version: 66.10
glider: 169
mission: 5
dive: 186
start: 12 14 111 13 25 20
data:
$ID,169
$MISSION,5
$DIVE,186
$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,350
$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,250
$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,0.0038360001
$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,-10953.918
$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
$GPS1,141211,131807,2320.097,12136.337,30,1.0,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-62.6
$GPS2,141211,132456,2320.302,12136.288,12,2.0,12,-3.1
$SPEED_LIMITS,0.163,0.319
$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,68.2,241338,-13.1,-9.429
$D_GRID,1357
$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,-0.63,-243.3,0.0,0.0,0,121,0.00,0.00,-101.80,0.000,2,0.000,0.000,120,2679,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.63,-243.3,3.2,-7.0,17,159,6.68,2.30,-18.25,0.000,4,0.226,0.047,1810,1181,3963,0,0,0,0,0,0,25.34,26.03,26.43
$GC,177,-0.46,-243.3,24.6,-39.1,25,184,0.20,2.28,0.00,0.000,6,0.148,0.044,1856,2656,3964,0,0,0,0,0,0,25.70,25.98,28.83
$GC,497,-0.41,-243.3,102.8,-20.7,86,503,0.00,1.77,0.00,0.000,4,0.000,0.047,1847,3817,3963,0,0,0,0,0,0,28.83,26.10,28.83
$GC,546,-0.41,-243.3,110.9,-13.3,95,556,0.10,1.80,0.00,0.000,6,0.130,0.024,1878,2557,3964,0,0,0,0,0,0,26.10,26.29,28.83
$GC,867,-0.42,-243.3,141.8,-8.9,156,876,0.00,1.98,0.00,0.000,4,0.000,0.047,1869,3817,3965,0,0,0,0,0,0,28.83,26.17,28.83
$GC,915,-0.46,-243.3,145.7,-7.3,164,924,0.00,1.80,0.00,0.000,6,0.000,0.024,1869,2553,3965,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1237,-0.46,-243.3,173.7,-8.6,225,1244,0.00,1.98,0.00,0.000,4,0.000,0.045,1860,3813,3965,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1292,-0.50,-243.3,177.7,-6.4,235,1301,0.00,1.80,0.00,0.000,6,0.000,0.026,1860,2559,3965,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1608,-0.50,-243.3,207.5,-10.1,289,1617,0.00,1.98,0.00,0.000,4,0.000,0.048,1852,3816,3964,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1653,-0.50,-243.3,212.0,-10.8,293,1660,0.00,1.80,0.00,0.000,6,0.000,0.024,1851,2555,3964,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1961,-0.51,-243.3,238.1,-0.2,324,1970,0.00,1.98,0.00,0.000,4,0.000,0.046,1842,3821,3962,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2024,-0.54,-243.3,241.6,-5.8,330,2035,0.00,1.80,0.00,0.000,6,0.000,0.024,1842,2556,3962,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2333,-0.53,-243.3,267.8,-10.8,361,2337,0.00,1.95,0.00,0.000,4,0.000,0.046,1835,3814,3960,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2397,-0.55,-243.3,273.8,-8.9,367,2406,0.00,1.80,0.00,0.000,6,0.000,0.024,1834,2556,3959,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2706,-0.52,-243.3,308.2,-12.1,398,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2557,3958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3007,-0.51,-243.3,340.0,-11.0,428,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2557,3955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3307,-0.51,-243.3,371.9,-9.9,458,3311,0.00,1.95,0.00,0.000,4,0.000,0.045,1825,3814,3954,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3348,-0.51,-243.3,376.2,-10.3,462,3352,0.00,1.80,0.00,0.000,6,0.000,0.024,1826,2556,3953,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3653,-0.50,-243.3,407.9,-10.5,492,3662,0.00,1.95,0.00,0.000,4,0.000,0.045,1817,3814,3950,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3688,-0.49,-243.3,411.2,-10.7,495,3695,0.08,1.83,0.00,0.000,6,0.099,0.024,1849,2557,3951,0,0,0,0,0,0,26.24,26.48,28.83
