version: 66.10
glider: 169
mission: 5
dive: 18
start: 11 11 111 21 51 59
data:
$ID,169
$MISSION,5
$DIVE,18
$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,-10290.766
$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,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2530
$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
$GPS1,111111,213855,2314.350,12153.257,39,1.2,39,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.3
$GPS2,111111,215132,2314.579,12153.187,14,1.4,14,-3.1
$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,120.5,216536,-14.0,-9.429
$D_GRID,3725
$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,16,-0.61,-194.6,0.0,0.0,0,100,0.00,0.00,-80.93,0.000,2,0.000,0.000,114,2655,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.61,-194.6,3.4,-5.2,10,134,6.68,2.28,-13.60,0.000,4,0.233,0.054,1816,1158,3773,0,0,0,0,0,0,25.80,26.05,26.35
$GC,304,-0.49,-194.6,72.9,-25.6,40,314,0.10,2.28,0.00,0.000,6,0.148,0.054,1839,2609,3774,0,0,0,0,0,0,26.07,26.17,28.83
$GC,684,-0.36,-194.6,175.4,-26.4,101,693,0.17,1.88,0.00,0.000,4,0.171,0.057,1883,3801,3774,0,0,0,0,0,0,26.24,26.34,28.83
$GC,716,-0.23,-194.6,183.8,-27.2,105,725,0.10,1.85,0.00,0.000,6,0.129,0.034,1928,2557,3774,0,0,0,0,0,0,26.27,26.39,28.83
$GC,1085,-0.40,-194.6,216.9,-11.1,166,1094,0.12,2.10,0.00,0.000,4,0.112,0.039,1884,1153,3773,0,0,0,0,0,0,26.45,26.46,28.83
$GC,1127,-0.57,-194.6,221.6,-10.8,172,1137,0.12,2.25,0.00,0.000,6,0.044,0.047,1799,2632,3773,0,0,0,0,0,0,26.48,26.46,28.83
$GC,1476,-0.46,-194.6,290.6,-21.9,217,1481,0.17,1.80,0.00,0.000,4,0.153,0.054,1846,3814,3773,0,0,0,0,0,0,26.41,26.50,28.83
$GC,1600,-0.48,-194.6,306.8,-10.8,228,1607,0.00,1.85,0.00,0.000,6,0.000,0.034,1846,2551,3772,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1908,-0.47,-194.6,342.0,-10.8,259,1917,0.00,1.95,0.00,0.000,4,0.000,0.056,1837,3812,3770,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1932,-0.47,-194.6,344.5,-10.8,261,1939,0.00,1.88,0.00,0.000,6,0.000,0.034,1837,2554,3770,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2241,-0.45,-194.6,381.7,-12.3,292,2249,0.00,1.95,0.00,0.000,4,0.000,0.056,1828,3814,3768,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2293,-0.45,-194.6,387.7,-11.4,297,2302,0.12,1.85,0.00,0.000,6,0.127,0.035,1867,2552,3768,0,0,0,0,0,0,26.52,26.62,28.83
$GC,2603,-0.49,-194.6,411.8,-7.3,328,2612,0.00,1.95,0.00,0.000,4,0.000,0.056,1858,3808,3766,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2625,-0.53,-194.6,413.4,-7.3,330,2634,0.00,1.85,0.00,0.000,6,0.000,0.035,1858,2552,3765,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2935,-0.57,-194.6,438.1,-8.0,361,2944,0.00,2.05,0.00,0.000,4,0.000,0.040,1858,1156,3763,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2958,-0.60,-194.6,439.8,-8.3,363,2967,0.08,2.20,0.00,0.000,6,0.055,0.050,1796,2622,3763,0,0,0,0,0,0,26.61,26.60,28.83
$GC,3269,-0.54,-194.6,485.4,-14.9,394,3280,0.12,2.15,0.00,0.000,4,0.156,0.039,1837,1158,3760,0,0,0,0,0,0,26.54,26.62,28.83
$GC,3303,-0.52,-194.6,489.9,-12.9,397,3312,0.00,2.22,0.00,0.000,6,0.000,0.052,1828,2625,3760,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3615,-0.51,-194.6,522.3,-9.9,428,3619,0.00,1.85,0.00,0.000,4,0.000,0.060,1819,3805,3757,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3688,-0.53,-194.6,529.5,-9.0,435,3698,0.00,1.83,0.00,0.000,6,0.000,0.037,1819,2556,3757,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3997,-0.51,-194.6,560.3,-9.5,466,4001,0.00,1.98,0.00,0.000,4,0.000,0.060,1811,3817,3754,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4030,-0.50,-194.6,563.4,-9.6,469,4034,0.08,1.90,0.00,0.000,6,0.086,0.039,1854,2553,3753,0,0,0,0,0,0,26.57,26.66,28.83
