version: 66.10
glider: 169
mission: 5
dive: 52
start: 11 19 111 7 2 36
data:
$ID,169
$MISSION,5
$DIVE,52
$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,400
$T_MISSION,430
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,9
$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,-10333.549
$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
$GPS1,191111,065436,2341.845,12357.960,31,1.4,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.6
$GPS2,191111,070208,2341.837,12358.169,14,1.4,14,-3.4
$SPEED_LIMITS,0.143,0.288
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.248,-2.445
$KALMAN_X,8516580.0,0.0,0.0,5259072.0,6713.0
$KALMAN_Y,1611218.8,0.0,0.0,1022002.7,1787.5
$MHEAD_RNG_PITCHd_Wd,227.7,244183,-11.2,-8.250
$D_GRID,2908
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.55,-219.0,0.0,0.0,0,110,0.00,0.00,-90.03,0.000,2,0.000,0.000,114,2678,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.55,-219.0,3.3,-6.3,13,145,6.68,2.25,-15.40,0.000,4,0.231,0.049,1833,1188,3875,0,0,0,0,0,0,25.85,26.17,26.46
$GC,165,-0.29,-219.0,31.2,-56.4,20,174,0.28,2.28,0.00,0.000,6,0.168,0.048,1907,2648,3875,0,0,0,0,0,0,25.96,26.16,28.83
$GC,511,-0.23,-219.0,138.0,-18.1,81,517,0.00,1.80,0.00,0.000,4,0.000,0.053,1898,3810,3875,0,0,0,0,0,0,28.83,26.32,28.83
$GC,573,-0.21,-219.0,146.8,-12.0,91,583,0.12,1.80,0.00,0.000,6,0.116,0.028,1940,2558,3875,0,0,0,0,0,0,26.31,26.41,28.83
$GC,921,-0.25,-219.0,167.5,-5.1,152,930,0.00,2.03,0.00,0.000,4,0.000,0.034,1940,1183,3875,0,0,0,0,0,0,28.83,26.46,28.83
$GC,945,-0.31,-219.0,168.9,-5.8,155,952,0.00,2.20,0.00,0.000,6,0.000,0.041,1939,2657,3875,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1300,-0.39,-219.0,206.2,-10.7,216,1310,0.15,1.77,0.00,0.000,4,0.096,0.047,1872,3817,3875,0,0,0,0,0,0,26.52,26.51,28.83
$GC,1396,-0.51,-219.0,215.7,-9.7,231,1402,0.00,1.80,0.00,0.000,6,0.000,0.028,1877,2558,3875,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1750,-0.58,-219.0,249.4,-10.6,292,1760,0.15,2.03,0.00,0.000,4,0.110,0.033,1824,1180,3875,0,0,0,0,0,0,26.55,26.57,28.83
$GC,1822,-0.68,-219.0,256.2,-10.0,299,1830,0.10,2.20,0.00,0.000,6,0.093,0.041,1759,2659,3875,0,0,0,0,0,0,26.56,26.58,28.83
$GC,2131,-0.52,-219.0,342.4,-36.1,330,2140,0.25,2.10,0.00,0.000,4,0.163,0.030,1844,1185,3874,0,0,0,0,0,0,26.41,26.63,28.83
$GC,2166,-0.40,-219.0,351.2,-28.0,333,2176,0.15,2.20,0.00,0.000,6,0.124,0.046,1882,2652,3874,0,0,0,0,0,0,26.51,26.58,28.83
$GC,2474,-0.42,-219.0,372.5,-6.1,364,2478,0.00,1.80,0.00,0.000,4,0.000,0.051,1873,3817,3873,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2507,-0.44,-219.0,374.5,-6.1,367,2511,0.00,1.83,0.00,0.000,6,0.000,0.028,1873,2563,3873,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2818,-0.53,-219.0,403.4,-10.7,398,2828,0.12,1.98,0.00,0.000,4,0.115,0.034,1828,1182,3870,0,0,0,0,0,0,26.60,26.61,28.83
$GC,2923,-0.62,-219.0,414.3,-10.1,408,2932,0.00,2.17,0.00,0.000,6,0.000,0.042,1820,2656,3870,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3232,-0.63,-219.0,441.0,-8.2,439,3236,0.00,2.15,0.00,0.000,4,0.000,0.034,1820,1180,3868,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3288,-0.64,-219.0,445.6,-8.6,444,3294,0.00,2.20,0.00,0.000,6,0.000,0.044,1812,2655,3867,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3595,-0.59,-219.0,486.6,-13.2,475,3599,0.00,1.77,0.00,0.000,4,0.000,0.051,1803,3813,3866,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3648,-0.55,-219.0,493.3,-12.3,480,3652,0.00,1.77,0.00,0.000,6,0.000,0.029,1804,2576,3865,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3961,-0.50,-219.0,537.4,-15.3,511,3965,0.12,2.03,0.00,0.000,4,0.139,0.031,1851,1176,3863,0,0,0,0,0,0,26.55,26.63,28.83
