version: 66.10
glider: 169
mission: 5
dive: 517
start: 2 18 112 21 39 48
data:
$ID,169
$MISSION,5
$DIVE,517
$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,-13559.41
$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
$GPS1,180212,213006,2152.001,12310.011,31,1.4,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.1
$GPS2,180212,213924,2152.116,12309.907,72,1.1,72,-2.9
$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,321.2,221300,-16.1,-8.684
$D_GRID,5460
$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,-72.25,0.000,2,0.000,0.000,102,2658,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-146.0,3.1,-6.0,12,122,7.15,1.75,-12.27,0.000,4,0.228,0.053,1804,3820,3576,0,0,0,0,0,0,24.85,25.96,26.59
$GC,179,-0.50,-146.0,30.6,-26.0,27,187,0.05,1.80,0.00,0.000,6,0.155,0.022,1844,2594,3575,0,0,0,0,0,0,25.74,26.16,28.83
$GC,492,-0.42,-146.0,104.0,-23.5,88,499,0.00,1.92,0.00,0.000,4,0.000,0.037,1836,3817,3575,0,0,0,0,0,0,28.83,26.00,28.83
$GC,645,-0.42,-146.0,132.7,-13.7,117,653,0.12,1.77,0.00,0.000,6,0.129,0.022,1873,2580,3575,0,0,0,0,0,0,25.98,26.27,28.83
$GC,958,-0.40,-146.0,183.1,-13.9,178,965,0.00,2.12,0.00,0.000,4,0.000,0.026,1875,1175,3575,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1027,-0.45,-146.0,191.0,-9.0,191,1034,0.00,2.30,0.00,0.000,6,0.000,0.034,1866,2647,3575,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1338,-0.42,-146.0,233.6,-13.9,229,1348,0.00,2.28,0.00,0.000,4,0.000,0.026,1866,1165,3576,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1383,-0.42,-146.0,238.8,-12.5,233,1391,0.00,2.35,0.00,0.000,6,0.000,0.036,1857,2647,3575,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1691,-0.40,-146.0,280.2,-12.1,264,1700,0.00,2.25,0.00,0.000,4,0.000,0.026,1857,1179,3575,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1743,-0.41,-146.0,285.8,-10.8,269,1753,0.00,2.33,0.00,0.000,6,0.000,0.035,1849,2646,3575,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2053,-0.39,-146.0,333.5,-15.2,300,2055,0.12,0.00,0.00,0.000,6,0.159,0.000,1884,2646,3575,0,0,0,0,0,0,26.20,28.83,28.83
$GC,2354,-0.41,-146.0,359.4,-7.7,330,2363,0.00,2.25,0.00,0.000,4,0.000,0.026,1884,1178,3575,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2420,-0.47,-146.0,364.0,-6.8,336,2426,0.00,2.33,0.00,0.000,6,0.000,0.034,1875,2648,3575,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2726,-0.49,-146.0,393.6,-9.6,367,2729,0.00,1.77,0.00,0.000,4,0.000,0.043,1866,3822,3574,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2759,-0.51,-146.0,396.7,-9.9,370,2762,0.00,1.80,0.00,0.000,6,0.000,0.021,1866,2576,3574,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3070,-0.52,-146.0,427.1,-9.3,401,3080,0.00,2.12,0.00,0.000,4,0.000,0.026,1866,1165,3574,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3114,-0.56,-146.0,430.7,-8.9,405,3124,0.00,2.30,0.00,0.000,6,0.000,0.036,1858,2635,3574,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3424,-0.56,-146.0,460.4,-9.2,436,3433,0.00,2.22,0.00,0.000,4,0.000,0.026,1858,1182,3573,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3459,-0.59,-146.0,463.5,-8.9,439,3466,0.00,2.33,0.00,0.000,6,0.000,0.036,1851,2646,3572,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3766,-0.59,-146.0,493.8,-10.3,470,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2646,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-0.60,-146.0,520.9,-7.4,500,4080,0.10,2.28,0.00,0.000,4,0.089,0.025,1780,1179,3570,0,0,0,0,0,0,26.52,26.11,28.83
