version: 66.10
glider: 169
mission: 5
dive: 586
start: 3 3 112 22 36 41
data:
$ID,169
$MISSION,5
$DIVE,586
$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,-13653.768
$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
$GPS1,030312,222907,2336.338,12138.885,30,0.9,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.6
$GPS2,030312,223616,2336.616,12138.973,12,5.5,31,-3.2
$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,213.7,65113,-14.6,-11.786
$D_GRID,836
$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,18,-0.72,-292.0,0.0,0.0,0,118,0.00,0.00,-97.47,0.000,2,0.000,0.000,117,2580,2862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.72,-292.0,3.0,-5.0,17,154,6.82,0.00,-20.75,0.000,6,0.226,0.000,1763,2580,3963,0,0,0,0,0,0,24.79,28.83,26.53
$GC,459,-0.60,-292.0,116.6,-29.1,82,466,0.15,2.25,0.00,0.000,4,0.182,0.024,1818,1180,3963,0,0,0,0,0,0,25.72,25.88,28.83
$GC,506,-0.62,-292.0,126.0,-11.7,90,513,0.00,2.45,0.00,0.000,6,0.000,0.037,1812,2645,3963,0,0,0,0,0,0,28.83,25.71,28.83
$GC,821,-0.57,-292.0,182.1,-18.3,151,829,0.00,2.38,0.00,0.000,4,0.000,0.025,1812,1180,3964,0,0,0,0,0,0,28.83,25.90,28.83
$GC,866,-0.58,-292.0,189.4,-11.8,159,874,0.00,2.47,0.00,0.000,6,0.000,0.037,1812,2652,3964,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1177,-0.54,-292.0,242.7,-17.1,197,1186,0.00,2.38,0.00,0.000,4,0.000,0.026,1812,1182,3963,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1232,-0.55,-292.0,249.3,-11.8,202,1239,0.00,2.45,0.00,0.000,6,0.000,0.037,1812,2645,3963,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1539,-0.52,-292.0,297.8,-16.1,233,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2644,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1842,-0.49,-292.0,342.1,-13.1,263,1853,0.12,2.38,0.00,0.000,4,0.146,0.025,1855,1172,3960,0,0,0,0,0,0,26.07,25.85,28.83
$GC,1897,-0.55,-292.0,346.9,-7.2,268,1906,0.00,2.45,0.00,0.000,6,0.000,0.035,1851,2646,3960,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2207,-0.67,-292.0,374.1,-9.8,299,2216,0.15,1.83,0.00,0.000,4,0.088,0.041,1776,3832,3958,0,0,0,0,0,0,26.25,25.63,28.83
$GC,2272,-0.79,-292.0,380.1,-9.0,305,2275,0.00,1.77,0.00,0.000,6,0.000,0.022,1779,2585,3957,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2583,-0.82,-292.0,410.2,-10.4,336,2588,0.10,2.00,0.00,0.000,4,0.089,0.041,1700,3815,3955,0,0,0,0,0,0,26.39,25.61,28.83
$GC,2649,-0.75,-292.0,421.1,-19.9,342,2656,0.20,1.77,0.00,0.000,6,0.142,0.021,1764,2584,3954,0,0,0,0,0,0,25.43,26.08,28.83
$GC,2957,-0.70,-292.0,480.6,-18.2,373,2965,0.00,2.22,0.00,0.000,4,0.000,0.028,1774,1183,3952,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3019,-0.71,-292.0,488.7,-10.7,379,3027,0.00,2.42,0.00,0.000,6,0.000,0.037,1764,2639,3952,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3329,-0.66,-292.0,541.0,-17.5,410,3338,0.12,2.35,0.00,0.000,4,0.154,0.024,1808,1186,3949,0,0,0,0,0,0,26.01,25.80,28.83
$GC,3384,-0.69,-292.0,547.2,-10.9,415,3391,0.00,2.45,0.00,0.000,6,0.000,0.037,1802,2648,3949,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3691,-0.68,-292.0,582.9,-12.2,446,3700,0.00,2.35,0.00,0.000,4,0.000,0.027,1802,1184,3947,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3724,-0.69,-292.0,586.3,-10.7,449,3733,0.00,2.42,0.00,0.000,6,0.000,0.037,1799,2636,3947,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4036,-0.68,-292.0,621.5,-11.3,471,4042,0.00,2.35,0.00,0.000,4,0.000,0.027,1799,1173,3945,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