version: 66.10
glider: 169
mission: 5
dive: 174
start: 12 12 111 19 6 25
data:
$ID,169
$MISSION,5
$DIVE,174
$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,280
$T_MISSION,320
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,260
$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,1
$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,-10938.543
$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,400
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$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
$GPS1,121211,184906,2314.570,12141.672,39,1.3,50,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.1
$GPS2,121211,190602,2314.984,12141.685,10,1.5,10,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,HEADING
$TGT_LATLONG,2313.109,12130.112
$TGT_RADIUS,1852.000
$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,263.1,20000,-16.1,-11.786
$D_GRID,1345
$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,-0.70,-243.3,0.0,0.0,0,120,0.00,0.00,-100.95,0.000,2,0.000,0.000,100,2662,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.70,-243.3,3.5,-7.3,18,159,6.68,1.85,-19.80,0.000,4,0.226,0.060,1763,3808,3963,0,0,0,0,0,0,25.36,25.98,26.41
$GC,262,-0.63,-243.3,32.6,-16.2,44,270,0.12,1.80,0.00,0.000,6,0.174,0.024,1802,2553,3963,0,0,0,0,0,0,25.81,26.18,28.83
$GC,575,-0.56,-243.3,84.3,-16.9,105,581,0.00,2.03,0.00,0.000,4,0.000,0.028,1807,1166,3962,0,0,0,0,0,0,28.83,26.23,28.83
$GC,685,-0.53,-243.3,100.1,-13.5,126,692,0.15,2.25,0.00,0.000,6,0.133,0.038,1842,2660,3963,0,0,0,0,0,0,26.02,26.22,28.83
$GC,997,-0.60,-243.3,128.5,-9.5,187,1004,0.00,1.77,0.00,0.000,4,0.000,0.048,1833,3813,3963,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1232,-0.70,-243.3,151.4,-8.5,233,1240,0.15,1.80,0.00,0.000,6,0.094,0.026,1778,2560,3963,0,0,0,0,0,0,26.26,26.44,28.83
$GC,1544,-0.70,-243.3,179.9,-9.8,294,1550,0.00,1.98,0.00,0.000,4,0.000,0.047,1769,3816,3962,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1584,-0.67,-243.3,184.3,-12.3,301,1590,0.00,1.80,0.00,0.000,6,0.000,0.023,1772,2553,3962,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1898,-0.67,-243.3,217.5,-9.9,346,1907,0.00,2.00,0.00,0.000,4,0.000,0.028,1772,1164,3963,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1964,-0.66,-243.3,224.2,-11.1,352,1971,0.12,2.22,0.00,0.000,6,0.139,0.037,1798,2658,3963,0,0,0,0,0,0,26.17,26.36,28.83
$GC,2271,-0.70,-243.3,250.8,-8.5,383,2275,0.00,1.75,0.00,0.000,4,0.000,0.046,1792,3820,3961,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2356,-0.68,-243.3,258.9,-10.5,391,2363,0.00,1.80,0.00,0.000,6,0.000,0.025,1791,2550,3960,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2664,-0.70,-243.3,287.1,-8.8,422,2672,0.00,2.00,0.00,0.000,4,0.000,0.030,1791,1160,3959,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2698,-0.72,-243.3,290.1,-9.3,425,2705,0.00,2.25,0.00,0.000,6,0.000,0.041,1781,2657,3959,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3008,-0.75,-243.3,318.6,-8.7,456,3012,0.00,1.77,0.00,0.000,4,0.000,0.045,1773,3820,3956,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3100,-0.73,-243.3,327.2,-9.2,465,3103,0.00,1.80,0.00,0.000,6,0.000,0.024,1772,2557,3955,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3411,-0.75,-243.3,354.9,-9.2,496,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,2554,3953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3713,-0.76,-243.3,385.1,-10.6,526,3721,0.00,1.95,0.00,0.000,4,0.000,0.046,1763,3823,3950,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3815,-0.74,-243.3,397.4,-12.3,536,3818,0.00,1.83,0.00,0.000,6,0.000,0.024,1763,2554,3950,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