version: 66.10
glider: 169
mission: 5
dive: 353
start: 1 16 112 1 59 49
data:
$ID,169
$MISSION,5
$DIVE,353
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$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,-11166.817
$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
$GPS1,160112,015037,2240.087,12200.726,33,1.0,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.6
$GPS2,160112,015928,2240.203,12200.775,14,2.2,33,-3.0
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,309.1,73631,-15.1,-10.312
$D_GRID,4606
$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,15,begin dive
$GC,17,-0.65,-219.0,0.0,0.0,0,97,0.00,0.00,-77.62,0.000,2,0.000,0.000,116,2538,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.65,-219.0,3.5,-7.5,14,131,7.03,2.08,-16.70,0.000,4,0.233,0.052,1779,3827,3872,0,0,0,0,0,0,24.82,25.96,26.53
$GC,174,-0.52,-219.0,33.7,-36.6,27,181,0.20,1.83,0.00,0.000,6,0.155,0.022,1842,2581,3872,0,0,0,0,0,0,25.61,26.15,28.83
$GC,487,-0.45,-219.0,112.0,-21.9,88,493,0.00,2.05,0.00,0.000,4,0.000,0.027,1850,1173,3873,0,0,0,0,0,0,28.83,26.20,28.83
$GC,562,-0.49,-219.0,122.9,-9.5,102,569,0.00,2.25,0.00,0.000,6,0.000,0.037,1839,2655,3873,0,0,0,0,0,0,28.83,26.14,28.83
$GC,874,-0.45,-219.0,181.5,-18.8,163,880,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2655,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.40,-219.0,238.4,-17.2,204,1197,0.12,2.20,0.00,0.000,4,0.154,0.025,1891,1166,3873,0,0,0,0,0,0,26.23,26.29,28.83
$GC,1244,-0.46,-219.0,243.6,-8.3,209,1251,0.00,2.25,0.00,0.000,6,0.000,0.036,1882,2657,3873,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1550,-0.58,-219.0,273.5,-11.3,240,1560,0.15,1.77,0.00,0.000,4,0.107,0.041,1818,3823,3873,0,0,0,0,0,0,26.35,26.19,28.83
$GC,1715,-0.66,-219.0,291.4,-9.9,256,1718,0.00,1.80,0.00,0.000,6,0.000,0.024,1818,2570,3873,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2027,-0.73,-219.0,316.7,-7.0,287,2036,0.12,1.95,0.00,0.000,4,0.080,0.038,1733,3811,3872,0,0,0,0,0,0,26.54,26.20,28.83
$GC,2172,-0.67,-219.0,342.7,-21.9,301,2179,0.12,1.83,0.00,0.000,6,0.131,0.023,1791,2566,3872,0,0,0,0,0,0,25.91,26.41,28.83
$GC,2479,-0.62,-219.0,398.7,-17.4,332,2483,0.00,2.03,0.00,0.000,4,0.000,0.027,1793,1164,3872,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2531,-0.62,-219.0,405.9,-13.4,337,2540,0.00,2.28,0.00,0.000,6,0.000,0.037,1783,2657,3872,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2842,-0.56,-219.0,456.9,-18.4,368,2851,0.12,1.80,0.00,0.000,4,0.158,0.041,1815,3825,3870,0,0,0,0,0,0,26.22,26.19,28.83
$GC,2887,-0.54,-219.0,463.4,-15.4,372,2893,0.00,1.80,0.00,0.000,6,0.000,0.022,1815,2563,3870,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3193,-0.54,-219.0,499.0,-11.2,403,3202,0.00,2.03,0.00,0.000,4,0.000,0.027,1815,1172,3868,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3225,-0.55,-219.0,502.3,-10.8,406,3234,0.00,2.25,0.00,0.000,6,0.000,0.037,1809,2653,3867,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3535,-0.55,-219.0,536.5,-11.3,437,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2653,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.55,-219.0,571.0,-11.1,467,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2653,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4157,-0.55,-219.0,607.4,-11.7,496,4161,0.00,1.80,0.00,0.000,4,0.000,0.045,1800,3820,3861,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4191,-0.55,-219.0,610.2,-11.8,497,4199,0.12,1.80,0.00,0.000,6,0.112,0.024,1840,2560,3861,0,0,0,0,0,0,26.18,26.42,28.83
$GC,4500,-0.59,-219.0,637.3,-7.8,513,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2559,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-0.63,-219.0,659.3,-6.7,528,4806,0.00,2.00,0.00,0.000,4,0.000,0.047,1831,3811,3857,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4842,-0.67,-219.0,661.9,-6.6,530,4846,0.12,1.83,0.00,0.000,6,0.081,0.024,1744,2542,3857,0,0,0,0,0,0,26.29,26.41,28.83
$GC,5157,-0.62,-219.0,717.2,-18.7,546,5163,0.20,2.00,0.00,0.000,4,0.132,0.043,1801,3817,3854,0,0,0,0,0,0,26.03,26.08,28.83
