version: 66.10
glider: 169
mission: 5
dive: 126
start: 12 3 111 14 54 48
data:
$ID,169
$MISSION,5
$DIVE,126
$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,-10438.186
$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
$GPS1,031211,144425,2243.035,12232.904,56,1.9,56,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.1
$GPS2,031211,145425,2243.256,12232.852,16,1.8,33,-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,291.3,120244,-14.8,-9.167
$D_GRID,5238
$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,18,-0.58,-170.3,0.0,0.0,0,88,0.00,0.00,-67.12,0.000,2,0.000,0.000,116,2676,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-170.3,3.0,-5.8,12,121,6.82,1.85,-17.88,0.000,4,0.233,0.064,1804,3822,3676,0,0,0,0,0,0,25.60,26.06,26.46
$GC,179,-0.45,-170.3,35.3,-32.6,28,186,0.17,1.83,0.00,0.000,6,0.172,0.027,1858,2576,3676,0,0,0,0,0,0,25.80,26.17,28.83
$GC,490,-0.36,-170.3,134.3,-22.7,89,497,0.12,2.03,0.00,0.000,4,0.179,0.028,1906,1182,3676,0,0,0,0,0,0,26.09,26.29,28.83
$GC,576,-0.42,-170.3,143.5,-4.7,105,583,0.00,2.22,0.00,0.000,6,0.000,0.042,1896,2656,3676,0,0,0,0,0,0,28.83,26.28,28.83
$GC,886,-0.39,-170.3,176.5,-14.8,166,893,0.00,1.75,0.00,0.000,4,0.000,0.047,1887,3815,3675,0,0,0,0,0,0,28.83,26.33,28.83
$GC,911,-0.37,-170.3,180.2,-14.7,170,917,0.00,1.77,0.00,0.000,6,0.000,0.025,1887,2563,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1226,-0.36,-170.3,219.8,-11.1,215,1234,0.00,1.95,0.00,0.000,4,0.000,0.047,1877,3813,3676,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1257,-0.34,-170.3,223.8,-12.2,218,1261,0.00,1.80,0.00,0.000,6,0.000,0.027,1877,2573,3675,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1568,-0.32,-170.3,269.4,-14.5,249,1577,0.00,2.00,0.00,0.000,4,0.000,0.030,1877,1182,3675,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1593,-0.30,-170.3,272.5,-14.5,251,1601,0.15,2.20,0.00,0.000,6,0.125,0.042,1915,2653,3675,0,0,0,0,0,0,26.29,26.43,28.83
$GC,1901,-0.34,-170.3,295.2,-6.8,282,1904,0.00,1.77,0.00,0.000,4,0.000,0.048,1907,3816,3675,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1925,-0.38,-170.3,296.7,-6.8,284,1932,0.00,1.77,0.00,0.000,6,0.000,0.026,1907,2558,3675,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2235,-0.42,-170.3,318.5,-6.1,315,2241,0.10,0.00,0.00,0.000,6,0.094,0.000,1819,2557,3673,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2542,-0.36,-170.3,372.2,-19.3,346,2552,0.20,1.98,0.00,0.000,4,0.136,0.031,1896,1185,3672,0,0,0,0,0,0,26.27,26.50,28.83
$GC,2575,-0.33,-170.3,377.0,-16.1,349,2584,0.00,2.20,0.00,0.000,6,0.000,0.041,1886,2656,3672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2887,-0.36,-170.3,400.9,-7.6,380,2895,0.00,2.12,0.00,0.000,4,0.000,0.030,1886,1178,3671,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2922,-0.40,-170.3,403.7,-7.8,383,2929,0.00,2.20,0.00,0.000,6,0.000,0.041,1878,2655,3671,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3228,-0.42,-170.3,427.4,-7.3,414,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2655,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-0.44,-170.3,448.8,-7.4,444,3541,0.00,2.15,0.00,0.000,4,0.000,0.031,1878,1178,3667,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3558,-0.47,-170.3,450.7,-7.5,446,3564,0.00,2.22,0.00,0.000,6,0.000,0.042,1869,2657,3667,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3864,-0.50,-170.3,476.6,-8.6,477,3873,0.00,2.17,0.00,0.000,4,0.000,0.031,1869,1173,3664,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