version: 66.10
glider: 169
mission: 5
dive: 607
start: 3 7 112 4 48 19
data:
$ID,169
$MISSION,5
$DIVE,607
$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,-13680.291
$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
$GPS1,070312,043500,2327.318,12139.951,40,1.4,40,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.4
$GPS2,070312,044754,2327.828,12140.012,33,1.0,43,-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,209.9,50957,-14.6,-11.786
$D_GRID,987
$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,-292.0,0.0,0.0,0,120,0.00,0.00,-99.00,0.000,2,0.000,0.000,130,2663,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.72,-292.0,3.9,-9.3,17,155,6.88,1.73,-17.55,0.000,4,0.233,0.048,1755,3832,3963,0,0,0,0,0,0,24.85,25.77,26.51
$GC,260,-0.68,-292.0,60.9,-19.7,42,268,0.12,1.77,0.00,0.000,6,0.150,0.021,1789,2575,3963,0,0,0,0,0,0,25.61,26.03,28.83
$GC,575,-0.57,-292.0,145.9,-28.7,103,583,0.12,2.17,0.00,0.000,4,0.168,0.024,1837,1174,3964,0,0,0,0,0,0,25.89,25.75,28.83
$GC,621,-0.57,-292.0,155.6,-13.2,111,629,0.00,2.45,0.00,0.000,6,0.000,0.035,1827,2650,3965,0,0,0,0,0,0,28.83,25.57,28.83
$GC,935,-0.55,-292.0,202.6,-12.9,170,936,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2650,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-0.52,-292.0,246.4,-15.2,200,1246,0.00,2.35,0.00,0.000,4,0.000,0.025,1827,1177,3962,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1290,-0.55,-292.0,252.4,-10.6,205,1299,0.00,2.40,0.00,0.000,6,0.000,0.034,1817,2641,3962,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1601,-0.51,-292.0,298.3,-14.3,236,1609,0.00,2.33,0.00,0.000,4,0.000,0.025,1817,1176,3960,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1663,-0.55,-292.0,304.9,-8.4,242,1671,0.00,2.42,0.00,0.000,6,0.000,0.035,1808,2643,3960,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1972,-0.51,-292.0,350.2,-16.7,273,1982,0.12,2.35,0.00,0.000,4,0.148,0.024,1850,1173,3957,0,0,0,0,0,0,25.98,25.72,28.83
$GC,2007,-0.51,-292.0,354.6,-14.4,276,2014,0.00,2.45,0.00,0.000,6,0.000,0.035,1848,2647,3957,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2316,-0.63,-292.0,388.4,-11.1,307,2326,0.12,1.77,0.00,0.000,4,0.112,0.040,1795,3821,3954,0,0,0,0,0,0,26.15,25.46,28.83
$GC,2353,-0.75,-292.0,392.1,-10.8,310,2360,0.00,1.77,0.00,0.000,6,0.000,0.022,1797,2575,3954,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2663,-0.86,-292.0,417.4,-7.3,341,2673,0.15,2.20,0.00,0.000,4,0.094,0.025,1735,1169,3951,0,0,0,0,0,0,26.17,25.71,28.83
$GC,2698,-0.92,-292.0,420.3,-7.6,344,2706,0.00,2.40,0.00,0.000,6,0.000,0.034,1724,2634,3951,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3008,-0.82,-292.0,490.6,-24.4,375,3017,0.00,2.35,0.00,0.000,4,0.000,0.027,1732,1168,3949,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3110,-0.80,-292.0,510.0,-15.1,385,3119,0.00,2.45,0.00,0.000,6,0.000,0.037,1721,2644,3948,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3420,-0.70,-292.0,591.5,-27.8,416,3430,0.17,2.35,0.00,0.000,4,0.158,0.024,1786,1175,3946,0,0,0,0,0,0,25.64,25.63,28.83
$GC,3472,-0.66,-292.0,600.3,-20.7,420,3482,0.00,2.45,0.00,0.000,6,0.000,0.037,1775,2644,3946,0,0,0,0,0,0,28.83,25.45,28.83
$GC,3783,-0.62,-292.0,654.9,-17.5,436,3787,0.12,1.80,0.00,0.000,4,0.141,0.043,1811,3826,3944,0,0,0,0,0,0,26.01,25.33,28.83
