version: 66.10
glider: 169
mission: 5
dive: 635
start: 3 11 112 11 19 2
data:
$ID,169
$MISSION,5
$DIVE,635
$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,330
$T_MISSION,360
$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,-13723.096
$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
$GPS1,110312,111107,2336.277,12138.468,29,1.4,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-65.0
$GPS2,110312,111836,2336.469,12138.512,17,1.6,33,-3.2
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,2336.469,12126.727
$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,249.3,20000,-12.5,-10.000
$D_GRID,714
$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,-292.0,0.0,0.0,0,113,0.00,0.00,-93.30,0.000,2,0.000,0.000,117,2655,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.67,-292.0,3.9,-10.2,16,149,7.32,1.77,-17.90,0.000,4,0.250,0.046,1775,3835,3962,0,0,0,0,0,0,25.02,25.68,26.44
$GC,198,-0.53,-292.0,44.3,-42.0,30,205,0.20,1.80,0.00,0.000,6,0.152,0.022,1836,2590,3964,0,0,0,0,0,0,25.18,25.83,28.83
$GC,511,-0.46,-292.0,115.7,-17.2,91,519,0.00,2.30,0.00,0.000,4,0.000,0.028,1837,1179,3965,0,0,0,0,0,0,28.83,25.57,28.83
$GC,573,-0.50,-292.0,124.1,-9.2,102,579,0.00,2.53,0.00,0.000,6,0.000,0.037,1826,2649,3964,0,0,0,0,0,0,28.83,25.39,28.83
$GC,886,-0.45,-292.0,177.1,-16.8,163,895,0.12,2.45,0.00,0.000,4,0.155,0.028,1868,1180,3965,0,0,0,0,0,0,25.84,25.46,28.83
$GC,924,-0.47,-292.0,182.2,-12.0,169,930,0.00,2.53,0.00,0.000,6,0.000,0.035,1868,2656,3965,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1235,-0.58,-292.0,212.4,-10.1,218,1245,0.12,1.77,0.00,0.000,4,0.109,0.038,1812,3818,3965,0,0,0,0,0,0,26.06,25.36,28.83
$GC,1251,-0.68,-292.0,213.3,-9.9,219,1257,0.00,1.77,0.00,0.000,6,0.000,0.023,1812,2563,3964,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1559,-0.76,-292.0,239.9,-8.7,250,1569,0.12,2.20,0.00,0.000,4,0.088,0.024,1750,1173,3964,0,0,0,0,0,0,26.15,25.60,28.83
$GC,1633,-0.74,-292.0,248.1,-12.6,257,1643,0.08,2.50,0.00,0.000,6,0.108,0.037,1770,2645,3963,0,0,0,0,0,0,25.10,25.34,28.83
$GC,1942,-0.64,-292.0,311.1,-20.1,288,1952,0.12,2.40,0.00,0.000,4,0.160,0.024,1818,1174,3962,0,0,0,0,0,0,25.82,25.56,28.83
$GC,1998,-0.64,-292.0,317.8,-10.4,293,2005,0.00,2.53,0.00,0.000,6,0.000,0.036,1812,2655,3962,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2305,-0.62,-292.0,353.1,-13.4,324,2314,0.00,2.42,0.00,0.000,4,0.000,0.028,1812,1186,3960,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2349,-0.62,-292.0,358.3,-12.3,328,2358,0.00,2.47,0.00,0.000,6,0.000,0.037,1812,2638,3960,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2659,-0.59,-292.0,395.6,-10.8,359,2669,0.00,2.38,0.00,0.000,4,0.000,0.027,1812,1183,3958,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2714,-0.61,-292.0,400.4,-8.7,364,2723,0.00,2.47,0.00,0.000,6,0.000,0.037,1812,2642,3958,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3024,-0.60,-292.0,433.3,-11.0,395,3033,0.00,2.42,0.00,0.000,4,0.000,0.029,1812,1186,3955,0,0,0,0,0,0,28.83,25.45,28.83
