version: 66.10
glider: 169
mission: 5
dive: 643
start: 3 12 112 3 7 57
data:
$ID,169
$MISSION,5
$DIVE,643
$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,-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,-13733.144
$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
$GPS1,120312,030030,2339.351,12137.907,40,1.4,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.6
$GPS2,120312,030732,2339.568,12137.995,13,1.7,13,-3.2
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,DOGLEG
$TGT_LATLONG,2336.000,12140.700
$TGT_RADIUS,1000.000
$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,186.7,8045,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.67,-292.0,0.0,0.0,0,119,0.00,0.00,-99.88,0.000,2,0.000,0.000,117,2658,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.67,-292.0,3.8,-8.7,17,155,7.18,1.75,-17.08,0.000,4,0.244,0.048,1774,3829,3964,0,0,0,0,0,0,25.13,25.71,26.48
$GC,288,-0.56,-292.0,64.2,-27.5,48,296,0.20,1.75,0.00,0.000,6,0.143,0.019,1829,2569,3964,0,0,0,0,0,0,25.39,26.05,28.83
$GC,603,-0.48,-292.0,127.8,-21.4,109,610,0.00,2.22,0.00,0.000,4,0.000,0.026,1836,1174,3965,0,0,0,0,0,0,28.83,25.78,28.83
$GC,660,-0.51,-292.0,136.6,-10.5,119,667,0.00,2.47,0.00,0.000,6,0.000,0.032,1826,2651,3965,0,0,0,0,0,0,28.83,25.68,28.83
$GC,973,-0.46,-292.0,189.7,-16.6,180,980,0.12,2.42,0.00,0.000,4,0.143,0.023,1868,1165,3966,0,0,0,0,0,0,25.97,25.77,28.83
$GC,1019,-0.52,-292.0,195.3,-8.3,188,1025,0.00,2.50,0.00,0.000,6,0.000,0.034,1868,2657,3966,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1329,-0.62,-292.0,225.5,-9.7,223,1331,0.17,0.00,0.00,0.000,6,0.081,0.000,1791,2658,3965,0,0,0,0,0,0,26.13,28.83,28.83
$GC,1629,-0.55,-292.0,267.1,-16.1,253,1639,0.12,2.40,0.00,0.000,4,0.141,0.024,1834,1179,3964,0,0,0,0,0,0,25.96,25.75,28.83
$GC,1686,-0.57,-292.0,272.9,-9.6,258,1694,0.00,2.47,0.00,0.000,6,0.000,0.034,1825,2651,3964,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1993,-0.66,-292.0,297.0,-7.8,289,2002,0.00,2.40,0.00,0.000,4,0.000,0.026,1825,1169,3962,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2092,-0.74,-292.0,304.7,-8.9,298,2100,0.17,2.47,0.00,0.000,6,0.074,0.034,1757,2652,3962,0,0,0,0,0,0,25.57,25.64,28.83
$GC,2398,-0.76,-292.0,333.6,-9.8,329,2402,0.00,1.75,0.00,0.000,4,0.000,0.044,1751,3816,3959,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2411,-0.77,-292.0,334.8,-10.0,330,2415,0.00,1.75,0.00,0.000,6,0.000,0.021,1751,2583,3959,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2723,-0.69,-292.0,401.2,-21.8,361,2733,0.12,2.22,0.00,0.000,4,0.149,0.024,1794,1169,3957,0,0,0,0,0,0,25.91,25.75,28.83
$GC,2790,-0.70,-292.0,410.2,-10.7,367,2797,0.00,2.47,0.00,0.000,6,0.000,0.034,1784,2648,3956,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3097,-0.66,-292.0,457.3,-16.0,398,3106,0.00,2.38,0.00,0.000,4,0.000,0.024,1783,1178,3954,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3150,-0.66,-292.0,464.1,-12.3,403,3159,0.00,2.45,0.00,0.000,6,0.000,0.036,1773,2642,3954,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3460,-0.60,-292.0,514.7,-16.4,434,3469,0.12,2.38,0.00,0.000,4,0.148,0.023,1816,1177,3951,0,0,0,0,0,0,25.92,25.72,28.83
