version: 66.10
glider: 169
mission: 5
dive: 621
start: 3 9 112 9 45 22
data:
$ID,169
$MISSION,5
$DIVE,621
$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,-13700.982
$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
$GPS1,090312,093329,2332.628,12140.874,38,2.6,58,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.6
$GPS2,090312,094457,2333.217,12141.018,40,3.2,59,-3.1
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,2333.217,12129.237
$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,248.0,20000,-12.5,-10.000
$D_GRID,1501
$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,-292.0,0.0,0.0,0,106,0.00,0.00,-85.93,0.000,2,0.000,0.000,105,2646,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.67,-292.0,3.1,-6.5,15,147,6.97,1.80,-24.45,0.000,4,0.230,0.051,1774,3831,3962,0,0,0,0,0,0,24.99,25.72,26.53
$GC,206,-0.67,-292.0,37.8,-16.1,32,213,0.00,1.77,0.00,0.000,6,0.000,0.021,1774,2584,3963,0,0,0,0,0,0,28.83,26.03,28.83
$GC,520,-0.55,-292.0,129.4,-29.7,93,528,0.17,2.28,0.00,0.000,4,0.158,0.023,1837,1166,3963,0,0,0,0,0,0,25.66,25.71,28.83
$GC,586,-0.59,-292.0,139.5,-7.7,105,595,0.00,2.50,0.00,0.000,6,0.000,0.034,1825,2647,3963,0,0,0,0,0,0,28.83,25.53,28.83
$GC,901,-0.54,-292.0,186.7,-15.0,166,908,0.00,2.40,0.00,0.000,4,0.000,0.028,1825,1180,3963,0,0,0,0,0,0,28.83,25.66,28.83
$GC,971,-0.57,-292.0,194.0,-8.4,179,978,0.00,2.50,0.00,0.000,6,0.000,0.036,1823,2656,3962,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1281,-0.53,-292.0,237.1,-13.9,215,1290,0.00,2.38,0.00,0.000,4,0.000,0.026,1823,1180,3960,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1348,-0.55,-292.0,244.1,-9.8,221,1356,0.00,2.47,0.00,0.000,6,0.000,0.035,1814,2646,3960,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1655,-0.51,-292.0,290.3,-14.9,252,1662,0.12,0.00,0.00,0.000,6,0.142,0.000,1850,2646,3959,0,0,0,0,0,0,26.06,28.83,28.83
$GC,1964,-0.52,-292.0,313.1,-6.3,283,1973,0.00,2.40,0.00,0.000,4,0.000,0.026,1850,1177,3955,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2027,-0.58,-292.0,316.7,-5.7,289,2037,0.00,2.47,0.00,0.000,6,0.000,0.034,1849,2650,3956,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2337,-0.69,-292.0,340.5,-9.0,320,2347,0.15,1.75,0.00,0.000,4,0.104,0.041,1789,3815,3953,0,0,0,0,0,0,26.06,25.39,28.83
$GC,2475,-0.78,-292.0,352.2,-8.6,333,2482,0.00,1.75,0.00,0.000,6,0.000,0.022,1789,2561,3952,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2785,-0.81,-292.0,376.6,-9.3,364,2795,0.12,1.92,0.00,0.000,4,0.075,0.040,1677,3816,3949,0,0,0,0,0,0,26.29,25.38,28.83
$GC,2822,-0.78,-292.0,381.3,-12.4,367,2830,0.25,1.73,0.00,0.000,6,0.139,0.020,1755,2581,3948,0,0,0,0,0,0,25.12,25.98,28.83
$GC,3128,-0.70,-292.0,442.3,-19.9,398,3139,0.10,2.22,0.00,0.000,4,0.174,0.026,1790,1185,3947,0,0,0,0,0,0,26.07,25.58,28.83
$GC,3215,-0.72,-292.0,452.5,-8.8,406,3223,0.00,2.45,0.00,0.000,6,0.000,0.036,1779,2642,3947,0,0,0,0,0,0,28.83,25.43,28.83