$GC,3997,-0.51,-243.3,433.5,-7.3,526,4006,0.00,1.95,0.00,0.000,4,0.000,0.046,1841,3829,3948,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4031,-0.54,-243.3,436.0,-7.3,529,4040,0.00,1.83,0.00,0.000,6,0.000,0.025,1840,2554,3948,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4340,-0.56,-243.3,461.7,-8.9,560,4344,0.00,2.00,0.00,0.000,4,0.000,0.030,1840,1181,3946,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4362,-0.58,-243.3,463.6,-8.9,562,4371,0.00,2.22,0.00,0.000,6,0.000,0.041,1838,2656,3946,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4673,-0.60,-243.3,490.6,-7.8,593,4677,0.00,1.77,0.00,0.000,4,0.000,0.048,1830,3814,3944,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4726,-0.63,-243.3,494.5,-7.3,598,4734,0.00,1.80,0.00,0.000,6,0.000,0.026,1830,2555,3944,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5036,-0.64,-243.3,521.1,-8.0,629,5047,0.00,2.00,0.00,0.000,4,0.000,0.029,1830,1181,3943,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5063,-0.65,-243.3,523.0,-7.7,631,5070,0.00,2.22,0.00,0.000,6,0.000,0.041,1824,2656,3943,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5371,-0.65,-243.3,548.1,-8.7,662,5375,0.00,1.80,0.00,0.000,4,0.000,0.048,1815,3814,3942,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5416,-0.66,-243.3,551.8,-8.8,666,5422,0.00,1.80,0.00,0.000,6,0.000,0.026,1815,2555,3941,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5723,-0.66,-243.3,580.2,-9.2,697,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2555,3940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6033,-0.66,-243.3,610.1,-9.8,723,6038,0.00,1.98,0.00,0.000,4,0.000,0.048,1807,3818,3937,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6073,-0.66,-243.3,614.1,-10.0,725,6076,0.00,1.80,0.00,0.000,6,0.000,0.025,1807,2560,3937,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6390,-0.65,-243.3,648.2,-11.1,741,6395,0.00,2.00,0.00,0.000,4,0.000,0.033,1807,1188,3935,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6423,-0.63,-243.3,650.6,-11.3,742,6430,0.00,2.22,0.00,0.000,6,0.000,0.041,1798,2655,3935,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6732,-0.61,-243.3,689.0,-12.1,758,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2655,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,-0.59,-243.3,722.5,-10.2,773,7035,0.00,2.17,0.00,0.000,4,0.000,0.030,1799,1184,3931,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7075,-0.57,-243.3,727.3,-10.5,775,7081,0.08,2.25,0.00,0.000,6,0.099,0.043,1824,2655,3931,0,0,0,0,0,0,26.02,26.18,28.83
$GC,7397,-0.59,-243.3,750.7,-7.7,791,7400,0.00,1.77,0.00,0.000,4,0.000,0.050,1816,3822,3930,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7423,-0.60,-243.3,752.5,-7.6,792,7428,0.00,1.83,0.00,0.000,6,0.000,0.026,1815,2556,3929,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7739,-0.60,-243.3,776.2,-6.7,808,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2555,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8038,-0.60,-243.3,796.7,-6.7,823,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2555,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8340,-0.61,-243.3,818.2,-8.0,838,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2555,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,-0.62,-243.3,844.5,-8.8,853,8645,0.00,1.95,0.00,0.000,4,0.000,0.048,1808,3815,3923,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8679,-0.63,-243.3,848.0,-8.7,855,8683,0.00,1.83,0.00,0.000,6,0.000,0.027,1808,2567,3923,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