version: 66.10
glider: 169
mission: 5
dive: 595
start: 3 5 112 6 21 13
data:
$ID,169
$MISSION,5
$DIVE,595
$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,-13665.191
$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
$GPS1,050312,061127,2329.399,12138.078,36,2.6,56,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-63.5
$GPS2,050312,062046,2329.941,12138.324,14,3.5,33,-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,221.8,53220,-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,-292.0,0.0,0.0,0,112,0.00,0.00,-93.28,0.000,2,0.000,0.000,132,2669,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.72,-292.0,3.2,-6.6,16,154,6.88,2.45,-22.25,0.000,4,0.233,0.034,1774,1162,3963,0,0,0,0,0,0,24.84,25.94,26.52
$GC,167,-0.54,-292.0,22.7,-36.6,24,175,0.25,2.47,0.00,0.000,6,0.154,0.034,1832,2648,3964,0,0,0,0,0,0,25.16,25.77,28.83
$GC,480,-0.49,-292.0,89.6,-16.3,85,487,0.00,2.38,0.00,0.000,4,0.000,0.026,1837,1167,3964,0,0,0,0,0,0,28.83,25.84,28.83
$GC,526,-0.52,-292.0,95.2,-9.4,93,532,0.00,2.47,0.00,0.000,6,0.000,0.036,1827,2653,3964,0,0,0,0,0,0,28.83,25.70,28.83
$GC,838,-0.49,-292.0,144.6,-14.7,154,846,0.00,2.38,0.00,0.000,4,0.000,0.026,1827,1179,3965,0,0,0,0,0,0,28.83,25.86,28.83
$GC,880,-0.51,-292.0,149.9,-10.4,161,887,0.00,2.45,0.00,0.000,6,0.000,0.037,1825,2646,3965,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1193,-0.48,-292.0,194.9,-15.0,222,1201,0.00,2.38,0.00,0.000,4,0.000,0.027,1826,1180,3964,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1260,-0.53,-292.0,202.7,-8.8,231,1269,0.00,2.42,0.00,0.000,6,0.000,0.036,1821,2645,3963,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1569,-0.50,-292.0,242.5,-13.9,262,1579,0.00,2.38,0.00,0.000,4,0.000,0.027,1821,1175,3962,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1615,-0.52,-292.0,247.5,-11.8,266,1623,0.00,2.45,0.00,0.000,6,0.000,0.037,1818,2646,3962,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1922,-0.50,-292.0,287.9,-13.3,297,1932,0.10,2.35,0.00,0.000,4,0.155,0.025,1847,1184,3960,0,0,0,0,0,0,26.20,25.79,28.83
$GC,1965,-0.53,-292.0,292.0,-9.8,301,1974,0.00,2.40,0.00,0.000,6,0.000,0.035,1844,2639,3960,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2275,-0.65,-292.0,319.2,-9.2,332,2277,0.15,0.00,0.00,0.000,6,0.096,0.000,1783,2639,3958,0,0,0,0,0,0,26.22,28.83,28.83
$GC,2577,-0.70,-292.0,343.2,-8.2,362,2586,0.00,2.35,0.00,0.000,4,0.000,0.025,1783,1170,3955,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2600,-0.74,-292.0,345.4,-8.7,364,2609,0.00,2.42,0.00,0.000,6,0.000,0.034,1772,2648,3955,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2909,-0.68,-292.0,400.0,-17.2,395,2913,0.00,1.77,0.00,0.000,4,0.000,0.042,1763,3820,3953,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3039,-0.68,-292.0,416.6,-11.0,407,3047,0.00,1.77,0.00,0.000,6,0.000,0.021,1763,2583,3952,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3348,-0.63,-292.0,469.3,-17.2,438,3357,0.12,2.25,0.00,0.000,4,0.144,0.025,1805,1169,3950,0,0,0,0,0,0,25.98,25.76,28.83