4063,-0.68,-292.0,624.0,-11.4,472,4067,0.00,2.50,0.00,0.000,6,0.000,0.039,1799,2650,3945,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4373,-0.67,-292.0,656.8,-11.1,487,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2649,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.67,-292.0,688.3,-10.1,502,4676,0.00,2.40,0.00,0.000,4,0.000,0.028,1799,1186,3942,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4725,-0.69,-292.0,691.9,-9.8,504,4733,0.00,2.47,0.00,0.000,6,0.000,0.039,1799,2644,3941,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5031,-0.69,-292.0,720.8,-9.5,520,5035,0.00,1.85,0.00,0.000,4,0.000,0.047,1791,3805,3938,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5056,-0.69,-292.0,723.1,-9.6,521,5059,0.00,1.77,0.00,0.000,6,0.000,0.024,1791,2586,3938,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5376,-0.68,-292.0,755.4,-10.6,537,5381,0.00,2.22,0.00,0.000,4,0.000,0.029,1791,1184,3936,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5397,-0.68,-292.0,757.5,-10.5,538,5401,0.00,2.47,0.00,0.000,6,0.000,0.041,1781,2643,3936,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5709,-0.66,-292.0,795.5,-12.7,554,5715,0.00,2.38,0.00,0.000,4,0.000,0.028,1781,1179,3933,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5739,-0.64,-292.0,798.1,-12.7,555,5749,0.10,2.50,0.00,0.000,6,0.129,0.040,1804,2648,3934,0,0,0,0,0,0,25.34,25.46,28.83
$GC,6052,-0.65,-292.0,828.5,-9.9,571,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2647,3931,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6127,begin apogee
$GC,6132,-0.20,0.0,836.3,-9.9,575,6350,0.40,0.12,207.25,1.072,6,0.093,0.053,1946,2527,2967,0,0,0,0,0,0,25.47,24.77,23.64
$STATE,6351,end apogee,CONTROL_FINISHED_OK
$STATE,6351,begin climb
$GC,6353,0.72,292.0,851.4,0.0,586,6634,0.80,2.17,266.27,1.066,4,0.042,0.044,2257,3822,1773,0,0,0,0,0,0,25.10,24.90,23.65
$GC,6651,0.62,292.0,819.5,23.5,600,6659,0.22,2.12,0.00,0.000,6,0.180,0.025,2211,2465,1762,0,0,0,0,0,0,24.77,25.37,28.83
$GC,6962,0.56,292.0,754.4,18.2,616,6967,0.00,2.15,0.00,0.000,4,0.000,0.044,2211,3805,1755,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7053,0.50,292.0,738.7,19.4,620,7061,0.17,2.08,0.00,0.000,6,0.162,0.026,2175,2455,1754,0,0,0,0,0,0,25.33,25.89,28.83
$GC,7362,0.48,292.0,694.2,12.8,636,7368,0.00,2.17,0.00,0.000,4,0.000,0.045,2174,3810,1752,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7434,0.45,292.0,685.9,13.5,639,7441,0.00,2.08,0.00,0.000,6,0.000,0.028,2185,2466,1752,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7743,0.42,292.0,643.1,13.5,655,7748,0.12,2.17,0.00,0.000,4,0.166,0.041,2147,3819,1751,0,0,0,0,0,0,25.87,25.54,28.83
$GC,7783,0.40,292.0,637.8,13.1,657,7788,0.00,2.08,0.00,0.000,6,0.000,0.025,2156,2466,1751,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8102,0.46,336.2,604.5,10.6,673,8144,0.00,2.28,32.17,0.900,4,0.000,0.044,2157,3817,1613,0,0,0,0,1,0,28.83,25.53,23.99
$GC,8184,0.47,343.4,595.0,11.6,678,8213,0.00,2.08,17.23,0.814,6,0.000,0.026,2167,2465,1574,0,0,0,0,1,0,28.83,25.80,24.19
$GC,8512,0.47,343.4,555.5,12.2,711,8516,0.00,2.20,0.00,0.000,4,0.000,0.044,2168,3817,1573,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8548,0.47,343.4,551.3,13.1,714,8555,0.00,2.08,0.00,0.000,6,0.000,0.026,2178,2469,1573,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8854,0.46,343.4,509.5,13.4,745,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2468,1572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9157,0.45,343.4,467.9,14.0,775,9161,0.00,2.22,0.00,0.000,4,0.000,0.043,2178,3823,1571,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9218,0.45,343.4,458.4,14.5,781,9228,0.12,2.10,0.00,0.000,6,0.138,0.025,2153,2455,1571,0,0,0,0,0,0,25.55,25.86,28.83
