version: 66.10
glider: 169
mission: 5
dive: 405
start: 1 26 112 0 14 13
data:
$ID,169
$MISSION,5
$DIVE,405
$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,-11388.693
$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
$GPS1,260112,000200,2323.882,12244.466,39,1.2,44,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.3
$GPS2,260112,001352,2323.864,12244.521,12,2.1,31,-3.2
$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,71.1,128833,-15.4,-9.167
$D_GRID,4103
$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,15,begin dive
$GC,17,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.70,0.000,2,0.000,0.000,116,2694,2866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.60,-175.2,3.1,-5.1,14,133,7.15,2.40,-17.30,0.000,4,0.233,0.044,1819,1179,3696,0,0,0,0,0,0,24.86,26.03,26.57
$GC,197,-0.51,-175.2,36.2,-28.7,31,204,0.12,2.30,0.00,0.000,6,0.163,0.039,1840,2656,3696,0,0,0,0,0,0,25.77,26.03,28.83
$GC,510,-0.43,-175.2,126.6,-23.7,92,516,0.00,2.20,0.00,0.000,4,0.000,0.025,1850,1173,3696,0,0,0,0,0,0,28.83,26.25,28.83
$GC,610,-0.46,-175.2,141.8,-10.6,111,616,0.00,2.28,0.00,0.000,6,0.000,0.038,1839,2653,3696,0,0,0,0,0,0,28.83,26.16,28.83
$GC,921,-0.41,-175.2,203.8,-18.7,170,923,0.12,0.00,0.00,0.000,6,0.160,0.000,1874,2653,3696,0,0,0,0,0,0,26.25,28.83,28.83
$GC,1222,-0.40,-175.2,244.4,-12.8,200,1231,0.00,2.17,0.00,0.000,4,0.000,0.026,1874,1177,3696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1253,-0.40,-175.2,248.3,-12.3,203,1262,0.00,2.25,0.00,0.000,6,0.000,0.038,1865,2655,3696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1564,-0.38,-175.2,285.0,-12.2,234,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2654,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-0.38,-175.2,317.4,-10.4,264,1868,0.00,1.77,0.00,0.000,4,0.000,0.044,1856,3819,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1897,-0.39,-175.2,320.7,-10.3,267,1906,0.00,1.80,0.00,0.000,6,0.000,0.022,1856,2562,3695,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2206,-0.39,-175.2,356.2,-11.5,298,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2562,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2510,-0.39,-175.2,386.4,-10.0,328,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2563,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.41,-175.2,414.9,-8.3,359,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2563,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3129,-0.44,-175.2,439.7,-7.1,390,3133,0.00,2.05,0.00,0.000,4,0.000,0.027,1856,1170,3689,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3153,-0.46,-175.2,441.4,-6.8,392,3160,0.00,2.28,0.00,0.000,6,0.000,0.037,1851,2653,3689,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3461,-0.48,-175.2,465.5,-8.6,423,3470,0.00,2.17,0.00,0.000,4,0.000,0.027,1851,1178,3687,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3496,-0.51,-175.2,468.3,-9.0,426,3503,0.00,2.28,0.00,0.000,6,0.000,0.037,1843,2654,3687,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3803,-0.53,-175.2,496.3,-8.4,457,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2654,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4106,-0.55,-175.2,521.7,-8.7,487,4115,0.00,2.20,0.00,0.000,4,0.000,0.027,1843,1169,3683,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4133,-0.57,-175.2,524.0,-8.9,489,4140,0.00,2.30,0.00,0.000,6,0.000,0.038,1835,2657,3683,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4437,-0.58,-175.2,553.