$GC,3487,-0.56,-292.0,518.1,-15.6,436,3494,0.00,2.50,0.00,0.000,6,0.000,0.037,1813,2646,3951,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3792,-0.54,-292.0,549.7,-10.0,467,3801,0.00,2.38,0.00,0.000,4,0.000,0.025,1813,1171,3949,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3814,-0.54,-292.0,551.9,-10.1,469,3824,0.00,2.53,0.00,0.000,6,0.000,0.037,1813,2653,3949,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4125,-0.53,-292.0,582.0,-9.9,500,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2652,3946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4438,-0.53,-292.0,612.5,-9.7,525,4443,0.00,2.40,0.00,0.000,4,0.000,0.030,1813,1188,3945,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4489,-0.53,-292.0,616.4,-9.7,527,4496,0.00,2.50,0.00,0.000,6,0.000,0.037,1813,2653,3944,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4797,-0.52,-292.0,651.2,-12.1,543,4798,0.10,0.00,0.00,0.000,6,0.145,0.000,1844,2653,3943,0,0,0,0,0,0,26.10,28.83,28.83
$GC,5099,-0.55,-292.0,677.8,-8.9,558,5105,0.00,2.42,0.00,0.000,4,0.000,0.031,1844,1184,3941,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5146,-0.60,-292.0,681.1,-7.9,560,5151,0.00,2.50,0.00,0.000,6,0.000,0.035,1844,2648,3941,0,0,0,0,0,0,28.83,25.47,28.83
$STATE,5454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5454,begin apogee
$GC,5460,-0.20,0.0,715.4,-12.3,575,5666,0.25,0.12,200.35,0.998,6,0.052,0.080,1969,2533,2978,0,0,0,0,0,0,26.01,24.49,23.58
$STATE,5667,end apogee,CONTROL_FINISHED_OK
$STATE,5667,begin climb
$GC,5671,0.67,292.0,732.7,0.0,585,5950,0.70,2.62,268.17,0.978,4,0.044,0.032,2249,1059,1775,0,0,0,0,0,0,24.68,23.75,22.84
$GC,6002,0.60,292.0,705.4,18.1,601,6007,0.17,2.53,0.00,0.000,6,0.140,0.037,2204,2518,1761,0,0,0,0,0,0,23.87,24.19,28.83
$GC,6309,0.54,292.0,656.8,15.7,616,6313,0.00,2.08,0.00,0.000,4,0.000,0.042,2204,3816,1758,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6365,0.47,292.0,649.7,16.2,618,6374,0.17,2.08,0.00,0.000,6,0.148,0.026,2166,2468,1757,0,0,0,0,0,0,25.10,25.60,28.83
$GC,6673,0.45,292.0,609.7,13.0,634,6678,0.00,2.15,0.00,0.000,4,0.000,0.041,2165,3811,1755,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6701,0.42,292.0,606.8,13.6,635,6709,0.00,2.08,0.00,0.000,6,0.000,0.026,2176,2464,1755,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7014,0.39,292.0,565.8,13.1,664,7021,0.12,0.00,0.00,0.000,6,0.159,0.000,2137,2464,1754,0,0,0,0,0,0,25.78,28.83,28.83
$GC,7322,0.50,384.5,538.5,7.9,695,7410,0.10,2.28,72.35,1.044,4,0.090,0.044,2219,3818,1418,0,0,0,0,1,0,26.21,25.14,24.03
$GC,7428,0.44,384.5,523.1,17.3,705,7436,0.25,2.12,2.15,0.272,6,0.135,0.026,2157,2465,1409,0,0,0,0,0,0,24.83,25.31,23.40
$GC,7735,0.52,436.4,493.2,8.8,736,7805,0.00,2.38,58.38,0.828,4,0.000,0.034,2168,1050,1184,0,0,0,0,0,0,28.83,25.44,24.47
