version: 66.10
glider: 169
mission: 5
dive: 393
start: 1 23 112 10 13 0
data:
$ID,169
$MISSION,5
$DIVE,393
$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,90
$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,-11373.601
$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
$GPS1,230112,100501,2319.200,12208.401,49,1.1,49,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.6
$GPS2,230112,101238,2319.368,12208.393,12,1.1,12,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2319.368,12220.152
$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,93.1,20000,-15.4,-9.167
$D_GRID,2998
$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,-0.60,-175.2,0.0,0.0,0,107,0.00,0.00,-88.40,0.000,2,0.000,0.000,118,2668,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.60,-175.2,3.0,-5.7,16,141,7.28,2.30,-14.93,0.000,4,0.239,0.041,1819,1166,3696,0,0,0,0,0,0,24.87,26.04,26.53
$GC,199,-0.53,-175.2,36.3,-26.6,32,206,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2649,3696,0,0,0,0,0,0,28.83,25.96,28.83
$GC,511,-0.45,-175.2,122.8,-22.3,93,518,0.17,1.83,0.00,0.000,4,0.164,0.044,1853,3823,3697,0,0,0,0,0,0,25.91,26.06,28.83
$GC,547,-0.40,-175.2,130.4,-19.5,99,553,0.00,1.83,0.00,0.000,6,0.000,0.022,1855,2569,3696,0,0,0,0,0,0,28.83,26.33,28.83
$GC,858,-0.37,-175.2,175.3,-14.7,160,865,0.12,0.00,0.00,0.000,6,0.147,0.000,1897,2566,3697,0,0,0,0,0,0,26.22,28.83,28.83
$GC,1170,-0.41,-175.2,199.8,-6.3,221,1177,0.00,2.03,0.00,0.000,4,0.000,0.046,1888,3822,3696,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1198,-0.46,-175.2,201.5,-6.3,224,1205,0.00,1.80,0.00,0.000,6,0.000,0.024,1888,2563,3696,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1505,-0.50,-175.2,221.6,-6.1,255,1515,0.12,2.03,0.00,0.000,4,0.076,0.024,1782,1171,3696,0,0,0,0,0,0,26.54,26.29,28.83
$GC,1551,-0.50,-175.2,226.8,-12.3,259,1559,0.25,2.28,0.00,0.000,6,0.116,0.038,1850,2653,3696,0,0,0,0,0,0,25.87,26.17,28.83
$GC,1857,-0.50,-175.2,261.6,-10.4,290,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2653,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-0.50,-175.2,293.5,-10.8,320,2170,0.00,2.17,0.00,0.000,4,0.000,0.028,1850,1170,3694,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2195,-0.51,-175.2,297.1,-10.4,323,2202,0.00,2.28,0.00,0.000,6,0.000,0.038,1841,2652,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2502,-0.51,-175.2,330.4,-10.5,354,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2652,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2805,-0.51,-175.2,364.4,-11.4,384,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2652,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3114,-0.51,-175.2,395.5,-9.5,415,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2652,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-0.52,-175.2,423.7,-9.1,446,3433,0.00,2.20,0.00,0.000,4,0.000,0.028,1841,1173,3688,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3469,-0.55,-175.2,427.4,-8.7,450,3476,0.00,2.28,0.00,0.000,6,0.000,0.039,1833,2652,3688,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3775,-0.55,-175.2,457.1,-9.4,481,3784,0.00,2.20,0.00,0.000,4,0.000,0.028,1833,1179,3686,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3828,-0.58,-175.2,461.4,-8.1,486,3837,0.00,2.25,0.00,0.000,6,0.000,0.038,1825,2644,3686,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4138,-0.58,-175.2,491.6,-9.9,517,4141,0.00,1.80,0.00,0.000,4,0.000,0.045,1817,3823,3683,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