version: 66.10
glider: 169
mission: 5
dive: 580
start: 3 2 112 22 32 32
data:
$ID,169
$MISSION,5
$DIVE,580
$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,260
$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,-13646.222
$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
$GPS1,020312,222430,2335.570,12146.727,41,1.3,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.3
$GPS2,020312,223208,2335.792,12146.821,49,1.6,49,-3.2
$SPEED_LIMITS,0.204,0.374
$TGT_NAME,HEADING
$TGT_LATLONG,2333.917,12135.219
$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,263.2,20000,-14.6,-11.786
$D_GRID,3472
$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,-292.0,0.0,0.0,0,115,0.00,0.00,-94.75,0.000,2,0.000,0.000,117,2696,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.72,-292.0,3.0,-5.7,17,155,6.93,1.75,-20.88,0.000,4,0.231,0.058,1754,3829,3964,0,0,0,0,0,0,24.78,25.78,26.53
$GC,239,-0.64,-292.0,50.3,-26.8,39,247,0.15,1.77,0.00,0.000,6,0.159,0.020,1801,2582,3964,0,0,0,0,0,0,25.55,26.08,28.83
$GC,554,-0.56,-292.0,131.1,-25.1,100,561,0.00,2.20,0.00,0.000,4,0.000,0.024,1810,1180,3965,0,0,0,0,0,0,28.83,25.94,28.83
$GC,621,-0.60,-292.0,141.5,-9.6,112,627,0.00,2.45,0.00,0.000,6,0.000,0.037,1799,2654,3965,0,0,0,0,0,0,28.83,25.73,28.83
$GC,932,-0.54,-292.0,202.7,-18.8,172,942,0.12,2.33,0.00,0.000,4,0.158,0.023,1850,1185,3965,0,0,0,0,0,0,26.01,25.91,28.83
$GC,1000,-0.59,-292.0,209.9,-8.0,178,1007,0.00,2.42,0.00,0.000,6,0.000,0.033,1839,2657,3965,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1307,-0.72,-292.0,238.5,-10.4,209,1316,0.15,2.35,0.00,0.000,4,0.112,0.025,1793,1182,3965,0,0,0,0,0,0,26.10,25.89,28.83
$GC,1424,-0.82,-292.0,249.4,-9.0,220,1431,0.15,2.40,0.00,0.000,6,0.077,0.031,1733,2654,3964,0,0,0,0,0,0,25.76,25.83,28.83
$GC,1729,-0.71,-292.0,322.2,-26.0,251,1739,0.12,2.35,0.00,0.000,4,0.166,0.024,1783,1184,3963,0,0,0,0,0,0,25.98,25.86,28.83
$GC,1824,-0.74,-292.0,335.9,-9.2,260,1832,0.00,2.42,0.00,0.000,6,0.000,0.034,1771,2652,3963,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2134,-0.68,-292.0,391.4,-18.4,291,2142,0.00,2.35,0.00,0.000,4,0.000,0.025,1772,1174,3961,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2206,-0.69,-292.0,401.7,-11.1,298,2214,0.00,2.45,0.00,0.000,6,0.000,0.036,1762,2646,3961,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2515,-0.64,-292.0,454.9,-17.4,329,2525,0.12,2.38,0.00,0.000,4,0.155,0.024,1808,1179,3959,0,0,0,0,0,0,26.02,25.83,28.83
$GC,2602,-0.69,-292.0,463.6,-7.3,337,2608,0.00,2.45,0.00,0.000,6,0.000,0.034,1799,2651,3959,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2909,-0.67,-292.0,498.9,-11.6,368,2918,0.00,2.35,0.00,0.000,4,0.000,0.026,1799,1184,3956,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2971,-0.71,-292.0,504.9,-8.1,374,2980,0.00,2.45,0.00,0.000,6,0.000,0.036,1799,2650,3955,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3281,-0.70,-292.0,539.0,-11.9,405,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2649,3952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3586,-0.69,-292.0,573.9,-11.6,435,3594,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1184,3949,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3649,-0.72,-292.0,580.0,-7.9,441,3658,0.00,2.42,0.00,0.000,6,0.000,0.036,1797,2641,3949,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3970,-0.71,-292.0,615.9,-11.5,466,3976,0.00,2.38,0.00,0.000,4,0.000,0.028,1797,1178,3946,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3997,-0.71,-292.0,618.6,-11.7,467,4001,0.00,2.47,0.00,0.000,6,0.000,0.039,1787,2645,3946