version: 66.10
glider: 169
mission: 5
dive: 27
start: 11 13 111 18 54 55
data:
$ID,169
$MISSION,5
$DIVE,27
$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,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,-10302.092
$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,2600
$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,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
$GPS1,131111,184755,2330.127,12222.831,45,1.4,45,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-63.7
$GPS2,131111,185431,2330.251,12222.850,13,1.4,13,-3.2
$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,80.0,160336,-14.0,-9.429
$D_GRID,3485
$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,-0.59,-194.6,0.0,0.0,0,116,0.00,0.00,-96.95,0.000,2,0.000,0.000,117,2637,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.59,-194.6,4.3,-8.2,12,147,6.72,2.22,-10.70,0.000,4,0.235,0.050,1825,1158,3774,0,0,0,0,0,0,25.83,26.08,26.37
$GC,269,-0.54,-194.6,64.2,-23.3,34,277,0.00,2.28,0.00,0.000,6,0.000,0.050,1814,2617,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,647,-0.42,-194.6,185.3,-29.0,95,657,0.17,1.88,0.00,0.000,4,0.173,0.054,1857,3809,3775,0,0,0,0,0,0,26.22,26.32,28.83
$GC,710,-0.36,-194.6,200.4,-20.7,104,721,0.00,1.88,0.00,0.000,6,0.000,0.034,1866,2553,3774,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1072,-0.34,-194.6,259.8,-13.0,158,1084,0.10,1.95,0.00,0.000,4,0.149,0.051,1887,3811,3775,0,0,0,0,0,0,26.42,26.43,28.83
$GC,1110,-0.34,-194.6,263.4,-11.2,161,1114,0.00,1.85,0.00,0.000,6,0.000,0.031,1887,2557,3775,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1422,-0.37,-194.6,287.2,-8.6,192,1433,0.00,2.03,0.00,0.000,4,0.000,0.037,1886,1157,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1449,-0.40,-194.6,289.2,-8.3,194,1458,0.00,2.25,0.00,0.000,6,0.000,0.047,1881,2633,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1756,-0.43,-194.6,314.0,-7.2,225,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2633,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2058,-0.46,-194.6,333.2,-5.8,255,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2633,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,-0.49,-194.6,351.6,-5.7,286,2378,0.00,2.15,0.00,0.000,4,0.000,0.037,1880,1160,3769,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2401,-0.54,-194.6,353.5,-5.5,289,2413,0.12,2.20,0.00,0.000,6,0.084,0.047,1810,2620,3769,0,0,0,0,0,0,26.60,26.58,28.83
$GC,2711,-0.49,-194.6,396.4,-15.1,320,2715,0.12,1.83,0.00,0.000,4,0.154,0.054,1843,3809,3767,0,0,0,0,0,0,26.52,26.58,28.83
$GC,2830,-0.50,-194.6,407.9,-9.0,331,2837,0.00,1.85,0.00,0.000,6,0.000,0.035,1843,2540,3766,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3137,-0.50,-194.6,440.3,-11.6,362,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2539,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-0.50,-194.6,473.7,-11.1,392,3445,0.00,1.95,0.00,0.000,4,0.000,0.055,1834,3816,3762,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3510,-0.52,-194.6,481.9,-10.7,399,3519,0.00,1.85,0.00,0.000,6,0.000,0.034,1833,2553,3761,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3822,-0.52,-194.6,514.6,-9.5,430,3831,0.00,1.95,0.00,0.000,4,0.000,0.054,1826,3810,3758,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3853,-0.52,-194.6,517.8,-9.4,433,3857,0.00,1.85,0.00,0.000,6,0.000,0.034,1825,2547,3758,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4158,-0.50,-194.6,547.7,-10.1,463,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2545,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4460,-0.49,-194.6,579.7,-11.0,493,4464,0.00,2.03,0.00,0.000,4,0.000,0.040,1825,1158,3754,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4504,-0.49,-194.6,584.2,-10.4,497,4514,0.12,2.22,0.00,0.000,6,0.135,0.050,1855,2631,3754,0,0,0,0,0,0,26.57,26.63,28.83