4163,-0.58,-175.2,493.8,-10.3,519,4169,0.00,1.83,0.00,0.000,6,0.000,0.023,1816,2564,3683,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4469,-0.58,-175.2,526.6,-10.7,550,4477,0.00,1.98,0.00,0.000,4,0.000,0.044,1808,3821,3682,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4492,-0.58,-175.2,528.9,-10.7,552,4499,0.00,1.83,0.00,0.000,6,0.000,0.022,1808,2565,3681,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4800,-0.57,-175.2,563.8,-11.0,583,4804,0.00,2.05,0.00,0.000,4,0.000,0.029,1808,1177,3680,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4831,-0.57,-175.2,567.3,-10.8,586,4840,0.00,2.28,0.00,0.000,6,0.000,0.039,1798,2652,3679,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5152,-0.56,-175.2,604.9,-12.2,616,5158,0.12,2.22,0.00,0.000,4,0.153,0.027,1840,1174,3677,0,0,0,0,0,0,26.20,26.19,28.83
$GC,5200,-0.56,-175.2,608.6,-10.9,618,5204,0.00,2.30,0.00,0.000,6,0.000,0.039,1832,2656,3677,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5510,-0.58,-175.2,634.7,-8.5,633,5513,0.00,1.80,0.00,0.000,4,0.000,0.046,1823,3818,3673,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5545,-0.60,-175.2,636.8,-8.7,634,5551,0.00,1.83,0.00,0.000,6,0.000,0.024,1823,2564,3673,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5853,-0.61,-175.2,665.2,-9.1,650,5858,0.00,1.98,0.00,0.000,4,0.000,0.044,1814,3818,3672,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5911,-0.62,-175.2,670.5,-8.9,653,5917,0.00,1.85,0.00,0.000,6,0.000,0.024,1814,2564,3672,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6232,-0.62,-175.2,701.0,-9.3,669,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2563,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6532,-0.62,-175.2,730.1,-9.9,684,6537,0.00,1.98,0.00,0.000,4,0.000,0.045,1805,3810,3668,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6611,-0.64,-175.2,738.2,-10.1,688,6616,0.00,1.83,0.00,0.000,6,0.000,0.024,1805,2569,3667,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6932,-0.64,-175.2,773.8,-11.2,704,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2570,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,-0.64,-175.2,807.4,-10.9,719,7237,0.00,2.03,0.00,0.000,4,0.000,0.047,1796,3816,3664,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7259,-0.64,-175.2,809.6,-11.0,720,7262,0.00,1.83,0.00,0.000,6,0.000,0.024,1797,2571,3663,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7572,-0.63,-175.2,845.6,-11.2,736,7578,0.00,1.98,0.00,0.000,4,0.000,0.047,1788,3817,3662,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7614,-0.63,-175.2,850.2,-11.2,738,7617,0.00,1.83,0.00,0.000,6,0.000,0.025,1788,2567,3661,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7931,-0.62,-175.2,886.8,-11.5,754,7937,0.00,2.00,0.00,0.000,4,0.000,0.046,1778,3817,3660,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7972,-0.61,-175.2,891.5,-11.6,756,7978,0.12,1.85,0.00,0.000,6,0.127,0.025,1816,2565,3660,0,0,0,0,0,0,26.00,26.29,28.83
$GC,8293,-0.62,-175.2,918.6,-8.2,772,8298,0.00,1.98,0.00,0.000,4,0.000,0.047,1807,3818,3658,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8320,-0.64,-175.2,920.2,-8.3,773,8324,0.00,1.83,0.00,0.000,6,0.000,0.025,1807,2572,3658,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8626,-0.65,-175.2,947.1,-8.7,788,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2570,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8926,-0.65,-175.2,973.8,-9.1,803,8932,0.00,2.00,0.00,0.000,4,0.000,0.047,1798,3817,3656,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8975,-0.66,-175.2,977.7,-9.5,805,8979,0.00,1.80,0.00,0.000,6,0.000,0.027,1797,2577,3656,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,9100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9100,begin apogee
