version: 66.10
glider: 169
mission: 5
dive: 390
start: 1 22 112 18 44 28
data:
$ID,169
$MISSION,5
$DIVE,390
$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,90
$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,-11369.824
$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
$GPS1,220112,183515,2317.052,12159.910,36,3.5,55,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.1
$GPS2,220112,184406,2317.235,12159.918,47,1.1,47,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2317.235,12211.675
$TGT_RADIUS,1852.000
$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,93.1,20000,-15.4,-9.167
$D_GRID,4651
$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,-175.2,0.0,0.0,0,102,0.00,0.00,-82.95,0.000,2,0.000,0.000,117,2580,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.60,-175.2,3.6,-8.2,15,135,7.10,2.15,-13.70,0.000,4,0.230,0.040,1817,1165,3696,0,0,0,0,0,0,24.74,26.08,26.54
$GC,239,-0.55,-175.2,50.8,-22.5,40,245,0.00,2.33,0.00,0.000,6,0.000,0.041,1805,2654,3696,0,0,0,0,0,0,28.83,25.99,28.83
$GC,551,-0.45,-175.2,151.4,-25.9,101,558,0.17,1.75,0.00,0.000,4,0.171,0.041,1849,3817,3696,0,0,0,0,0,0,25.88,26.09,28.83
$GC,577,-0.36,-175.2,157.1,-22.7,105,584,0.12,1.80,0.00,0.000,6,0.152,0.021,1891,2558,3696,0,0,0,0,0,0,25.98,26.35,28.83
$GC,889,-0.37,-175.2,193.6,-10.1,166,896,0.00,2.03,0.00,0.000,4,0.000,0.026,1891,1165,3696,0,0,0,0,0,0,28.83,26.26,28.83
$GC,929,-0.42,-175.2,197.2,-8.6,173,935,0.00,2.28,0.00,0.000,6,0.000,0.037,1887,2652,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1240,-0.45,-175.2,223.9,-8.0,207,1243,0.00,1.80,0.00,0.000,4,0.000,0.044,1878,3817,3697,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1261,-0.48,-175.2,225.6,-7.6,209,1265,0.00,1.80,0.00,0.000,6,0.000,0.022,1877,2568,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1574,-0.50,-175.2,250.3,-8.4,240,1582,0.00,1.98,0.00,0.000,4,0.000,0.026,1877,1176,3696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1598,-0.53,-175.2,252.3,-8.7,242,1605,0.00,2.25,0.00,0.000,6,0.000,0.037,1870,2653,3696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1905,-0.55,-175.2,281.6,-10.2,273,1907,0.12,0.00,0.00,0.000,6,0.077,0.000,1788,2653,3696,0,0,0,0,0,0,26.55,28.83,28.83
$GC,2206,-0.49,-175.2,341.9,-19.0,303,2215,0.17,2.17,0.00,0.000,4,0.145,0.025,1854,1174,3695,0,0,0,0,0,0,26.06,26.27,28.83
$GC,2261,-0.51,-175.2,348.0,-10.0,308,2268,0.00,2.28,0.00,0.000,6,0.000,0.038,1845,2655,3695,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2568,-0.51,-175.2,376.0,-9.8,339,2576,0.00,2.17,0.00,0.000,4,0.000,0.027,1845,1176,3693,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2591,-0.51,-175.2,378.2,-10.1,341,2598,0.00,2.30,0.00,0.000,6,0.000,0.038,1836,2647,3693,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2899,-0.50,-175.2,414.0,-11.1,372,2908,0.00,2.20,0.00,0.000,4,0.000,0.028,1835,1167,3691,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2944,-0.51,-175.2,418.7,-11.4,376,2951,0.00,2.30,0.00,0.000,6,0.000,0.039,1826,2654,3691,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3251,-0.51,-175.2,451.7,-10.0,407,3254,0.00,1.80,0.00,0.000,4,0.000,0.044,1817,3811,3689,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3302,-0.51,-175.2,457.0,-10.4,412,3305,0.00,1.77,0.00,0.000,6,0.000,0.022,1817,2571,3688,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3613,-0.51,-175.2,493.9,-11.7,443,3622,0.00,2.03,0.00,0.000,4,0.000,0.028,1817,1168,3686,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3647,-0.51,-175.2,497.4,-11.6,446,3655,0.12,2.30,0.00,0.000,6,0.131,0.038,1846,2655,3686,0,0,0,0,0,0,25.98,26.15,28.83
