version: 66.10
glider: 169
mission: 5
dive: 19
start: 11 12 111 2 53 38
data:
$ID,169
$MISSION,5
$DIVE,19
$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,1
$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,-10292.021
$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,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2530
$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
$GPS1,121111,024607,2313.963,12156.269,37,0.8,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-60.8
$GPS2,121111,025314,2314.094,12156.344,13,1.0,13,-3.1
$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,74.8,211725,-14.0,-9.429
$D_GRID,3822
$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,-0.61,-194.6,0.0,0.0,0,118,0.00,0.00,-99.50,0.000,2,0.000,0.000,117,2642,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.61,-194.6,3.6,-6.5,13,147,6.65,0.00,-12.88,0.000,6,0.232,0.000,1808,2642,3775,0,0,0,0,0,0,25.81,28.83,26.36
$GC,495,-0.41,-194.6,163.2,-33.6,76,504,0.20,1.85,0.00,0.000,4,0.185,0.051,1857,3802,3775,0,0,0,0,0,0,26.12,26.27,28.83
$GC,612,-0.38,-194.6,190.8,-15.8,95,620,0.00,1.88,0.00,0.000,6,0.000,0.034,1864,2557,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,969,-0.35,-194.6,248.0,-13.1,156,978,0.12,2.00,0.00,0.000,4,0.150,0.054,1899,3805,3775,0,0,0,0,0,0,26.36,26.41,28.83
$GC,998,-0.35,-194.6,251.4,-11.4,159,1007,0.00,1.85,0.00,0.000,6,0.000,0.034,1898,2540,3775,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1307,-0.41,-194.6,269.0,-4.9,190,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2540,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.47,-194.6,286.7,-6.3,220,1613,0.12,1.98,0.00,0.000,4,0.082,0.052,1782,3814,3773,0,0,0,0,0,0,26.59,26.51,28.83
$GC,1643,-0.46,-194.6,290.8,-10.7,223,1648,0.25,1.88,0.00,0.000,6,0.132,0.034,1859,2555,3773,0,0,0,0,0,0,26.43,26.55,28.83
$GC,1955,-0.46,-194.6,328.1,-9.4,254,1964,0.00,2.05,0.00,0.000,4,0.000,0.041,1859,1159,3771,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1990,-0.48,-194.6,330.8,-8.9,257,1997,0.00,2.20,0.00,0.000,6,0.000,0.050,1851,2620,3770,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2298,-0.48,-194.6,360.0,-9.3,288,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2620,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2598,-0.48,-194.6,388.9,-9.6,318,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2620,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-0.49,-194.6,416.1,-9.0,348,2908,0.00,1.83,0.00,0.000,4,0.000,0.057,1842,3819,3764,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2934,-0.51,-194.6,418.9,-8.4,351,2940,0.00,1.85,0.00,0.000,6,0.000,0.036,1841,2555,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3242,-0.51,-194.6,447.2,-9.5,382,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2555,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3542,-0.51,-194.6,475.3,-8.3,412,3550,0.00,1.95,0.00,0.000,4,0.000,0.057,1832,3825,3759,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3563,-0.51,-194.6,477.4,-8.8,414,3572,0.00,1.88,0.00,0.000,6,0.000,0.037,1832,2553,3759,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3873,-0.51,-194.6,507.1,-9.4,445,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2553,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4175,-0.51,-194.6,534.9,-9.1,475,4183,0.00,1.95,0.00,0.000,4,0.000,0.057,1823,3825,3753,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4198,-0.51,-194.6,537.0,-8.9,477,4205,0.00,1.90,0.00,0.000,6,0.000,0.037,1823,2555,3754,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4508,-0.50,-194.6,566.6,-9.8,508,4516,0.00,2.05,0.00,0.000,4,0.000,0.043,1823,1157,3752,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4530,-0.49,-194.6,568.9,-9.9,510,4539,0.12,2.22,0.00,0.000,6,0.135,0.053,1852,2625,3752,0,0,0,0,0,0,26.58,26.63,28.83
