version: 66.10
glider: 169
mission: 5
dive: 509
start: 2 17 112 3 44 45
data:
$ID,169
$MISSION,5
$DIVE,509
$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,380
$T_MISSION,420
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$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,-13548.863
$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
$GPS1,170212,033624,2136.052,12336.504,24,1.3,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.5
$GPS2,170212,034420,2136.024,12336.351,16,1.3,16,-2.8
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,353.9,275253,-16.1,-8.684
$D_GRID,5135
$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,-0.58,-146.0,0.0,0.0,0,92,0.00,0.00,-72.30,0.000,2,0.000,0.000,112,2650,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-146.0,3.6,-6.9,12,116,7.20,0.00,-10.90,0.000,6,0.233,0.000,1808,2650,3577,0,0,0,0,0,0,24.85,28.83,26.56
$GC,421,-0.46,-146.0,115.7,-30.3,75,428,0.15,2.30,0.00,0.000,4,0.187,0.025,1863,1168,3577,0,0,0,0,0,0,25.85,26.09,28.83
$GC,559,-0.50,-146.0,138.7,-9.5,101,565,0.00,2.35,0.00,0.000,6,0.000,0.035,1851,2646,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,869,-0.45,-146.0,190.9,-15.9,162,876,0.00,2.28,0.00,0.000,4,0.000,0.026,1855,1174,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,945,-0.48,-146.0,200.3,-10.1,176,953,0.00,2.33,0.00,0.000,6,0.000,0.035,1845,2642,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1257,-0.44,-146.0,251.3,-17.6,207,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2642,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1567,-0.40,-146.0,298.1,-12.2,238,1577,0.12,2.25,0.00,0.000,4,0.161,0.027,1896,1181,3577,0,0,0,0,0,0,26.15,26.12,28.83
$GC,1631,-0.46,-146.0,302.2,-3.3,244,1640,0.00,2.28,0.00,0.000,6,0.000,0.035,1886,2645,3577,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1942,-0.54,-146.0,313.1,-5.2,275,1951,0.12,1.75,0.00,0.000,4,0.080,0.037,1805,3825,3577,0,0,0,0,0,0,26.48,26.03,28.83
$GC,1974,-0.58,-146.0,315.5,-6.7,278,1978,0.00,1.75,0.00,0.000,6,0.000,0.021,1805,2577,3577,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2286,-0.52,-146.0,377.2,-21.8,309,2290,0.12,2.10,0.00,0.000,4,0.150,0.025,1855,1176,3577,0,0,0,0,0,0,26.20,26.13,28.83
$GC,2360,-0.56,-146.0,387.5,-11.0,316,2367,0.00,2.35,0.00,0.000,6,0.000,0.035,1846,2657,3577,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2669,-0.55,-146.0,419.0,-8.1,347,2678,0.00,2.25,0.00,0.000,4,0.000,0.025,1846,1174,3576,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2694,-0.55,-146.0,420.9,-8.2,349,2701,0.00,2.33,0.00,0.000,6,0.000,0.035,1837,2649,3576,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3001,-0.54,-146.0,452.0,-11.8,380,3010,0.00,2.25,0.00,0.000,4,0.000,0.025,1837,1169,3575,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3063,-0.58,-146.0,458.7,-9.5,386,3073,0.00,2.30,0.00,0.000,6,0.000,0.035,1826,2638,3575,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3373,-0.56,-146.0,492.0,-9.1,417,3377,0.00,1.80,0.00,0.000,4,0.000,0.043,1818,3818,3573,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3388,-0.55,-146.0,493.1,-9.4,418,3395,0.00,1.77,0.00,0.000,6,0.000,0.022,1818,2567,3573,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3695,-0.53,-146.0,532.3,-13.4,449,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2567,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.52,-146.0,564.8,-8.2,479,4006,0.00,2.08,0.00,0.000,4,0.000,0.027,1818,1178,3571,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4030,-0.52,-146.0,567.6,-8.3,482,4040,0.08,2.30,0.00,0.000,6,0.103,0.037,1844,2646,3570,0,0,0,0,0,0,25.82,26.01,28.83