$GC,3955,-0.53,-175.2,521.9,-7.0,477,3964,0.00,2.22,0.00,0.000,4,0.000,0.027,1846,1164,3684,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4007,-0.57,-175.2,525.3,-6.6,482,4016,0.00,2.30,0.00,0.000,6,0.000,0.037,1838,2655,3684,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4318,-0.59,-175.2,549.9,-8.5,513,4321,0.00,1.77,0.00,0.000,4,0.000,0.045,1829,3816,3681,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4339,-0.61,-175.2,551.8,-8.8,515,4343,0.00,1.83,0.00,0.000,6,0.000,0.023,1829,2565,3681,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4651,-0.62,-175.2,582.2,-9.6,546,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2563,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4962,-0.63,-175.2,607.9,-7.7,572,4966,0.00,2.03,0.00,0.000,4,0.000,0.045,1820,3821,3676,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5007,-0.65,-175.2,611.3,-7.8,574,5010,0.00,1.83,0.00,0.000,6,0.000,0.024,1820,2574,3675,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5328,-0.65,-175.2,639.6,-9.1,590,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2563,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5630,-0.66,-175.2,667.6,-9.5,605,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2564,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,-0.67,-175.2,695.6,-9.5,620,5934,0.00,2.00,0.00,0.000,4,0.000,0.046,1811,3814,3669,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5951,-0.67,-175.2,697.5,-9.5,621,5955,0.00,1.80,0.00,0.000,6,0.000,0.024,1811,2566,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6263,-0.67,-175.2,729.3,-10.0,637,6268,0.00,2.05,0.00,0.000,4,0.000,0.030,1811,1179,3667,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6304,-0.69,-175.2,733.2,-9.9,639,6310,0.00,2.30,0.00,0.000,6,0.000,0.040,1802,2655,3667,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6623,-0.69,-175.2,767.0,-11.0,655,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2654,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6925,-0.69,-175.2,799.3,-10.8,670,6931,0.00,2.17,0.00,0.000,4,0.000,0.029,1802,1182,3663,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6986,-0.70,-175.2,805.5,-10.3,673,6990,0.00,2.30,0.00,0.000,6,0.000,0.041,1793,2653,3663,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7298,-0.69,-175.2,842.2,-11.7,689,7302,0.00,1.83,0.00,0.000,4,0.000,0.050,1784,3819,3661,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7334,-0.68,-175.2,844.7,-11.7,690,7340,0.00,1.83,0.00,0.000,6,0.000,0.024,1784,2569,3661,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7640,-0.67,-175.2,882.1,-11.6,706,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2568,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,-0.65,-175.2,915.1,-10.9,721,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2568,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,-0.64,-175.2,947.6,-10.8,736,8246,0.00,1.98,0.00,0.000,4,0.000,0.048,1775,3818,3657,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8262,-0.63,-175.2,949.7,-10.6,737,8267,0.12,1.83,0.00,0.000,6,0.128,0.024,1812,2566,3657,0,0,0,0,0,0,25.99,26.29,28.83
$GC,8577,-0.64,-175.2,976.0,-8.4,753,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2564,3656,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8752,begin apogee
$GC,8758,-0.20,0.0,991.2,-8.6,762,8920,0.38,0.15,155.00,1.181,6,0.094,0.073,1946,2540,2978,0,0,0,0,0,0,25.84,24.81,23.26
$STATE,8921,end apogee,CONTROL_FINISHED_OK
$STATE,8921,begin climb
