version: 66.10
glider: 169
mission: 5
dive: 275
start: 1 1 112 6 56 5
data:
$ID,169
$MISSION,5
$DIVE,275
$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,-9
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$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,-11067.913
$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
$GPS1,010112,064736,2140.015,12411.815,32,2.0,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.2
$GPS2,010112,065543,2140.024,12411.746,33,1.6,33,-2.9
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2134.625,12401.689
$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,242.9,20000,-14.5,-9.167
$D_GRID,5606
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-83.55,0.000,2,0.000,0.000,114,2682,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.60,-194.6,3.6,-8.2,15,137,6.78,1.85,-14.10,0.000,4,0.223,0.060,1796,3819,3776,0,0,0,0,0,0,25.08,26.01,26.51
$GC,271,-0.50,-194.6,65.6,-33.5,46,278,0.15,1.83,0.00,0.000,6,0.155,0.028,1845,2589,3776,0,0,0,0,0,0,25.79,26.17,28.83
$GC,583,-0.42,-194.6,153.5,-22.6,107,589,0.00,2.08,0.00,0.000,4,0.000,0.030,1853,1175,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,673,-0.46,-194.6,167.4,-9.3,124,679,0.00,2.22,0.00,0.000,6,0.000,0.037,1842,2655,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,989,-0.41,-194.6,229.3,-19.6,172,991,0.12,0.00,0.00,0.000,6,0.160,0.000,1877,2655,3776,0,0,0,0,0,0,26.26,28.83,28.83
$GC,1289,-0.41,-194.6,266.8,-10.5,202,1297,0.00,2.17,0.00,0.000,4,0.000,0.028,1877,1179,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1321,-0.42,-194.6,269.8,-9.7,205,1330,0.00,2.20,0.00,0.000,6,0.000,0.039,1868,2647,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1631,-0.42,-194.6,300.0,-10.1,236,1635,0.00,1.77,0.00,0.000,4,0.000,0.046,1860,3815,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1676,-0.44,-194.6,304.0,-9.4,240,1682,0.00,1.77,0.00,0.000,6,0.000,0.023,1860,2551,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1983,-0.44,-194.6,335.4,-10.3,271,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2551,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2285,-0.44,-194.6,364.2,-10.0,301,2293,0.00,1.98,0.00,0.000,4,0.000,0.044,1850,3812,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2329,-0.45,-194.6,368.3,-9.3,305,2336,0.00,1.83,0.00,0.000,6,0.000,0.024,1849,2560,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2637,-0.45,-194.6,395.7,-7.7,336,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2560,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-0.45,-194.6,419.2,-7.9,366,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2560,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3239,-0.47,-194.6,446.1,-9.8,396,3247,0.00,2.00,0.00,0.000,4,0.000,0.044,1840,3822,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3273,-0.49,-194.6,449.4,-9.9,399,3280,0.00,1.80,0.00,0.000,6,0.000,0.024,1840,2563,3770,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3583,-0.49,-194.6,482.0,-9.9,430,3591,0.00,1.98,0.00,0.000,4,0.000,0.044,1832,3820,3769,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3647,-0.53,-194.6,487.5,-8.3,436,3653,0.00,1.80,0.00,0.000,6,0.000,0.024,1831,2560,3769,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3954,-0.53,-194.6,515.6,-9.8,467,3963,0.00,2.00,0.00,0.000,4,0.000,0.028,1831,1169,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4007,-0.56,-194.6,520.2,-8.8,472,4015,0.00,2.22,0.00,0.000,6,0.000,0.038,1824,2656,3767,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4316,-0.56