version: 66.10
glider: 169
mission: 5
dive: 504
start: 2 16 112 1 48 52
data:
$ID,169
$MISSION,5
$DIVE,504
$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,380
$T_MISSION,420
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$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,-12547.792
$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
$GPS1,160212,013957,2133.922,12353.646,32,2.8,51,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.5
$GPS2,160212,014826,2133.926,12353.541,32,2.4,51,-2.8
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,345.8,301541,-16.1,-8.684
$D_GRID,5276
$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,16,-0.58,-146.0,0.0,0.0,0,93,0.00,0.00,-74.03,0.000,2,0.000,0.000,111,2662,3055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-146.0,3.3,-6.8,13,123,7.12,1.88,-10.55,0.000,4,0.226,0.057,1803,3814,3576,0,0,0,0,0,0,24.79,25.95,26.56
$GC,232,-0.52,-146.0,43.6,-22.2,38,239,0.12,1.77,0.00,0.000,6,0.158,0.021,1844,2586,3576,0,0,0,0,0,0,25.81,26.19,28.83
$GC,547,-0.45,-146.0,113.2,-21.0,99,554,0.00,2.15,0.00,0.000,4,0.000,0.028,1853,1174,3576,0,0,0,0,0,0,28.83,26.11,28.83
$GC,659,-0.47,-146.0,129.8,-11.3,120,665,0.00,2.33,0.00,0.000,6,0.000,0.035,1842,2646,3576,0,0,0,0,0,0,28.83,26.05,28.83
$GC,971,-0.43,-146.0,183.0,-16.6,181,978,0.00,2.28,0.00,0.000,4,0.000,0.028,1843,1175,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1025,-0.43,-146.0,191.5,-12.9,191,1034,0.12,2.30,0.00,0.000,6,0.138,0.035,1868,2645,3576,0,0,0,0,0,0,25.85,26.06,28.83
$GC,1339,-0.42,-146.0,231.6,-11.0,228,1347,0.00,2.22,0.00,0.000,4,0.000,0.027,1869,1180,3577,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1393,-0.44,-146.0,236.0,-8.0,233,1400,0.00,2.33,0.00,0.000,6,0.000,0.036,1861,2646,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1701,-0.42,-146.0,262.5,-9.5,264,1710,0.00,2.25,0.00,0.000,4,0.000,0.026,1861,1175,3577,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1732,-0.42,-146.0,265.6,-9.5,267,1742,0.00,2.35,0.00,0.000,6,0.000,0.037,1852,2646,3577,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2044,-0.40,-146.0,306.7,-15.4,298,2053,0.00,2.28,0.00,0.000,4,0.000,0.027,1852,1168,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2099,-0.41,-146.0,314.3,-14.1,303,2107,0.00,2.35,0.00,0.000,6,0.000,0.037,1847,2651,3577,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2409,-0.40,-146.0,363.2,-16.3,334,2418,0.12,2.25,0.00,0.000,4,0.152,0.025,1889,1180,3577,0,0,0,0,0,0,26.20,26.15,28.83
$GC,2464,-0.45,-146.0,369.9,-11.2,339,2472,0.00,2.33,0.00,0.000,6,0.000,0.035,1880,2651,3576,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2772,-0.53,-146.0,395.5,-6.9,370,2781,0.12,1.77,0.00,0.000,4,0.079,0.039,1801,3813,3575,0,0,0,0,0,0,26.46,26.02,28.83
$GC,2808,-0.58,-146.0,398.1,-7.5,373,2815,0.00,1.77,0.00,0.000,6,0.000,0.021,1801,2570,3575,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3118,-0.53,-146.0,448.4,-17.5,404,3127,0.12,2.10,0.00,0.000,4,0.148,0.026,1851,1180,3574,0,0,0,0,0,0,26.19,26.14,28.83
$GC,3213,-0.58,-146.0,460.0,-9.6,413,3221,0.00,2.30,0.00,0.000,6,0.000,0.036,1841,2642,3574,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3521,-0.58,-146.0,496.1,-10.8,444,3531,0.00,2.25,0.00,0.000,4,0.000,0.025,1841,1165,3573,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3577,-0.60,-146.0,501.5,-10.2,449,3584,0.00,2.35,0.00,0.000,6,0.000,0.036,1833,2647,3573,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3884,-0.60,-146.0,531.3,-9.1,480,3893,0.00,2.25,0.00,0.000,4,0.000,0.028,1833,1180,3572,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3918,-0.60,-146.0,534.3,-9.7,483,3926,0.00,2.35,0.00,0.000,6,0.000,0.037,1823,2653,3572,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4225,-0.60,-146.0,566.1,-9.5,514,4234,0.00,2.30,0.00,0.000,4,0.000,0.027,1823,1166,3570,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4290,-0.63,-146.0,571.7,-8.6,520,4298,0.00,2.33,0.00,0.000,6,0.000,0.037,1813,2645,3569,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4609,-0.62,-146.0,610.7,-13.3,548,4615,0.00,2.28,0.00,0.000,4,0.000,0.028,1813,1174,3567,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4642,-0.61,-146.0,613.6,-13.5,549,4649,0.00,2.35,0.00,0.000,6,0.000,0.037,1805,2645,3567,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4948,-0.59,-146.0,658.8,-14.2,565,4954,0.00,2.28,0.00,0.000,4,0.000,0.028,1805,1177,3565,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4971,-0.58,-146.0,661.6,-14.0,566,4975,0.00,2.35,0.00,0.000,6,0.000,0.037,1797,2645,3565,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5285,-0.56,-146.0,699.9,-11.0,582,5291,0.12,2.25,0.00,0.000,4,0.148,0.026,1840,1180,3563,0,0,0,0,0,0,26.17,26.08,28.83