$GC,4014,-0.51,-219.0,543.1,-9.4,516,4023,0.00,2.22,0.00,0.000,6,0.000,0.045,1845,2657,3862,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4325,-0.51,-219.0,571.4,-8.6,547,4328,0.00,1.77,0.00,0.000,4,0.000,0.052,1837,3809,3860,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4359,-0.51,-219.0,574.3,-9.1,550,4368,0.00,1.77,0.00,0.000,6,0.000,0.031,1836,2574,3860,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4676,-0.51,-219.0,602.1,-8.1,581,4681,0.00,1.92,0.00,0.000,4,0.000,0.051,1828,3818,3858,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4705,-0.51,-219.0,603.8,-8.0,582,4708,0.00,1.80,0.00,0.000,6,0.000,0.030,1828,2569,3858,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5016,-0.50,-219.0,631.6,-9.0,598,5022,0.00,1.95,0.00,0.000,4,0.000,0.053,1820,3822,3855,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5044,-0.49,-219.0,633.3,-9.2,599,5049,0.10,1.80,0.00,0.000,6,0.126,0.031,1852,2574,3854,0,0,0,0,0,0,26.55,26.67,28.83
$GC,5353,-0.50,-219.0,655.2,-7.2,614,5359,0.00,2.00,0.00,0.000,4,0.000,0.034,1853,1186,3852,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5375,-0.52,-219.0,656.8,-7.3,615,5379,0.00,2.20,0.00,0.000,6,0.000,0.045,1851,2654,3852,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5687,-0.61,-219.0,686.5,-10.6,631,5693,0.12,2.12,0.00,0.000,4,0.109,0.033,1805,1182,3849,0,0,0,0,0,0,26.63,26.63,28.83
$GC,5750,-0.70,-219.0,692.1,-9.6,634,5754,0.00,2.22,0.00,0.000,6,0.000,0.044,1805,2660,3849,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6062,-0.74,-219.0,714.7,-6.5,650,6068,0.10,1.77,0.00,0.000,4,0.096,0.054,1754,3818,3847,0,0,0,0,0,0,26.70,26.58,28.83
$GC,6096,-0.78,-219.0,716.2,-6.6,651,6102,0.00,1.80,0.00,0.000,6,0.000,0.031,1754,2575,3846,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6402,-0.70,-219.0,765.5,-16.4,667,6407,0.00,2.00,0.00,0.000,4,0.000,0.034,1756,1183,3844,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6471,-0.64,-219.0,773.9,-14.7,670,6476,0.20,2.22,0.00,0.000,6,0.134,0.047,1807,2654,3844,0,0,0,0,0,0,26.48,26.60,28.83
$GC,6778,-0.61,-219.0,803.5,-9.4,685,6781,0.00,1.77,0.00,0.000,4,0.000,0.055,1799,3815,3842,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6802,-0.59,-219.0,805.4,-9.1,686,6806,0.00,1.83,0.00,0.000,6,0.000,0.031,1799,2576,3841,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7122,-0.56,-219.0,838.8,-10.3,702,7127,0.10,2.00,0.00,0.000,4,0.148,0.034,1829,1197,3840,0,0,0,0,0,0,26.58,26.62,28.83
$GC,7140,-0.53,-219.0,840.7,-10.2,703,7146,0.00,2.20,0.00,0.000,6,0.000,0.048,1821,2651,3840,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7461,-0.52,-219.0,864.8,-7.1,719,7465,0.00,1.77,0.00,0.000,4,0.000,0.056,1812,3809,3837,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7503,-0.52,-219.0,867.7,-6.9,721,7506,0.00,1.80,0.00,0.000,6,0.000,0.032,1812,2574,3837,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7826,-0.51,-219.0,892.5,-7.9,737,7832,0.12,1.90,0.00,0.000,4,0.130,0.053,1849,3805,3836,0,0,0,0,0,0,26.55,26.56,28.83
$GC,7854,-0.50,-219.0,893.9,-7.6,738,7857,0.00,1.80,0.00,0.000,6,0.000,0.032,1849,2570,3836,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8165,-0.60,-219.0,918.0,-9.1,754,8170,0.00,2.03,0.00,0.000,4,0.000,0.037,1857,1183,3834,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8253,-0.69,-219.0,926.0,-9.9,758,8258,0.20,2.22,0.00,0.000,6,0.073,0.046,1775,2655,3833,0,0,0,0,0,0,26.58,26.58,28.83
