version: 66.10
glider: 169
mission: 5
dive: 125
start: 12 3 111 9 38 15
data:
$ID,169
$MISSION,5
$DIVE,125
$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,-10436.924
$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
$GPS1,031211,092650,2240.559,12236.680,58,2.4,77,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.6
$GPS2,031211,093752,2240.721,12236.488,13,4.2,32,-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,292.4,127626,-14.8,-9.167
$D_GRID,5142
$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,-170.3,0.0,0.0,0,92,0.00,0.00,-72.97,0.000,2,0.000,0.000,116,2672,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.58,-170.3,3.1,-5.5,13,126,6.72,1.75,-16.00,0.000,4,0.230,0.058,1801,3818,3674,0,0,0,0,0,0,25.58,26.07,26.46
$GC,184,-0.44,-170.3,39.0,-40.0,29,192,0.15,1.85,0.00,0.000,6,0.157,0.027,1865,2575,3674,0,0,0,0,0,0,25.79,26.17,28.83
$GC,495,-0.37,-170.3,126.9,-18.8,90,502,0.00,1.95,0.00,0.000,4,0.000,0.049,1856,3820,3674,0,0,0,0,0,0,28.83,26.23,28.83
$GC,706,-0.34,-170.3,160.5,-16.3,131,713,0.12,1.80,0.00,0.000,6,0.140,0.028,1901,2578,3674,0,0,0,0,0,0,26.18,26.39,28.83
$GC,1017,-0.33,-170.3,206.5,-12.4,187,1025,0.00,2.03,0.00,0.000,4,0.000,0.030,1902,1182,3674,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1092,-0.36,-170.3,213.0,-7.2,194,1098,0.00,2.20,0.00,0.000,6,0.000,0.041,1892,2655,3674,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1400,-0.35,-170.3,246.2,-13.2,225,1403,0.00,1.77,0.00,0.000,4,0.000,0.046,1883,3818,3674,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1431,-0.35,-170.3,250.6,-13.5,228,1434,0.00,1.80,0.00,0.000,6,0.000,0.024,1883,2559,3674,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1742,-0.34,-170.3,288.1,-11.2,259,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2554,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2045,-0.34,-170.3,320.0,-10.0,289,2054,0.00,2.00,0.00,0.000,4,0.000,0.030,1883,1158,3673,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2071,-0.34,-170.3,322.5,-10.2,291,2077,0.00,2.25,0.00,0.000,6,0.000,0.041,1873,2659,3672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2377,-0.34,-170.3,354.1,-9.1,322,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2659,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-0.35,-170.3,383.9,-10.9,352,2683,0.00,1.77,0.00,0.000,4,0.000,0.049,1865,3805,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2731,-0.37,-170.3,389.5,-10.1,357,2735,0.00,1.77,0.00,0.000,6,0.000,0.026,1865,2560,3670,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3043,-0.37,-170.3,421.5,-10.2,388,3052,0.00,2.00,0.00,0.000,4,0.000,0.032,1865,1171,3668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3095,-0.40,-170.3,426.4,-9.4,393,3104,0.00,2.20,0.00,0.000,6,0.000,0.042,1856,2652,3668,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3405,-0.40,-170.3,458.1,-9.1,424,3414,0.00,2.15,0.00,0.000,4,0.000,0.032,1856,1183,3667,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3447,-0.42,-170.3,461.4,-8.1,428,3456,0.00,2.20,0.00,0.000,6,0.000,0.042,1848,2655,3666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3756,-0.42,-170.3,493.7,-11.5,459,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2655,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4058,-0.42,-170.3,523.4,-8.0,489,4067,0.00,2.15,0.00,0.000,4,0.000,0.031,1848,1177,3662,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4103,-0.43,-170.3,526.4,-7.3,493,4110,0.12,2.22,0.00,0.000,6,0.131,0.042,1879,2656,3662,0,0,0,0,0,0,26.34,26.46,28.83
