version: 66.10
glider: 169
mission: 5
dive: 597
start: 3 5 112 13 17 31
data:
$ID,169
$MISSION,5
$DIVE,597
$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,-13667.71
$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
$GPS1,050312,130955,2329.569,12138.977,39,1.7,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.9
$GPS2,050312,131704,2329.988,12139.193,15,3.2,34,-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,219.9,53908,-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,-292.0,0.0,0.0,0,111,0.00,0.00,-91.85,0.000,2,0.000,0.000,110,2656,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.72,-292.0,3.3,-6.4,16,153,6.88,1.83,-22.02,0.000,4,0.227,0.063,1757,3822,3963,0,0,0,0,0,0,24.82,25.64,26.51
$GC,166,-0.50,-292.0,26.6,-50.9,24,173,0.30,1.77,0.00,0.000,6,0.171,0.024,1844,2591,3964,0,0,0,0,0,0,24.98,25.98,28.83
$GC,479,-0.47,-292.0,88.0,-12.6,85,486,0.00,2.20,0.00,0.000,4,0.000,0.027,1844,1172,3965,0,0,0,0,0,0,28.83,25.82,28.83
$GC,504,-0.46,-292.0,91.2,-13.2,89,511,0.00,2.45,0.00,0.000,6,0.000,0.037,1833,2650,3964,0,0,0,0,0,0,28.83,25.65,28.83
$GC,819,-0.42,-292.0,140.2,-17.1,150,828,0.12,2.38,0.00,0.000,4,0.151,0.025,1882,1172,3965,0,0,0,0,0,0,26.02,25.80,28.83
$GC,878,-0.52,-292.0,145.9,-6.4,160,886,0.12,2.42,0.00,0.000,6,0.080,0.034,1821,2651,3965,0,0,0,0,0,0,25.67,25.69,28.83
$GC,1195,-0.58,-292.0,173.0,-9.2,221,1203,0.00,1.73,0.00,0.000,4,0.000,0.043,1819,3820,3965,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1318,-0.70,-292.0,184.8,-9.7,244,1327,0.10,1.75,0.00,0.000,6,0.119,0.023,1785,2577,3965,0,0,0,0,0,0,25.87,26.09,28.83
$GC,1633,-0.74,-292.0,215.8,-9.9,289,1642,0.00,2.17,0.00,0.000,4,0.000,0.026,1785,1165,3963,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1657,-0.77,-292.0,218.1,-9.9,291,1666,0.00,2.42,0.00,0.000,6,0.000,0.034,1774,2650,3963,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1965,-0.70,-292.0,281.2,-20.1,322,1968,0.00,1.75,0.00,0.000,4,0.000,0.041,1765,3828,3962,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2058,-0.69,-292.0,295.8,-13.5,331,2062,0.00,1.77,0.00,0.000,6,0.000,0.021,1764,2581,3962,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2370,-0.62,-292.0,356.0,-21.1,362,2379,0.12,1.95,0.00,0.000,4,0.149,0.039,1798,3824,3960,0,0,0,0,0,0,26.01,25.55,28.83
$GC,2486,-0.64,-292.0,371.0,-11.2,373,2490,0.00,1.77,0.00,0.000,6,0.000,0.022,1797,2587,3959,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2799,-0.62,-292.0,415.7,-13.9,404,2809,0.00,2.17,0.00,0.000,4,0.000,0.029,1798,1186,3957,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2873,-0.66,-292.0,423.7,-8.5,411,2882,0.00,2.38,0.00,0.000,6,0.000,0.036,1789,2638,3957,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3184,-0.63,-292.0,463.5,-13.0,442,3193,0.00,2.30,0.00,0.000,4,0.000,0.027,1789,1181,3955,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3231,-0.63,-292.0,468.5,-11.7,446,3239,0.00,2.42,0.00,0.000,6,0.000,0.037,1780,2646,3954,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3539,-0.60,-292.0,511.6,-14.8,477,3548,0.12,2.35,0.00,0.000,4,0.145,0.026,1822,1180,3951,0,0,0,0,0,0,26.03,25.71,28.83