$GC,9106,-0.20,0.0,991.0,-10.3,811,9266,0.43,0.15,153.15,1.197,6,0.099,0.076,1946,2533,2978,0,0,0,0,0,0,25.73,24.80,23.26
$STATE,9267,end apogee,CONTROL_FINISHED_OK
$STATE,9267,begin climb
$GC,9269,0.60,175.2,999.4,0.0,819,9450,0.68,2.20,170.00,1.183,4,0.044,0.044,2212,3817,2254,0,0,0,0,0,0,25.10,24.69,23.16
$GC,9537,0.50,175.2,975.4,19.2,832,9544,0.20,2.10,0.00,0.000,6,0.181,0.029,2171,2467,2238,0,0,0,0,0,0,25.21,25.64,28.83
$GC,9843,0.45,175.2,929.4,13.3,848,9849,0.00,2.15,0.00,0.000,4,0.000,0.045,2171,3819,2233,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9863,0.39,175.2,926.8,13.3,849,9869,0.15,2.08,0.00,0.000,6,0.171,0.028,2143,2466,2232,0,0,0,0,0,0,25.65,26.06,28.83
$GC,10184,0.37,175.2,892.0,10.3,865,10190,0.00,2.12,0.00,0.000,4,0.000,0.044,2142,3816,2231,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10216,0.34,175.2,890.0,10.2,866,10223,0.12,2.05,0.00,0.000,6,0.164,0.028,2121,2464,2230,0,0,0,0,0,0,25.80,26.13,28.83
$GC,10524,0.34,175.2,859.9,9.5,882,10527,0.00,2.10,0.00,0.000,4,0.000,0.037,2131,1060,2230,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10545,0.34,175.2,857.6,9.7,883,10550,0.00,2.25,0.00,0.000,6,0.000,0.041,2131,2523,2229,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10865,0.32,175.2,823.8,10.6,899,10871,0.00,2.00,0.00,0.000,4,0.000,0.046,2131,3815,2228,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10995,0.30,175.2,808.7,12.6,905,11005,0.12,2.05,0.00,0.000,6,0.161,0.028,2109,2458,2228,0,0,0,0,0,0,25.84,26.17,28.83
$GC,11305,0.33,205.8,781.1,8.1,921,11338,0.00,2.12,23.02,0.977,4,0.000,0.036,2120,1062,2138,0,0,0,0,1,0,28.83,25.87,23.86
$GC,11371,0.39,244.4,776.8,7.8,923,11421,0.00,2.28,36.22,1.109,6,0.000,0.039,2120,2527,1987,0,0,0,0,1,0,28.83,25.88,23.55
$GC,11725,0.44,272.9,747.2,8.2,941,11769,0.00,2.08,38.50,0.982,4,0.000,0.044,2120,3820,1861,0,0,0,0,0,0,28.83,25.47,23.99
$GC,11785,0.49,299.6,742.8,8.2,944,11818,0.12,2.10,27.40,0.995,6,0.076,0.028,2200,2463,1757,0,0,0,0,0,0,25.61,25.63,23.83
$GC,12120,0.45,299.6,691.2,15.9,961,12122,0.15,0.00,0.00,0.000,6,0.162,0.000,2160,2463,1734,0,0,0,0,0,0,25.78,28.83,28.83
$GC,12417,0.45,299.6,657.2,11.0,976,12422,0.00,2.17,0.00,0.000,4,0.000,0.045,2160,3817,1732,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12459,0.45,299.6,652.3,11.5,978,12463,0.00,2.08,0.00,0.000,6,0.000,0.028,2170,2465,1731,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,17690,end climb,SURFACE_DEPTH_REACHED
$STATE,17690,begin surface coast
$FINISH,0.0,1.022669
$STATE,17721,end surface coast,CONTROL_FINISHED_OK
$STATE,17722,begin surface
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$IRIDIUM_FIX,2309.79,12205.05,230112,050544
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,9.9,49.092
$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
$DEVICE_SECS,16.825,166.350,619.625,0.000,0.000,30.961,42.501,242.592,0.000,0.000,13.619,3774.868,10077.305,753.628,3220.448,397.084,0.000,2324.001,0.000,2741.136,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324692
$DATA_FILE_SIZE,107087,1610
$CAP_FILE_SIZE,196321,0
$CFSIZE,260165632,187047936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230112,151037,2319.603,12210.684,33,1.0,33,-3.1