version: 66.10
glider: 169
mission: 5
dive: 604
start: 3 6 112 16 42 26
data:
$ID,169
$MISSION,5
$DIVE,604
$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,-13676.519
$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
$GPS1,060312,163207,2326.827,12139.056,36,1.5,36,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-71.3
$GPS2,060312,164201,2327.404,12139.212,12,1.7,29,-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,219.6,49626,-14.6,-11.786
$D_GRID,1282
$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,-98.47,0.000,2,0.000,0.000,132,2659,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.72,-292.0,3.7,-9.2,17,154,6.95,1.80,-17.98,0.000,4,0.237,0.054,1758,3829,3962,0,0,0,0,0,0,24.82,25.65,26.49
$GC,234,-0.69,-292.0,51.1,-16.9,37,241,0.00,1.75,0.00,0.000,6,0.000,0.021,1765,2590,3962,0,0,0,0,0,0,28.83,25.99,28.83
$GC,548,-0.59,-292.0,139.7,-25.1,98,556,0.17,2.25,0.00,0.000,4,0.151,0.025,1830,1172,3962,0,0,0,0,0,0,25.72,25.69,28.83
$GC,580,-0.53,-292.0,146.6,-21.9,103,587,0.00,2.47,0.00,0.000,6,0.000,0.038,1818,2645,3962,0,0,0,0,0,0,28.83,25.48,28.83
$GC,898,-0.48,-292.0,204.8,-19.5,163,907,0.12,2.35,0.00,0.000,4,0.145,0.025,1865,1183,3962,0,0,0,0,0,0,26.01,25.68,28.83
$GC,943,-0.50,-292.0,211.4,-15.2,167,950,0.00,2.42,0.00,0.000,6,0.000,0.034,1864,2647,3962,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1251,-0.61,-292.0,248.7,-12.3,198,1255,0.12,1.77,0.00,0.000,4,0.104,0.040,1806,3816,3961,0,0,0,0,0,0,26.20,25.46,28.83
$GC,1317,-0.72,-292.0,256.5,-12.5,204,1324,0.00,1.75,0.00,0.000,6,0.000,0.023,1812,2576,3960,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1624,-0.84,-292.0,284.6,-8.4,235,1633,0.20,2.20,0.00,0.000,4,0.106,0.024,1750,1170,3959,0,0,0,0,0,0,25.92,25.72,28.83
$GC,1688,-0.90,-292.0,289.8,-8.1,241,1696,0.00,2.42,0.00,0.000,6,0.000,0.035,1739,2642,3959,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1998,-0.79,-292.0,366.9,-27.3,272,2007,0.00,2.35,0.00,0.000,4,0.000,0.027,1744,1176,3957,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2074,-0.77,-292.0,382.9,-17.8,279,2082,0.00,2.45,0.00,0.000,6,0.000,0.037,1732,2645,3956,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2382,-0.67,-292.0,457.6,-23.4,310,2391,0.17,2.35,0.00,0.000,4,0.155,0.025,1797,1179,3954,0,0,0,0,0,0,25.70,25.63,28.83
$GC,2466,-0.71,-292.0,469.2,-8.8,318,2475,0.00,2.42,0.00,0.000,6,0.000,0.036,1787,2639,3954,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2776,-0.67,-292.0,514.0,-14.2,349,2779,0.00,1.80,0.00,0.000,4,0.000,0.044,1778,3823,3951,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2791,-0.63,-292.0,515.8,-13.9,350,2798,0.00,1.77,0.00,0.000,6,0.000,0.022,1778,2570,3951,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3098,-0.59,-292.0,564.7,-16.5,381,3107,0.12,2.15,0.00,0.000,4,0.139,0.024,1822,1186,3948,0,0,0,0,0,0,26.02,25.65,28.83
$GC,3145,-0.61,-292.0,569.6,-11.4,385,3152,0.00,2.42,0.00,0.000,6,0.000,0.036,1818,2647,3948,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3453,-0.73,-292.0,595.8,-8.4,416,3462,0.12,1.77,0.00,0.000,4,0.085,0.041,1759,3815,3946,0,0,0,0,0,0,26.25,25.36,28.83