$GC,3049,-0.58,-292.0,435.9,-11.0,397,3056,0.00,2.53,0.00,0.000,6,0.000,0.038,1812,2647,3954,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3357,-0.56,-292.0,467.0,-10.5,428,3366,0.00,2.42,0.00,0.000,4,0.000,0.031,1812,1185,3952,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3409,-0.59,-292.0,471.4,-7.9,433,3418,0.00,2.50,0.00,0.000,6,0.000,0.038,1812,2640,3951,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3720,-0.57,-292.0,503.6,-10.6,464,3729,0.00,2.42,0.00,0.000,4,0.000,0.028,1811,1184,3949,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3763,-0.58,-292.0,507.5,-9.4,468,3771,0.00,2.50,0.00,0.000,6,0.000,0.039,1812,2641,3949,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4072,-0.57,-292.0,536.8,-9.7,499,4082,0.00,2.42,0.00,0.000,4,0.000,0.029,1811,1190,3946,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4115,-0.58,-292.0,540.2,-8.3,503,4125,0.00,2.50,0.00,0.000,6,0.000,0.039,1812,2641,3946,0,0,0,0,0,0,28.83,25.17,28.83
$GC,4426,-0.66,-292.0,560.4,-6.7,534,4429,0.00,1.77,0.00,0.000,4,0.000,0.047,1811,3812,3944,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4560,-0.74,-292.0,571.9,-9.3,547,4570,0.15,1.77,0.00,0.000,6,0.116,0.026,1767,2587,3944,0,0,0,0,0,0,25.38,25.74,28.83
$GC,4872,-0.76,-292.0,599.9,-9.8,578,4875,0.00,1.95,0.00,0.000,4,0.000,0.047,1759,3817,3942,0,0,0,0,0,0,28.83,25.04,28.83
$GC,4936,-0.75,-292.0,607.2,-11.5,582,4939,0.00,1.77,0.00,0.000,6,0.000,0.023,1759,2590,3942,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5254,-0.69,-292.0,662.9,-17.2,598,5259,0.00,2.30,0.00,0.000,4,0.000,0.029,1759,1189,3939,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5348,-0.66,-292.0,673.2,-12.9,602,5356,0.17,2.53,0.00,0.000,6,0.111,0.039,1803,2645,3939,0,0,0,0,0,0,24.89,25.13,28.83
$GC,5654,-0.65,-292.0,705.2,-9.7,618,5660,0.00,2.42,0.00,0.000,4,0.000,0.028,1803,1180,3937,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5700,-0.65,-292.0,708.6,-9.1,620,5705,0.00,2.53,0.00,0.000,6,0.000,0.039,1802,2643,3937,0,0,0,0,0,0,28.83,25.10,28.83
$STATE,5771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5771,begin apogee
$GC,5777,-0.20,0.0,715.2,-8.4,624,5983,0.40,0.15,199.57,1.017,6,0.090,0.050,1942,2546,2978,0,0,0,0,0,0,25.23,24.48,23.52
$STATE,5984,end apogee,CONTROL_FINISHED_OK
$STATE,5984,begin climb
$GC,5986,0.67,292.0,726.1,0.0,634,6266,0.77,2.72,268.17,0.985,4,0.044,0.033,2248,1058,1775,0,0,1,0,0,0,24.63,23.46,22.59
$GC,6281,0.57,292.0,695.8,19.6,649,6287,0.15,2.62,0.00,0.000,6,0.130,0.038,2204,2516,1764,0,0,0,0,0,0,23.33,23.65,28.83
$GC,6597,0.51,292.0,639.5,18.7,665,6602,0.00,2.05,0.00,0.000,4,0.000,0.044,2204,3818,1757,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6678,0.45,292.0,623.3,20.3,669,6683,0.20,2.10,0.00,0.000,6,0.146,0.026,2159,2460,1756,0,0,0,0,0,0,25.01,25.57,28.83
$GC,6994,0.43,292.0,579.4,13.6,692,7003,0.00,2.20,0.00,0.000,4,0.000,0.044,2159,3811,1754,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7026,0.41,292.0,574.5,13.9,695,7030,0.00,2.08,0.00,0.000,6,0.000,0.026,2169,2467,1754,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7339,0.38,292.0,536.5,11.6,726,7341,0.12,0.00,0.00,0.000,6,0.161,0.000,2136,2466,1753,0,0,0,0,0,0,25.82,28.83,28.83
$GC,7639,0.39,292.0,506.5,10.6,756,7648,0.00,2.22,0.00,0.000,4,0.000,0.044,2135,3822,1752,0,0,0,0,0,0,28.83,25.14,28.83
