version: 66.10
glider: 169
mission: 5
dive: 30
start: 11 14 111 9 54 46
data:
$ID,169
$MISSION,5
$DIVE,30
$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,-10305.869
$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
$GPS1,141111,094706,2334.368,12232.348,38,1.2,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.6
$GPS2,141111,095420,2334.506,12232.297,15,1.4,15,-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,126.6,143012,-14.0,-9.429
$D_GRID,3513
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.59,-194.6,0.0,0.0,0,117,0.00,0.00,-98.15,0.000,2,0.000,0.000,119,2648,3023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.59,-194.6,3.5,-6.3,12,148,6.70,2.33,-13.60,0.000,4,0.234,0.053,1824,1151,3775,0,0,0,0,0,0,25.82,26.08,26.38
$GC,291,-0.54,-194.6,59.7,-20.6,38,302,0.00,2.30,0.00,0.000,6,0.000,0.053,1813,2614,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,673,-0.43,-194.6,189.0,-27.1,99,682,0.17,1.88,0.00,0.000,4,0.170,0.053,1857,3804,3775,0,0,0,0,0,0,26.22,26.34,28.83
$GC,697,-0.35,-194.6,195.3,-25.0,102,709,0.08,1.85,0.00,0.000,6,0.134,0.031,1893,2552,3775,0,0,0,0,0,0,26.27,26.43,28.83
$GC,1081,-0.36,-194.6,234.8,-9.3,163,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,2552,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-0.38,-194.6,263.0,-8.6,209,1427,0.00,1.95,0.00,0.000,4,0.000,0.052,1884,3809,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1472,-0.41,-194.6,266.5,-7.6,213,1481,0.00,1.85,0.00,0.000,6,0.000,0.032,1884,2535,3774,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1779,-0.44,-194.6,293.5,-9.1,244,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2535,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2082,-0.46,-194.6,320.9,-8.9,274,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2535,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.50,-194.6,345.2,-6.7,305,2400,0.10,1.98,0.00,0.000,4,0.093,0.052,1792,3815,3769,0,0,0,0,0,0,26.66,26.57,28.83
$GC,2433,-0.48,-194.6,350.5,-12.3,309,2443,0.20,1.85,0.00,0.000,6,0.129,0.032,1853,2546,3768,0,0,0,0,0,0,26.50,26.63,28.83
$GC,2743,-0.48,-194.6,385.4,-10.3,340,2752,0.00,1.98,0.00,0.000,4,0.000,0.054,1844,3819,3767,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2795,-0.48,-194.6,390.7,-10.2,345,2804,0.00,1.85,0.00,0.000,6,0.000,0.034,1844,2552,3766,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3106,-0.46,-194.6,426.7,-12.5,376,3110,0.00,1.95,0.00,0.000,4,0.000,0.053,1835,3818,3764,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3131,-0.45,-194.6,429.7,-12.9,378,3140,0.00,1.85,0.00,0.000,6,0.000,0.032,1834,2543,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3439,-0.44,-194.6,467.0,-10.8,409,3448,0.12,2.00,0.00,0.000,4,0.139,0.036,1879,1159,3762,0,0,0,0,0,0,26.56,26.62,28.83
$GC,3493,-0.48,-194.6,470.9,-6.5,414,3502,0.00,2.17,0.00,0.000,6,0.000,0.048,1878,2618,3761,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3802,-0.60,-194.6,497.8,-10.5,445,3812,0.15,1.80,0.00,0.000,4,0.108,0.051,1816,3810,3758,0,0,0,0,0,0,26.60,26.61,28.83
$GC,3868,-0.71,-194.6,504.3,-9.8,451,3875,0.05,1.88,0.00,0.000,6,0.032,0.034,1761,2551,3758,0,0,0,0,0,0,26.63,26.67,28.83
$GC,4177,-0.64,-194.6,558.8,-19.4,482,4181,0.12,2.03,0.00,0.000,4,0.157,0.037,1810,1159,3757,0,0,0,0,0,0,26.54,26.63,28.83
$GC,4252,-0.64,-194.6,569.5,-12.2,489,4261,0.00,2.25,0.00,0.000,6,0.000,0.050,1800,2626,3755,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4561,-0.60,-194.6,615.0,-14.8,515,4565,0.00,1.85,0.00,0.000,4,0.000,0.057,1791,3811,3753,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4605,-0.57,-194.6,621.3,-14.5,517,4611,0.12,1.85,0.00,0.000,6,0.133,0.035,1828,2554,3753,0,0,0,0,0,0,26.55,26.67,28.83
