version: 66.10
glider: 169
mission: 5
dive: 385
start: 1 21 112 16 51 14
data:
$ID,169
$MISSION,5
$DIVE,385
$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,180
$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,-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,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,-11363.53
$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,100
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$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
$GPS1,210112,164307,2312.547,12144.443,29,1.1,29,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.9
$GPS2,210112,165052,2312.687,12144.408,12,2.6,31,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,75.8,231773,-15.4,-9.167
$D_GRID,2407
$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,-0.60,-175.2,0.0,0.0,0,99,0.00,0.00,-79.75,0.000,2,0.000,0.000,105,2560,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.60,-175.2,3.1,-6.1,14,127,6.95,0.00,-14.98,0.000,6,0.221,0.000,1805,2560,3695,0,0,0,0,0,0,24.78,28.83,26.53
$GC,431,-0.49,-175.2,113.3,-30.5,78,438,0.12,2.05,0.00,0.000,4,0.184,0.029,1852,1182,3695,0,0,0,0,0,0,25.97,26.12,28.83
$GC,512,-0.53,-175.2,126.0,-7.8,93,519,0.00,2.30,0.00,0.000,6,0.000,0.039,1841,2654,3696,0,0,0,0,0,0,28.83,26.06,28.83
$GC,824,-0.50,-175.2,175.2,-17.6,154,831,0.00,2.22,0.00,0.000,4,0.000,0.027,1841,1166,3696,0,0,0,0,0,0,28.83,26.21,28.83
$GC,885,-0.52,-175.2,183.4,-11.5,165,892,0.00,2.30,0.00,0.000,6,0.000,0.038,1832,2654,3696,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1194,-0.48,-175.2,231.9,-16.2,207,1198,0.00,1.80,0.00,0.000,4,0.000,0.044,1823,3824,3696,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1227,-0.44,-175.2,236.8,-15.7,210,1236,0.15,1.80,0.00,0.000,6,0.125,0.021,1868,2553,3696,0,0,0,0,0,0,26.05,26.39,28.83
$GC,1536,-0.46,-175.2,264.1,-8.7,241,1545,0.00,2.03,0.00,0.000,4,0.000,0.044,1859,3822,3696,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1559,-0.48,-175.2,266.0,-8.9,243,1568,0.00,1.83,0.00,0.000,6,0.000,0.023,1858,2561,3696,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1868,-0.50,-175.2,296.2,-9.0,274,1877,0.00,2.03,0.00,0.000,4,0.000,0.028,1858,1167,3696,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1911,-0.54,-175.2,299.7,-8.2,278,1919,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2643,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2221,-0.55,-175.2,328.1,-9.0,309,2225,0.00,1.83,0.00,0.000,4,0.000,0.045,1841,3813,3694,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2276,-0.58,-175.2,332.5,-8.4,314,2283,0.00,1.80,0.00,0.000,6,0.000,0.022,1841,2562,3694,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2583,-0.59,-175.2,361.1,-9.0,345,2592,0.00,2.05,0.00,0.000,4,0.000,0.027,1841,1166,3693,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2606,-0.60,-175.2,363.2,-9.1,347,2614,0.00,2.28,0.00,0.000,6,0.000,0.038,1832,2653,3693,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2915,-0.60,-175.2,395.3,-10.6,378,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2652,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3216,-0.60,-175.2,425.3,-9.5,408,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2652,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,-0.60,-175.2,456.9,-10.8,439,3534,0.00,2.17,0.00,0.000,4,0.000,0.029,1832,1183,3687,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3580,-0.63,-175.2,462.1,-9.5,444,3586,0.00,2.28,0.00,0.000,6,0.000,0.040,1824,2652,3687,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3886,-0.63,-175.2,495.3,-10.3,475,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2652,