3896,-0.53,-170.3,479.3,-8.3,480,3905,0.00,2.22,0.00,0.000,6,0.000,0.042,1861,2655,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4206,-0.54,-170.3,502.1,-6.5,511,4210,0.00,1.77,0.00,0.000,4,0.000,0.049,1853,3819,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4240,-0.56,-170.3,504.5,-7.3,514,4247,0.00,1.80,0.00,0.000,6,0.000,0.027,1853,2554,3662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4548,-0.57,-170.3,531.0,-8.5,545,4556,0.00,2.00,0.00,0.000,4,0.000,0.032,1853,1175,3660,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4602,-0.60,-170.3,535.0,-7.8,550,4609,0.00,2.22,0.00,0.000,6,0.000,0.043,1843,2656,3659,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4911,-0.60,-170.3,560.4,-9.1,581,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2656,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5210,-0.60,-170.3,590.5,-9.5,611,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2656,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5520,-0.60,-170.3,618.1,-9.1,632,5526,0.00,2.15,0.00,0.000,4,0.000,0.033,1844,1185,3653,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5580,-0.61,-170.3,623.3,-8.8,635,5586,0.00,2.22,0.00,0.000,6,0.000,0.044,1835,2653,3652,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5901,-0.61,-170.3,655.6,-9.9,651,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2654,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6200,-0.61,-170.3,683.8,-9.2,666,6206,0.00,2.17,0.00,0.000,4,0.000,0.032,1835,1181,3648,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6263,-0.63,-170.3,688.9,-8.7,669,6267,0.00,2.22,0.00,0.000,6,0.000,0.044,1826,2652,3648,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6575,-0.63,-170.3,718.2,-9.5,685,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2653,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-0.63,-170.3,748.7,-10.6,700,6881,0.00,2.15,0.00,0.000,4,0.000,0.032,1826,1181,3643,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6942,-0.63,-170.3,755.1,-10.7,703,6946,0.00,2.22,0.00,0.000,6,0.000,0.045,1817,2652,3642,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7256,-0.62,-170.3,789.6,-9.7,719,7261,0.00,2.15,0.00,0.000,4,0.000,0.032,1816,1186,3640,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7288,-0.61,-170.3,791.5,-9.7,720,7294,0.00,2.22,0.00,0.000,6,0.000,0.046,1813,2651,3640,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7596,-0.60,-170.3,823.5,-9.9,736,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2651,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7896,-0.58,-170.3,855.9,-11.2,751,7901,0.00,2.15,0.00,0.000,4,0.000,0.034,1813,1187,3638,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7937,-0.58,-170.3,860.1,-11.0,753,7941,0.00,2.25,0.00,0.000,6,0.000,0.045,1804,2657,3638,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8251,-0.56,-170.3,894.6,-11.1,769,8256,0.00,2.15,0.00,0.000,4,0.000,0.031,1804,1186,3636,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8290,-0.55,-170.3,898.9,-10.8,771,8296,0.12,2.25,0.00,0.000,6,0.143,0.045,1834,2656,3635,0,0,0,0,0,0,26.17,26.33,28.83
