version: 66.10
glider: 169
mission: 5
dive: 33
start: 11 15 111 0 49 15
data:
$ID,169
$MISSION,5
$DIVE,33
$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,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,-10309.643
$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,2000
$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,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
$GPS1,151111,004200,2336.335,12241.459,38,1.5,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.5
$GPS2,151111,004849,2336.412,12241.491,11,1.5,16,-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,126.8,127046,-14.0,-9.429
$D_GRID,3087
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-87.55,0.000,2,0.000,0.000,109,2655,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.59,-194.6,4.6,-8.5,11,131,6.70,2.17,-7.40,0.000,4,0.235,0.046,1814,1180,3774,0,0,0,0,0,0,25.91,26.17,26.48
$GC,177,-0.48,-194.6,42.6,-37.6,20,187,0.10,2.30,0.00,0.000,6,0.148,0.050,1837,2653,3774,0,0,0,0,0,0,26.07,26.19,28.83
$GC,556,-0.37,-194.6,178.4,-28.8,81,565,0.12,2.20,0.00,0.000,4,0.185,0.034,1884,1183,3774,0,0,0,0,0,0,26.26,26.39,28.83
$GC,655,-0.40,-194.6,194.0,-9.6,96,663,0.00,2.25,0.00,0.000,6,0.000,0.048,1874,2650,3774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1034,-0.38,-194.6,248.0,-13.1,157,1042,0.00,1.80,0.00,0.000,4,0.000,0.054,1866,3807,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1075,-0.37,-194.6,253.1,-12.5,161,1078,0.00,1.77,0.00,0.000,6,0.000,0.031,1865,2580,3774,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1387,-0.36,-194.6,291.8,-11.5,192,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2577,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1689,-0.35,-194.6,328.5,-12.1,222,1698,0.00,2.00,0.00,0.000,4,0.000,0.036,1865,1200,3772,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1755,-0.38,-194.6,335.3,-9.3,228,1762,0.00,2.20,0.00,0.000,6,0.000,0.047,1859,2656,3771,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2062,-0.38,-194.6,366.1,-9.9,259,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2656,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.38,-194.6,392.3,-8.1,289,2374,0.00,2.15,0.00,0.000,4,0.000,0.037,1859,1184,3768,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2401,-0.39,-194.6,395.0,-8.0,292,2407,0.00,2.22,0.00,0.000,6,0.000,0.049,1855,2655,3767,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2708,-0.39,-194.6,422.9,-9.9,323,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2655,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-0.39,-194.6,452.4,-9.1,353,3015,0.00,1.75,0.00,0.000,4,0.000,0.055,1846,3816,3763,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3046,-0.40,-194.6,455.6,-8.9,356,3053,0.00,1.80,0.00,0.000,6,0.000,0.032,1846,2575,3762,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3353,-0.40,-194.6,483.7,-8.8,387,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2575,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3657,-0.40,-194.6,508.4,-8.1,417,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2575,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-0.41,-194.6,536.0,-9.5,448,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2575,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4266,-0.42,-194.6,564.8,-10.1,478,4269,0.00,1.95,0.00,0.000,4,0.000,0.056,1839,3807,3753,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4298,-0.43,-194.6,568.3,-10.1,481,4302,0.00,1.80,0.00,0.000,6,0.000,0.034,1838,2581,3752,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4610