version: 66.10
glider: 169
mission: 5
dive: 620
start: 3 9 112 6 16 54
data:
$ID,169
$MISSION,5
$DIVE,620
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,240
$T_MISSION,260
$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,270
$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,-13699.724
$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
$GPS1,090312,060901,2332.482,12141.662,42,1.8,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-65.4
$GPS2,090312,061627,2332.807,12141.647,33,5.1,52,-3.1
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,2332.807,12129.867
$TGT_RADIUS,1852.000
$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,234.3,20000,-12.5,-10.000
$D_GRID,1786
$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,-0.67,-292.0,0.0,0.0,0,116,0.00,0.00,-97.18,0.000,2,0.000,0.000,116,2679,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.67,-292.0,3.8,-8.1,17,152,6.80,1.77,-18.98,0.000,4,0.224,0.053,1775,3837,3963,0,0,0,0,0,0,24.98,25.70,26.53
$GC,262,-0.66,-292.0,66.8,-15.1,43,268,0.00,1.75,0.00,0.000,6,0.000,0.020,1775,2583,3963,0,0,0,0,0,0,28.83,26.03,28.83
$GC,576,-0.54,-292.0,150.8,-26.7,104,584,0.17,2.28,0.00,0.000,4,0.153,0.024,1839,1173,3964,0,0,0,0,0,0,25.68,25.69,28.83
$GC,634,-0.56,-292.0,159.6,-8.7,114,642,0.00,2.50,0.00,0.000,6,0.000,0.035,1838,2647,3964,0,0,0,0,0,0,28.83,25.51,28.83
$GC,946,-0.53,-292.0,203.2,-13.2,173,955,0.00,2.40,0.00,0.000,4,0.000,0.026,1838,1172,3964,0,0,0,0,0,0,28.83,25.70,28.83
$GC,980,-0.52,-292.0,206.9,-12.0,176,988,0.00,2.50,0.00,0.000,6,0.000,0.036,1838,2644,3964,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1290,-0.50,-292.0,241.5,-11.4,207,1299,0.00,2.38,0.00,0.000,4,0.000,0.027,1838,1179,3962,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1336,-0.51,-292.0,245.8,-10.0,211,1343,0.00,2.50,0.00,0.000,6,0.000,0.036,1838,2650,3962,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1644,-0.61,-292.0,274.8,-9.8,242,1648,0.00,1.75,0.00,0.000,4,0.000,0.041,1838,3821,3960,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1666,-0.72,-292.0,277.2,-9.8,244,1677,0.20,1.75,0.00,0.000,6,0.107,0.022,1782,2574,3960,0,0,0,0,0,0,25.53,25.98,28.83
$GC,1978,-0.73,-292.0,304.8,-8.7,275,1982,0.00,2.25,0.00,0.000,4,0.000,0.026,1781,1176,3957,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2020,-0.74,-292.0,308.6,-8.9,279,2029,0.00,2.50,0.00,0.000,6,0.000,0.035,1769,2645,3957,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2332,-0.66,-292.0,366.0,-18.8,310,2341,0.00,2.40,0.00,0.000,4,0.000,0.029,1769,1177,3955,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2407,-0.65,-292.0,377.4,-12.6,317,2416,0.15,2.53,0.00,0.000,6,0.115,0.037,1806,2655,3954,0,0,0,0,0,0,25.22,25.41,28.83
$GC,2716,-0.62,-292.0,419.3,-12.2,348,2725,0.00,2.42,0.00,0.000,4,0.000,0.027,1806,1173,3953,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2768,-0.63,-292.0,424.6,-9.1,353,2778,0.00,2.50,0.00,0.000,6,0.000,0.036,1801,2652,3952,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3078,-0.59,-292.0,458.8,-11.6,384,3087,0.00,2.40,0.00,0.000,4,0.000,0.026,1801,1186,3950,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3143,-0.61,-292.0,464.3,-7.6,390,3150,0.00,2.50,0.00,0.000,6,0.000,0.037,1799,2650,3949,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3451,-0.57,-292.0,499.8,-12.3,421,3461,0.00,2.40,0.00,0.000,4,0.000,0.027,1799,1173,3947,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3504,-0.57,-292.0,505.3,-9.6,426,3513,0.00,2.50,0.00,0.000,6,0.000,0.038,1799,2644,3947,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3817,-0.54,-292.0,544.3,-14.1,457,3827,0.12,2.40,0.00,0.000,4,0.137,0.028,1844,1192,3945,0,0,0,0,0,0,26.02,25.51,28.83
