:
$ID,169
$MISSION,5
$DIVE,76
$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,300
$T_MISSION,330
$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,230
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,9
$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,-10366.337
$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
$GPS1,231111,193030,2218.496,12357.766,37,1.5,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.6
$GPS2,231111,193713,2218.433,12357.662,15,1.3,32,-3.0
$SPEED_LIMITS,0.191,0.324
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.425,-4.773
$KALMAN_X,8621687.0,0.0,0.0,5152941.5,-5534.0
$KALMAN_Y,2400647.5,0.0,0.0,77077.4,41876.2
$MHEAD_RNG_PITCHd_Wd,177.9,89789,-3.9,-11.000
$D_GRID,5023
$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,-0.37,-223.8,0.0,0.0,0,123,0.00,0.00,-103.90,0.000,2,0.000,0.000,117,2690,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.37,-223.8,3.8,-7.5,16,156,6.85,1.75,-14.18,0.000,4,0.226,0.055,1876,3827,3892,0,0,0,0,0,0,25.79,26.15,26.46
$GC,290,-0.29,-223.8,53.6,-18.2,43,297,0.10,1.83,0.00,0.000,6,0.158,0.027,1912,2575,3892,0,0,0,0,0,0,26.11,26.28,28.83
$GC,641,-0.17,-223.8,136.2,-18.4,104,650,0.12,2.05,0.00,0.000,4,0.159,0.031,1953,1186,3892,0,0,0,0,0,0,26.26,26.39,28.83
$GC,715,-0.21,-223.8,143.2,-6.4,116,724,0.00,2.22,0.00,0.000,6,0.000,0.037,1953,2657,3892,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1069,-0.25,-223.8,183.5,-12.0,177,1076,0.00,2.15,0.00,0.000,4,0.000,0.031,1962,1181,3892,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1212,-0.27,-223.8,200.1,-11.8,201,1219,0.12,2.17,0.00,0.000,6,0.089,0.039,1910,2661,3892,0,0,0,0,0,0,26.46,26.49,28.83
$GC,1519,-0.31,-223.8,232.1,-10.8,232,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,2661,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1819,-0.35,-223.8,266.4,-11.9,262,1828,0.00,2.15,0.00,0.000,4,0.000,0.033,1919,1182,3891,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1863,-0.37,-223.8,271.3,-11.2,266,1871,0.00,2.15,0.00,0.000,6,0.000,0.040,1919,2655,3891,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2174,-0.42,-223.8,302.8,-10.1,297,2183,0.12,2.10,0.00,0.000,4,0.091,0.031,1867,1181,3890,0,0,0,0,0,0,26.60,26.60,28.83
$GC,2217,-0.45,-223.8,307.1,-9.8,301,2225,0.00,2.15,0.00,0.000,6,0.000,0.041,1866,2650,3890,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2526,-0.50,-223.8,336.5,-10.4,332,2530,0.00,1.77,0.00,0.000,4,0.000,0.049,1866,3811,3889,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2549,-0.53,-223.8,339.0,-10.8,334,2552,0.00,1.75,0.00,0.000,6,0.000,0.029,1869,2569,3889,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2860,-0.57,-223.8,372.8,-10.0,365,2865,0.12,1.92,0.00,0.000,4,0.105,0.047,1804,3819,3888,0,0,0,0,0,0,26.63,26.56,28.83
$GC,2923,-0.61,-223.8,378.9,-10.0,371,2927,0.00,1.77,0.00,0.000,6,0.000,0.028,1813,2566,3888,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3235,-0.65,-223.8,404.6,-8.7,402,3239,0.00,2.00,0.00,0.000,4,0.000,0.036,1821,1184,3886,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3297,-0.69,-223.8,410.4,-9.6,408,3306,0.00,2.15,0.00,0.000,6,0.000,0.040,1821,2656,3886,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3607,-0.74,-223.8,437.3,-7.1,439,3611,0.12,1.75,0.00,0.000,4,0.109,0.044,1765,3805,3884,0,0,0,0,0,0,26.61,26.58,28.83
$GC,3650,-0.72,-223.8,440.9,-8.4,443,3653,0.00,1.75,0.00,0.000,6,0.000,0.028,1765,2569,3884,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3961,-0.58,-223.8,501.3,-19.0,474,3970,0.17,2.00,0.00,0.000,4,0.147,0.030,1825,1176,3883,0,0,0,0,0,0,26.44,26.61,28.83
