version: 66.10
glider: 169
mission: 5
dive: 590
start: 3 4 112 13 31 28
data:
$ID,169
$MISSION,5
$DIVE,590
$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,-13658.802
$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
$GPS1,040312,132355,2331.939,12138.014,40,1.6,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-66.3
$GPS2,040312,133101,2332.310,12138.162,13,1.6,30,-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,213.4,57167,-14.6,-11.786
$D_GRID,875
$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,-292.0,0.0,0.0,0,119,0.00,0.00,-99.53,0.000,2,0.000,0.000,112,2646,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.72,-292.0,3.3,-7.5,17,155,6.80,2.45,-19.25,0.000,4,0.223,0.038,1780,1162,3963,0,0,1,0,0,0,24.79,24.86,26.50
$GC,189,-0.56,-292.0,34.5,-46.8,28,196,0.20,2.50,0.00,0.000,6,0.139,0.039,1825,2648,3963,0,0,0,0,0,0,25.28,25.67,28.83
$GC,503,-0.50,-292.0,98.7,-19.2,89,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2648,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,817,-0.45,-292.0,158.3,-17.6,150,824,0.12,2.42,0.00,0.000,4,0.153,0.025,1868,1173,3965,0,0,0,0,0,0,26.01,25.79,28.83
$GC,867,-0.53,-292.0,163.8,-5.9,159,875,0.00,2.47,0.00,0.000,6,0.000,0.035,1868,2651,3965,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1185,-0.63,-292.0,194.4,-9.8,220,1193,0.17,1.83,0.00,0.000,4,0.110,0.039,1803,3815,3964,0,0,0,0,0,0,26.01,25.61,28.83
$GC,1232,-0.76,-292.0,199.2,-9.2,228,1239,0.15,1.77,0.00,0.000,6,0.113,0.023,1761,2582,3964,0,0,0,0,0,0,25.75,26.08,28.83
$GC,1548,-0.75,-292.0,232.0,-11.8,260,1557,0.00,1.95,0.00,0.000,4,0.000,0.040,1751,3813,3963,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1713,-0.70,-292.0,262.5,-19.0,276,1722,0.10,1.75,0.00,0.000,6,0.148,0.021,1780,2585,3963,0,0,0,0,0,0,25.78,26.07,28.83
$GC,2021,-0.63,-292.0,326.5,-20.9,307,2025,0.00,2.22,0.00,0.000,4,0.000,0.026,1789,1177,3962,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2085,-0.64,-292.0,335.5,-11.7,313,2093,0.00,2.42,0.00,0.000,6,0.000,0.037,1778,2638,3962,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2394,-0.58,-292.0,396.3,-20.1,344,2405,0.12,2.35,0.00,0.000,4,0.155,0.024,1824,1175,3960,0,0,0,0,0,0,26.00,25.79,28.83
$GC,2450,-0.61,-292.0,403.2,-11.2,349,2459,0.00,2.45,0.00,0.000,6,0.000,0.037,1824,2640,3959,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2760,-0.72,-292.0,429.3,-8.2,380,2771,0.12,2.35,0.00,0.000,4,0.085,0.026,1771,1182,3958,0,0,0,0,0,0,26.29,25.77,28.83
$GC,2804,-0.81,-292.0,433.3,-8.8,384,2814,0.00,2.40,0.00,0.000,6,0.000,0.032,1772,2644,3957,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3114,-0.85,-292.0,459.7,-8.7,415,3123,0.12,1.77,0.00,0.000,4,0.076,0.043,1665,3814,3955,0,0,0,0,0,0,26.34,25.51,28.83
$GC,3268,-0.76,-292.0,493.9,-25.1,430,3277,0.28,1.75,0.00,0.000,6,0.137,0.022,1758,2593,3953,0,0,0,0,0,0,25.10,25.98,28.83
$GC,3578,-0.70,-292.0,552.6,-18.8,461,3587,0.00,2.25,0.00,0.000,4,0.000,0.027,1769,1179,3952,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3632,-0.70,-292.0,560.3,-13.7,466,3639,0.00,2.47,0.00,0.000,6,0.000,0.039,1759,2644,3951,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3943,-0.64,-292.0,616.4,-18.8,493,3950,0.12,2.38,0.00,0.000,4,0.154,0.025,1799,1184,3949,0,0,0,0,0,0,25.98,25.72,28.83
