version: 66.10
glider: 169
mission: 5
dive: 177
start: 12 13 111 8 48 18
data:
$ID,169
$MISSION,5
$DIVE,177
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$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,-10942.415
$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,25
$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
$GPS1,131211,084054,2316.814,12137.291,72,1.3,72,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.0
$GPS2,131211,084755,2316.983,12137.333,13,1.4,17,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,HEADING
$TGT_LATLONG,2315.108,12125.758
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,263.1,20000,-16.1,-11.786
$D_GRID,1213
$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,16,-0.70,-243.3,0.0,0.0,0,109,0.00,0.00,-89.93,0.000,2,0.000,0.000,118,2662,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.70,-243.3,3.1,-5.9,16,148,6.55,1.85,-20.17,0.000,4,0.224,0.061,1762,3806,3962,0,0,0,0,0,0,25.37,25.97,26.41
$GC,276,-0.62,-243.3,60.9,-31.5,47,284,0.15,1.80,0.00,0.000,6,0.162,0.025,1810,2561,3962,0,0,0,0,0,0,25.79,26.17,28.83
$GC,588,-0.55,-243.3,142.8,-23.3,108,594,0.00,2.00,0.00,0.000,4,0.000,0.048,1801,3819,3962,0,0,0,0,0,0,28.83,26.12,28.83
$GC,648,-0.51,-243.3,155.4,-18.9,119,655,0.12,1.83,0.00,0.000,6,0.141,0.025,1844,2562,3963,0,0,0,0,0,0,26.04,26.31,28.83
$GC,959,-0.50,-243.3,205.7,-12.8,176,968,0.00,1.98,0.00,0.000,4,0.000,0.031,1844,1187,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1021,-0.54,-243.3,212.3,-9.5,182,1030,0.00,2.25,0.00,0.000,6,0.000,0.041,1835,2658,3963,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1332,-0.54,-243.3,247.7,-10.5,213,1341,0.00,2.15,0.00,0.000,4,0.000,0.030,1835,1188,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1367,-0.56,-243.3,251.2,-10.4,216,1374,0.00,2.22,0.00,0.000,6,0.000,0.041,1826,2659,3963,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1675,-0.55,-243.3,295.7,-16.3,247,1679,0.00,1.80,0.00,0.000,4,0.000,0.047,1818,3807,3962,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1696,-0.54,-243.3,299.7,-17.2,249,1700,0.00,1.77,0.00,0.000,6,0.000,0.025,1818,2569,3961,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2008,-0.54,-243.3,341.7,-13.1,280,2017,0.00,2.03,0.00,0.000,4,0.000,0.032,1818,1184,3959,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2052,-0.56,-243.3,346.6,-11.9,284,2059,0.00,2.22,0.00,0.000,6,0.000,0.041,1812,2654,3959,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2362,-0.55,-243.3,386.8,-14.2,315,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2653,3956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-0.54,-243.3,430.3,-13.5,346,2679,0.00,2.17,0.00,0.000,4,0.000,0.032,1812,1188,3953,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2722,-0.56,-243.3,436.8,-11.8,351,2731,0.00,2.22,0.00,0.000,6,0.000,0.042,1807,2653,3953,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3032,-0.55,-243.3,480.3,-14.2,382,3036,0.00,2.17,0.00,0.000,4,0.000,0.031,1807,1182,3950,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3054,-0.55,-243.3,483.5,-14.8,384,3063,0.12,2.25,0.00,0.000,6,0.133,0.044,1839,2652,3950,0,0,0,0,0,0,26.13,26.25,28.83
$GC,3364,-0.58,-243.3,513.5,-9.2,415,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2652,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,-0.62,-243.3,543.0,-8.9,445,3677,0.00,2.17,0.00,0.000,4,0.000,0.034,1840,1188,3945,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3700,-0.67,-243.3,546.2,-9.0,448,3709,0.15,2.25,0.00,0.000,6,0.073,0.044,1754,2657,3945,0,0,0,0,0,0,26.31,26.25,28.83