$GC,5184,-0.57,-219.0,720.8,-18.2,547,5188,0.00,1.83,0.00,0.000,6,0.000,0.024,1800,2561,3854,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5491,-0.57,-219.0,753.1,-10.4,562,5497,0.00,1.95,0.00,0.000,4,0.000,0.046,1792,3810,3852,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5539,-0.58,-219.0,757.2,-10.3,564,5543,0.00,1.83,0.00,0.000,6,0.000,0.024,1792,2565,3851,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5850,-0.58,-219.0,792.8,-11.2,580,5852,0.10,0.00,0.00,0.000,6,0.141,0.000,1822,2563,3849,0,0,0,0,0,0,26.40,28.83,28.83
$GC,6152,-0.61,-219.0,816.2,-7.7,595,6157,0.00,1.95,0.00,0.000,4,0.000,0.047,1814,3808,3847,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6211,-0.65,-219.0,820.6,-7.2,598,6214,0.00,1.83,0.00,0.000,6,0.000,0.025,1813,2565,3847,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6535,-0.67,-219.0,847.9,-8.9,614,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2555,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6833,-0.69,-219.0,875.1,-9.0,629,6838,0.00,2.00,0.00,0.000,4,0.000,0.047,1805,3813,3843,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6886,-0.72,-219.0,878.5,-8.7,631,6893,0.00,1.83,0.00,0.000,6,0.000,0.025,1805,2559,3843,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7193,-0.74,-219.0,906.4,-8.1,647,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2559,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7493,-0.76,-219.0,929.8,-7.6,662,7499,0.12,2.00,0.00,0.000,4,0.078,0.046,1720,3814,3839,0,0,0,0,0,0,26.51,25.96,28.83
$GC,7542,-0.75,-219.0,934.5,-9.6,664,7546,0.10,1.85,0.00,0.000,6,0.119,0.025,1767,2567,3840,0,0,0,0,0,0,25.86,26.31,28.83
$GC,7854,-0.73,-219.0,972.4,-12.0,680,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2565,3838,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8011,begin apogee
$GC,8018,-0.20,0.0,992.2,-12.5,688,8216,0.50,0.12,191.12,1.191,6,0.102,0.084,1940,2538,2977,0,0,0,0,0,0,25.70,24.66,23.27
$STATE,8217,end apogee,CONTROL_FINISHED_OK
$STATE,8217,begin climb
$GC,8219,0.65,219.0,1003.2,0.0,698,8437,0.75,2.22,208.00,1.188,4,0.049,0.048,2225,3806,2074,0,0,0,0,0,0,24.91,24.35,22.95
$GC,8544,0.55,219.0,963.0,22.4,714,8549,0.17,2.10,0.00,0.000,6,0.187,0.032,2193,2472,2057,0,0,0,0,0,0,25.19,25.57,28.83
$GC,8850,0.48,219.0,906.6,17.6,729,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2471,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,0.42,219.0,853.9,17.7,744,9157,0.15,2.10,0.00,0.000,4,0.177,0.041,2147,3817,2049,0,0,0,0,0,0,25.83,26.03,28.83
$GC,9185,0.36,219.0,850.2,17.3,745,9192,0.12,2.05,0.00,0.000,6,0.163,0.028,2126,2460,2048,0,0,0,0,0,0,25.82,26.14,28.83
$GC,9490,0.40,250.5,817.9,9.3,761,9521,0.00,0.00,23.52,0.978,6,0.000,0.000,2126,2459,1956,0,0,0,0,1,0,28.83,28.83,24.03
$GC,9813,0.40,255.6,786.5,10.2,777,9822,0.00,2.17,4.00,0.773,4,0.000,0.037,2136,1066,1935,0,0,0,0,0,0,28.83,26.03,23.93
$GC,9838,0.41,259.8,784.5,10.2,778,9850,0.00,2.25,3.80,0.763,6,0.000,0.037,2136,2529,1920,0,0,0,0,0,0,28.83,26.01,23.89
$GC,10151,0.41,259.8,747.1,12.0,794,10159,0.00,2.03,2.72,0.522,4,0.000,0.044,2136,3812,1917,0,0,0,0,0,0,28.83,26.03,23.87
$GC,10187,0.41,259.8,742.5,12.3,796,10193,0.00,2.08,0.00,0.000,6,0.000,0.028,2146,2454,1926,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10507,0.40,259.8,703.5,11.8,812,10527,0.00,13.07,1.98,0.190,4,0.000,0.002,2165,34,1920,0,0,78,1,0,0,28.83,26.00,25.31
$STATE,10530,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10543,344.77,1.278,1,0,434,624.04
$SM_GC,0.59,5.12,3.83,0.00,0.030,0.034,0.000,140,2536,422,-5.79,-0.11,626.99,0,0,1,0,0,0
$IRIDIUM_FIX,2234.68,12203.54,150112,202036
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.04
$INTERNAL_PRESSURE,9.37892
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.6,75.448
$10V_AH,10.0,44.846
$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,15.475,92.800,435.150,344.775,0.000,27.711,46.380,291.562,0.000,0.000,35.811,2118.006,10792.477,850.800,1937.624,263.242,0.000,1812.090,0.000,1477.813,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,84.150,1191.105,1278.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.802,1096.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324664
$DATA_FILE_SIZE,53732,813
$CAP_FILE_SIZE,127201,8
$CFSIZE,260165632,190685184
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,79,2,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,ROLL_DEAD
$GPS,160112,061837,2240.708,12159.124,37,1.3,37,-3.0