$GC,4339,-0.53,-146.0,587.7,-8.4,513,4348,0.00,2.25,0.00,0.000,4,0.000,0.026,1844,1177,3568,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4372,-0.56,-146.0,590.4,-8.4,516,4381,0.00,2.33,0.00,0.000,6,0.000,0.036,1835,2647,3569,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4681,-0.57,-146.0,623.1,-11.0,537,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2647,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4983,-0.58,-146.0,646.3,-5.9,552,4988,0.00,2.28,0.00,0.000,4,0.000,0.028,1835,1174,3564,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5043,-0.61,-146.0,649.2,-5.0,555,5049,0.00,2.33,0.00,0.000,6,0.000,0.037,1826,2636,3564,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5362,-0.61,-146.0,673.7,-8.6,571,5367,0.00,2.25,0.00,0.000,4,0.000,0.029,1825,1181,3562,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5403,-0.63,-146.0,677.3,-8.9,573,5408,0.00,2.33,0.00,0.000,6,0.000,0.039,1825,2634,3561,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5722,-0.63,-146.0,706.0,-8.0,589,5727,0.00,2.22,0.00,0.000,4,0.000,0.028,1825,1178,3559,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5744,-0.64,-146.0,707.4,-7.8,590,5749,0.00,2.38,0.00,0.000,6,0.000,0.038,1817,2649,3559,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6058,-0.64,-146.0,728.4,-6.4,606,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2648,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6356,-0.64,-146.0,754.7,-10.1,621,6362,0.00,2.30,0.00,0.000,4,0.000,0.029,1817,1175,3555,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6390,-0.64,-146.0,756.8,-10.1,622,6398,0.00,2.38,0.00,0.000,6,0.000,0.039,1813,2645,3554,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6696,-0.64,-146.0,788.0,-9.3,638,6700,0.00,1.77,0.00,0.000,4,0.000,0.046,1804,3816,3552,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6758,-0.65,-146.0,793.6,-9.3,641,6761,0.00,1.77,0.00,0.000,6,0.000,0.024,1804,2579,3552,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7081,-0.65,-146.0,827.3,-10.8,657,7087,0.00,2.12,0.00,0.000,4,0.000,0.030,1804,1176,3550,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7128,-0.65,-146.0,831.7,-11.1,659,7132,0.00,2.38,0.00,0.000,6,0.000,0.039,1799,2646,3550,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7435,-0.64,-146.0,868.5,-11.9,674,7441,0.00,2.30,0.00,0.000,4,0.000,0.029,1799,1176,3549,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7478,-0.64,-146.0,873.2,-11.7,676,7483,0.00,2.38,0.00,0.000,6,0.000,0.040,1799,2644,3549,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7790,-0.64,-146.0,908.6,-10.5,692,7794,0.00,1.77,0.00,0.000,4,0.000,0.047,1791,3813,3547,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7831,-0.64,-146.0,912.9,-10.4,694,7835,0.00,1.77,0.00,0.000,6,0.000,0.024,1791,2583,3546,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8154,-0.63,-146.0,944.1,-8.9,710,8159,0.00,2.12,0.00,0.000,4,0.000,0.031,1790,1189,3545,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8180,-0.63,-146.0,945.9,-8.7,711,8185,0.00,2.35,0.00,0.000,6,0.000,0.041,1780,2643,3545,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8490,-0.61,-146.0,974.0,-8.9,726,8492,0.12,0.00,0.00,0.000,6,0.150,0.000,1816,2642,3542,0,0,0,0,0,0,26.17,28.83,28.83
$STATE,8765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8765,begin apogee
$GC,8771,-0.20,0.0,990.9,-6.1,740,8911,0.35,0.12,127.62,1.205,6,0.098,0.054,1941,2529,2971,0,0,0,0,0,0,25.70,24.79,23.30
$STATE,8912,end apogee,CONTROL_FINISHED_OK
$STATE,8912,begin climb
