version: 66.10
glider: 169
mission: 5
dive: 366
start: 1 18 112 14 34 54
data:
$ID,169
$MISSION,5
$DIVE,366
$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,320
$T_MISSION,360
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,1
$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,-11339.551
$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
$GPS1,180112,142730,2256.587,12143.553,42,1.1,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.3
$GPS2,180112,143431,2256.658,12143.596,16,1.9,33,-3.0
$SPEED_LIMITS,0.179,0.299
$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,296.0,32874,-16.1,-10.312
$D_GRID,3543
$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,17,-0.64,-194.6,0.0,0.0,0,97,0.00,0.00,-78.07,0.000,2,0.000,0.000,113,2666,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.64,-194.6,3.8,-8.8,14,127,6.93,1.88,-12.10,0.000,4,0.227,0.051,1782,3829,3776,0,0,0,0,0,0,24.83,26.02,26.53
$GC,226,-0.56,-194.6,47.9,-29.0,37,233,0.12,1.85,0.00,0.000,6,0.165,0.024,1822,2588,3776,0,0,0,0,0,0,25.79,26.16,28.83
$GC,540,-0.51,-194.6,133.2,-17.8,98,547,0.00,2.08,0.00,0.000,4,0.000,0.028,1824,1171,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,621,-0.53,-194.6,144.5,-10.9,113,627,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2649,3776,0,0,0,0,0,0,28.83,26.11,28.83
$GC,936,-0.48,-194.6,205.9,-19.1,172,945,0.12,2.17,0.00,0.000,4,0.166,0.026,1861,1171,3777,0,0,0,0,0,0,26.15,26.25,28.83
$GC,971,-0.47,-194.6,210.8,-16.2,175,978,0.00,2.28,0.00,0.000,6,0.000,0.041,1852,2652,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1279,-0.47,-194.6,244.1,-10.3,206,1288,0.00,2.20,0.00,0.000,4,0.000,0.030,1852,1176,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1310,-0.49,-194.6,247.4,-10.5,209,1319,0.00,2.28,0.00,0.000,6,0.000,0.041,1844,2652,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1622,-0.49,-194.6,282.7,-12.4,240,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2651,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-0.49,-194.6,318.5,-10.9,270,1931,0.00,2.17,0.00,0.000,4,0.000,0.031,1844,1181,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1964,-0.52,-194.6,323.0,-10.4,274,1973,0.00,2.28,0.00,0.000,6,0.000,0.039,1835,2660,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2273,-0.52,-194.6,360.3,-12.3,305,2277,0.00,1.80,0.00,0.000,4,0.000,0.047,1826,3817,3776,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2304,-0.52,-194.6,363.8,-11.4,308,2308,0.00,1.83,0.00,0.000,6,0.000,0.024,1825,2570,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2609,-0.52,-194.6,399.4,-11.6,338,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2569,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.52,-194.6,432.7,-11.1,368,2921,0.00,2.00,0.00,0.000,4,0.000,0.045,1816,3818,3773,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2933,-0.52,-194.6,435.5,-10.9,370,2937,0.00,1.85,0.00,0.000,6,0.000,0.024,1816,2569,3773,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3244,-0.52,-194.6,471.5,-11.8,401,3254,0.00,2.05,0.00,0.000,4,0.000,0.029,1817,1174,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3280,-0.52,-194.6,475.2,-11.4,404,3287,0.12,2.28,0.00,0.000,6,0.122,0.040,1849,2653,3771,0,0,0,0,0,0,26.03,26.15,28.83
$GC,3588,-0.56,-194.6,500.8,-8.5,435,3591,0.00,2.20,0.00,0.000,4,0.000,0.031,1849,1169,3770,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3620,-0.62,-194.6,503.4,-8.4,438,3629,0.10,2.28,0.00,0.000,6,0.095,0.041,1785,2656,3769,0,0,0,0,0,0,26.15,26.13,28.83
$GC,3929,-0.59,-194.6,548.6,-14.9,469,3939,0.12,1.80,0.00,0.000,4,0.145,0.046,1819,3814,3768,0,0,0,0,0,0,26.24,26.08,28.83
