version: 66.10
glider: 169
mission: 5
dive: 113
start: 11 30 111 20 24 10
data:
$ID,169
$MISSION,5
$DIVE,113
$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,175
$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,-10421.344
$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
$GPS1,301111,201707,2206.115,12315.776,35,1.1,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.4
$GPS2,301111,202344,2206.135,12315.669,12,1.6,12,-2.9
$SPEED_LIMITS,0.159,0.270
$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,347.5,215295,-14.8,-9.167
$D_GRID,5310
$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,15,begin dive
$GC,17,-0.58,-170.3,0.0,0.0,0,96,0.00,0.00,-76.15,0.000,2,0.000,0.000,126,2663,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-170.3,4.1,-10.0,13,126,6.70,0.00,-10.30,0.000,6,0.231,0.000,1812,2663,3675,0,0,0,0,0,0,25.62,28.83,26.45
$GC,445,-0.42,-170.3,164.3,-37.2,77,453,0.20,2.17,0.00,0.000,4,0.186,0.026,1878,1176,3675,0,0,0,0,0,0,25.92,26.31,28.83
$GC,556,-0.45,-170.3,181.8,-7.6,97,563,0.00,2.25,0.00,0.000,6,0.000,0.043,1868,2658,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,874,-0.40,-170.3,237.2,-18.4,140,878,0.00,1.75,0.00,0.000,4,0.000,0.048,1859,3818,3675,0,0,0,0,0,0,28.83,26.34,28.83
$GC,917,-0.35,-170.3,244.9,-18.4,144,928,0.10,1.77,0.00,0.000,6,0.147,0.026,1892,2559,3675,0,0,0,0,0,0,26.27,26.46,28.83
$GC,1226,-0.35,-170.3,285.9,-10.7,175,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2559,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.36,-170.3,315.3,-9.0,205,1541,0.00,1.98,0.00,0.000,4,0.000,0.049,1883,3819,3675,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1596,-0.40,-170.3,321.3,-8.3,211,1600,0.00,1.80,0.00,0.000,6,0.000,0.027,1883,2566,3675,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1909,-0.41,-170.3,350.3,-8.4,242,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2558,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.42,-170.3,378.9,-10.2,273,2231,0.00,2.00,0.00,0.000,4,0.000,0.031,1883,1174,3674,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2257,-0.45,-170.3,382.6,-10.6,276,2263,0.00,2.22,0.00,0.000,6,0.000,0.042,1875,2656,3674,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2566,-0.45,-170.3,412.0,-7.5,307,2569,0.00,1.77,0.00,0.000,4,0.000,0.047,1866,3805,3672,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2618,-0.47,-170.3,415.5,-6.4,312,2622,0.00,1.75,0.00,0.000,6,0.000,0.027,1866,2560,3672,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2929,-0.47,-170.3,440.2,-9.7,343,2938,0.00,2.00,0.00,0.000,4,0.000,0.031,1865,1177,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2962,-0.49,-170.3,443.3,-10.1,346,2971,0.00,2.17,0.00,0.000,6,0.000,0.042,1856,2656,3670,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3271,-0.48,-170.3,481.4,-12.1,377,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2655,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3573,-0.48,-170.3,514.2,-9.8,407,3582,0.00,2.12,0.00,0.000,4,0.000,0.031,1856,1186,3668,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3609,-0.49,-170.3,517.4,-9.9,410,3616,0.00,2.20,0.00,0.000,6,0.000,0.042,1847,2655,3667,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3916,-0.49,-170.3,544.1,-7.4,441,3927,0.00,2.15,0.00,0.000,4,0.000,0.031,1847,1181,3665,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3954,-0.51,-170.3,546.2,-6.8,444,3961,0.00,2.20,0.00,0.000,6,0.000,0.043,1839,2654,3665,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4260,-0.50,-170.3,570.7,-9.7,475