$GC,4839,-0.52,-194.6,590.9,-6.9,541,4843,0.00,1.83,0.00,0.000,4,0.000,0.060,1844,3818,3748,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4874,-0.56,-194.6,593.1,-7.2,544,4880,0.00,1.88,0.00,0.000,6,0.000,0.037,1844,2551,3748,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5192,-0.59,-194.6,617.3,-7.5,565,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2551,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5491,-0.61,-194.6,637.8,-6.5,580,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2551,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,-0.64,-194.6,658.7,-7.0,595,5797,0.12,1.95,0.00,0.000,4,0.078,0.057,1750,3808,3742,0,0,0,0,0,0,26.74,26.62,28.83
$GC,5833,-0.62,-194.6,663.8,-9.5,597,5837,0.20,1.85,0.00,0.000,6,0.139,0.040,1810,2560,3741,0,0,0,0,0,0,26.54,26.67,28.83
$GC,6151,-0.60,-194.6,701.3,-12.1,613,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2558,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6450,-0.58,-194.6,737.3,-12.0,628,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2558,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6751,-0.56,-194.6,773.3,-12.0,643,6755,0.00,1.95,0.00,0.000,4,0.000,0.062,1801,3806,3736,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6786,-0.53,-194.6,776.1,-12.1,644,6793,0.12,1.85,0.00,0.000,6,0.132,0.040,1840,2557,3736,0,0,0,0,0,0,26.58,26.67,28.83
$GC,7093,-0.56,-194.6,804.5,-8.2,660,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2556,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7394,-0.58,-194.6,826.3,-6.7,675,7397,0.00,2.08,0.00,0.000,4,0.000,0.047,1840,1159,3733,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7418,-0.62,-194.6,827.9,-6.8,676,7422,0.00,2.25,0.00,0.000,6,0.000,0.056,1833,2627,3734,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7731,-0.64,-194.6,849.3,-6.7,692,7735,0.00,1.85,0.00,0.000,4,0.000,0.064,1824,3811,3732,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7781,-0.67,-194.6,852.2,-6.7,694,7785,0.00,1.88,0.00,0.000,6,0.000,0.040,1824,2552,3731,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8088,-0.67,-194.6,874.4,-6.8,709,8094,0.00,2.08,0.00,0.000,4,0.000,0.045,1824,1159,3730,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8119,-0.68,-194.6,875.8,-6.8,710,8127,0.00,2.25,0.00,0.000,6,0.000,0.057,1815,2624,3730,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8428,-0.68,-194.6,901.9,-8.9,726,8431,0.00,1.85,0.00,0.000,4,0.000,0.064,1806,3807,3729,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8492,-0.68,-194.6,907.3,-8.9,729,8496,0.00,1.85,0.00,0.000,6,0.000,0.041,1806,2552,3729,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8806,-0.66,-194.6,937.1,-9.5,745,8811,0.00,1.95,0.00,0.000,4,0.000,0.062,1797,3807,3727,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8852,-0.65,-194.6,941.1,-9.8,747,8856,0.00,1.85,0.00,0.000,6,0.000,0.041,1797,2552,3727,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9159,-0.62,-194.6,974.1,-10.5,762,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2552,3726,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9317,begin apogee
$GC,9322,-0.21,0.0,991.5,-10.7,770,9493,0.40,0.00,163.75,1.161,6,0.114,0.000,1937,2507,2979,0,0,0,0,0,0,26.55,28.83,23.94
$STATE,9493,end apogee,CONTROL_FINISHED_OK
$STATE,9494,begin climb
$GC,9496,0.61,194.6,999.0,0.0,778,9690,0.75,2.22,185.30,1.149,4,0.054,0.056,2212,3808,2175,0,0,0,0,0,0,24.84,24.51,23.77
$GC,9758,0.44,194.6,967.3,23.4,792,9764,0.25,2.10,0.00,0.000,6,0.199,0.043,2156,2512,2154,0,0,0,0,0,0,25.05,25.19,28.83
$GC,10078,0.35,194.6,914.5,15.4,808,10084,0.12,2.10,0.00,0.000,4,0.197,0.057,2122,3816,2148,0,0,0,0,0,0,25.71,25.82,28.83