$GC,8561,-0.70,-219.0,954.9,-9.6,773,8565,0.00,1.75,0.00,0.000,4,0.000,0.055,1768,3809,3832,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8685,-0.67,-219.0,969.2,-12.0,779,8688,0.00,1.77,0.00,0.000,6,0.000,0.031,1768,2578,3831,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,8844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8844,begin apogee
$GC,8849,-0.20,0.0,991.4,-13.8,787,9040,0.50,0.08,182.48,1.166,6,0.108,0.073,1942,2523,2975,0,0,0,0,0,0,26.44,24.73,24.10
$STATE,9041,end apogee,CONTROL_FINISHED_OK
$STATE,9041,begin climb
$GC,9043,0.55,219.0,1000.7,0.0,796,9253,0.68,2.15,201.30,1.151,4,0.051,0.051,2195,3812,2076,0,0,0,0,0,0,24.96,24.60,23.91
$GC,9295,0.43,219.0,973.7,20.3,809,9300,0.20,2.12,0.00,0.000,6,0.182,0.036,2156,2464,2059,0,0,0,0,0,0,24.96,25.10,28.83
$GC,9603,0.36,219.0,921.0,15.7,824,9608,0.00,2.10,0.00,0.000,4,0.000,0.053,2156,3802,2052,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9643,0.29,219.0,914.1,16.4,826,9649,0.17,2.03,0.00,0.000,6,0.153,0.034,2111,2481,2051,0,0,0,0,0,0,25.75,25.92,28.83
$GC,9963,0.25,219.0,878.8,10.5,842,9968,0.00,2.10,0.00,0.000,4,0.000,0.052,2111,3811,2048,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10002,0.22,219.0,874.3,10.7,844,10008,0.15,2.05,0.00,0.000,6,0.158,0.035,2080,2460,2047,0,0,0,0,0,0,26.00,26.15,28.83
$GC,10324,0.28,273.6,851.6,6.8,860,10374,0.00,2.20,39.85,1.111,4,0.000,0.054,2080,3809,1865,0,0,0,0,1,0,28.83,25.43,24.53
$GC,10418,0.33,310.6,844.7,7.3,864,10476,0.00,2.05,47.53,1.013,6,0.000,0.034,2090,2463,1701,0,0,0,0,0,0,28.83,25.65,24.34
$GC,10777,0.37,331.3,818.7,7.7,882,10801,0.12,2.17,18.48,1.021,4,0.076,0.044,2184,1064,1620,0,0,0,0,0,0,26.00,25.58,24.84
$GC,10844,0.35,331.3,810.8,12.3,885,10854,0.20,2.28,0.00,0.000,6,0.134,0.048,2126,2519,1608,0,0,0,0,0,0,25.61,25.70,28.83
$GC,11155,0.34,331.3,771.3,11.7,901,11161,0.00,2.03,0.00,0.000,4,0.000,0.054,2126,3807,1606,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11178,0.32,331.3,768.9,11.9,902,11181,0.00,2.03,0.00,0.000,6,0.000,0.034,2136,2465,1605,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11495,0.30,331.3,728.7,12.7,918,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2462,1604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11795,0.27,331.3,690.3,12.9,933,11801,0.12,2.12,0.00,0.000,4,0.165,0.051,2096,3818,1604,0,0,0,0,0,0,26.18,26.27,28.83
$GC,11838,0.27,331.3,685.8,12.3,935,11842,0.00,2.05,0.00,0.000,6,0.000,0.034,2105,2459,1603,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,17491,end climb,SURFACE_DEPTH_REACHED
$STATE,17491,begin surface coast
$FINISH,-0.2,1.021974
$STATE,17511,end surface coast,CONTROL_FINISHED_OK
$STATE,17511,begin surface
$SM_CCo,17586,0.00,0.000,0,0,692,561.00
$SM_GC,0.78,5.45,0.17,0.00,0.038,0.073,0.000,129,2669,692,-5.78,-0.45,561.00,0,0,0,0,0,0
$IRIDIUM_FIX,2335.63,12358.38,191111,010129
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.70
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.9,12.566
$10V_AH,10.4,11.570
$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,18.200,184.275,684.875,0.000,0.000,30.403,42.407,248.917,0.000,0.000,14.981,4182.458,8953.514,769.755,3725.168,386.220,0.378,2404.449,0.000,3378.281,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,74.970,1165.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.101,1435.692,979.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330364
$DATA_FILE_SIZE,103681,1573
$CAP_FILE_SIZE,204731,0
$CFSIZE,260165632,217874432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.576, 83.7,1
$GPS,191111,115637,2338.106,12359.555,27,1.7,27,-3.4