version: 66.10
glider: 169
mission: 5
dive: 591
start: 3 4 112 17 12 57
data:
$ID,169
$MISSION,5
$DIVE,591
$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,-13660.061
$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,400
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$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
$GPS1,040312,170437,2330.596,12137.764,25,1.3,26,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-66.9
$GPS2,040312,171230,2331.020,12137.877,39,1.1,44,-3.1
$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,225.7,54768,-14.6,-11.786
$D_GRID,782
$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,-292.0,0.0,0.0,0,118,0.00,0.00,-99.05,0.000,2,0.000,0.000,129,2657,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.72,-292.0,3.6,-8.8,17,155,6.72,2.42,-17.92,0.000,4,0.223,0.033,1778,1159,3962,0,0,0,0,0,0,24.80,25.94,26.51
$GC,203,-0.63,-292.0,37.1,-29.1,31,211,0.15,2.53,0.00,0.000,6,0.157,0.041,1806,2641,3963,0,0,0,0,0,0,25.30,25.64,28.83
$GC,517,-0.56,-292.0,114.5,-20.6,92,524,0.00,2.38,0.00,0.000,4,0.000,0.026,1815,1174,3964,0,0,0,0,0,0,28.83,25.83,28.83
$GC,552,-0.52,-292.0,121.4,-18.8,98,560,0.12,2.47,0.00,0.000,6,0.126,0.039,1842,2645,3964,0,0,0,0,0,0,25.47,25.63,28.83
$GC,865,-0.50,-292.0,165.4,-12.0,159,873,0.00,2.38,0.00,0.000,4,0.000,0.028,1842,1181,3965,0,0,0,0,0,0,28.83,25.78,28.83
$GC,907,-0.54,-292.0,170.1,-9.3,166,914,0.00,2.45,0.00,0.000,6,0.000,0.037,1839,2645,3964,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1225,-0.53,-292.0,208.7,-12.3,221,1233,0.00,2.35,0.00,0.000,4,0.000,0.028,1839,1182,3964,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1259,-0.54,-292.0,212.7,-12.4,224,1266,0.00,2.45,0.00,0.000,6,0.000,0.037,1839,2644,3964,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1570,-0.54,-292.0,243.3,-9.6,255,1579,0.00,2.35,0.00,0.000,4,0.000,0.028,1839,1185,3963,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1615,-0.57,-292.0,247.3,-8.9,259,1624,0.00,2.42,0.00,0.000,6,0.000,0.035,1838,2646,3963,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1924,-0.69,-292.0,275.6,-10.4,290,1935,0.12,2.35,0.00,0.000,4,0.109,0.026,1796,1183,3962,0,0,0,0,0,0,26.22,25.79,28.83
$GC,2000,-0.79,-292.0,283.2,-10.6,297,2010,0.08,2.35,0.00,0.000,6,0.048,0.031,1747,2645,3961,0,0,0,0,0,0,25.66,25.75,28.83
$GC,2308,-0.69,-292.0,348.9,-24.3,328,2317,0.12,2.38,0.00,0.000,4,0.161,0.028,1796,1179,3959,0,0,0,0,0,0,25.96,25.73,28.83
$GC,2382,-0.72,-292.0,359.6,-10.1,335,2391,0.00,2.42,0.00,0.000,6,0.000,0.037,1786,2642,3958,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2691,-0.68,-292.0,405.0,-15.1,366,2694,0.00,1.83,0.00,0.000,4,0.000,0.044,1778,3817,3957,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2712,-0.64,-292.0,408.5,-15.6,368,2716,0.00,1.80,0.00,0.000,6,0.000,0.021,1781,2579,3957,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3024,-0.60,-292.0,455.6,-15.0,399,3034,0.12,2.20,0.00,0.000,4,0.139,0.027,1825,1186,3954,0,0,0,0,0,0,26.06,25.75,28.83
