version: 66.10
glider: 169
mission: 5
dive: 36
start: 11 15 111 15 54 57
data:
$ID,169
$MISSION,5
$DIVE,36
$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,-10313.416
$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,2000
$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,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
$GPS1,151111,154730,2335.965,12251.099,42,2.0,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.3
$GPS2,151111,155431,2336.058,12251.050,10,1.9,15,-3.3
$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,124.9,111370,-14.0,-9.429
$D_GRID,2628
$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,-0.59,-194.6,0.0,0.0,0,116,0.00,0.00,-97.78,0.000,2,0.000,0.000,117,2682,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.59,-194.6,4.0,-6.9,12,148,6.53,2.30,-12.50,0.000,4,0.226,0.049,1814,1183,3776,0,0,0,0,0,0,25.87,26.13,26.43
$GC,217,-0.51,-194.6,49.4,-29.4,26,229,0.08,2.28,0.00,0.000,6,0.147,0.051,1828,2636,3776,0,0,0,0,0,0,26.07,26.17,28.83
$GC,598,-0.40,-194.6,174.3,-28.6,87,607,0.12,2.17,0.00,0.000,4,0.183,0.032,1875,1182,3776,0,0,0,0,0,0,26.25,26.39,28.83
$GC,711,-0.43,-194.6,191.0,-8.8,104,719,0.00,2.25,0.00,0.000,6,0.000,0.047,1865,2653,3776,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1089,-0.40,-194.6,242.4,-14.7,165,1097,0.00,1.77,0.00,0.000,4,0.000,0.053,1856,3803,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1125,-0.38,-194.6,247.8,-14.4,170,1134,0.00,1.80,0.00,0.000,6,0.000,0.031,1856,2577,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1442,-0.36,-194.6,295.0,-12.8,202,1446,0.00,2.03,0.00,0.000,4,0.000,0.035,1856,1180,3775,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1499,-0.37,-194.6,301.1,-10.9,207,1509,0.12,2.22,0.00,0.000,6,0.132,0.047,1888,2656,3774,0,0,0,0,0,0,26.47,26.53,28.83
$GC,1809,-0.40,-194.6,323.6,-7.1,238,1812,0.00,1.77,0.00,0.000,4,0.000,0.052,1879,3805,3772,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1841,-0.43,-194.6,326.1,-7.4,241,1844,0.00,1.80,0.00,0.000,6,0.000,0.031,1879,2572,3772,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2153,-0.45,-194.6,350.2,-7.6,272,2161,0.00,2.00,0.00,0.000,4,0.000,0.035,1879,1183,3770,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2178,-0.48,-194.6,351.7,-7.1,274,2184,0.00,2.20,0.00,0.000,6,0.000,0.046,1874,2651,3770,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2487,-0.50,-194.6,372.9,-6.3,305,2490,0.00,1.80,0.00,0.000,4,0.000,0.053,1865,3813,3768,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2532,-0.53,-194.6,375.7,-6.6,309,2539,0.10,1.80,0.00,0.000,6,0.101,0.032,1799,2574,3768,0,0,0,0,0,0,26.60,26.64,28.83
$GC,2840,-0.47,-194.6,425.2,-17.3,340,2851,0.12,1.98,0.00,0.000,4,0.149,0.034,1842,1189,3766,0,0,0,0,0,0,26.54,26.63,28.83
$GC,2875,-0.44,-194.6,430.0,-14.6,343,2884,0.00,2.17,0.00,0.000,6,0.000,0.048,1833,2647,3766,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3184,-0.43,-194.6,465.9,-11.1,374,3188,0.00,2.15,0.00,0.000,4,0.000,0.038,1833,1185,3763,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3228,-0.43,-194.6,470.2,-10.1,378,3237,0.08,2.20,0.00,0.000,6,0.102,0.047,1859,2654,3763,0,0,0,0,0,0,26.56,26.62,28.83
