version: 66.10
glider: 169
mission: 5
dive: 304
start: 1 6 112 17 24 48
data:
$ID,169
$MISSION,5
$DIVE,304
$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,320
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$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,315
$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,-11104.41
$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
$GPS1,060112,171654,2146.889,12325.593,37,1.5,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.7
$GPS2,060112,172426,2146.842,12325.594,13,1.8,13,-2.9
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,HEADING
$TGT_LATLONG,2154.478,12317.363
$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,317.9,20000,-15.1,-10.312
$D_GRID,4872
$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,-0.65,-219.0,0.0,0.0,0,113,0.00,0.00,-94.18,0.000,2,0.000,0.000,116,2680,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.65,-219.0,3.9,-9.4,17,142,6.82,1.88,-13.27,0.000,4,0.227,0.056,1782,3825,3874,0,0,0,0,0,0,25.06,26.04,26.53
$GC,179,-0.48,-219.0,34.9,-48.1,28,187,0.22,1.83,0.00,0.000,6,0.159,0.022,1852,2575,3874,0,0,0,0,0,0,25.61,26.19,28.83
$GC,492,-0.41,-219.0,128.9,-22.9,89,499,0.00,2.03,0.00,0.000,4,0.000,0.024,1855,1174,3874,0,0,0,0,0,0,28.83,26.27,28.83
$GC,512,-0.34,-219.0,133.4,-23.3,92,520,0.17,2.25,0.00,0.000,6,0.129,0.039,1897,2656,3874,0,0,0,0,0,0,25.92,26.17,28.83
$GC,824,-0.34,-219.0,177.3,-11.6,153,830,0.00,1.80,0.00,0.000,4,0.000,0.046,1889,3820,3874,0,0,0,0,0,0,28.83,26.19,28.83
$GC,864,-0.38,-219.0,181.3,-9.2,160,870,0.00,1.80,0.00,0.000,6,0.000,0.023,1889,2548,3874,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1179,-0.38,-219.0,213.9,-10.9,210,1188,0.00,2.00,0.00,0.000,4,0.000,0.028,1889,1162,3874,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1211,-0.40,-219.0,217.0,-10.0,213,1220,0.00,2.25,0.00,0.000,6,0.000,0.037,1886,2654,3874,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1524,-0.42,-219.0,244.1,-8.8,244,1527,0.00,1.77,0.00,0.000,4,0.000,0.044,1877,3823,3874,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1565,-0.46,-219.0,247.6,-8.1,248,1569,0.00,1.80,0.00,0.000,6,0.000,0.023,1878,2566,3874,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1879,-0.48,-219.0,276.5,-10.1,279,1888,0.00,1.98,0.00,0.000,4,0.000,0.043,1869,3826,3874,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1921,-0.51,-219.0,281.0,-10.4,283,1929,0.00,1.83,0.00,0.000,6,0.000,0.023,1869,2549,3874,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2232,-0.51,-219.0,313.8,-10.5,314,2240,0.00,1.98,0.00,0.000,4,0.000,0.027,1869,1168,3874,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2258,-0.52,-219.0,316.3,-10.9,316,2265,0.00,2.25,0.00,0.000,6,0.000,0.037,1865,2660,3873,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2563,-0.52,-219.0,346.8,-10.3,347,2566,0.00,1.77,0.00,0.000,4,0.000,0.044,1856,3822,3873,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2588,-0.53,-219.0,348.8,-9.7,349,2595,0.00,1.80,0.00,0.000,6,0.000,0.022,1856,2552,3873,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2896,-0.53,-219.0,377.3,-10.0,380,2904,0.00,2.00,0.00,0.000,4,0.000,0.044,1847,3830,3873,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2929,-0.55,-219.0,380.6,-10.1,383,2932,0.00,1.83,0.00,0.000,6,0.000,0.023,1847,2568,3872,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3239,-0.55,-219.0,414.2,-11.1,414,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2562,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-0.56,-219.0,444.7,-9.9,444,3553,0.00,1.98,0.00,0.000,4,0.000,0.042,1839,3829,3870,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3596,-0.60,-219.0,449.4,-8.4,449,3599,0.00,1.83,0.00,0.000,6,0.000,0.024,1839,2570,3870,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3907,-0.62,-219.0,477.3,-8.4,480,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2562,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4208,-0.64,-219.0,500.4,-8.1,510,4218,0.12,2.00,0.00,0.000,4,0.079,0.025,1750,1173,3867,0,0,0,0,0,0,26.58,26.36,28.83
