version: 66.10
glider: 169
mission: 5
dive: 332
start: 1 12 112 1 57 4
data:
$ID,169
$MISSION,5
$DIVE,332
$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,320
$T_MISSION,360
$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,225
$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,-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,-11139.931
$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
$GPS1,120112,014936,2223.064,12236.534,39,1.2,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.9
$GPS2,120112,015643,2223.122,12236.613,12,1.3,17,-2.9
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,304.8,142000,-15.1,-10.312
$D_GRID,4893
$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,-0.65,-219.0,0.0,0.0,0,103,0.00,0.00,-83.65,0.000,2,0.000,0.000,117,2654,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.65,-219.0,3.2,-6.4,15,138,6.90,1.90,-18.25,0.000,4,0.230,0.060,1779,3823,3874,0,0,0,0,0,0,24.90,25.97,26.54
$GC,166,-0.49,-219.0,27.7,-44.5,25,173,0.22,1.83,0.00,0.000,6,0.161,0.023,1848,2569,3874,0,0,0,0,0,0,25.56,26.17,28.83
$GC,479,-0.41,-219.0,114.2,-27.3,86,486,0.00,2.03,0.00,0.000,4,0.000,0.028,1854,1179,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,558,-0.44,-219.0,129.3,-11.2,101,565,0.00,2.25,0.00,0.000,6,0.000,0.038,1844,2655,3874,0,0,0,0,0,0,28.83,26.15,28.83
$GC,869,-0.40,-219.0,183.4,-17.0,162,876,0.12,1.77,0.00,0.000,4,0.161,0.044,1876,3815,3874,0,0,0,0,0,0,26.19,26.16,28.83
$GC,914,-0.41,-219.0,190.1,-11.3,170,920,0.00,1.80,0.00,0.000,6,0.000,0.023,1876,2557,3874,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1229,-0.41,-219.0,223.4,-11.5,211,1238,0.00,2.00,0.00,0.000,4,0.000,0.044,1867,3814,3874,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1253,-0.42,-219.0,226.0,-11.7,213,1260,0.00,1.80,0.00,0.000,6,0.000,0.023,1866,2561,3874,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1562,-0.42,-219.0,267.0,-13.8,244,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2560,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1863,-0.43,-219.0,304.3,-10.9,274,1871,0.00,1.98,0.00,0.000,4,0.000,0.044,1858,3812,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1906,-0.46,-219.0,309.2,-11.4,278,1914,0.00,1.83,0.00,0.000,6,0.000,0.023,1857,2561,3874,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2214,-0.46,-219.0,345.6,-11.4,309,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2561,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,-0.47,-219.0,375.2,-9.8,339,2524,0.00,1.95,0.00,0.000,4,0.000,0.042,1849,3808,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2570,-0.51,-219.0,379.8,-8.4,344,2573,0.00,1.80,0.00,0.000,6,0.000,0.024,1848,2564,3873,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2883,-0.52,-219.0,411.1,-9.9,375,2891,0.00,2.00,0.00,0.000,4,0.000,0.027,1848,1172,3872,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2927,-0.55,-219.0,415.1,-9.4,379,2934,0.00,2.25,0.00,0.000,6,0.000,0.037,1848,2658,3872,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3234,-0.57,-219.0,440.7,-8.1,410,3238,0.00,1.80,0.00,0.000,4,0.000,0.044,1840,3818,3871,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3269,-0.59,-219.0,443.5,-8.6,413,3276,0.00,1.80,0.00,0.000,6,0.000,0.023,1840,2561,3871,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3578,-0.61,-219.0,474.4,-10.0,444,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2561,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3888,-0.63,-219.0,502.4,-7.8,475,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2561,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.66,-219.0,528.8,-8.8,506,4203,0.12,2.00,0.00,0.000,4,0.077,0.042,1743,3821,3867,0,0,0,0,0,0,26.57,26.18,28.83