$GC,3594,-0.63,-292.0,517.0,-8.5,482,3601,0.00,2.42,0.00,0.000,6,0.000,0.036,1818,2648,3951,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3904,-0.73,-292.0,540.0,-7.6,513,3914,0.12,2.35,0.00,0.000,4,0.084,0.026,1764,1172,3949,0,0,0,0,0,0,26.27,25.72,28.83
$GC,3947,-0.82,-292.0,543.5,-7.8,517,3957,0.00,2.42,0.00,0.000,6,0.000,0.034,1764,2650,3948,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4257,-0.85,-292.0,570.7,-9.1,548,4268,0.00,2.33,0.00,0.000,4,0.000,0.026,1764,1171,3945,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4323,-0.86,-292.0,577.1,-10.4,554,4330,0.00,2.45,0.00,0.000,6,0.000,0.038,1753,2645,3945,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4644,-0.80,-292.0,634.3,-18.5,577,4649,0.00,2.35,0.00,0.000,4,0.000,0.028,1753,1177,3943,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4702,-0.77,-292.0,644.2,-17.1,580,4708,0.00,2.45,0.00,0.000,6,0.000,0.039,1742,2638,3943,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5024,-0.71,-292.0,706.1,-20.2,596,5030,0.12,2.33,0.00,0.000,4,0.160,0.027,1784,1187,3942,0,0,0,0,0,0,25.94,25.65,28.83
$GC,5091,-0.69,-292.0,715.0,-16.0,599,5095,0.00,2.45,0.00,0.000,6,0.000,0.038,1774,2646,3941,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5400,-0.67,-292.0,761.4,-15.6,614,5406,0.00,2.35,0.00,0.000,4,0.000,0.028,1775,1176,3938,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5432,-0.64,-292.0,764.7,-15.6,615,5439,0.12,2.47,0.00,0.000,6,0.118,0.039,1804,2647,3938,0,0,0,0,0,0,25.27,25.41,28.83
$STATE,5576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5576,begin apogee
$GC,5582,-0.20,0.0,782.1,-10.8,623,5792,0.40,0.15,203.77,1.040,6,0.090,0.074,1946,2532,2977,0,0,0,0,0,0,25.47,24.85,23.75
$STATE,5793,end apogee,CONTROL_FINISHED_OK
$STATE,5793,begin climb
$GC,5795,0.72,292.0,795.6,0.0,633,6066,0.80,2.47,261.27,1.028,4,0.044,0.036,2265,1065,1777,0,0,0,0,0,0,25.06,24.96,23.74
$GC,6119,0.65,292.0,757.7,21.8,649,6124,0.17,2.40,0.00,0.000,6,0.158,0.038,2220,2523,1760,0,0,0,0,0,0,24.99,25.39,28.83
$GC,6434,0.59,292.0,696.2,19.2,665,6439,0.00,2.03,0.00,0.000,4,0.000,0.043,2220,3821,1757,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6513,0.52,292.0,679.4,20.7,669,6520,0.17,2.08,0.00,0.000,6,0.159,0.026,2183,2460,1755,0,0,0,0,0,0,25.31,25.86,28.83
$GC,6835,0.50,292.0,630.6,15.2,685,6840,0.00,2.15,0.00,0.000,4,0.000,0.044,2183,3811,1754,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6896,0.47,292.0,620.8,16.0,688,6901,0.12,2.05,0.00,0.000,6,0.148,0.028,2159,2469,1754,0,0,0,0,0,0,25.49,25.81,28.83
$GC,7212,0.48,299.2,583.0,11.6,711,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2469,1753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,0.48,299.2,545.4,12.0,742,7531,0.00,2.10,0.00,0.000,4,0.000,0.043,2159,3807,1752,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7575,0.48,299.2,538.4,13.0,747,7579,0.00,2.05,0.00,0.000,6,0.000,0.026,2169,2464,1752,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7887,0.50,321.1,500.3,11.2,778,7919,0.00,2.17,21.88,0.783,4,0.000,0.044,2169,3814,1667,0,0,0,0,1,0,28.83,25.58,24.19
