version: 66.10
glider: 169
mission: 5
dive: 123
start: 12 2 111 23 8 25
data:
$ID,169
$MISSION,5
$DIVE,123
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,1
$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,-10434.404
$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
$GPS1,021211,230101,2236.519,12244.347,69,0.9,69,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.7
$GPS2,021211,230801,2236.554,12244.235,10,1.3,15,-3.0
$SPEED_LIMITS,0.159,0.270
$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,293.6,142669,-14.8,-9.167
$D_GRID,5037
$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,-0.58,-170.3,0.0,0.0,0,98,0.00,0.00,-78.45,0.000,2,0.000,0.000,116,2676,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-170.3,3.5,-8.2,14,127,6.72,1.85,-13.55,0.000,4,0.229,0.064,1807,3815,3676,0,0,0,0,0,0,25.58,26.03,26.42
$GC,222,-0.48,-170.3,52.3,-29.6,36,230,0.15,1.83,0.00,0.000,6,0.154,0.028,1856,2585,3676,0,0,0,0,0,0,25.90,26.15,28.83
$GC,535,-0.37,-170.3,148.3,-28.2,97,542,0.12,2.05,0.00,0.000,4,0.179,0.028,1903,1176,3677,0,0,0,0,0,0,26.08,26.29,28.83
$GC,620,-0.41,-170.3,161.1,-10.4,113,627,0.00,2.25,0.00,0.000,6,0.000,0.042,1892,2660,3677,0,0,0,0,0,0,28.83,26.29,28.83
$GC,936,-0.38,-170.3,213.5,-13.5,166,940,0.00,2.17,0.00,0.000,4,0.000,0.031,1892,1176,3677,0,0,0,0,0,0,28.83,26.39,28.83
$GC,990,-0.38,-170.3,219.3,-10.5,171,997,0.00,2.22,0.00,0.000,6,0.000,0.041,1882,2654,3677,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1299,-0.35,-170.3,266.7,-13.6,202,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2654,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.34,-170.3,303.7,-13.1,233,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2654,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1919,-0.34,-170.3,336.2,-11.1,264,1928,0.00,2.15,0.00,0.000,4,0.000,0.031,1882,1180,3676,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1970,-0.36,-170.3,341.6,-9.9,269,1979,0.00,2.22,0.00,0.000,6,0.000,0.043,1873,2657,3676,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2281,-0.36,-170.3,375.2,-10.0,300,2285,0.00,1.75,0.00,0.000,4,0.000,0.048,1864,3824,3676,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2313,-0.37,-170.3,378.5,-10.1,303,2317,0.00,1.80,0.00,0.000,6,0.000,0.026,1864,2561,3674,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2624,-0.37,-170.3,414.4,-11.1,334,2633,0.00,2.00,0.00,0.000,4,0.000,0.031,1864,1170,3674,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2656,-0.37,-170.3,417.7,-10.7,337,2666,0.12,2.22,0.00,0.000,6,0.131,0.041,1895,2656,3674,0,0,0,0,0,0,26.34,26.46,28.83
$GC,2966,-0.41,-170.3,436.5,-6.4,368,2970,0.00,1.77,0.00,0.000,4,0.000,0.049,1886,3822,3672,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2999,-0.46,-170.3,438.5,-6.3,371,3002,0.00,1.80,0.00,0.000,6,0.000,0.027,1886,2563,3672,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3310,-0.58,-170.3,467.9,-10.4,402,3320,0.15,2.00,0.00,0.000,4,0.099,0.030,1824,1170,3670,0,0,0,0,0,0,26.54,26.51,28.83
$GC,3386,-0.66,-170.3,475.3,-9.2,409,3393,0.00,2.20,0.00,0.000,6,0.000,0.039,1820,2656,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3695,-0.63,-170.3,513.5,-13.8,440,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2656,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4005,-0.61,-170.3,555.1,-12.3,471,4014,0.00,2.15,0.00,0.000,4,0.000,0.031,1820,1182,3667,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4080,-0.63,-170.3,563.4,-10.9,478,4086,0.00,2.22,0.00,0.000,6,0.000,0.043,1812,2658,3666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4399,-0.60,-170.3,605.4,-12.5,508,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