9002,-0.63,-243.3,878.5,-9.7,871,9007,0.00,2.03,0.00,0.000,4,0.000,0.033,1808,1183,3922,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9034,-0.63,-243.3,880.5,-9.7,872,9041,0.00,2.25,0.00,0.000,6,0.000,0.044,1799,2653,3922,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9341,-0.62,-243.3,910.3,-10.0,888,9344,0.00,1.80,0.00,0.000,4,0.000,0.052,1792,3817,3921,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9363,-0.62,-243.3,912.4,-10.1,889,9366,0.00,1.83,0.00,0.000,6,0.000,0.027,1792,2572,3921,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9685,-0.61,-243.3,947.4,-10.3,905,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2561,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9984,-0.59,-243.3,974.9,-9.6,920,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2561,3919,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10162,begin apogee
$GC,10168,-0.20,0.0,991.1,-8.7,929,10385,0.43,0.12,209.88,1.174,6,0.099,0.085,1941,2533,2973,0,0,0,0,0,0,25.84,24.47,23.60
$STATE,10386,end apogee,CONTROL_FINISHED_OK
$STATE,10386,begin climb
$GC,10388,0.63,243.3,999.4,0.0,940,10627,0.75,2.53,229.18,1.170,4,0.052,0.041,2229,1065,1975,0,0,0,0,0,0,24.63,23.96,23.06
$GC,10653,0.52,243.3,965.8,23.1,953,10658,0.20,2.40,0.00,0.000,6,0.161,0.041,2180,2520,1959,0,0,0,0,0,0,24.25,24.42,28.83
$GC,10961,0.44,243.3,902.6,19.4,968,10966,0.00,2.03,0.00,0.000,4,0.000,0.048,2179,3817,1952,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11041,0.36,243.3,886.1,20.3,972,11047,0.22,2.10,0.00,0.000,6,0.164,0.031,2129,2460,1951,0,0,0,0,0,0,25.43,25.82,28.83
$GC,11363,0.33,243.3,844.6,12.4,988,11368,0.00,2.12,0.00,0.000,4,0.000,0.047,2128,3817,1950,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11394,0.30,243.3,842.0,12.6,989,11401,0.12,2.05,0.00,0.000,6,0.157,0.031,2106,2465,1949,0,0,0,0,0,0,25.75,26.01,28.83
$GC,11701,0.30,243.3,805.9,11.1,1005,11703,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2464,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12001,0.32,253.8,774.5,9.2,1020,12005,0.00,2.12,0.00,0.000,4,0.000,0.047,2106,3816,1949,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12030,0.33,266.2,772.4,9.1,1021,12065,0.00,2.03,18.38,0.862,6,0.000,0.029,2116,2459,1890,0,0,0,0,1,0,28.83,26.13,25.01
$GC,12364,0.35,280.7,742.0,9.0,1038,12391,0.00,0.00,19.50,0.822,6,0.000,0.000,2116,2459,1832,0,0,0,0,1,0,28.83,28.83,24.63
$GC,12682,0.40,319.8,714.5,8.4,1054,12730,0.00,2.17,36.50,1.066,4,0.000,0.047,2116,3803,1683,0,0,0,0,1,0,28.83,25.43,24.36
$GC,12763,0.46,369.1,708.0,8.1,1058,12832,0.00,2.08,63.05,0.937,6,0.000,0.028,2126,2463,1474,0,0,0,0,0,0,28.83,25.59,24.23
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$STATE,18514,end climb,SURFACE_DEPTH_REACHED
$STATE,18514,begin surface coast
$FINISH,1.5,1.023039
$STATE,18535,end surface coast,CONTROL_FINISHED_OK
$STATE,18535,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.92
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.1,40.545
$10V_AH,10.2,26.689
$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
$DEVICE_SECS,15.625,154.800,839.150,0.000,0.000,31.254,38.571,209.533,0.000,0.000,13.340,4568.738,9756.353,949.030,3350.091,374.238,0.000,2612.319,0.000,2890.384,0.000,0.542,0.000
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$SENSOR_SECS,1185.804,2183.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324356
$DATA_FILE_SIZE,113492,1743
$CAP_FILE_SIZE,200615,0
$CFSIZE,260165632,205914112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.236,269.4,1
$GPS,141211,183636,2322.345,12139.882,36,1.4,36,-3.1