version: 66.10
glider: 169
mission: 5
dive: 525
start: 2 20 112 15 23 22
data:
$ID,169
$MISSION,5
$DIVE,525
$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,-8
$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,-13570.141
$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
$GPS1,200212,151536,2211.982,12240.072,39,1.0,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.7
$GPS2,200212,152256,2212.096,12240.068,11,1.2,11,-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,296.2,158422,-16.1,-8.684
$D_GRID,4668
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-146.0,0.0,0.0,0,95,0.00,0.00,-76.30,0.000,2,0.000,0.000,117,2657,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-146.0,3.5,-7.1,13,125,7.22,1.88,-9.00,0.000,4,0.234,0.047,1801,3839,3578,0,0,0,0,0,0,24.77,26.00,26.53
$GC,228,-0.54,-146.0,43.6,-19.4,37,234,0.00,1.83,0.00,0.000,6,0.000,0.020,1807,2577,3578,0,0,0,0,0,0,28.83,26.19,28.83
$GC,540,-0.43,-146.0,137.3,-28.2,98,550,0.20,2.15,0.00,0.000,4,0.165,0.022,1878,1164,3578,0,0,0,0,0,0,25.71,26.11,28.83
$GC,599,-0.45,-146.0,148.4,-12.6,108,606,0.00,2.38,0.00,0.000,6,0.000,0.035,1867,2646,3578,0,0,0,0,0,0,28.83,25.97,28.83
$GC,912,-0.42,-146.0,192.9,-12.4,169,918,0.00,2.28,0.00,0.000,4,0.000,0.024,1867,1173,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,961,-0.45,-146.0,198.8,-9.0,178,969,0.00,2.35,0.00,0.000,6,0.000,0.036,1857,2651,3578,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1271,-0.41,-146.0,243.3,-15.0,210,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2651,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1576,-0.39,-146.0,284.2,-13.1,240,1584,0.00,2.25,0.00,0.000,4,0.000,0.025,1857,1171,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1597,-0.37,-146.0,287.6,-13.4,242,1608,0.15,2.33,0.00,0.000,6,0.116,0.036,1896,2646,3578,0,0,0,0,0,0,25.80,25.98,28.83
$GC,1908,-0.40,-146.0,313.6,-8.2,273,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2646,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-0.43,-146.0,337.1,-7.8,303,2215,0.00,2.28,0.00,0.000,4,0.000,0.027,1896,1179,3578,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2254,-0.49,-146.0,340.2,-6.8,307,2263,0.08,2.33,0.00,0.000,6,0.046,0.036,1819,2641,3577,0,0,0,0,0,0,25.94,25.99,28.83
$GC,2564,-0.44,-146.0,388.5,-16.6,338,2574,0.12,1.77,0.00,0.000,4,0.148,0.041,1851,3819,3577,0,0,0,0,0,0,26.17,25.93,28.83
$GC,2630,-0.47,-146.0,396.0,-9.6,344,2637,0.00,1.77,0.00,0.000,6,0.000,0.021,1851,2571,3577,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2937,-0.47,-146.0,424.1,-8.9,375,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2571,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-0.47,-146.0,452.0,-9.1,405,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2571,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,-0.48,-146.0,479.4,-8.3,435,3544,0.00,1.98,0.00,0.000,4,0.000,0.042,1842,3814,3574,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3575,-0.50,-146.0,482.0,-7.7,438,3583,0.00,1.75,0.00,0.000,6,0.000,0.021,1842,2576,3574,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3882,-0.50,-146.0,509.5,-10.3,469,3891,0.00,2.12,0.00,0.000,4,0.000,0.026,1842,1167,3573,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3917,-0.52,-146.0,512.5,-9.9,472,3924,0.00,2.38,0.00,0.000,6,0.000,0.037,1834,2655,3573,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4226,-0.52,-146.0,544.5,-9.4,503,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2655,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4537,-0.52,-146.0,571.5,-8.8,534,4546,0.00,2.28,0.00,0.000,4,0.000,0.027