2658,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.58,-170.3,641.3,-12.1,523,4704,0.00,2.15,0.00,0.000,4,0.000,0.034,1812,1187,3662,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4800,-0.58,-170.3,652.5,-11.0,528,4804,0.00,2.22,0.00,0.000,6,0.000,0.044,1804,2655,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5112,-0.55,-170.3,690.7,-11.5,544,5117,0.00,2.15,0.00,0.000,4,0.000,0.033,1804,1181,3658,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5182,-0.54,-170.3,696.9,-10.5,547,5191,0.12,2.25,0.00,0.000,6,0.138,0.045,1837,2658,3657,0,0,0,0,0,0,26.29,26.43,28.83
$GC,5493,-0.54,-170.3,720.7,-7.4,563,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2658,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5792,-0.55,-170.3,750.9,-11.4,578,5797,0.00,2.17,0.00,0.000,4,0.000,0.033,1838,1184,3652,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5825,-0.57,-170.3,752.9,-11.3,579,5832,0.00,2.22,0.00,0.000,6,0.000,0.044,1828,2653,3652,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6133,-0.57,-170.3,786.2,-9.9,595,6136,0.00,1.75,0.00,0.000,4,0.000,0.052,1820,3811,3650,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6174,-0.57,-170.3,790.5,-10.1,597,6177,0.00,1.80,0.00,0.000,6,0.000,0.028,1820,2571,3649,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6497,-0.57,-170.3,820.2,-8.7,613,6502,0.00,2.00,0.00,0.000,4,0.000,0.034,1820,1191,3647,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6570,-0.58,-170.3,825.3,-8.5,616,6577,0.00,2.22,0.00,0.000,6,0.000,0.046,1813,2654,3646,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6876,-0.57,-170.3,853.2,-8.8,632,6882,0.00,2.15,0.00,0.000,4,0.000,0.033,1813,1185,3644,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6930,-0.57,-170.3,856.9,-9.0,634,6936,0.00,2.22,0.00,0.000,6,0.000,0.045,1805,2654,3644,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7236,-0.55,-170.3,892.7,-11.9,650,7242,0.00,2.15,0.00,0.000,4,0.000,0.032,1805,1185,3641,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7283,-0.55,-170.3,897.3,-11.8,652,7287,0.12,2.25,0.00,0.000,6,0.136,0.045,1838,2657,3642,0,0,0,0,0,0,26.24,26.36,28.83
$GC,7597,-0.57,-170.3,922.2,-7.2,668,7600,0.00,1.77,0.00,0.000,4,0.000,0.050,1830,3812,3639,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7622,-0.59,-170.3,923.9,-7.3,669,7625,0.00,1.80,0.00,0.000,6,0.000,0.029,1829,2566,3639,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7940,-0.60,-170.3,948.3,-7.8,685,7945,0.00,2.00,0.00,0.000,4,0.000,0.034,1830,1185,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7979,-0.62,-170.3,951.4,-7.7,687,7984,0.00,2.22,0.00,0.000,6,0.000,0.045,1825,2652,3638,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8301,-0.63,-170.3,976.2,-7.7,703,8304,0.00,1.80,0.00,0.000,4,0.000,0.052,1817,3818,3637,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8325,-0.64,-170.3,978.0,-7.7,704,8329,0.00,1.83,0.00,0.000,6,0.000,0.028,1817,2570,3637,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,8500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8500,begin apogee
$GC,8507,-0.20,0.0,991.2,-7.1,713,8657,0.35,0.10,143.95,1.181,6,0.101,0.100,1941,2529,2977,0,0,0,0,0,0,26.16,24.82,24.08
$STATE,8658,end apogee,CONTROL_FINISHED_OK
$STATE,8658,begin climb
$GC,8660,0.58,170.3,995.3,0.0,720,8829,0.70,2.15,159.30,1.179,4,0.047,0.048,2209,3812,2276,0,0,0,0,0,0,25.01,24.58,23.82
$GC,8981,0.46,170.3,952.0,21.2,736,8986,0.22,2.10,0.00,0.000,6,0.190,0.034,2163,2465,2255,0,0,0,0,0,0,25.22,25.53,28.83
