version: 66.10
glider: 169
mission: 5
dive: 368
start: 1 19 112 0 41 27
data:
$ID,169
$MISSION,5
$DIVE,368
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$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,-11342.067
$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
$GPS1,190112,003337,2259.821,12140.731,28,1.8,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.5
$GPS2,190112,004106,2259.890,12140.818,17,1.1,33,-3.0
$SPEED_LIMITS,0.159,0.274
$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,288.1,26432,-15.4,-9.167
$D_GRID,2809
$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,-175.2,0.0,0.0,0,92,0.00,0.00,-72.53,0.000,2,0.000,0.000,123,2665,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.60,-175.2,3.4,-7.4,13,121,7.12,1.88,-12.43,0.000,4,0.233,0.054,1798,3821,3696,0,0,0,0,0,0,24.74,25.96,26.51
$GC,200,-0.52,-175.2,39.7,-24.4,32,207,0.12,1.83,0.00,0.000,6,0.168,0.021,1838,2563,3696,0,0,0,0,0,0,25.77,26.19,28.83
$GC,513,-0.46,-175.2,113.6,-17.7,93,520,0.00,2.03,0.00,0.000,4,0.000,0.028,1848,1176,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,593,-0.49,-175.2,124.8,-10.6,108,600,0.00,2.25,0.00,0.000,6,0.000,0.039,1837,2651,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,904,-0.45,-175.2,179.5,-18.7,169,910,0.00,1.83,0.00,0.000,4,0.000,0.044,1828,3821,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,933,-0.42,-175.2,184.8,-16.8,174,940,0.15,1.83,0.00,0.000,6,0.127,0.022,1873,2547,3697,0,0,0,0,0,0,26.03,26.39,28.83
$GC,1245,-0.43,-175.2,213.6,-7.8,219,1254,0.00,2.00,0.00,0.000,4,0.000,0.028,1874,1173,3698,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1280,-0.47,-175.2,216.3,-7.8,222,1287,0.00,2.25,0.00,0.000,6,0.000,0.037,1865,2656,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1587,-0.49,-175.2,242.5,-9.0,253,1596,0.00,2.20,0.00,0.000,4,0.000,0.028,1865,1172,3697,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1619,-0.52,-175.2,245.2,-8.9,256,1628,0.00,2.28,0.00,0.000,6,0.000,0.039,1857,2660,3697,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1930,-0.53,-175.2,272.0,-9.1,287,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2660,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.55,-175.2,298.1,-8.3,317,2239,0.00,2.20,0.00,0.000,4,0.000,0.028,1857,1175,3696,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2273,-0.59,-175.2,301.6,-8.0,321,2282,0.00,2.25,0.00,0.000,6,0.000,0.039,1848,2649,3696,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2582,-0.60,-175.2,327.9,-8.0,352,2586,0.00,1.83,0.00,0.000,4,0.000,0.047,1840,3821,3695,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2617,-0.62,-175.2,330.2,-7.5,355,2624,0.00,1.83,0.00,0.000,6,0.000,0.024,1839,2562,3694,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2926,-0.63,-175.2,356.8,-9.0,386,2935,0.00,2.00,0.00,0.000,4,0.000,0.027,1840,1178,3693,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2959,-0.65,-175.2,360.0,-9.7,389,2967,0.00,2.25,0.00,0.000,6,0.000,0.039,1831,2651,3693,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3267,-0.65,-175.2,392.5,-10.4,420,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2650,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3571,-0.65,-175.2,421.1,-9.4,450,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2650,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3878,-0.65,-175.2,449.7,-9.6,481,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2651,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.65,-175.2,478.9,-10.1,511,4189,0.00,2.20,0.00,0.000,4,0.000,0.030,1831,1173,3685,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4215,-0.66,-175.2,482.3,-9.7,514,4222,0.00,2.30,0.00,0.000,6,0.000,0.041,1824,2658,3685,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4522,-0.66,-175.2,513.8,-10.3,545,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2658,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,-0.66,-175.2,544.3,-9.9,575,4832,0.00,2.20,0.00,0.000,4,0.000,0.031,1824,1182,3682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4865,-0.68,-175.2,548.3,-9.6,579,4874,0.00,2.28,0.00,0.000,6,0.000,0.043,1815,2649,3681,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5175,-0.68,-175.2,581.2,-10.3,610,5178,0.00,1.83,0.00,0.000,4,0.000,0.048,1806,3818,3679,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5225,-0.68,-175.2,586.6,-10.5,615,5229,0.00,1.83,0.00,0.000,6,0.000,0.024,1806,2571,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5533,-0.67,-175.2,620.2,-10.9,636,5538,0.00,2.03,0.00,0.000,4,0.000,0.030,1806,1185,3678,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5591,-0.67,-175.2,626.5,-10.5,639,5596,0.00,2.28,0.00,0.000,6,0.000,0.041,1798,2655,3677,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5912,-0.66,-175.2,666.4,-12.6,655,5916,0.00,1.83,0.00,0.000,4,0.000,0.048,1789,3821,3676,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5936,-0.64,-175.2,669.2,-12.5,656,5939,0.00,1.85,0.00,0.000,6,0.000,0.024,1789,2565,3675,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6254,-0.62,-175.2,708.5,-12.4,672,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2563,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,-0.61,-175.2,742.7,-11.2,687,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2563,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6854,-0.59,-175.2,776.1,-10.9,702,6860,0.10,2.03,0.00,0.000,4,0.148,0.047,1809,3811,3671,0,0,0,0,0,0,26.37,25.94,28.83