$GC,3860,-0.56,-292.0,549.2,-10.5,461,3870,0.00,2.47,0.00,0.000,6,0.000,0.037,1841,2644,3945,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4172,-0.66,-292.0,582.4,-10.0,492,4182,0.12,1.77,0.00,0.000,4,0.098,0.041,1772,3827,3943,0,0,0,0,0,0,26.19,25.32,28.83
$GC,4198,-0.76,-292.0,585.0,-10.1,494,4205,0.00,1.75,0.00,0.000,6,0.000,0.023,1772,2577,3942,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4518,-0.78,-292.0,612.3,-8.2,519,4522,0.00,1.92,0.00,0.000,4,0.000,0.045,1765,3825,3940,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4580,-0.78,-292.0,618.6,-9.2,522,4584,0.00,1.77,0.00,0.000,6,0.000,0.021,1765,2577,3939,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4903,-0.73,-292.0,666.4,-15.4,538,4909,0.00,2.25,0.00,0.000,4,0.000,0.028,1765,1183,3937,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5003,-0.73,-292.0,678.2,-10.6,543,5009,0.00,2.50,0.00,0.000,6,0.000,0.038,1755,2637,3936,0,0,0,0,0,0,28.83,25.29,28.83
$STATE,5280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5280,begin apogee
$GC,5288,-0.20,0.0,722.4,-16.3,557,5494,0.55,0.15,200.02,1.004,6,0.103,0.044,1939,2526,2977,0,0,0,0,0,0,24.97,24.98,23.98
$STATE,5495,end apogee,CONTROL_FINISHED_OK
$STATE,5495,begin climb
$GC,5498,0.67,292.0,733.6,0.0,567,5766,0.77,2.15,258.70,0.984,4,0.045,0.044,2238,3817,1776,0,0,0,0,0,0,25.11,24.98,23.96
$GC,5777,0.57,292.0,706.2,19.8,581,5785,0.20,2.10,0.00,0.000,6,0.171,0.025,2198,2462,1766,0,0,0,0,0,0,24.68,25.22,28.83
$GC,6089,0.52,292.0,649.1,17.2,597,6094,0.00,2.12,0.00,0.000,4,0.000,0.044,2198,3811,1757,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6157,0.46,292.0,637.5,18.0,600,6167,0.17,2.05,0.00,0.000,6,0.147,0.025,2160,2455,1756,0,0,0,0,0,0,25.34,25.84,28.83
$GC,6469,0.44,292.0,595.8,12.2,617,6478,0.00,2.15,0.00,0.000,4,0.000,0.043,2160,3808,1754,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6505,0.43,292.0,591.2,12.8,620,6513,0.00,2.03,0.00,0.000,6,0.000,0.026,2170,2465,1753,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6813,0.41,292.0,548.8,14.0,651,6821,0.00,2.25,0.00,0.000,4,0.000,0.036,2181,1059,1752,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6835,0.39,292.0,545.6,14.1,653,6844,0.12,2.38,0.00,0.000,6,0.097,0.038,2136,2516,1751,0,0,0,0,0,0,25.15,25.42,28.83
$GC,7146,0.50,372.7,517.0,8.1,684,7219,0.10,2.10,61.40,1.009,4,0.091,0.047,2203,3823,1458,0,0,0,0,1,0,26.27,25.32,24.08
$GC,7256,0.45,372.7,502.5,15.2,694,7263,0.20,2.08,0.00,0.000,6,0.134,0.025,2156,2465,1468,0,0,0,0,0,0,25.25,25.66,28.83
$GC,7563,0.48,385.9,473.1,9.7,725,7592,0.00,2.33,23.12,0.806,4,0.000,0.034,2167,1054,1396,0,0,0,0,0,0,28.83,25.74,24.57
$GC,7608,0.52,402.0,469.0,9.6,729,7629,0.00,2.40,15.95,0.810,6,0.000,0.035,2167,2521,1339,0,0,0,0,0,0,28.83,25.67,24.39
$GC,7931,0.60,453.4,438.0,8.8,761,7990,0.10,2.40,47.83,0.811,4,0.088,0.035,2251,1052,1115,0,0,0,0,0,0,26.20,25.58,24.49
$GC,8026,0.58,453.4,424.0,16.5,770,8036,0.15,2.40,0.00,0.000,6,0.086,0.038,2194,2523,1108,0,0,0,0,0,0,25.41,25.60,28.83