$GC,3807,-0.59,-292.0,658.5,-16.9,437,3810,0.00,1.80,0.00,0.000,6,0.000,0.023,1811,2585,3944,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4128,-0.59,-292.0,692.7,-10.8,453,4134,0.00,2.20,0.00,0.000,4,0.000,0.028,1810,1171,3941,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4171,-0.61,-292.0,696.7,-10.5,455,4177,0.00,2.45,0.00,0.000,6,0.000,0.037,1802,2644,3941,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4490,-0.61,-292.0,730.5,-10.0,471,4496,0.00,2.38,0.00,0.000,4,0.000,0.031,1802,1167,3937,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4533,-0.62,-292.0,733.9,-9.2,473,4537,0.00,2.47,0.00,0.000,6,0.000,0.037,1799,2644,3937,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4847,-0.62,-292.0,762.8,-9.4,489,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2643,3934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.62,-292.0,790.7,-9.8,504,5151,0.00,2.33,0.00,0.000,4,0.000,0.028,1799,1189,3932,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5174,-0.62,-292.0,792.6,-9.7,505,5184,0.00,2.45,0.00,0.000,6,0.000,0.039,1799,2642,3932,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5486,-0.62,-292.0,820.6,-9.0,521,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2642,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5785,-0.62,-292.0,852.1,-11.8,536,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2642,3927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6087,-0.62,-292.0,887.1,-11.1,551,6093,0.00,2.38,0.00,0.000,4,0.000,0.028,1799,1176,3926,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6134,-0.64,-292.0,891.3,-10.5,553,6139,0.00,2.47,0.00,0.000,6,0.000,0.038,1799,2644,3926,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6440,-0.64,-292.0,926.2,-12.2,568,6447,0.00,2.38,0.00,0.000,4,0.000,0.030,1799,1181,3923,0,0,0,0,0,0,28.83,25.45,28.83
$GC,6470,-0.65,-292.0,928.8,-12.5,569,6480,0.00,2.47,0.00,0.000,6,0.000,0.038,1799,2644,3923,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6781,-0.66,-292.0,967.8,-11.1,585,6787,0.00,2.35,0.00,0.000,4,0.000,0.030,1799,1190,3921,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6816,-0.67,-292.0,970.1,-11.8,586,6824,0.00,2.47,0.00,0.000,6,0.000,0.040,1799,2644,3921,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,6959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6959,begin apogee
$GC,6965,-0.20,0.0,987.4,-12.2,594,7182,0.40,0.12,208.32,1.187,6,0.087,0.084,1942,2538,2970,0,0,0,0,0,0,25.36,24.34,23.25
$STATE,7183,end apogee,CONTROL_FINISHED_OK
$STATE,7183,begin climb
$GC,7186,0.72,292.0,1007.5,0.0,605,7473,0.82,2.65,277.30,1.178,4,0.044,0.036,2265,1067,1777,0,0,0,0,0,0,24.59,23.68,22.47
$GC,7570,0.67,292.0,947.9,24.8,624,7575,0.15,2.42,0.00,0.000,6,0.161,0.038,2228,2520,1757,0,0,0,0,0,0,24.65,25.01,28.83
$GC,7880,0.59,292.0,865.1,23.9,639,7886,0.00,2.03,0.00,0.000,4,0.000,0.044,2228,3806,1754,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7961,0.51,292.0,845.0,24.7,643,7966,0.22,2.08,0.00,0.000,6,0.164,0.028,2177,2463,1753,0,0,0,0,0,0,25.07,25.77,28.83
$GC,8276,0.49,292.0,792.8,15.7,659,8281,0.00,2.17,0.00,0.000,4,0.000,0.044,2177,3816,1752,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8337,0.46,292.0,782.8,16.1,662,8341,0.00,2.08,0.00,0.000,6,0.000,0.028,2187,2465,1751,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8649,0.43,292.0,731.6,15.9,678,8651,0.15,0.00,0.00,0.000,6,0.154,0.000,2146,2463,1751,0,0,0,0,0,0,25.79,28.83,28.83
$GC,8951,0.49,343.8,698.6,10.4,693,9001,0.00,2.30,38.40,1.003,4,0.000,0.037,2157,1065,1581,0,0,0,0,1,0,28.83,25.37,23.88
$GC,9012,0.53,379.6,692.2,10.8,696,9061,0.00,2.38,38.12,1.058,6,0.000,0.035,2157,2525,1430,0,0,0,0,1,0,28.83,25.49,23.63
