version: 66.10
glider: 169
mission: 5
dive: 130
start: 12 4 111 11 23 44
data:
$ID,169
$MISSION,5
$DIVE,130
$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,-10443.411
$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
$GPS1,041211,111627,2252.909,12220.865,39,2.2,58,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.6
$GPS2,041211,112319,2253.008,12220.860,12,2.0,12,-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,284.8,95786,-14.8,-9.167
$D_GRID,5289
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-170.3,0.0,0.0,0,103,0.00,0.00,-83.97,0.000,2,0.000,0.000,117,2667,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-170.3,3.3,-6.0,15,132,6.82,1.85,-13.57,0.000,4,0.233,0.057,1805,3823,3676,0,0,0,0,0,0,25.51,26.06,26.43
$GC,165,-0.38,-170.3,31.1,-50.3,25,172,0.25,1.83,0.00,0.000,6,0.177,0.026,1879,2580,3676,0,0,0,0,0,0,25.68,26.13,28.83
$GC,476,-0.31,-170.3,127.8,-22.9,86,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2578,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-0.28,-170.3,181.4,-13.0,147,793,0.12,2.05,0.00,0.000,4,0.157,0.028,1926,1177,3676,0,0,0,0,0,0,26.22,26.35,28.83
$GC,851,-0.36,-170.3,186.5,-3.9,159,858,0.00,2.22,0.00,0.000,6,0.000,0.041,1921,2654,3676,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1167,-0.39,-170.3,206.9,-8.0,212,1169,0.12,0.00,0.00,0.000,6,0.074,0.000,1828,2655,3676,0,0,0,0,0,0,26.57,28.83,28.83
$GC,1469,-0.32,-170.3,267.3,-20.1,242,1478,0.20,2.12,0.00,0.000,4,0.144,0.030,1905,1187,3676,0,0,0,0,0,0,26.17,26.44,28.83
$GC,1531,-0.37,-170.3,274.7,-7.8,248,1540,0.00,2.17,0.00,0.000,6,0.000,0.041,1902,2653,3676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1841,-0.40,-170.3,296.9,-6.5,279,1845,0.00,1.83,0.00,0.000,4,0.000,0.048,1893,3818,3675,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1866,-0.43,-170.3,298.3,-6.7,281,1873,0.00,1.80,0.00,0.000,6,0.000,0.025,1893,2553,3675,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2175,-0.46,-170.3,319.0,-6.9,312,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,2553,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.49,-170.3,343.6,-7.3,343,2494,0.12,1.98,0.00,0.000,4,0.076,0.028,1794,1179,3673,0,0,0,0,0,0,26.65,26.48,28.83
$GC,2529,-0.48,-170.3,349.1,-12.5,347,2537,0.22,2.22,0.00,0.000,6,0.125,0.042,1853,2656,3673,0,0,0,0,0,0,26.21,26.43,28.83
$GC,2838,-0.47,-170.3,390.9,-11.5,378,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2656,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3139,-0.47,-170.3,424.9,-11.4,408,3147,0.00,2.15,0.00,0.000,4,0.000,0.031,1853,1182,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3180,-0.48,-170.3,429.3,-10.1,412,3189,0.00,2.22,0.00,0.000,6,0.000,0.042,1844,2655,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3491,-0.47,-170.3,458.0,-8.6,443,3494,0.00,1.77,0.00,0.000,4,0.000,0.048,1835,3822,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3522,-0.46,-170.3,460.7,-8.6,446,3526,0.00,1.83,0.00,0.000,6,0.000,0.026,1835,2561,3667,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3835,-0.45,-170.3,493.1,-12.9,477,3844,0.00,2.00,0.00,0.000,4,0.000,0.032,1835,1174,3665,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3876,-0.45,-170.3,498.5,-12.6,481,3886,0.12,2.22,0.00,0.000,6,0.130,0.043,1864,2653,3665,0,0,0,0,0,0,26.30,26.42,28.83