$GC,4924,-0.57,-194.6,653.1,-8.9,533,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2553,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5225,-0.57,-194.6,678.2,-8.2,548,5230,0.00,1.95,0.00,0.000,4,0.000,0.057,1819,3814,3748,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5292,-0.57,-194.6,682.9,-8.0,551,5296,0.00,1.85,0.00,0.000,6,0.000,0.035,1819,2557,3747,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5601,-0.57,-194.6,709.8,-8.7,566,5605,0.00,1.95,0.00,0.000,4,0.000,0.057,1811,3818,3745,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5636,-0.57,-194.6,712.0,-9.1,567,5643,0.00,1.88,0.00,0.000,6,0.000,0.035,1811,2557,3745,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5943,-0.55,-194.6,743.6,-10.3,583,5949,0.00,2.08,0.00,0.000,4,0.000,0.041,1811,1155,3743,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5986,-0.55,-194.6,747.7,-10.4,585,5991,0.10,2.22,0.00,0.000,6,0.143,0.052,1831,2619,3743,0,0,0,0,0,0,26.57,26.63,28.83
$GC,6300,-0.56,-194.6,775.8,-9.0,601,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2619,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6601,-0.57,-194.6,803.6,-9.2,616,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2619,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6900,-0.58,-194.6,829.2,-8.2,631,6903,0.00,1.83,0.00,0.000,4,0.000,0.060,1822,3810,3735,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6941,-0.59,-194.6,832.6,-8.3,633,6946,0.00,1.85,0.00,0.000,6,0.000,0.037,1822,2557,3735,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7261,-0.59,-194.6,859.7,-8.3,649,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2556,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,-0.60,-194.6,884.3,-8.3,664,7567,0.00,1.95,0.00,0.000,4,0.000,0.060,1814,3809,3732,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7609,-0.61,-194.6,887.8,-8.5,666,7613,0.00,1.85,0.00,0.000,6,0.000,0.037,1814,2559,3732,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7916,-0.61,-194.6,917.3,-9.6,681,7922,0.00,2.08,0.00,0.000,4,0.000,0.043,1814,1158,3730,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7938,-0.61,-194.6,919.3,-9.7,682,7942,0.00,2.22,0.00,0.000,6,0.000,0.054,1812,2617,3730,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8256,-0.61,-194.6,950.5,-9.8,698,8260,0.00,1.88,0.00,0.000,4,0.000,0.060,1804,3832,3728,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8300,-0.61,-194.6,954.8,-10.0,700,8304,0.00,1.92,0.00,0.000,6,0.000,0.037,1803,2554,3728,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8619,-0.60,-194.6,987.1,-10.0,716,8624,0.00,1.95,0.00,0.000,4,0.000,0.059,1794,3808,3727,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8641,-0.60,-194.6,989.2,-9.9,717,8645,0.00,1.88,0.00,0.000,6,0.000,0.037,1794,2560,3726,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,8656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8656,begin apogee
$GC,8661,-0.20,0.0,991.3,-10.0,718,8832,0.43,0.10,162.27,1.170,6,0.105,0.106,1944,2524,2973,0,0,0,0,0,0,26.54,24.70,24.00
$STATE,8833,end apogee,CONTROL_FINISHED_OK
$STATE,8833,begin climb
$GC,8835,0.59,194.6,998.8,0.0,726,9027,0.68,2.15,180.88,1.161,4,0.045,0.056,2205,3808,2172,0,0,0,0,0,0,24.94,24.57,23.83
$GC,9201,0.48,194.6,944.8,22.4,745,9208,0.20,2.12,0.00,0.000,6,0.201,0.041,2166,2466,2154,0,0,0,0,0,0,25.42,25.57,28.83
