version: 66.10
glider: 169
mission: 5
dive: 594
start: 3 5 112 2 59 9
data:
$ID,169
$MISSION,5
$DIVE,594
$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,280
$T_MISSION,320
$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,300
$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,-13663.838
$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,400
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$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
$GPS1,050312,024907,2329.759,12137.854,25,1.8,26,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.5
$GPS2,050312,025843,2330.375,12138.197,31,1.4,37,-3.1
$SPEED_LIMITS,0.204,0.374
$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,220.6,53873,-14.6,-11.786
$D_GRID,782
$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,-0.72,-292.0,0.0,0.0,0,107,0.00,0.00,-88.05,0.000,2,0.000,0.000,117,2659,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.72,-292.0,3.4,-8.4,15,149,6.88,2.45,-23.88,0.000,4,0.229,0.037,1778,1174,3961,0,0,0,0,0,0,24.84,25.83,26.53
$GC,162,-0.54,-292.0,22.0,-34.8,23,170,0.25,2.45,0.00,0.000,6,0.151,0.035,1836,2648,3962,0,0,0,0,0,0,25.15,25.75,28.83
$GC,475,-0.50,-292.0,84.3,-14.7,84,482,0.00,2.40,0.00,0.000,4,0.000,0.028,1837,1177,3962,0,0,0,0,0,0,28.83,25.82,28.83
$GC,507,-0.49,-292.0,88.7,-14.7,89,515,0.00,2.47,0.00,0.000,6,0.000,0.037,1826,2649,3962,0,0,0,0,0,0,28.83,25.66,28.83
$GC,821,-0.45,-292.0,140.3,-16.8,150,829,0.12,2.40,0.00,0.000,4,0.151,0.025,1867,1180,3962,0,0,0,0,0,0,26.02,25.81,28.83
$GC,869,-0.52,-292.0,145.3,-7.3,158,876,0.00,2.42,0.00,0.000,6,0.000,0.034,1865,2647,3962,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1182,-0.65,-292.0,176.8,-11.1,219,1190,0.15,1.77,0.00,0.000,4,0.092,0.041,1792,3813,3960,0,0,0,0,0,0,26.22,25.60,28.83
$GC,1225,-0.76,-292.0,181.3,-9.8,226,1233,0.00,1.77,0.00,0.000,6,0.000,0.024,1800,2581,3960,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1545,-0.84,-292.0,209.2,-8.2,277,1554,0.15,1.98,0.00,0.000,4,0.080,0.041,1710,3817,3959,0,0,0,0,0,0,26.30,25.59,28.83
$GC,1579,-0.85,-292.0,213.0,-10.8,280,1582,0.00,1.80,0.00,0.000,6,0.000,0.020,1717,2587,3959,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1890,-0.73,-292.0,306.8,-30.3,311,1901,0.17,2.00,0.00,0.000,4,0.161,0.036,1760,3827,3958,0,0,0,0,0,0,25.70,25.63,28.83
$GC,2029,-0.73,-292.0,330.0,-13.3,324,2036,0.00,1.80,0.00,0.000,6,0.000,0.021,1760,2590,3957,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2339,-0.66,-292.0,392.5,-20.2,355,2349,0.12,2.22,0.00,0.000,4,0.151,0.024,1808,1182,3955,0,0,0,0,0,0,26.00,25.80,28.83
$GC,2417,-0.71,-292.0,402.4,-9.4,362,2424,0.00,2.42,0.00,0.000,6,0.000,0.035,1799,2644,3955,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2724,-0.69,-292.0,442.2,-12.6,393,2734,0.00,2.38,0.00,0.000,4,0.000,0.028,1799,1173,3952,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2772,-0.71,-292.0,447.0,-11.1,397,2779,0.00,2.45,0.00,0.000,6,0.000,0.037,1799,2644,3952,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3078,-0.70,-292.0,483.4,-11.8,428,3087,0.00,2.35,0.00,0.000,4,0.000,0.027,1799,1177,3949,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3122,-0.71,-292.0,487.9,-10.6,432,3131,0.00,2.42,0.00,0.000,6,0.000,0.037,1799,2639,3949,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3432,-0.70,-292