3,-9.7,520,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2657,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-0.59,-175.2,580.1,-8.4,550,4744,0.00,2.22,0.00,0.000,4,0.000,0.032,1835,1187,3678,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4783,-0.62,-175.2,583.6,-8.0,554,4791,0.00,2.25,0.00,0.000,6,0.000,0.040,1826,2656,3678,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5095,-0.63,-175.2,608.0,-8.0,580,5099,0.00,2.20,0.00,0.000,4,0.000,0.028,1826,1177,3676,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5139,-0.65,-175.2,611.5,-8.0,582,5144,0.00,2.28,0.00,0.000,6,0.000,0.040,1821,2650,3676,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5457,-0.65,-175.2,640.5,-9.6,598,5461,0.00,1.83,0.00,0.000,4,0.000,0.047,1812,3811,3673,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5479,-0.65,-175.2,642.7,-9.6,599,5482,0.00,1.83,0.00,0.000,6,0.000,0.024,1812,2568,3673,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5799,-0.65,-175.2,672.8,-9.3,615,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2562,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6101,-0.65,-175.2,700.3,-9.5,630,6106,0.00,1.98,0.00,0.000,4,0.000,0.045,1802,3811,3668,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6132,-0.65,-175.2,702.3,-9.6,631,6139,0.00,1.80,0.00,0.000,6,0.000,0.024,1802,2566,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6441,-0.65,-175.2,734.9,-10.3,647,6446,0.00,2.05,0.00,0.000,4,0.000,0.030,1802,1178,3666,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6464,-0.65,-175.2,736.9,-10.1,648,6468,0.00,2.28,0.00,0.000,6,0.000,0.040,1793,2651,3666,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6776,-0.64,-175.2,772.1,-11.4,664,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2651,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7076,-0.63,-175.2,806.0,-11.3,679,7082,0.00,2.22,0.00,0.000,4,0.000,0.030,1793,1180,3662,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7116,-0.63,-175.2,810.3,-10.9,681,7122,0.00,2.30,0.00,0.000,6,0.000,0.041,1783,2652,3661,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7436,-0.61,-175.2,845.6,-10.6,697,7443,0.10,2.20,0.00,0.000,4,0.163,0.027,1810,1180,3660,0,0,0,0,0,0,26.32,26.13,28.83
$GC,7469,-0.59,-175.2,847.5,-10.2,698,7475,0.00,2.30,0.00,0.000,6,0.000,0.041,1801,2654,3659,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7777,-0.59,-175.2,875.4,-9.1,714,7782,0.00,2.20,0.00,0.000,4,0.000,0.028,1800,1181,3658,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7796,-0.59,-175.2,877.2,-9.1,715,7801,0.00,2.30,0.00,0.000,6,0.000,0.041,1791,2654,3658,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8117,-0.58,-175.2,909.6,-10.5,731,8119,0.10,0.00,0.00,0.000,6,0.158,0.000,1819,2653,3656,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8416,-0.60,-175.2,934.3,-8.2,746,8422,0.00,2.20,0.00,0.000,4,0.000,0.028,1819,1181,3655,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8449,-0.62,-175.2,935.9,-8.2,747,8456,0.00,2.30,0.00,0.000,6,0.000,0.041,1813,2652,3655,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8760,-0.63,-175.2,964.0,-8.9,763,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2652,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9056,-0.65,-175.2,989.4,-8.3,778,9062,0.00,2.20,0.00,0.000,4,0.000,0.028,1813,1181,3652,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,9074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9074,begin apogee