$GC,4026,-0.52,-223.8,508.6,-9.5,480,4033,0.00,2.20,0.00,0.000,6,0.000,0.044,1816,2656,3883,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4333,-0.43,-223.8,548.4,-14.4,511,4342,0.15,2.15,0.00,0.000,4,0.139,0.031,1869,1183,3881,0,0,0,0,0,0,26.49,26.60,28.83
$GC,4368,-0.37,-223.8,551.9,-11.9,514,4375,0.00,2.17,0.00,0.000,6,0.000,0.043,1869,2657,3881,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4676,-0.41,-223.8,581.6,-9.7,545,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2657,3879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4988,-0.45,-223.8,609.9,-9.2,571,4991,0.00,2.15,0.00,0.000,4,0.000,0.033,1877,1180,3876,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5072,-0.48,-223.8,618.2,-9.8,575,5076,0.00,2.20,0.00,0.000,6,0.000,0.042,1877,2658,3875,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5390,-0.52,-223.8,652.0,-10.9,591,5396,0.00,2.15,0.00,0.000,4,0.000,0.034,1884,1177,3872,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5457,-0.55,-223.8,658.4,-10.6,594,5462,0.15,2.20,0.00,0.000,6,0.079,0.043,1820,2655,3871,0,0,0,0,0,0,26.57,26.58,28.83
$GC,5766,-0.59,-223.8,686.4,-8.9,609,5772,0.00,2.12,0.00,0.000,4,0.000,0.034,1828,1185,3869,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5845,-0.62,-223.8,693.9,-9.4,613,5851,0.00,2.22,0.00,0.000,6,0.000,0.044,1827,2659,3869,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6166,-0.67,-223.8,720.3,-9.5,629,6170,0.00,1.77,0.00,0.000,4,0.000,0.051,1827,3816,3866,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6201,-0.72,-223.8,722.3,-9.4,630,6208,0.15,1.77,0.00,0.000,6,0.070,0.030,1740,2559,3865,0,0,0,0,0,0,26.63,26.65,28.83
$GC,6508,-0.58,-223.8,763.0,-17.8,646,6514,0.22,1.95,0.00,0.000,4,0.135,0.034,1815,1189,3863,0,0,0,0,0,0,26.38,26.58,28.83
$GC,6555,-0.48,-223.8,768.3,-15.7,648,6560,0.15,2.20,0.00,0.000,6,0.116,0.047,1863,2657,3863,0,0,0,0,0,0,26.48,26.55,28.83
$GC,6864,-0.52,-223.8,793.1,-10.2,663,6867,0.00,1.75,0.00,0.000,4,0.000,0.052,1863,3811,3860,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6910,-0.55,-223.8,797.7,-10.5,665,6914,0.00,1.83,0.00,0.000,6,0.000,0.033,1863,2574,3859,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7227,-0.60,-223.8,832.1,-11.1,681,7233,0.12,1.90,0.00,0.000,4,0.109,0.048,1807,3824,3858,0,0,0,0,0,0,26.58,26.53,28.83
$GC,7275,-0.64,-223.8,836.5,-11.0,683,7279,0.00,1.80,0.00,0.000,6,0.000,0.031,1808,2575,3857,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7586,-0.64,-223.8,863.7,-8.3,699,7592,0.00,2.03,0.00,0.000,4,0.000,0.033,1808,1174,3855,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7709,-0.69,-223.8,874.4,-9.1,705,7714,0.00,2.17,0.00,0.000,6,0.000,0.044,1808,2655,3854,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8027,-0.74,-223.8,903.1,-9.4,721,8033,0.12,2.12,0.00,0.000,4,0.110,0.033,1760,1181,3852,0,0,0,0,0,0,26.59,26.55,28.83
$GC,8068,-0.78,-223.8,906.7,-9.2,723,8073,0.00,2.17,0.00,0.000,6,0.000,0.041,1761,2658,3852,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8389,-0.73,-223.8,933.1,-8.1,739,8393,0.00,1.77,0.00,0.000,4,0.000,0.053,1753,3821,3850,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8459,-0.67,-223.8,939.2,-9.2,742,8463,0.15,1.80,0.00,0.000,6,0.129,0.031,1799,2575,3850,0,0,0,0,0,0,26.39,26.60,28.83
