version: 66.10
glider: 169
mission: 5
dive: 380
start: 1 20 112 16 27 23
data:
$ID,169
$MISSION,5
$DIVE,380
$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,360
$T_MISSION,400
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$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,-11357.24
$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
$GPS1,200112,162058,2305.526,12128.315,9,2.9,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.9
$GPS2,200112,162702,2305.621,12128.370,16,1.5,16,-3.0
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$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,74.7,261646,-15.4,-9.167
$D_GRID,629
$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,-0.60,-175.2,0.0,0.0,0,109,0.00,0.00,-89.07,0.000,2,0.000,0.000,117,2672,3037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.60,-175.2,3.6,-7.5,16,137,6.80,2.30,-12.93,0.000,4,0.226,0.039,1816,1162,3695,0,0,0,0,0,0,25.13,26.25,26.66
$GC,207,-0.52,-175.2,38.1,-25.6,33,214,0.12,2.28,0.00,0.000,6,0.166,0.037,1837,2652,3696,0,0,0,0,0,0,25.97,26.22,28.83
$GC,520,-0.45,-175.2,123.1,-21.5,94,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2652,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-0.43,-175.2,169.6,-14.9,155,838,0.12,1.80,0.00,0.000,4,0.151,0.042,1871,3819,3696,0,0,0,0,0,0,26.29,26.29,28.83
$GC,896,-0.49,-175.2,176.6,-8.3,167,903,0.00,1.80,0.00,0.000,6,0.000,0.021,1871,2550,3696,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1212,-0.52,-175.2,204.7,-8.6,224,1220,0.00,2.00,0.00,0.000,4,0.000,0.027,1871,1172,3696,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1237,-0.55,-175.2,206.6,-8.5,226,1244,0.00,2.25,0.00,0.000,6,0.000,0.037,1867,2655,3696,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1544,-0.57,-175.2,233.0,-8.1,257,1546,0.12,0.00,0.00,0.000,6,0.076,0.000,1781,2655,3696,0,0,0,0,0,0,26.59,28.83,28.83
$GC,1843,-0.49,-175.2,295.2,-23.1,287,1853,0.20,2.20,0.00,0.000,4,0.147,0.024,1854,1165,3695,0,0,0,0,0,0,26.08,26.38,28.83
$GC,1909,-0.52,-175.2,303.3,-9.4,293,1916,0.00,2.28,0.00,0.000,6,0.000,0.038,1845,2660,3695,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2215,-0.52,-175.2,331.9,-9.6,324,2219,0.00,1.75,0.00,0.000,4,0.000,0.044,1836,3823,3693,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2239,-0.52,-175.2,333.9,-9.8,326,2246,0.00,1.80,0.00,0.000,6,0.000,0.022,1836,2563,3692,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2547,-0.52,-175.2,361.2,-8.2,357,2550,0.00,2.00,0.00,0.000,4,0.000,0.028,1836,1174,3691,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2578,-0.54,-175.2,363.7,-7.9,360,2587,0.00,2.25,0.00,0.000,6,0.000,0.037,1826,2658,3691,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2889,-0.53,-175.2,399.6,-11.7,391,2898,0.00,2.15,0.00,0.000,4,0.000,0.028,1826,1179,3689,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2944,-0.54,-175.2,405.6,-11.5,396,2950,0.00,2.25,0.00,0.000,6,0.000,0.039,1818,2658,3689,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3251,-0.53,-175.2,446.1,-13.5,427,3260,0.00,2.20,0.00,0.000,4,0.000,0.028,1818,1174,3687,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3275,-0.53,-175.2,448.7,-12.3,429,3283,0.10,2.25,0.00,0.000,6,0.143,0.039,1839,2653,3686,0,0,0,0,0,0,26.13,26.26,28.83