$GC,3059,-0.60,-292.0,459.3,-12.2,402,3067,0.00,2.45,0.00,0.000,6,0.000,0.037,1825,2645,3954,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3367,-0.62,-292.0,482.3,-7.8,433,3376,0.00,2.38,0.00,0.000,4,0.000,0.029,1825,1186,3952,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3402,-0.66,-292.0,484.6,-7.6,436,3409,0.00,2.42,0.00,0.000,6,0.000,0.036,1825,2644,3951,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3709,-0.78,-292.0,512.4,-10.2,467,3711,0.20,0.00,0.00,0.000,6,0.070,0.000,1734,2645,3950,0,0,0,0,0,0,26.22,28.83,28.83
$GC,4010,-0.80,-292.0,544.2,-11.1,497,4019,0.00,1.85,0.00,0.000,4,0.000,0.045,1727,3823,3947,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4127,-0.77,-292.0,560.7,-15.4,508,4134,0.00,1.80,0.00,0.000,6,0.000,0.022,1735,2588,3946,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4447,-0.69,-292.0,629.0,-22.7,534,4453,0.15,2.25,0.00,0.000,4,0.148,0.027,1787,1185,3945,0,0,0,0,0,0,25.86,25.68,28.83
$GC,4515,-0.67,-292.0,638.5,-17.2,537,4519,0.00,2.45,0.00,0.000,6,0.000,0.037,1777,2645,3944,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4822,-0.64,-292.0,687.2,-16.6,552,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,2644,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5122,-0.61,-292.0,734.5,-15.4,567,5128,0.12,2.38,0.00,0.000,4,0.144,0.026,1820,1177,3941,0,0,0,0,0,0,26.03,25.66,28.83
$GC,5169,-0.61,-292.0,739.0,-13.4,569,5173,0.00,2.47,0.00,0.000,6,0.000,0.037,1819,2644,3940,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5480,-0.73,-292.0,768.6,-10.1,584,5486,0.12,2.38,0.00,0.000,4,0.106,0.029,1766,1182,3938,0,0,0,0,0,0,26.21,25.60,28.83
$GC,5502,-0.85,-292.0,770.9,-10.1,585,5506,0.00,2.47,0.00,0.000,6,0.000,0.037,1766,2647,3938,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,5632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5632,begin apogee
$GC,5639,-0.20,0.0,782.5,-8.4,592,5855,0.47,0.15,204.23,1.046,6,0.072,0.075,1944,2530,2966,0,0,0,0,0,0,25.56,24.82,23.70
$STATE,5856,end apogee,CONTROL_FINISHED_OK
$STATE,5856,begin climb
$GC,5860,0.72,292.0,797.1,0.0,603,6136,0.77,2.22,261.45,1.035,4,0.044,0.045,2248,3816,1771,0,0,0,0,0,0,25.13,24.93,23.70
$GC,6262,0.64,292.0,737.8,22.9,623,6267,0.15,2.10,0.00,0.000,6,0.179,0.027,2222,2466,1759,0,0,0,0,0,0,25.23,25.72,28.83
$GC,6575,0.59,292.0,677.8,18.2,639,6581,0.00,2.22,0.00,0.000,4,0.000,0.043,2222,3823,1756,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6636,0.52,292.0,665.8,19.2,642,6642,0.15,2.10,0.00,0.000,6,0.144,0.026,2184,2462,1755,0,0,0,0,0,0,25.29,25.86,28.83
$GC,6956,0.49,292.0,621.3,13.9,658,6961,0.00,2.22,0.00,0.000,4,0.000,0.044,2184,3807,1755,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7010,0.46,292.0,615.0,15.1,660,7018,0.12,2.08,0.00,0.000,6,0.154,0.027,2161,2463,1754,0,0,0,0,0,0,25.50,25.84,28.83
$GC,7317,0.45,292.0,575.3,12.8,686,7326,0.00,2.22,0.00,0.000,4,0.000,0.035,2171,1063,1753,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7343,0.45,292.0,572.1,13.5,688,7351,0.00,2.38,0.00,0.000,6,0.000,0.037,2172,2525,1752,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7649,0.44,292.0,532.6,12.6,719,7658,0.00,2.08,0.00,0.000,4,0.000,0.045,2171,3812,1752,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7713,0.43,292.0,524.3,13.3,725,7721,0.12,2.10,0.00,0.000,6,0.140,0.028,2147,2459,1751,0,0,0,0,0,0,25.48,25.79,28.83
