version: 66.10
glider: 169
mission: 5
dive: 593
start: 3 4 112 23 22 39
data:
$ID,169
$MISSION,5
$DIVE,593
$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,-13662.578
$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
$GPS1,040312,231436,2330.131,12138.165,10,1.2,27,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.4
$GPS2,040312,232213,2330.614,12138.395,14,1.9,14,-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,226.2,54411,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-292.0,0.0,0.0,0,120,0.00,0.00,-99.20,0.000,2,0.000,0.000,117,2708,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.72,-292.0,4.2,-11.0,17,156,7.07,2.50,-16.45,0.000,4,0.239,0.033,1776,1151,3964,0,0,0,0,0,0,24.82,26.00,26.51
$GC,175,-0.53,-292.0,28.5,-43.0,25,182,0.25,2.50,0.00,0.000,6,0.157,0.037,1833,2644,3964,0,0,0,0,0,0,25.15,25.74,28.83
$GC,489,-0.49,-292.0,100.4,-16.2,86,495,0.00,2.38,0.00,0.000,4,0.000,0.026,1834,1172,3965,0,0,0,0,0,0,28.83,25.86,28.83
$GC,513,-0.46,-292.0,104.2,-14.8,90,521,0.12,2.45,0.00,0.000,6,0.121,0.037,1863,2644,3965,0,0,0,0,0,0,25.55,25.69,28.83
$GC,829,-0.47,-292.0,136.9,-9.7,151,836,0.00,2.38,0.00,0.000,4,0.000,0.027,1863,1178,3965,0,0,0,0,0,0,28.83,25.87,28.83
$GC,870,-0.54,-292.0,140.3,-7.2,158,877,0.00,2.45,0.00,0.000,6,0.000,0.034,1861,2651,3965,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1185,-0.66,-292.0,170.9,-10.9,219,1193,0.15,2.38,0.00,0.000,4,0.087,0.026,1795,1179,3964,0,0,0,0,0,0,26.24,25.83,28.83
$GC,1222,-0.77,-292.0,174.9,-11.1,225,1231,0.12,2.42,0.00,0.000,6,0.107,0.034,1752,2650,3964,0,0,0,0,0,0,25.61,25.75,28.83
$GC,1543,-0.68,-292.0,233.3,-25.8,274,1553,0.12,2.35,0.00,0.000,4,0.157,0.024,1796,1179,3962,0,0,0,0,0,0,25.98,25.86,28.83
$GC,1640,-0.71,-292.0,246.1,-8.9,283,1649,0.00,2.42,0.00,0.000,6,0.000,0.037,1785,2642,3963,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1947,-0.65,-292.0,301.8,-20.0,314,1957,0.00,2.33,0.00,0.000,4,0.000,0.028,1787,1186,3961,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1991,-0.62,-292.0,309.7,-18.9,318,2002,0.08,2.40,0.00,0.000,6,0.095,0.037,1811,2635,3961,0,0,0,0,0,0,25.47,25.65,28.83
$GC,2300,-0.61,-292.0,351.9,-13.0,349,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2634,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,-0.61,-292.0,386.2,-11.2,379,2612,0.00,2.38,0.00,0.000,4,0.000,0.028,1812,1178,3956,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2676,-0.65,-292.0,393.0,-7.3,386,2686,0.00,2.42,0.00,0.000,6,0.000,0.037,1812,2638,3956,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2985,-0.65,-292.0,424.4,-10.5,417,2994,0.00,2.38,0.00,0.000,4,0.000,0.027,1812,1169,3954,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3021,-0.67,-292.0,427.6,-10.4,420,3028,0.00,2.45,0.00,0.000,6,0.000,0.037,1812,2644,3953,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3328,-0.67,-292.0,457.5,-9.5,451,3337,0.00,2.35,0.00,0.000,4,0.000,0.028,1812,1187,3950,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3353,-0.67,-292.0,459.8,-9.6,453,3360,0.00,2.42,0.00,0.000,6,0.000,0.038,1812,2643,3950,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3660,-0.67,-292.0,491.2,-10.2,484,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2642,3949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3961,-0.67,-292.0,519.0,-9.0,514,3971,0.00,2.38,0.00,0.000,4,0.000,0.031,1812,1183,3946,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4006