version: 66.10
glider: 169
mission: 5
dive: 596
start: 3 5 112 9 51 32
data:
$ID,169
$MISSION,5
$DIVE,596
$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,-13666.45
$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
$GPS1,050312,094407,2329.393,12138.452,41,1.6,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-66.6
$GPS2,050312,095105,2329.868,12138.749,21,1.1,30,-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,216.4,53390,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-292.0,0.0,0.0,0,119,0.00,0.00,-99.47,0.000,2,0.000,0.000,124,2674,2969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.72,-292.0,3.9,-9.8,17,155,6.88,2.42,-17.60,0.000,4,0.230,0.030,1779,1159,3962,0,0,0,0,0,0,24.82,25.98,26.51
$GC,163,-0.46,-292.0,22.1,-42.9,23,171,0.32,2.50,0.00,0.000,6,0.151,0.038,1859,2644,3962,0,0,0,0,0,0,25.02,25.69,28.83
$GC,477,-0.46,-292.0,80.0,-10.1,84,484,0.00,2.38,0.00,0.000,4,0.000,0.024,1859,1175,3963,0,0,0,0,0,0,28.83,25.87,28.83
$GC,508,-0.49,-292.0,83.0,-9.5,89,515,0.00,2.45,0.00,0.000,6,0.000,0.036,1855,2653,3963,0,0,0,0,0,0,28.83,25.64,28.83
$GC,820,-0.49,-292.0,118.5,-11.8,150,827,0.00,2.35,0.00,0.000,4,0.000,0.026,1855,1179,3964,0,0,0,0,0,0,28.83,25.82,28.83
$GC,867,-0.55,-292.0,123.5,-10.2,158,874,0.00,2.42,0.00,0.000,6,0.000,0.034,1851,2653,3964,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1181,-0.64,-292.0,158.3,-11.8,219,1189,0.12,1.75,0.00,0.000,4,0.112,0.041,1799,3820,3964,0,0,0,0,0,0,26.19,25.58,28.83
$GC,1234,-0.77,-292.0,163.4,-9.7,228,1241,0.15,1.75,0.00,0.000,6,0.121,0.021,1761,2568,3963,0,0,0,0,0,0,25.72,26.11,28.83
$GC,1548,-0.78,-292.0,194.8,-10.4,289,1555,0.00,2.17,0.00,0.000,4,0.000,0.026,1761,1163,3962,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1605,-0.78,-292.0,201.5,-12.3,298,1612,0.00,2.45,0.00,0.000,6,0.000,0.035,1750,2647,3962,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1913,-0.68,-292.0,277.3,-26.7,329,1922,0.12,2.33,0.00,0.000,4,0.176,0.026,1797,1188,3962,0,0,0,0,0,0,25.90,25.75,28.83
$GC,2000,-0.71,-292.0,291.6,-11.3,337,2007,0.00,2.40,0.00,0.000,6,0.000,0.035,1786,2649,3961,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2308,-0.66,-292.0,347.2,-17.6,368,2317,0.00,2.30,0.00,0.000,4,0.000,0.026,1787,1185,3960,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2391,-0.69,-292.0,357.7,-9.2,376,2400,0.00,2.40,0.00,0.000,6,0.000,0.036,1776,2643,3959,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2700,-0.64,-292.0,406.3,-17.4,407,2710,0.00,2.35,0.00,0.000,4,0.000,0.028,1778,1173,3958,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2766,-0.66,-292.0,415.0,-11.8,413,2774,0.10,2.45,0.00,0.000,6,0.135,0.037,1798,2650,3957,0,0,0,0,0,0,25.44,25.58,28.83
$GC,3074,-0.64,-292.0,455.4,-13.1,444,3082,0.00,2.35,0.00,0.000,4,0.000,0.028,1798,1180,3955,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3108,-0.64,-292.0,459.4,-12.7,447,3118,0.00,2.42,0.00,0.000,6,0.000,0.037,1790,2646,3954,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3417,-0.62,-292.0,504.0,-14.9,478,3426,0.00,2.35,0.00,0.000,4,0.000,0.028,1791,1183,3952,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3449,-0.61,-292.0,508.9,-15.0,481,3458,0.00,2.42,0.00,0.000,6,0.000,0.037,1781,2639,3951,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3763,-0.58,-292.0,557.6,-15.2,512,3772,0.12,2.33,0.00,0.000,4,0.145,0.025,1824,1178,3949,0,0,0,0,0,0,26.03,25.72,28.83