$GC,4241,-0.64,-219.0,504.1,-10.3,513,4251,0.17,2.22,0.00,0.000,6,0.104,0.037,1802,2658,3867,0,0,0,0,0,0,25.99,26.28,28.83
$GC,4551,-0.62,-219.0,545.3,-13.6,544,4554,0.00,1.80,0.00,0.000,4,0.000,0.044,1794,3819,3866,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4596,-0.62,-219.0,550.9,-13.9,548,4602,0.00,1.80,0.00,0.000,6,0.000,0.023,1794,2562,3865,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4902,-0.60,-219.0,594.3,-14.1,579,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2562,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5203,-0.58,-219.0,633.7,-12.9,596,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2562,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5503,-0.57,-219.0,671.3,-12.0,611,5509,0.10,1.98,0.00,0.000,4,0.148,0.042,1814,3819,3859,0,0,0,0,0,0,26.42,26.19,28.83
$GC,5556,-0.57,-219.0,675.4,-11.2,613,5563,0.00,1.83,0.00,0.000,6,0.000,0.025,1814,2553,3859,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5864,-0.59,-219.0,703.0,-8.4,629,5869,0.00,1.95,0.00,0.000,4,0.000,0.045,1805,3813,3856,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5917,-0.61,-219.0,706.2,-8.1,631,5924,0.00,1.80,0.00,0.000,6,0.000,0.024,1805,2562,3855,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6223,-0.61,-219.0,734.0,-9.0,647,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2561,3853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6523,-0.61,-219.0,761.5,-9.1,662,6526,0.00,2.00,0.00,0.000,4,0.000,0.045,1797,3817,3850,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6588,-0.63,-219.0,767.1,-9.1,665,6592,0.00,1.83,0.00,0.000,6,0.000,0.025,1797,2563,3850,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6900,-0.63,-219.0,798.7,-9.7,681,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2562,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7200,-0.63,-219.0,828.1,-9.7,696,7206,0.00,1.98,0.00,0.000,4,0.000,0.046,1788,3820,3846,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7242,-0.64,-219.0,832.2,-9.8,698,7245,0.00,1.83,0.00,0.000,6,0.000,0.024,1788,2572,3845,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7563,-0.64,-219.0,866.9,-10.7,714,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2565,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,-0.64,-219.0,898.3,-10.4,729,7869,0.00,2.00,0.00,0.000,4,0.000,0.048,1779,3816,3842,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7917,-0.64,-219.0,902.6,-10.8,731,7923,0.00,1.83,0.00,0.000,6,0.000,0.026,1779,2565,3841,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8223,-0.63,-219.0,938.1,-11.0,747,8229,0.00,2.00,0.00,0.000,4,0.000,0.048,1770,3818,3839,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8246,-0.62,-219.0,940.4,-11.1,748,8251,0.12,1.83,0.00,0.000,6,0.125,0.028,1808,2573,3839,0,0,0,0,0,0,26.07,26.34,28.83
$GC,8560,-0.64,-219.0,966.6,-8.1,764,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2572,3837,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8863,-0.20,0.0,990.9,-8.3,779,9061,0.38,0.15,190.45,1.174,6,0.090,0.075,1944,2533,2977,0,0,0,0,0,0,25.98,24.75,23.50
