version: 66.10
glider: 169
mission: 5
dive: 573
start: 3 1 112 17 13 0
data:
$ID,169
$MISSION,5
$DIVE,573
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,250
$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,-13632.16
$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
$GPS1,010312,170506,2331.378,12153.893,31,1.3,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.8
$GPS2,010312,171236,2331.643,12153.903,38,1.1,42,-3.2
$SPEED_LIMITS,0.204,0.374
$TGT_NAME,HEADING
$TGT_LATLONG,2327.949,12142.841
$TGT_RADIUS,1852.000
$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,253.2,20000,-14.6,-11.786
$D_GRID,4313
$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,-292.0,0.0,0.0,0,110,0.00,0.00,-90.50,0.000,2,0.000,0.000,126,2681,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.72,-292.0,4.3,-10.7,16,145,6.78,2.47,-15.45,0.000,4,0.225,0.044,1775,1181,3964,0,0,0,0,0,0,24.73,25.86,26.52
$GC,299,-0.66,-292.0,73.5,-25.3,51,307,0.12,2.40,0.00,0.000,6,0.155,0.034,1796,2648,3964,0,0,0,0,0,0,25.51,25.79,28.83
$GC,614,-0.55,-292.0,167.5,-28.3,112,621,0.12,2.35,0.00,0.000,4,0.174,0.023,1845,1164,3965,0,0,0,0,0,0,25.96,25.94,28.83
$GC,696,-0.60,-292.0,180.4,-10.3,127,703,0.00,2.42,0.00,0.000,6,0.000,0.034,1835,2647,3965,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1013,-0.58,-292.0,229.2,-14.2,170,1022,0.00,2.30,0.00,0.000,4,0.000,0.024,1835,1181,3965,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1066,-0.61,-292.0,235.1,-10.6,175,1074,0.00,2.38,0.00,0.000,6,0.000,0.034,1825,2645,3965,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1376,-0.58,-292.0,277.8,-14.2,206,1385,0.00,2.35,0.00,0.000,4,0.000,0.025,1825,1149,3965,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1408,-0.57,-292.0,281.8,-12.6,209,1417,0.00,2.45,0.00,0.000,6,0.000,0.037,1825,2646,3965,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1718,-0.57,-292.0,316.7,-11.7,240,1727,0.00,2.33,0.00,0.000,4,0.000,0.024,1825,1176,3964,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1752,-0.59,-292.0,320.1,-10.9,243,1760,0.00,2.38,0.00,0.000,6,0.000,0.036,1825,2640,3964,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2062,-0.59,-292.0,352.9,-11.0,274,2070,0.00,2.30,0.00,0.000,4,0.000,0.025,1825,1180,3962,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2095,-0.61,-292.0,356.3,-10.3,277,2104,0.00,2.38,0.00,0.000,6,0.000,0.036,1825,2642,3962,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2403,-0.61,-292.0,389.1,-11.1,308,2412,0.00,2.33,0.00,0.000,4,0.000,0.025,1825,1180,3959,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2427,-0.61,-292.0,391.7,-11.3,310,2436,0.00,2.38,0.00,0.000,6,0.000,0.037,1825,2637,3959,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2736,-0.62,-292.0,423.9,-10.1,341,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2637,3957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3039,-0.64,-292.0,452.9,-8.6,371,3048,0.00,2.30,0.00,0.000,4,0.000,0.027,1825,1183,3954,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3073,-0.67,-292.0,455.6,-8.2,374,3080,0.00,2.40,0.00,0.000,6,0.000,0.037,1825,2645,3953,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3381,-0.78,-292.0,478.9,-7.9,405,3390,0.17,2.33,0.00,0.000,4,0.102,0.026,1769,1180,3951,0,0,0,0,0,0,26.11,25.86,28.83
$GC,3475,-0.89,-292.0,485.9,-7.3,414,3484,0.10,2.38,0.00,0.000,6,0.057,0.034,1716,2646,3950,0,0,0,0,0,0,25.68,25.79,28.83
$GC,3783,-0.81,-292.0,549.0,-23.1,445,3793,0.12,2.35,0.00,0.000,4,0.163,0.026,1765,1180,3948,0,0,0,0,0,0,26.00,25.82,28.83
