version: 66.10
glider: 169
mission: 5
dive: 271
start: 12 31 111 10 34 35
data:
$ID,169
$MISSION,5
$DIVE,271
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,240
$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,-11062.884
$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
$GPS1,311211,102706,2151.013,12415.135,40,1.0,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.2
$GPS2,311211,103413,2151.052,12415.221,12,1.6,17,-2.9
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2145.653,12405.150
$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,242.9,20000,-14.5,-9.167
$D_GRID,5266
$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,-0.60,-194.6,0.0,0.0,0,114,0.00,0.00,-94.72,0.000,2,0.000,0.000,119,2681,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.60,-194.6,3.7,-8.4,17,143,6.82,1.88,-12.25,0.000,4,0.226,0.054,1797,3826,3775,0,0,0,0,0,0,25.10,26.03,26.50
$GC,245,-0.53,-194.6,51.8,-26.6,41,252,0.12,1.83,0.00,0.000,6,0.153,0.024,1839,2581,3775,0,0,0,0,0,0,25.87,26.18,28.83
$GC,557,-0.40,-194.6,158.5,-35.2,102,565,0.12,2.05,0.00,0.000,4,0.181,0.026,1886,1174,3775,0,0,0,0,0,0,26.03,26.24,28.83
$GC,649,-0.46,-194.6,172.0,-6.9,119,656,0.00,2.25,0.00,0.000,6,0.000,0.037,1875,2660,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,960,-0.43,-194.6,218.8,-13.3,168,969,0.00,2.15,0.00,0.000,4,0.000,0.028,1876,1181,3774,0,0,0,0,0,0,28.83,26.31,28.83
$GC,981,-0.41,-194.6,221.9,-13.7,170,990,0.00,2.22,0.00,0.000,6,0.000,0.039,1865,2653,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1292,-0.38,-194.6,263.4,-12.7,201,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2653,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-0.37,-194.6,300.6,-12.0,231,1601,0.00,2.15,0.00,0.000,4,0.000,0.028,1865,1177,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1624,-0.37,-194.6,304.0,-10.9,234,1633,0.12,2.22,0.00,0.000,6,0.120,0.038,1898,2656,3775,0,0,0,0,0,0,26.15,26.27,28.83
$GC,1934,-0.42,-194.6,323.0,-5.3,265,1938,0.00,1.80,0.00,0.000,4,0.000,0.047,1890,3816,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1966,-0.48,-194.6,324.5,-5.0,268,1971,0.05,1.83,0.00,0.000,6,0.063,0.024,1824,2546,3775,0,0,0,0,0,0,26.34,26.48,28.83
$GC,2279,-0.44,-194.6,366.5,-16.0,299,2288,0.12,1.98,0.00,0.000,4,0.134,0.028,1876,1175,3774,0,0,0,0,0,0,26.32,26.34,28.83
$GC,2324,-0.45,-194.6,371.4,-11.6,303,2331,0.00,2.22,0.00,0.000,6,0.000,0.038,1871,2655,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2631,-0.57,-194.6,400.8,-10.5,334,2640,0.12,1.77,0.00,0.000,4,0.109,0.043,1817,3816,3772,0,0,0,0,0,0,26.45,26.24,28.83
$GC,2714,-0.68,-194.6,408.6,-9.3,342,2718,0.00,1.80,0.00,0.000,6,0.000,0.023,1817,2555,3771,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3026,-0.75,-194.6,430.7,-6.4,373,3035,0.12,1.98,0.00,0.000,4,0.080,0.026,1733,1171,3770,0,0,0,0,0,0,26.58,26.36,28.83
$GC,3113,-0.71,-194.6,441.0,-14.4,381,3121,0.20,2.22,0.00,0.000,6,0.141,0.040,1781,2655,3770,0,0,0,0,0,0,25.92,26.26,28.83
$GC,3419,-0.64,-194.6,501.2,-20.1,412,3428,0.00,2.17,0.00,0.000,4,0.000,0.028,1791,1175,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3441,-0.59,-194.6,505.5,-19.8,414,3450,0.10,2.22,0.00,0.000,6,0.106,0.040,1819,2654,3768,0,0,0,0,0,0,26.05,26.25,28.83