$GC,4022,-0.62,-243.3,608.5,-20.4,478,4028,0.15,2.17,0.00,0.000,4,0.149,0.033,1814,1186,3944,0,0,0,0,0,0,26.17,26.28,28.83
$GC,4083,-0.62,-243.3,616.7,-14.9,481,4087,0.00,2.25,0.00,0.000,6,0.000,0.046,1813,2651,3943,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4396,-0.64,-243.3,646.5,-9.7,497,4399,0.00,1.80,0.00,0.000,4,0.000,0.054,1804,3820,3941,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4427,-0.65,-243.3,648.6,-9.9,498,4430,0.00,1.83,0.00,0.000,6,0.000,0.027,1804,2562,3940,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4733,-0.66,-243.3,679.9,-9.7,513,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2561,3938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-0.67,-243.3,711.0,-11.0,528,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2561,3936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,-0.68,-243.3,748.1,-12.2,543,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2561,3934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,-0.69,-243.3,779.9,-10.2,558,5638,0.00,2.00,0.00,0.000,4,0.000,0.053,1795,3810,3931,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5673,-0.71,-243.3,784.0,-10.3,560,5679,0.00,1.83,0.00,0.000,6,0.000,0.029,1795,2559,3931,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5992,-0.71,-243.3,821.7,-12.7,576,5997,0.00,2.05,0.00,0.000,4,0.000,0.035,1795,1182,3930,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6046,-0.72,-243.3,826.6,-12.7,578,6053,0.00,2.28,0.00,0.000,6,0.000,0.045,1785,2657,3930,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6352,-0.72,-243.3,870.5,-13.8,594,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2657,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6652,-0.72,-243.3,909.8,-12.6,609,6658,0.00,2.20,0.00,0.000,4,0.000,0.033,1785,1188,3926,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6707,-0.72,-243.3,914.6,-12.3,611,6714,0.00,2.25,0.00,0.000,6,0.000,0.045,1775,2651,3926,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7012,-0.71,-243.3,961.6,-15.6,627,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2651,3924,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7210,begin apogee
$GC,7216,-0.20,0.0,990.0,-13.4,637,7432,0.47,0.12,205.38,1.180,6,0.103,0.086,1940,2529,2968,0,0,0,0,0,0,25.86,24.58,23.72
$STATE,7433,end apogee,CONTROL_FINISHED_OK
$STATE,7433,begin climb
$GC,7435,0.70,243.3,1002.0,0.0,648,7674,0.82,2.45,225.73,1.170,4,0.047,0.041,2260,1072,1971,0,0,0,0,0,0,24.78,24.05,23.18
$GC,7780,0.63,243.3,945.2,23.2,665,7785,0.17,2.35,0.00,0.000,6,0.174,0.044,2217,2528,1957,0,0,0,0,0,0,24.83,25.09,28.83
$GC,8095,0.54,243.3,864.6,26.1,681,8101,0.12,2.00,0.00,0.000,4,0.199,0.050,2183,3807,1955,0,0,0,0,0,0,25.58,25.78,28.83
$GC,8154,0.46,243.3,848.6,26.3,684,8160,0.12,2.08,0.00,0.000,6,0.194,0.033,2164,2465,1953,0,0,0,0,0,0,25.58,25.91,28.83
$GC,8474,0.43,243.3,790.4,16.1,700,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2463,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,0.39,243.3,742.9,16.4,715,8778,0.00,2.12,0.00,0.000,4,0.000,0.050,2164,3814,1951,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8819,0.35,243.3,735.3,17.4,717,8823,0.17,2.05,0.00,0.000,6,0.164,0.031,2128,2466,1950,0,0,0,0,0,0,25.72,26.13,28.83
$GC,9131,0.35,243.3,691.4,13.9,733,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2465,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9433,0.37,256.6,653.5,11.4,748,9444,0.00,0.00,9.50,0.891,6,0.000,0.000,2128,2464,1932,0,0,0,0,0,0,28.83,28.83,25.09
$GC,9733,0.41,292.1,620.1,10.6,763,9781,0.00,2.20,37.83,0.840,4,0.000,0.047,2127,3820,1784,0,0,0,0,1,0,28.83,25.66,24.70