$STATE,9062,end apogee,CONTROL_FINISHED_OK
$STATE,9062,begin climb
$GC,9064,0.65,219.0,1002.0,0.0,789,9280,0.73,2.47,207.20,1.174,4,0.049,0.035,2234,1060,2077,0,0,0,0,0,0,24.94,24.38,23.13
$GC,9367,0.59,219.0,969.8,17.8,804,9374,0.12,2.30,0.00,0.000,6,0.163,0.040,2203,2525,2055,0,0,0,0,0,0,25.18,25.39,28.83
$GC,9684,0.52,219.0,911.7,18.5,820,9689,0.00,2.00,0.00,0.000,4,0.000,0.046,2203,3808,2053,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9785,0.44,219.0,890.9,20.9,825,9790,0.20,2.05,0.00,0.000,6,0.168,0.031,2158,2470,2049,0,0,0,0,0,0,25.65,26.08,28.83
$GC,10099,0.41,219.0,849.6,12.6,841,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2469,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10400,0.39,219.0,810.6,13.3,856,10405,0.00,2.10,0.00,0.000,4,0.000,0.045,2158,3811,2047,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10442,0.36,219.0,804.7,13.9,858,10446,0.15,2.05,0.00,0.000,6,0.154,0.028,2128,2453,2046,0,0,0,0,0,0,25.86,26.21,28.83
$GC,10754,0.36,219.0,770.9,10.4,874,10759,0.00,2.15,0.00,0.000,4,0.000,0.045,2127,3814,2046,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10778,0.36,219.0,768.7,10.5,875,10782,0.00,2.05,0.00,0.000,6,0.000,0.028,2138,2453,2045,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11090,0.36,219.0,734.8,10.8,891,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2451,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11389,0.40,252.3,704.9,9.3,906,11429,0.00,2.22,25.55,0.933,4,0.000,0.047,2138,3817,1950,0,0,0,0,1,0,28.83,25.90,24.27
$GC,11466,0.45,286.3,699.1,9.2,909,11515,0.00,2.08,44.10,0.920,6,0.000,0.028,2149,2453,1810,0,0,0,0,0,0,28.83,25.98,24.25
$GC,11828,0.48,316.0,663.0,9.4,928,11859,0.00,0.00,29.40,0.931,6,0.000,0.000,2149,2454,1689,0,0,0,0,0,0,28.83,28.83,24.38
$GC,12151,0.52,336.8,632.9,9.7,944,12175,0.00,2.22,19.45,0.912,4,0.000,0.047,2149,3818,1600,0,0,0,0,0,0,28.83,25.76,24.52
$GC,12208,0.54,344.9,626.8,10.1,947,12216,0.00,2.10,2.75,0.491,6,0.000,0.029,2159,2466,1570,0,0,0,0,0,0,28.83,25.84,23.96
$GC,12526,0.55,344.9,591.4,11.8,966,12530,0.00,2.10,0.00,0.000,4,0.000,0.036,2169,1061,1576,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12577,0.58,344.9,585.5,10.5,971,12586,0.00,2.25,0.00,0.000,6,0.000,0.038,2170,2527,1576,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12890,0.58,344.9,548.6,11.9,1002,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2527,1576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13198,0.58,344.9,511.0,11.8,1033,13207,0.00,2.00,0.00,0.000,4,0.000,0.046,2170,3814,1576,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,16942,end climb,SURFACE_DEPTH_REACHED
$STATE,16942,begin surface coast
$FINISH,0.3,1.023731
$STATE,16963,end surface coast,CONTROL_FINISHED_OK
$STATE,16964,begin surface
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$IRIDIUM_FIX,2136.49,12325.95,060112,121226
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.1,65.039
$10V_AH,10.1,39.639
$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,15.250,137.700,654.300,0.000,0.000,27.263,51.434,231.512,0.000,0.000,14.640,3591.046,9745.541,741.644,3019.800,363.736,0.000,2203.527,0.000,2559.416,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,74.970,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330452
$DATA_FILE_SIZE,100315,1523
$CAP_FILE_SIZE,182195,0
$CFSIZE,260165632,194969600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060112,220936,2148.611,12323.500,23,1.8,23,-2.9