$GC,3413,-0.67,-292.0,476.3,-7.8,444,3420,0.00,2.47,0.00,0.000,6,0.000,0.037,1799,2648,3949,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3721,-0.66,-292.0,511.3,-11.8,475,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2647,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.65,-292.0,546.4,-12.0,505,4031,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1186,3945,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4089,-0.69,-292.0,552.7,-8.7,511,4097,0.00,2.45,0.00,0.000,6,0.000,0.037,1799,2645,3945,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4397,-0.68,-292.0,588.1,-11.7,542,4405,0.00,2.38,0.00,0.000,4,0.000,0.028,1799,1184,3943,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4421,-0.68,-292.0,590.8,-11.3,544,4430,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2639,3943,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4729,-0.68,-292.0,624.6,-11.0,564,4734,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1181,3941,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4771,-0.69,-292.0,628.6,-10.6,566,4776,0.00,2.47,0.00,0.000,6,0.000,0.037,1799,2645,3941,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5085,-0.69,-292.0,662.0,-11.4,582,5090,0.00,2.38,0.00,0.000,4,0.000,0.029,1799,1185,3938,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5106,-0.69,-292.0,664.1,-11.2,583,5110,0.00,2.47,0.00,0.000,6,0.000,0.039,1799,2644,3938,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5420,-0.69,-292.0,699.1,-11.9,599,5425,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1185,3935,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5446,-0.69,-292.0,701.5,-12.1,600,5451,0.00,2.47,0.00,0.000,6,0.000,0.038,1799,2645,3935,0,0,0,0,0,0,28.83,25.45,28.83
$GC,5754,-0.69,-292.0,734.6,-10.1,615,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2644,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6055,-0.69,-292.0,762.2,-8.8,630,6061,0.00,2.38,0.00,0.000,4,0.000,0.030,1799,1187,3931,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6097,-0.70,-292.0,765.4,-8.3,632,6101,0.00,2.47,0.00,0.000,6,0.000,0.038,1799,2643,3931,0,0,0,0,0,0,28.83,25.43,28.83
$STATE,6306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6306,begin apogee
$GC,6313,-0.20,0.0,783.7,-9.4,643,6522,0.40,0.10,203.57,1.050,6,0.093,0.054,1941,2530,2976,0,0,0,0,0,0,25.44,24.82,23.72
$STATE,6523,end apogee,CONTROL_FINISHED_OK
$STATE,6523,begin climb
$GC,6525,0.72,292.0,796.1,0.0,653,6796,0.82,2.22,261.48,1.037,4,0.048,0.047,2254,3807,1778,0,0,0,0,0,0,25.03,24.93,23.72
$GC,6852,0.63,292.0,756.6,24.9,670,6858,0.15,2.10,0.00,0.000,6,0.167,0.028,2220,2474,1761,0,0,0,0,0,0,24.94,25.53,28.83
$GC,7173,0.57,292.0,693.5,18.0,686,7178,0.00,2.20,0.00,0.000,4,0.000,0.044,2220,3808,1756,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7264,0.50,292.0,677.2,20.5,690,7272,0.20,2.08,0.00,0.000,6,0.158,0.028,2176,2464,1755,0,0,0,0,0,0,25.23,25.84,28.83
$GC,7572,0.48,292.0,627.2,14.9,706,7578,0.00,2.20,0.00,0.000,4,0.000,0.043,2175,3804,1754,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7639,0.45,292.0,618.0,15.3,709,7643,0.00,2.08,0.00,0.000,6,0.000,0.025,2185,2458,1754,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7949,0.42,292.0,569.7,15.8,733,7959,0.12,2.20,0.00,0.000,4,0.164,0.043,2147,3807,1753,0,0,0,0,0,0,25.87,25.46,28.83
$GC,8001,0.42,292.0,562.1,13.1,738,8011,0.00,2.08,0.00,0.000,6,0.000,0.027,2157,2465,1753,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8312,0.49,348.9,529.3,10.2,769,8364,0.00,0.00,44.50,0.939,6,0.000,0.000,2157,2465,1556,0,0,0,0,1,0,28.83,28.83,23.91
$GC,8672,0.59,419.3,492.4,9.9,805,8762,0.12,2.30,79.75,0.822,4,0.076,0.045,2241,3809,1256,0,0,0,0,0,0,26.19,25.28,24.03