.0,521.8,-10.9,463,3441,0.00,2.33,0.00,0.000,4,0.000,0.027,1799,1184,3947,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3466,-0.70,-292.0,525.5,-11.1,466,3474,0.00,2.42,0.00,0.000,6,0.000,0.038,1799,2635,3947,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3775,-0.69,-292.0,558.6,-10.6,497,3784,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1185,3945,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3800,-0.69,-292.0,560.9,-10.6,499,3809,0.00,2.42,0.00,0.000,6,0.000,0.039,1799,2636,3944,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4108,-0.68,-292.0,591.2,-10.1,530,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2635,3942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.68,-292.0,625.0,-11.2,549,4416,0.00,2.38,0.00,0.000,4,0.000,0.028,1799,1179,3939,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4472,-0.70,-292.0,630.7,-9.7,552,4476,0.00,2.47,0.00,0.000,6,0.000,0.037,1799,2644,3938,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4786,-0.70,-292.0,661.1,-9.8,568,4791,0.00,2.35,0.00,0.000,4,0.000,0.029,1799,1187,3936,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4817,-0.70,-292.0,663.1,-9.8,569,4824,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2643,3936,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5124,-0.70,-292.0,691.6,-9.4,585,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2642,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5426,-0.70,-292.0,719.3,-8.9,600,5431,0.00,2.40,0.00,0.000,4,0.000,0.032,1799,1186,3931,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5473,-0.72,-292.0,722.5,-8.6,602,5477,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2642,3931,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5780,-0.72,-292.0,750.0,-10.0,617,5785,0.00,2.38,0.00,0.000,4,0.000,0.031,1799,1187,3929,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5809,-0.72,-292.0,752.0,-10.3,618,5818,0.00,2.47,0.00,0.000,6,0.000,0.040,1799,2644,3929,0,0,0,0,0,0,28.83,25.39,28.83
$STATE,6117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6117,begin apogee
$GC,6123,-0.20,0.0,782.9,-9.5,634,6332,0.40,0.12,202.25,1.046,6,0.096,0.049,1941,2527,2975,0,0,0,0,0,0,25.39,24.80,23.71
$STATE,6333,end apogee,CONTROL_FINISHED_OK
$STATE,6333,begin climb
$GC,6335,0.72,292.0,792.1,0.0,644,6607,0.82,2.45,260.52,1.034,4,0.046,0.031,2266,1049,1774,0,0,0,0,0,0,25.03,24.94,23.70
$GC,6646,0.64,292.0,750.8,22.8,660,6652,0.17,2.42,0.00,0.000,6,0.158,0.039,2221,2518,1758,0,0,0,0,0,0,24.94,25.32,28.83
$GC,6963,0.58,292.0,685.9,20.6,676,6968,0.00,2.05,0.00,0.000,4,0.000,0.044,2220,3811,1755,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7049,0.52,292.0,669.3,20.9,680,7054,0.20,2.10,0.00,0.000,6,0.158,0.028,2176,2463,1754,0,0,0,0,0,0,25.21,25.82,28.83
$GC,7358,0.49,292.0,623.5,13.7,695,7363,0.00,2.17,0.00,0.000,4,0.000,0.045,2176,3806,1753,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7410,0.47,292.0,617.7,14.0,697,7418,0.00,2.08,0.00,0.000,6,0.000,0.028,2186,2467,1752,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7719,0.44,292.0,571.4,14.1,722,7729,0.12,2.17,0.00,0.000,4,0.165,0.041,2148,3804,1752,0,0,0,0,0,0,25.86,25.48,28.83
$GC,7773,0.46,308.4,564.8,11.3,727,7792,0.00,2.05,14.10,0.815,6,0.000,0.026,2158,2458,1721,0,0,0,0,0,0,28.83,25.85,24.49