$GC,10131,0.26,194.6,908.5,15.0,810,10138,0.12,2.05,0.00,0.000,6,0.186,0.041,2102,2507,2148,0,0,0,0,0,0,25.76,25.90,28.83
$GC,10438,0.24,194.6,873.8,10.3,826,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2507,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10738,0.22,194.6,842.6,10.4,841,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2507,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11040,0.20,194.6,809.3,11.3,856,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2507,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11338,0.18,195.2,778.0,9.4,871,11344,0.12,2.12,0.00,0.000,4,0.172,0.047,2072,1098,2144,0,0,0,0,0,0,26.25,26.32,28.83
$GC,11366,0.19,201.8,776.2,9.2,872,11370,0.00,2.25,0.00,0.000,6,0.000,0.054,2072,2543,2143,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11673,0.34,300.7,756.8,6.2,887,11767,0.12,2.20,82.70,1.212,4,0.078,0.060,2152,3813,1752,0,0,0,0,1,0,26.46,24.84,23.95
$GC,11838,0.29,300.7,735.6,14.7,894,11843,0.20,2.10,0.00,0.000,6,0.155,0.043,2108,2507,1760,0,0,0,0,0,0,25.29,25.40,28.83
$GC,12148,0.30,300.7,704.0,9.8,909,12153,0.00,2.17,0.00,0.000,4,0.000,0.049,2118,1093,1760,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12180,0.32,300.7,702.0,9.7,910,12186,0.00,2.30,0.00,0.000,6,0.000,0.054,2118,2548,1759,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12485,0.32,300.7,665.9,11.9,926,12491,0.00,2.00,0.00,0.000,4,0.000,0.061,2118,3805,1759,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12518,0.32,300.7,663.4,12.0,927,12525,0.00,2.00,0.00,0.000,6,0.000,0.041,2128,2509,1758,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12827,0.32,300.7,622.7,12.6,943,12833,0.00,2.10,0.00,0.000,4,0.000,0.049,2139,1109,1758,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12873,0.32,300.7,618.2,11.8,945,12877,0.00,2.25,0.00,0.000,6,0.000,0.054,2139,2547,1757,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13183,0.29,300.7,577.0,14.2,968,13192,0.12,1.98,0.00,0.000,4,0.172,0.060,2101,3806,1757,0,0,0,0,0,0,26.20,26.28,28.83
$GC,13235,0.32,300.7,570.2,11.9,973,13244,0.00,2.00,0.00,0.000,6,0.000,0.041,2110,2503,1757,0,0,0,0,0,0,28.83,26.33,28.83
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$GC,14327,0.44,302.7,460.4,10.0,1081,14334,0.00,2.25,0.00,0.000,6,0.000,0.056,2141,2544,1752,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14633,0.43,302.7,422.5,12.5,1112,14643,0.00,2.03,1.50,0.199,4,0.000,0.060,2142,3805,1746,0,0,0,0,0,0,28.83,26.41,26.29
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$GC,17366,0.90,625.4,56.9,5.3,1464,17475,0.12,2.22,99.95,0.213,4,0.080,0.044,2361,1098,435,0,0,0,0,0,0,26.38,25.92,25.73
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$STATE,17664,end climb,SURFACE_DEPTH_REACHED
$STATE,17664,begin surface coast
$FINISH,-0.3,1.022012
$STATE,17689,end surface coast,CONTROL_FINISHED_OK
$STATE,17689,begin surface
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$IRIDIUM_FIX,2302.75,12154.11,111111,212101
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.85
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.8,6.056
$10V_AH,10.3,5.279
$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
$DEVICE_SECS,16.450,139.150,716.675,0.000,0.000,27.111,41.982,221.950,0.000,0.000,14.768,3544.811,9638.601,740.231,3889.998,349.420,0.000,2285.866,0.000,3496.722,0.000,0.543,0.000
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$SENSOR_SECS,1031.584,2491.492,1503.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,100229,1513
$CAP_FILE_SIZE,184926,0
$CFSIZE,260165632,221253632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121111,075055,2315.328,12158.962,46,0.9,46,-3.1