$GC,7939,0.50,335.0,494.5,11.4,783,7969,0.00,2.05,18.33,0.717,6,0.000,0.026,2180,2457,1609,0,0,0,0,1,0,28.83,25.81,24.29
$GC,8277,0.50,335.0,454.1,12.4,817,8286,0.00,2.15,0.00,0.000,4,0.000,0.044,2180,3812,1613,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8303,0.48,335.0,451.0,13.1,819,8310,0.00,2.05,0.00,0.000,6,0.000,0.028,2191,2470,1612,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8610,0.46,335.0,410.6,12.3,850,8620,0.12,2.15,0.00,0.000,4,0.161,0.040,2151,3823,1612,0,0,0,0,0,0,25.87,25.46,28.83
$GC,8644,0.46,335.0,406.5,12.3,853,8648,0.00,2.08,0.00,0.000,6,0.000,0.026,2161,2463,1612,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8956,0.57,410.1,376.6,9.7,884,9068,0.00,2.25,102.03,0.698,4,0.000,0.034,2172,1060,1297,0,0,0,0,0,0,28.83,25.32,24.20
$GC,9092,0.82,567.9,364.9,7.5,897,9244,0.22,2.33,142.05,0.731,6,0.029,0.031,2301,2523,657,0,0,0,0,0,0,25.58,25.51,24.06
$GC,9545,0.74,567.9,235.4,31.0,942,9557,0.15,2.05,0.00,0.000,4,0.181,0.041,2253,3827,630,0,0,0,0,0,0,25.54,25.57,28.83
$GC,9620,0.76,567.9,217.8,16.6,949,9629,0.00,2.08,0.00,0.000,6,0.000,0.025,2263,2456,629,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9934,0.73,567.9,156.7,20.5,1000,9941,0.00,2.20,0.00,0.000,4,0.000,0.036,2276,1058,628,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9974,0.75,567.9,149.8,14.6,1007,9981,0.00,2.33,0.00,0.000,6,0.000,0.033,2276,2523,627,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10289,0.73,567.9,86.7,18.9,1068,10296,0.00,2.03,0.00,0.000,4,0.000,0.043,2275,3814,627,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10346,0.75,567.9,76.7,15.8,1078,10354,0.12,2.03,0.00,0.000,6,0.120,0.024,2243,2462,626,0,0,0,0,0,0,25.60,25.85,28.83
$GC,10663,1.04,753.5,53.8,6.8,1139,10713,0.25,2.28,42.75,0.204,4,0.047,0.034,2410,1047,436,0,0,0,0,0,0,26.25,25.82,24.98
$GC,10789,1.03,753.5,25.9,20.0,1161,10798,0.22,2.38,2.78,0.147,6,0.117,0.040,2340,2523,434,0,0,0,0,0,0,25.26,25.58,24.89
$STATE,10947,end climb,SURFACE_DEPTH_REACHED
$STATE,10947,begin surface coast
$FINISH,0.2,1.021985
$STATE,10969,end surface coast,CONTROL_FINISHED_OK
$STATE,10969,begin surface
$SM_CCo,11044,0.00,0.000,0,0,451,619.87
$SM_GC,0.59,5.70,0.25,0.00,0.031,0.047,0.000,128,2687,451,-5.79,-0.34,619.87,0,0,0,0,0,0,25.77,26.22,28.83
$IRIDIUM_FIX,2321.52,12136.91,050312,090922
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.92
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,469.5,0.0
$24V_AH,23.7,121.041
$10V_AH,9.9,72.979
$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,16.625,119.000,794.850,0.000,0.000,29.017,26.402,207.087,0.250,0.000,36.771,2897.356,4909.568,816.323,2471.779,358.825,0.000,2060.240,0.000,2071.074,0.000,2.885,0.000
$DEVICE_MAMPS,227.205,74.205,1039.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.669,1429.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,80380,1195
$CAP_FILE_SIZE,143850,0
$CFSIZE,260165632,166342656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.171, 68.5,1
$GPS,050312,162255,2329.201,12139.179,49,1.4,50,-3.1