$GC,4343,-0.53,-194.6,582.1,-6.2,500,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2554,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4644,-0.57,-194.6,602.2,-7.2,529,4649,0.00,1.95,0.00,0.000,4,0.000,0.058,1845,3825,3749,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4683,-0.62,-194.6,605.1,-7.3,531,4689,0.10,1.88,0.00,0.000,6,0.099,0.037,1767,2555,3748,0,0,0,0,0,0,26.67,26.67,28.83
$GC,5002,-0.54,-194.6,656.0,-16.3,547,5008,0.20,2.05,0.00,0.000,4,0.142,0.041,1836,1156,3746,0,0,0,0,0,0,26.55,26.64,28.83
$GC,5046,-0.51,-194.6,660.6,-14.1,549,5050,0.00,2.28,0.00,0.000,6,0.000,0.055,1827,2623,3745,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5366,-0.51,-194.6,689.3,-9.1,565,5369,0.00,1.88,0.00,0.000,4,0.000,0.062,1819,3809,3743,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5409,-0.51,-194.6,693.2,-9.0,567,5414,0.00,1.85,0.00,0.000,6,0.000,0.039,1819,2559,3743,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5728,-0.51,-194.6,723.7,-9.7,583,5733,0.00,2.05,0.00,0.000,4,0.000,0.046,1819,1161,3740,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5768,-0.51,-194.6,727.5,-9.6,585,5774,0.08,2.22,0.00,0.000,6,0.104,0.058,1846,2615,3740,0,0,0,0,0,0,26.58,26.62,28.83
$GC,6089,-0.55,-194.6,750.7,-7.1,601,6094,0.00,1.88,0.00,0.000,4,0.000,0.063,1838,3817,3739,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6130,-0.59,-194.6,753.5,-6.8,603,6134,0.00,1.88,0.00,0.000,6,0.000,0.040,1838,2555,3738,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6444,-0.62,-194.6,775.4,-7.0,619,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2555,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6745,-0.65,-194.6,796.1,-6.8,634,6751,0.12,1.92,0.00,0.000,4,0.079,0.060,1746,3803,3733,0,0,0,0,0,0,26.74,26.63,28.83
$GC,6807,-0.62,-194.6,804.0,-11.4,637,6811,0.17,1.88,0.00,0.000,6,0.118,0.040,1808,2558,3733,0,0,0,0,0,0,26.55,26.67,28.83
$GC,7124,-0.61,-194.6,837.0,-9.8,653,7128,0.00,1.98,0.00,0.000,4,0.000,0.062,1799,3814,3732,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7160,-0.60,-194.6,839.1,-9.5,654,7166,0.00,1.88,0.00,0.000,6,0.000,0.041,1799,2556,3731,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7468,-0.57,-194.6,870.7,-9.8,670,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2555,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7768,-0.55,-194.6,899.3,-9.4,685,7774,0.12,1.95,0.00,0.000,4,0.143,0.061,1833,3808,3729,0,0,0,0,0,0,26.59,26.61,28.83
$GC,7810,-0.55,-194.6,902.4,-8.5,687,7813,0.00,1.88,0.00,0.000,6,0.000,0.041,1834,2568,3728,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8130,-0.58,-194.6,923.3,-6.9,703,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2566,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8428,-0.61,-194.6,945.5,-7.5,718,8432,0.00,1.95,0.00,0.000,4,0.000,0.063,1825,3810,3726,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8458,-0.65,-194.6,947.1,-7.5,719,8461,0.00,1.88,0.00,0.000,6,0.000,0.041,1825,2553,3725,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8765,-0.67,-194.6,969.7,-6.7,734,8771,0.00,2.05,0.00,0.000,4,0.000,0.045,1825,1162,3725,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8789,-0.69,-194.6,970.9,-6.6,735,8793,0.00,2.25,0.00,0.000,6,0.000,0.057,1817,2624,3724,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,9058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9058,begin apogee
