version: 66.10
glider: 169
mission: 5
dive: 585
start: 3 3 112 19 25 57
data:
$ID,169
$MISSION,5
$DIVE,585
$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,280
$T_MISSION,320
$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,-13652.509
$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
$GPS1,030312,191806,2337.037,12139.028,32,1.0,32,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-71.4
$GPS2,030312,192532,2337.382,12139.121,14,1.2,14,-3.2
$SPEED_LIMITS,0.204,0.374
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,216.3,66531,-14.6,-11.786
$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,-0.72,-292.0,0.0,0.0,0,117,0.00,0.00,-97.85,0.000,2,0.000,0.000,122,2661,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.72,-292.0,3.6,-8.8,17,154,6.90,1.83,-18.30,0.000,4,0.231,0.048,1758,3835,3964,0,0,0,0,0,0,24.76,25.86,26.50
$GC,234,-0.64,-292.0,49.4,-28.5,37,241,0.12,1.80,0.00,0.000,6,0.153,0.022,1798,2586,3964,0,0,0,0,0,0,25.62,26.02,28.83
$GC,549,-0.58,-292.0,115.8,-19.9,98,556,0.00,2.25,0.00,0.000,4,0.000,0.025,1800,1169,3965,0,0,0,0,0,0,28.83,25.88,28.83
$GC,591,-0.56,-292.0,122.5,-14.9,105,598,0.12,2.50,0.00,0.000,6,0.116,0.037,1832,2651,3965,0,0,0,0,0,0,25.53,25.66,28.83
$GC,903,-0.54,-292.0,168.5,-14.8,166,909,0.00,2.40,0.00,0.000,4,0.000,0.026,1832,1175,3965,0,0,0,0,0,0,28.83,25.85,28.83
$GC,944,-0.57,-292.0,173.6,-10.4,173,950,0.00,2.47,0.00,0.000,6,0.000,0.036,1826,2646,3965,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1262,-0.54,-292.0,219.8,-15.3,223,1271,0.00,2.38,0.00,0.000,4,0.000,0.026,1825,1183,3965,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1317,-0.55,-292.0,226.7,-12.1,228,1325,0.00,2.47,0.00,0.000,6,0.000,0.037,1826,2652,3965,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1624,-0.53,-292.0,263.6,-12.6,259,1633,0.00,2.38,0.00,0.000,4,0.000,0.025,1826,1179,3963,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1677,-0.57,-292.0,268.8,-9.1,264,1687,0.00,2.42,0.00,0.000,6,0.000,0.036,1825,2639,3963,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1987,-0.56,-292.0,302.8,-11.8,295,1990,0.00,1.83,0.00,0.000,4,0.000,0.047,1817,3818,3962,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2012,-0.55,-292.0,305.4,-11.8,297,2019,0.00,1.77,0.00,0.000,6,0.000,0.022,1818,2577,3962,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2320,-0.53,-292.0,343.0,-10.9,328,2330,0.00,2.20,0.00,0.000,4,0.000,0.027,1817,1181,3960,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2367,-0.56,-292.0,347.4,-9.8,332,2375,0.00,2.45,0.00,0.000,6,0.000,0.037,1813,2645,3960,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2675,-0.54,-292.0,384.6,-12.9,363,2684,0.00,2.38,0.00,0.000,4,0.000,0.026,1813,1172,3958,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2706,-0.54,-292.0,388.8,-12.9,366,2716,0.00,2.47,0.00,0.000,6,0.000,0.038,1812,2644,3958,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3019,-0.54,-292.0,424.2,-10.8,397,3028,0.00,2.35,0.00,0.000,4,0.000,0.027,1812,1178,3956,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3053,-0.55,-292.0,427.9,-11.2,400,3062,0.00,2.45,0.00,0.000,6,0.000,0.038,1813,2640,3955,