4128,-0.75,-243.3,429.1,-9.3,567,4137,0.00,2.00,0.00,0.000,4,0.000,0.046,1753,3826,3948,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4181,-0.74,-243.3,434.8,-10.8,572,4184,0.00,1.83,0.00,0.000,6,0.000,0.025,1753,2562,3947,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4493,-0.75,-243.3,466.1,-9.9,603,4501,0.00,1.98,0.00,0.000,4,0.000,0.047,1744,3823,3946,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4535,-0.75,-243.3,470.4,-10.5,607,4539,0.00,1.83,0.00,0.000,6,0.000,0.024,1744,2562,3945,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4847,-0.77,-243.3,502.1,-9.7,638,4856,0.00,1.95,0.00,0.000,4,0.000,0.046,1734,3814,3944,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4882,-0.77,-243.3,505.4,-10.2,641,4889,0.00,1.80,0.00,0.000,6,0.000,0.024,1735,2555,3944,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5190,-0.77,-243.3,536.7,-9.7,672,5199,0.00,1.98,0.00,0.000,4,0.000,0.028,1735,1168,3942,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5246,-0.75,-243.3,542.2,-10.6,677,5253,0.15,2.25,0.00,0.000,6,0.145,0.040,1766,2660,3941,0,0,0,0,0,0,26.06,26.33,28.83
$GC,5551,-0.75,-243.3,571.6,-10.2,708,5560,0.00,2.20,0.00,0.000,4,0.000,0.031,1767,1166,3939,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5624,-0.75,-243.3,579.0,-10.5,715,5633,0.00,2.22,0.00,0.000,6,0.000,0.041,1756,2648,3939,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5935,-0.77,-243.3,610.8,-10.2,741,5940,0.00,2.15,0.00,0.000,4,0.000,0.029,1756,1177,3936,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5974,-0.78,-243.3,615.1,-10.6,743,5980,0.00,2.22,0.00,0.000,6,0.000,0.040,1745,2656,3936,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6294,-0.80,-243.3,649.7,-11.3,759,6297,0.00,1.77,0.00,0.000,4,0.000,0.048,1736,3813,3933,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6338,-0.80,-243.3,654.5,-11.5,761,6342,0.00,1.83,0.00,0.000,6,0.000,0.024,1737,2555,3933,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6656,-0.80,-243.3,688.9,-10.0,777,6661,0.00,1.98,0.00,0.000,4,0.000,0.047,1727,3818,3931,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6715,-0.78,-243.3,695.5,-10.7,780,6721,0.10,1.83,0.00,0.000,6,0.164,0.025,1754,2554,3930,0,0,0,0,0,0,26.18,26.48,28.83
$GC,7039,-0.79,-243.3,725.1,-9.6,796,7044,0.00,1.95,0.00,0.000,4,0.000,0.047,1745,3814,3928,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7107,-0.79,-243.3,731.8,-10.5,799,7110,0.00,1.80,0.00,0.000,6,0.000,0.024,1745,2566,3928,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7419,-0.80,-243.3,766.4,-10.7,815,7423,0.00,1.95,0.00,0.000,4,0.000,0.047,1736,3813,3926,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7481,-0.79,-243.3,773.8,-11.6,818,7485,0.00,1.83,0.00,0.000,6,0.000,0.025,1736,2562,3926,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7802,-0.79,-243.3,808.3,-10.5,834,7808,0.00,2.03,0.00,0.000,4,0.000,0.031,1736,1173,3925,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7816,-0.79,-243.3,808.3,-10.5,834,7824,0.10,2.25,0.00,0.000,6,0.162,0.042,1753,2657,3924,0,0,0,0,0,0,26.06,26.23,28.83
$GC,8124,-0.81,-243.3,837.8,-8.9,850,8128,0.00,1.80,0.00,0.000,4,0.000,0.049,1745,3822,3922,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8186,-0.81,-243.3,844.2,-9.7,853,8190,0.00,1.83,0.00,0.000,6,0.000,0.026,1744,2568,3922,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8508,-0.82,-243.3,876.4,-10.2,869,8513,0.00,2.00,0.00,0.000,4,0.000,0.050,1735,3820,3920,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8550,-0.82,-243.3,880.8,-10.6,871,8554,0.00,1.83,0.00,0.000,6,0.000,0.028,1735,2570,3919,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8864,-0.83,-243.3,915.3,-10.9,887,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,2567,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9163,-0.83,-243.3,946.3,-10.0,902,9168,0.00,1.95,0.00,0.000,4,0.000,0.049,1726,3818,3917,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9267,-0.80,-243.3,957.7,-11.7,907,9272,0.00,1.85,0.00,0.000,6,0.000,0.027,1726,2557,3917,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,9582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9583,begin apogee