$GC,8334,0.58,453.4,390.5,10.7,801,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2523,1105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8637,0.59,453.4,357.7,11.5,831,8646,0.00,2.38,0.00,0.000,4,0.000,0.035,2205,1057,1104,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8671,0.61,453.4,354.0,11.0,834,8680,0.00,2.38,0.00,0.000,6,0.000,0.035,2206,2520,1103,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8980,0.61,453.4,314.1,13.2,865,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2519,1103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9281,0.61,453.4,275.3,12.7,895,9290,0.00,2.35,0.00,0.000,4,0.000,0.037,2218,1062,1103,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9315,0.63,453.4,271.3,11.7,898,9324,0.00,2.35,0.00,0.000,6,0.000,0.034,2217,2513,1102,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9625,0.63,453.4,233.3,11.1,929,9629,0.00,2.05,0.00,0.000,4,0.000,0.044,2217,3818,1102,0,0,0,0,0,0,28.83,25.24,28.83
$GC,9639,0.63,453.4,232.1,10.9,930,9646,0.00,2.05,0.00,0.000,6,0.000,0.024,2228,2460,1102,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9948,0.61,453.4,188.4,14.4,968,9955,0.00,2.25,0.00,0.000,4,0.000,0.034,2240,1049,1102,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9973,0.60,453.4,185.0,13.1,972,9981,0.12,2.40,0.00,0.000,6,0.115,0.034,2201,2522,1102,0,0,0,0,0,0,25.20,25.36,28.83
$GC,10291,0.75,558.9,160.1,7.6,1033,10390,0.12,2.10,87.90,0.617,4,0.076,0.044,2289,3821,681,0,0,0,0,0,0,26.25,25.51,24.55
$GC,10420,0.70,558.9,134.0,21.1,1054,10427,0.20,2.05,0.00,0.000,6,0.134,0.024,2241,2466,673,0,0,0,0,0,0,25.27,25.68,28.83
$GC,10734,0.79,604.3,101.8,9.0,1115,10795,0.00,2.30,51.03,0.307,4,0.000,0.034,2252,1049,529,0,0,0,0,0,0,28.83,25.81,24.93
$GC,10846,0.87,611.2,91.8,9.8,1134,10867,0.12,2.35,11.73,0.270,6,0.122,0.028,2289,2530,491,0,0,0,0,0,0,25.58,25.76,24.80
$GC,11177,0.99,611.2,53.3,12.6,1197,11186,0.12,2.10,3.28,0.151,4,0.106,0.041,2335,3830,488,0,0,0,0,0,0,26.10,25.52,24.79
$GC,11195,1.09,611.2,51.2,12.3,1199,11203,0.00,2.05,0.00,0.000,6,0.000,0.023,2335,2457,496,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11511,1.19,611.2,15.6,12.2,1260,11520,0.15,2.30,2.88,0.144,4,0.101,0.032,2397,1052,494,0,0,0,0,0,0,26.06,25.53,24.93
$STATE,11607,end climb,SURFACE_DEPTH_REACHED
$STATE,11607,begin surface coast
$FINISH,0.1,1.021993
$STATE,11628,end surface coast,CONTROL_FINISHED_OK
$STATE,11628,begin surface
$SM_CCo,11707,0.00,0.000,0,0,504,607.12
$SM_GC,0.93,5.72,2.70,0.00,0.021,0.033,0.000,105,2644,504,-5.80,-0.51,607.12,0,0,0,0,0,0,25.86,25.48,28.83
$IRIDIUM_FIX,2323.87,12140.15,090312,030311
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.45
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,24.0,126.634
$10V_AH,9.8,75.235
$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,16.525,130.375,763.825,0.000,0.000,30.611,45.288,190.747,0.000,0.000,53.898,3094.520,5250.949,840.753,2562.819,385.340,0.000,2108.787,0.000,2135.873,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,52.785,1009.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.274,1569.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,83570,1282
$CAP_FILE_SIZE,154109,0
$CFSIZE,260165632,164397056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.189, 37.4,1
$GPS,090312,093329,2332.628,12140.874,38,2.6,58,-3.1