,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2654,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4572,-0.50,-170.3,605.3,-11.1,504,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2654,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.50,-170.3,632.0,-8.1,519,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2654,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5171,-0.50,-170.3,661.3,-10.8,534,5176,0.00,2.17,0.00,0.000,4,0.000,0.033,1839,1182,3657,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5198,-0.50,-170.3,663.6,-10.8,535,5202,0.00,2.20,0.00,0.000,6,0.000,0.044,1830,2652,3656,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5506,-0.50,-170.3,700.7,-10.9,550,5512,0.00,2.12,0.00,0.000,4,0.000,0.033,1830,1188,3654,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5534,-0.50,-170.3,702.8,-10.5,551,5538,0.00,2.20,0.00,0.000,6,0.000,0.044,1822,2656,3654,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5842,-0.49,-170.3,733.8,-10.4,566,5847,0.10,1.80,0.00,0.000,4,0.163,0.050,1841,3814,3651,0,0,0,0,0,0,26.48,26.41,28.83
$GC,5887,-0.49,-170.3,738.1,-10.1,568,5891,0.00,1.77,0.00,0.000,6,0.000,0.029,1842,2569,3651,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6205,-0.50,-170.3,767.6,-9.3,584,6209,0.00,1.98,0.00,0.000,4,0.000,0.050,1833,3828,3649,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6240,-0.52,-170.3,769.7,-9.3,585,6249,0.00,1.85,0.00,0.000,6,0.000,0.028,1833,2559,3648,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6547,-0.53,-170.3,795.0,-6.7,601,6553,0.00,1.92,0.00,0.000,4,0.000,0.050,1824,3811,3646,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6577,-0.54,-170.3,796.3,-6.5,602,6580,0.00,1.80,0.00,0.000,6,0.000,0.029,1824,2568,3646,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6890,-0.54,-170.3,818.6,-7.7,618,6895,0.00,2.00,0.00,0.000,4,0.000,0.035,1824,1185,3643,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6929,-0.54,-170.3,821.9,-8.1,620,6934,0.00,2.20,0.00,0.000,6,0.000,0.044,1815,2654,3643,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7249,-0.53,-170.3,854.3,-10.5,636,7252,0.00,1.77,0.00,0.000,4,0.000,0.053,1806,3822,3641,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7272,-0.52,-170.3,856.6,-10.5,637,7277,0.12,1.80,0.00,0.000,6,0.129,0.031,1844,2574,3641,0,0,0,0,0,0,26.31,26.53,28.83
$GC,7592,-0.55,-170.3,881.2,-7.1,653,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2574,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7890,-0.57,-170.3,902.0,-6.9,668,7896,0.00,1.92,0.00,0.000,4,0.000,0.052,1834,3821,3638,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7918,-0.59,-170.3,903.4,-6.9,669,7922,0.00,1.83,0.00,0.000,6,0.000,0.030,1834,2568,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8226,-0.60,-170.3,928.3,-8.5,684,8232,0.00,2.00,0.00,0.000,4,0.000,0.034,1834,1188,3636,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8253,-0.62,-170.3,930.1,-8.4,685,8257,0.00,2.20,0.00,0.000,6,0.000,0.045,1825,2652,3636,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8560,-0.62,-170.3,960.0,-9.5,700,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2652,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,-0.62,-170.3,986.4,-8.6,715,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2652,3633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8919,begin apogee
$GC,8924,-0.20,0.0,991.6,-8.8,718,9076,0.32,0.12,144.00,1.182,6,0.103,0.088,1941,2537,2977,0,0,0,0,0,0,26.20,24.83,24.08
$STATE,9077,end apogee,CONTROL_FINISHED_OK