$GC,6914,-0.59,-175.2,781.6,-9.7,705,6917,0.00,1.83,0.00,0.000,6,0.000,0.024,1808,2574,3671,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7236,-0.59,-175.2,810.1,-8.6,721,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2568,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7536,-0.59,-175.2,835.3,-8.4,736,7542,0.00,2.03,0.00,0.000,4,0.000,0.047,1799,3820,3667,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7565,-0.59,-175.2,837.0,-8.5,737,7569,0.00,1.85,0.00,0.000,6,0.000,0.024,1799,2566,3667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7871,-0.59,-175.2,866.9,-9.7,752,7877,0.00,2.03,0.00,0.000,4,0.000,0.047,1790,3820,3665,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7899,-0.59,-175.2,869.1,-9.8,753,7902,0.00,1.85,0.00,0.000,6,0.000,0.024,1790,2570,3665,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8212,-0.58,-175.2,904.3,-11.0,769,8218,0.12,1.98,0.00,0.000,4,0.132,0.046,1826,3804,3664,0,0,0,0,0,0,26.26,25.94,28.83
$GC,8244,-0.58,-175.2,906.2,-10.7,770,8251,0.00,1.83,0.00,0.000,6,0.000,0.026,1826,2562,3664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8553,-0.60,-175.2,928.1,-6.5,786,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2562,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8853,-0.63,-175.2,946.1,-5.9,801,8859,0.00,2.00,0.00,0.000,4,0.000,0.047,1817,3802,3661,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8892,-0.66,-175.2,948.4,-5.7,803,8895,0.00,1.83,0.00,0.000,6,0.000,0.024,1816,2574,3661,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9216,-0.68,-175.2,968.1,-6.1,819,9221,0.00,2.05,0.00,0.000,4,0.000,0.031,1817,1183,3660,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9255,-0.71,-175.2,970.7,-6.2,821,9261,0.00,2.30,0.00,0.000,6,0.000,0.042,1812,2653,3660,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,9554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9554,begin apogee
$GC,9561,-0.20,0.0,990.7,-6.6,836,9728,0.38,0.15,158.95,1.171,6,0.096,0.074,1944,2537,2973,0,0,0,0,0,0,25.81,24.73,23.19
$STATE,9729,end apogee,CONTROL_FINISHED_OK
$STATE,9729,begin climb
$GC,9731,0.60,175.2,996.4,0.0,844,9918,0.70,2.28,171.60,1.180,4,0.048,0.047,2211,3818,2250,0,0,0,0,0,0,24.98,24.40,22.91
$GC,9923,0.50,175.2,985.3,13.8,854,9928,0.20,2.22,0.00,0.000,6,0.190,0.029,2174,2459,2244,0,0,0,0,0,0,24.39,24.75,28.83
$GC,10237,0.44,175.2,937.7,13.8,870,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2457,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10537,0.38,175.2,898.7,12.6,885,10543,0.12,2.15,0.00,0.000,4,0.182,0.044,2137,3804,2232,0,0,0,0,0,0,25.84,25.94,28.83
$GC,10570,0.33,175.2,896.0,12.5,886,10576,0.00,2.05,0.00,0.000,6,0.000,0.029,2147,2464,2231,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10877,0.30,175.2,862.7,10.3,902,10883,0.12,2.12,0.00,0.000,4,0.172,0.046,2106,3805,2230,0,0,0,0,0,0,25.96,25.96,28.83
$GC,10916,0.27,175.2,858.8,10.2,904,10922,0.00,2.08,0.00,0.000,6,0.000,0.031,2116,2459,2229,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11237,0.34,225.8,835.1,7.4,920,11287,0.00,2.28,38.08,1.140,4,0.000,0.047,2116,3810,2062,0,0,0,0,1,0,28.83,25.52,23.68
$GC,11309,0.39,269.0,830.3,7.6,923,11364,0.00,2.10,44.42,1.203,6,0.000,0.028,2126,2457,1881,0,0,0,0,1,0,28.83,25.70,23.39
$GC,11672,0.40,269.0,796.1,9.4,942,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2457,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11972,0.41,269.0,766.9,9.8,957,11977,0.00,2.12,0.00,0.000,4,0.000,0.037,2137,1062,1888,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11995,0.42,269.0,765.0,10.0,958,11999,0.00,2.25,0.00,0.000,6,0.000,0.040,2137,2523,1888,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12308,0.42,269.0,731.2,10.8,974,12313,0.00,2.03,0.00,0.000,4,0.000,0.047,2137,3812,1888,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12359,0.42,269.0,726.4,11.3,976,12366,0.00,2.08,0.00,0.000,6,0.000,0.028,2148,2455,1887,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12669,0.42,269.0,689.8,11.6,992,12674,0.00,2.08,0.00,0.000,4,0.000,0.036,2158,1068,1887,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12700,0.42,269.0,687.3,11.7,993,12707,0.00,2.22,0.00,0.000,6,0.000,0.040,2158,2524,1886,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,18017,end climb,SURFACE_DEPTH_REACHED
$STATE,18017,begin surface coast
$FINISH,0.3,1.023148
$STATE,18033,end surface coast,CONTROL_FINISHED_OK
$STATE,18033,begin surface
$SM_CCo,18109,0.00,0.000,0,0,813,531.32
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$IRIDIUM_FIX,2251.04,12139.98,180112,191931
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,23.60
$XPDR_PINGS,0
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$10V_AH,9.9,46.512
$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
$DEVICE_SECS,15.500,154.875,686.850,0.000,0.000,27.840,18.948,238.619,0.000,0.000,34.371,3818.911,10353.782,766.502,3198.792,387.308,0.000,2324.669,0.000,2724.267,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324608
$DATA_FILE_SIZE,106916,1641
$CAP_FILE_SIZE,193489,0
$CFSIZE,260165632,189206528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190112,054425,2300.785,12138.600,41,1.4,41,-3.0