version: 66.10
glider: 169
mission: 5
dive: 133
start: 12 5 111 3 9 46
data:
$ID,169
$MISSION,5
$DIVE,133
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,-10447.275
$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
$GPS1,051211,030207,2301.050,12213.580,29,1.3,29,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.6
$GPS2,051211,030920,2301.201,12213.642,13,1.5,13,-3.1
$SPEED_LIMITS,0.159,0.276
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,231.2,81576,-14.3,-9.167
$D_GRID,5037
$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,17,-0.58,-180.0,0.0,0.0,0,115,0.00,0.00,-95.43,0.000,2,0.000,0.000,118,2683,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.58,-180.0,3.5,-7.3,16,150,6.62,2.25,-13.70,0.000,4,0.223,0.043,1825,1177,3715,0,0,0,0,0,0,25.53,26.04,26.41
$GC,298,-0.51,-180.0,63.1,-24.8,48,308,0.12,2.25,0.00,0.000,6,0.168,0.044,1846,2652,3716,0,0,0,0,0,0,25.89,26.11,28.83
$GC,623,-0.44,-180.0,155.1,-20.5,109,630,0.00,2.15,0.00,0.000,4,0.000,0.030,1855,1182,3715,0,0,0,0,0,0,28.83,26.28,28.83
$GC,659,-0.40,-180.0,162.4,-18.5,115,667,0.12,2.22,0.00,0.000,6,0.142,0.044,1881,2653,3716,0,0,0,0,0,0,26.10,26.25,28.83
$GC,980,-0.38,-180.0,208.7,-14.3,170,988,0.00,2.12,0.00,0.000,4,0.000,0.030,1882,1192,3716,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1024,-0.38,-180.0,213.9,-12.2,174,1031,0.00,2.20,0.00,0.000,6,0.000,0.043,1873,2654,3715,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1334,-0.36,-180.0,252.7,-12.4,205,1337,0.00,1.75,0.00,0.000,4,0.000,0.047,1864,3821,3715,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1368,-0.35,-180.0,257.0,-12.9,208,1378,0.12,1.80,0.00,0.000,6,0.122,0.026,1904,2554,3715,0,0,0,0,0,0,26.29,26.49,28.83
$GC,1676,-0.38,-180.0,281.2,-7.1,239,1680,0.00,1.95,0.00,0.000,4,0.000,0.046,1895,3814,3715,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1719,-0.42,-180.0,284.2,-6.9,243,1723,0.00,1.80,0.00,0.000,6,0.000,0.026,1895,2560,3715,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2031,-0.46,-180.0,305.4,-6.4,274,2035,0.00,1.98,0.00,0.000,4,0.000,0.030,1895,1183,3713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2065,-0.50,-180.0,307.4,-6.4,277,2074,0.12,2.20,0.00,0.000,6,0.080,0.040,1819,2655,3713,0,0,0,0,0,0,26.42,26.42,28.83
$GC,2373,-0.45,-180.0,357.1,-15.6,308,2375,0.15,0.00,0.00,0.000,6,0.141,0.000,1863,2656,3712,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2673,-0.45,-180.0,386.5,-9.1,338,2677,0.00,2.17,0.00,0.000,4,0.000,0.029,1863,1172,3710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2694,-0.45,-180.0,388.5,-9.1,340,2706,0.00,2.25,0.00,0.000,6,0.000,0.042,1854,2660,3710,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3004,-0.45,-180.0,419.4,-10.0,371,3008,0.00,1.77,0.00,0.000,4,0.000,0.049,1845,3818,3709,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3037,-0.45,-180.0,422.5,-10.0,374,3040,0.00,1.80,0.00,0.000,6,0.000,0.026,1845,2566,3709,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3347,-0.45,-180.0,456.7,-10.9,405,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2559,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3648,-0.45,-180.0,487.3,-9.7,435,3657,0.00,1.95,0.00,0.000,4,0.000,0.047,1836,3822,3704,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3673,-0.45,-180.0,489.4,-9.5,437,3682,0.00,1.80,0.00,0.000,6,0.000,0.026,1836,2564,3703,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3981,-0.45,-180.0,522.3,-10.8,468,3990,0.00,1.98,0.00,0.000,4,0.000,0.031,1836,1184,3702,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4026,-0.46,-180.0,526.6,-9.9,472,4034,0.12,2.22,0.00,0.000,6,0.128,0.041,1866,2659,3701,0,0,0,0,0,0,26.29,26.42,28.83