$GC,8093,0.54,376.2,534.2,9.9,759,8186,0.00,2.30,86.88,0.774,4,0.000,0.033,2169,1050,1438,0,0,0,0,0,0,28.83,25.31,24.06
$GC,8201,0.65,457.7,523.3,9.6,769,8290,0.10,2.40,77.30,0.835,6,0.039,0.035,2254,2517,1098,0,0,0,0,0,0,25.43,25.44,23.91
$GC,8589,0.60,457.7,434.1,23.2,808,8598,0.15,2.10,0.00,0.000,4,0.160,0.043,2209,3815,1084,0,0,0,0,0,0,25.64,25.58,28.83
$GC,8683,0.65,477.5,419.5,11.2,817,8705,0.00,2.08,17.83,0.760,6,0.000,0.026,2219,2461,1031,0,0,0,0,0,0,28.83,25.84,24.39
$GC,9007,0.64,477.5,370.8,14.6,849,9017,0.00,2.22,0.00,0.000,4,0.000,0.037,2231,1063,1007,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9030,0.63,477.5,367.3,15.1,851,9039,0.00,2.35,0.00,0.000,6,0.000,0.036,2230,2520,1007,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9340,0.60,477.5,314.5,17.7,882,9349,0.00,2.05,0.00,0.000,4,0.000,0.044,2230,3810,1007,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9392,0.60,477.5,305.1,17.8,887,9402,0.12,2.08,0.00,0.000,6,0.135,0.028,2203,2469,1006,0,0,0,0,0,0,25.51,25.79,28.83
$GC,9703,0.64,492.8,269.7,11.4,918,9722,0.00,2.25,11.77,0.692,4,0.000,0.033,2215,1061,965,0,0,0,0,0,0,28.83,25.78,24.56
$GC,9760,0.71,511.7,263.8,11.3,923,9787,0.00,2.33,20.42,0.681,6,0.000,0.031,2215,2525,888,0,0,0,0,0,0,28.83,25.86,24.39
$GC,10085,0.73,511.7,226.6,12.0,956,10094,0.00,2.35,0.00,0.000,4,0.000,0.034,2226,1043,873,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10121,0.81,543.0,223.2,10.9,959,10158,0.08,2.33,28.15,0.673,6,0.044,0.031,2314,2524,755,0,0,0,0,0,0,25.65,25.72,24.41
$GC,10460,0.73,543.0,127.2,28.3,1017,10468,0.22,2.33,0.00,0.000,4,0.169,0.029,2258,1057,742,0,0,0,0,0,0,25.34,25.70,28.83
$GC,10547,0.87,617.5,114.6,9.8,1033,10622,0.00,2.30,65.30,0.594,6,0.000,0.029,2258,2525,448,0,0,0,0,0,0,28.83,25.75,24.40
$GC,10929,0.95,653.7,64.7,10.8,1105,10937,0.12,2.35,0.00,0.000,4,0.076,0.030,2365,1048,434,0,0,0,0,0,0,26.22,25.70,28.83
$GC,10996,0.96,653.7,54.4,15.3,1117,11005,0.15,2.38,0.00,0.000,6,0.113,0.034,2318,2523,434,0,0,0,0,0,0,25.48,25.68,28.83
$GC,11314,1.22,820.6,11.4,7.3,1178,11321,0.20,2.35,0.00,0.000,4,0.054,0.032,2459,1055,433,0,0,0,0,0,0,26.28,25.65,28.83
$GC,11331,1.42,957.1,9.6,8.1,1180,11338,0.00,2.38,0.00,0.000,6,0.000,0.039,2459,2519,432,0,0,0,0,0,0,28.83,25.60,28.83
$STATE,11363,end climb,SURFACE_DEPTH_REACHED
$STATE,11364,begin surface coast
$FINISH,-0.1,1.021907
$STATE,11375,end surface coast,CONTROL_FINISHED_OK
$STATE,11375,begin surface
$SM_CCo,11452,0.00,0.000,0,0,432,624.78
$SM_GC,0.62,5.85,0.25,0.00,0.022,0.048,0.000,138,2666,432,-5.78,-0.45,624.78,0,0,0,0,0,0,25.82,26.23,28.83
$IRIDIUM_FIX,2321.52,12136.91,050312,020208
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.40
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,470.4,0.0
$24V_AH,23.7,120.420
$10V_AH,9.9,72.695
$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,16.575,127.950,784.525,0.000,0.000,50.680,81.224,206.829,0.250,0.000,37.888,2886.823,5407.074,817.895,2534.361,361.022,0.000,2058.386,0.000,2047.422,0.000,2.872,0.000
$DEVICE_MAMPS,228.735,48.960,1045.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.748,1435.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,80256,1188
$CAP_FILE_SIZE,148905,0
$CFSIZE,260165632,166580224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 66.2,1
$GPS,050312,061127,2329.399,12138.078,36,2.6,56,-3.1