version: 66.10
glider: 169
mission: 5
dive: 409
start: 1 26 112 21 5 59
data:
$ID,169
$MISSION,5
$DIVE,409
$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,-11393.728
$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
$GPS1,260112,205737,2326.419,12258.465,25,1.2,25,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.0
$GPS2,260112,210538,2326.484,12258.668,14,1.2,14,-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,68.7,104899,-15.4,-9.167
$D_GRID,3472
$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,-175.2,0.0,0.0,0,92,0.00,0.00,-72.65,0.000,2,0.000,0.000,116,2669,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.60,-175.2,3.1,-5.2,13,125,7.20,1.83,-14.88,0.000,4,0.236,0.055,1799,3819,3695,0,0,0,0,0,0,24.85,26.00,26.55
$GC,183,-0.50,-175.2,38.2,-32.9,29,190,0.15,1.83,0.00,0.000,6,0.156,0.022,1847,2574,3695,0,0,0,0,0,0,25.75,26.18,28.83
$GC,496,-0.40,-175.2,126.7,-27.2,90,503,0.12,2.08,0.00,0.000,4,0.175,0.023,1894,1161,3695,0,0,0,0,0,0,26.06,26.24,28.83
$GC,624,-0.45,-175.2,139.5,-6.4,114,631,0.00,2.30,0.00,0.000,6,0.000,0.035,1883,2661,3695,0,0,0,0,0,0,28.83,26.16,28.83
$GC,936,-0.43,-175.2,181.0,-12.9,175,943,0.00,1.77,0.00,0.000,4,0.000,0.043,1874,3819,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1001,-0.47,-175.2,187.9,-8.3,187,1007,0.00,1.80,0.00,0.000,6,0.000,0.021,1874,2562,3695,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1316,-0.46,-175.2,227.8,-11.6,228,1324,0.00,2.03,0.00,0.000,4,0.000,0.025,1874,1168,3695,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1349,-0.47,-175.2,231.4,-11.4,231,1356,0.00,2.28,0.00,0.000,6,0.000,0.035,1865,2655,3695,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1657,-0.46,-175.2,270.8,-13.6,262,1661,0.00,2.20,0.00,0.000,4,0.000,0.027,1865,1176,3695,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1702,-0.48,-175.2,275.5,-11.6,266,1708,0.00,2.28,0.00,0.000,6,0.000,0.036,1860,2656,3695,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2008,-0.48,-175.2,310.6,-11.3,297,2012,0.00,2.20,0.00,0.000,4,0.000,0.026,1860,1180,3695,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2029,-0.48,-175.2,313.1,-11.3,299,2038,0.00,2.28,0.00,0.000,6,0.000,0.036,1851,2653,3695,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2340,-0.47,-175.2,350.0,-12.2,330,2349,0.00,2.17,0.00,0.000,4,0.000,0.026,1851,1171,3695,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2385,-0.49,-175.2,354.3,-10.3,334,2391,0.00,2.28,0.00,0.000,6,0.000,0.037,1842,2653,3695,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2692,-0.48,-175.2,391.9,-12.3,365,2696,0.00,1.77,0.00,0.000,4,0.000,0.042,1834,3826,3694,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2715,-0.48,-175.2,394.3,-11.7,367,2723,0.00,1.83,0.00,0.000,6,0.000,0.022,1834,2570,3694,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3023,-0.47,-175.2,428.2,-11.0,398,3032,0.00,2.05,0.00,0.000,4,0.000,0.027,1834,1174,3693,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3080,-0.49,-175.2,433.6,-10.1,403,3086,0.00,2.28,0.00,0.000,6,0.000,0.037,1825,2653,3693,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3386,-0.48,-175.2,467.6,-11.3,434,3387,0.10,0.00,0.00,0.000,6,0.170,0.000,1852,2653,3690,0,0,0,0,0,0,26.34,28.83,28.83
