version: 66.10
glider: 169
mission: 5
dive: 598
start: 3 5 112 16 30 28
data:
$ID,169
$MISSION,5
$DIVE,598
$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,-13668.968
$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
$GPS1,050312,162255,2329.201,12139.179,49,1.4,50,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.1
$GPS2,050312,163001,2329.433,12139.311,10,1.5,15,-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,226.9,53064,-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,-292.0,0.0,0.0,0,113,0.00,0.00,-93.10,0.000,2,0.000,0.000,117,2691,2803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.72,-292.0,3.2,-7.0,16,154,6.93,1.75,-21.50,0.000,4,0.232,0.055,1755,3830,3964,0,0,0,0,0,0,24.81,25.72,26.51
$GC,253,-0.68,-292.0,49.8,-21.5,41,261,0.12,1.77,0.00,0.000,6,0.151,0.020,1792,2581,3964,0,0,0,0,0,0,25.63,26.04,28.83
$GC,567,-0.59,-292.0,123.4,-22.4,102,574,0.00,2.20,0.00,0.000,4,0.000,0.028,1803,1169,3965,0,0,0,0,0,0,28.83,25.81,28.83
$GC,597,-0.53,-292.0,129.2,-19.7,107,606,0.15,2.45,0.00,0.000,6,0.124,0.037,1836,2647,3965,0,0,0,0,0,0,25.41,25.63,28.83
$GC,912,-0.51,-292.0,174.2,-14.5,168,918,0.00,2.35,0.00,0.000,4,0.000,0.025,1837,1171,3965,0,0,0,0,0,0,28.83,25.83,28.83
$GC,979,-0.56,-292.0,181.1,-8.3,180,986,0.00,2.42,0.00,0.000,6,0.000,0.035,1827,2649,3965,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1291,-0.54,-292.0,222.2,-13.6,225,1299,0.00,2.30,0.00,0.000,4,0.000,0.025,1827,1184,3965,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1346,-0.57,-292.0,228.3,-10.6,230,1352,0.00,2.42,0.00,0.000,6,0.000,0.036,1825,2647,3964,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1652,-0.55,-292.0,265.7,-12.9,261,1662,0.00,2.33,0.00,0.000,4,0.000,0.025,1825,1174,3963,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1696,-0.57,-292.0,270.4,-11.5,265,1704,0.00,2.40,0.00,0.000,6,0.000,0.036,1825,2636,3963,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2007,-0.57,-292.0,306.6,-11.4,296,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2636,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2316,-0.57,-292.0,339.9,-9.8,327,2326,0.00,2.33,0.00,0.000,4,0.000,0.026,1825,1174,3959,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2374,-0.62,-292.0,344.2,-7.5,332,2380,0.00,2.45,0.00,0.000,6,0.000,0.036,1825,2653,3959,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2679,-0.62,-292.0,373.6,-9.9,363,2689,0.00,2.35,0.00,0.000,4,0.000,0.026,1825,1180,3956,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2705,-0.62,-292.0,375.8,-9.7,365,2712,0.00,2.42,0.00,0.000,6,0.000,0.037,1825,2645,3956,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3013,-0.63,-292.0,402.9,-8.8,396,3022,0.00,2.33,0.00,0.000,4,0.000,0.028,1825,1183,3954,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3045,-0.66,-292.0,405.5,-8.3,399,3055,0.00,2.42,0.00,0.000,6,0.000,0.036,1825,2644,3954,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3356,-0.67,-292.0,432.2,-8.2,430,3364,0.00,2.33,0.00,0.000,4,0.000,0.028,1825,1180,3951,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3408,-0.72,-292.0,436.3,-7.5,435,3418,0.10,2.42,0.00,0.000,6,0.041,0.036,1735,2647,3951,0,0,0,0,0,0,25.53,25.57,28.83
$GC,3717,-0.63,-292.0,502.9,-23.1,466,3727,0.20,2.35,0.00,0.000,4,0.145,0.027,1802,1185,3949,0,0,0,0,0,0,25.68,25.66,28.83