$GC,3750,-0.57,-194.6,549.8,-13.0,445,3754,0.00,2.15,0.00,0.000,4,0.000,0.028,1819,1179,3767,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3775,-0.56,-194.6,552.3,-12.2,447,3782,0.00,2.22,0.00,0.000,6,0.000,0.039,1810,2654,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4084,-0.54,-194.6,590.6,-11.3,478,4087,0.00,1.77,0.00,0.000,4,0.000,0.046,1801,3818,3764,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4116,-0.52,-194.6,594.7,-12.4,481,4125,0.12,1.83,0.00,0.000,6,0.122,0.024,1841,2558,3764,0,0,0,0,0,0,26.19,26.44,28.83
$GC,4437,-0.54,-194.6,622.1,-8.2,500,4442,0.00,1.98,0.00,0.000,4,0.000,0.044,1831,3816,3762,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4468,-0.56,-194.6,623.8,-8.3,501,4475,0.00,1.80,0.00,0.000,6,0.000,0.024,1832,2558,3761,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4778,-0.57,-194.6,650.5,-8.5,517,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2557,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.59,-194.6,675.8,-8.5,532,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2557,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5376,-0.61,-194.6,698.4,-6.8,547,5382,0.00,2.00,0.00,0.000,4,0.000,0.029,1831,1184,3754,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5398,-0.62,-194.6,699.7,-6.7,548,5402,0.00,2.25,0.00,0.000,6,0.000,0.039,1825,2659,3754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5712,-0.63,-194.6,722.5,-7.4,564,5716,0.00,1.80,0.00,0.000,4,0.000,0.046,1816,3819,3753,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5755,-0.65,-194.6,725.7,-7.3,566,5758,0.00,1.83,0.00,0.000,6,0.000,0.025,1816,2566,3752,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6077,-0.65,-194.6,754.7,-10.0,582,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2558,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6376,-0.65,-194.6,788.2,-11.5,597,6382,0.00,2.03,0.00,0.000,4,0.000,0.030,1816,1179,3747,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6400,-0.66,-194.6,790.5,-11.4,598,6406,0.00,2.25,0.00,0.000,6,0.000,0.040,1812,2653,3747,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6717,-0.66,-194.6,824.2,-9.6,614,6722,0.00,2.17,0.00,0.000,4,0.000,0.029,1812,1181,3745,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6750,-0.66,-194.6,825.9,-9.3,615,6757,0.00,2.25,0.00,0.000,6,0.000,0.041,1812,2655,3745,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7056,-0.66,-194.6,852.5,-8.2,631,7060,0.00,1.80,0.00,0.000,4,0.000,0.049,1804,3816,3743,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7077,-0.66,-194.6,854.4,-8.5,632,7081,0.00,1.83,0.00,0.000,6,0.000,0.027,1804,2572,3743,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7401,-0.66,-194.6,887.0,-10.8,648,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2564,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7698,-0.66,-194.6,920.2,-10.9,663,7704,0.00,2.05,0.00,0.000,4,0.000,0.031,1804,1172,3740,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7719,-0.66,-194.6,922.4,-10.9,664,7724,0.00,2.28,0.00,0.000,6,0.000,0.041,1795,2652,3740,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8040,-0.65,-194.6,957.3,-10.1,680,8044,0.00,2.17,0.00,0.000,4,0.000,0.030,1794,1183,3738,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8074,-0.65,-194.6,959.6,-10.2,681,8081,0.00,2.25,0.00,0.000,6,0.000,0.042,1785,2653,3738,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8359,begin apogee
$GC,8365,-0.20,0.0,990.9,-10.6,696,8543,0.45,0.12,168.00,1.177,6,0.099,0.086,1942,2536,2969,0,0,0,0,0,0,25.82,24.74,23.63
$STATE,8544,end apogee,CONTROL_FINISHED_OK
$STATE,8544,begin climb