,1834,1177,3569,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4582,-0.55,-146.0,575.4,-8.7,538,4590,0.00,2.35,0.00,0.000,6,0.000,0.037,1825,2646,3569,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4901,-0.55,-146.0,610.2,-11.6,566,4905,0.00,1.77,0.00,0.000,4,0.000,0.044,1817,3813,3566,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4942,-0.55,-146.0,615.0,-11.3,568,4946,0.00,1.77,0.00,0.000,6,0.000,0.021,1817,2577,3567,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5265,-0.55,-146.0,651.0,-11.6,584,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2575,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5564,-0.55,-146.0,682.3,-9.9,599,5570,0.00,1.98,0.00,0.000,4,0.000,0.044,1808,3813,3561,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5611,-0.55,-146.0,686.3,-10.0,601,5615,0.00,1.77,0.00,0.000,6,0.000,0.023,1808,2582,3561,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5925,-0.54,-146.0,720.9,-11.4,617,5930,0.00,1.98,0.00,0.000,4,0.000,0.044,1798,3821,3559,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5964,-0.54,-146.0,725.1,-11.1,619,5970,0.12,1.80,0.00,0.000,6,0.117,0.022,1837,2581,3559,0,0,0,0,0,0,25.94,26.21,28.83
$GC,6287,-0.55,-146.0,750.1,-6.8,635,6293,0.00,2.12,0.00,0.000,4,0.000,0.029,1837,1182,3558,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6319,-0.58,-146.0,751.6,-6.4,636,6326,0.00,2.35,0.00,0.000,6,0.000,0.037,1828,2644,3557,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6626,-0.59,-146.0,777.1,-9.1,652,6629,0.00,1.80,0.00,0.000,4,0.000,0.044,1819,3821,3554,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6662,-0.60,-146.0,779.1,-9.5,653,6668,0.00,1.80,0.00,0.000,6,0.000,0.023,1819,2578,3554,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6967,-0.60,-146.0,814.2,-10.9,669,6971,0.00,1.98,0.00,0.000,4,0.000,0.044,1811,3822,3552,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7011,-0.60,-146.0,818.8,-11.1,671,7014,0.00,1.83,0.00,0.000,6,0.000,0.022,1810,2579,3552,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7334,-0.60,-146.0,847.8,-7.8,687,7340,0.00,2.12,0.00,0.000,4,0.000,0.028,1810,1174,3550,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7381,-0.61,-146.0,851.0,-8.2,689,7385,0.00,2.38,0.00,0.000,6,0.000,0.038,1801,2643,3550,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7691,-0.61,-146.0,881.8,-10.4,704,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2644,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,-0.60,-146.0,914.5,-11.1,719,7992,0.00,1.83,0.00,0.000,4,0.000,0.047,1792,3811,3547,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8017,-0.60,-146.0,916.8,-10.9,720,8021,0.00,1.80,0.00,0.000,6,0.000,0.024,1792,2585,3547,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8331,-0.58,-146.0,951.1,-10.1,736,8336,0.00,2.00,0.00,0.000,4,0.000,0.047,1782,3820,3546,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8352,-0.57,-146.0,952.8,-9.7,737,8356,0.15,1.80,0.00,0.000,6,0.116,0.023,1828,2577,3545,0,0,0,0,0,0,25.79,26.13,28.83
$GC,8667,-0.59,-146.0,973.1,-6.4,753,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2576,3544,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8904,begin apogee
$GC,8911,-0.20,0.0,990.7,-7.8,765,9049,0.32,0.10,130.32,1.192,6,0.095,0.057,1946,2535,2973,0,0,0,0,0,0,25.74,24.72,23.31
$STATE,9050,end apogee,CONTROL_FINISHED_OK
$STATE,9050,begin climb
$GC,9053,0.58,146.0,997.0,0.0,772,9206,0.68,2.42,141.30,1.193,4,0.046,0.035,2221,1058,2372,0,0,0,0,0,0,25.20,24.97,23.28
$GC,9238,0.49,146.0,990.6,10.2,781,9243,0.20,2.38,0.00,0.000,6,0.163,0.037,2169,2531,2361,0,0,0,0,0,0,25.09,25.47,28.83