,-0.70,-292.0,522.3,-7.7,518,4016,0.00,2.45,0.00,0.000,6,0.000,0.041,1812,2640,3945,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4314,-0.70,-292.0,548.6,-8.3,549,4317,0.00,1.83,0.00,0.000,4,0.000,0.045,1803,3820,3944,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4340,-0.71,-292.0,550.3,-8.5,551,4346,0.00,1.80,0.00,0.000,6,0.000,0.022,1803,2582,3944,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4648,-0.71,-292.0,578.7,-8.7,582,4658,0.00,2.20,0.00,0.000,4,0.000,0.028,1803,1183,3942,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4693,-0.74,-292.0,582.0,-7.6,586,4702,0.00,2.42,0.00,0.000,6,0.000,0.039,1803,2636,3942,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5004,-0.74,-292.0,611.0,-10.1,612,5007,0.00,1.85,0.00,0.000,4,0.000,0.047,1794,3815,3939,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5028,-0.74,-292.0,613.3,-10.2,613,5032,0.00,1.80,0.00,0.000,6,0.000,0.023,1794,2589,3939,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5347,-0.73,-292.0,649.4,-12.1,629,5352,0.00,2.22,0.00,0.000,4,0.000,0.030,1794,1190,3937,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5386,-0.74,-292.0,653.8,-11.4,631,5392,0.00,2.45,0.00,0.000,6,0.000,0.040,1785,2640,3937,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5707,-0.72,-292.0,696.1,-13.7,647,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2640,3934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6005,-0.71,-292.0,735.9,-12.7,662,6011,0.00,2.35,0.00,0.000,4,0.000,0.028,1785,1179,3932,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6048,-0.71,-292.0,740.5,-12.0,664,6052,0.00,2.47,0.00,0.000,6,0.000,0.038,1775,2644,3932,0,0,0,0,0,0,28.83,25.45,28.83
$GC,6362,-0.68,-292.0,781.4,-13.3,680,6365,0.00,1.83,0.00,0.000,4,0.000,0.047,1766,3816,3930,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,6381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6381,begin apogee
$GC,6388,-0.20,0.0,784.4,-13.2,681,6604,0.50,0.15,203.75,1.047,6,0.093,0.073,1938,2536,2966,0,0,0,0,0,0,25.24,24.82,23.71
$STATE,6606,end apogee,CONTROL_FINISHED_OK
$STATE,6606,begin climb
$GC,6608,0.72,292.0,797.0,0.0,692,6884,0.80,2.55,260.12,1.037,4,0.040,0.035,2268,1050,1770,0,0,0,0,0,0,25.17,24.96,23.70
$GC,6896,0.62,292.0,760.8,24.8,706,6906,0.20,2.45,0.00,0.000,6,0.157,0.039,2215,2523,1763,0,0,0,0,0,0,24.81,25.20,28.83
$GC,7211,0.57,292.0,696.8,17.9,722,7216,0.00,2.05,0.00,0.000,4,0.000,0.045,2215,3813,1756,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7309,0.51,292.0,677.8,18.8,727,7316,0.17,2.10,0.00,0.000,6,0.161,0.028,2179,2460,1755,0,0,0,0,0,0,25.31,25.84,28.83
$GC,7631,0.48,292.0,633.1,13.5,743,7636,0.00,2.22,0.00,0.000,4,0.000,0.044,2178,3822,1754,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7673,0.46,292.0,627.4,13.9,745,7677,0.12,2.10,0.00,0.000,6,0.150,0.025,2155,2460,1753,0,0,0,0,0,0,25.53,25.86,28.83
$GC,7987,0.51,329.5,593.1,10.8,764,8026,0.00,2.30,27.83,0.868,4,0.000,0.045,2154,3812,1636,0,0,0,0,1,0,28.83,25.56,24.10
$GC,8043,0.54,355.1,587.1,11.1,769,8090,0.00,2.10,38.95,0.831,6,0.000,0.028,2165,2461,1523,0,0,0,0,0,0,28.83,25.77,23.97
$GC,8391,0.61,413.0,549.4,10.2,804,8450,0.12,0.00,55.08,0.877,6,0.077,0.000,2241,2461,1289,0,0,0,0,0,0,26.17,28.83,24.08
$GC,8749,0.56,413.0,479.8,19.0,840,8759,0.15,2.22,0.00,0.000,4,0.157,0.044,2195,3805,1270,0,0,0,0,0,0,25.66,25.58,28.83