$GC,3770,-0.63,-292.0,511.0,-13.8,471,3781,0.00,2.45,0.00,0.000,6,0.000,0.038,1802,2649,3949,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4083,-0.63,-292.0,545.6,-11.6,502,4091,0.00,2.33,0.00,0.000,4,0.000,0.027,1802,1186,3947,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4146,-0.67,-292.0,551.9,-9.0,508,4154,0.00,2.42,0.00,0.000,6,0.000,0.037,1799,2642,3946,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4454,-0.67,-292.0,588.5,-11.9,539,4464,0.00,2.35,0.00,0.000,4,0.000,0.027,1799,1170,3945,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4497,-0.69,-292.0,593.1,-11.0,543,4507,0.00,2.45,0.00,0.000,6,0.000,0.038,1799,2643,3945,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4808,-0.69,-292.0,628.6,-11.5,562,4814,0.00,2.35,0.00,0.000,4,0.000,0.029,1799,1186,3943,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4835,-0.69,-292.0,630.7,-11.3,563,4839,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2644,3943,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5145,-0.69,-292.0,663.3,-10.4,578,5150,0.00,2.35,0.00,0.000,4,0.000,0.029,1799,1186,3941,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5173,-0.69,-292.0,665.6,-10.5,579,5183,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2644,3941,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5484,-0.69,-292.0,699.5,-10.9,595,5489,0.00,2.35,0.00,0.000,4,0.000,0.030,1799,1182,3939,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5518,-0.69,-292.0,701.7,-10.9,596,5525,0.00,2.45,0.00,0.000,6,0.000,0.040,1799,2644,3938,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5824,-0.69,-292.0,734.5,-10.6,612,5830,0.00,2.35,0.00,0.000,4,0.000,0.030,1799,1184,3936,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5856,-0.69,-292.0,736.6,-10.6,613,5863,0.00,2.45,0.00,0.000,6,0.000,0.041,1799,2642,3936,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6165,-0.69,-292.0,770.5,-10.8,629,6170,0.00,2.35,0.00,0.000,4,0.000,0.029,1798,1188,3934,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6186,-0.69,-292.0,772.5,-10.7,630,6190,0.00,2.47,0.00,0.000,6,0.000,0.041,1798,2647,3933,0,0,0,0,0,0,28.83,25.34,28.83
$STATE,6298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6298,begin apogee
$GC,6304,-0.20,0.0,783.5,-9.7,636,6521,0.40,0.12,205.57,1.031,6,0.093,0.053,1940,2528,2968,0,0,0,0,0,0,25.39,24.79,23.72
$STATE,6522,end apogee,CONTROL_FINISHED_OK
$STATE,6522,begin climb
$GC,6524,0.72,292.0,795.9,0.0,647,6801,0.80,2.20,261.20,1.033,4,0.044,0.046,2251,3822,1771,0,0,0,0,0,0,25.07,24.89,23.70
$GC,6865,0.63,292.0,751.3,23.5,664,6871,0.17,2.10,0.00,0.000,6,0.161,0.027,2210,2465,1761,0,0,0,0,0,0,24.89,25.54,28.83
$GC,7184,0.58,292.0,694.8,17.6,680,7190,0.00,2.17,0.00,0.000,4,0.000,0.044,2210,3814,1757,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7217,0.52,292.0,691.1,17.9,681,7225,0.15,2.05,0.00,0.000,6,0.163,0.027,2181,2470,1756,0,0,0,0,0,0,25.35,25.82,28.83
$GC,7526,0.50,292.0,646.0,13.1,697,7532,0.00,2.12,0.00,0.000,4,0.000,0.044,2180,3807,1755,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7567,0.47,292.0,639.9,14.1,699,7571,0.00,2.05,0.00,0.000,6,0.000,0.027,2190,2467,1755,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7882,0.44,292.0,593.3,15.7,717,7891,0.12,2.17,0.00,0.000,4,0.165,0.041,2153,3823,1754,0,0,0,0,0,0,25.86,25.46,28.83