$GC,3830,-0.76,-292.0,557.1,-18.8,449,3837,0.00,2.42,0.00,0.000,6,0.000,0.038,1754,2643,3948,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4140,-0.71,-292.0,611.3,-18.1,477,4145,0.00,2.33,0.00,0.000,4,0.000,0.027,1754,1183,3946,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4218,-0.70,-292.0,622.9,-14.2,481,4225,0.10,2.42,0.00,0.000,6,0.098,0.038,1784,2644,3946,0,0,0,0,0,0,25.45,25.66,28.83
$GC,4539,-0.68,-292.0,665.7,-13.7,497,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2643,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.66,-292.0,705.7,-13.1,512,4844,0.00,2.33,0.00,0.000,4,0.000,0.027,1784,1182,3942,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4879,-0.66,-292.0,710.4,-12.8,514,4885,0.00,2.40,0.00,0.000,6,0.000,0.038,1775,2632,3941,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5199,-0.64,-292.0,755.4,-14.3,530,5202,0.00,1.83,0.00,0.000,4,0.000,0.047,1766,3823,3938,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5243,-0.62,-292.0,761.2,-14.2,532,5247,0.08,1.83,0.00,0.000,6,0.095,0.024,1813,2587,3938,0,0,0,0,0,0,25.72,26.06,28.83
$GC,5562,-0.64,-292.0,789.9,-8.6,548,5568,0.00,2.20,0.00,0.000,4,0.000,0.028,1813,1179,3936,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5601,-0.68,-292.0,793.2,-8.4,550,5607,0.00,2.40,0.00,0.000,6,0.000,0.038,1812,2641,3935,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5923,-0.79,-292.0,820.5,-8.9,566,5925,0.17,0.00,0.00,0.000,6,0.090,0.000,1744,2641,3933,0,0,0,0,0,0,26.18,28.83,28.83
$GC,6221,-0.83,-292.0,847.5,-9.3,581,6225,0.00,1.83,0.00,0.000,4,0.000,0.047,1738,3805,3931,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6313,-0.83,-292.0,857.0,-11.7,585,6316,0.00,1.77,0.00,0.000,6,0.000,0.023,1740,2593,3930,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6624,-0.78,-292.0,908.6,-16.4,601,6630,0.00,2.25,0.00,0.000,4,0.000,0.029,1739,1173,3929,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6707,-0.77,-292.0,919.3,-13.3,605,6712,0.12,2.45,0.00,0.000,6,0.134,0.040,1765,2644,3929,0,0,0,0,0,0,25.32,25.50,28.83
$GC,7023,-0.75,-292.0,960.3,-12.8,621,7029,0.00,2.35,0.00,0.000,4,0.000,0.029,1765,1188,3927,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7062,-0.74,-292.0,965.3,-12.7,623,7067,0.00,2.45,0.00,0.000,6,0.000,0.041,1756,2642,3927,0,0,0,0,0,0,28.83,25.46,28.83
$STATE,7259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7259,begin apogee
$GC,7266,-0.20,0.0,991.5,-14.0,633,7485,0.55,0.12,211.45,1.184,6,0.103,0.049,1941,2532,2975,0,0,0,0,0,0,25.13,24.60,23.39
$STATE,7486,end apogee,CONTROL_FINISHED_OK
$STATE,7486,begin climb
$GC,7490,0.72,292.0,1003.7,0.0,644,7774,0.80,2.22,274.65,1.170,4,0.047,0.047,2244,3809,1778,0,0,0,0,0,0,24.91,24.61,23.23
$GC,7875,0.64,292.0,945.0,25.6,663,7882,0.15,2.10,0.00,0.000,6,0.179,0.028,2219,2470,1758,0,0,0,0,0,0,25.17,25.62,28.83
$GC,8184,0.57,292.0,876.5,20.6,679,8189,0.00,2.20,0.00,0.000,4,0.000,0.045,2218,3815,1755,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8226,0.50,292.0,867.8,21.2,681,8233,0.20,2.10,0.00,0.000,6,0.161,0.028,2175,2462,1754,0,0,0,0,0,0,25.30,25.89,28.83
$GC,8543,0.48,292.0,818.1,14.7,697,8548,0.00,2.20,0.00,0.000,4,0.000,0.047,2174,3805,1753,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8603,0.45,292.0,808.6,15.7,700,8607,0.00,2.08,0.00,0.000,6,0.000,0.027,2184,2465,1753,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8925,0.42,292.0,759.8,15.0,716,8932,0.12,2.17,0.00,0.000,4,0.162,0.044,2145,3806,1751,0,0,0,0,0,0,25.89,25.56,28.83