$GC,4271,-0.63,-219.0,540.2,-16.7,513,4281,0.20,1.80,0.00,0.000,6,0.125,0.023,1808,2568,3866,0,0,0,0,0,0,25.99,26.41,28.83
$GC,4581,-0.63,-219.0,580.9,-12.4,544,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2566,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-0.63,-219.0,614.5,-10.1,568,4895,0.00,1.98,0.00,0.000,4,0.000,0.045,1799,3814,3862,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4916,-0.63,-219.0,616.8,-10.2,569,4919,0.00,1.80,0.00,0.000,6,0.000,0.024,1799,2574,3861,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5234,-0.62,-219.0,652.0,-10.9,585,5239,0.00,2.00,0.00,0.000,4,0.000,0.047,1790,3814,3859,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5266,-0.61,-219.0,654.3,-11.2,586,5272,0.00,1.80,0.00,0.000,6,0.000,0.024,1790,2563,3859,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5574,-0.60,-219.0,692.3,-12.0,602,5579,0.00,1.98,0.00,0.000,4,0.000,0.044,1780,3821,3858,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5596,-0.58,-219.0,694.7,-12.1,603,5600,0.15,1.83,0.00,0.000,6,0.119,0.024,1827,2551,3858,0,0,0,0,0,0,26.09,26.41,28.83
$GC,5911,-0.61,-219.0,719.2,-7.4,619,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2549,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6209,-0.64,-219.0,741.6,-7.7,634,6215,0.00,2.03,0.00,0.000,4,0.000,0.047,1819,3810,3852,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6248,-0.67,-219.0,744.7,-8.0,636,6252,0.00,1.83,0.00,0.000,6,0.000,0.026,1818,2565,3852,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6571,-0.69,-219.0,772.2,-8.7,652,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2562,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6870,-0.71,-219.0,796.8,-7.8,667,6872,0.12,0.00,0.00,0.000,6,0.077,0.000,1743,2562,3848,0,0,0,0,0,0,26.55,28.83,28.83
$GC,7172,-0.67,-219.0,843.2,-15.7,682,7174,0.17,0.00,0.00,0.000,6,0.141,0.000,1794,2561,3847,0,0,0,0,0,0,26.10,28.83,28.83
$GC,7470,-0.67,-219.0,872.5,-9.2,697,7475,0.00,2.00,0.00,0.000,4,0.000,0.047,1785,3813,3845,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7523,-0.68,-219.0,876.1,-9.2,699,7530,0.00,1.80,0.00,0.000,6,0.000,0.025,1785,2564,3845,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7831,-0.68,-219.0,906.7,-9.8,715,7836,0.00,1.98,0.00,0.000,4,0.000,0.047,1775,3824,3843,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7869,-0.68,-219.0,910.6,-10.0,717,7875,0.00,1.85,0.00,0.000,6,0.000,0.025,1775,2565,3843,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8191,-0.67,-219.0,943.5,-10.0,733,8196,0.00,1.95,0.00,0.000,4,0.000,0.046,1766,3818,3841,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8229,-0.67,-219.0,947.6,-10.3,735,8233,0.00,1.83,0.00,0.000,6,0.000,0.026,1766,2576,3840,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8551,-0.65,-219.0,981.7,-10.4,751,8557,0.12,2.05,0.00,0.000,4,0.139,0.029,1809,1180,3839,0,0,0,0,0,0,26.25,26.14,28.83
$GC,8585,-0.65,-219.0,983.6,-10.1,752,8591,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2656,3839,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,8690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8690,begin apogee
$GC,8695,-0.20,0.0,990.5,-6.0,758,8896,0.38,0.15,193.12,1.177,6,0.090,0.078,1945,2535,2977,0,0,0,0,0,0,25.95,24.72,23.37
$STATE,8897,end apogee,CONTROL_FINISHED_OK
$STATE,8897,begin climb