$GC,8611,-0.56,-170.3,924.9,-8.0,787,8617,0.00,2.15,0.00,0.000,4,0.000,0.033,1834,1187,3633,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8654,-0.58,-170.3,928.0,-7.7,789,8658,0.00,2.25,0.00,0.000,6,0.000,0.045,1825,2658,3633,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8967,-0.58,-170.3,952.1,-7.3,805,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2658,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9267,-0.58,-170.3,974.3,-8.1,820,9272,0.00,2.17,0.00,0.000,4,0.000,0.034,1826,1182,3631,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9314,-0.59,-170.3,977.6,-8.3,822,9318,0.00,2.22,0.00,0.000,6,0.000,0.047,1825,2651,3631,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,9463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9463,begin apogee
$GC,9469,-0.20,0.0,991.8,-9.1,830,9620,0.32,0.10,144.12,1.178,6,0.100,0.061,1942,2528,2978,0,0,0,0,0,0,26.15,24.83,24.13
$STATE,9621,end apogee,CONTROL_FINISHED_OK
$STATE,9621,begin climb
$GC,9623,0.58,170.3,998.3,0.0,837,9791,0.68,0.00,161.40,1.180,6,0.047,0.000,2202,2528,2283,0,0,0,0,0,0,25.02,28.83,23.78
$GC,10087,0.48,170.3,933.3,20.0,861,10089,0.15,0.00,0.00,0.000,6,0.191,0.000,2167,2528,2251,0,0,0,0,0,0,25.51,28.83,28.83
$GC,10386,0.42,170.3,885.2,15.1,876,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2528,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10687,0.35,170.3,841.3,14.3,891,10692,0.12,2.00,0.00,0.000,4,0.182,0.049,2129,3807,2248,0,0,0,0,0,0,25.91,26.06,28.83
$GC,10769,0.30,170.3,829.7,14.5,895,10773,0.12,2.03,0.00,0.000,6,0.181,0.033,2110,2464,2246,0,0,0,0,0,0,25.86,26.16,28.83
$GC,11083,0.29,170.3,793.7,11.8,911,11088,0.00,2.10,0.00,0.000,4,0.000,0.050,2108,3809,2245,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11155,0.27,170.3,785.6,13.2,914,11161,0.00,2.03,0.00,0.000,6,0.000,0.031,2119,2459,2244,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11462,0.25,170.3,750.5,10.6,930,11468,0.00,2.10,0.00,0.000,4,0.000,0.049,2119,3809,2244,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11555,0.21,170.3,740.7,12.3,934,11562,0.17,2.03,0.00,0.000,6,0.158,0.031,2082,2458,2243,0,0,0,0,0,0,25.91,26.28,28.83
$GC,11863,0.32,249.2,717.2,6.3,950,11934,0.00,2.20,61.28,1.177,4,0.000,0.037,2092,1056,1967,0,0,0,0,1,0,28.83,25.20,24.30
$GC,11959,0.44,327.6,711.2,6.3,954,12051,0.12,2.30,85.72,0.970,6,0.039,0.042,2183,2516,1642,0,0,0,0,0,0,25.44,25.39,24.22
$GC,12352,0.40,327.6,645.5,18.4,973,12359,0.12,2.03,0.00,0.000,4,0.160,0.048,2145,3810,1614,0,0,0,0,0,0,25.68,25.78,28.83
$GC,12405,0.38,327.6,638.8,17.5,975,12412,0.00,2.05,0.00,0.000,6,0.000,0.031,2155,2463,1612,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12713,0.38,327.6,597.3,12.3,992,12721,0.00,2.10,0.00,0.000,4,0.000,0.039,2165,1059,1610,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12768,0.40,327.6,591.6,10.9,997,12775,0.00,2.25,0.00,0.000,6,0.000,0.044,2166,2520,1609,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,17445,end climb,SURFACE_DEPTH_REACHED
$STATE,17445,begin surface coast
$FINISH,0.2,1.022699
$STATE,17457,end surface coast,CONTROL_FINISHED_OK
$STATE,17457,begin surface
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$IRIDIUM_FIX,2234.68,12235.97,031211,141422
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.8,27.799
$10V_AH,10.2,20.414
$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
$DEVICE_SECS,16.175,155.150,668.150,0.000,0.000,55.227,88.461,238.099,0.000,0.000,34.298,3711.190,10037.996,769.480,3221.459,361.771,0.000,2290.835,0.000,2665.738,0.000,0.545,0.000
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$SENSOR_SECS,1075.609,2064.585,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,103657,1587
$CAP_FILE_SIZE,192590,0
$CFSIZE,260165632,211222528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031211,194807,2245.593,12229.943,40,1.5,40,-3.0