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3362,-0.55,-292.0,462.3,-11.3,431,3371,0.00,2.35,0.00,0.000,4,0.000,0.027,1812,1178,3954,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3396,-0.57,-292.0,465.9,-10.7,434,3404,0.00,2.45,0.00,0.000,6,0.000,0.038,1812,2642,3953,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3705,-0.57,-292.0,500.7,-11.6,465,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2642,3951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4009,-0.57,-292.0,535.3,-11.3,495,4017,0.00,2.35,0.00,0.000,4,0.000,0.028,1813,1184,3949,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4044,-0.59,-292.0,539.4,-11.4,498,4051,0.00,2.47,0.00,0.000,6,0.000,0.038,1812,2651,3949,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4352,-0.59,-292.0,571.1,-9.5,529,4361,0.00,2.40,0.00,0.000,4,0.000,0.028,1813,1180,3947,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4384,-0.61,-292.0,573.8,-8.7,532,4394,0.00,2.45,0.00,0.000,6,0.000,0.039,1812,2641,3946,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4704,-0.62,-292.0,602.2,-9.2,563,4710,0.00,2.40,0.00,0.000,4,0.000,0.030,1812,1181,3945,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4732,-0.63,-292.0,604.0,-9.1,564,4737,0.00,2.50,0.00,0.000,6,0.000,0.040,1812,2647,3944,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5041,-0.64,-292.0,632.0,-9.7,579,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2647,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5339,-0.65,-292.0,661.4,-9.8,594,5345,0.00,2.40,0.00,0.000,4,0.000,0.028,1812,1177,3941,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5382,-0.68,-292.0,664.8,-9.2,596,5387,0.00,2.50,0.00,0.000,6,0.000,0.039,1812,2647,3941,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5698,-0.79,-292.0,692.3,-8.8,612,5704,0.12,2.38,0.00,0.000,4,0.087,0.026,1759,1185,3939,0,0,0,0,0,0,26.25,25.68,28.83
$GC,5726,-0.90,-292.0,694.4,-9.0,613,5731,0.12,2.45,0.00,0.000,6,0.080,0.033,1694,2653,3939,0,0,0,0,0,0,25.55,25.60,28.83
$STATE,5830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5830,begin apogee
$GC,5838,-0.20,0.0,716.5,-23.3,618,6052,0.80,0.20,203.68,1.004,6,0.138,0.063,1935,2525,2967,0,0,0,0,0,0,24.30,24.87,23.70
$STATE,6053,end apogee,CONTROL_FINISHED_OK
$STATE,6053,begin climb
$GC,6057,0.72,292.0,731.6,0.0,629,6326,0.80,2.47,259.27,0.991,4,0.044,0.031,2261,1044,1777,0,0,0,0,0,0,25.16,25.01,23.75
$GC,6361,0.63,292.0,697.0,21.6,643,6370,0.12,2.45,0.00,0.000,6,0.144,0.040,2221,2521,1758,0,0,0,0,0,0,25.02,25.37,28.83
$GC,6671,0.57,292.0,635.1,20.4,659,6675,0.00,2.05,0.00,0.000,4,0.000,0.044,2221,3814,1755,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6774,0.51,292.0,612.8,21.7,664,6780,0.17,2.08,0.00,0.000,6,0.145,0.027,2175,2464,1755,0,0,0,0,0,0,25.24,25.88,28.83
$GC,7084,0.49,292.0,569.7,13.6,691,7092,0.00,2.22,0.00,0.000,4,0.000,0.044,2175,3815,1753,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7137,0.46,292.0,562.2,14.7,696,7145,0.00,2.05,0.00,0.000,6,0.000,0.026,2185,2471,1753,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7446,0.43,292.0,519.7,13.8,727,7455,0.12,2.20,0.00,0.000,4,0.166,0.041,2147,3809,1752,0,0,0,0,0,0,25.87,25.55,28.83