$GC,3582,-0.55,-175.2,476.8,-11.0,460,3586,0.00,2.17,0.00,0.000,4,0.000,0.027,1839,1176,3685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3615,-0.58,-175.2,480.1,-10.5,463,3624,0.00,2.28,0.00,0.000,6,0.000,0.039,1832,2659,3685,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3924,-0.59,-175.2,509.0,-9.6,494,3927,0.00,1.75,0.00,0.000,4,0.000,0.046,1823,3817,3683,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3948,-0.60,-175.2,511.3,-10.2,496,3955,0.00,1.80,0.00,0.000,6,0.000,0.023,1823,2565,3682,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4255,-0.60,-175.2,548.5,-12.3,527,4263,0.00,2.03,0.00,0.000,4,0.000,0.028,1823,1176,3681,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4279,-0.61,-175.2,550.9,-11.5,529,4286,0.00,2.25,0.00,0.000,6,0.000,0.039,1814,2652,3681,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4587,-0.61,-175.2,585.2,-10.5,560,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2651,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4886,-0.61,-175.2,621.4,-13.1,582,4892,0.00,2.20,0.00,0.000,4,0.000,0.028,1814,1177,3676,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4920,-0.61,-175.2,624.0,-13.1,583,4927,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2651,3676,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,4964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4964,begin apogee
$GC,4969,-0.20,0.0,630.9,-11.8,586,5129,0.40,0.15,147.05,0.931,6,0.106,0.073,1945,2538,2969,0,0,0,0,0,0,25.95,25.27,23.97
$STATE,5130,end apogee,CONTROL_FINISHED_OK
$STATE,5130,begin climb
$GC,5132,0.60,175.2,639.6,0.0,594,5294,0.68,0.00,157.35,0.921,6,0.048,0.000,2212,2537,2263,0,0,0,0,0,0,25.53,28.83,24.06
$GC,5587,0.52,175.2,587.3,15.2,621,5589,0.12,0.00,0.00,0.000,6,0.189,0.000,2181,2538,2238,0,0,0,0,0,0,25.96,28.83,28.83
$GC,5889,0.46,175.2,547.6,12.6,651,5897,0.00,2.00,0.00,0.000,4,0.000,0.045,2181,3815,2236,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5973,0.39,175.2,535.7,15.2,659,5982,0.20,2.03,0.00,0.000,6,0.164,0.027,2136,2459,2234,0,0,0,0,0,0,25.81,26.29,28.83
$GC,6280,0.38,175.2,508.3,9.4,690,6284,0.00,2.10,0.00,0.000,4,0.000,0.038,2147,1055,2233,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6306,0.37,175.2,506.3,9.8,692,6313,0.00,2.25,0.00,0.000,6,0.000,0.040,2147,2531,2232,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6613,0.36,175.2,474.0,9.3,723,6622,0.00,2.00,0.00,0.000,4,0.000,0.046,2147,3812,2232,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6689,0.32,175.2,466.5,10.4,730,6696,0.15,2.03,0.00,0.000,6,0.158,0.027,2117,2459,2231,0,0,0,0,0,0,25.94,26.32,28.83
$GC,6995,0.40,237.4,448.1,7.0,761,7054,0.00,0.00,55.12,0.802,6,0.000,0.000,2118,2458,2004,0,0,0,0,0,0,28.83,28.83,24.31
$GC,7355,0.50,292.9,421.0,7.2,797,7415,0.12,2.20,49.30,0.782,4,0.074,0.037,2219,1068,1770,0,0,0,0,0,0,26.36,25.67,24.36
$GC,7452,0.48,292.9,408.6,14.2,806,7459,0.17,2.28,0.00,0.000,6,0.137,0.039,2168,2532,1763,0,0,0,0,0,0,25.56,25.80,28.83