$GC,8973,0.40,292.0,754.3,14.6,718,8977,0.00,2.08,0.00,0.000,6,0.000,0.028,2156,2465,1752,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9286,0.40,292.0,716.6,12.3,734,9292,0.00,2.20,0.00,0.000,4,0.000,0.046,2156,3809,1751,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9325,0.39,292.0,711.2,12.9,736,9331,0.00,2.10,0.00,0.000,6,0.000,0.028,2166,2465,1751,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9647,0.38,292.0,667.8,13.6,752,9649,0.12,0.00,0.00,0.000,6,0.163,0.000,2133,2464,1751,0,0,0,0,0,0,25.99,28.83,28.83
$GC,9946,0.50,376.0,638.1,9.5,767,10026,0.12,2.30,66.38,1.118,4,0.078,0.047,2220,3809,1453,0,0,0,0,1,0,26.32,25.11,23.56
$GC,10052,0.45,376.0,619.2,19.4,772,10061,0.22,2.10,2.42,0.384,6,0.129,0.028,2158,2477,1443,0,0,0,0,0,0,25.09,25.52,23.53
$GC,10370,0.53,425.9,581.3,10.4,796,10439,0.00,2.30,61.72,0.874,4,0.000,0.033,2169,1060,1229,0,0,0,0,0,0,28.83,25.32,23.89
$GC,10468,0.69,526.1,572.4,9.1,805,10573,0.17,2.35,95.65,0.873,6,0.060,0.032,2270,2523,826,0,0,0,0,0,0,25.60,25.56,23.72
$GC,10874,0.63,526.1,472.1,25.6,846,10884,0.17,2.30,0.00,0.000,4,0.165,0.031,2229,1059,804,0,0,0,0,0,0,25.53,25.72,28.83
$GC,10960,0.80,622.1,460.1,9.2,854,11060,0.12,2.33,91.68,0.796,6,0.077,0.031,2305,2528,438,0,0,0,0,0,0,25.77,25.78,23.94
$GC,11368,0.72,622.1,327.6,33.2,895,11377,0.20,2.33,0.00,0.000,4,0.168,0.032,2257,1056,415,0,0,0,0,0,0,25.41,25.72,28.83
$GC,11456,0.87,700.4,312.9,9.7,903,11463,0.10,2.30,0.00,0.000,6,0.089,0.029,2323,2527,414,0,0,0,0,0,0,25.79,25.82,28.83
$GC,11761,0.78,700.4,211.0,36.0,934,11771,0.20,2.05,0.00,0.000,4,0.178,0.041,2263,3812,411,0,0,0,0,0,0,25.44,25.67,28.83
$GC,11815,0.78,700.4,196.7,22.8,940,11822,0.00,2.08,0.00,0.000,6,0.000,0.028,2274,2470,410,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12127,0.78,700.4,147.3,16.9,1001,12134,0.00,2.22,0.00,0.000,4,0.000,0.036,2285,1047,410,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12191,0.86,717.8,139.3,11.3,1013,12198,0.00,2.33,0.00,0.000,6,0.000,0.029,2285,2531,410,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12505,0.92,746.9,94.6,11.0,1074,12511,0.00,2.05,0.00,0.000,4,0.000,0.041,2285,3817,409,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12536,0.97,755.6,91.1,11.5,1079,12543,0.00,2.08,0.00,0.000,6,0.000,0.023,2294,2450,409,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12850,1.10,821.7,62.0,10.0,1140,12857,0.15,2.17,0.00,0.000,4,0.070,0.031,2409,1048,409,0,0,0,0,0,0,26.34,25.77,28.83
$GC,12895,1.10,821.7,54.8,16.9,1148,12902,0.15,2.35,0.00,0.000,6,0.131,0.034,2364,2529,409,0,0,0,0,0,0,25.48,25.76,28.83
$STATE,13118,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,0.7,1.022299
$STATE,13129,end surface coast,CONTROL_FINISHED_OK
$STATE,13130,begin surface
$SM_CCo,13206,0.00,0.000,0,0,408,630.67
$SM_GC,0.90,5.68,0.22,0.00,0.028,0.057,0.000,136,2660,408,-5.78,-0.42,630.67,0,0,0,0,0,0,25.84,26.27,28.83
$IRIDIUM_FIX,2319.18,12152.61,010312,121221
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.35
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.2,115.426
$10V_AH,9.8,70.640
$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,17.150,135.950,803.950,0.000,0.000,30.657,21.080,218.135,0.000,0.000,43.447,2788.329,7080.113,804.438,2596.127,359.206,0.000,2116.643,0.000,2166.571,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,57.375,1184.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.243,1505.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324740
$DATA_FILE_SIZE,80295,1194
$CAP_FILE_SIZE,153895,0
$CFSIZE,260165632,168341504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010312,205407,2332.652,12153.621,32,1.4,32,-3.2