$GC,4199,-0.58,-146.0,535.8,-12.4,512,4207,0.17,2.35,0.00,0.000,6,0.130,0.037,1820,2647,3570,0,0,0,0,0,0,25.70,26.00,28.83
$GC,4505,-0.56,-146.0,573.0,-12.6,543,4514,0.00,2.30,0.00,0.000,4,0.000,0.027,1821,1166,3568,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4539,-0.56,-146.0,576.9,-12.1,546,4546,0.00,2.38,0.00,0.000,6,0.000,0.037,1812,2645,3568,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4860,-0.54,-146.0,612.5,-9.9,572,4865,0.00,2.28,0.00,0.000,4,0.000,0.028,1812,1180,3567,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4918,-0.54,-146.0,617.7,-8.9,575,4923,0.00,2.38,0.00,0.000,6,0.000,0.037,1805,2650,3566,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5239,-0.52,-146.0,655.3,-13.6,591,5245,0.12,2.28,0.00,0.000,4,0.151,0.025,1847,1174,3564,0,0,0,0,0,0,26.16,26.07,28.83
$GC,5311,-0.53,-146.0,661.3,-10.9,594,5318,0.00,2.38,0.00,0.000,6,0.000,0.037,1838,2651,3564,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5619,-0.54,-146.0,686.3,-7.1,610,5625,0.00,2.30,0.00,0.000,4,0.000,0.028,1838,1171,3562,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5662,-0.56,-146.0,688.5,-6.3,612,5667,0.00,2.35,0.00,0.000,6,0.000,0.038,1831,2637,3562,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5980,-0.56,-146.0,710.6,-8.9,628,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2637,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6281,-0.56,-146.0,742.9,-10.9,643,6286,0.00,2.25,0.00,0.000,4,0.000,0.028,1831,1182,3558,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6308,-0.57,-146.0,745.0,-10.9,644,6312,0.00,2.38,0.00,0.000,6,0.000,0.038,1825,2649,3558,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6616,-0.57,-146.0,777.4,-9.8,659,6622,0.00,2.30,0.00,0.000,4,0.000,0.028,1825,1176,3555,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6639,-0.58,-146.0,779.4,-9.7,660,6645,0.00,2.35,0.00,0.000,6,0.000,0.039,1817,2644,3555,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6954,-0.58,-146.0,809.3,-9.5,676,6960,0.00,2.30,0.00,0.000,4,0.000,0.029,1817,1179,3553,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6982,-0.58,-146.0,811.2,-9.5,677,6986,0.00,2.38,0.00,0.000,6,0.000,0.038,1812,2648,3553,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7291,-0.58,-146.0,843.7,-10.5,692,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2647,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7589,-0.58,-146.0,872.9,-9.7,707,7595,0.00,2.28,0.00,0.000,4,0.000,0.028,1813,1181,3549,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7651,-0.60,-146.0,878.3,-9.2,710,7657,0.00,2.35,0.00,0.000,6,0.000,0.039,1812,2636,3549,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7972,-0.60,-146.0,908.4,-9.6,726,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2636,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,-0.60,-146.0,934.6,-8.5,741,8277,0.00,2.30,0.00,0.000,4,0.000,0.029,1812,1172,3546,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8316,-0.61,-146.0,937.9,-8.4,743,8321,0.00,2.40,0.00,0.000,6,0.000,0.041,1812,2645,3546,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8632,-0.61,-146.0,967.0,-9.5,759,8638,0.00,2.30,0.00,0.000,4,0.000,0.030,1812,1181,3544,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8684,-0.63,-146.0,970.6,-9.4,761,8692,0.00,2.38,0.00,0.000,6,0.000,0.040,1812,2643,3544,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,8888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8888,begin apogee
$GC,8895,-0.20,0.0,991.1,-9.3,772,9033,0.38,0.15,128.52,1.196,6,0.099,0.076,1943,2536,2971,0,0,0,0,0,0,25.65,24.84,23.34
