version: 66.10
glider: 169
mission: 5
dive: 520
start: 2 19 112 13 17 38
data:
$ID,169
$MISSION,5
$DIVE,520
$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,-13563.47
$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
$GPS1,190212,130936,2157.635,12258.346,38,1.3,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.3
$GPS2,190212,131713,2157.659,12258.183,12,1.6,12,-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,355.7,199183,-16.1,-8.684
$D_GRID,1951
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-72.00,0.000,2,0.000,0.000,117,2701,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-146.0,3.2,-6.5,12,122,7.30,1.73,-11.80,0.000,4,0.237,0.051,1801,3820,3576,0,0,0,0,0,0,24.77,25.94,26.54
$GC,139,-0.42,-146.0,18.6,-32.5,19,147,0.22,1.77,0.00,0.000,6,0.163,0.020,1870,2573,3576,0,0,0,0,0,0,25.41,26.17,28.83
$GC,453,-0.36,-146.0,78.1,-14.3,80,460,0.00,2.15,0.00,0.000,4,0.000,0.029,1880,1178,3576,0,0,0,0,0,0,28.83,26.03,28.83
$GC,550,-0.41,-146.0,89.1,-8.2,98,557,0.00,2.38,0.00,0.000,6,0.000,0.037,1869,2651,3576,0,0,0,0,0,0,28.83,25.96,28.83
$GC,861,-0.37,-146.0,139.4,-17.6,159,866,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2650,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1171,-0.35,-146.0,193.4,-15.3,220,1178,0.00,2.28,0.00,0.000,4,0.000,0.025,1872,1176,3576,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1260,-0.40,-146.0,202.7,-8.8,233,1268,0.00,2.35,0.00,0.000,6,0.000,0.036,1862,2648,3576,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1566,-0.38,-146.0,240.7,-12.3,264,1575,0.00,2.30,0.00,0.000,4,0.000,0.027,1862,1165,3576,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1623,-0.39,-146.0,245.5,-8.6,269,1631,0.00,2.38,0.00,0.000,6,0.000,0.036,1852,2651,3576,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1930,-0.37,-146.0,287.5,-16.0,300,1939,0.12,2.25,0.00,0.000,4,0.153,0.024,1904,1180,3576,0,0,0,0,0,0,26.16,26.12,28.83
$GC,1964,-0.38,-146.0,291.8,-13.8,303,1972,0.00,2.30,0.00,0.000,6,0.000,0.035,1895,2648,3576,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2275,-0.42,-146.0,317.8,-5.3,334,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2648,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-0.45,-146.0,331.0,-5.1,365,2595,0.00,2.28,0.00,0.000,4,0.000,0.026,1895,1172,3576,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2640,-0.52,-146.0,334.0,-5.6,370,2649,0.08,2.33,0.00,0.000,6,0.047,0.034,1817,2650,3576,0,0,0,0,0,0,25.96,26.03,28.83
$GC,2948,-0.48,-146.0,380.0,-15.7,401,2958,0.12,1.73,0.00,0.000,4,0.149,0.039,1850,3818,3575,0,0,0,0,0,0,26.17,25.96,28.83
$GC,3011,-0.50,-146.0,387.4,-10.4,407,3014,0.00,1.75,0.00,0.000,6,0.000,0.021,1850,2579,3575,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3322,-0.50,-146.0,418.6,-10.2,438,3331,0.00,2.12,0.00,0.000,4,0.000,0.026,1850,1177,3574,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3387,-0.54,-146.0,424.1,-8.0,444,3394,0.00,2.35,0.00,0.000,6,0.000,0.034,1840,2652,3574,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3694,-0.54,-146.0,455.2,-9.7,475,3697,0.00,2.28,0.00,0.000,4,0.000,0.025,1839,1186,3573,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3756,-0.58,-146.0,460.8,-8.3,481,3766,0.00,2.33,0.00,0.000,6,0.000,0.034,1829,2650,3573,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4065,-0.57,-146.0,494.5,-11.5,512,4069,0.00,1.73,0.00,0.000,4,0.000,0.043,1821,3815,3572,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