$GC,3686,-0.49,-175.2,494.3,-8.3,464,3695,0.00,2.17,0.00,0.000,4,0.000,0.030,1852,1174,3689,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3721,-0.53,-175.2,496.8,-8.1,467,3728,0.00,2.28,0.00,0.000,6,0.000,0.038,1843,2651,3689,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4028,-0.54,-175.2,526.4,-9.9,498,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2650,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.56,-175.2,553.2,-8.6,528,4341,0.00,2.17,0.00,0.000,4,0.000,0.028,1843,1167,3685,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4404,-0.60,-175.2,559.4,-7.7,535,4413,0.00,2.28,0.00,0.000,6,0.000,0.035,1833,2652,3684,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4713,-0.61,-175.2,590.3,-10.3,566,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2652,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5015,-0.63,-175.2,620.6,-9.9,586,5020,0.00,2.15,0.00,0.000,4,0.000,0.028,1834,1182,3679,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5056,-0.65,-175.2,624.5,-9.9,588,5060,0.00,2.28,0.00,0.000,6,0.000,0.038,1825,2655,3680,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5370,-0.66,-175.2,654.6,-9.1,604,5376,0.00,2.17,0.00,0.000,4,0.000,0.029,1825,1174,3677,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5402,-0.67,-175.2,656.3,-8.9,605,5409,0.00,2.30,0.00,0.000,6,0.000,0.040,1816,2653,3677,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5710,-0.67,-175.2,684.5,-8.5,621,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2653,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6009,-0.67,-175.2,709.2,-8.0,636,6015,0.00,2.20,0.00,0.000,4,0.000,0.028,1816,1171,3673,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6053,-0.68,-175.2,712.2,-7.9,638,6059,0.00,2.30,0.00,0.000,6,0.000,0.040,1813,2650,3673,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6369,-0.68,-175.2,739.2,-9.0,654,6372,0.00,2.20,0.00,0.000,4,0.000,0.028,1813,1179,3671,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6390,-0.68,-175.2,741.2,-9.0,655,6396,0.00,2.30,0.00,0.000,6,0.000,0.039,1803,2650,3671,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6710,-0.68,-175.2,772.2,-9.8,671,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2650,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7011,-0.68,-175.2,803.0,-10.5,686,7016,0.00,2.17,0.00,0.000,4,0.000,0.028,1803,1179,3666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7058,-0.68,-175.2,807.1,-10.3,688,7062,0.00,2.30,0.00,0.000,6,0.000,0.040,1794,2651,3666,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7371,-0.68,-175.2,843.2,-11.1,704,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2651,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7670,-0.67,-175.2,874.8,-10.2,719,7676,0.00,2.22,0.00,0.000,4,0.000,0.028,1795,1176,3662,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7703,-0.67,-175.2,877.0,-10.2,720,7710,0.00,2.30,0.00,0.000,6,0.000,0.040,1784,2650,3662,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8013,-0.65,-175.2,913.2,-11.8,736,8018,0.00,2.20,0.00,0.000,4,0.000,0.028,1784,1182,3661,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8051,-0.64,-175.2,917.8,-11.4,738,8057,0.00,2.28,0.00,0.000,6,0.000,0.040,1773,2650,3660,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8374,-0.62,-175.2,956.5,-11.9,754,8376,0.12,0.00,0.00,0.000,6,0.150,0.000,1809,2650,3659,0,0,0,0,0,0,26.22,28.83,28.83
$GC,8673,-0.63,-175.2,982.1,-8.5,769,8678,0.00,2.20,0.00,0.000,4,0.000,0.029,1809,1181,3657,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8732,-0.65,-175.2,987.0,-8.3,772,8737,0.00,2.30,0.00,0.000,6,0.000,0.040,1799,2651,3657,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,8770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8770,begin apogee
