version: 66.10
glider: 169
mission: 5
dive: 273
start: 12 31 111 20 47 50
data:
$ID,169
$MISSION,5
$DIVE,273
$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,-11065.398
$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
$GPS1,311211,203924,2145.274,12415.069,35,1.5,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.8
$GPS2,311211,204728,2145.173,12415.034,33,2.3,52,-2.9
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2139.774,12404.972
$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,5745
$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,-194.6,0.0,0.0,0,98,0.00,0.00,-78.43,0.000,2,0.000,0.000,109,2673,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.60,-194.6,3.3,-6.2,14,132,6.90,1.85,-14.85,0.000,4,0.226,0.056,1799,3818,3775,0,0,0,0,0,0,25.10,26.05,26.55
$GC,216,-0.52,-194.6,49.7,-32.0,35,223,0.12,1.83,0.00,0.000,6,0.163,0.023,1839,2565,3776,0,0,0,0,0,0,25.86,26.22,28.83
$GC,527,-0.41,-194.6,157.1,-31.3,96,534,0.12,2.03,0.00,0.000,4,0.181,0.024,1886,1162,3775,0,0,0,0,0,0,26.05,26.28,28.83
$GC,598,-0.45,-194.6,169.5,-7.8,109,605,0.00,2.28,0.00,0.000,6,0.000,0.038,1876,2661,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,914,-0.42,-194.6,212.1,-14.0,163,918,0.00,1.77,0.00,0.000,4,0.000,0.044,1867,3815,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,948,-0.41,-194.6,216.1,-12.2,166,955,0.00,1.83,0.00,0.000,6,0.000,0.022,1866,2560,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1256,-0.40,-194.6,256.3,-11.9,197,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2559,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1558,-0.40,-194.6,291.7,-11.7,227,1566,0.00,1.98,0.00,0.000,4,0.000,0.043,1857,3825,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1589,-0.40,-194.6,295.4,-10.9,230,1592,0.00,1.80,0.00,0.000,6,0.000,0.023,1857,2568,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1900,-0.40,-194.6,327.6,-9.8,261,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2559,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-0.40,-194.6,356.5,-10.2,291,2209,0.00,1.95,0.00,0.000,4,0.000,0.041,1847,3815,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2253,-0.43,-194.6,361.1,-9.0,296,2257,0.00,1.80,0.00,0.000,6,0.000,0.023,1847,2563,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2566,-0.43,-194.6,396.4,-12.1,327,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2559,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2867,-0.44,-194.6,428.6,-8.0,357,2876,0.00,2.00,0.00,0.000,4,0.000,0.042,1838,3831,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2932,-0.48,-194.6,433.2,-6.7,363,2939,0.00,1.83,0.00,0.000,6,0.000,0.024,1838,2560,3771,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3238,-0.48,-194.6,461.5,-10.1,394,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2560,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3542,-0.48,-194.6,491.8,-9.9,424,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2560,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-0.48,-194.6,522.0,-9.3,455,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2560,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4163,-0.50,-194.6,551.3,-9.7,486,4171,0.00,2.00,0.00,0.000,4,0.000,0.044,1829,3829,3763,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4214,-0.52,-194.6,556.8,-9.7,491,4223,0.00,1.83,0.00,0.000,6,0.000,0.025,1829,2561,3763,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4524,-0.52,-194.6,589.8,-10.7,522,4532,0.00,2.03,0.00,0.000,4,0.000,0.031,1829,1174,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4555,-0.54,-194.6,593.1,-10.3,525,4564,0.00,2.25,0.00,0.000,6,0.000,0.040,1820,2658,3761,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4865,-0.54,-194.6,626.2,-9.9,544,4868,0.00,1.77,0.00,0.000,4,0.000,0.045,1812,3821,3759,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4906,-0.54,-194.6,630.2,-10.0,546,4910,0.00,1.83,0.00,0.000,6,0.000,0.023,1812,2566,3759,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5228,-0.53,-194.6,663.8,-10.7,562,5233,0.00,1.98,0.00,0.000,4,0.000,0.044,1802,3818,3756,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5270,-0.53,-194.6,668.1,-10.7,564,5274,0.12,1.83,0.00,0.000,6,0.123,0.024,1841,2558,3755,0,0,0,0,0,0,26.16,26.42,28.83
$GC,5590,-0.55,-194.6,691.8,-7.2,580,5596,0.00,1.98,0.00,0.000,4,0.000,0.045,1832,3814,3754,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5622,-0.58,-194.6,693.2,-7.1,581,5628,0.00,1.80,0.00,0.000,6,0.000,0.024,1832,2561,3754,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5931,-0.60,-194.6,719.2,-8.3,597,5937,0.00,2.00,0.00,0.000,4,0.000,0.029,1832,1179,3751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5959,-0.62,-194.6,721.1,-8.4,598,5968,0.00,2.25,0.00,0.000,6,0.000,0.039,1825,2658,3750,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6270,-0.63,-194.6,748.1,-8.2,614,6274,0.00,1.83,0.00,0.000,4,0.000,0.047,1816,3818,3748,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6301,-0.64,-194.6,749.9,-8.1,615,6305,0.00,1.83,0.00,0.000,6,0.000,0.025,1816,2562,3748,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6608,-0.64,-194.6,777.2,-8.9,630,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2561,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6908,-0.64,-194.6,804.3,-8.8,645,6913