4097,-0.56,-146.0,497.8,-10.8,515,4100,0.00,1.75,0.00,0.000,6,0.000,0.021,1821,2579,3571,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4409,-0.54,-146.0,536.2,-13.1,546,4418,0.00,2.10,0.00,0.000,4,0.000,0.027,1821,1181,3570,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4471,-0.56,-146.0,543.4,-11.0,552,4480,0.00,2.30,0.00,0.000,6,0.000,0.035,1811,2641,3570,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4781,-0.54,-146.0,583.3,-12.9,583,4784,0.00,2.28,0.00,0.000,4,0.000,0.027,1810,1179,3568,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4842,-0.56,-146.0,590.5,-10.9,589,4852,0.00,2.35,0.00,0.000,6,0.000,0.037,1801,2647,3568,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5154,-0.54,-146.0,627.6,-11.7,609,5160,0.12,2.28,0.00,0.000,4,0.152,0.026,1843,1178,3566,0,0,0,0,0,0,26.14,26.05,28.83
$GC,5205,-0.54,-146.0,631.4,-10.7,611,5213,0.00,2.38,0.00,0.000,6,0.000,0.037,1838,2645,3566,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5515,-0.55,-146.0,657.0,-8.0,627,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2645,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5814,-0.57,-146.0,684.6,-9.5,642,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2645,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.59,-146.0,710.4,-7.8,657,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2645,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,-0.61,-146.0,728.4,-5.5,672,6420,0.00,2.30,0.00,0.000,4,0.000,0.028,1839,1180,3558,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6474,-0.65,-146.0,731.3,-5.1,675,6480,0.08,2.35,0.00,0.000,6,0.046,0.037,1754,2644,3557,0,0,0,0,0,0,25.82,25.88,28.83
$GC,6795,-0.59,-146.0,773.4,-13.6,691,6797,0.20,0.00,0.00,0.000,6,0.138,0.000,1814,2644,3555,0,0,0,0,0,0,25.92,28.83,28.83
$GC,7093,-0.59,-146.0,799.8,-9.1,706,7099,0.00,2.30,0.00,0.000,4,0.000,0.028,1814,1176,3553,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7154,-0.61,-146.0,805.1,-9.1,709,7160,0.00,2.38,0.00,0.000,6,0.000,0.039,1812,2644,3553,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7475,-0.61,-146.0,837.9,-9.9,725,7480,0.00,2.28,0.00,0.000,4,0.000,0.028,1813,1181,3551,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7522,-0.62,-146.0,841.5,-9.6,727,7526,0.00,2.40,0.00,0.000,6,0.000,0.040,1813,2649,3550,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7830,-0.62,-146.0,871.5,-10.3,742,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2648,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8128,-0.62,-146.0,902.0,-9.7,757,8135,0.00,2.33,0.00,0.000,4,0.000,0.028,1812,1180,3547,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8191,-0.64,-146.0,907.3,-8.6,760,8196,0.00,2.38,0.00,0.000,6,0.000,0.040,1812,2634,3547,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8512,-0.64,-146.0,932.3,-8.2,776,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2634,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8812,-0.64,-146.0,959.8,-8.9,791,8817,0.00,2.28,0.00,0.000,4,0.000,0.029,1812,1182,3544,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8858,-0.66,-146.0,963.5,-9.1,793,8863,0.00,2.38,0.00,0.000,6,0.000,0.040,1812,2643,3543,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,9165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9165,begin apogee
$GC,9172,-0.20,0.0,991.6,-9.0,808,9311,0.38,0.12,130.30,1.190,6,0.097,0.056,1944,2531,2974,0,0,0,0,0,0,25.64,24.75,23.30
$STATE,9312,end apogee,CONTROL_FINISHED_OK