$GC,9812,0.46,327.3,611.8,10.6,767,9860,0.00,2.10,42.72,0.886,6,0.000,0.030,2138,2460,1640,0,0,0,0,0,0,28.83,25.75,24.49
$GC,10169,0.56,396.7,576.6,9.5,797,10240,0.12,2.28,64.85,0.894,4,0.078,0.041,2223,1069,1352,0,0,0,0,0,0,26.04,25.20,24.43
$GC,10284,0.54,396.7,557.1,18.0,808,10295,0.15,2.33,0.00,0.000,6,0.138,0.041,2181,2528,1336,0,0,0,0,0,0,25.31,25.46,28.83
$GC,10594,0.53,396.7,513.3,15.7,839,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2529,1333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10898,0.52,396.7,463.0,16.0,869,10906,0.00,2.20,0.00,0.000,4,0.000,0.041,2192,1072,1332,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10923,0.52,396.7,459.2,15.2,871,10929,0.00,2.22,0.00,0.000,6,0.000,0.041,2192,2521,1330,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11229,0.50,396.7,403.5,18.6,902,11238,0.00,2.03,0.00,0.000,4,0.000,0.049,2192,3814,1330,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11261,0.48,396.7,397.4,18.9,905,11270,0.12,2.05,0.00,0.000,6,0.162,0.031,2170,2459,1330,0,0,0,0,0,0,25.88,26.15,28.83
$GC,11571,0.53,421.6,354.3,11.0,936,11601,0.00,2.15,22.65,0.757,4,0.000,0.037,2180,1053,1247,0,0,0,0,0,0,28.83,25.96,25.15
$GC,11627,0.66,504.7,349.4,9.1,941,11714,0.12,2.28,75.50,0.757,6,0.076,0.041,2265,2527,907,0,0,0,0,0,0,25.97,25.94,24.56
$GC,12014,0.61,504.7,251.5,24.8,980,12016,0.20,0.00,0.00,0.000,6,0.161,0.000,2211,2527,893,0,0,0,0,0,0,25.59,28.83,28.83
$GC,12315,0.63,504.7,205.3,13.3,1010,12324,0.00,2.22,0.00,0.000,4,0.000,0.043,2222,1071,891,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12362,0.68,504.7,199.4,11.9,1015,12368,0.00,2.22,0.00,0.000,6,0.000,0.042,2222,2522,890,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12674,0.70,504.7,161.0,13.9,1076,12681,0.00,2.22,0.00,0.000,4,0.000,0.040,2233,1056,889,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12715,0.79,529.4,156.1,11.0,1083,12745,0.00,2.22,21.05,0.633,6,0.000,0.039,2233,2522,806,0,0,0,0,0,0,28.83,26.13,25.25
$GC,13051,0.88,577.2,116.4,10.2,1148,13099,0.15,2.22,40.38,0.607,4,0.067,0.037,2337,1066,611,0,0,0,0,0,0,26.29,25.75,25.09
$GC,13158,0.90,577.2,98.2,15.6,1167,13165,0.12,2.25,0.00,0.000,6,0.142,0.040,2303,2523,598,0,0,0,0,0,0,25.65,25.81,28.83
$GC,13471,0.92,577.2,50.8,14.6,1228,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2523,597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13780,0.93,577.2,5.7,15.3,1289,13787,0.00,2.22,0.00,0.000,4,0.000,0.037,2314,1052,597,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,13802,end climb,SURFACE_DEPTH_REACHED
$STATE,13802,begin surface coast
$FINISH,0.7,1.022959
$STATE,13823,end surface coast,CONTROL_FINISHED_OK
$STATE,13824,begin surface
$SM_CCo,13901,0.00,0.000,0,0,596,584.55
$SM_GC,0.82,5.47,2.47,0.00,0.028,0.035,0.000,130,2655,596,-5.78,-0.31,584.55,0,0,0,0,0,0
$IRIDIUM_FIX,2309.79,12139.68,131211,040426
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.58
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,23.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,590.0,0.0
$24V_AH,23.2,38.859
$10V_AH,10.2,25.904
$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,15.625,111.150,745.575,0.000,0.000,28.730,40.250,213.175,1.000,0.000,18.807,2999.216,7612.650,776.786,2619.168,289.563,0.000,2063.831,0.000,2194.297,0.000,4.274,0.000
$DEVICE_MAMPS,224.145,85.680,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.474,1623.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,83851,1297
$CAP_FILE_SIZE,153394,0
$CFSIZE,260165632,206643200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131211,124107,2316.628,12134.758,40,0.9,40,-3.1