$GC,4411,-0.46,-170.3,547.3,-8.4,524,4419,0.00,2.12,0.00,0.000,4,0.000,0.031,1879,1186,3660,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4455,-0.51,-170.3,551.1,-9.0,528,4462,0.00,2.20,0.00,0.000,6,0.000,0.041,1871,2655,3660,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4762,-0.63,-170.3,580.5,-9.7,559,4771,0.15,1.75,0.00,0.000,4,0.093,0.046,1797,3822,3657,0,0,0,0,0,0,26.57,26.41,28.83
$GC,4807,-0.72,-170.3,584.3,-9.2,563,4814,0.00,1.80,0.00,0.000,6,0.000,0.028,1797,2555,3656,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5128,-0.68,-170.3,622.1,-13.2,587,5133,0.00,2.00,0.00,0.000,4,0.000,0.032,1797,1170,3655,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5159,-0.65,-170.3,624.8,-13.0,588,5166,0.00,2.25,0.00,0.000,6,0.000,0.043,1786,2659,3654,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5466,-0.60,-170.3,668.7,-15.1,604,5472,0.00,2.17,0.00,0.000,4,0.000,0.033,1787,1183,3652,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5591,-0.59,-170.3,685.0,-12.9,610,5598,0.15,2.22,0.00,0.000,6,0.134,0.044,1822,2653,3651,0,0,0,0,0,0,26.25,26.42,28.83
$GC,5906,-0.58,-170.3,719.8,-9.8,626,5911,0.00,2.17,0.00,0.000,4,0.000,0.032,1822,1181,3649,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5969,-0.58,-170.3,725.3,-9.3,629,5973,0.00,2.22,0.00,0.000,6,0.000,0.044,1813,2653,3649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6281,-0.56,-170.3,759.2,-11.3,645,6284,0.00,1.77,0.00,0.000,4,0.000,0.052,1804,3812,3646,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6310,-0.55,-170.3,761.8,-11.6,646,6313,0.00,1.80,0.00,0.000,6,0.000,0.028,1804,2569,3645,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6623,-0.53,-170.3,799.4,-11.5,662,6629,0.12,2.00,0.00,0.000,4,0.138,0.033,1848,1189,3643,0,0,0,0,0,0,26.40,26.43,28.83
$GC,6647,-0.52,-170.3,801.3,-11.2,663,6652,0.00,2.22,0.00,0.000,6,0.000,0.044,1839,2653,3643,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6963,-0.54,-170.3,825.0,-7.1,679,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2653,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7264,-0.55,-170.3,844.2,-5.9,694,7269,0.00,2.15,0.00,0.000,4,0.000,0.033,1839,1187,3639,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7302,-0.57,-170.3,846.5,-5.7,696,7308,0.00,2.25,0.00,0.000,6,0.000,0.044,1830,2656,3638,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7623,-0.58,-170.3,866.9,-7.1,712,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2656,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7923,-0.59,-170.3,893.0,-9.1,727,7928,0.00,2.17,0.00,0.000,4,0.000,0.033,1830,1175,3635,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7956,-0.60,-170.3,894.7,-9.1,728,7963,0.00,2.25,0.00,0.000,6,0.000,0.046,1825,2651,3635,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8264,-0.60,-170.3,918.9,-7.3,744,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2651,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8562,-0.60,-170.3,941.9,-7.9,759,8568,0.00,2.17,0.00,0.000,4,0.000,0.034,1825,1184,3632,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8616,-0.61,-170.3,945.0,-8.0,761,8623,0.00,2.25,0.00,0.000,6,0.000,0.046,1817,2656,3631,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8922,-0.61,-170.3,974.2,-9.6,777,8927,0.00,2.17,0.00,0.000,4,0.000,0.032,1817,1185,3630,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8965,-0.62,-170.3,977.9,-9.3,779,8969,0.00,2.25,0.00,0.000,6,0.000,0.046,1812,2655,3630,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,9095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9095,begin apogee