$STATE,9034,end apogee,CONTROL_FINISHED_OK
$STATE,9034,begin climb
$GC,9036,0.58,146.0,997.4,0.0,779,9185,0.68,2.42,141.50,1.196,4,0.042,0.035,2228,1054,2374,0,0,0,0,0,0,25.29,25.06,23.37
$GC,9218,0.48,146.0,990.1,9.8,787,9223,0.22,2.38,0.00,0.000,6,0.165,0.038,2169,2525,2363,0,0,0,0,0,0,25.13,25.51,28.83
$GC,9527,0.42,146.0,951.7,12.2,802,9533,0.00,2.25,0.00,0.000,4,0.000,0.033,2180,1060,2356,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9578,0.38,146.0,946.7,12.6,804,9586,0.17,2.30,0.00,0.000,6,0.152,0.037,2133,2526,2354,0,0,0,0,0,0,25.53,25.93,28.83
$GC,9886,0.35,146.0,908.1,12.1,820,9891,0.00,2.05,0.00,0.000,4,0.000,0.044,2133,3814,2353,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9940,0.32,146.0,902.8,12.3,822,9946,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2461,2351,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10246,0.29,146.0,870.2,8.8,838,10252,0.12,2.17,0.00,0.000,4,0.174,0.044,2106,3812,2350,0,0,0,0,0,0,25.96,25.84,28.83
$GC,10268,0.27,146.5,868.5,8.7,839,10272,0.00,2.08,0.00,0.000,6,0.000,0.028,2117,2459,2349,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10582,0.32,190.5,848.5,6.9,855,10629,0.00,2.30,42.28,1.081,4,0.000,0.035,2127,1044,2194,0,0,0,0,0,0,28.83,25.51,23.81
$GC,10665,0.33,196.0,842.0,8.5,859,10669,0.00,2.38,0.00,0.000,6,0.000,0.039,2126,2524,2180,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10974,0.33,196.0,807.4,11.0,874,10979,0.00,2.03,0.00,0.000,4,0.000,0.043,2127,3814,2177,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11045,0.33,196.0,800.1,11.9,877,11053,0.00,2.08,0.00,0.000,6,0.000,0.028,2138,2460,2176,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11353,0.35,211.6,770.2,8.1,893,11376,0.00,0.00,20.42,1.023,6,0.000,0.000,2138,2459,2114,0,0,0,0,0,0,28.83,28.83,24.02
$GC,11672,0.35,211.6,742.0,9.5,909,11678,0.00,2.17,0.00,0.000,4,0.000,0.035,2149,1058,2093,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11695,0.35,211.6,739.9,9.6,910,11699,0.00,2.33,0.00,0.000,6,0.000,0.038,2149,2527,2093,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12016,0.34,211.6,705.8,9.8,926,12022,0.00,2.05,0.00,0.000,4,0.000,0.044,2149,3811,2092,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12114,0.32,211.6,695.1,10.8,931,12121,0.17,2.08,0.00,0.000,6,0.147,0.026,2112,2459,2091,0,0,0,0,0,0,25.58,26.06,28.83
$GC,12437,0.39,248.4,674.5,7.2,947,12481,0.00,2.28,36.42,0.955,4,0.000,0.034,2122,1050,1956,0,0,0,0,0,0,28.83,25.64,24.04
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$STATE,17449,end climb,SURFACE_DEPTH_REACHED
$STATE,17449,begin surface coast
$FINISH,0.4,1.023794
$STATE,17465,end surface coast,CONTROL_FINISHED_OK
$STATE,17465,begin surface
$SM_CCo,17540,0.00,0.000,0,0,1214,432.95
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$IRIDIUM_FIX,2141.13,12314.37,180212,161609
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,9.9,63.928
$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
$DEVICE_SECS,16.475,185.175,536.175,0.000,0.000,32.648,50.672,260.712,0.000,0.000,72.947,3933.746,9730.742,714.803,3258.121,426.698,0.000,2238.215,0.000,2691.967,0.000,0.543,0.000
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$SENSOR_SECS,1060.149,1990.288,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330440
$DATA_FILE_SIZE,103668,1563
$CAP_FILE_SIZE,194711,0
$CFSIZE,260165632,173846528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,267.4,1
$GPS,190212,023336,2153.837,12306.732,59,1.6,59,-2.9