version: 66.10
glider: 169
mission: 5
dive: 384
start: 1 21 112 11 34 29
data:
$ID,169
$MISSION,5
$DIVE,384
$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,180
$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,-11362.271
$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,100
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$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
$GPS1,210112,112601,2310.288,12140.737,44,1.8,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.9
$GPS2,210112,113407,2310.476,12140.747,14,1.7,31,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,75.3,238923,-15.4,-9.167
$D_GRID,1923
$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,-0.60,-175.2,0.0,0.0,0,105,0.00,0.00,-85.15,0.000,2,0.000,0.000,107,2551,3050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.60,-175.2,3.1,-6.7,15,133,6.93,2.10,-12.75,0.000,4,0.220,0.040,1816,1168,3696,0,0,0,0,0,0,24.77,26.06,26.52
$GC,207,-0.53,-175.2,35.5,-23.9,33,214,0.12,2.28,0.00,0.000,6,0.161,0.041,1839,2649,3697,0,0,0,0,0,0,25.71,25.96,28.83
$GC,520,-0.46,-175.2,123.1,-22.9,94,526,0.00,1.80,0.00,0.000,4,0.000,0.046,1830,3815,3697,0,0,0,0,0,0,28.83,26.04,28.83
$GC,565,-0.40,-175.2,133.2,-21.7,102,573,0.15,1.80,0.00,0.000,6,0.125,0.021,1875,2565,3697,0,0,0,0,0,0,25.99,26.33,28.83
$GC,878,-0.40,-175.2,165.1,-9.1,163,884,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2565,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.42,-175.2,190.3,-7.9,224,1195,0.00,2.03,0.00,0.000,4,0.000,0.027,1876,1175,3697,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1218,-0.46,-175.2,192.9,-7.8,229,1225,0.00,2.28,0.00,0.000,6,0.000,0.037,1868,2658,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1534,-0.47,-175.2,222.6,-9.3,268,1537,0.00,1.77,0.00,0.000,4,0.000,0.044,1859,3816,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1575,-0.49,-175.2,226.9,-10.4,272,1578,0.00,1.80,0.00,0.000,6,0.000,0.023,1859,2572,3697,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1889,-0.50,-175.2,256.2,-8.7,303,1898,0.00,2.00,0.00,0.000,4,0.000,0.027,1859,1177,3696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1915,-0.52,-175.2,258.4,-8.5,305,1921,0.00,2.25,0.00,0.000,6,0.000,0.037,1851,2652,3696,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2221,-0.52,-175.2,288.9,-11.4,336,2224,0.00,1.80,0.00,0.000,4,0.000,0.044,1842,3820,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2283,-0.55,-175.2,295.0,-9.3,342,2286,0.00,1.80,0.00,0.000,6,0.000,0.022,1842,2572,3695,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2595,-0.55,-175.2,326.4,-9.8,373,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2564,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2896,-0.55,-175.2,357.1,-10.0,403,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2564,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3206,-0.56,-175.2,383.8,-8.5,434,3214,0.00,1.98,0.00,0.000,4,0.000,0.044,1833,3810,3691,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3241,-0.58,-175.2,386.6,-8.6,437,3248,0.00,1.80,0.00,0.000,6,0.000,0.024,1833,2566,3691,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3548,-0.58,-175.2,415.7,-10.2,468,3557,0.00,2.00,0.00,0.000,4,0.000,0.029,1833,1179,3689,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3601,-0.60,-175.2,420.3,-8.7,473,3610,0.00,2.25,0.00,0.000,6,0.000,0.039,1825,2652,3688,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3909,-0.60,-175.2,452.5,-10.2,504,3913,0.00,1.80,0.00,0.000,4,0.000,0.046,1815,3821,3687,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3951,-0.60,-175.2,456.7,-10.6,508,3955,0.00,1.83,0.00,0.000,6,0.000,0.024,1816,