$GC,4814,-0.52,-194.6,607.4,-7.4,523,4818,0.00,1.83,0.00,0.000,4,0.000,0.058,1847,3818,3751,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4850,-0.54,-194.6,609.0,-7.3,524,4856,0.00,1.85,0.00,0.000,6,0.000,0.035,1847,2554,3751,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5157,-0.56,-194.6,631.5,-6.5,540,5163,0.00,1.95,0.00,0.000,4,0.000,0.056,1838,3828,3748,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5180,-0.58,-194.6,632.8,-6.5,541,5183,0.00,1.88,0.00,0.000,6,0.000,0.036,1838,2555,3748,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5493,-0.59,-194.6,654.5,-7.5,557,5498,0.00,1.95,0.00,0.000,4,0.000,0.057,1829,3828,3746,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5534,-0.60,-194.6,657.8,-7.7,559,5539,0.00,1.90,0.00,0.000,6,0.000,0.035,1829,2550,3746,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5853,-0.60,-194.6,686.2,-9.5,575,5859,0.00,2.00,0.00,0.000,4,0.000,0.041,1829,1162,3743,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5871,-0.60,-194.6,688.2,-9.7,576,5877,0.00,2.20,0.00,0.000,6,0.000,0.051,1820,2619,3744,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6191,-0.60,-194.6,722.4,-10.8,592,6195,0.00,1.83,0.00,0.000,4,0.000,0.060,1811,3815,3742,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6262,-0.60,-194.6,728.7,-10.5,595,6265,0.00,1.85,0.00,0.000,6,0.000,0.037,1812,2551,3741,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6568,-0.59,-194.6,763.8,-11.2,610,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2551,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-0.58,-194.6,796.4,-11.1,625,6875,0.00,1.98,0.00,0.000,4,0.000,0.058,1802,3811,3739,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6938,-0.58,-194.6,803.4,-11.4,628,6942,0.00,1.85,0.00,0.000,6,0.000,0.037,1802,2560,3737,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7245,-0.56,-194.6,841.2,-12.2,643,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2557,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7545,-0.54,-194.6,875.3,-10.9,658,7551,0.12,2.05,0.00,0.000,4,0.141,0.042,1847,1150,3734,0,0,0,0,0,0,26.58,26.64,28.83
$GC,7567,-0.54,-194.6,877.2,-10.6,659,7571,0.00,2.28,0.00,0.000,6,0.000,0.054,1838,2612,3734,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7887,-0.56,-194.6,898.8,-6.8,675,7891,0.00,1.88,0.00,0.000,4,0.000,0.060,1830,3825,3733,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7930,-0.59,-194.6,901.6,-6.4,677,7936,0.00,1.90,0.00,0.000,6,0.000,0.037,1830,2550,3732,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8249,-0.60,-194.6,925.7,-7.6,693,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2550,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8550,-0.61,-194.6,947.3,-7.0,708,8555,0.00,1.95,0.00,0.000,4,0.000,0.060,1821,3806,3730,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8589,-0.63,-194.6,950.0,-6.8,710,8594,0.00,1.88,0.00,0.000,6,0.000,0.037,1821,2551,3730,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8909,-0.63,-194.6,974.2,-7.7,726,8915,0.00,1.98,0.00,0.000,4,0.000,0.060,1813,3808,3729,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8949,-0.64,-194.6,977.3,-7.9,728,8954,0.00,1.83,0.00,0.000,6,0.000,0.037,1813,2557,3728,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9106,begin apogee
$GC,9112,-0.20,0.0,991.4,-9.2,736,9283,0.35,0.10,162.62,1.171,6,0.106,0.109,1939,2543,2973,0,0,0,0,0,0,26.56,24.69,23.96
$STATE,9284,end apogee,CONTROL_FINISHED_OK
$STATE,9284,begin climb