$GC,9588,-0.20,0.0,990.2,-9.8,923,9797,0.62,0.15,203.20,1.185,6,0.098,0.076,1943,2542,2977,0,0,0,0,0,0,25.83,24.65,23.79
$STATE,9798,end apogee,CONTROL_FINISHED_OK
$STATE,9798,begin climb
$GC,9800,0.70,243.3,1003.1,0.0,933,10033,0.77,0.00,225.65,1.174,6,0.042,0.000,2245,2541,1986,0,0,0,0,0,0,24.79,28.83,23.25
$GC,10325,0.57,243.3,941.3,14.7,960,10331,0.17,2.00,0.00,0.000,4,0.213,0.044,2193,3812,1954,0,0,0,0,0,0,25.30,25.67,28.83
$GC,10450,0.46,243.3,925.4,12.7,966,10456,0.17,2.08,0.00,0.000,6,0.207,0.033,2162,2465,1953,0,0,0,0,0,0,25.44,25.87,28.83
$GC,10768,0.53,318.5,895.3,9.3,982,10847,0.00,2.25,73.60,1.036,4,0.000,0.038,2172,1065,1672,0,0,0,0,0,0,28.83,25.13,24.27
$GC,10948,0.67,396.3,878.2,9.3,991,11028,0.15,2.28,73.35,1.061,6,0.069,0.036,2264,2533,1362,0,0,0,0,0,0,25.65,25.63,24.11
$GC,11347,0.60,396.3,815.9,14.9,1011,11353,0.20,1.98,0.00,0.000,4,0.171,0.044,2205,3808,1332,0,0,0,0,0,0,25.60,25.86,28.83
$GC,11514,0.56,396.3,794.4,12.8,1019,11518,0.00,2.05,0.00,0.000,6,0.000,0.034,2215,2467,1331,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11823,0.62,457.0,761.9,9.8,1034,11887,0.00,2.22,58.97,0.975,4,0.000,0.047,2215,3821,1108,0,0,0,0,0,0,28.83,25.27,24.48
$GC,12009,0.60,457.0,741.3,12.7,1043,12013,0.00,2.10,0.00,0.000,6,0.000,0.031,2226,2464,1091,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12316,0.63,466.1,704.1,11.5,1058,12327,0.00,2.20,4.22,0.757,4,0.000,0.047,2227,3821,1075,0,0,0,0,0,0,28.83,25.98,24.83
$GC,12418,0.63,466.1,691.1,13.5,1063,12423,0.00,2.05,0.00,0.000,6,0.000,0.031,2237,2470,1075,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12736,0.65,466.1,651.7,12.2,1079,12742,0.00,2.15,0.00,0.000,4,0.000,0.044,2248,1064,1074,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12830,0.78,505.3,643.3,10.5,1083,12876,0.00,2.22,36.25,0.995,6,0.000,0.039,2248,2526,918,0,0,0,0,1,0,28.83,26.11,24.55
$GC,13179,0.80,505.3,600.6,11.9,1101,13187,0.00,2.25,2.35,0.383,4,0.000,0.038,2258,1057,923,0,0,0,0,0,0,28.83,25.96,24.47
$GC,13271,0.92,517.3,591.1,11.4,1109,13299,0.15,2.22,21.35,0.918,6,0.070,0.031,2342,2543,864,0,0,0,0,0,0,26.03,26.02,24.87
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$STATE,17811,end climb,SURFACE_DEPTH_REACHED
$STATE,17813,begin surface coast
$FINISH,-0.1,1.004430
$STATE,17829,end surface coast,CONTROL_FINISHED_OK
$STATE,17829,begin surface
$SM_CCo,17904,0.00,0.000,0,0,575,589.46
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$IRIDIUM_FIX,2305.10,12143.67,121211,181852
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,590.3,0.0
$24V_AH,23.3,38.181
$10V_AH,10.2,25.598
$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,16.150,158.850,762.575,0.000,0.000,107.671,131.062,414.654,0.250,0.000,11.450,4066.509,9656.323,834.760,3945.952,395.744,0.000,2552.941,0.000,3074.198,0.000,2.874,0.000
$DEVICE_MAMPS,226.440,78.030,1184.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.913,2114.921,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,113832,1716
$CAP_FILE_SIZE,213572,0
$CFSIZE,260165632,206835712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131211,000600,2316.872,12141.873,38,1.3,44,-3.1