,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4304,-0.70,-292.0,660.4,-14.6,482,4310,0.00,2.38,0.00,0.000,4,0.000,0.028,1787,1184,3945,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4353,-0.70,-292.0,665.8,-14.2,484,4362,0.00,2.47,0.00,0.000,6,0.000,0.038,1781,2645,3944,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4664,-0.68,-292.0,710.0,-14.3,500,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2645,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4967,-0.66,-292.0,751.3,-13.4,515,4972,0.00,2.38,0.00,0.000,4,0.000,0.028,1781,1186,3940,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5018,-0.66,-292.0,756.4,-13.0,517,5025,0.00,2.47,0.00,0.000,6,0.000,0.040,1770,2647,3940,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5327,-0.63,-292.0,798.6,-13.5,533,5333,0.12,2.38,0.00,0.000,4,0.142,0.026,1814,1182,3937,0,0,0,0,0,0,26.04,25.70,28.83
$GC,5351,-0.62,-292.0,801.3,-13.6,534,5357,0.00,2.47,0.00,0.000,6,0.000,0.040,1813,2643,3937,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5667,-0.64,-292.0,827.2,-7.9,550,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2642,3935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5968,-0.66,-292.0,849.6,-7.2,565,5974,0.00,2.38,0.00,0.000,4,0.000,0.030,1813,1184,3933,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6009,-0.69,-292.0,852.3,-7.0,567,6014,0.00,2.47,0.00,0.000,6,0.000,0.038,1812,2644,3933,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6328,-0.80,-292.0,876.3,-8.2,583,6330,0.17,0.00,0.00,0.000,6,0.077,0.000,1731,2644,3931,0,0,0,0,0,0,26.23,28.83,28.83
$GC,6630,-0.74,-292.0,917.3,-16.8,598,6636,0.12,1.80,0.00,0.000,4,0.152,0.044,1763,3816,3930,0,0,0,0,0,0,25.98,25.37,28.83
$GC,6770,-0.76,-292.0,932.3,-8.6,605,6773,0.00,1.80,0.00,0.000,6,0.000,0.024,1763,2584,3928,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7093,-0.74,-292.0,971.1,-12.2,621,7098,0.00,2.28,0.00,0.000,4,0.000,0.031,1763,1182,3928,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7155,-0.74,-292.0,977.8,-11.3,624,7159,0.00,2.50,0.00,0.000,6,0.000,0.040,1753,2645,3927,0,0,0,0,0,0,28.83,25.41,28.83
$STATE,7265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7265,begin apogee
$GC,7272,-0.20,0.0,992.3,-13.8,630,7491,0.55,0.15,212.30,1.184,6,0.103,0.073,1938,2531,2977,0,0,0,0,0,0,25.06,24.54,23.32
$STATE,7492,end apogee,CONTROL_FINISHED_OK
$STATE,7492,begin climb
$GC,7494,0.72,292.0,1005.1,0.0,641,7775,0.82,0.00,276.48,1.174,6,0.041,0.000,2255,2531,1787,0,0,0,0,0,0,24.82,28.83,23.04
$GC,8068,0.62,292.0,895.0,24.9,670,8074,0.12,2.10,0.00,0.000,4,0.199,0.044,2211,3805,1755,0,0,0,0,0,0,25.58,25.61,28.83
$GC,8108,0.53,292.0,885.2,24.6,672,8114,0.10,2.08,0.00,0.000,6,0.162,0.028,2189,2465,1753,0,0,0,0,0,0,25.35,25.83,28.83
$GC,8429,0.49,292.0,830.4,16.7,688,8434,0.00,2.17,0.00,0.000,4,0.000,0.046,2189,3812,1752,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8516,0.44,292.0,816.3,17.7,692,8526,0.17,2.08,0.00,0.000,6,0.151,0.028,2151,2467,1751,0,0,0,0,0,0,25.36,25.86,28.83
$GC,8827,0.44,292.0,774.6,12.8,708,8832,0.00,2.22,0.00,0.000,4,0.000,0.045,2152,3812,1751,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8870,0.44,292.0,769.1,13.3,710,8873,0.00,2.08,0.00,0.000,6,0.000,0.027,2161,2465,1751,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9185,0.43,292.0,727.7,12.9,726,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2463,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,0.42,292.0,689.4,12.7,741,9488,0.00,2.22,0.00,0.000,4,0.000,0.044,2161,3811,1750,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9522,0.41,292.0,683.9,13.1,743,9528,0.12,2.08,0.00,0.000,6,0.148,0.027,2138,2465,1750,0,0,0,0,0,0,25.51,25.84,28.83