$GC,8899,0.65,219.0,996.8,0.0,768,9118,0.75,2.35,208.75,1.170,4,0.050,0.034,2239,1065,2075,0,0,0,0,0,0,24.94,24.45,23.08
$GC,9230,0.59,219.0,949.8,19.4,785,9237,0.15,2.30,0.00,0.000,6,0.167,0.040,2202,2528,2056,0,0,0,0,0,0,25.30,25.57,28.83
$GC,9551,0.53,219.0,891.4,18.1,801,9556,0.00,2.03,0.00,0.000,4,0.000,0.046,2202,3820,2053,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9640,0.45,219.0,874.7,20.9,805,9645,0.20,2.05,0.00,0.000,6,0.169,0.029,2158,2465,2049,0,0,0,0,0,0,25.63,26.10,28.83
$GC,9946,0.42,219.0,830.2,13.5,820,9951,0.00,2.12,0.00,0.000,4,0.000,0.045,2158,3814,2049,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9990,0.39,219.0,824.1,14.2,822,9995,0.12,2.05,0.00,0.000,6,0.163,0.028,2136,2455,2048,0,0,0,0,0,0,25.87,26.18,28.83
$GC,10304,0.38,219.0,788.5,10.6,838,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2453,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10603,0.38,219.0,757.0,10.4,853,10608,0.00,2.12,0.00,0.000,4,0.000,0.047,2136,3812,2046,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10642,0.37,219.0,752.5,10.9,855,10648,0.00,2.05,0.00,0.000,6,0.000,0.028,2146,2454,2046,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10963,0.37,224.1,718.8,10.2,871,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2453,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,0.36,224.1,688.3,10.6,886,11269,0.00,2.12,0.00,0.000,4,0.000,0.047,2146,3810,2045,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11325,0.34,224.1,681.0,11.9,889,11329,0.12,2.03,0.00,0.000,6,0.158,0.028,2124,2461,2045,0,0,0,0,0,0,25.91,26.23,28.83
$GC,11640,0.36,233.2,650.6,10.0,905,11657,0.00,2.12,9.80,0.898,4,0.000,0.037,2134,1059,2020,0,0,0,0,0,0,28.83,26.07,24.16
$GC,11684,0.40,248.7,646.5,9.8,907,11708,0.00,2.25,18.10,0.894,6,0.000,0.039,2134,2531,1962,0,0,0,0,0,0,28.83,26.06,24.39
$GC,12024,0.44,274.8,612.9,9.5,924,12061,0.00,2.08,27.60,0.890,4,0.000,0.047,2134,3809,1847,0,0,0,0,0,0,28.83,25.73,24.38
$GC,12092,0.48,299.9,606.8,9.5,927,12124,0.00,2.08,25.58,0.897,6,0.000,0.028,2145,2452,1751,0,0,0,0,0,0,28.83,25.84,24.18
$GC,12425,0.54,338.3,574.5,9.1,957,12468,0.12,2.15,36.88,0.892,4,0.078,0.035,2236,1063,1591,0,0,0,0,0,0,26.20,25.56,24.25
$GC,12495,0.51,338.3,564.0,17.7,963,12503,0.20,2.28,0.00,0.000,6,0.130,0.040,2177,2523,1576,0,0,0,0,0,0,25.40,25.63,28.83
$GC,12801,0.51,338.3,524.5,12.4,994,12810,0.00,2.03,0.00,0.000,4,0.000,0.045,2176,3813,1572,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12842,0.51,338.3,519.0,13.3,998,12851,0.00,2.08,0.00,0.000,6,0.000,0.027,2186,2450,1571,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,16717,end climb,SURFACE_DEPTH_REACHED
$STATE,16717,begin surface coast
$FINISH,0.2,0.999825
$STATE,16733,end surface coast,CONTROL_FINISHED_OK
$STATE,16733,begin surface
$SM_CCo,16808,0.00,0.000,0,0,846,523.22
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$TT8_MAMPS,0.025466,0.025466
$HUMID,44.17
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.1,70.928
$10V_AH,10.0,42.633
$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
$DEVICE_SECS,16.450,146.750,672.975,0.000,0.000,30.120,38.726,218.607,0.000,0.000,18.054,3563.499,9501.284,743.934,3034.759,365.183,0.000,2230.419,0.000,2581.011,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.517,1950.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,100325,1518
$CAP_FILE_SIZE,185740,0
$CFSIZE,260165632,192479232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120112,063806,2225.997,12235.177,27,1.3,27,-3.0