,-194.6,552.9,-11.3,503,4320,0.00,1.80,0.00,0.000,4,0.000,0.046,1815,3822,3764,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4350,-0.56,-194.6,556.5,-11.5,506,4358,0.00,1.85,0.00,0.000,6,0.000,0.024,1815,2563,3764,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4658,-0.55,-194.6,593.2,-11.4,537,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2562,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-0.55,-194.6,624.5,-10.2,555,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2562,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5258,-0.55,-194.6,653.8,-10.0,570,5263,0.00,2.00,0.00,0.000,4,0.000,0.047,1807,3813,3759,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5291,-0.55,-194.6,655.9,-10.1,571,5298,0.00,1.80,0.00,0.000,6,0.000,0.024,1807,2565,3758,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5601,-0.54,-194.6,690.2,-10.9,587,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2564,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5898,-0.54,-194.6,722.8,-10.8,602,5903,0.00,1.98,0.00,0.000,4,0.000,0.047,1798,3821,3754,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5960,-0.54,-194.6,729.2,-10.8,605,5966,0.12,1.83,0.00,0.000,6,0.119,0.024,1838,2561,3753,0,0,0,0,0,0,26.16,26.41,28.83
$GC,6281,-0.56,-194.6,756.8,-8.7,621,6285,0.00,1.98,0.00,0.000,4,0.000,0.046,1828,3814,3750,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6311,-0.59,-194.6,758.7,-8.7,622,6314,0.00,1.80,0.00,0.000,6,0.000,0.025,1828,2572,3750,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6624,-0.61,-194.6,787.6,-8.7,638,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2564,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,-0.63,-194.6,812.8,-8.3,653,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2564,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7224,-0.65,-194.6,836.0,-7.3,668,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2563,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7525,-0.67,-194.6,857.2,-7.0,683,7530,0.00,2.00,0.00,0.000,4,0.000,0.048,1820,3820,3743,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7554,-0.69,-194.6,858.9,-7.2,684,7562,0.00,1.83,0.00,0.000,6,0.000,0.027,1820,2565,3743,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7865,-0.71,-194.6,884.8,-8.4,700,7871,0.12,2.03,0.00,0.000,4,0.079,0.029,1741,1181,3742,0,0,0,0,0,0,26.55,26.17,28.83
$GC,7887,-0.71,-194.6,886.8,-8.7,701,7892,0.17,2.25,0.00,0.000,6,0.138,0.041,1781,2652,3742,0,0,0,0,0,0,25.79,26.10,28.83
$GC,8201,-0.69,-194.6,925.5,-11.8,717,8204,0.00,1.83,0.00,0.000,4,0.000,0.050,1773,3821,3740,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8235,-0.67,-194.6,928.3,-11.9,718,8241,0.00,1.83,0.00,0.000,6,0.000,0.025,1773,2566,3739,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8542,-0.64,-194.6,968.2,-12.6,734,8547,0.00,1.98,0.00,0.000,4,0.000,0.047,1763,3814,3738,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8563,-0.61,-194.6,970.7,-12.6,735,8569,0.15,1.83,0.00,0.000,6,0.129,0.025,1808,2565,3738,0,0,0,0,0,0,25.98,26.34,28.83
$STATE,8781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8781,begin apogee
$GC,8786,-0.20,0.0,990.8,-8.9,746,8965,0.38,0.12,168.95,1.181,6,0.096,0.084,1943,2542,2972,0,0,0,0,0,0,25.91,24.73,23.58
$STATE,8966,end apogee,CONTROL_FINISHED_OK
$STATE,8966,begin climb
$GC,8968,0.60,194.6,999.8,0.0,755,9164,0.70,2.15,185.25,1.185,4,0.050,0.044,2208,3815,2174,0,0,0,0,0,0,24.96,24.23,23.07
$GC,9181,0.50,194.6,987.3,14.6,765,9188,0.17,2.17,0.00,0.000,6,0.183,0.030,2177,2469,2162,0,0,0,0,0,0,24.38,24.65,28.83