$GC,3476,-0.83,-292.0,598.0,-8.7,418,3480,0.00,1.77,0.00,0.000,6,0.000,0.024,1760,2578,3946,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3790,-0.87,-292.0,625.6,-8.7,435,3795,0.00,2.17,0.00,0.000,4,0.000,0.028,1760,1178,3944,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3842,-0.90,-292.0,629.3,-8.8,437,3849,0.00,2.45,0.00,0.000,6,0.000,0.038,1748,2645,3943,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4149,-0.84,-292.0,686.5,-19.2,453,4154,0.00,2.33,0.00,0.000,4,0.000,0.028,1748,1190,3941,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4178,-0.77,-292.0,690.4,-19.5,454,4187,0.00,2.47,0.00,0.000,6,0.000,0.040,1738,2648,3941,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4489,-0.70,-292.0,753.5,-20.2,470,4495,0.12,2.35,0.00,0.000,4,0.168,0.026,1787,1187,3938,0,0,0,0,0,0,25.86,25.55,28.83
$GC,4536,-0.66,-292.0,759.6,-18.0,472,4541,0.00,2.45,0.00,0.000,6,0.000,0.038,1777,2645,3938,0,0,0,0,0,0,28.83,25.33,28.83
$GC,4845,-0.63,-292.0,799.7,-13.8,487,4851,0.10,2.38,0.00,0.000,4,0.151,0.028,1806,1184,3935,0,0,0,0,0,0,26.15,25.50,28.83
$GC,4887,-0.63,-292.0,804.2,-12.5,489,4891,0.00,2.47,0.00,0.000,6,0.000,0.038,1799,2644,3935,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5201,-0.63,-292.0,834.6,-9.5,505,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2644,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.63,-292.0,865.7,-10.9,520,5506,0.00,2.40,0.00,0.000,4,0.000,0.031,1799,1186,3931,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5543,-0.64,-292.0,870.0,-11.2,522,5547,0.00,2.47,0.00,0.000,6,0.000,0.039,1799,2643,3931,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5856,-0.64,-292.0,911.7,-14.7,538,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2642,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6155,-0.64,-292.0,960.9,-17.3,553,6160,0.00,2.38,0.00,0.000,4,0.000,0.028,1799,1181,3928,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6199,-0.66,-292.0,967.3,-17.0,555,6205,0.00,2.47,0.00,0.000,6,0.000,0.040,1799,2643,3927,0,0,0,0,0,0,28.83,25.22,28.83
$STATE,6353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6353,begin apogee
$GC,6359,-0.20,0.0,991.0,-15.4,563,6576,0.40,0.15,211.18,1.180,6,0.096,0.076,1938,2529,2978,0,0,0,0,0,0,25.25,24.37,23.23
$STATE,6578,end apogee,CONTROL_FINISHED_OK
$STATE,6578,begin climb
$GC,6581,0.72,292.0,1010.9,0.0,574,6875,0.82,2.65,279.62,1.162,4,0.047,0.034,2258,1051,1771,0,0,0,0,0,0,24.56,23.81,22.60
$GC,7001,0.67,292.0,931.2,27.4,595,7006,0.12,2.42,0.00,0.000,6,0.166,0.040,2229,2519,1757,0,0,0,0,0,0,24.96,25.25,28.83
$GC,7315,0.59,292.0,859.9,22.1,611,7321,0.00,2.03,0.00,0.000,4,0.000,0.044,2228,3807,1755,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7402,0.52,292.0,842.3,22.1,615,7407,0.22,2.08,0.00,0.000,6,0.164,0.028,2178,2459,1754,0,0,0,0,0,0,25.06,25.78,28.83
$GC,7712,0.48,292.0,791.5,16.6,630,7717,0.00,2.17,0.00,0.000,4,0.000,0.044,2178,3811,1753,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7770,0.45,292.0,780.3,18.2,633,7777,0.12,2.10,0.00,0.000,6,0.154,0.030,2155,2466,1752,0,0,0,0,0,0,25.38,25.72,28.83
$GC,8090,0.45,292.0,731.7,13.4,649,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2464,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8393,0.45,292.0,694.3,13.1,664,8399,0.00,2.17,0.00,0.000,4,0.000,0.044,2155,3815,1751,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8431,0.45,292.0,688.4,13.5,666,8437,0.00,2.10,0.00,0.000,6,0.000,0.028,2165,2465,1750,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8755,0.44,292.0,641.5,14.3,682,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2464,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,0.43,292.0,600.6,13.4,697,9058,0.00,2.17,0.00,0.000,4,0.000,0.044,2165,3811,1751,0,0,0,0,0,0,28.83,25.23,28.83
$GC,9105,0.42,292.0,593.5,14.3,701,9112,0.00,2.08,0.00,0.000,6,0.000,0.028,2176,2473,1750,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9413,0.41,298.7,553.5,11.6,732,9415,0.12,0.00,0.00,0.000,6,0.160,0.000,2143,2472,1750,0,0,0,0,0,0,25.93,28.83,28.83