,-0.43,-194.6,600.5,-10.5,512,4615,0.00,2.05,0.00,0.000,4,0.000,0.040,1839,1181,3750,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4664,-0.45,-194.6,604.8,-10.5,514,4671,0.00,2.20,0.00,0.000,6,0.000,0.050,1830,2651,3749,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4970,-0.45,-194.6,639.0,-10.3,530,4976,0.00,2.17,0.00,0.000,4,0.000,0.039,1830,1181,3747,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4991,-0.45,-194.6,641.0,-10.1,531,4997,0.12,2.25,0.00,0.000,6,0.133,0.050,1862,2655,3747,0,0,0,0,0,0,26.58,26.64,28.83
$GC,5313,-0.48,-194.6,660.3,-5.4,547,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2655,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5611,-0.51,-194.6,674.9,-4.6,562,5615,0.00,2.17,0.00,0.000,4,0.000,0.039,1862,1183,3742,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5634,-0.54,-194.6,676.0,-4.6,563,5640,0.08,2.20,0.00,0.000,6,0.055,0.050,1803,2648,3742,0,0,0,0,0,0,26.65,26.64,28.83
$GC,5953,-0.52,-194.6,708.5,-11.0,579,5956,0.00,1.77,0.00,0.000,4,0.000,0.059,1794,3811,3740,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5988,-0.49,-194.6,711.0,-11.1,580,5997,0.15,1.80,0.00,0.000,6,0.126,0.036,1841,2577,3739,0,0,0,0,0,0,26.57,26.67,28.83
$GC,6294,-0.50,-194.6,736.0,-7.6,596,6300,0.00,2.05,0.00,0.000,4,0.000,0.039,1841,1182,3737,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6318,-0.52,-194.6,737.5,-7.6,597,6324,0.00,2.25,0.00,0.000,6,0.000,0.052,1834,2655,3737,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6635,-0.53,-194.6,763.9,-8.5,613,6639,0.00,1.77,0.00,0.000,4,0.000,0.059,1825,3820,3735,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6657,-0.54,-194.6,765.8,-8.6,614,6661,0.00,1.85,0.00,0.000,6,0.000,0.037,1825,2582,3734,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6981,-0.54,-194.6,795.6,-9.2,630,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2580,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7279,-0.54,-194.6,821.8,-8.9,645,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2580,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,-0.54,-194.6,847.9,-8.5,660,7583,0.00,2.05,0.00,0.000,4,0.000,0.042,1825,1183,3729,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7614,-0.54,-194.6,849.9,-9.0,661,7623,0.00,2.22,0.00,0.000,6,0.000,0.051,1816,2649,3729,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7920,-0.54,-194.6,881.9,-10.0,677,7926,0.00,2.17,0.00,0.000,4,0.000,0.040,1816,1185,3728,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7964,-0.54,-194.6,885.6,-9.7,679,7968,0.00,2.25,0.00,0.000,6,0.000,0.053,1813,2650,3728,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8277,-0.53,-194.6,913.5,-8.8,695,8281,0.00,1.83,0.00,0.000,4,0.000,0.060,1804,3813,3727,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8321,-0.53,-194.6,917.2,-8.6,697,8326,0.00,1.83,0.00,0.000,6,0.000,0.037,1804,2577,3726,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8641,-0.52,-194.6,944.8,-8.4,713,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2575,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8940,-0.51,-194.6,968.7,-8.0,728,8941,0.10,0.00,0.00,0.000,6,0.150,0.000,1834,2575,3724,0,0,0,0,0,0,26.60,28.83,28.83
$GC,9241,-0.52,-194.6,986.4,-6.0,743,9247,0.00,1.92,0.00,0.000,4,0.000,0.060,1825,3817,3723,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9284,-0.55,-194.6,988.8,-6.0,745,9288,0.00,1.83,0.00,0.000,6,0.000,0.037,1825,2580,3723,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9313,begin apogee