$GC,4188,-0.47,-170.3,523.8,-7.0,512,4197,0.00,2.15,0.00,0.000,4,0.000,0.032,1864,1182,3662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4220,-0.50,-170.3,526.1,-6.9,515,4229,0.00,2.22,0.00,0.000,6,0.000,0.042,1856,2654,3662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4530,-0.51,-170.3,550.4,-8.5,546,4534,0.00,2.17,0.00,0.000,4,0.000,0.032,1857,1174,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4567,-0.54,-170.3,553.0,-8.5,549,4573,0.00,2.22,0.00,0.000,6,0.000,0.043,1847,2653,3660,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4872,-0.55,-170.3,579.2,-8.7,580,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2653,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5183,-0.56,-170.3,607.7,-8.9,607,5189,0.00,2.15,0.00,0.000,4,0.000,0.034,1847,1191,3655,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5252,-0.58,-170.3,612.5,-8.2,610,5261,0.00,2.20,0.00,0.000,6,0.000,0.044,1838,2646,3654,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5562,-0.58,-170.3,640.1,-8.7,626,5565,0.00,1.80,0.00,0.000,4,0.000,0.051,1830,3820,3652,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5604,-0.59,-170.3,643.7,-8.9,628,5608,0.00,1.83,0.00,0.000,6,0.000,0.028,1830,2573,3652,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5925,-0.59,-170.3,674.8,-9.8,644,5930,0.00,2.03,0.00,0.000,4,0.000,0.033,1829,1184,3649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5994,-0.60,-170.3,680.4,-9.5,647,5998,0.00,2.22,0.00,0.000,6,0.000,0.044,1820,2652,3649,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6300,-0.59,-170.3,713.7,-10.7,662,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2653,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6600,-0.58,-170.3,744.8,-10.1,677,6606,0.00,2.17,0.00,0.000,4,0.000,0.034,1820,1185,3644,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6649,-0.58,-170.3,748.5,-9.6,679,6653,0.00,2.25,0.00,0.000,6,0.000,0.046,1811,2658,3644,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6955,-0.56,-170.3,781.1,-10.8,694,6961,0.00,2.20,0.00,0.000,4,0.000,0.034,1811,1177,3641,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6998,-0.56,-170.3,785.3,-10.8,696,7002,0.00,2.25,0.00,0.000,6,0.000,0.044,1800,2655,3642,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7311,-0.53,-170.3,824.3,-12.6,712,7317,0.12,2.15,0.00,0.000,4,0.150,0.033,1844,1184,3639,0,0,0,0,0,0,26.34,26.36,28.83
$GC,7378,-0.55,-170.3,829.4,-9.6,715,7382,0.00,2.25,0.00,0.000,6,0.000,0.046,1836,2656,3639,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7686,-0.56,-170.3,853.0,-6.9,730,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2656,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7986,-0.57,-170.3,872.2,-6.4,745,7992,0.00,2.20,0.00,0.000,4,0.000,0.035,1836,1168,3637,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8030,-0.59,-170.3,874.9,-6.6,747,8036,0.00,2.28,0.00,0.000,6,0.000,0.046,1825,2656,3637,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8345,-0.59,-170.3,899.5,-8.2,763,8349,0.00,2.17,0.00,0.000,4,0.000,0.034,1826,1187,3635,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8375,-0.59,-170.3,901.2,-8.3,764,8379,0.00,2.25,0.00,0.000,6,0.000,0.046,1822,2656,3635,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8684,-0.59,-170.3,929.1,-9.6,779,8689,0.00,2.17,0.00,0.000,4,0.000,0.034,1823,1187,3634,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8722,-0.59,-170.3,933.1,-9.9,781,8727,0.00,2.25,0.00,0.000,6,0.000,0.045,1814,2652,3634,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9043,-0.59,-170.3,966.1,-10.0,797,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2652,3632,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9321,begin apogee