$GC,8546,0.60,194.6,999.3,0.0,705,8744,0.70,2.45,184.50,1.181,4,0.048,0.041,2220,1067,2170,0,0,0,0,0,0,24.97,24.24,23.08
$GC,8815,0.53,194.6,973.6,17.3,718,8820,0.15,2.33,0.00,0.000,6,0.163,0.041,2183,2521,2155,0,0,0,0,0,0,24.92,25.16,28.83
$GC,9125,0.47,194.6,921.5,16.1,733,9130,0.00,1.98,0.00,0.000,4,0.000,0.045,2183,3812,2151,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9223,0.40,194.6,903.2,18.5,738,9229,0.20,2.08,0.00,0.000,6,0.173,0.031,2141,2456,2150,0,0,0,0,0,0,25.60,26.03,28.83
$GC,9544,0.37,194.6,862.5,12.1,754,9549,0.00,2.12,0.00,0.000,4,0.000,0.047,2140,3811,2148,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9576,0.35,194.6,859.9,12.1,755,9582,0.00,2.05,0.00,0.000,6,0.000,0.031,2150,2462,2147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9884,0.32,194.6,823.1,10.7,771,9890,0.12,2.08,0.00,0.000,4,0.174,0.043,2113,3806,2146,0,0,0,0,0,0,25.98,26.07,28.83
$GC,9926,0.29,194.6,818.9,10.4,773,9930,0.00,2.03,0.00,0.000,6,0.000,0.029,2123,2461,2146,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10239,0.29,194.6,790.3,9.7,789,10245,0.00,2.05,0.00,0.000,4,0.000,0.036,2133,1059,2146,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10271,0.29,194.6,788.2,10.0,790,10278,0.00,2.22,0.00,0.000,6,0.000,0.039,2133,2524,2144,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10579,0.28,194.6,749.7,12.6,806,10586,0.12,2.00,0.00,0.000,4,0.155,0.044,2094,3814,2144,0,0,0,0,0,0,26.11,26.08,28.83
$GC,10621,0.28,194.6,744.6,12.9,808,10624,0.00,2.03,0.00,0.000,6,0.000,0.028,2104,2459,2144,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10940,0.40,287.0,718.7,6.2,824,11025,0.10,2.22,72.88,1.191,4,0.092,0.044,2172,3821,1814,0,0,0,0,1,0,26.49,25.18,23.86
$GC,11099,0.37,287.0,699.0,13.8,832,11106,0.17,2.10,1.73,0.189,6,0.152,0.029,2136,2465,1807,0,0,0,0,0,0,25.37,25.65,25.24
$GC,11422,0.39,296.2,669.5,8.9,848,11446,0.00,2.17,17.70,0.925,4,0.000,0.036,2146,1060,1765,0,0,0,0,0,0,28.83,25.80,24.60
$GC,11488,0.43,308.4,664.4,8.8,851,11506,0.00,2.25,12.82,0.933,6,0.000,0.038,2146,2526,1721,0,0,0,0,0,0,28.83,25.82,24.46
$GC,11821,0.43,308.4,631.6,9.7,868,11826,0.00,2.00,0.00,0.000,4,0.000,0.045,2145,3812,1704,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11847,0.44,308.4,629.7,9.6,869,11851,0.00,2.05,0.00,0.000,6,0.000,0.028,2156,2461,1703,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12155,0.44,308.4,593.8,12.2,886,12164,0.00,2.05,0.00,0.000,4,0.000,0.037,2166,1063,1702,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12189,0.45,308.4,590.3,11.3,889,12196,0.00,2.25,0.00,0.000,6,0.000,0.039,2167,2530,1701,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,17746,end climb,SURFACE_DEPTH_REACHED
$STATE,17746,begin surface coast
$FINISH,0.5,1.023373
$STATE,17763,end surface coast,CONTROL_FINISHED_OK
$STATE,17763,begin surface
$SM_CCo,17839,0.00,0.000,0,0,939,500.41
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$IRIDIUM_FIX,2145.77,12414.25,311211,050548
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,10.1,36.085
$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
$DEVICE_SECS,16.400,180.225,607.800,0.000,0.000,23.599,41.239,223.019,0.000,0.000,18.229,3819.995,10098.241,745.183,3183.414,391.184,0.000,2316.530,0.000,2734.343,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,106965,1616
$CAP_FILE_SIZE,201697,0
$CFSIZE,260165632,198008832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311211,153300,2148.689,12415.511,38,1.2,38,-2.9