$GC,9296,0.40,170.3,906.0,14.0,752,9301,0.00,2.12,0.00,0.000,4,0.000,0.050,2163,3810,2250,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9335,0.33,170.3,899.8,14.6,754,9341,0.15,2.05,0.00,0.000,6,0.163,0.032,2126,2463,2250,0,0,0,0,0,0,25.67,26.01,28.83
$GC,9656,0.30,170.3,865.1,11.7,770,9662,0.00,2.10,0.00,0.000,4,0.000,0.049,2126,3803,2248,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9677,0.26,170.3,862.8,11.6,771,9681,0.10,2.05,0.00,0.000,6,0.148,0.031,2103,2472,2248,0,0,0,0,0,0,25.86,26.15,28.83
$GC,9995,0.25,170.3,831.0,9.7,787,10000,0.00,2.10,0.00,0.000,4,0.000,0.041,2113,1067,2247,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10036,0.25,170.3,827.1,9.7,789,10040,0.00,2.25,0.00,0.000,6,0.000,0.044,2113,2541,2245,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10354,0.23,170.3,792.0,10.5,805,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2542,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10655,0.21,170.3,761.7,9.9,820,10657,0.12,0.00,0.00,0.000,6,0.159,0.000,2080,2542,2245,0,0,0,0,0,0,26.17,28.83,28.83
$GC,10955,0.31,235.3,741.7,6.8,835,11022,0.00,2.03,62.33,0.985,4,0.000,0.050,2080,3809,2010,0,0,0,0,0,0,28.83,25.34,24.63
$GC,11039,0.38,282.2,736.0,7.5,839,11091,0.12,2.10,45.35,0.974,6,0.075,0.031,2161,2458,1824,0,0,0,0,0,0,25.50,25.49,24.37
$GC,11390,0.36,282.2,684.7,13.6,857,11397,0.12,2.17,0.00,0.000,4,0.173,0.047,2124,3820,1799,0,0,0,0,0,0,25.69,25.83,28.83
$GC,11424,0.34,282.2,682.0,13.3,858,11430,0.00,2.08,0.00,0.000,6,0.000,0.031,2134,2460,1797,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11730,0.34,282.2,648.1,11.7,874,11736,0.00,2.12,0.00,0.000,4,0.000,0.039,2145,1061,1795,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11774,0.35,282.2,643.6,11.4,876,11780,0.00,2.25,0.00,0.000,6,0.000,0.043,2145,2521,1794,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12090,0.35,282.2,605.3,11.2,892,12094,0.00,2.20,0.00,0.000,4,0.000,0.039,2156,1054,1793,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12144,0.35,282.2,600.9,11.0,894,12152,0.12,2.25,0.00,0.000,6,0.142,0.045,2121,2520,1793,0,0,0,0,0,0,26.01,26.15,28.83
$GC,12452,0.40,311.7,573.8,8.1,925,12482,0.00,0.00,27.27,0.873,6,0.000,0.000,2121,2521,1705,0,0,0,0,0,0,28.83,28.83,25.17
$GC,12783,0.49,354.3,546.9,7.6,958,12831,0.12,0.00,39.90,0.885,6,0.077,0.000,2193,2521,1521,0,0,0,0,0,0,26.20,28.83,24.82
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$GC,14187,0.46,354.3,351.3,11.4,1098,14196,0.00,2.10,0.00,0.000,4,0.000,0.038,2168,1052,1503,0,0,0,0,0,0,28.83,26.27,28.83
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$GC,16767,0.66,438.9,29.2,21.3,1465,16775,0.20,2.15,2.85,0.148,4,0.152,0.037,2234,1064,1194,0,0,0,0,0,0,25.91,26.15,25.77
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$STATE,17067,end climb,SURFACE_DEPTH_REACHED
$STATE,17068,begin surface coast
$FINISH,0.3,1.022945
$STATE,17255,end surface coast,CONTROL_FINISHED_OK
$STATE,17255,begin surface
$SM_CCo,17329,0.00,0.000,0,0,1207,434.67
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$IRIDIUM_FIX,2225.34,12250.28,021211,171733
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.52
$INTERNAL_PRESSURE,9.56447
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.8,27.243
$10V_AH,10.2,20.048
$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
$DEVICE_SECS,15.575,159.250,576.825,0.000,0.000,27.276,17.023,235.611,0.000,0.000,16.559,3695.631,9869.322,692.272,3112.145,354.231,0.000,2194.296,0.000,2666.715,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.421,2005.317,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,103570,1560
$CAP_FILE_SIZE,188854,0
$CFSIZE,260165632,211521536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031211,035825,2238.253,12240.562,43,1.3,43,-3.0