$GC,3997,-0.62,-292.0,622.5,-16.9,495,4004,0.00,2.45,0.00,0.000,6,0.000,0.038,1799,2643,3948,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4306,-0.61,-292.0,659.7,-12.4,511,4311,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1182,3946,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4327,-0.61,-292.0,662.2,-12.4,512,4331,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2643,3946,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4639,-0.61,-292.0,699.2,-11.7,528,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2643,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4942,-0.61,-292.0,732.1,-10.9,543,4948,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1186,3943,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4989,-0.62,-292.0,736.1,-10.3,545,4993,0.00,2.47,0.00,0.000,6,0.000,0.038,1799,2648,3943,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5299,-0.62,-292.0,768.6,-10.4,560,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2648,3941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5596,-0.62,-292.0,799.3,-10.2,575,5601,0.00,2.38,0.00,0.000,4,0.000,0.028,1799,1189,3939,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5638,-0.64,-292.0,803.3,-10.1,577,5643,0.00,2.45,0.00,0.000,6,0.000,0.038,1799,2643,3939,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5952,-0.64,-292.0,834.8,-10.5,593,5958,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1188,3936,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5991,-0.65,-292.0,838.8,-10.3,595,5996,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2637,3936,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6313,-0.66,-292.0,874.2,-11.4,611,6318,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1184,3934,0,0,0,0,0,0,28.83,25.61,28.83
$STATE,6329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6329,begin apogee
$GC,6337,-0.20,0.0,876.5,-11.1,612,6553,0.40,0.08,209.93,1.105,6,0.078,0.097,1947,2463,2978,0,0,0,0,0,0,25.56,24.60,23.54
$STATE,6554,end apogee,CONTROL_FINISHED_OK
$STATE,6554,begin climb
$GC,6556,0.72,292.0,892.2,0.0,623,6833,0.80,2.38,268.17,1.097,4,0.044,0.047,2254,3817,1778,0,0,0,0,0,0,24.90,24.65,23.39
$GC,6889,0.63,292.0,847.4,26.1,639,6898,0.15,2.12,0.00,0.000,6,0.165,0.028,2221,2469,1759,0,0,0,0,0,0,24.84,25.40,28.83
$GC,7198,0.56,292.0,777.6,20.8,655,7203,0.00,2.15,0.00,0.000,4,0.000,0.044,2221,3807,1754,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7232,0.49,292.0,773.4,20.7,656,7241,0.22,2.08,0.00,0.000,6,0.156,0.027,2169,2463,1754,0,0,0,0,0,0,25.18,25.84,28.83
$GC,7538,0.47,292.0,729.1,12.6,672,7541,0.00,2.20,0.00,0.000,4,0.000,0.044,2169,3815,1753,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7584,0.45,292.0,723.3,13.2,674,7588,0.00,2.08,0.00,0.000,6,0.000,0.028,2179,2471,1752,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7896,0.42,292.0,679.6,13.7,690,7902,0.12,2.20,0.00,0.000,4,0.163,0.041,2141,3812,1751,0,0,0,0,0,0,25.86,25.51,28.83
$GC,7918,0.40,292.0,676.9,13.6,691,7922,0.00,2.08,0.00,0.000,6,0.000,0.026,2150,2463,1751,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8232,0.40,292.0,640.5,12.6,707,8237,0.00,2.20,0.00,0.000,4,0.000,0.044,2150,3818,1751,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8271,0.40,292.0,634.9,13.2,709,8276,0.00,2.10,0.00,0.000,6,0.000,0.027,2161,2466,1750,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8581,0.39,292.0,591.9,14.3,727,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2464,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8886,0.38,292.0,551.9,13.0,757,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2464,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9194,0.40,310.6,514.0,11.3,788,9221,0.00,2.33,16.67,0.805,4,0.000,0.044,2161,3821,1701,0,0,0,0,1,0,28.83,25.59,23.48