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4189,-0.63,-175.2,528.4,-11.5,505,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2652,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4498,-0.63,-175.2,561.7,-10.7,536,4506,0.00,2.17,0.00,0.000,4,0.000,0.030,1824,1186,3682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4549,-0.66,-175.2,566.8,-9.9,541,4558,0.00,2.28,0.00,0.000,6,0.000,0.041,1815,2650,3681,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4858,-0.66,-175.2,601.0,-11.3,572,4862,0.00,1.85,0.00,0.000,4,0.000,0.048,1806,3818,3680,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4901,-0.66,-175.2,605.6,-11.2,574,4906,0.00,1.83,0.00,0.000,6,0.000,0.023,1806,2572,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5221,-0.66,-175.2,642.9,-12.2,590,5225,0.00,2.05,0.00,0.000,4,0.000,0.032,1806,1180,3678,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5242,-0.66,-175.2,645.6,-12.2,591,5248,0.00,2.30,0.00,0.000,6,0.000,0.041,1797,2650,3677,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5563,-0.65,-175.2,684.4,-12.0,607,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2650,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5864,-0.64,-175.2,719.0,-11.2,622,5869,0.00,2.20,0.00,0.000,4,0.000,0.031,1797,1182,3673,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5890,-0.64,-175.2,721.2,-11.1,623,5894,0.00,2.28,0.00,0.000,6,0.000,0.042,1787,2650,3673,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6199,-0.62,-175.2,758.2,-11.9,638,6202,0.00,2.22,0.00,0.000,4,0.000,0.031,1787,1174,3671,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6248,-0.61,-175.2,762.9,-11.5,640,6253,0.12,2.28,0.00,0.000,6,0.131,0.041,1816,2650,3671,0,0,0,0,0,0,25.85,26.01,28.83
$GC,6555,-0.62,-175.2,791.7,-9.2,655,6559,0.00,1.80,0.00,0.000,4,0.000,0.049,1807,3818,3669,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6585,-0.63,-175.2,793.8,-9.3,656,6589,0.00,1.83,0.00,0.000,6,0.000,0.024,1807,2570,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6893,-0.63,-175.2,824.4,-9.7,671,6898,0.00,2.05,0.00,0.000,4,0.000,0.031,1807,1185,3668,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6925,-0.64,-175.2,826.4,-9.5,672,6932,0.00,2.28,0.00,0.000,6,0.000,0.041,1797,2649,3668,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7233,-0.64,-175.2,858.4,-10.2,688,7238,0.00,2.20,0.00,0.000,4,0.000,0.031,1797,1185,3666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7272,-0.64,-175.2,862.4,-10.1,690,7277,0.00,2.30,0.00,0.000,6,0.000,0.041,1788,2652,3666,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7593,-0.63,-175.2,896.2,-10.4,706,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2652,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,-0.61,-175.2,927.1,-10.0,721,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2652,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8192,-0.60,-175.2,957.4,-9.4,736,8198,0.00,2.22,0.00,0.000,4,0.000,0.033,1788,1186,3662,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8273,-0.61,-175.2,964.1,-8.3,740,8279,0.08,2.30,0.00,0.000,6,0.103,0.043,1810,2650,3662,0,0,0,0,0,0,25.75,25.94,28.83
$GC,8594,-0.62,-175.2,984.6,-6.3,756,8599,0.00,2.20,0.00,0.000,4,0.000,0.031,1811,1186,3661,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8627,-0.64,-175.2,985.9,-6.3,757,8633,0.00,2.30,0.00,0.000,6,0.000,0.041,1802,2655,3661,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,8690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8690,begin apogee
$GC,8695,-0.20,0.0,991.0,-6.4,761,8858,0.40,0.15,155.35,1.191,6,0.099,0.074,1942,2534,2977,0,0,0,0,0,0,25.75,24.77,23.21
$STATE,8859,end apogee,CONTROL_FINISHED_OK
