version: 66.10
glider: 169
mission: 5
dive: 26
start: 11 13 111 13 59 50
data:
$ID,169
$MISSION,5
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,350
$T_MISSION,380
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,1
$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,-10300.833
$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,2600
$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,8
$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
$GPS1,131111,135206,2327.969,12219.300,37,1.1,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.9
$GPS2,131111,135926,2328.035,12219.255,13,1.8,13,-3.2
$SPEED_LIMITS,0.163,0.289
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,79.1,167222,-14.0,-9.429
$D_GRID,4424
$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,-0.59,-194.6,0.0,0.0,0,103,0.00,0.00,-84.35,0.000,2,0.000,0.000,103,2656,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.59,-194.6,4.7,-9.3,11,132,6.75,2.28,-10.30,0.000,4,0.233,0.051,1825,1150,3772,0,0,0,0,0,0,25.87,26.13,26.41
$GC,216,-0.49,-194.6,56.5,-32.3,28,225,0.10,2.30,0.00,0.000,6,0.148,0.052,1847,2617,3772,0,0,0,0,0,0,26.06,26.16,28.83
$GC,574,-0.39,-194.6,161.5,-27.7,89,583,0.12,1.88,0.00,0.000,4,0.185,0.054,1875,3811,3771,0,0,0,0,0,0,26.24,26.34,28.83
$GC,621,-0.34,-194.6,172.5,-22.0,96,630,0.00,1.88,0.00,0.000,6,0.000,0.032,1884,2554,3772,0,0,0,0,0,0,28.83,26.41,28.83
$GC,979,-0.31,-194.6,220.2,-14.6,157,986,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2554,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1323,-0.30,-194.6,265.1,-12.5,207,1332,0.00,1.95,0.00,0.000,4,0.000,0.053,1875,3825,3771,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1356,-0.30,-194.6,269.5,-12.7,210,1360,0.05,1.88,0.00,0.000,6,0.074,0.031,1915,2552,3771,0,0,0,0,0,0,26.48,26.57,28.83
$GC,1671,-0.42,-194.6,291.3,-8.2,241,1680,0.12,1.90,0.00,0.000,4,0.112,0.047,1855,3809,3770,0,0,0,0,0,0,26.56,26.55,28.83
$GC,1747,-0.53,-194.6,297.6,-8.6,248,1751,0.00,1.85,0.00,0.000,6,0.000,0.034,1863,2557,3770,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2059,-0.64,-194.6,326.8,-9.4,279,2068,0.15,1.92,0.00,0.000,4,0.099,0.048,1794,3817,3768,0,0,0,0,0,0,26.60,26.58,28.83
$GC,2132,-0.75,-194.6,333.2,-8.1,286,2141,0.00,1.83,0.00,0.000,6,0.000,0.032,1794,2540,3767,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2443,-0.69,-194.6,368.7,-17.7,317,2451,0.00,1.98,0.00,0.000,4,0.000,0.054,1785,3810,3766,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2517,-0.64,-194.6,382.1,-18.5,324,2524,0.00,1.83,0.00,0.000,6,0.000,0.034,1785,2553,3766,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2826,-0.58,-194.6,440.0,-17.4,355,2835,0.12,1.92,0.00,0.000,4,0.158,0.051,1816,3808,3764,0,0,0,0,0,0,26.54,26.60,28.83
$GC,2871,-0.55,-194.6,446.1,-14.3,359,2878,0.00,1.83,0.00,0.000,6,0.000,0.034,1816,2552,3763,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3179,-0.52,-194.6,481.2,-11.4,390,3189,0.00,1.92,0.00,0.000,4,0.000,0.054,1808,3811,3761,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3225,-0.50,-194.6,486.2,-11.4,394,3232,0.12,1.83,0.00,0.000,6,0.129,0.034,1846,2552,3761,0,0,0,0,0,0,26.57,26.67,28.83