$GC,9266,0.41,321.2,505.8,11.5,795,9285,0.00,2.10,8.45,0.812,6,0.000,0.026,2172,2457,1669,0,0,0,0,0,0,28.83,25.84,24.24
$GC,9585,0.43,344.5,470.4,11.2,827,9615,0.00,0.00,23.48,0.768,6,0.000,0.000,2172,2456,1572,0,0,0,0,1,0,28.83,28.83,24.10
$GC,9914,0.43,344.5,431.9,12.4,860,9924,0.00,2.33,1.90,0.181,4,0.000,0.044,2171,3805,1571,0,0,0,0,0,0,28.83,25.59,24.85
$GC,9948,0.43,344.5,427.3,13.7,863,9958,0.08,2.05,0.00,0.000,6,0.120,0.027,2153,2471,1574,0,0,0,0,0,0,25.54,25.84,28.83
$GC,10258,0.57,444.2,397.2,9.1,894,10401,0.12,0.00,139.57,0.708,6,0.076,0.000,2241,2470,1167,0,0,0,0,0,0,26.27,28.83,24.06
$GC,10700,0.53,444.2,306.4,21.8,938,10709,0.17,2.22,0.00,0.000,4,0.149,0.041,2187,3812,1145,0,0,0,0,0,0,25.53,25.53,28.83
$GC,10754,0.54,444.2,297.6,16.0,943,10757,0.00,2.08,0.00,0.000,6,0.000,0.026,2197,2463,1144,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11066,0.57,460.1,261.6,11.4,974,11086,0.00,2.33,15.23,0.662,4,0.000,0.035,2208,1057,1097,0,0,0,0,0,0,28.83,25.75,24.47
$GC,11103,0.63,490.3,257.9,11.0,977,11140,0.00,2.35,29.83,0.679,6,0.000,0.034,2209,2522,972,0,0,0,0,0,0,28.83,25.79,24.22
$GC,11441,0.76,565.5,221.8,9.7,1011,11512,0.12,2.42,64.90,0.665,4,0.074,0.037,2309,1053,664,0,0,0,0,0,0,26.20,25.45,24.24
$GC,11542,0.70,565.5,198.5,27.2,1021,11550,0.25,2.38,0.00,0.000,6,0.122,0.036,2233,2520,649,0,0,0,0,0,0,25.25,25.56,28.83
$GC,11857,0.72,565.5,155.8,12.3,1082,11864,0.00,2.08,0.00,0.000,4,0.000,0.042,2233,3810,646,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11871,0.75,565.5,153.8,12.5,1084,11879,0.00,2.05,0.00,0.000,6,0.000,0.024,2243,2459,645,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12188,0.77,565.5,112.8,12.7,1145,12195,0.00,2.22,0.00,0.000,4,0.000,0.035,2254,1061,645,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12238,0.95,650.5,106.8,9.5,1154,12311,0.17,2.33,65.07,0.313,6,0.057,0.029,2361,2532,436,0,0,0,0,0,0,25.79,25.77,24.79
$GC,12618,0.92,650.5,6.6,18.8,1226,12627,0.17,2.47,2.58,0.145,4,0.161,0.037,2320,1050,435,0,0,0,0,0,0,25.61,25.60,24.80
$STATE,12638,end climb,SURFACE_DEPTH_REACHED
$STATE,12638,begin surface coast
$FINISH,1.3,1.022149
$STATE,12654,end surface coast,CONTROL_FINISHED_OK
$STATE,12654,begin surface
$SM_CCo,12734,0.00,0.000,0,0,446,621.34
$SM_GC,0.64,5.72,2.67,0.00,0.037,0.031,0.000,130,2654,446,-5.80,-0.28,621.34,0,0,0,0,0,0,25.81,25.71,28.83
$IRIDIUM_FIX,2323.87,12136.14,040312,090904
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.28
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.5,0.0
$24V_AH,23.4,119.563
$10V_AH,9.8,72.336
$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,16.850,126.325,845.775,0.000,0.000,30.979,24.518,210.177,0.250,0.000,30.969,2992.071,6378.528,870.272,2525.560,371.376,0.000,2139.661,0.000,2117.980,0.000,2.870,0.000
$DEVICE_MAMPS,222.615,97.155,1104.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.895,1535.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,80392,1232
$CAP_FILE_SIZE,153003,0
$CFSIZE,260165632,166899712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$CURRENT,0.144, 87.4,1
$GPS,040312,170437,2330.596,12137.764,25,1.3,26,-3.1