$GC,8768,-0.59,-223.8,969.1,-9.4,757,8773,0.00,2.00,0.00,0.000,4,0.000,0.034,1800,1195,3848,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8806,-0.52,-223.8,972.8,-9.3,759,8813,0.15,2.22,0.00,0.000,6,0.118,0.047,1841,2655,3848,0,0,0,0,0,0,26.42,26.51,28.83
$STATE,9104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9104,begin apogee
$GC,9110,-0.20,0.0,990.1,-5.8,774,9308,0.28,0.08,187.35,1.155,6,0.087,0.070,1947,2526,2969,0,0,0,0,0,0,26.47,24.78,24.14
$STATE,9309,end apogee,CONTROL_FINISHED_OK
$STATE,9309,begin climb
$GC,9312,0.37,223.8,999.7,0.0,784,9527,0.47,2.17,204.98,1.139,4,0.044,0.053,2140,3813,2053,0,0,0,0,0,0,25.06,24.63,23.95
$GC,9635,0.26,223.8,968.8,15.7,800,9641,0.20,2.10,0.00,0.000,6,0.157,0.034,2096,2467,2035,0,0,0,0,0,0,25.31,25.45,28.83
$GC,9951,1.28,1112.9,936.4,9.4,816,10303,0.82,2.38,334.10,1.353,4,0.034,0.059,2443,3805,442,0,0,0,0,1,0,26.02,24.36,23.60
$GC,10466,1.05,1112.9,646.5,59.0,841,10474,0.40,2.08,2.53,0.408,6,0.195,0.036,2350,2465,431,0,0,0,0,0,0,25.29,25.48,24.60
$GC,10771,0.84,1112.9,487.5,47.5,868,10781,0.22,2.15,1.75,0.165,4,0.204,0.037,2299,1067,438,0,0,0,0,0,0,25.74,25.97,25.79
$GC,10859,0.76,1112.9,463.1,19.6,876,10867,0.15,2.22,1.58,0.186,6,0.141,0.046,2255,2519,432,0,0,0,0,0,0,25.90,26.01,25.86
$GC,11165,0.62,1112.9,367.1,32.1,907,11175,0.15,2.05,1.45,0.170,4,0.179,0.054,2210,3810,434,0,0,0,0,0,0,26.02,26.15,26.00
$GC,11262,0.57,1112.9,345.4,15.4,916,11270,0.00,2.03,1.38,0.194,6,0.000,0.034,2220,2462,434,0,0,0,0,0,0,28.83,26.22,26.03
$GC,11568,0.47,1112.9,291.1,19.5,947,11579,0.17,2.12,1.42,0.169,4,0.152,0.041,2173,1068,436,0,0,0,0,0,0,26.16,26.29,26.10
$GC,11595,0.39,1112.9,286.9,19.1,949,11604,0.12,2.17,1.15,0.204,6,0.108,0.041,2131,2521,433,0,0,0,0,0,0,26.24,26.29,26.11
$GC,11903,0.44,1112.9,251.2,15.4,980,11915,0.00,2.20,1.62,0.181,4,0.000,0.038,2131,1067,440,0,0,0,0,0,0,28.83,26.36,26.16
$GC,11938,0.49,1112.9,245.8,15.8,983,11948,0.12,2.20,1.55,0.181,6,0.105,0.039,2178,2528,435,0,0,0,0,0,0,26.32,26.35,26.16
$GC,12248,0.54,1112.9,200.9,13.4,1014,12256,0.00,0.00,1.73,0.176,6,0.000,0.000,2177,2528,440,0,0,0,0,0,0,28.83,28.83,26.20
$GC,12601,0.61,1112.9,154.6,14.2,1075,12608,0.00,0.00,1.90,0.168,6,0.000,0.000,2178,2528,435,0,0,0,0,0,0,28.83,28.83,26.24
$GC,12954,0.67,1112.9,105.3,13.9,1136,12963,0.12,0.00,2.00,0.148,6,0.110,0.000,2233,2528,436,0,0,0,0,0,0,26.51,28.83,26.26
$GC,13308,0.72,1112.9,57.1,13.4,1197,13315,0.00,0.00,2.25,0.158,6,0.000,0.000,2233,2528,435,0,0,0,0,0,0,28.83,28.83,26.29
$STATE,13656,end climb,SURFACE_DEPTH_REACHED
$STATE,13656,begin surface coast
$FINISH,0.8,1.022395
$STATE,13675,end surface coast,CONTROL_FINISHED_OK
$STATE,13675,begin surface
$SM_CCo,13750,0.00,0.000,0,0,455,619.14
$SM_GC,1.19,5.20,0.17,0.00,0.026,0.070,0.000,103,2668,455,-5.80,-0.48,619.14,0,0,0,0,0,0
$IRIDIUM_FIX,2213.68,12356.91,231111,151516
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.12
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.6,17.891
$10V_AH,10.3,14.639
$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,17.575,114.850,748.725,0.000,0.000,26.115,49.634,184.615,0.000,0.000,33.543,2997.870,6923.328,739.992,3163.029,312.279,0.384,2102.610,0.000,2846.715,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,69.615,1352.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.612,1233.759,848.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330380
$DATA_FILE_SIZE,83783,1261
$CAP_FILE_SIZE,160379,0
$CFSIZE,260165632,215810048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231111,232756,2216.926,12357.083,37,1.8,38,-3.0