$GC,8915,0.58,146.0,994.9,0.0,747,9069,0.68,2.17,142.75,1.192,4,0.045,0.045,2206,3810,2371,0,0,0,0,0,0,25.30,25.03,23.32
$GC,9114,0.48,146.0,982.0,14.6,757,9121,0.20,2.10,0.00,0.000,6,0.190,0.026,2167,2453,2362,0,0,0,0,0,0,25.15,25.66,28.83
$GC,9434,0.43,146.0,947.1,9.1,773,9438,0.00,2.20,0.00,0.000,4,0.000,0.044,2166,3812,2356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9495,0.36,146.0,940.5,10.3,776,9502,0.17,2.05,0.00,0.000,6,0.172,0.028,2131,2454,2355,0,0,0,0,0,0,25.52,26.05,28.83
$GC,9818,0.36,161.0,916.0,8.1,792,9835,0.00,0.00,13.40,1.067,6,0.000,0.000,2132,2453,2317,0,0,0,0,0,0,28.83,28.83,24.05
$GC,10136,0.35,161.0,886.4,9.8,808,10141,0.00,2.22,0.00,0.000,4,0.000,0.046,2131,3812,2303,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10206,0.32,161.0,879.4,11.2,811,10215,0.00,2.00,0.00,0.000,6,0.000,0.029,2142,2469,2301,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10516,0.30,161.0,845.4,10.1,827,10522,0.12,2.17,0.00,0.000,4,0.178,0.033,2116,1039,2302,0,0,0,0,0,0,25.94,25.94,28.83
$GC,10569,0.30,161.0,842.1,9.4,829,10576,0.00,2.35,0.00,0.000,6,0.000,0.039,2116,2526,2300,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10877,0.30,161.0,813.7,9.2,845,10882,0.00,2.25,0.00,0.000,4,0.000,0.034,2127,1062,2299,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10916,0.30,161.0,810.1,9.3,847,10921,0.00,2.30,0.00,0.000,6,0.000,0.038,2127,2525,2298,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11237,0.29,161.0,778.7,9.5,863,11243,0.00,2.03,0.00,0.000,4,0.000,0.046,2127,3813,2299,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11316,0.26,161.0,770.0,11.0,867,11322,0.12,2.05,0.00,0.000,6,0.146,0.028,2098,2458,2298,0,0,0,0,0,0,25.53,26.06,28.83
$GC,11639,0.41,259.3,751.8,4.8,883,11740,0.12,0.00,98.43,1.020,6,0.080,0.000,2171,2456,1920,0,0,0,0,0,0,26.41,28.83,23.58
$GC,12038,0.39,259.3,705.4,12.3,903,12044,0.12,2.17,0.00,0.000,4,0.154,0.045,2132,3805,1893,0,0,0,0,0,0,25.85,25.75,28.83
$GC,12105,0.39,259.3,699.1,10.9,906,12109,0.00,2.05,0.00,0.000,6,0.000,0.026,2142,2457,1892,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12412,0.41,260.9,673.3,8.6,921,12416,0.00,2.15,0.00,0.000,4,0.000,0.037,2153,1059,1891,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12482,0.44,260.9,667.8,8.8,924,12486,0.00,2.30,0.00,0.000,6,0.000,0.039,2153,2526,1888,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12790,0.44,260.9,630.2,13.0,939,12795,0.00,2.00,0.00,0.000,4,0.000,0.046,2154,3814,1888,0,0,0,0,0,0,28.83,25.80,28.83
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$STATE,19021,end climb,SURFACE_DEPTH_REACHED
$STATE,19021,begin surface coast
$FINISH,0.8,1.023314
$STATE,19053,end surface coast,CONTROL_FINISHED_OK
$STATE,19053,begin surface
$SM_CCo,19067,18.73,0.121,0,0,1244,425.10
$SM_GC,1.24,5.30,0.35,18.73,0.025,0.050,0.121,124,2652,1244,-5.80,-0.48,425.10,0,0,0,0,0,0,26.03,26.22,25.31
$IRIDIUM_FIX,2131.85,12338.19,160212,222226
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,103.543
$10V_AH,9.9,62.949
$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,15.875,189.825,480.825,18.725,0.000,28.118,44.414,246.912,0.000,0.000,17.594,4382.953,10521.928,732.325,3444.995,457.078,0.000,2346.494,0.000,2930.092,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,53.550,1204.875,120.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.695,2206.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,117054,1750
$CAP_FILE_SIZE,209765,0
$CFSIZE,260165632,174624768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.303,240.4,1
$GPS,170212,090424,2137.035,12332.757,43,1.0,60,-2.8