$STATE,9312,begin climb
$GC,9314,0.58,146.0,997.5,0.0,815,9465,0.68,0.00,141.30,1.196,6,0.045,0.000,2211,2530,2372,0,0,0,0,0,0,25.22,28.83,23.26
$GC,9766,0.50,146.0,949.2,15.1,838,9772,0.12,2.08,0.00,0.000,4,0.193,0.043,2172,3812,2356,0,0,0,0,0,0,25.73,25.81,28.83
$GC,9855,0.41,146.0,937.4,14.9,842,9864,0.15,2.05,0.00,0.000,6,0.183,0.027,2146,2456,2354,0,0,0,0,0,0,25.51,26.01,28.83
$GC,10166,0.38,146.0,902.1,10.8,858,10171,0.00,2.20,0.00,0.000,4,0.000,0.046,2145,3816,2352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10235,0.34,146.0,894.7,12.0,861,10245,0.12,2.05,0.00,0.000,6,0.173,0.028,2125,2461,2350,0,0,0,0,0,0,25.65,26.05,28.83
$GC,10545,0.33,146.0,864.8,8.8,877,10551,0.00,2.20,0.00,0.000,4,0.000,0.045,2125,3810,2349,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10587,0.30,146.0,860.6,9.6,879,10592,0.00,2.03,0.00,0.000,6,0.000,0.028,2135,2466,2349,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10905,0.28,146.0,828.3,10.3,895,10912,0.12,2.17,0.00,0.000,4,0.174,0.032,2109,1053,2348,0,0,0,0,0,0,25.95,25.90,28.83
$GC,10968,0.30,146.0,823.3,8.9,898,10972,0.00,2.33,0.00,0.000,6,0.000,0.037,2109,2530,2347,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11283,0.32,162.3,797.4,8.0,914,11300,0.00,0.00,13.27,1.019,6,0.000,0.000,2109,2530,2311,0,0,0,0,0,0,28.83,28.83,24.10
$GC,11602,0.37,200.6,773.3,7.2,930,11648,0.00,2.10,41.05,1.020,4,0.000,0.045,2108,3823,2154,0,0,0,0,0,0,28.83,25.46,23.76
$GC,11683,0.42,229.1,767.2,7.5,934,11720,0.00,2.08,29.35,1.007,6,0.000,0.026,2120,2463,2036,0,0,0,0,0,0,28.83,25.74,23.66
$GC,12022,0.48,264.7,741.2,7.3,951,12061,0.12,0.00,34.88,1.009,6,0.076,0.000,2198,2462,1895,0,0,0,0,0,0,26.22,28.83,23.82
$GC,12363,0.45,264.7,692.3,15.5,968,12369,0.12,2.20,0.00,0.000,4,0.160,0.043,2159,3809,1873,0,0,0,0,0,0,25.85,25.76,28.83
$GC,12444,0.43,264.7,681.3,13.3,972,12449,0.00,2.03,0.00,0.000,6,0.000,0.026,2169,2465,1872,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12762,0.43,264.7,639.1,13.1,988,12768,0.00,2.20,0.00,0.000,4,0.000,0.044,2169,3810,1871,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12805,0.42,264.7,633.6,13.3,990,12810,0.12,2.08,0.00,0.000,6,0.158,0.026,2147,2456,1871,0,0,0,0,0,0,25.69,26.05,28.83
$GC,13122,0.44,266.1,604.6,8.6,1006,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2455,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13419,0.47,273.3,578.2,8.4,1033,13429,0.00,2.17,0.00,0.000,4,0.000,0.043,2147,3814,1870,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,18477,end climb,SURFACE_DEPTH_REACHED
$STATE,18478,begin surface coast
$FINISH,0.3,1.019824
$STATE,18512,end surface coast,CONTROL_FINISHED_OK
$STATE,18512,begin surface
$SM_CCo,18526,23.85,0.122,0,0,1242,425.10
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$IRIDIUM_FIX,2148.09,12305.33,190212,070709
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.3,105.375
$10V_AH,9.8,64.302
$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,16.475,157.425,492.575,23.850,0.000,30.976,42.698,233.502,0.000,0.000,13.026,4252.592,10264.942,674.609,3333.907,453.611,0.000,2254.056,0.000,2859.785,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,55.845,1195.695,122.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330464
$DATA_FILE_SIZE,110118,1699
$CAP_FILE_SIZE,199374,0
$CFSIZE,260165632,173547520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,310.1,1
$GPS,190212,182801,2201.531,12255.911,40,1.5,40,-2.9