$GC,9327,-0.20,0.0,991.7,-8.9,811,9477,0.38,0.12,143.65,1.175,6,0.102,0.086,1946,2529,2978,0,0,0,0,0,0,26.07,24.83,24.06
$STATE,9478,end apogee,CONTROL_FINISHED_OK
$STATE,9478,begin climb
$GC,9481,0.58,170.3,997.0,0.0,818,9651,0.68,2.20,158.95,1.181,4,0.047,0.051,2205,3807,2273,0,0,0,0,0,0,25.01,24.53,23.75
$GC,9773,0.46,170.3,962.9,21.9,832,9781,0.22,2.10,0.00,0.000,6,0.190,0.034,2160,2466,2257,0,0,0,0,0,0,25.10,25.41,28.83
$GC,10080,0.40,170.3,912.8,14.5,848,10085,0.00,2.12,0.00,0.000,4,0.000,0.052,2159,3806,2252,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10166,0.32,170.3,899.4,16.8,852,10171,0.20,2.05,0.00,0.000,6,0.171,0.034,2118,2466,2251,0,0,0,0,0,0,25.62,25.96,28.83
$GC,10474,0.30,170.3,862.7,10.8,867,10478,0.00,2.15,0.00,0.000,4,0.000,0.052,2117,3818,2250,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10529,0.26,170.3,857.5,11.4,869,10536,0.12,2.05,0.00,0.000,6,0.171,0.031,2097,2460,2249,0,0,0,0,0,0,25.84,26.13,28.83
$GC,10837,0.31,210.2,831.1,7.7,885,10876,0.00,0.00,37.62,1.037,6,0.000,0.000,2097,2459,2119,0,0,0,0,0,0,28.83,28.83,24.80
$GC,11177,0.35,241.7,804.3,8.0,902,11215,0.00,0.00,30.50,1.004,6,0.000,0.000,2097,2459,1981,0,0,0,0,0,0,28.83,28.83,24.72
$GC,11517,0.37,247.6,775.0,9.0,919,11519,0.10,0.00,0.00,0.000,6,0.092,0.000,2156,2459,1968,0,0,0,0,0,0,26.09,28.83,28.83
$GC,11816,0.35,247.6,733.8,13.4,934,11822,0.12,2.17,0.00,0.000,4,0.160,0.048,2118,3821,1967,0,0,0,0,0,0,25.96,26.06,28.83
$GC,11885,0.33,247.6,726.4,12.8,937,11888,0.00,2.05,0.00,0.000,6,0.000,0.031,2128,2464,1965,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12191,0.33,247.6,694.6,9.7,952,12196,0.00,2.12,0.00,0.000,4,0.000,0.050,2128,3820,1965,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12231,0.32,247.6,690.2,10.2,954,12236,0.00,2.05,0.00,0.000,6,0.000,0.030,2139,2464,1964,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12552,0.31,247.6,656.7,10.5,970,12557,0.00,2.08,0.00,0.000,4,0.000,0.038,2149,1070,1964,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12590,0.31,247.6,652.8,10.3,972,12597,0.15,2.20,0.00,0.000,6,0.137,0.042,2107,2521,1963,0,0,0,0,0,0,26.02,26.21,28.83
$GC,12913,0.41,322.7,631.2,6.4,988,12995,0.12,2.08,75.97,0.936,4,0.080,0.048,2183,3809,1655,0,0,0,0,0,0,26.43,25.21,24.53
$GC,13017,0.37,322.7,618.4,14.3,993,13022,0.22,2.10,0.00,0.000,6,0.145,0.031,2131,2464,1641,0,0,0,0,0,0,25.27,25.41,28.83
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$GC,15700,0.55,345.9,319.0,13.0,1251,15709,0.00,2.20,0.00,0.000,4,0.000,0.038,2194,1055,1538,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,18557,end climb,SURFACE_DEPTH_REACHED
$STATE,18557,begin surface coast
$FINISH,0.7,1.022481
$STATE,18587,end surface coast,CONTROL_FINISHED_OK
$STATE,18587,begin surface
$SM_CCo,18662,0.00,0.000,0,0,1120,456.01
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$IRIDIUM_FIX,2241.69,12221.64,041211,060607
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.60
$INTERNAL_PRESSURE,9.56447
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.7,28.521
$10V_AH,10.2,20.893
$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
$DEVICE_SECS,16.150,161.175,567.500,0.000,0.000,29.072,22.430,224.197,0.000,0.000,12.980,4072.672,10563.123,711.014,3323.247,378.898,0.000,2320.281,0.000,2887.605,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.001,2172.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,113635,1719
$CAP_FILE_SIZE,203853,0
$CFSIZE,260165632,210812928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041211,163554,2255.607,12218.088,40,1.1,40,-3.0