$GC,4334,-0.49,-180.0,549.0,-7.1,503,4337,0.00,1.77,0.00,0.000,4,0.000,0.049,1857,3803,3699,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4356,-0.52,-180.0,550.5,-6.9,505,4359,0.00,1.77,0.00,0.000,6,0.000,0.026,1858,2560,3698,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4667,-0.54,-180.0,572.2,-7.1,536,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2556,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.56,-180.0,593.8,-7.1,566,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2556,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,-0.59,-180.0,616.0,-7.2,586,5279,0.12,0.00,0.00,0.000,6,0.076,0.000,1774,2556,3691,0,0,0,0,0,0,26.65,28.83,28.83
$GC,5579,-0.53,-180.0,663.6,-15.8,601,5585,0.17,1.95,0.00,0.000,4,0.139,0.048,1823,3811,3689,0,0,0,0,0,0,26.25,26.33,28.83
$GC,5621,-0.50,-180.0,668.8,-14.4,603,5624,0.00,1.80,0.00,0.000,6,0.000,0.028,1823,2570,3689,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5938,-0.49,-180.0,699.6,-9.5,619,5943,0.00,2.00,0.00,0.000,4,0.000,0.034,1823,1185,3687,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5981,-0.49,-180.0,703.2,-9.3,621,5986,0.12,2.22,0.00,0.000,6,0.127,0.044,1853,2654,3686,0,0,0,0,0,0,26.24,26.36,28.83
$GC,6297,-0.52,-180.0,723.2,-6.1,637,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2654,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6595,-0.54,-180.0,742.2,-6.5,652,6601,0.00,2.12,0.00,0.000,4,0.000,0.032,1853,1186,3682,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6635,-0.58,-180.0,744.8,-6.5,654,6641,0.00,2.25,0.00,0.000,6,0.000,0.043,1845,2657,3682,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6956,-0.60,-180.0,767.2,-7.3,670,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2657,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,-0.62,-180.0,789.6,-7.8,685,7262,0.10,2.17,0.00,0.000,4,0.092,0.031,1774,1183,3678,0,0,0,0,0,0,26.63,26.37,28.83
$GC,7323,-0.62,-180.0,796.5,-10.4,688,7328,0.15,2.25,0.00,0.000,6,0.142,0.044,1807,2658,3678,0,0,0,0,0,0,26.10,26.33,28.83
$GC,7632,-0.60,-180.0,831.8,-10.8,703,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2658,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.59,-180.0,864.0,-10.7,718,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2658,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,-0.58,-180.0,894.4,-10.1,733,8237,0.00,2.15,0.00,0.000,4,0.000,0.033,1807,1185,3673,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8283,-0.58,-180.0,898.4,-9.9,735,8293,0.00,2.22,0.00,0.000,6,0.000,0.045,1798,2653,3673,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8591,-0.56,-180.0,931.6,-10.6,751,8593,0.10,0.00,0.00,0.000,6,0.162,0.000,1826,2653,3672,0,0,0,0,0,0,26.44,28.83,28.83
$GC,8893,-0.57,-180.0,955.6,-7.7,766,8898,0.00,2.12,0.00,0.000,4,0.000,0.032,1826,1191,3672,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8933,-0.58,-180.0,958.7,-7.8,768,8938,0.00,2.22,0.00,0.000,6,0.000,0.045,1820,2654,3671,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9253,-0.58,-180.0,985.1,-8.2,784,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2654,3670,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9309,begin apogee
$GC,9314,-0.20,0.0,990.1,-8.3,787,9473,0.35,0.12,151.30,1.177,6,0.099,0.087,1945,2536,2972,0,0,0,0,0,0,26.10,24.80,24.03