$GC,3808,-0.60,-292.0,563.0,-11.7,516,3815,0.00,2.45,0.00,0.000,6,0.000,0.037,1819,2649,3949,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4119,-0.62,-292.0,592.9,-9.3,547,4128,0.00,2.35,0.00,0.000,4,0.000,0.028,1819,1175,3946,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4143,-0.64,-292.0,595.2,-9.4,549,4153,0.00,2.42,0.00,0.000,6,0.000,0.038,1819,2639,3946,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4462,-0.66,-292.0,623.2,-8.1,568,4468,0.00,2.33,0.00,0.000,4,0.000,0.028,1819,1185,3944,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4486,-0.68,-292.0,624.9,-8.1,569,4491,0.00,2.45,0.00,0.000,6,0.000,0.038,1819,2645,3944,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4802,-0.70,-292.0,651.2,-8.6,585,4804,0.10,0.00,0.00,0.000,6,0.093,0.000,1749,2645,3942,0,0,0,0,0,0,26.35,28.83,28.83
$GC,5103,-0.64,-292.0,703.7,-18.4,600,5110,0.15,2.38,0.00,0.000,4,0.142,0.028,1802,1183,3940,0,0,0,0,0,0,25.89,25.58,28.83
$GC,5166,-0.64,-292.0,710.9,-13.6,603,5170,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2644,3939,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5478,-0.64,-292.0,739.3,-8.5,619,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2643,3937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5779,-0.64,-292.0,764.8,-8.8,634,5785,0.00,2.38,0.00,0.000,4,0.000,0.029,1799,1183,3935,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5832,-0.66,-292.0,768.2,-8.8,636,5839,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2643,3935,0,0,0,0,0,0,28.83,25.40,28.83
$STATE,5976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5977,begin apogee
$GC,5984,-0.20,0.0,782.8,-9.8,644,6199,0.43,0.15,205.85,1.033,6,0.093,0.074,1948,2533,2968,0,0,0,0,0,0,25.36,24.82,23.73
$STATE,6200,end apogee,CONTROL_FINISHED_OK
$STATE,6201,begin climb
$GC,6203,0.72,292.0,796.5,0.0,655,6472,0.80,2.10,260.48,1.035,4,0.049,0.046,2248,3811,1778,0,0,0,0,0,0,25.02,24.89,23.69
$GC,6639,0.64,292.0,726.2,23.8,676,6646,0.15,2.10,0.00,0.000,6,0.177,0.030,2222,2460,1757,0,0,0,0,0,0,25.21,25.70,28.83
$GC,6959,0.58,292.0,663.6,19.2,692,6965,0.00,2.17,0.00,0.000,4,0.000,0.046,2221,3822,1754,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7034,0.51,292.0,651.0,20.7,695,7041,0.20,2.05,0.00,0.000,6,0.158,0.027,2177,2465,1754,0,0,0,0,0,0,25.22,25.86,28.83
$GC,7339,0.49,292.0,603.8,14.4,711,7345,0.00,2.15,0.00,0.000,4,0.000,0.043,2177,3824,1752,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7381,0.46,292.0,597.5,15.0,713,7390,0.00,2.05,0.00,0.000,6,0.000,0.026,2187,2465,1752,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7691,0.43,292.0,551.1,15.4,744,7701,0.12,2.12,0.00,0.000,4,0.165,0.041,2149,3810,1752,0,0,0,0,0,0,25.86,25.46,28.83
$GC,7735,0.42,292.0,544.7,14.2,748,7747,0.00,2.03,0.00,0.000,6,0.000,0.028,2160,2473,1751,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8046,0.49,344.7,510.5,10.4,779,8095,0.00,2.33,37.83,0.909,4,0.000,0.034,2170,1056,1580,0,0,0,0,1,0,28.83,25.46,23.96