$GC,9530,0.57,425.2,427.8,9.6,812,9620,0.12,2.35,83.95,0.790,4,0.076,0.045,2233,3815,1237,0,0,0,0,0,0,26.31,25.29,24.06
$GC,9659,0.52,425.2,405.2,20.8,824,9666,0.22,2.10,0.00,0.000,6,0.142,0.026,2179,2466,1223,0,0,0,0,0,0,25.16,25.63,28.83
$GC,9964,0.66,517.7,369.7,9.3,855,10056,0.12,2.35,84.47,0.752,4,0.076,0.033,2279,1061,856,0,0,0,0,0,0,26.20,25.33,24.07
$GC,10079,0.61,517.7,344.9,25.5,866,10089,0.25,2.38,0.00,0.000,6,0.119,0.037,2203,2519,841,0,0,0,0,0,0,25.21,25.48,28.83
$GC,10390,0.71,571.7,309.9,10.3,897,10450,0.10,2.15,49.45,0.704,4,0.088,0.043,2277,3816,630,0,0,0,0,0,0,26.21,25.51,24.22
$GC,10465,0.66,571.7,295.2,23.7,904,10474,0.17,2.08,0.00,0.000,6,0.137,0.025,2230,2468,621,0,0,0,0,0,0,25.24,25.69,28.83
$GC,10773,0.67,571.7,246.0,13.7,935,10777,0.00,2.25,0.00,0.000,4,0.000,0.034,2241,1047,618,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10809,0.69,571.7,242.0,13.1,938,10818,0.00,2.30,0.00,0.000,6,0.000,0.030,2241,2521,617,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11116,0.69,571.7,202.5,14.0,969,11125,0.00,2.35,0.00,0.000,4,0.000,0.034,2253,1059,616,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11149,0.72,571.7,198.5,12.8,973,11155,0.00,2.33,0.00,0.000,6,0.000,0.030,2253,2525,616,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11463,0.71,571.7,150.3,17.1,1034,11471,0.00,2.35,0.00,0.000,4,0.000,0.034,2264,1057,615,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11484,0.71,571.7,146.0,16.9,1037,11490,0.00,2.35,0.00,0.000,6,0.000,0.031,2265,2525,615,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11798,0.70,571.7,90.2,18.3,1098,11805,0.00,2.08,0.00,0.000,4,0.000,0.041,2265,3814,615,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11853,0.72,571.7,80.7,13.9,1108,11861,0.12,2.05,0.00,0.000,6,0.123,0.024,2234,2457,615,0,0,0,0,0,0,25.67,25.93,28.83
$GC,12168,1.01,749.4,60.2,7.0,1169,12219,0.22,2.28,40.20,0.224,4,0.050,0.035,2391,1062,443,0,0,0,0,0,0,26.29,25.81,24.92
$GC,12309,1.01,749.4,30.2,16.1,1194,12317,0.20,2.35,2.72,0.152,6,0.117,0.034,2330,2524,434,0,0,0,0,0,0,25.40,25.72,24.87
$STATE,12480,end climb,SURFACE_DEPTH_REACHED
$STATE,12480,begin surface coast
$FINISH,0.0,1.022342
$STATE,12497,end surface coast,CONTROL_FINISHED_OK
$STATE,12497,begin surface
$SM_CCo,12573,0.00,0.000,0,0,452,619.87
$SM_GC,0.82,5.68,0.25,0.00,0.034,0.053,0.000,139,2659,452,-5.78,-0.40,619.87,0,0,0,0,0,0,25.67,26.20,28.83
$IRIDIUM_FIX,2326.22,12138.14,030312,191913
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.14
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.6,118.648
$10V_AH,9.8,71.945
$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,16.850,130.500,783.725,0.000,0.000,23.618,26.567,221.450,0.000,0.000,33.660,3002.627,6248.061,864.667,2472.867,394.077,0.000,2099.882,0.000,2082.924,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,52.785,1071.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.881,1539.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324828
$DATA_FILE_SIZE,83509,1230
$CAP_FILE_SIZE,150022,0
$CFSIZE,260165632,167231488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.070,102.3,1
$GPS,040312,020725,2334.724,12138.524,42,1.1,43,-3.1