$GC,9487,0.44,194.6,934.7,15.6,781,9493,0.00,2.12,0.00,0.000,4,0.000,0.045,2177,3819,2154,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9536,0.38,194.6,928.1,16.1,783,9540,0.20,2.08,0.00,0.000,6,0.161,0.030,2133,2459,2153,0,0,0,0,0,0,25.58,25.97,28.83
$GC,9842,0.36,194.6,892.5,10.3,798,9847,0.00,2.12,0.00,0.000,4,0.000,0.045,2133,3813,2151,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9905,0.34,194.6,885.2,11.8,801,9909,0.00,2.05,0.00,0.000,6,0.000,0.029,2143,2460,2151,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10219,0.31,194.6,850.3,11.2,817,10225,0.12,2.12,0.00,0.000,4,0.169,0.044,2105,3814,2150,0,0,0,0,0,0,25.99,26.06,28.83
$GC,10251,0.28,194.6,847.9,11.2,818,10258,0.00,2.05,0.00,0.000,6,0.000,0.029,2116,2457,2149,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10559,0.28,194.6,817.2,9.6,834,10564,0.00,2.08,0.00,0.000,4,0.000,0.038,2126,1058,2149,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10600,0.28,194.6,813.5,9.4,836,10604,0.00,2.22,0.00,0.000,6,0.000,0.040,2126,2525,2148,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10918,0.27,194.6,781.1,9.6,852,10924,0.00,2.22,0.00,0.000,4,0.000,0.037,2137,1057,2148,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10941,0.27,194.6,779.4,9.4,853,10946,0.12,2.25,0.00,0.000,6,0.137,0.040,2103,2529,2148,0,0,0,0,0,0,25.92,26.11,28.83
$GC,11255,0.43,316.5,760.2,5.3,869,11383,0.12,2.12,118.07,0.987,4,0.079,0.046,2180,3806,1678,0,0,0,0,0,0,26.48,25.08,23.99
$GC,11419,0.40,316.5,741.0,13.1,877,11423,0.17,2.10,0.00,0.000,6,0.143,0.028,2142,2460,1664,0,0,0,0,0,0,25.22,25.46,28.83
$GC,11733,0.41,316.5,709.0,10.2,893,11738,0.00,2.12,0.00,0.000,4,0.000,0.045,2142,3807,1657,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11752,0.42,316.5,706.8,10.2,894,11756,0.00,2.03,0.00,0.000,6,0.000,0.029,2152,2461,1657,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12073,0.42,316.5,671.6,10.9,910,12079,0.00,2.12,0.00,0.000,4,0.000,0.037,2163,1057,1655,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12096,0.42,316.5,669.4,10.8,911,12100,0.00,2.25,0.00,0.000,6,0.000,0.038,2163,2527,1654,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12409,0.42,316.5,629.7,12.7,927,12415,0.00,2.03,0.00,0.000,4,0.000,0.047,2163,3820,1654,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12428,0.42,316.5,627.0,12.9,928,12432,0.00,2.08,0.00,0.000,6,0.000,0.028,2174,2452,1654,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12742,0.40,316.5,588.0,11.5,948,12751,0.12,2.05,0.00,0.000,4,0.161,0.035,2144,1062,1653,0,0,0,0,0,0,26.08,26.10,28.83
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$STATE,17779,end climb,SURFACE_DEPTH_REACHED
$STATE,17780,begin surface coast
$FINISH,0.4,1.023406
$STATE,17791,end surface coast,CONTROL_FINISHED_OK
$STATE,17791,begin surface
$SM_CCo,17866,0.00,0.000,0,0,804,533.53
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$IRIDIUM_FIX,2136.49,12406.50,010112,010145
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.53
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$10V_AH,10.1,36.555
$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
$DEVICE_SECS,16.200,156.875,663.775,0.000,0.000,31.342,42.250,254.572,0.000,0.000,33.904,3720.203,10319.681,759.028,3142.321,382.807,0.000,2271.654,0.000,2639.234,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,103697,1588
$CAP_FILE_SIZE,191875,0
$CFSIZE,260165632,197640192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010112,115500,2137.609,12410.686,41,1.0,41,-2.9