,0.00,1.95,0.00,0.000,4,0.000,0.046,1807,3820,3744,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6955,-0.65,-194.6,807.8,-8.9,647,6959,0.00,1.83,0.00,0.000,6,0.000,0.026,1808,2566,3744,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7263,-0.65,-194.6,839.1,-10.4,662,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2565,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,-0.65,-194.6,870.8,-10.5,677,7568,0.00,2.00,0.00,0.000,4,0.000,0.048,1799,3820,3741,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7614,-0.65,-194.6,874.9,-10.3,679,7621,0.00,1.83,0.00,0.000,6,0.000,0.028,1799,2571,3741,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7922,-0.65,-194.6,905.5,-9.1,695,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2571,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,-0.65,-194.6,931.4,-8.6,710,8227,0.00,1.98,0.00,0.000,4,0.000,0.047,1790,3818,3737,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8255,-0.65,-194.6,933.1,-8.6,711,8261,0.00,1.83,0.00,0.000,6,0.000,0.027,1790,2566,3737,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8564,-0.64,-194.6,964.5,-9.9,727,8570,0.00,2.03,0.00,0.000,4,0.000,0.033,1790,1192,3736,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8604,-0.64,-194.6,968.3,-9.7,729,8609,0.00,2.28,0.00,0.000,6,0.000,0.042,1779,2665,3736,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8822,begin apogee
$GC,8827,-0.20,0.0,991.3,-10.7,740,9006,0.47,0.15,169.45,1.173,6,0.103,0.074,1943,2543,2974,0,0,0,0,0,0,25.72,24.76,23.59
$STATE,9007,end apogee,CONTROL_FINISHED_OK
$STATE,9007,begin climb
$GC,9009,0.60,194.6,999.1,0.0,749,9206,0.70,2.50,186.10,1.177,4,0.050,0.036,2219,1061,2174,0,0,0,0,0,0,24.95,24.24,23.06
$GC,9232,0.51,194.6,980.6,16.3,760,9237,0.15,2.38,0.00,0.000,6,0.158,0.039,2182,2522,2160,0,0,0,0,0,0,24.51,24.72,28.83
$GC,9545,0.45,194.6,929.9,16.2,776,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2522,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,0.40,194.6,882.8,15.6,791,9852,0.12,1.98,0.00,0.000,4,0.183,0.044,2141,3809,2151,0,0,0,0,0,0,25.86,26.01,28.83
$GC,9898,0.34,194.6,876.7,15.5,793,9904,0.00,2.05,0.00,0.000,6,0.000,0.031,2151,2456,2150,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10206,0.31,194.6,836.9,12.3,809,10212,0.12,2.10,0.00,0.000,4,0.169,0.044,2114,3812,2148,0,0,0,0,0,0,25.98,26.05,28.83
$GC,10259,0.29,194.6,832.0,12.3,811,10266,0.00,2.05,0.00,0.000,6,0.000,0.029,2123,2453,2147,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10565,0.28,194.6,798.9,10.1,827,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2452,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10865,0.28,194.6,768.7,9.7,842,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2452,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11165,0.28,194.6,739.6,9.8,857,11170,0.00,2.12,0.00,0.000,4,0.000,0.047,2124,3811,2146,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11208,0.28,194.6,735.5,9.8,859,11213,0.12,2.05,0.00,0.000,6,0.156,0.031,2101,2460,2145,0,0,0,0,0,0,25.90,26.20,28.83
$GC,11524,0.32,213.6,709.1,8.6,875,11552,0.00,2.17,16.67,0.912,4,0.000,0.036,2111,1057,2095,0,0,0,0,1,0,28.83,26.05,24.21
$GC,11574,0.36,233.8,705.9,8.5,877,11603,0.00,2.25,22.80,0.925,6,0.000,0.038,2111,2527,2019,0,0,0,0,0,0,28.83,26.02,24.51
$GC,11923,0.46,300.3,677.1,7.1,895,11992,0.12,0.00,66.18,0.952,6,0.077,0.000,2194,2527,1753,0,0,0,0,0,0,26.24,28.83,24.22
$GC,12283,0.42,300.3,625.8,15.7,913,12285,0.17,0.00,0.00,0.000,6,0.145,0.000,2145,2528,1726,0,0,0,0,0,0,25.72,28.83,28.83
$GC,12581,0.43,300.3,592.0,11.1,931,12590,0.00,2.03,0.00,0.000,4,0.000,0.044,2145,3818,1725,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12605,0.44,300.3,589.5,11.4,933,12612,0.00,2.05,0.00,0.000,6,0.000,0.028,2155,2461,1724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12912,0.44,300.3,556.1,10.0,964,12921,0.00,2.10,0.00,0.000,4,0.000,0.036,2166,1054,1722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12944,0.45,300.3,553.2,9.6,967,12953,0.00,2.25,0.00,0.000,6,0.000,0.038,2166,2524,1722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13255,0.45,300.3,520.0,10.6,998,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2524,1721,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17724,end climb,SURFACE_DEPTH_REACHED
$STATE,17724,begin surface coast
$FINISH,0.7,1.023391
$STATE,17740,end surface coast,CONTROL_FINISHED_OK
$STATE,17740,begin surface
$SM_CCo,17815,0.00,0.000,0,0,922,504.58
$SM_GC,1.12,5.43,0.32,0.00,0.029,0.048,0.000,117,2691,922,-5.80,-0.11,504.58,0,0,0,0,0,0
$IRIDIUM_FIX,2141.13,12414.25,311211,151505
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.43
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.1,58.398
$10V_AH,10.1,36.320
$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,15.175,143.650,631.800,0.000,0.000,28.840,18.945,255.817,0.000,0.000,54.765,3726.697,10289.390,735.945,3139.984,376.754,0.000,2229.897,0.000,2630.588,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,74.205,1177.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.825,2067.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,103690,1591
$CAP_FILE_SIZE,187236,0
$CFSIZE,260165632,197840896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010112,014536,2142.355,12413.159,24,2.0,24,-2.9