$GC,9100,-0.20,0.0,990.2,-9.3,786,9251,0.38,0.10,144.20,1.180,6,0.103,0.061,1945,2527,2977,0,0,0,0,0,0,26.11,24.83,24.06
$STATE,9252,end apogee,CONTROL_FINISHED_OK
$STATE,9252,begin climb
$GC,9255,0.58,170.3,995.8,0.0,793,9425,0.68,2.45,159.98,1.182,4,0.047,0.041,2217,1062,2271,0,0,0,0,0,0,25.02,24.58,23.80
$GC,9478,0.49,170.3,975.9,17.1,805,9485,0.17,2.35,0.00,0.000,6,0.167,0.044,2173,2520,2256,0,0,0,0,0,0,24.96,25.13,28.83
$GC,9799,0.42,170.3,922.1,16.9,821,9804,0.00,2.22,0.00,0.000,4,0.000,0.038,2184,1055,2251,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9827,0.35,170.3,918.9,16.9,822,9832,0.20,2.28,0.00,0.000,6,0.158,0.043,2130,2520,2250,0,0,0,0,0,0,25.60,25.86,28.83
$GC,10134,0.32,170.3,878.0,12.1,837,10139,0.00,1.98,0.00,0.000,4,0.000,0.050,2130,3811,2248,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10173,0.28,170.3,872.7,12.5,839,10180,0.15,2.05,0.00,0.000,6,0.170,0.033,2102,2459,2247,0,0,0,0,0,0,25.79,26.10,28.83
$GC,10496,0.27,172.2,842.8,9.1,855,10501,0.00,2.10,0.00,0.000,4,0.000,0.050,2101,3807,2246,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10596,0.25,172.2,831.9,11.1,860,10600,0.00,2.03,0.00,0.000,6,0.000,0.032,2112,2464,2245,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10914,0.23,172.2,800.1,10.3,876,10918,0.00,2.10,0.00,0.000,4,0.000,0.050,2112,3811,2245,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10969,0.21,172.2,795.3,10.7,878,10976,0.15,2.03,0.00,0.000,6,0.162,0.032,2082,2461,2244,0,0,0,0,0,0,25.94,26.26,28.83
$GC,11276,0.29,224.6,769.8,7.3,894,11328,0.00,2.22,39.67,1.117,4,0.000,0.050,2082,3810,2070,0,0,0,0,1,0,28.83,25.53,24.64
$GC,11381,0.36,274.9,762.6,7.3,899,11448,0.00,2.08,59.85,0.999,6,0.000,0.031,2093,2462,1851,0,0,0,0,0,0,28.83,25.72,24.36
$GC,11757,0.44,315.6,736.4,7.7,918,11798,0.15,0.00,38.05,1.000,6,0.068,0.000,2182,2462,1691,0,0,0,0,0,0,26.01,28.83,24.57
$GC,12099,0.41,315.6,677.4,17.8,935,12105,0.12,2.15,0.00,0.000,4,0.162,0.048,2145,3813,1666,0,0,0,0,0,0,25.77,25.88,28.83
$GC,12121,0.37,315.6,673.5,17.8,936,12125,0.00,2.05,0.00,0.000,6,0.000,0.031,2155,2465,1665,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12438,0.36,315.6,637.5,9.9,952,12444,0.00,2.12,0.00,0.000,4,0.000,0.040,2166,1057,1663,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12478,0.36,315.6,633.6,9.4,954,12485,0.15,2.28,0.00,0.000,6,0.130,0.044,2122,2521,1662,0,0,0,0,0,0,25.95,26.09,28.83
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$GC,14917,0.54,325.6,377.7,14.6,1178,14924,0.00,2.22,0.00,0.000,6,0.000,0.043,2184,2533,1656,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,18183,end climb,SURFACE_DEPTH_REACHED
$STATE,18183,begin surface coast
$FINISH,0.2,1.010664
$STATE,18210,end surface coast,CONTROL_FINISHED_OK
$STATE,18210,begin surface
$SM_CCo,18286,0.00,0.000,0,0,1156,446.94
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$IRIDIUM_FIX,2234.68,12235.97,031211,090953
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.03
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.8,27.605
$10V_AH,10.2,20.296
$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
$DEVICE_SECS,15.525,163.475,546.400,0.000,0.000,59.409,40.540,331.107,0.000,0.000,34.736,3990.259,10389.818,678.066,3474.680,384.537,0.000,2274.997,0.000,2853.669,0.000,0.544,0.000
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$SENSOR_SECS,1139.362,2144.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324516
$DATA_FILE_SIZE,110423,1677
$CAP_FILE_SIZE,203015,0
$CFSIZE,260165632,211304448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031211,144425,2243.035,12232.904,56,1.9,56,-3.0