$GC,7758,0.47,292.9,372.2,11.1,837,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2532,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8060,0.47,292.9,337.2,11.5,867,8069,0.00,2.20,0.00,0.000,4,0.000,0.034,2179,1066,1757,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8081,0.47,292.9,334.7,10.9,869,8090,0.00,2.22,0.00,0.000,6,0.000,0.036,2179,2526,1756,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8392,0.46,292.9,302.2,10.6,900,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2526,1756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8696,0.45,292.9,266.5,12.1,930,8704,0.00,2.17,0.00,0.000,4,0.000,0.035,2190,1054,1755,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8727,0.45,292.9,262.6,11.3,933,8736,0.12,2.25,0.00,0.000,6,0.132,0.037,2153,2531,1754,0,0,0,0,0,0,26.02,26.20,28.83
$GC,9037,0.47,292.9,236.0,9.2,964,9041,0.00,2.22,0.00,0.000,4,0.000,0.035,2164,1061,1754,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9073,0.53,306.7,233.3,8.7,967,9089,0.00,2.25,10.40,0.641,6,0.000,0.037,2164,2534,1726,0,0,0,0,0,0,28.83,26.20,24.39
$GC,9389,0.54,306.7,203.5,9.5,999,9398,0.00,2.20,0.00,0.000,4,0.000,0.034,2175,1058,1713,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9414,0.57,306.7,201.4,9.7,1001,9421,0.00,2.22,0.00,0.000,6,0.000,0.037,2175,2526,1713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9723,0.58,306.7,171.8,10.6,1061,9730,0.00,2.03,0.00,0.000,4,0.000,0.043,2175,3815,1713,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9747,0.58,306.7,169.0,11.0,1065,9753,0.00,2.03,0.00,0.000,6,0.000,0.025,2186,2458,1713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10057,0.59,312.0,138.6,9.0,1126,10064,0.00,2.17,0.00,0.000,4,0.000,0.043,2186,3819,1713,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10122,0.59,312.0,132.0,10.2,1138,10129,0.00,2.03,0.00,0.000,6,0.000,0.026,2197,2457,1712,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10434,0.68,360.5,107.8,7.5,1199,10510,0.00,2.20,68.10,0.349,4,0.000,0.042,2197,3813,1519,0,0,0,0,0,0,28.83,25.91,24.96
$GC,10539,0.72,360.5,99.2,9.3,1217,10548,0.10,2.05,3.33,0.161,6,0.088,0.025,2290,2452,1509,0,0,0,0,0,0,26.00,26.05,25.15
$GC,10856,0.68,360.5,52.4,13.6,1278,10864,0.17,2.25,2.85,0.148,4,0.158,0.041,2235,3819,1512,0,0,0,0,0,0,25.92,26.06,25.27
$GC,10902,0.68,360.5,46.6,11.1,1286,10910,0.00,2.03,2.47,0.161,6,0.000,0.026,2246,2459,1509,0,0,0,0,0,0,28.83,26.23,25.34
$GC,11216,0.68,360.5,18.3,9.7,1347,11224,0.00,2.17,2.55,0.156,4,0.000,0.034,2257,1048,1508,0,0,0,0,0,0,28.83,26.17,25.39
$GC,11256,0.71,360.5,13.4,11.3,1354,11264,0.00,2.22,2.12,0.159,6,0.000,0.034,2256,2532,1508,0,0,0,0,0,0,28.83,26.21,25.46
$STATE,11355,end climb,SURFACE_DEPTH_REACHED
$STATE,11355,begin surface coast
$FINISH,0.1,1.023187
$STATE,11378,end surface coast,CONTROL_FINISHED_OK
$STATE,11378,begin surface
$SM_CCo,11392,33.33,0.123,0,0,1244,425.10
$SM_GC,1.04,5.38,0.17,33.33,0.032,0.071,0.123,126,2664,1244,-5.80,-0.48,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2255.72,12129.55,200112,141431
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.61
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.0,80.190
$10V_AH,10.0,47.514
$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,15.100,106.700,500.650,33.325,0.000,28.406,43.400,176.562,0.250,0.000,17.437,3141.462,5145.644,658.340,2520.718,316.347,0.000,1848.028,0.000,2153.381,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,72.675,931.005,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.401,1641.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,90331,1377
$CAP_FILE_SIZE,142210,0
$CFSIZE,260165632,188403712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200112,193931,2306.441,12130.839,71,1.0,72,-3.0