$GC,9716,0.56,409.4,527.9,8.8,762,9824,0.12,2.33,96.45,1.083,4,0.079,0.044,2231,3824,1316,0,0,0,0,1,0,26.26,24.95,23.62
$GC,9867,0.51,409.4,498.4,22.4,777,9877,0.22,2.12,2.00,0.171,6,0.147,0.026,2179,2463,1310,0,0,0,0,0,0,24.96,25.46,22.54
$GC,10177,0.51,411.3,459.1,11.7,808,10187,0.00,2.20,2.62,0.440,4,0.000,0.042,2179,3819,1302,0,0,0,0,0,0,28.83,25.64,24.20
$GC,10199,0.51,411.3,456.2,12.2,810,10208,0.00,2.10,0.00,0.000,6,0.000,0.028,2189,2462,1308,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10510,0.51,411.3,416.3,13.4,841,10520,0.00,2.30,1.67,0.187,4,0.000,0.038,2200,1061,1304,0,0,0,0,0,0,28.83,25.51,24.86
$GC,10553,0.53,411.3,411.0,12.2,845,10562,0.00,2.35,0.00,0.000,6,0.000,0.035,2200,2521,1310,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10864,0.52,411.3,368.8,13.4,876,10872,0.00,2.00,0.00,0.000,4,0.000,0.043,2200,3802,1310,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10898,0.51,411.3,363.9,15.0,879,10906,0.12,2.05,0.00,0.000,6,0.138,0.026,2174,2461,1311,0,0,0,0,0,0,25.39,25.70,28.83
$GC,11206,0.64,491.1,333.1,9.6,910,11296,0.12,2.35,83.18,0.740,4,0.076,0.036,2280,1045,966,0,0,0,0,0,0,26.25,25.33,24.17
$GC,11324,0.59,491.1,309.3,23.7,921,11331,0.28,2.40,0.00,0.000,6,0.122,0.038,2197,2519,955,0,0,0,0,0,0,25.08,25.44,28.83
$GC,11632,0.77,600.1,278.1,8.8,952,11741,0.12,2.40,96.93,0.687,4,0.075,0.034,2300,1062,514,0,0,0,0,0,0,26.18,25.32,24.21
$GC,11777,0.74,600.1,243.6,25.5,966,11787,0.15,2.35,0.00,0.000,6,0.113,0.035,2248,2522,502,0,0,0,0,0,0,25.33,25.51,28.83
$GC,12087,0.72,600.1,187.0,19.4,1003,12095,0.00,2.05,0.00,0.000,4,0.000,0.041,2247,3825,499,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12120,0.71,600.1,181.0,19.6,1008,12126,0.00,2.08,0.00,0.000,6,0.000,0.025,2258,2462,499,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12432,0.71,600.1,128.0,17.4,1069,12438,0.00,2.22,0.00,0.000,4,0.000,0.037,2269,1060,498,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12492,0.87,677.7,120.6,9.7,1080,12523,0.00,2.30,21.62,0.580,6,0.000,0.029,2269,2527,426,0,0,0,0,0,0,28.83,25.67,24.57
$GC,12829,0.88,677.7,69.6,14.4,1145,12836,0.00,2.33,0.00,0.000,4,0.000,0.033,2281,1046,412,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12872,1.06,775.7,65.1,9.1,1152,12879,0.20,2.33,0.00,0.000,6,0.062,0.030,2374,2527,411,0,0,0,0,0,0,25.66,25.68,28.83
$STATE,13136,end climb,SURFACE_DEPTH_REACHED
$STATE,13136,begin surface coast
$FINISH,-0.3,1.021721
$STATE,13152,end surface coast,CONTROL_FINISHED_OK
$STATE,13155,begin surface
$SM_CCo,13231,0.00,0.000,0,0,411,629.93
$SM_GC,0.56,5.62,0.25,0.00,0.020,0.057,0.000,120,2665,411,-5.78,-0.34,629.93,0,0,0,0,0,0,25.86,26.13,28.83
$IRIDIUM_FIX,2319.18,12136.91,060312,161612
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.28
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,22.5,122.723
$10V_AH,9.8,73.683
$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,17.025,134.225,795.275,0.000,0.000,50.779,84.567,229.224,0.000,0.000,30.579,2979.113,6968.967,835.731,2640.941,374.806,0.000,2115.228,0.000,2129.473,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,76.500,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.057,1548.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80427,1207
$CAP_FILE_SIZE,157370,0
$CFSIZE,260165632,165728256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.195, 28.8,1
$GPS,060312,202407,2326.284,12138.505,40,1.4,40,-3.1