$GC,7492,0.43,292.0,514.4,12.1,731,7499,0.00,2.08,0.00,0.000,6,0.000,0.027,2157,2458,1752,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7798,0.52,363.0,483.0,9.9,762,7860,0.00,0.00,54.42,0.972,6,0.000,0.000,2157,2457,1499,0,0,0,0,1,0,28.83,28.83,23.82
$GC,8159,0.70,490.9,450.7,8.3,798,8301,0.17,2.38,128.20,0.799,4,0.061,0.046,2263,3817,961,0,0,0,0,0,0,26.15,25.20,23.96
$GC,8348,0.65,490.9,408.4,25.1,816,8355,0.17,2.10,0.00,0.000,6,0.143,0.026,2224,2468,951,0,0,0,0,0,0,25.28,25.64,28.83
$GC,8654,0.63,490.9,354.9,17.5,847,8663,0.00,2.25,0.00,0.000,4,0.000,0.034,2235,1050,948,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8678,0.62,490.9,351.0,17.6,849,8687,0.00,2.35,0.00,0.000,6,0.000,0.034,2235,2523,947,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8986,0.59,490.9,295.6,18.1,880,8996,0.12,2.05,0.00,0.000,4,0.155,0.041,2196,3820,947,0,0,0,0,0,0,25.89,25.61,28.83
$GC,9041,0.61,490.9,288.2,13.2,885,9049,0.00,2.05,0.00,0.000,6,0.000,0.024,2205,2458,946,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9349,0.73,564.4,257.4,9.8,916,9421,0.12,2.33,64.93,0.677,4,0.078,0.035,2303,1063,666,0,0,0,0,0,0,26.31,25.48,24.27
$GC,9447,0.68,564.4,236.1,26.5,925,9456,0.20,2.35,0.00,0.000,6,0.110,0.037,2233,2518,653,0,0,0,0,0,0,25.23,25.56,28.83
$GC,9754,0.70,564.4,195.0,12.3,960,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2517,649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10066,0.72,564.4,156.5,12.5,1021,10073,0.00,2.35,0.00,0.000,4,0.000,0.032,2245,1044,649,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10107,0.89,652.4,152.4,9.4,1028,10168,0.15,2.35,52.92,0.607,6,0.064,0.028,2344,2536,431,0,0,0,0,0,0,25.81,25.81,24.40
$GC,10474,0.84,652.4,35.4,26.1,1098,10482,0.17,2.40,0.00,0.000,4,0.159,0.032,2301,1060,408,0,0,0,0,0,0,25.63,25.69,28.83
$GC,10490,0.81,652.4,32.3,21.6,1100,10497,0.00,2.33,0.00,0.000,6,0.000,0.030,2301,2530,408,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10803,1.09,824.5,7.7,7.1,1161,10810,0.12,2.05,0.00,0.000,4,0.078,0.041,2409,3813,406,0,0,0,0,0,0,26.31,25.63,28.83
$STATE,10836,end climb,SURFACE_DEPTH_REACHED
$STATE,10837,begin surface coast
$FINISH,0.1,1.022307
$STATE,10853,end surface coast,CONTROL_FINISHED_OK
$STATE,10853,begin surface
$SM_CCo,10931,0.00,0.000,0,0,405,631.40
$SM_GC,0.69,5.88,1.85,0.00,0.031,0.025,0.000,124,2581,405,-5.80,0.17,631.40,0,0,0,0,0,0,25.86,26.01,28.83
$IRIDIUM_FIX,2328.57,12142.62,030312,151553
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.33
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.7,118.430
$10V_AH,9.8,71.850
$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,16.550,119.225,763.425,0.000,0.000,27.177,21.891,251.322,0.000,0.000,15.579,2806.113,4990.156,821.138,2368.058,366.838,0.000,2009.448,0.000,1973.125,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,62.730,1003.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.460,1452.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,76921,1170
$CAP_FILE_SIZE,137316,0
$CFSIZE,260165632,167329792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.096, 64.3,1
$GPS,030312,222907,2336.338,12138.885,30,0.9,31,-3.2