$GC,8112,0.56,405.6,503.8,10.1,785,8181,0.00,2.38,59.03,1.021,6,0.000,0.036,2170,2525,1324,0,0,0,0,1,0,28.83,25.58,23.65
$GC,8484,0.60,420.6,463.9,11.4,822,8513,0.00,0.00,23.08,0.825,6,0.000,0.000,2170,2525,1255,0,0,0,0,0,0,28.83,28.83,24.27
$GC,8814,0.65,442.4,426.9,11.2,855,8844,0.12,2.38,20.67,0.813,4,0.076,0.035,2273,1048,1164,0,0,0,0,0,0,26.20,25.69,24.34
$GC,8858,0.64,442.4,419.2,18.2,859,8867,0.15,2.33,0.00,0.000,6,0.118,0.039,2221,2516,1157,0,0,0,0,0,0,25.42,25.72,28.83
$GC,9167,0.61,442.4,361.0,17.6,890,9171,0.00,2.05,0.00,0.000,4,0.000,0.044,2220,3814,1154,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9222,0.60,442.4,351.9,17.5,895,9231,0.00,2.05,0.00,0.000,6,0.000,0.026,2231,2463,1154,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9531,0.56,442.4,296.5,17.7,926,9540,0.12,2.15,0.00,0.000,4,0.171,0.042,2192,3819,1153,0,0,0,0,0,0,25.81,25.49,28.83
$GC,9564,0.55,442.4,291.2,16.2,929,9572,0.00,2.05,0.00,0.000,6,0.000,0.026,2202,2464,1153,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9873,0.55,442.4,256.1,12.3,960,9877,0.00,2.22,0.00,0.000,4,0.000,0.036,2215,1054,1153,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9905,0.59,454.5,252.5,11.5,963,9915,0.00,2.35,3.53,0.535,6,0.000,0.034,2214,2524,1124,0,0,0,0,0,0,28.83,25.62,24.46
$GC,10215,0.59,454.5,211.3,13.3,994,10226,0.00,2.03,1.98,0.173,4,0.000,0.041,2215,3816,1128,0,0,0,0,0,0,28.83,25.54,24.85
$GC,10241,0.59,454.5,207.8,13.8,996,10249,0.00,2.05,0.00,0.000,6,0.000,0.024,2225,2454,1135,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10552,0.58,454.5,164.7,12.3,1052,10560,0.00,0.00,1.75,0.176,6,0.000,0.000,2225,2452,1124,0,0,0,0,0,0,28.83,28.83,24.79
$GC,10867,0.58,454.5,123.5,14.6,1113,10875,0.00,2.28,1.58,0.178,4,0.000,0.041,2225,3822,1128,0,0,0,0,0,0,28.83,25.41,24.75
$GC,10898,0.58,454.5,118.9,15.5,1118,10907,0.12,2.05,1.62,0.174,6,0.132,0.025,2198,2461,1123,0,0,0,0,0,0,25.54,25.82,24.87
$GC,11215,0.86,636.7,96.9,6.8,1179,11403,0.20,2.28,174.95,0.289,4,0.054,0.036,2334,1052,435,0,0,0,0,0,0,26.29,25.62,24.84
$GC,11499,0.96,678.0,43.8,10.7,1228,11507,0.00,2.35,1.20,0.184,6,0.000,0.033,2334,2527,433,0,0,0,0,0,0,28.83,25.65,25.00
$STATE,11732,end climb,SURFACE_DEPTH_REACHED
$STATE,11732,begin surface coast
$FINISH,-0.1,1.021758
$STATE,11757,end surface coast,CONTROL_FINISHED_OK
$STATE,11757,begin surface
$SM_CCo,11834,0.00,0.000,0,0,440,622.82
$SM_GC,0.68,5.55,0.25,0.00,0.021,0.064,0.000,110,2653,440,-5.80,-0.37,622.82,0,0,0,0,0,0,25.95,26.06,28.83
$IRIDIUM_FIX,2321.52,12140.15,050312,060601
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.77
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,470.7,0.0
$24V_AH,23.7,120.832
$10V_AH,9.8,72.887
$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,16.050,123.200,793.525,0.000,0.000,31.132,26.844,200.948,0.250,0.000,31.302,3068.125,5395.765,849.666,2550.413,369.178,0.000,2133.014,0.000,2155.772,0.000,2.872,0.000
$DEVICE_MAMPS,230.265,74.205,1035.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.951,1506.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,83816,1278
$CAP_FILE_SIZE,149377,0
$CFSIZE,260165632,166416384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.271, 41.4,1
$GPS,050312,130955,2329.569,12138.977,39,1.7,40,-3.1