$GC,3525,-0.67,-292.0,497.2,-15.6,437,3534,0.00,2.38,0.00,0.000,4,0.000,0.026,1779,1185,3945,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3578,-0.66,-292.0,504.2,-12.5,442,3587,0.00,2.47,0.00,0.000,6,0.000,0.037,1768,2644,3944,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3887,-0.60,-292.0,556.8,-17.2,473,3896,0.12,2.38,0.00,0.000,4,0.144,0.025,1811,1185,3942,0,0,0,0,0,0,25.96,25.56,28.83
$GC,3943,-0.61,-292.0,563.3,-11.1,478,3950,0.00,2.50,0.00,0.000,6,0.000,0.037,1812,2653,3942,0,0,0,0,0,0,28.83,25.36,28.83
$GC,4251,-0.60,-292.0,594.1,-9.0,509,4260,0.00,2.40,0.00,0.000,4,0.000,0.027,1811,1182,3939,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4276,-0.60,-292.0,596.2,-8.7,511,4283,0.00,2.50,0.00,0.000,6,0.000,0.038,1811,2645,3939,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4593,-0.59,-292.0,623.3,-8.7,530,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2644,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4895,-0.58,-292.0,651.3,-9.3,545,4900,0.00,2.40,0.00,0.000,4,0.000,0.027,1811,1176,3933,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4947,-0.59,-292.0,655.1,-9.4,547,4954,0.00,2.53,0.00,0.000,6,0.000,0.037,1811,2654,3933,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5256,-0.65,-292.0,683.7,-9.6,563,5259,0.00,1.77,0.00,0.000,4,0.000,0.046,1811,3827,3931,0,0,0,0,0,0,28.83,25.23,28.83
$GC,5438,-0.72,-292.0,702.2,-10.8,572,5441,0.00,1.80,0.00,0.000,6,0.000,0.024,1811,2578,3929,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,5636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5637,begin apogee
$GC,5644,-0.20,0.0,721.6,-9.3,582,5860,0.32,0.12,207.10,0.988,6,0.041,0.083,1975,2532,2969,0,0,0,0,0,0,26.01,24.96,23.94
$STATE,5861,end apogee,CONTROL_FINISHED_OK
$STATE,5862,begin climb
$GC,5865,0.67,292.0,733.2,0.0,593,6132,0.68,2.12,256.33,0.989,4,0.045,0.044,2240,3808,1777,0,0,0,0,0,0,25.23,24.90,23.88
$GC,6256,0.58,292.0,678.7,23.1,612,6265,0.20,2.05,0.00,0.000,6,0.176,0.028,2199,2468,1760,0,0,0,0,0,0,25.02,25.67,28.83
$GC,6563,0.53,292.0,622.5,16.7,628,6569,0.00,2.15,0.00,0.000,4,0.000,0.044,2199,3823,1756,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6645,0.47,292.0,607.7,18.5,632,6651,0.17,2.08,0.00,0.000,6,0.151,0.025,2161,2457,1756,0,0,0,0,0,0,25.28,25.82,28.83
$GC,6954,0.46,292.0,570.6,10.5,660,6958,0.00,2.17,0.00,0.000,4,0.000,0.043,2161,3814,1754,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6992,0.44,292.0,566.8,11.0,663,6999,0.00,2.05,0.00,0.000,6,0.000,0.025,2172,2460,1754,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7297,0.41,292.0,533.6,11.1,694,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2458,1753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,0.39,292.0,498.8,11.8,724,7611,0.12,2.20,0.00,0.000,4,0.162,0.041,2133,3829,1752,0,0,0,0,0,0,25.82,25.25,28.83
$GC,7655,0.41,299.2,492.9,9.8,729,7664,0.00,2.05,0.00,0.000,6,0.000,0.025,2143,2467,1752,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7964,0.45,333.8,466.3,9.2,760,8006,0.00,2.33,30.55,0.825,4,0.000,0.034,2154,1051,1619,0,0,0,0,1,0,28.83,25.55,24.25
$GC,8025,0.51,367.1,460.6,9.2,766,8073,0.00,2.38,33.22,0.896,6,0.000,0.036,2154,2517,1489,0,0,0,0,1,0,28.83,25.56,24.03