$GC,9286,0.59,194.6,999.7,0.0,744,9478,0.70,2.45,182.48,1.157,4,0.050,0.047,2214,1068,2175,0,0,0,0,0,0,24.91,24.56,23.80
$GC,9597,0.52,194.6,968.1,16.7,760,9607,0.15,2.30,0.00,0.000,6,0.180,0.050,2178,2516,2153,0,0,0,0,0,0,25.27,25.39,28.83
$GC,9910,0.44,194.6,915.3,16.0,776,9916,0.00,2.03,0.00,0.000,4,0.000,0.057,2178,3809,2149,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10029,0.35,194.6,893.7,17.7,782,10036,0.25,2.08,0.00,0.000,6,0.181,0.041,2122,2461,2148,0,0,0,0,0,0,25.84,26.00,28.83
$GC,10351,0.32,194.6,856.1,11.8,798,10355,0.00,2.12,0.00,0.000,4,0.000,0.057,2122,3807,2147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10385,0.28,194.6,853.1,12.1,799,10394,0.00,2.05,0.00,0.000,6,0.000,0.039,2132,2462,2147,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10692,0.25,194.6,813.4,12.1,815,10699,0.12,2.12,0.00,0.000,4,0.181,0.045,2106,1068,2146,0,0,0,0,0,0,26.15,26.25,28.83
$GC,10716,0.22,194.6,811.4,11.8,816,10720,0.00,2.22,0.00,0.000,6,0.000,0.050,2105,2519,2145,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11030,0.22,205.3,782.1,9.1,832,11035,0.00,2.00,0.00,0.000,4,0.000,0.057,2105,3803,2145,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11057,0.22,213.7,780.2,9.2,833,11089,0.12,2.00,16.67,0.933,6,0.173,0.037,2084,2463,2094,0,0,0,0,1,0,26.20,26.34,24.80
$GC,11390,0.28,255.7,752.4,8.1,850,11451,0.00,2.22,56.25,0.857,4,0.000,0.058,2084,3805,1931,0,0,0,0,0,0,28.83,25.32,24.70
$GC,11479,0.33,290.3,746.1,8.3,854,11524,0.00,2.10,36.40,0.935,6,0.000,0.037,2094,2461,1786,0,0,0,0,0,0,28.83,25.51,24.37
$GC,11826,0.41,333.5,716.7,8.0,872,11873,0.12,2.20,41.03,0.950,4,0.080,0.046,2185,1070,1610,0,0,0,0,0,0,25.96,25.21,24.51
$GC,11884,0.40,333.5,708.9,12.5,875,11889,0.17,2.33,0.00,0.000,6,0.149,0.049,2138,2516,1598,0,0,0,0,0,0,25.22,25.31,28.83
$GC,12197,0.39,333.5,669.4,11.9,891,12203,0.00,2.05,0.00,0.000,4,0.000,0.057,2138,3811,1591,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12238,0.39,333.5,664.4,12.3,893,12244,0.00,2.03,0.00,0.000,6,0.000,0.039,2148,2483,1590,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12558,0.38,333.5,621.9,13.8,909,12564,0.00,2.12,0.00,0.000,4,0.000,0.047,2158,1069,1588,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12599,0.38,333.5,616.6,13.6,911,12604,0.00,2.28,0.00,0.000,6,0.000,0.050,2159,2525,1588,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,17502,1.04,671.5,44.8,4.0,1489,17588,0.20,2.17,79.68,0.192,4,0.056,0.041,2400,1067,434,0,0,0,0,0,0,26.38,26.03,25.85
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$STATE,17703,end climb,SURFACE_DEPTH_REACHED
$STATE,17703,begin surface coast
$FINISH,0.3,1.021953
$STATE,17723,end surface coast,CONTROL_FINISHED_OK
$STATE,17723,begin surface
$SM_CCo,17797,0.00,0.000,0,0,443,622.08
$SM_GC,0.82,5.55,0.15,0.00,0.028,0.077,0.000,128,2647,443,-5.78,-0.42,622.08,0,0,0,0,0,0
$IRIDIUM_FIX,2316.83,12219.99,131111,131304
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.43
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.8,7.660
$10V_AH,10.3,6.791
$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,16.250,160.475,727.450,0.000,0.000,30.917,16.311,215.884,0.000,0.000,13.947,4060.782,8924.097,773.759,4039.062,369.107,0.000,2401.467,0.000,3662.802,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,108.630,1171.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1035.195,2503.832,1603.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,100318,1519
$CAP_FILE_SIZE,191757,0
$CFSIZE,260165632,220454912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.215,320.7,1
$GPS,131111,235236,2332.467,12226.479,37,1.1,37,-3.2