$GC,9082,-0.20,0.0,991.0,-8.4,779,9242,0.35,0.08,152.93,1.187,6,0.092,0.098,1941,2458,2978,0,0,0,0,0,0,25.91,24.75,23.30
$STATE,9243,end apogee,CONTROL_FINISHED_OK
$STATE,9243,begin climb
$GC,9245,0.60,175.2,998.8,0.0,787,9423,0.70,2.28,167.85,1.183,4,0.050,0.046,2209,3810,2257,0,0,0,0,0,0,25.13,24.84,23.32
$GC,9474,0.50,175.2,980.1,17.7,799,9478,0.17,2.10,0.00,0.000,6,0.184,0.029,2176,2465,2240,0,0,0,0,0,0,25.18,25.56,28.83
$GC,9786,0.45,175.2,933.7,14.5,815,9790,0.00,2.15,0.00,0.000,4,0.000,0.045,2176,3819,2234,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9836,0.39,175.2,926.5,15.8,817,9840,0.17,2.08,0.00,0.000,6,0.164,0.028,2139,2455,2233,0,0,0,0,0,0,25.65,26.09,28.83
$GC,10143,0.37,175.2,889.4,11.0,832,10148,0.00,2.15,0.00,0.000,4,0.000,0.046,2139,3813,2232,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10207,0.34,175.2,882.0,12.1,835,10211,0.00,2.03,0.00,0.000,6,0.000,0.028,2149,2464,2231,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10518,0.31,175.2,846.2,11.3,851,10520,0.15,0.00,0.00,0.000,6,0.158,0.000,2109,2461,2230,0,0,0,0,0,0,26.01,28.83,28.83
$GC,10820,0.33,187.5,819.5,8.7,866,10838,0.00,2.25,8.70,0.970,4,0.000,0.044,2109,3819,2207,0,0,0,0,0,0,28.83,25.98,24.04
$GC,10854,0.34,195.0,817.7,8.9,867,10862,0.00,2.08,3.28,0.657,6,0.000,0.028,2119,2454,2183,0,0,0,0,0,0,28.83,26.13,23.77
$GC,11162,0.34,195.0,787.0,9.5,883,11168,0.00,2.08,0.00,0.000,4,0.000,0.036,2129,1057,2187,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11190,0.34,195.0,785.0,9.5,884,11194,0.00,2.25,0.00,0.000,6,0.000,0.041,2130,2525,2187,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11496,0.33,195.0,754.2,9.8,899,11502,0.00,2.03,0.00,0.000,4,0.000,0.046,2130,3816,2187,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11559,0.31,195.0,747.5,10.7,902,11563,0.00,2.05,0.00,0.000,6,0.000,0.028,2140,2464,2187,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11871,0.30,195.0,716.8,9.5,918,11873,0.12,0.00,0.00,0.000,6,0.161,0.000,2107,2462,2187,0,0,0,0,0,0,26.14,28.83,28.83
$GC,12173,0.38,247.1,695.3,7.3,933,12236,0.00,0.00,61.22,0.952,6,0.000,0.000,2107,2462,1970,0,0,0,0,0,0,28.83,28.83,23.89
$GC,12534,0.50,319.1,671.1,6.6,951,12612,0.15,2.28,69.68,0.949,4,0.066,0.044,2207,3810,1666,0,0,0,0,0,0,26.22,25.26,23.84
$GC,12644,0.46,319.1,655.7,16.3,956,12649,0.20,2.10,0.00,0.000,6,0.141,0.029,2161,2471,1655,0,0,0,0,0,0,25.26,25.58,28.83
$GC,12950,0.46,319.1,616.2,12.5,971,12955,0.00,2.15,0.00,0.000,4,0.000,0.037,2171,1053,1649,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12990,0.47,319.1,611.4,12.3,973,12996,0.00,2.28,0.00,0.000,6,0.000,0.039,2172,2522,1648,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,17663,end climb,SURFACE_DEPTH_REACHED
$STATE,17663,begin surface coast
$FINISH,0.1,1.016812
$STATE,17674,end surface coast,CONTROL_FINISHED_OK
$STATE,17677,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,84.751
$10V_AH,9.9,50.525
$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
$DEVICE_SECS,16.400,143.025,604.825,0.000,0.000,62.471,86.435,311.408,0.000,0.000,35.523,3660.543,10457.691,707.675,3198.257,408.566,0.000,2149.766,0.000,2555.879,0.000,0.544,0.000
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$SENSOR_SECS,1058.122,2042.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,103653,1557
$CAP_FILE_SIZE,186538,0
$CFSIZE,260165632,185872384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260112,051107,2324.758,12247.825,36,1.4,36,-3.2