$STATE,9474,end apogee,CONTROL_FINISHED_OK
$STATE,9474,begin climb
$GC,9477,0.58,180.0,997.0,0.0,795,9655,0.68,2.17,167.98,1.180,4,0.044,0.049,2208,3811,2234,0,0,0,0,0,0,25.01,24.49,23.70
$GC,9805,0.46,180.0,954.8,21.9,811,9814,0.22,2.10,0.00,0.000,6,0.185,0.034,2161,2464,2216,0,0,0,0,0,0,25.13,25.45,28.83
$GC,10115,0.40,180.0,905.1,14.5,827,10120,0.00,2.15,0.00,0.000,4,0.000,0.050,2161,3814,2212,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10148,0.34,180.0,901.9,14.9,828,10157,0.17,2.05,0.00,0.000,6,0.170,0.032,2126,2463,2211,0,0,0,0,0,0,25.61,25.94,28.83
$GC,10456,0.31,180.0,862.4,11.8,844,10461,0.00,2.08,0.00,0.000,4,0.000,0.048,2126,3806,2210,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10503,0.27,180.0,856.6,13.0,846,10508,0.15,2.05,0.00,0.000,6,0.160,0.033,2097,2460,2210,0,0,0,0,0,0,25.80,26.09,28.83
$GC,10812,0.27,180.0,825.1,9.3,861,10818,0.00,2.10,0.00,0.000,4,0.000,0.048,2097,3810,2208,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10921,0.25,180.0,814.5,10.7,866,10930,0.00,2.03,0.00,0.000,6,0.000,0.032,2107,2463,2208,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11232,0.24,180.0,783.5,9.5,882,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2462,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11533,0.23,180.0,753.1,10.3,897,11538,0.00,2.08,0.00,0.000,4,0.000,0.039,2118,1067,2207,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11564,0.23,180.0,751.0,10.3,898,11572,0.12,2.22,0.00,0.000,6,0.139,0.043,2082,2522,2206,0,0,0,0,0,0,26.02,26.19,28.83
$GC,11873,0.28,212.9,724.3,8.0,914,11913,0.00,2.05,31.17,0.954,4,0.000,0.048,2082,3823,2099,0,0,0,0,0,0,28.83,25.81,25.06
$GC,11929,0.34,243.9,721.2,8.1,916,11964,0.00,2.08,30.70,0.961,6,0.000,0.031,2093,2459,1983,0,0,0,0,0,0,28.83,25.86,24.64
$GC,12274,0.39,268.4,690.5,8.3,934,12304,0.12,2.22,22.40,0.970,4,0.076,0.039,2183,1053,1872,0,0,0,0,0,0,26.06,25.60,24.80
$GC,12341,0.38,268.4,682.5,12.1,937,12346,0.17,2.30,0.00,0.000,6,0.135,0.044,2134,2520,1862,0,0,0,0,0,0,25.53,25.67,28.83
$GC,12648,0.38,268.4,644.2,11.7,952,12654,0.00,2.03,0.00,0.000,4,0.000,0.048,2133,3815,1859,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12670,0.38,268.4,641.7,11.7,953,12676,0.00,2.03,0.00,0.000,6,0.000,0.029,2144,2470,1858,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12991,0.37,268.4,604.2,11.1,969,12996,0.00,2.08,0.00,0.000,4,0.000,0.049,2144,3810,1858,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,18213,end climb,SURFACE_DEPTH_REACHED
$STATE,18213,begin surface coast
$FINISH,0.4,1.022489
$STATE,18235,end surface coast,CONTROL_FINISHED_OK
$STATE,18235,begin surface
$SM_CCo,18310,0.00,0.000,0,0,535,599.51
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$IRIDIUM_FIX,2248.70,12215.71,041211,212100
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.56
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.7,29.068
$10V_AH,10.2,21.255
$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,16.875,159.800,686.725,0.000,0.000,31.056,39.554,226.130,0.000,0.000,15.673,4369.964,9963.057,810.160,3201.488,371.599,0.000,2373.227,0.000,2737.877,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,87.210,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.796,2117.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,107122,1622
$CAP_FILE_SIZE,200163,0
$CFSIZE,260165632,210522112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.530, 30.0,1
$GPS,051211,081606,2302.358,12212.708,37,1.3,42,-3.1