$GC,8798,0.54,419.3,468.3,22.5,817,8806,0.22,2.10,0.00,0.000,6,0.145,0.028,2188,2472,1247,0,0,0,0,0,0,25.18,25.60,28.83
$GC,9105,0.54,419.3,424.3,14.1,848,9114,0.00,2.25,0.00,0.000,4,0.000,0.034,2199,1061,1243,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9129,0.54,419.3,421.2,14.1,850,9138,0.00,2.35,0.00,0.000,6,0.000,0.035,2199,2521,1242,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9439,0.54,419.3,378.3,13.9,881,9447,0.00,2.05,0.00,0.000,4,0.000,0.044,2199,3814,1241,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9471,0.54,419.3,373.6,14.1,884,9480,0.00,2.05,0.00,0.000,6,0.000,0.026,2209,2470,1240,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9781,0.52,419.3,327.3,15.4,915,9790,0.00,2.25,0.00,0.000,4,0.000,0.034,2221,1057,1240,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9804,0.51,419.3,324.0,15.1,917,9813,0.12,2.35,0.00,0.000,6,0.091,0.036,2173,2521,1239,0,0,0,0,0,0,25.34,25.60,28.83
$GC,10113,0.73,567.1,297.5,7.8,948,10256,0.15,2.12,131.10,0.699,4,0.068,0.043,2274,3816,650,0,0,0,0,0,0,26.27,25.25,24.15
$GC,10270,0.67,567.1,261.0,27.7,963,10279,0.17,2.10,0.00,0.000,6,0.138,0.025,2229,2464,639,0,0,0,0,0,0,25.05,25.51,28.83
$GC,10580,0.69,567.1,214.1,13.2,994,10591,0.00,2.25,0.00,0.000,4,0.000,0.035,2240,1057,634,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10617,0.72,567.1,209.9,12.4,997,10624,0.00,2.35,0.00,0.000,6,0.000,0.031,2240,2525,633,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10929,0.88,578.3,173.5,11.5,1049,10942,0.12,2.10,4.72,0.534,4,0.086,0.043,2314,3805,619,0,0,0,0,0,0,26.22,25.72,24.60
$GC,11124,0.99,578.3,148.5,14.3,1086,11131,0.00,2.05,0.00,0.000,6,0.000,0.025,2319,2455,617,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11439,1.04,578.3,112.9,12.2,1147,11447,0.00,2.20,0.00,0.000,4,0.000,0.031,2330,1048,616,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11505,1.04,578.3,104.5,13.5,1159,11513,0.00,2.38,0.00,0.000,6,0.000,0.034,2329,2525,616,0,0,0,0,0,0,28.83,25.62,28.83
$GC,11819,1.01,578.3,26.6,16.1,1220,11826,0.00,2.05,0.00,0.000,4,0.000,0.041,2330,3816,615,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11959,1.12,632.1,8.7,10.3,1246,11990,0.00,2.08,24.75,0.132,6,0.000,0.024,2340,2452,434,0,0,0,0,0,0,28.83,25.87,25.13
$STATE,12006,end climb,SURFACE_DEPTH_REACHED
$STATE,12006,begin surface coast
$FINISH,-0.2,1.021996
$STATE,12027,end surface coast,CONTROL_FINISHED_OK
$STATE,12027,begin surface
$SM_CCo,12103,0.00,0.000,0,0,447,621.10
$SM_GC,0.60,5.62,0.38,0.00,0.027,0.040,0.000,128,2670,447,-5.79,-0.51,621.10,0,0,0,0,0,0,25.89,26.14,28.83
$IRIDIUM_FIX,2319.18,11302.66,050312,060637
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.74
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,469.3,0.0
$24V_AH,23.7,120.630
$10V_AH,9.9,72.792
$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,15.750,128.325,749.875,0.000,0.000,51.897,87.997,189.082,0.250,0.000,35.065,3053.476,5793.959,825.681,2601.841,370.487,0.000,2082.498,0.000,2122.765,0.000,2.872,0.000
$DEVICE_MAMPS,232.560,53.550,1050.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.632,1547.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,83625,1258
$CAP_FILE_SIZE,150673,0
$CFSIZE,260165632,166498304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.208, 40.7,1
$GPS,050312,094407,2329.393,12138.452,41,1.6,41,-3.1