$GC,9373,0.63,443.5,655.7,10.1,714,9453,0.12,2.42,73.45,0.930,4,0.073,0.036,2256,1060,1162,0,0,0,0,0,0,26.15,25.27,24.01
$GC,9479,0.58,443.5,635.8,22.9,719,9486,0.20,2.38,0.00,0.000,6,0.129,0.037,2197,2518,1148,0,0,0,0,0,0,25.22,25.48,28.83
$GC,9789,0.56,443.5,583.9,15.7,740,9797,0.00,2.00,0.00,0.000,4,0.000,0.043,2197,3809,1144,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9804,0.55,443.5,581.9,16.0,741,9811,0.00,2.05,0.00,0.000,6,0.000,0.027,2208,2461,1145,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10110,0.53,443.5,528.2,15.8,772,10120,0.00,2.17,0.00,0.000,4,0.000,0.044,2208,3818,1143,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10125,0.51,443.5,526.8,16.0,773,10133,0.15,2.08,0.00,0.000,6,0.149,0.026,2177,2458,1143,0,0,0,0,0,0,25.35,25.79,28.83
$GC,10434,0.65,532.4,494.6,9.4,804,10526,0.12,2.30,84.68,0.828,4,0.077,0.036,2274,1066,796,0,0,0,0,0,0,26.20,25.29,24.12
$GC,10565,0.62,532.4,466.9,21.8,817,10574,0.17,2.33,0.00,0.000,6,0.099,0.037,2211,2518,781,0,0,0,0,0,0,25.25,25.51,28.83
$GC,10875,0.62,532.4,423.1,13.8,848,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2518,778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11180,0.65,541.9,386.5,11.5,878,11189,0.00,2.30,0.00,0.000,4,0.000,0.034,2223,1066,777,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11233,0.82,627.3,380.7,9.5,883,11333,0.10,2.28,88.05,0.753,6,0.036,0.029,2309,2525,429,0,0,0,0,0,0,25.60,25.66,24.20
$GC,11633,0.74,627.3,252.6,34.0,923,11643,0.20,2.35,0.00,0.000,4,0.174,0.034,2261,1066,407,0,0,0,0,0,0,25.34,25.57,28.83
$GC,11668,0.68,627.3,242.2,32.0,926,11677,0.10,2.33,0.00,0.000,6,0.134,0.034,2232,2524,407,0,0,0,0,0,0,25.49,25.65,28.83
$GC,11976,0.74,627.3,202.8,12.4,957,11985,0.00,2.33,0.00,0.000,4,0.000,0.034,2243,1056,404,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12018,0.83,627.3,197.6,11.9,963,12026,0.00,2.33,0.00,0.000,6,0.000,0.028,2243,2532,404,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12335,1.00,670.5,161.8,10.6,1024,12342,0.22,2.05,0.00,0.000,4,0.079,0.040,2329,3827,401,0,0,0,0,0,0,25.96,25.41,28.83
$GC,12432,1.24,783.5,151.6,8.7,1042,12440,0.22,2.08,0.00,0.000,6,0.071,0.024,2411,2437,401,0,0,0,0,0,0,25.60,25.85,28.83
$GC,12749,1.13,783.5,44.4,40.7,1103,12756,0.12,2.20,0.00,0.000,4,0.209,0.031,2389,1044,400,0,0,0,0,0,0,25.62,25.49,28.83
$GC,12804,1.14,783.5,29.4,17.1,1113,12812,0.00,2.38,0.00,0.000,6,0.000,0.034,2389,2521,400,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,12940,end climb,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FINISH,-0.3,1.022036
$STATE,12951,end surface coast,CONTROL_FINISHED_OK
$STATE,12951,begin surface
$SM_CCo,13027,0.00,0.000,0,0,399,632.87
$SM_GC,0.50,5.78,0.25,0.00,0.025,0.058,0.000,126,2662,399,-5.79,-0.45,632.87,0,0,0,0,0,0,25.72,26.10,28.83
$IRIDIUM_FIX,2316.83,12140.91,070312,040406
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.43
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,22.5,123.506
$10V_AH,9.8,73.979
$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,17.100,131.700,808.325,0.000,0.000,88.809,113.576,254.638,0.000,0.000,43.851,2830.785,7059.977,840.011,2662.476,384.651,0.000,2098.312,0.000,2039.325,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,84.150,1187.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.604,1468.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,77112,1141
$CAP_FILE_SIZE,157571,0
$CFSIZE,260165632,165474304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.268, 15.2,1
$GPS,070312,082701,2327.287,12139.813,64,1.7,64,-3.1