$GC,7671,0.41,292.0,502.8,11.6,759,7675,0.00,2.10,0.00,0.000,6,0.000,0.025,2145,2466,1752,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7983,0.41,292.0,469.6,10.1,790,7992,0.00,2.28,0.00,0.000,4,0.000,0.034,2157,1054,1751,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8015,0.45,318.2,466.7,9.4,793,8047,0.00,2.40,21.00,0.741,6,0.000,0.035,2157,2516,1678,0,0,0,0,1,0,28.83,25.24,24.31
$GC,8355,0.48,342.9,434.1,9.4,827,8395,0.00,2.12,25.45,0.770,4,0.000,0.045,2157,3809,1585,0,0,0,0,1,0,28.83,25.51,24.34
$GC,8411,0.50,353.6,429.0,9.8,832,8440,0.00,2.08,18.30,0.726,6,0.000,0.026,2168,2460,1533,0,0,0,0,1,0,28.83,25.66,24.58
$GC,8749,0.56,408.9,393.9,8.7,866,8818,0.00,2.33,60.28,0.776,4,0.000,0.034,2178,1060,1298,0,0,0,0,0,0,28.83,25.53,24.55
$GC,8844,0.71,502.6,386.2,7.8,875,8935,0.12,2.38,84.25,0.768,6,0.035,0.032,2272,2517,929,0,0,0,0,0,0,25.49,25.50,24.35
$GC,9238,0.63,502.6,285.8,27.0,914,9248,0.17,2.35,0.00,0.000,4,0.164,0.032,2230,1054,901,0,0,0,0,0,0,25.44,25.57,28.83
$GC,9323,0.67,502.6,272.4,10.9,922,9330,0.00,2.38,0.00,0.000,6,0.000,0.031,2230,2524,900,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9631,0.65,502.6,224.0,17.3,953,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2524,899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9935,0.65,502.6,180.8,12.0,997,9942,0.00,2.42,0.00,0.000,4,0.000,0.037,2242,1055,899,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9971,0.68,502.6,176.4,11.6,1003,9978,0.00,2.40,0.00,0.000,6,0.000,0.034,2242,2518,898,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10283,0.68,502.6,138.0,10.4,1064,10290,0.00,2.05,0.00,0.000,4,0.000,0.043,2242,3811,898,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10303,0.68,502.6,135.6,11.2,1067,10309,0.00,2.08,0.00,0.000,6,0.000,0.024,2253,2455,898,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10614,0.68,502.6,99.2,11.6,1128,10621,0.00,2.28,0.00,0.000,4,0.000,0.034,2264,1050,897,0,0,0,0,0,0,28.83,25.30,28.83
$GC,10654,0.78,559.6,95.4,8.7,1135,10723,0.00,2.40,59.05,0.291,6,0.000,0.031,2265,2528,710,0,0,0,0,0,0,28.83,25.39,25.05
$GC,11030,1.06,757.5,58.6,5.4,1206,11096,0.20,2.40,57.65,0.230,4,0.055,0.032,2400,1050,436,0,0,0,0,0,0,26.13,25.87,25.25
$GC,11196,1.05,757.5,29.3,14.5,1236,11205,0.17,2.40,2.08,0.159,6,0.122,0.034,2347,2519,433,0,0,0,0,0,0,25.18,25.49,25.02
$STATE,11397,end climb,SURFACE_DEPTH_REACHED
$STATE,11397,begin surface coast
$FINISH,-0.0,1.011184
$STATE,11456,end surface coast,CONTROL_FINISHED_OK
$STATE,11456,begin surface
$SM_CCo,11532,0.00,0.000,0,0,450,620.36
$SM_GC,0.87,5.60,0.28,0.00,0.021,0.057,0.000,113,2651,450,-5.79,-0.37,620.36,0,0,0,0,0,0,25.74,25.99,28.83
$IRIDIUM_FIX,2326.22,12132.91,110312,070749
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,22.6,129.911
$10V_AH,9.8,76.660
$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,16.350,128.675,795.800,0.000,0.000,25.561,44.409,212.087,0.000,0.000,35.523,3095.930,5038.725,835.933,2602.361,385.740,0.000,2132.545,0.000,2179.675,0.000,0.541,0.000
$DEVICE_MAMPS,250.155,56.610,1017.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.132,1556.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,83522,1286
$CAP_FILE_SIZE,151091,0
$CFSIZE,260165632,163155968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0,0
$CURRENT,0.254, 46.5,1
$GPS,110312,143224,2336.786,12138.042,23,2.0,41,-3.2