$GC,9546,0.44,146.0,952.5,12.3,796,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2531,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9845,0.39,146.0,915.7,12.2,811,9851,0.12,2.00,0.00,0.000,4,0.184,0.042,2132,3813,2353,0,0,0,0,0,0,25.87,25.84,28.83
$GC,9873,0.34,146.0,913.1,12.2,812,9877,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2461,2351,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10181,0.31,146.0,884.3,8.7,827,10187,0.12,2.15,0.00,0.000,4,0.176,0.043,2105,3808,2350,0,0,0,0,0,0,25.94,25.81,28.83
$GC,10220,0.29,146.0,880.6,8.9,829,10226,0.00,2.05,0.00,0.000,6,0.000,0.027,2116,2462,2349,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10541,0.29,146.0,854.1,8.9,845,10547,0.00,2.15,0.00,0.000,4,0.000,0.034,2126,1057,2348,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10588,0.29,146.0,850.6,9.0,847,10592,0.00,2.30,0.00,0.000,6,0.000,0.038,2126,2522,2347,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10897,0.27,146.0,822.1,9.4,862,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2522,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11196,0.29,164.1,796.0,8.0,877,11216,0.00,2.12,15.52,1.021,4,0.000,0.044,2126,3816,2304,0,0,0,0,0,0,28.83,25.78,24.09
$GC,11240,0.27,164.1,791.9,8.9,879,11245,0.10,2.05,0.00,0.000,6,0.148,0.026,2104,2465,2294,0,0,0,0,0,0,25.60,25.99,28.83
$GC,11563,0.35,218.3,769.8,6.5,895,11626,0.00,2.30,57.12,1.007,4,0.000,0.046,2104,3816,2081,0,0,0,0,0,0,28.83,25.32,23.68
$GC,11675,0.43,264.2,762.9,6.8,900,11727,0.10,2.10,45.90,1.014,6,0.090,0.027,2173,2459,1900,0,0,0,0,0,0,25.66,25.70,23.61
$GC,12036,0.41,264.2,713.3,13.8,919,12041,0.00,2.15,0.00,0.000,4,0.000,0.034,2184,1050,1874,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12099,0.41,264.2,705.7,12.9,922,12104,0.15,2.33,0.00,0.000,6,0.130,0.037,2142,2524,1871,0,0,0,0,0,0,25.57,25.82,28.83
$GC,12414,0.43,264.2,673.0,10.4,938,12419,0.00,2.03,0.00,0.000,4,0.000,0.044,2140,3809,1870,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12455,0.44,264.2,668.7,10.4,940,12459,0.00,2.05,0.00,0.000,6,0.000,0.026,2151,2463,1870,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12768,0.44,264.2,637.2,9.7,956,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2460,1869,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15342,0.50,273.6,378.8,8.6,1192,15351,0.00,2.33,0.00,0.000,6,0.000,0.035,2195,2532,1867,0,0,0,0,0,0,28.83,25.80,28.83
$GC,15653,0.49,273.6,348.4,9.8,1223,15661,0.00,2.05,0.00,0.000,4,0.000,0.042,2195,3816,1867,0,0,0,0,0,0,28.83,25.72,28.83
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$STATE,18476,end climb,SURFACE_DEPTH_REACHED
$STATE,18476,begin surface coast
$FINISH,0.4,1.023671
$STATE,18512,end surface coast,CONTROL_FINISHED_OK
$STATE,18513,begin surface
$SM_CCo,18528,8.45,0.122,0,0,1245,425.10
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$IRIDIUM_FIX,2202.04,12243.97,200212,101020
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.3,106.195
$10V_AH,9.8,64.912
$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,15.875,155.600,518.800,8.450,0.000,24.441,44.685,222.697,0.000,0.000,12.872,4177.572,10436.953,659.103,3229.039,447.288,0.000,2206.301,0.000,2767.480,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,62.730,1193.400,122.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1137.776,2145.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,110044,1674
$CAP_FILE_SIZE,195473,0
$CFSIZE,260165632,173051904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,339.5,1
$GPS,200212,203331,2215.383,12236.447,40,1.2,40,-2.9