$GC,8777,-0.20,0.0,990.7,-8.4,774,8940,0.40,0.15,154.48,1.183,6,0.102,0.074,1939,2535,2972,0,0,0,0,0,0,25.74,24.89,23.30
$STATE,8941,end apogee,CONTROL_FINISHED_OK
$STATE,8941,begin climb
$GC,8943,0.60,175.2,998.4,0.0,782,9121,0.70,2.42,167.80,1.181,4,0.048,0.039,2221,1059,2255,0,0,0,0,0,0,25.18,24.90,23.36
$GC,9157,0.52,175.2,984.8,14.3,793,9162,0.15,2.35,0.00,0.000,6,0.162,0.041,2182,2528,2239,0,0,0,0,0,0,25.17,25.43,28.83
$GC,9471,0.46,175.2,937.2,14.8,809,9476,0.00,2.00,0.00,0.000,4,0.000,0.045,2182,3813,2234,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9513,0.39,175.2,930.5,16.0,811,9517,0.20,2.03,0.00,0.000,6,0.170,0.029,2139,2464,2232,0,0,0,0,0,0,25.58,26.08,28.83
$GC,9825,0.37,175.2,893.4,11.5,827,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2462,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10126,0.35,175.2,861.5,10.1,842,10132,0.00,2.12,0.00,0.000,4,0.000,0.044,2139,3814,2230,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10165,0.32,175.2,856.9,10.7,844,10171,0.12,2.05,0.00,0.000,6,0.167,0.028,2118,2463,2229,0,0,0,0,0,0,25.83,26.18,28.83
$GC,10486,0.38,217.7,831.4,7.7,860,10530,0.00,0.00,41.62,1.028,6,0.000,0.000,2118,2461,2090,0,0,0,0,0,0,28.83,28.83,23.99
$GC,10827,0.41,234.9,803.5,8.6,877,10846,0.00,0.00,16.75,0.994,6,0.000,0.000,2118,2461,2020,0,0,0,0,0,0,28.83,28.83,24.19
$GC,11148,0.44,252.3,776.0,8.6,893,11173,0.10,2.20,17.55,1.008,4,0.092,0.037,2192,1064,1941,0,0,0,0,0,0,26.31,25.83,24.18
$GC,11188,0.44,252.3,771.3,10.0,895,11193,0.15,2.30,0.00,0.000,6,0.139,0.039,2150,2529,1934,0,0,0,0,0,0,25.60,25.83,28.83
$GC,11502,0.43,252.3,734.0,11.8,911,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2529,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11801,0.43,252.3,699.1,11.8,926,11807,0.00,2.05,0.00,0.000,4,0.000,0.045,2150,3821,1928,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11829,0.42,252.3,696.6,12.0,927,11833,0.00,2.05,0.00,0.000,6,0.000,0.028,2160,2454,1928,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12137,0.41,252.3,659.7,11.2,942,12141,0.00,2.17,0.00,0.000,4,0.000,0.046,2161,3818,1927,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12162,0.39,252.3,656.8,11.6,943,12166,0.12,2.03,0.00,0.000,6,0.158,0.028,2138,2461,1926,0,0,0,0,0,0,25.84,26.17,28.83
$GC,12476,0.40,252.3,626.8,9.2,959,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2459,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12775,0.41,252.3,599.4,9.3,974,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2459,1926,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18059,end climb,SURFACE_DEPTH_REACHED
$STATE,18059,begin surface coast
$FINISH,0.3,1.010621
$STATE,18083,end surface coast,CONTROL_FINISHED_OK
$STATE,18083,begin surface
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$IRIDIUM_FIX,2316.83,12250.60,260112,151531
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,9.9,51.009
$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
$DEVICE_SECS,16.250,156.475,599.075,0.000,0.000,31.485,17.298,286.114,0.000,0.000,15.156,3872.844,10435.824,707.447,3172.585,416.125,0.000,2216.498,0.000,2692.878,0.000,0.543,0.000
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$SENSOR_SECS,1121.937,2114.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,110330,1653
$CAP_FILE_SIZE,194319,0
$CFSIZE,260165632,185458688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270112,020937,2326.758,12301.633,32,1.2,32,-3.2