2577,3686,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4262,-0.59,-175.2,489.1,-9.7,539,4271,0.00,2.05,0.00,0.000,4,0.000,0.030,1816,1180,3686,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4293,-0.59,-175.2,492.1,-9.6,542,4302,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2653,3686,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4604,-0.58,-175.2,525.2,-10.9,573,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2653,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4908,-0.56,-175.2,558.5,-11.2,603,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2653,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.56,-175.2,590.3,-10.2,634,5224,0.00,2.15,0.00,0.000,4,0.000,0.029,1806,1186,3680,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5268,-0.57,-175.2,595.2,-9.4,639,5277,0.00,2.22,0.00,0.000,6,0.000,0.041,1798,2641,3680,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5587,-0.56,-175.2,629.5,-10.9,658,5589,0.12,0.00,0.00,0.000,6,0.149,0.000,1834,2641,3678,0,0,0,0,0,0,26.26,28.83,28.83
$GC,5887,-0.58,-175.2,651.6,-7.1,673,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2641,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6190,-0.60,-175.2,673.7,-7.2,688,6195,0.00,2.17,0.00,0.000,4,0.000,0.029,1835,1172,3673,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6218,-0.63,-175.2,675.1,-7.0,689,6227,0.00,2.30,0.00,0.000,6,0.000,0.041,1826,2656,3673,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6530,-0.64,-175.2,699.2,-7.6,705,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2655,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6829,-0.66,-175.2,721.9,-7.5,720,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2656,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,-0.68,-175.2,744.4,-7.6,735,7130,0.10,0.00,0.00,0.000,6,0.092,0.000,1755,2656,3669,0,0,0,0,0,0,26.53,28.83,28.83
$GC,7429,-0.63,-175.2,788.4,-15.1,750,7435,0.15,2.22,0.00,0.000,4,0.145,0.030,1806,1183,3668,0,0,0,0,0,0,26.10,26.08,28.83
$GC,7484,-0.61,-175.2,793.0,-13.3,752,7490,0.00,2.30,0.00,0.000,6,0.000,0.043,1797,2656,3668,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7790,-0.61,-175.2,823.8,-10.0,768,7795,0.00,2.20,0.00,0.000,4,0.000,0.031,1796,1178,3666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7817,-0.61,-175.2,825.9,-10.0,769,7822,0.00,2.33,0.00,0.000,6,0.000,0.043,1786,2656,3666,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8125,-0.60,-175.2,858.7,-10.4,784,8127,0.10,0.00,0.00,0.000,6,0.161,0.000,1814,2656,3664,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8428,-0.61,-175.2,883.6,-8.3,799,8433,0.00,2.20,0.00,0.000,4,0.000,0.032,1814,1189,3663,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8466,-0.63,-175.2,887.0,-8.2,801,8472,0.00,2.30,0.00,0.000,6,0.000,0.043,1813,2652,3663,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8789,-0.65,-175.2,913.7,-8.5,817,8792,0.00,1.80,0.00,0.000,4,0.000,0.050,1804,3816,3661,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8810,-0.66,-175.2,915.8,-8.5,818,8814,0.00,1.88,0.00,0.000,6,0.000,0.027,1804,2568,3661,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9132,-0.67,-175.2,944.4,-8.9,834,9138,0.00,2.08,0.00,0.000,4,0.000,0.032,1804,1176,3660,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9166,-0.68,-175.2,946.2,-9.0,835,9173,0.00,2.30,0.00,0.000,6,0.000,0.043,1799,2651,3660,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9473,-0.68,-175.2,975.9,-9.1,851,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2651,3659,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9650,begin apogee