$GC,5324,-0.56,-146.0,703.1,-9.1,584,5329,0.00,2.35,0.00,0.000,6,0.000,0.038,1838,2648,3563,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5646,-0.58,-146.0,721.4,-5.7,600,5651,0.00,2.28,0.00,0.000,4,0.000,0.029,1838,1183,3560,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5677,-0.60,-146.0,722.6,-5.8,601,5684,0.00,2.35,0.00,0.000,6,0.000,0.039,1833,2644,3560,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5984,-0.61,-146.0,742.3,-6.8,617,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2643,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6286,-0.63,-146.0,767.1,-8.5,632,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2643,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,-0.65,-146.0,789.5,-7.2,647,6590,0.00,2.28,0.00,0.000,4,0.000,0.031,1833,1182,3554,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6639,-0.68,-146.0,792.4,-7.4,649,6646,0.12,2.38,0.00,0.000,6,0.078,0.040,1744,2647,3553,0,0,0,0,0,0,25.90,25.88,28.83
$GC,6944,-0.63,-146.0,839.6,-15.0,665,6946,0.20,0.00,0.00,0.000,6,0.144,0.000,1803,2647,3551,0,0,0,0,0,0,25.89,28.83,28.83
$GC,7246,-0.63,-146.0,869.3,-10.6,680,7252,0.00,2.33,0.00,0.000,4,0.000,0.031,1803,1176,3550,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7292,-0.63,-146.0,873.6,-10.6,682,7296,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2642,3549,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7599,-0.63,-146.0,912.0,-12.5,697,7605,0.00,2.30,0.00,0.000,4,0.000,0.029,1799,1175,3547,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7640,-0.63,-146.0,916.9,-12.4,699,7646,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2647,3547,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7959,-0.63,-146.0,950.4,-9.5,715,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2647,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8259,-0.63,-146.0,972.8,-6.1,730,8265,0.00,2.33,0.00,0.000,4,0.000,0.032,1799,1178,3543,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8325,-0.64,-146.0,976.2,-5.8,733,8330,0.00,2.35,0.00,0.000,6,0.000,0.041,1799,2643,3543,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,8557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8557,begin apogee
$GC,8563,-0.20,0.0,990.4,-6.7,745,8704,0.40,0.12,128.07,1.193,6,0.100,0.050,1939,2531,2969,0,0,0,0,0,0,25.62,24.81,23.27
$STATE,8705,end apogee,CONTROL_FINISHED_OK
$STATE,8705,begin climb
$GC,8707,0.58,146.0,991.9,0.0,752,8862,0.73,2.42,140.68,1.193,4,0.049,0.034,2226,1062,2370,0,0,0,0,0,0,25.29,25.06,23.32
$GC,8880,0.47,146.0,983.8,10.3,760,8887,0.22,2.38,0.00,0.000,6,0.164,0.039,2166,2530,2364,0,0,0,0,0,0,25.06,25.43,28.83
$GC,9186,0.42,146.0,941.1,12.3,776,9192,0.00,2.03,0.00,0.000,4,0.000,0.045,2166,3808,2357,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9287,0.35,146.0,927.0,14.5,781,9293,0.15,2.03,0.00,0.000,6,0.162,0.027,2130,2465,2354,0,0,0,0,0,0,25.46,26.07,28.83
$GC,9606,0.33,146.0,892.3,10.8,797,9611,0.00,2.25,0.00,0.000,4,0.000,0.046,2130,3818,2353,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9653,0.30,146.0,887.4,11.6,799,9658,0.12,2.08,0.00,0.000,6,0.174,0.030,2111,2460,2352,0,0,0,0,0,0,25.69,26.08,28.83
$GC,9967,0.33,169.4,859.9,7.7,815,9994,0.00,2.22,21.62,1.067,4,0.000,0.045,2110,3811,2281,0,0,0,0,0,0,28.83,25.75,23.96
$GC,10014,0.36,196.7,857.2,7.6,817,10048,0.00,2.08,28.45,1.073,6,0.000,0.027,2121,2460,2173,0,0,0,0,0,0,28.83,25.92,23.76
$GC,10364,0.37,206.0,827.5,8.3,835,10385,0.00,13.00,1.98,0.185,4,0.000,0.002,2139,32,2138,0,0,80,1,0,0,28.83,25.70,25.07
$STATE,10389,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10401,401.95,1.365,2,0,434,624.04
$SM_GC,0.88,5.03,3.90,0.00,0.029,0.039,0.000,135,2533,417,-5.78,-0.11,628.46,0,0,1,0,0,0,26.18,25.91,28.83
$IRIDIUM_FIX,2124.90,12354.25,150212,202046
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.85
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,16.70
$XPDR_PINGS,1
$24V_AH,22.8,102.778
$10V_AH,9.9,62.293
$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,14.850,124.850,320.800,401.950,0.000,31.454,17.121,271.842,0.250,0.000,53.178,2308.191,11180.478,870.634,1955.583,285.392,0.000,1857.407,0.000,1499.721,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,57.375,1193.400,1364.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.867,1114.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330464
$DATA_FILE_SIZE,53688,836
$CAP_FILE_SIZE,131883,8
$CFSIZE,260165632,175247360
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,81,2,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,ROLL_DEAD
$GPS,160212,061836,2133.775,12350.701,37,2.0,37,-2.8