$GC,3532,-0.51,-194.6,506.5,-6.1,425,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2553,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3835,-0.52,-194.6,529.6,-8.2,455,3844,0.00,1.95,0.00,0.000,4,0.000,0.054,1837,3811,3756,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3887,-0.55,-194.6,534.2,-8.3,460,3895,0.00,1.85,0.00,0.000,6,0.000,0.035,1837,2551,3755,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4197,-0.55,-194.6,562.8,-9.3,491,4205,0.00,2.05,0.00,0.000,4,0.000,0.040,1837,1157,3752,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4221,-0.56,-194.6,564.8,-9.4,493,4228,0.00,2.20,0.00,0.000,6,0.000,0.050,1828,2619,3752,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4528,-0.56,-194.6,594.3,-8.9,524,4531,0.00,1.83,0.00,0.000,4,0.000,0.057,1819,3808,3750,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4592,-0.56,-194.6,599.6,-8.5,530,4598,0.00,1.85,0.00,0.000,6,0.000,0.037,1819,2547,3749,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4901,-0.54,-194.6,628.1,-9.4,546,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2546,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5199,-0.53,-194.6,657.3,-9.8,561,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2546,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.53,-194.6,686.9,-10.0,576,5504,0.00,1.98,0.00,0.000,4,0.000,0.058,1812,3808,3742,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5547,-0.53,-194.6,691.0,-10.1,578,5551,0.00,1.88,0.00,0.000,6,0.000,0.037,1812,2555,3741,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5859,-0.52,-194.6,727.6,-11.7,594,5864,0.00,1.95,0.00,0.000,4,0.000,0.057,1803,3818,3739,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5887,-0.51,-194.6,730.0,-11.8,595,5892,0.15,1.88,0.00,0.000,6,0.120,0.037,1850,2550,3739,0,0,0,0,0,0,26.59,26.68,28.83
$GC,6196,-0.54,-194.6,754.5,-7.1,610,6199,0.00,1.98,0.00,0.000,4,0.000,0.058,1842,3818,3738,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6226,-0.57,-194.6,756.4,-7.2,611,6229,0.00,1.88,0.00,0.000,6,0.000,0.037,1842,2551,3737,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6535,-0.60,-194.6,780.0,-8.1,626,6540,0.00,2.00,0.00,0.000,4,0.000,0.041,1842,1162,3734,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6556,-0.62,-194.6,781.6,-8.0,627,6560,0.00,2.20,0.00,0.000,6,0.000,0.052,1838,2619,3735,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6874,-0.64,-194.6,807.4,-7.8,643,6880,0.10,1.85,0.00,0.000,4,0.093,0.057,1764,3817,3733,0,0,0,0,0,0,26.73,26.62,28.83
$GC,6946,-0.63,-194.6,814.3,-10.6,646,6955,0.15,1.85,0.00,0.000,6,0.133,0.037,1810,2555,3732,0,0,0,0,0,0,26.55,26.68,28.83
$GC,7256,-0.62,-194.6,845.3,-9.0,662,7261,0.00,2.05,0.00,0.000,4,0.000,0.043,1810,1158,3730,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7288,-0.61,-194.6,847.1,-8.8,663,7294,0.00,2.22,0.00,0.000,6,0.000,0.054,1800,2619,3731,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7594,-0.59,-194.6,878.9,-10.3,679,7597,0.00,1.85,0.00,0.000,4,0.000,0.061,1791,3812,3729,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7629,-0.58,-194.6,881.0,-10.2,680,7636,0.12,1.85,0.00,0.000,6,0.131,0.038,1830,2558,3729,0,0,0,0,0,0,26.58,26.67,28.83
$GC,7937,-0.59,-194.6,908.0,-8.7,696,7942,0.00,2.05,0.00,0.000,4,0.000,0.044,1830,1160,3727,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7963,-0.60,-194.6,909.8,-8.8,697,7968,0.00,2.22,0.00,0.000,6,0.000,0.054,1825,2619,3728,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8271,-0.61,-194.6,938.4,-9.0,712,8275,0.00,1.83,0.00,0.000,4,0.000,0.061,1817,3807,3726,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8313,-0.63,-194.6,942.1,-9.1,714,8318,0.00,1.88,0.00,0.000,6,0.000,0.038,1816,2551,3726,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8633,-0.63,-194.6,971.0,-8.9,730,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2551,3724,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8850,begin apogee