$GC,7821,0.69,548.6,486.4,7.4,744,7930,0.17,2.42,100.35,0.819,6,0.063,0.032,2255,2531,734,0,0,0,0,0,0,25.44,25.43,24.20
$GC,8229,0.63,548.6,399.6,23.0,785,8238,0.12,2.38,0.00,0.000,4,0.171,0.034,2230,1058,713,0,0,0,0,0,0,25.67,25.60,28.83
$GC,8256,0.58,548.6,394.8,22.2,787,8263,0.12,2.38,0.00,0.000,6,0.119,0.034,2191,2520,712,0,0,0,0,0,0,25.48,25.65,28.83
$GC,8562,0.74,646.1,368.5,7.7,818,8642,0.12,2.45,71.30,0.740,4,0.076,0.037,2305,1049,428,0,0,0,0,0,0,26.13,25.45,24.55
$GC,8680,0.68,646.1,342.7,26.9,829,8688,0.25,2.42,0.00,0.000,6,0.096,0.038,2222,2516,414,0,0,0,0,0,0,25.26,25.46,28.83
$GC,8988,0.82,729.6,316.4,8.1,860,8998,0.12,2.38,0.00,0.000,4,0.075,0.034,2328,1052,408,0,0,0,0,0,0,26.15,25.53,28.83
$GC,9011,0.86,747.7,313.8,9.6,862,9022,0.10,2.40,0.00,0.000,6,0.106,0.036,2290,2517,408,0,0,0,0,0,0,25.32,25.56,28.83
$GC,9321,0.79,747.7,233.1,27.7,893,9330,0.00,2.03,0.00,0.000,4,0.000,0.043,2289,3807,405,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9355,0.73,747.7,224.5,27.2,896,9364,0.15,2.05,0.00,0.000,6,0.122,0.030,2248,2473,404,0,0,0,0,0,0,25.15,25.63,28.83
$GC,9665,0.74,747.7,184.3,11.5,940,9672,0.00,2.30,0.00,0.000,4,0.000,0.034,2259,1051,403,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9727,0.79,747.7,177.8,10.3,951,9734,0.00,2.40,0.00,0.000,6,0.000,0.031,2260,2530,403,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10040,0.88,806.2,143.6,8.7,1012,10046,0.00,2.40,0.00,0.000,4,0.000,0.034,2271,1053,402,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10082,1.06,904.7,140.2,7.7,1019,10089,0.22,2.38,0.00,0.000,6,0.048,0.028,2405,2531,402,0,0,0,0,0,0,25.62,25.58,28.83
$GC,10398,0.97,904.7,36.4,25.7,1080,10405,0.25,2.45,0.00,0.000,4,0.165,0.034,2342,1052,401,0,0,0,0,0,0,25.15,25.37,28.83
$GC,10491,1.15,1015.2,24.0,7.4,1097,10498,0.12,2.40,0.00,0.000,6,0.073,0.033,2423,2527,401,0,0,0,0,0,0,25.49,25.48,28.83
$STATE,10584,end climb,SURFACE_DEPTH_REACHED
$STATE,10584,begin surface coast
$FINISH,-0.3,1.022125
$STATE,10599,end surface coast,CONTROL_FINISHED_OK
$STATE,10599,begin surface
$SM_CCo,10675,0.00,0.000,0,0,399,632.87
$SM_GC,0.64,5.93,0.25,0.00,0.028,0.050,0.000,126,2660,399,-5.80,-0.40,632.87,0,0,0,0,0,0,25.59,26.09,28.83
$IRIDIUM_FIX,2330.93,12134.14,120312,000026
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.41
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,22.8,131.183
$10V_AH,9.8,77.167
$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,17.800,111.750,773.050,0.000,0.000,26.884,19.577,240.532,0.000,0.000,14.430,2700.370,4937.775,803.559,2263.152,376.757,0.000,1951.407,0.000,1893.741,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,80.325,1044.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.977,1394.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324464
$DATA_FILE_SIZE,73750,1117
$CAP_FILE_SIZE,137019,0
$CFSIZE,260165632,162713600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.127, 54.3,1
$GPS,120312,060706,2338.258,12138.768,40,1.6,47,-3.2