$GC,3537,-0.44,-194.6,493.7,-7.7,409,3541,0.00,2.15,0.00,0.000,4,0.000,0.037,1859,1187,3760,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3570,-0.47,-194.6,496.0,-7.4,412,3579,0.00,2.20,0.00,0.000,6,0.000,0.048,1856,2654,3760,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3881,-0.48,-194.6,517.2,-6.9,443,3884,0.00,1.77,0.00,0.000,4,0.000,0.055,1848,3821,3758,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3933,-0.51,-194.6,520.8,-6.8,448,3937,0.00,1.80,0.00,0.000,6,0.000,0.034,1847,2581,3757,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4246,-0.52,-194.6,547.1,-9.1,479,4255,0.00,2.00,0.00,0.000,4,0.000,0.040,1847,1187,3755,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4290,-0.55,-194.6,551.1,-9.2,483,4300,0.00,2.20,0.00,0.000,6,0.000,0.049,1839,2654,3754,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4599,-0.55,-194.6,582.0,-10.0,514,4603,0.00,1.75,0.00,0.000,4,0.000,0.055,1831,3817,3752,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4642,-0.56,-194.6,586.2,-9.9,518,4645,0.00,1.80,0.00,0.000,6,0.000,0.034,1831,2580,3751,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4963,-0.56,-194.6,619.8,-10.4,541,4968,0.00,1.90,0.00,0.000,4,0.000,0.055,1822,3815,3749,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5006,-0.56,-194.6,623.9,-10.3,543,5009,0.00,1.80,0.00,0.000,6,0.000,0.034,1822,2581,3747,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5323,-0.55,-194.6,657.7,-10.5,559,5328,0.00,2.03,0.00,0.000,4,0.000,0.041,1822,1185,3746,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5356,-0.55,-194.6,659.8,-10.5,560,5363,0.00,2.22,0.00,0.000,6,0.000,0.050,1813,2654,3746,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5666,-0.53,-194.6,696.4,-11.7,576,5671,0.00,2.12,0.00,0.000,4,0.000,0.040,1813,1205,3743,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5692,-0.52,-194.6,698.8,-11.7,577,5696,0.00,2.17,0.00,0.000,6,0.000,0.050,1810,2654,3743,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6000,-0.50,-194.6,735.4,-11.9,592,6004,0.00,2.15,0.00,0.000,4,0.000,0.039,1810,1187,3741,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6030,-0.49,-194.6,738.0,-11.8,593,6035,0.15,2.22,0.00,0.000,6,0.123,0.050,1849,2652,3741,0,0,0,0,0,0,26.57,26.63,28.83
$GC,6338,-0.51,-194.6,761.8,-7.1,608,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2652,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6638,-0.54,-194.6,782.6,-6.9,623,6642,0.00,2.17,0.00,0.000,4,0.000,0.040,1849,1184,3737,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6681,-0.57,-194.6,785.6,-7.2,625,6687,0.00,2.22,0.00,0.000,6,0.000,0.050,1842,2653,3736,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7000,-0.59,-194.6,811.5,-8.3,641,7004,0.00,1.77,0.00,0.000,4,0.000,0.059,1833,3818,3734,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7036,-0.61,-194.6,813.3,-8.3,642,7042,0.00,1.83,0.00,0.000,6,0.000,0.036,1833,2574,3734,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7343,-0.62,-194.6,842.2,-8.7,658,7348,0.10,2.03,0.00,0.000,4,0.095,0.038,1769,1185,3732,0,0,0,0,0,0,26.72,26.63,28.83
$GC,7366,-0.62,-194.6,844.8,-9.2,659,7372,0.10,2.22,0.00,0.000,6,0.122,0.050,1795,2654,3732,0,0,0,0,0,0,26.53,26.62,28.83
$GC,7686,-0.60,-194.6,883.3,-11.9,675,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2654,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7987,-0.58,-194.6,919.4,-12.3,690,7993,0.00,2.15,0.00,0.000,4,0.000,0.041,1796,1198,3728,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8034,-0.57,-194.6,924.1,-12.3,692,8039,0.10,2.22,0.00,0.000,6,0.148,0.054,1817,2651,3729,0,0,0,0,0,0,26.55,26.61,28.83
$GC,8341,-0.57,-194.6,956.1,-10.1,707,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2651,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,-0.57,-194.6,986.1,-9.8,722,8648,0.00,2.12,0.00,0.000,4,0.000,0.041,1817,1204,3726,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8681,-0.58,-194.6,989.8,-9.6,724,8686,0.00,2.22,0.00,0.000,6,0.000,0.054,1813,2655,3726,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,8698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8698,begin apogee