$STATE,9077,begin climb
$GC,9079,0.58,170.3,998.7,0.0,725,9249,0.68,2.20,159.15,1.183,4,0.045,0.050,2204,3807,2272,0,0,0,0,0,0,25.01,24.56,23.80
$GC,9432,0.46,170.3,957.4,19.9,742,9441,0.20,2.10,0.00,0.000,6,0.194,0.037,2165,2460,2254,0,0,0,0,0,0,25.29,25.58,28.83
$GC,9740,0.39,170.3,909.4,15.1,758,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2461,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10039,0.33,170.3,862.8,15.3,773,10045,0.15,2.15,0.00,0.000,4,0.186,0.047,2122,3818,2249,0,0,0,0,0,0,25.84,26.06,28.83
$GC,10180,0.28,170.3,844.0,13.1,780,10187,0.12,2.05,0.00,0.000,6,0.174,0.033,2102,2465,2247,0,0,0,0,0,0,25.90,26.17,28.83
$GC,10502,0.31,204.5,815.9,7.9,796,10540,0.00,2.17,25.67,1.014,4,0.000,0.041,2113,1050,2142,0,0,0,0,1,0,28.83,25.79,24.93
$GC,10567,0.35,239.7,810.9,7.9,799,10610,0.00,2.28,31.42,1.086,6,0.000,0.044,2112,2522,2002,0,0,0,0,1,0,28.83,25.83,24.43
$GC,10924,0.38,263.0,781.3,8.3,817,10964,0.00,2.10,32.33,1.019,4,0.000,0.052,2112,3815,1894,0,0,0,0,0,0,28.83,25.41,24.67
$GC,11001,0.38,266.3,775.4,9.0,820,11008,0.00,2.10,0.00,0.000,6,0.000,0.032,2122,2461,1886,0,0,0,0,0,0,28.83,25.61,28.83
$GC,11308,0.38,266.3,741.6,10.8,836,11314,0.00,2.10,0.00,0.000,4,0.000,0.050,2122,3814,1884,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11335,0.38,266.3,739.2,11.1,837,11339,0.00,2.03,0.00,0.000,6,0.000,0.031,2132,2465,1883,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11645,0.37,266.3,701.5,11.5,852,11650,0.00,2.10,0.00,0.000,4,0.000,0.050,2132,3809,1882,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11691,0.36,266.3,696.8,11.7,854,11694,0.00,2.03,0.00,0.000,6,0.000,0.033,2142,2464,1882,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12003,0.35,266.3,662.5,10.4,870,12009,0.00,2.08,0.00,0.000,4,0.000,0.041,2153,1068,1880,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12058,0.34,266.3,658.5,10.1,872,12065,0.12,2.22,0.00,0.000,6,0.151,0.045,2120,2522,1879,0,0,0,0,0,0,26.05,26.22,28.83
$GC,12365,0.35,278.4,631.2,8.7,888,12384,0.00,2.08,12.77,0.933,4,0.000,0.050,2119,3810,1837,0,0,0,0,0,0,28.83,26.09,25.34
$GC,12432,0.36,278.4,624.7,10.0,891,12437,0.00,2.03,0.00,0.000,6,0.000,0.033,2129,2464,1830,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12746,0.36,278.4,590.2,10.3,911,12755,0.00,2.10,0.00,0.000,4,0.000,0.041,2139,1053,1828,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12779,0.38,278.4,587.0,9.9,914,12788,0.00,2.22,0.00,0.000,6,0.000,0.044,2139,2520,1827,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,17822,end climb,SURFACE_DEPTH_REACHED
$STATE,17822,begin surface coast
$FINISH,0.2,1.022535
$STATE,17843,end surface coast,CONTROL_FINISHED_OK
$STATE,17844,begin surface
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$IRIDIUM_FIX,2157.39,12319.47,301111,151530
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.23
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.8,25.294
$10V_AH,10.2,18.877
$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,14.825,144.200,582.825,0.000,0.000,24.914,20.900,213.913,0.000,0.000,13.281,4171.825,9982.632,695.554,3085.348,355.251,0.000,2193.616,0.000,2658.079,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,87.975,1183.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1058.334,2047.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330360
$DATA_FILE_SIZE,103744,1558
$CAP_FILE_SIZE,188658,0
$CFSIZE,260165632,212492288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.277,212.3,1
$GPS,011211,012355,2208.861,12312.479,39,1.0,39,-2.9