$GC,8021,0.51,349.0,493.9,10.2,756,8075,0.00,2.33,41.72,0.929,4,0.000,0.035,2158,1058,1564,0,0,0,0,1,0,28.83,25.44,23.91
$GC,8094,0.64,433.2,486.9,9.5,763,8194,0.12,2.35,90.85,0.827,6,0.036,0.036,2256,2520,1203,0,0,0,0,0,0,25.59,25.57,23.93
$GC,8494,0.57,433.2,391.9,24.9,803,8504,0.20,2.10,0.00,0.000,4,0.161,0.042,2195,3821,1185,0,0,0,0,0,0,25.43,25.61,28.83
$GC,8559,0.58,433.2,379.7,16.2,809,8566,0.00,2.08,0.00,0.000,6,0.000,0.025,2205,2466,1184,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8868,0.58,433.2,336.7,13.6,840,8878,0.00,2.22,0.00,0.000,4,0.000,0.034,2217,1061,1183,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8900,0.58,433.2,332.4,12.7,843,8910,0.00,2.35,0.00,0.000,6,0.000,0.034,2217,2525,1182,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9211,0.56,433.2,287.0,14.6,874,9219,0.00,2.05,0.00,0.000,4,0.000,0.043,2217,3810,1181,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9253,0.56,433.2,280.7,15.2,878,9258,0.12,2.08,0.00,0.000,6,0.135,0.026,2191,2466,1181,0,0,0,0,0,0,25.54,25.83,28.83
$GC,9567,0.63,471.0,248.8,10.8,909,9608,0.00,2.33,34.10,0.675,4,0.000,0.034,2202,1049,1048,0,0,0,0,0,0,28.83,25.65,24.40
$GC,9636,0.80,580.0,242.8,8.8,915,9741,0.20,2.35,95.57,0.667,6,0.055,0.031,2312,2526,602,0,0,0,0,0,0,25.77,25.73,24.14
$GC,10044,0.73,580.0,118.9,32.3,980,10052,0.20,2.38,0.00,0.000,4,0.169,0.033,2263,1054,583,0,0,0,0,0,0,25.41,25.65,28.83
$GC,10112,0.88,645.7,107.0,10.0,992,10169,0.00,2.33,40.72,0.576,6,0.000,0.028,2263,2530,436,0,0,0,0,1,0,28.83,25.79,24.22
$GC,10477,1.15,827.4,60.4,6.9,1061,10485,0.28,2.45,2.20,0.145,4,0.044,0.034,2433,1054,435,0,0,0,0,0,0,26.17,25.70,24.90
$GC,10508,1.12,827.4,55.9,16.2,1066,10516,0.22,2.35,1.85,0.163,6,0.155,0.034,2371,2523,432,0,0,0,0,0,0,25.16,25.73,24.98
$STATE,10700,end climb,SURFACE_DEPTH_REACHED
$STATE,10700,begin surface coast
$FINISH,-0.2,1.010557
$STATE,10712,end surface coast,CONTROL_FINISHED_OK
$STATE,10712,begin surface
$SM_CCo,10787,0.00,0.000,0,0,447,621.10
$SM_GC,0.60,5.80,0.25,0.00,0.034,0.051,0.000,129,2661,447,-5.78,-0.34,621.10,0,0,0,0,0,0,25.99,26.19,28.83
$IRIDIUM_FIX,2323.87,12136.14,040312,131309
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.54
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,469.5,0.0
$24V_AH,23.7,119.778
$10V_AH,9.8,72.423
$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,17.000,119.025,772.700,0.000,0.000,27.559,27.743,234.758,0.250,0.000,45.777,2672.884,5030.406,816.433,2385.271,334.710,0.000,1988.212,0.000,1938.003,0.000,2.871,0.000
$DEVICE_MAMPS,223.380,74.970,1045.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.820,1383.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,73711,1105
$CAP_FILE_SIZE,138370,0
$CFSIZE,260165632,166842368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.223, 52.9,1
$GPS,040312,201356,2330.098,12137.889,42,1.9,43,-3.1