$GC,3965,-0.58,-194.6,552.9,-13.9,472,3971,0.00,1.80,0.00,0.000,6,0.000,0.024,1818,2571,3767,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4272,-0.59,-194.6,582.9,-9.4,503,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2570,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4585,-0.60,-194.6,611.6,-9.1,528,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2570,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4882,-0.62,-194.6,637.0,-8.2,543,4888,0.00,2.03,0.00,0.000,4,0.000,0.047,1809,3818,3762,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4905,-0.63,-194.6,638.7,-8.3,544,4909,0.00,1.83,0.00,0.000,6,0.000,0.024,1809,2569,3761,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5218,-0.63,-194.6,668.3,-9.6,560,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2568,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.64,-194.6,697.4,-9.7,575,5523,0.00,1.98,0.00,0.000,4,0.000,0.046,1799,3812,3758,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5545,-0.65,-194.6,699.3,-9.7,576,5549,0.00,1.83,0.00,0.000,6,0.000,0.024,1800,2568,3758,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5852,-0.65,-194.6,732.9,-11.0,591,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2567,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6153,-0.65,-194.6,764.8,-10.7,606,6159,0.00,2.05,0.00,0.000,4,0.000,0.029,1800,1174,3755,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6196,-0.66,-194.6,769.1,-10.7,608,6200,0.00,2.30,0.00,0.000,6,0.000,0.040,1790,2658,3755,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6509,-0.66,-194.6,804.1,-10.9,624,6512,0.00,1.83,0.00,0.000,4,0.000,0.048,1781,3813,3753,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6538,-0.66,-194.6,806.5,-10.8,625,6541,0.00,1.85,0.00,0.000,6,0.000,0.024,1781,2572,3753,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6851,-0.65,-194.6,843.0,-11.2,641,6857,0.00,2.05,0.00,0.000,4,0.000,0.030,1781,1176,3751,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6879,-0.65,-194.6,845.3,-11.5,642,6883,0.00,2.28,0.00,0.000,6,0.000,0.041,1770,2649,3751,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7187,-0.63,-194.6,884.5,-13.0,657,7189,0.12,0.00,0.00,0.000,6,0.151,0.000,1806,2649,3749,0,0,0,0,0,0,26.23,28.83,28.83
$GC,7489,-0.65,-194.6,913.4,-9.0,672,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2649,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7786,-0.66,-194.6,938.9,-8.4,687,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2649,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8087,-0.68,-194.6,963.2,-8.0,702,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2649,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8388,-0.70,-194.6,988.1,-8.4,717,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2649,3743,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8423,begin apogee
$GC,8429,-0.20,0.0,991.5,-8.6,719,8611,0.38,0.10,173.90,1.185,6,0.096,0.056,1940,2532,2975,0,0,0,0,0,0,25.84,24.63,23.24
$STATE,8612,end apogee,CONTROL_FINISHED_OK
$STATE,8612,begin climb
$GC,8614,0.64,194.6,1000.4,0.0,728,8812,0.75,2.17,187.75,1.187,4,0.047,0.045,2224,3811,2177,0,0,0,0,0,0,24.96,24.37,22.92
$GC,8825,0.54,194.6,983.5,17.7,739,8832,0.20,2.20,0.00,0.000,6,0.196,0.030,2188,2459,2161,0,0,0,0,0,0,24.40,24.76,28.83
$GC,9147,0.49,194.6,930.0,15.7,755,9152,0.00,2.17,0.00,0.000,4,0.000,0.047,2188,3805,2152,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9221,0.42,194.6,919.4,17.2,758,9228,0.17,2.08,0.00,0.000,6,0.172,0.032,2153,2461,2151,0,0,0,0,0,0,25.58,26.03,28.83