$STATE,8859,begin climb
$GC,8861,0.60,175.2,995.6,0.0,769,9041,0.70,2.20,170.55,1.176,4,0.048,0.046,2210,3818,2256,0,0,0,0,0,0,25.02,24.54,23.03
$GC,9077,0.49,175.2,977.3,17.3,780,9082,0.20,2.12,0.00,0.000,6,0.186,0.029,2171,2472,2240,0,0,0,0,0,0,24.79,25.19,28.83
$GC,9386,0.44,175.2,927.6,14.3,795,9392,0.00,2.12,0.00,0.000,4,0.000,0.036,2181,1058,2234,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9424,0.39,175.2,921.9,14.3,797,9431,0.15,2.30,0.00,0.000,6,0.154,0.041,2142,2531,2232,0,0,0,0,0,0,25.63,25.93,28.83
$GC,9747,0.37,175.2,883.1,11.9,813,9753,0.00,2.00,0.00,0.000,4,0.000,0.047,2142,3808,2231,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9853,0.32,175.2,869.5,13.9,818,9858,0.15,2.05,0.00,0.000,6,0.164,0.030,2113,2462,2230,0,0,0,0,0,0,25.71,26.11,28.83
$GC,10163,0.33,182.3,839.9,8.9,833,10168,0.00,2.10,0.00,0.000,4,0.000,0.038,2123,1071,2229,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10201,0.34,192.6,836.4,8.8,835,10221,0.00,2.25,15.60,1.021,6,0.000,0.040,2123,2521,2192,0,0,0,0,0,0,28.83,26.02,24.11
$GC,10524,0.34,193.5,806.2,9.1,851,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2521,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10821,0.36,205.9,779.0,8.7,866,10841,0.00,2.08,13.43,0.988,4,0.000,0.046,2123,3819,2130,0,0,0,0,0,0,28.83,25.94,24.22
$GC,10857,0.37,217.6,777.2,8.8,867,10876,0.00,2.08,12.60,0.986,6,0.000,0.028,2134,2459,2086,0,0,0,0,0,0,28.83,26.02,24.15
$GC,11185,0.37,217.6,743.2,9.8,884,11190,0.00,2.12,0.00,0.000,4,0.000,0.039,2144,1068,2071,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11212,0.37,217.6,741.2,9.9,885,11216,0.00,2.25,0.00,0.000,6,0.000,0.041,2144,2522,2070,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11519,0.36,217.6,708.0,10.7,900,11525,0.00,2.05,0.00,0.000,4,0.000,0.047,2144,3813,2070,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11563,0.34,217.6,703.2,11.3,902,11567,0.12,2.05,0.00,0.000,6,0.165,0.028,2123,2464,2069,0,0,0,0,0,0,25.77,26.12,28.83
$GC,11877,0.39,245.6,675.9,8.2,918,11908,0.00,0.00,29.75,0.922,6,0.000,0.000,2123,2461,1976,0,0,0,0,0,0,28.83,28.83,24.23
$GC,12199,0.45,284.7,651.0,7.8,934,12244,0.00,2.25,39.65,0.926,4,0.000,0.047,2122,3819,1812,0,0,0,0,0,0,28.83,25.51,24.11
$GC,12265,0.52,328.1,646.9,7.6,937,12315,0.12,2.10,43.58,0.932,6,0.077,0.028,2201,2464,1639,0,0,0,0,0,0,25.65,25.67,23.85
$GC,12623,0.48,328.1,588.2,17.2,958,12625,0.12,0.00,0.00,0.000,6,0.169,0.000,2169,2464,1615,0,0,0,0,0,0,25.84,28.83,28.83
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$GC,14686,0.50,328.1,324.1,13.3,1163,14695,0.00,2.05,0.00,0.000,6,0.000,0.027,2185,2459,1609,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,17604,end climb,SURFACE_DEPTH_REACHED
$STATE,17604,begin surface coast
$FINISH,0.4,1.022902
$STATE,17626,end surface coast,CONTROL_FINISHED_OK
$STATE,17626,begin surface
$SM_CCo,17702,0.00,0.000,0,0,1024,479.56
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$IRIDIUM_FIX,2300.41,12139.21,210112,111105
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,892.0,999.0
$24V_AH,23.0,81.102
$10V_AH,9.9,48.120
$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
$DEVICE_SECS,15.925,162.125,643.750,0.000,0.000,29.443,43.764,230.959,0.250,0.000,33.426,3822.523,9962.919,745.298,3204.728,400.737,0.000,2287.082,0.000,2719.371,0.000,2.697,0.000
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$SENSOR_SECS,1105.154,2056.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,107125,1624
$CAP_FILE_SIZE,194431,0
$CFSIZE,260165632,187850752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210112,214755,2314.356,12147.929,71,0.8,71,-3.1