$GC,8379,0.58,412.2,427.4,9.0,801,8437,0.12,2.10,52.75,0.802,4,0.073,0.045,2239,3820,1290,0,0,0,0,0,0,26.18,25.52,24.44
$GC,8480,0.52,412.2,409.4,21.2,811,8489,0.20,2.05,0.00,0.000,6,0.132,0.025,2185,2468,1276,0,0,0,0,0,0,25.20,25.73,28.83
$GC,8787,0.52,412.2,372.3,10.3,842,8796,0.00,2.25,0.00,0.000,4,0.000,0.034,2196,1054,1273,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8834,0.58,439.1,368.4,9.4,846,8868,0.00,2.38,24.55,0.757,6,0.000,0.033,2196,2524,1177,0,0,0,0,0,0,28.83,25.60,24.57
$GC,9169,0.58,439.1,332.7,10.4,880,9179,0.00,2.38,0.00,0.000,4,0.000,0.036,2208,1051,1166,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9193,0.58,439.1,330.4,10.2,882,9202,0.00,2.38,0.00,0.000,6,0.000,0.034,2208,2520,1165,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9502,0.57,439.1,289.8,14.1,913,9511,0.00,2.05,0.00,0.000,4,0.000,0.044,2208,3819,1165,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9535,0.57,439.1,285.0,15.1,916,9545,0.00,2.05,0.00,0.000,6,0.000,0.025,2219,2463,1165,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9846,0.56,439.1,240.3,14.5,947,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2463,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10157,0.55,439.1,200.4,11.9,978,10167,0.12,2.22,0.00,0.000,4,0.151,0.031,2188,1054,1164,0,0,0,0,0,0,25.84,25.39,28.83
$GC,10195,0.76,560.4,196.4,7.2,984,10306,0.20,2.38,104.12,0.643,6,0.061,0.031,2281,2530,692,0,0,0,0,0,0,25.44,25.47,24.51
$GC,10613,0.70,560.4,106.9,23.3,1062,10621,0.12,2.03,0.00,0.000,4,0.164,0.040,2241,3817,664,0,0,0,0,0,0,25.77,25.52,28.83
$GC,10684,0.85,634.8,96.8,8.3,1075,10764,0.10,2.05,71.57,0.298,6,0.090,0.022,2312,2433,436,0,0,0,0,0,0,25.78,25.89,24.93
$GC,11070,0.85,634.8,41.8,12.3,1148,11079,0.00,2.28,1.90,0.161,4,0.000,0.034,2322,1047,433,0,0,0,0,0,0,28.83,25.57,25.03
$GC,11146,0.93,656.3,35.1,9.5,1161,11153,0.00,2.38,1.73,0.166,6,0.000,0.029,2323,2534,432,0,0,0,0,0,0,28.83,25.64,25.06
$GC,11463,0.99,678.8,5.8,9.5,1222,11470,0.00,2.03,1.50,0.169,4,0.000,0.037,2323,3821,432,0,0,0,0,0,0,28.83,25.44,25.06
$STATE,11482,end climb,SURFACE_DEPTH_REACHED
$STATE,11482,begin surface coast
$FINISH,2.5,1.021965
$STATE,11487,end surface coast,CONTROL_FINISHED_OK
$STATE,11487,begin surface
$SM_CCo,11565,0.00,0.000,0,0,437,623.80
$SM_GC,0.69,5.72,1.80,0.00,0.034,0.021,0.000,131,2588,437,-5.79,0.42,623.80,0,0,0,0,0,0,25.62,25.91,28.83
$IRIDIUM_FIX,2323.87,12140.15,090312,090945
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.96
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.9,126.842
$10V_AH,9.8,75.332
$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,16.125,114.575,785.325,0.000,0.000,60.106,68.998,273.230,0.000,0.000,60.980,2936.686,5379.624,836.875,2702.599,373.226,0.000,2091.436,0.000,2111.946,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,83.385,989.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.587,1529.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80513,1226
$CAP_FILE_SIZE,147132,0
$CFSIZE,260165632,164327424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.316, 48.5,1
$GPS,090312,125907,2333.483,12141.051,30,1.7,31,-3.1