$GC,8855,-0.20,0.0,991.2,-9.2,741,9080,0.35,0.08,217.10,0.996,6,0.101,0.072,1943,2525,2973,0,0,0,0,0,0,26.58,24.68,23.99
$STATE,9081,end apogee,CONTROL_FINISHED_OK
$STATE,9081,begin climb
$GC,9083,0.59,194.6,1004.0,0.0,752,9275,0.70,2.47,181.88,1.151,4,0.050,0.047,2216,1063,2174,0,0,0,0,0,0,24.88,24.57,23.82
$GC,9426,0.52,194.6,965.5,17.2,769,9431,0.15,2.35,0.00,0.000,6,0.181,0.052,2180,2524,2152,0,0,0,0,0,0,25.37,25.49,28.83
$GC,9733,0.44,194.6,911.4,16.8,784,9737,0.00,2.05,0.00,0.000,4,0.000,0.060,2180,3806,2149,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9865,0.35,194.6,887.4,19.7,790,9875,0.20,2.08,0.00,0.000,6,0.173,0.041,2130,2461,2148,0,0,0,0,0,0,25.89,26.04,28.83
$GC,10175,0.31,194.6,844.6,12.7,806,10179,0.00,2.15,0.00,0.000,4,0.000,0.058,2129,3813,2147,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10210,0.28,194.6,841.6,13.1,807,10217,0.15,2.05,0.00,0.000,6,0.175,0.039,2101,2475,2146,0,0,0,0,0,0,26.06,26.20,28.83
$GC,10517,0.27,194.6,808.4,9.8,823,10522,0.00,2.12,0.00,0.000,4,0.000,0.047,2112,1069,2145,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10540,0.26,194.6,806.5,9.7,824,10544,0.00,2.25,0.00,0.000,6,0.000,0.050,2111,2522,2144,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10854,0.24,194.6,773.9,10.3,840,10859,0.00,1.98,0.00,0.000,4,0.000,0.058,2111,3805,2145,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10900,0.22,194.6,769.4,11.0,842,10905,0.15,2.03,0.00,0.000,6,0.166,0.039,2081,2470,2145,0,0,0,0,0,0,26.22,26.36,28.83
$GC,11209,0.28,233.2,743.0,8.2,857,11250,0.00,2.20,29.52,0.962,4,0.000,0.058,2081,3805,2027,0,0,0,0,1,0,28.83,25.81,24.96
$GC,11268,0.33,267.4,737.8,8.3,860,11311,0.00,2.08,32.65,1.021,6,0.000,0.038,2092,2461,1888,0,0,0,0,1,0,28.83,25.88,24.39
$GC,11629,0.37,284.1,706.2,8.9,878,11658,0.12,0.00,26.62,0.961,6,0.077,0.000,2162,2461,1819,0,0,0,0,0,0,26.04,28.83,24.77
$GC,11950,0.33,284.1,658.1,14.8,894,11956,0.12,2.12,0.00,0.000,4,0.168,0.056,2124,3805,1798,0,0,0,0,0,0,25.86,25.95,28.83
$GC,12017,0.31,284.1,650.1,13.6,897,12021,0.00,2.05,0.00,0.000,6,0.000,0.040,2134,2464,1797,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12329,0.30,284.1,614.2,10.9,913,12334,0.00,2.12,0.00,0.000,4,0.000,0.050,2144,1067,1796,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12349,0.29,284.1,612.1,10.9,914,12355,0.10,2.22,0.00,0.000,6,0.120,0.050,2109,2516,1795,0,0,0,0,0,0,26.10,26.18,28.83
$GC,12659,0.35,319.6,586.0,8.3,937,12699,0.00,2.10,33.45,0.892,4,0.000,0.056,2108,3816,1667,0,0,0,0,0,0,28.83,25.67,25.00
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$STATE,17119,end climb,SURFACE_DEPTH_REACHED
$STATE,17119,begin surface coast
$FINISH,-0.2,1.022135
$STATE,17138,end surface coast,CONTROL_FINISHED_OK
$STATE,17138,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,39.56
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.8,7.462
$10V_AH,10.3,6.608
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,1019.542,2496.865,1721.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,324644
$DATA_FILE_SIZE,100435,1498
$CAP_FILE_SIZE,192488,0
$CFSIZE,260165632,220553216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,131111,184755,2330.127,12222.831,45,1.4,45,-3.2