$GC,7917,0.42,292.0,588.3,14.8,720,7925,0.00,2.08,0.00,0.000,6,0.000,0.027,2163,2458,1754,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8224,0.42,292.0,550.8,12.5,751,8233,0.00,2.20,0.00,0.000,4,0.000,0.045,2163,3819,1753,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8246,0.42,292.0,547.7,13.5,753,8255,0.00,2.08,0.00,0.000,6,0.000,0.026,2173,2456,1753,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8558,0.41,292.0,507.2,12.8,784,8568,0.12,2.17,0.00,0.000,4,0.160,0.032,2144,1058,1752,0,0,0,0,0,0,25.89,25.52,28.83
$GC,8585,0.41,292.0,504.5,12.2,786,8592,0.00,2.35,0.00,0.000,6,0.000,0.036,2145,2525,1751,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8892,0.49,347.4,474.4,10.3,817,8943,0.00,2.10,41.35,0.917,4,0.000,0.045,2145,3824,1563,0,0,0,0,1,0,28.83,25.37,23.96
$GC,8995,0.62,419.4,464.4,9.8,827,9082,0.12,2.08,78.50,0.819,6,0.034,0.025,2246,2462,1260,0,0,0,0,0,0,25.69,25.74,23.99
$GC,9383,0.57,419.4,380.9,22.5,866,9393,0.17,2.15,0.00,0.000,4,0.164,0.042,2194,3810,1242,0,0,0,0,0,0,25.49,25.56,28.83
$GC,9428,0.54,419.4,372.6,19.0,870,9435,0.00,2.08,0.00,0.000,6,0.000,0.029,2204,2466,1241,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9736,0.54,419.4,332.3,12.6,901,9740,0.00,2.22,0.00,0.000,4,0.000,0.037,2216,1061,1240,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9780,0.60,442.9,327.6,11.1,905,9808,0.00,2.33,20.60,0.728,6,0.000,0.034,2216,2524,1167,0,0,0,0,0,0,28.83,25.63,24.44
$GC,10107,0.60,442.9,284.8,13.1,938,10116,0.00,2.33,0.00,0.000,4,0.000,0.035,2228,1051,1151,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10129,0.60,442.9,282.1,12.5,940,10139,0.00,2.35,0.00,0.000,6,0.000,0.034,2228,2524,1150,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10441,0.58,442.9,235.3,15.7,971,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2523,1150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10751,0.57,442.9,188.5,15.1,1009,10758,0.12,2.35,0.00,0.000,4,0.145,0.032,2198,1049,1150,0,0,0,0,0,0,25.94,25.53,28.83
$GC,10802,0.85,596.7,183.3,7.6,1018,10949,0.22,2.33,131.65,0.626,6,0.052,0.031,2315,2525,530,0,0,0,0,0,0,25.68,25.66,24.25
$GC,11254,0.80,596.7,59.3,23.4,1102,11261,0.15,0.00,0.00,0.000,6,0.163,0.000,2268,2526,515,0,0,0,0,0,0,25.65,28.83,28.83
$GC,11569,1.15,826.0,32.0,5.6,1163,11596,0.25,2.35,19.95,0.157,4,0.050,0.031,2422,1041,435,0,0,0,0,0,0,26.20,25.78,24.94
$GC,11692,1.14,826.0,8.8,16.9,1185,11701,0.15,2.35,2.35,0.164,6,0.138,0.037,2379,2525,433,0,0,0,0,0,0,25.34,25.63,24.91
$STATE,11727,end climb,SURFACE_DEPTH_REACHED
$STATE,11727,begin surface coast
$FINISH,-0.2,1.022237
$STATE,11742,end surface coast,CONTROL_FINISHED_OK
$STATE,11742,begin surface
$SM_CCo,11818,0.00,0.000,0,0,448,621.10
$SM_GC,0.73,5.68,0.25,0.00,0.024,0.048,0.000,131,2671,448,-5.78,-0.31,621.10,0,0,0,0,0,0,25.86,26.21,28.83
$IRIDIUM_FIX,2323.87,12140.15,050312,131303
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.32
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,22.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,471.6,0.0
$24V_AH,23.7,121.249
$10V_AH,9.9,73.071
$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,16.150,133.275,761.175,0.000,0.000,30.624,49.789,203.272,0.500,0.000,16.747,2851.618,5736.340,846.903,2435.213,357.636,0.000,2082.684,0.000,2024.882,0.000,2.873,0.000
$DEVICE_MAMPS,231.795,55.080,1032.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.647,1502.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,80448,1194
$CAP_FILE_SIZE,143485,0
$CFSIZE,260165632,166260736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106, 85.1,1
$GPS,050312,194825,2328.091,12138.705,11,1.9,29,-3.1