$GC,8815,0.56,413.0,469.8,14.1,846,8822,0.00,2.08,0.00,0.000,6,0.000,0.028,2205,2471,1270,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9122,0.54,413.0,425.8,15.5,877,9132,0.00,2.25,0.00,0.000,4,0.000,0.034,2217,1056,1268,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9145,0.53,413.0,422.1,15.9,879,9155,0.12,2.38,0.00,0.000,6,0.125,0.035,2175,2521,1267,0,0,0,0,0,0,25.45,25.65,28.83
$GC,9456,0.66,501.7,390.2,9.4,910,9546,0.12,2.15,81.95,0.776,4,0.078,0.042,2259,3824,920,0,0,0,0,0,0,26.27,25.32,24.11
$GC,9565,0.61,501.7,369.8,22.7,920,9572,0.22,2.12,0.00,0.000,6,0.144,0.026,2206,2465,909,0,0,0,0,0,0,25.13,25.55,28.83
$GC,9872,0.62,501.7,325.6,13.5,951,9881,0.00,2.22,0.00,0.000,4,0.000,0.035,2218,1060,905,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9915,0.65,501.7,320.4,12.1,955,9924,0.00,2.30,0.00,0.000,6,0.000,0.031,2218,2519,903,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10226,0.65,501.7,277.7,14.9,986,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2519,903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10537,0.66,501.7,233.8,12.8,1017,10546,0.00,2.33,0.00,0.000,4,0.000,0.034,2229,1062,903,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10572,0.68,501.7,229.7,12.0,1020,10579,0.00,2.33,0.00,0.000,6,0.000,0.031,2229,2525,902,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10880,0.68,501.7,189.3,13.5,1058,10887,0.00,2.08,0.00,0.000,4,0.000,0.042,2229,3822,902,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10900,0.68,501.7,186.2,15.3,1061,10907,0.00,2.08,0.00,0.000,6,0.000,0.024,2239,2463,901,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11215,0.67,501.7,135.4,17.0,1122,11222,0.00,2.25,0.00,0.000,4,0.000,0.036,2251,1047,901,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11244,0.68,501.7,130.4,15.2,1127,11251,0.00,2.38,0.00,0.000,6,0.000,0.035,2251,2521,900,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11557,0.67,501.7,77.5,16.5,1188,11563,0.00,2.08,0.00,0.000,4,0.000,0.043,2251,3813,901,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11598,0.67,501.7,70.0,18.0,1195,11606,0.12,2.08,0.00,0.000,6,0.132,0.027,2224,2468,900,0,0,0,0,0,0,25.52,25.79,28.83
$GC,11914,1.01,652.6,45.7,7.7,1256,12011,0.28,2.25,88.28,0.200,4,0.064,0.031,2356,1056,434,0,0,0,0,0,0,26.09,25.78,25.01
$GC,12096,1.11,697.6,25.6,10.6,1288,12104,0.00,2.35,1.45,0.171,6,0.000,0.032,2356,2529,433,0,0,0,0,0,0,28.83,25.70,24.98
$STATE,12240,end climb,SURFACE_DEPTH_REACHED
$STATE,12240,begin surface coast
$FINISH,0.3,1.021747
$STATE,12256,end surface coast,CONTROL_FINISHED_OK
$STATE,12256,begin surface
$SM_CCo,12332,0.00,0.000,0,0,444,621.84
$SM_GC,0.63,5.62,0.25,0.00,0.024,0.060,0.000,122,2657,444,-5.78,-0.31,621.84,0,0,0,0,0,0,25.94,26.10,28.83
$IRIDIUM_FIX,2323.87,12134.91,040312,202057
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.44
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,469.3,0.0
$24V_AH,23.7,120.201
$10V_AH,9.8,72.603
$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,16.500,131.700,757.400,0.000,0.000,31.153,59.448,211.540,0.250,0.000,14.944,3175.556,5743.994,844.048,2636.055,373.271,0.000,2134.562,0.000,2185.834,0.000,2.873,0.000
$DEVICE_MAMPS,238.680,73.440,1046.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.569,1597.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,86947,1319
$CAP_FILE_SIZE,152004,0
$CFSIZE,260165632,166653952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.157, 59.5,1
$GPS,050312,024907,2329.759,12137.854,25,1.8,26,-3.1