$GC,9845,0.56,409.9,653.0,8.6,759,9951,0.12,0.00,97.12,1.173,6,0.076,0.000,2220,2464,1306,0,0,0,0,1,0,26.30,28.83,23.44
$GC,10243,0.52,409.9,581.0,19.1,784,10253,0.12,2.25,1.52,0.169,4,0.155,0.044,2181,3815,1304,0,0,0,0,0,0,25.73,25.64,24.97
$GC,10299,0.52,409.9,572.0,15.7,789,10306,0.00,2.08,0.00,0.000,6,0.000,0.027,2191,2468,1312,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10607,0.52,409.9,529.5,14.3,820,10616,0.00,2.22,0.00,0.000,4,0.000,0.034,2203,1060,1313,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10638,0.52,409.9,525.2,13.7,823,10647,0.00,2.38,0.00,0.000,6,0.000,0.037,2203,2520,1313,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10949,0.50,409.9,477.0,16.2,854,10958,0.12,2.08,0.00,0.000,4,0.146,0.042,2162,3819,1313,0,0,0,0,0,0,25.94,25.55,28.83
$GC,10983,0.50,409.9,472.3,14.7,857,10990,0.00,2.08,0.00,0.000,6,0.000,0.025,2172,2468,1313,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11292,0.58,461.0,438.2,10.4,888,11352,0.00,2.38,48.12,0.984,4,0.000,0.034,2183,1050,1100,0,0,0,0,1,0,28.83,25.37,23.78
$GC,11386,0.77,575.4,429.4,8.7,897,11505,0.17,2.38,102.82,1.045,6,0.030,0.031,2300,2527,634,0,0,0,0,1,0,25.67,25.63,23.39
$GC,11808,0.69,575.4,299.6,32.4,939,11817,0.20,2.03,0.00,0.000,4,0.171,0.042,2239,3805,640,0,0,0,0,0,0,25.39,25.67,28.83
$GC,11854,0.65,575.4,288.0,26.7,943,11861,0.00,2.08,0.00,0.000,6,0.000,0.027,2249,2463,640,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12162,0.63,575.4,229.2,18.5,974,12171,0.12,2.22,0.00,0.000,4,0.166,0.033,2222,1062,639,0,0,0,0,0,0,25.85,25.72,28.83
$GC,12216,0.75,626.5,222.7,10.4,979,12286,0.00,2.33,61.17,0.659,6,0.000,0.028,2222,2531,429,0,0,0,0,0,0,28.83,25.86,24.23
$GC,12587,0.88,626.5,177.1,13.2,1033,12596,0.17,2.08,0.00,0.000,4,0.094,0.041,2286,3826,417,0,0,0,0,0,0,25.97,25.64,28.83
$GC,12706,1.00,626.5,160.6,13.7,1055,12713,0.12,2.08,0.00,0.000,6,0.080,0.024,2341,2458,415,0,0,0,0,0,0,25.83,25.92,28.83
$GC,13020,1.16,669.6,123.9,10.6,1116,13027,0.12,2.22,0.00,0.000,4,0.086,0.031,2398,1051,414,0,0,0,0,0,0,26.23,25.76,28.83
$GC,13096,1.21,669.6,115.2,13.6,1130,13105,0.00,2.35,0.00,0.000,6,0.000,0.031,2398,2535,414,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13411,1.13,669.6,10.2,29.8,1191,13418,0.00,2.35,0.00,0.000,4,0.000,0.033,2410,1053,412,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,13432,end climb,SURFACE_DEPTH_REACHED
$STATE,13433,begin surface coast
$FINISH,-0.3,1.022213
$STATE,13444,end surface coast,CONTROL_FINISHED_OK
$STATE,13444,begin surface
$SM_CCo,13522,0.00,0.000,0,0,412,629.69
$SM_GC,0.62,5.72,2.70,0.00,0.022,0.039,0.000,127,2644,412,-5.78,-0.42,629.69,0,0,0,0,0,0,25.97,25.66,28.83
$IRIDIUM_FIX,2326.22,12149.85,020312,181846
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,9.41798
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.0,117.205
$10V_AH,9.8,71.346
$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,17.100,132.025,799.550,0.000,0.000,29.133,49.549,201.391,0.000,0.000,49.814,2797.668,7362.293,881.021,2552.901,363.558,0.000,2137.416,0.000,2115.614,0.000,0.540,0.000
$DEVICE_MAMPS,231.030,72.675,1184.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.286,1538.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324732
$DATA_FILE_SIZE,80335,1197
$CAP_FILE_SIZE,151481,0
$CFSIZE,260165632,167743488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,030312,021905,2336.126,12145.722,38,1.1,42,-3.2