$GC,9319,-0.20,0.0,990.7,-5.6,747,9490,0.30,0.08,163.45,1.164,6,0.099,0.072,1934,2525,2973,0,0,0,0,0,0,26.56,24.70,24.01
$STATE,9491,end apogee,CONTROL_FINISHED_OK
$STATE,9491,begin climb
$GC,9493,0.59,194.6,995.6,0.0,755,9684,0.70,2.15,182.75,1.154,4,0.047,0.054,2201,3806,2175,0,0,0,0,0,0,24.94,24.58,23.84
$GC,9733,0.48,194.6,969.9,20.9,767,9740,0.22,2.12,0.00,0.000,6,0.194,0.038,2157,2477,2157,0,0,0,0,0,0,24.99,25.14,28.83
$GC,10038,0.41,194.6,913.5,16.5,783,10042,0.00,2.15,0.00,0.000,4,0.000,0.057,2156,3809,2151,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10113,0.34,194.6,902.2,17.8,786,10121,0.20,2.08,0.00,0.000,6,0.176,0.037,2115,2463,2150,0,0,0,0,0,0,25.77,25.93,28.83
$GC,10421,0.32,194.6,861.8,11.4,802,10426,0.00,2.10,0.00,0.000,4,0.000,0.056,2114,3807,2149,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10468,0.29,194.6,856.7,12.0,804,10472,0.00,2.05,0.00,0.000,6,0.000,0.038,2124,2470,2148,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10776,0.26,194.6,819.5,11.9,819,10782,0.12,2.10,0.00,0.000,4,0.177,0.045,2098,1070,2147,0,0,0,0,0,0,26.12,26.24,28.83
$GC,10824,0.24,194.6,815.3,11.7,821,10828,0.00,2.25,0.00,0.000,6,0.000,0.050,2098,2520,2146,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11132,0.24,199.6,785.4,9.3,836,11137,0.00,1.98,0.00,0.000,4,0.000,0.058,2098,3802,2145,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11194,0.23,199.6,778.8,10.4,839,11200,0.08,2.00,0.00,0.000,6,0.147,0.037,2081,2474,2145,0,0,0,0,0,0,26.21,26.35,28.83
$GC,11515,0.28,238.0,752.1,8.2,855,11555,0.00,0.00,32.20,0.996,6,0.000,0.000,2081,2473,2006,0,0,0,0,1,0,28.83,28.83,24.90
$GC,11853,0.35,280.2,725.4,8.0,872,11912,0.00,2.25,46.17,0.955,4,0.000,0.057,2081,3806,1839,0,0,0,0,1,0,28.83,25.30,24.40
$GC,11918,0.42,317.6,720.7,8.2,875,11968,0.12,2.12,38.05,1.094,6,0.075,0.037,2162,2460,1684,0,0,0,0,1,0,25.44,25.41,24.06
$GC,12276,0.39,317.6,661.1,16.8,893,12283,0.12,2.20,1.38,0.182,4,0.174,0.056,2126,3801,1682,0,0,0,0,0,0,25.77,25.86,25.72
$GC,12325,0.37,317.6,654.9,15.9,895,12329,0.00,2.05,0.00,0.000,6,0.000,0.037,2135,2464,1689,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12636,0.37,317.6,617.3,11.1,911,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2461,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12936,0.37,317.6,583.2,11.0,933,12948,0.00,2.12,0.00,0.000,4,0.000,0.047,2146,1056,1690,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12971,0.37,317.6,579.5,11.5,936,12980,0.00,2.25,0.00,0.000,6,0.000,0.051,2146,2516,1689,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,17571,end climb,SURFACE_DEPTH_REACHED
$STATE,17571,begin surface coast
$FINISH,-0.1,1.017064
$STATE,17611,end surface coast,CONTROL_FINISHED_OK
$STATE,17613,begin surface
$SM_CCo,17690,0.00,0.000,0,0,888,512.68
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$IRIDIUM_FIX,2323.87,12236.20,141111,191922
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.81
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.8,8.847
$10V_AH,10.3,7.902
$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
$DEVICE_SECS,15.425,145.775,635.925,0.000,0.000,27.877,17.481,224.604,0.000,0.000,17.305,4075.870,8944.155,735.556,3951.728,366.252,0.000,2216.644,0.000,3579.589,0.000,0.545,0.000
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$SENSOR_SECS,1033.409,2481.746,1670.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324608
$DATA_FILE_SIZE,100298,1515
$CAP_FILE_SIZE,183479,0
$CFSIZE,260165632,219877376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.307,337.6,1
$GPS,151111,054506,2336.210,12244.715,34,1.1,34,-3.2