$GC,9656,-0.20,0.0,991.6,-8.6,860,9820,0.40,0.12,156.57,1.177,6,0.101,0.050,1939,2535,2974,0,0,0,0,0,0,25.73,24.74,23.24
$STATE,9821,end apogee,CONTROL_FINISHED_OK
$STATE,9821,begin climb
$GC,9823,0.60,175.2,997.9,0.0,868,9999,0.70,0.00,171.50,1.176,6,0.046,0.000,2211,2534,2263,0,0,0,0,0,0,25.04,28.83,23.03
$GC,10292,0.51,175.2,936.2,17.1,892,10298,0.12,2.08,0.00,0.000,4,0.197,0.044,2169,3820,2235,0,0,0,0,0,0,25.68,25.86,28.83
$GC,10316,0.43,175.2,932.8,17.2,893,10323,0.12,2.10,0.00,0.000,6,0.187,0.029,2149,2453,2233,0,0,0,0,0,0,25.61,25.98,28.83
$GC,10633,0.39,175.2,895.6,11.0,909,10637,0.00,2.10,0.00,0.000,4,0.000,0.036,2160,1062,2231,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10655,0.36,175.2,893.0,11.3,910,10661,0.12,2.28,0.00,0.000,6,0.154,0.040,2127,2528,2231,0,0,0,0,0,0,25.75,25.98,28.83
$GC,10977,0.35,175.2,862.2,9.9,926,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2528,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11275,0.33,175.2,833.5,9.3,941,11281,0.00,2.03,0.00,0.000,4,0.000,0.047,2127,3813,2229,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11328,0.32,175.2,829.3,9.8,943,11334,0.00,2.05,0.00,0.000,6,0.000,0.028,2137,2457,2228,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11636,0.30,175.2,797.7,9.6,959,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2455,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11935,0.28,177.4,770.1,9.1,974,11941,0.12,2.12,0.00,0.000,4,0.169,0.045,2099,3807,2227,0,0,0,0,0,0,26.03,25.95,28.83
$GC,11979,0.28,186.2,766.7,8.9,976,11983,0.00,2.05,0.00,0.000,6,0.000,0.028,2109,2457,2227,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12292,0.38,265.1,745.8,6.4,992,12377,0.00,2.25,73.78,1.229,4,0.000,0.038,2120,1069,1901,0,0,0,0,1,0,28.83,25.13,23.37
$GC,12401,0.48,339.8,739.3,6.5,997,12485,0.10,2.28,72.32,1.231,6,0.039,0.040,2206,2510,1592,0,0,0,0,1,0,25.39,25.39,23.20
$GC,12786,0.43,339.8,671.7,18.6,1016,12792,0.15,2.08,0.00,0.000,4,0.161,0.045,2159,3817,1601,0,0,0,0,0,0,25.69,25.82,28.83
$GC,12860,0.41,339.8,662.2,16.4,1019,12867,0.00,2.08,0.00,0.000,6,0.000,0.028,2169,2464,1599,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13166,0.41,339.8,621.4,13.2,1035,13172,0.00,2.15,0.00,0.000,4,0.000,0.039,2180,1054,1598,0,0,0,0,0,0,28.83,25.97,28.83
$GC,13207,0.41,339.8,616.5,12.9,1037,13213,0.10,2.28,0.00,0.000,6,0.142,0.041,2147,2528,1596,0,0,0,0,0,0,25.82,25.96,28.83
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$GC,15508,0.48,350.1,333.6,8.8,1258,15529,0.00,2.12,15.43,0.770,4,0.000,0.047,2160,3812,1546,0,0,0,0,0,0,28.83,25.93,24.19
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$STATE,18371,end climb,SURFACE_DEPTH_REACHED
$STATE,18371,begin surface coast
$FINISH,0.6,1.023028
$STATE,18384,end surface coast,CONTROL_FINISHED_OK
$STATE,18385,begin surface
$SM_CCo,18461,0.00,0.000,0,0,1001,485.20
$SM_GC,0.93,5.45,1.85,0.00,0.019,0.023,0.000,106,2563,1001,-5.80,0.51,485.20,0,0,0,0,0,0
$IRIDIUM_FIX,2258.07,12139.21,210112,060646
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,23.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,890.1,999.0
$24V_AH,23.0,80.914
$10V_AH,9.9,48.001
$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,15.575,151.075,591.925,0.000,0.000,27.815,41.418,260.945,0.500,0.000,32.128,3941.468,10591.312,736.096,3245.442,403.389,0.000,2269.018,0.000,2730.251,0.000,2.696,0.000
$DEVICE_MAMPS,220.320,50.490,1230.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1147.076,2151.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,110309,1684
$CAP_FILE_SIZE,195013,0
$CFSIZE,260165632,187949056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210112,164307,2312.547,12144.443,29,1.1,29,-3.1