$GC,9525,0.40,194.6,878.5,12.4,774,9531,0.00,2.20,0.00,0.000,4,0.000,0.047,2152,3816,2150,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9586,0.37,194.6,869.6,14.4,777,9592,0.10,2.08,0.00,0.000,6,0.148,0.030,2130,2469,2149,0,0,0,0,0,0,25.75,26.12,28.83
$GC,9905,0.37,194.6,833.3,11.1,793,9910,0.00,2.10,0.00,0.000,4,0.000,0.037,2141,1063,2148,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9938,0.37,194.6,831.1,11.1,794,9944,0.00,2.25,0.00,0.000,6,0.000,0.040,2141,2532,2147,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10246,0.36,194.6,793.3,11.7,810,10252,0.00,2.00,0.00,0.000,4,0.000,0.046,2141,3815,2147,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10268,0.35,194.6,790.8,11.8,811,10272,0.00,2.08,0.00,0.000,6,0.000,0.029,2151,2452,2146,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10581,0.33,194.6,751.4,12.8,827,10587,0.12,2.08,0.00,0.000,4,0.171,0.034,2124,1061,2145,0,0,0,0,0,0,26.02,26.08,28.83
$GC,10621,0.33,194.6,747.3,11.6,829,10627,0.00,2.22,0.00,0.000,6,0.000,0.039,2124,2515,2146,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10941,0.39,240.2,717.6,8.7,845,10981,0.00,0.00,33.08,1.012,6,0.000,0.000,2124,2515,1999,0,0,0,0,1,0,28.83,28.83,23.82
$GC,11282,0.42,250.5,685.3,9.9,862,11311,0.00,2.12,17.48,0.908,4,0.000,0.046,2124,3812,1952,0,0,0,0,1,0,28.83,25.78,24.30
$GC,11349,0.45,264.0,679.2,9.8,865,11372,0.00,2.08,18.70,0.946,6,0.000,0.028,2135,2463,1902,0,0,0,0,0,0,28.83,25.89,24.20
$GC,11683,0.51,293.9,646.0,9.3,882,11720,0.12,0.00,30.23,0.946,6,0.078,0.000,2206,2462,1772,0,0,0,0,0,0,26.22,28.83,24.20
$GC,12022,0.47,293.9,590.9,16.7,901,12024,0.15,0.00,0.00,0.000,6,0.159,0.000,2166,2463,1759,0,0,0,0,0,0,25.81,28.83,28.83
$GC,12321,0.47,293.9,552.9,12.9,931,12330,0.00,2.17,0.00,0.000,4,0.000,0.047,2166,3810,1757,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12352,0.47,293.9,548.4,14.2,934,12361,0.00,2.08,0.00,0.000,6,0.000,0.030,2176,2456,1757,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12663,0.46,293.9,507.6,13.1,965,12672,0.00,2.10,0.00,0.000,4,0.000,0.037,2187,1052,1756,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12694,0.46,293.9,503.4,13.3,968,12703,0.00,2.28,0.00,0.000,6,0.000,0.039,2187,2534,1755,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13005,0.45,293.9,459.6,14.8,999,13007,0.12,0.00,0.00,0.000,6,0.161,0.000,2153,2534,1755,0,0,0,0,0,0,26.13,28.83,28.83
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$GC,13649,0.51,299.9,387.8,11.5,1063,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2532,1755,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16962,end climb,SURFACE_DEPTH_REACHED
$STATE,16962,begin surface coast
$FINISH,-0.0,1.023172
$STATE,16991,end surface coast,CONTROL_FINISHED_OK
$STATE,16991,begin surface
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$IRIDIUM_FIX,2246.36,12143.96,180112,090912
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.62
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.80
$XPDR_PINGS,3
$24V_AH,22.9,78.209
$10V_AH,9.9,46.271
$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
$DEVICE_SECS,15.725,130.825,595.850,0.000,0.000,29.213,19.468,216.933,0.750,0.000,34.018,3644.948,9780.291,700.626,2960.791,375.262,0.000,2120.889,0.000,2524.610,0.000,0.542,0.000
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$SENSOR_SECS,1057.988,1983.245,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,324556
$DATA_FILE_SIZE,103771,1554
$CAP_FILE_SIZE,179381,0
$CFSIZE,260165632,189419520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180112,192024,2258.613,12142.076,38,1.1,38,-3.0