$GC,8704,-0.20,0.0,991.5,-9.2,725,8935,0.32,0.10,224.77,0.981,6,0.103,0.102,1931,2524,2979,0,0,0,0,0,0,26.55,24.77,24.18
$STATE,8936,end apogee,CONTROL_FINISHED_OK
$STATE,8936,begin climb
$GC,8938,0.59,194.6,1003.8,0.0,736,9130,0.70,2.42,181.10,1.157,4,0.041,0.045,2220,1070,2174,0,0,0,0,0,0,24.95,24.60,23.85
$GC,9151,0.48,194.6,985.6,18.4,746,9158,0.25,2.38,0.00,0.000,6,0.170,0.050,2155,2523,2159,0,0,0,0,0,0,24.84,24.94,28.83
$GC,9459,0.42,194.6,935.1,15.3,762,9465,0.00,2.05,0.00,0.000,4,0.000,0.058,2155,3809,2152,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9522,0.36,194.6,924.8,16.7,765,9526,0.17,2.08,0.00,0.000,6,0.181,0.039,2121,2470,2150,0,0,0,0,0,0,25.75,25.91,28.83
$GC,9834,0.32,194.6,884.6,11.8,781,9838,0.00,2.12,0.00,0.000,4,0.000,0.060,2121,3806,2148,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9878,0.29,194.6,878.7,12.7,783,9883,0.10,2.03,0.00,0.000,6,0.157,0.038,2099,2475,2148,0,0,0,0,0,0,26.00,26.15,28.83
$GC,10197,0.29,199.4,846.7,9.3,799,10202,0.00,2.10,0.00,0.000,4,0.000,0.057,2098,3812,2146,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10230,0.29,200.1,844.7,9.4,800,10237,0.00,2.05,0.00,0.000,6,0.000,0.038,2109,2462,2147,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10538,0.29,216.7,815.4,8.9,816,10563,0.00,2.20,19.60,0.975,4,0.000,0.057,2109,3805,2087,0,0,0,0,0,0,28.83,25.92,25.18
$GC,10620,0.27,216.7,807.3,10.1,820,10623,0.00,2.03,0.00,0.000,6,0.000,0.037,2119,2469,2076,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10938,0.25,216.7,774.1,10.7,836,10944,0.12,2.10,0.00,0.000,4,0.173,0.047,2091,1072,2073,0,0,0,0,0,0,26.09,26.19,28.83
$GC,10957,0.24,216.7,772.1,10.5,837,10963,0.00,2.25,0.00,0.000,6,0.000,0.051,2091,2517,2072,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11278,0.30,254.8,745.9,8.2,853,11325,0.00,2.10,41.53,0.923,4,0.000,0.059,2091,3805,1932,0,0,0,0,0,0,28.83,25.56,24.84
$GC,11353,0.36,290.0,739.6,8.3,857,11395,0.00,2.08,34.90,0.967,6,0.000,0.037,2101,2474,1787,0,0,0,0,0,0,28.83,25.70,24.48
$GC,11695,0.43,333.4,712.2,8.0,874,11741,0.12,2.22,40.25,0.962,4,0.078,0.046,2191,1067,1610,0,0,0,0,0,0,26.01,25.26,24.58
$GC,11792,0.41,333.4,698.2,15.7,879,11798,0.17,2.30,0.00,0.000,6,0.124,0.051,2133,2516,1595,0,0,0,0,0,0,25.43,25.52,28.83
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$GC,13415,0.41,333.4,501.5,14.2,995,13424,0.00,2.08,0.00,0.000,4,0.000,0.057,2153,3800,1586,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,16804,end climb,SURFACE_DEPTH_REACHED
$STATE,16805,begin surface coast
$FINISH,0.2,1.021874
$STATE,16836,end surface coast,CONTROL_FINISHED_OK
$STATE,16837,begin surface
$SM_CCo,16911,0.00,0.000,0,0,419,627.97
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$IRIDIUM_FIX,2326.22,12247.93,151111,101036
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.50
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.9,9.481
$10V_AH,10.3,8.443
$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
$DEVICE_SECS,16.000,167.725,799.525,0.000,0.000,31.760,43.782,209.831,0.000,0.000,16.578,3843.856,8400.687,810.631,3903.863,348.605,0.000,2370.847,0.000,3509.149,0.000,0.544,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,976.998,2362.880,1571.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,97144,1436
$CAP_FILE_SIZE,187739,0
$CFSIZE,260165632,219586560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.306,343.1,1
$GPS,151111,203754,2336.386,12254.344,39,1.9,39,-3.3