$GC,9064,-0.21,0.0,990.3,-7.0,749,9235,0.35,0.08,163.82,1.161,6,0.100,0.123,1943,2547,2978,0,0,0,0,0,0,26.58,24.61,23.96
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9236,begin climb
$GC,9238,0.61,194.6,996.1,0.0,757,9437,0.70,2.45,184.27,1.144,4,0.049,0.050,2221,1105,2167,0,0,0,0,0,0,24.84,24.54,23.79
$GC,9514,0.48,194.6,965.0,19.9,770,9521,0.20,2.35,0.00,0.000,6,0.179,0.054,2171,2547,2152,0,0,0,0,0,0,25.13,25.24,28.83
$GC,9821,0.38,194.6,907.1,17.7,786,9827,0.12,2.00,0.00,0.000,4,0.195,0.061,2136,3806,2148,0,0,0,0,0,0,25.72,25.82,28.83
$GC,9869,0.28,194.6,900.0,17.6,788,9873,0.17,2.03,0.00,0.000,6,0.181,0.041,2102,2508,2148,0,0,0,0,0,0,25.76,25.90,28.83
$GC,10176,0.26,194.6,864.3,11.0,803,10182,0.00,2.05,0.00,0.000,4,0.000,0.060,2101,3807,2146,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10198,0.24,194.6,862.0,11.1,804,10202,0.00,2.03,0.00,0.000,6,0.000,0.041,2112,2500,2146,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10516,0.21,194.6,827.5,10.2,820,10522,0.12,2.08,0.00,0.000,4,0.174,0.060,2073,3808,2146,0,0,0,0,0,0,26.11,26.19,28.83
$GC,10545,0.19,194.6,825.5,10.1,821,10549,0.00,2.00,0.00,0.000,6,0.000,0.042,2084,2507,2144,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10851,0.28,269.7,801.5,7.0,836,10919,0.00,2.17,57.17,1.169,4,0.000,0.059,2083,3812,1883,0,0,0,0,1,0,28.83,25.08,24.19
$GC,10957,0.35,327.7,794.1,7.5,841,11030,0.00,2.08,55.75,1.203,6,0.000,0.041,2093,2507,1646,0,0,0,0,1,0,28.83,25.40,23.83
$GC,11329,0.45,369.3,764.1,8.1,860,11388,0.15,2.30,49.55,0.978,4,0.070,0.050,2196,1110,1460,0,0,0,0,0,0,25.88,25.03,24.34
$GC,11436,0.41,369.3,747.3,17.5,865,11442,0.15,2.28,0.00,0.000,6,0.129,0.054,2147,2540,1451,0,0,0,0,0,0,25.28,25.36,28.83
$GC,11757,0.40,369.3,698.0,15.3,881,11763,0.00,2.03,0.00,0.000,4,0.000,0.061,2147,3807,1448,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11796,0.40,369.3,691.4,15.4,883,11801,0.00,2.03,0.00,0.000,6,0.000,0.041,2156,2510,1447,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12115,0.37,369.3,642.2,15.2,899,12121,0.00,2.15,0.00,0.000,4,0.000,0.050,2167,1097,1446,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12149,0.36,369.3,639.1,15.2,900,12157,0.15,2.28,0.00,0.000,6,0.138,0.055,2124,2547,1445,0,0,0,0,0,0,26.04,26.10,28.83
$GC,12455,0.39,369.3,606.8,9.5,916,12461,0.00,2.25,0.00,0.000,4,0.000,0.050,2134,1090,1445,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,17500,end climb,SURFACE_DEPTH_REACHED
$STATE,17500,begin surface coast
$FINISH,-0.0,1.021998
$STATE,17508,end surface coast,CONTROL_FINISHED_OK
$STATE,17508,begin surface
$SM_CCo,17583,0.00,0.000,0,0,441,622.57
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$IRIDIUM_FIX,2305.10,12155.35,111111,212107
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.43
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.8,5.859
$10V_AH,10.2,5.104
$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
$DEVICE_SECS,17.675,168.650,702.700,0.000,0.000,82.962,107.842,287.434,0.000,0.000,15.043,4100.942,8741.731,767.235,4329.955,375.661,0.000,2379.369,0.000,3729.844,0.000,0.544,0.000
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$SENSOR_SECS,1037.068,2500.866,1734.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,100321,1521
$CAP_FILE_SIZE,198492,0
$CFSIZE,260165632,221339648
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.217,333.7,1
$GPS,121111,024607,2313.963,12156.269,37,0.8,37,-3.1