$GC,9521,0.41,194.6,892.4,15.5,761,9527,0.00,2.15,0.00,0.000,4,0.000,0.058,2166,3814,2151,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9550,0.33,194.6,888.9,16.1,762,9554,0.20,2.08,0.00,0.000,6,0.177,0.040,2124,2473,2149,0,0,0,0,0,0,25.86,26.00,28.83
$GC,9856,0.30,194.6,849.7,11.7,777,9860,0.00,2.12,0.00,0.000,4,0.000,0.057,2124,3809,2148,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9891,0.26,194.6,846.9,12.0,778,9898,0.15,2.05,0.00,0.000,6,0.172,0.038,2095,2469,2147,0,0,0,0,0,0,26.04,26.18,28.83
$GC,10198,0.26,194.6,813.2,11.1,794,10204,0.00,2.10,0.00,0.000,4,0.000,0.057,2094,3806,2147,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10252,0.24,194.6,808.3,11.6,796,10258,0.00,2.05,0.00,0.000,6,0.000,0.039,2104,2460,2146,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10561,0.23,194.6,772.5,10.6,812,10566,0.00,2.10,0.00,0.000,4,0.000,0.047,2115,1066,2145,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10628,0.23,194.6,766.4,10.3,815,10632,0.00,2.25,0.00,0.000,6,0.000,0.050,2115,2524,2144,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10934,0.21,194.6,733.8,10.1,830,10941,0.12,2.20,0.00,0.000,4,0.168,0.047,2087,1069,2144,0,0,0,0,0,0,26.29,26.38,28.83
$GC,10955,0.20,194.6,732.1,9.8,831,10960,0.00,2.20,0.00,0.000,6,0.000,0.050,2087,2516,2144,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11274,0.28,254.8,708.1,7.5,847,11333,0.00,2.15,43.58,1.060,4,0.000,0.058,2087,3805,1950,0,0,0,0,1,0,28.83,25.51,24.63
$GC,11350,0.35,308.3,703.6,7.7,850,11416,0.00,2.08,51.17,1.143,6,0.000,0.038,2097,2471,1726,0,0,0,0,1,0,28.83,25.65,24.04
$GC,11716,0.45,365.7,673.5,7.5,869,11784,0.15,2.30,61.20,0.952,4,0.069,0.050,2197,1067,1481,0,0,0,0,0,0,25.95,25.01,24.34
$GC,11806,0.43,365.7,660.9,15.9,873,11818,0.17,2.35,0.00,0.000,6,0.150,0.049,2150,2520,1467,0,0,0,0,0,0,25.15,25.24,28.83
$GC,12117,0.42,365.7,616.3,13.9,889,12122,0.00,2.05,0.00,0.000,4,0.000,0.056,2150,3806,1463,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12146,0.40,365.7,613.4,14.0,890,12150,0.00,2.08,0.00,0.000,6,0.000,0.039,2160,2464,1462,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12454,0.39,365.7,566.2,15.5,916,12462,0.00,2.10,0.00,0.000,4,0.000,0.048,2170,1068,1460,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12477,0.38,365.7,562.8,15.4,918,12486,0.10,2.22,0.00,0.000,6,0.120,0.050,2134,2512,1459,0,0,0,0,0,0,26.03,26.11,28.83
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$STATE,17232,end climb,SURFACE_DEPTH_REACHED
$STATE,17232,begin surface coast
$FINISH,-0.0,1.021953
$STATE,17274,end surface coast,CONTROL_FINISHED_OK
$STATE,17275,begin surface
$SM_CCo,17349,0.00,0.000,0,0,804,533.53
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$IRIDIUM_FIX,2326.22,12228.99,141111,040420
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.55
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.8,8.245
$10V_AH,10.3,7.348
$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,15.850,164.625,619.150,0.000,0.000,24.261,41.716,232.941,0.000,0.000,15.900,4060.077,8351.919,748.382,4234.770,363.200,0.000,2341.128,0.000,3835.448,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,105.570,1169.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1033.711,2527.315,1884.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324592
$DATA_FILE_SIZE,100478,1518
$CAP_FILE_SIZE,191685,0
$CFSIZE,260165632,220164096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.373,333.7,1
$GPS,141111,144500,2334.949,12234.930,38,0.9,38,-3.2