$GC,8923,0.60,175.2,998.6,0.0,770,9097,0.68,0.00,169.43,1.183,6,0.047,0.000,2208,2546,2263,0,0,0,0,0,0,25.08,28.83,23.15
$GC,9396,0.52,175.2,940.9,16.1,794,9402,0.00,2.03,0.00,0.000,4,0.000,0.046,2208,3816,2233,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9456,0.43,175.2,929.9,17.9,797,9462,0.20,2.05,0.00,0.000,6,0.168,0.029,2157,2473,2232,0,0,0,0,0,0,25.48,26.03,28.83
$GC,9775,0.40,175.2,888.9,12.7,813,9780,0.00,2.15,0.00,0.000,4,0.000,0.035,2168,1050,2230,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9809,0.37,175.2,886.3,12.5,814,9816,0.15,2.28,0.00,0.000,6,0.147,0.040,2127,2530,2229,0,0,0,0,0,0,25.74,26.02,28.83
$GC,10116,0.36,175.2,853.8,9.9,830,10122,0.00,1.98,0.00,0.000,4,0.000,0.046,2127,3813,2228,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10148,0.34,175.2,851.7,10.1,831,10155,0.00,2.05,0.00,0.000,6,0.000,0.028,2137,2452,2228,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10456,0.32,175.2,818.7,9.7,847,10461,0.00,2.12,0.00,0.000,4,0.000,0.045,2138,3814,2227,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10483,0.30,175.2,816.6,9.9,848,10487,0.15,2.05,0.00,0.000,6,0.161,0.028,2109,2456,2227,0,0,0,0,0,0,25.76,26.18,28.83
$GC,10792,0.38,234.7,793.0,7.1,863,10849,0.00,0.00,45.95,1.157,6,0.000,0.000,2109,2455,2022,0,0,0,0,1,0,28.83,28.83,23.61
$GC,11153,0.44,264.4,765.8,8.1,881,11195,0.12,0.00,39.35,1.011,6,0.078,0.000,2186,2455,1900,0,0,0,0,0,0,26.22,28.83,24.01
$GC,11494,0.41,264.4,715.1,15.0,898,11496,0.15,0.00,0.00,0.000,6,0.155,0.000,2146,2455,1877,0,0,0,0,0,0,25.83,28.83,28.83
$GC,11789,0.41,264.4,680.3,11.4,913,11795,0.00,2.15,0.00,0.000,4,0.000,0.037,2156,1052,1876,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11819,0.42,264.4,677.9,11.5,914,11823,0.00,2.25,0.00,0.000,6,0.000,0.039,2156,2523,1874,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12125,0.42,264.4,640.2,12.1,929,12130,0.00,2.05,0.00,0.000,4,0.000,0.046,2155,3817,1874,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12164,0.42,264.4,634.8,12.8,931,12168,0.00,2.05,0.00,0.000,6,0.000,0.028,2166,2462,1873,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12477,0.41,264.4,595.9,11.9,948,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2460,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12779,0.40,264.4,560.2,11.7,978,12788,0.00,2.17,0.00,0.000,4,0.000,0.047,2166,3814,1872,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12821,0.38,264.4,554.6,12.9,982,12831,0.12,2.03,0.00,0.000,6,0.132,0.028,2135,2470,1872,0,0,0,0,0,0,25.73,26.14,28.83
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$STATE,17473,end climb,SURFACE_DEPTH_REACHED
$STATE,17473,begin surface coast
$FINISH,1.1,1.022593
$STATE,17490,end surface coast,CONTROL_FINISHED_OK
$STATE,17490,begin surface
$SM_CCo,17564,0.00,0.000,0,0,976,491.34
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$IRIDIUM_FIX,2305.10,12157.34,220112,131352
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.89
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,82.001
$10V_AH,9.9,48.725
$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
$DEVICE_SECS,15.975,149.825,617.250,0.000,0.000,28.781,47.924,277.263,0.000,0.000,47.862,3743.798,10030.184,729.073,3173.883,388.729,0.000,2217.712,0.000,2629.977,0.000,0.543,0.000
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$SENSOR_SECS,1091.667,2052.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324692
$DATA_FILE_SIZE,106910,1607
$CAP_FILE_SIZE,188126,0
$CFSIZE,260165632,187359232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220112,233830,2318.039,12203.259,51,1.5,51,-3.1