version: 66.10
glider: 169
mission: 5
dive: 532
start: 2 22 112 4 29 16
data:
$ID,169
$MISSION,5
$DIVE,532
$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,-13579.144
$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
$GPS1,220212,042037,2229.310,12220.486,36,1.5,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.9
$GPS2,220212,042852,2229.369,12220.555,15,6.2,34,-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,262.1,112746,-16.1,-8.684
$D_GRID,4766
$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,-72.45,0.000,2,0.000,0.000,120,2655,3032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-146.0,3.4,-6.6,12,122,7.30,1.83,-10.65,0.000,4,0.238,0.054,1801,3814,3576,0,0,0,0,0,0,24.78,25.91,26.55
$GC,287,-0.49,-146.0,64.1,-29.2,48,295,0.15,1.75,0.00,0.000,6,0.166,0.021,1846,2582,3576,0,0,0,0,0,0,25.65,26.20,28.83
$GC,600,-0.41,-146.0,139.1,-22.0,109,607,0.00,2.15,0.00,0.000,4,0.000,0.028,1856,1173,3576,0,0,0,0,0,0,28.83,26.07,28.83
$GC,747,-0.43,-146.0,159.5,-10.9,137,753,0.00,2.38,0.00,0.000,6,0.000,0.036,1845,2651,3576,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1064,-0.39,-146.0,214.2,-17.6,191,1075,0.12,2.28,0.00,0.000,4,0.162,0.024,1896,1169,3576,0,0,0,0,0,0,26.13,26.09,28.83
$GC,1101,-0.38,-146.0,218.4,-13.8,194,1107,0.00,2.38,0.00,0.000,6,0.000,0.036,1886,2650,3576,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1408,-0.39,-146.0,247.9,-9.3,225,1417,0.00,2.25,0.00,0.000,4,0.000,0.026,1886,1176,3576,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1471,-0.44,-146.0,252.9,-7.0,231,1481,0.00,2.33,0.00,0.000,6,0.000,0.035,1876,2643,3576,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1780,-0.50,-146.0,274.0,-6.9,262,1789,0.00,2.28,0.00,0.000,4,0.000,0.026,1876,1159,3576,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1816,-0.55,-146.0,276.4,-7.3,265,1823,0.10,2.38,0.00,0.000,6,0.089,0.034,1787,2653,3576,0,0,0,0,0,0,25.98,26.00,28.83
$GC,2123,-0.47,-146.0,341.7,-23.3,296,2133,0.20,2.28,0.00,0.000,4,0.146,0.026,1860,1185,3576,0,0,0,0,0,0,25.87,26.07,28.83
$GC,2175,-0.47,-146.0,349.5,-13.2,301,2184,0.00,2.35,0.00,0.000,6,0.000,0.037,1853,2646,3576,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2486,-0.47,-146.0,379.4,-9.0,332,2495,0.00,2.25,0.00,0.000,4,0.000,0.026,1852,1179,3575,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2541,-0.50,-146.0,383.6,-7.8,337,2548,0.00,2.35,0.00,0.000,6,0.000,0.037,1844,2646,3575,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2848,-0.49,-146.0,416.2,-10.6,368,2857,0.00,2.28,0.00,0.000,4,0.000,0.027,1844,1176,3574,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2900,-0.51,-146.0,420.9,-8.9,373,2909,0.00,2.35,0.00,0.000,6,0.000,0.037,1838,2642,3574,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3210,-0.51,-146.0,452.9,-10.5,404,3221,0.00,2.28,0.00,0.000,4,0.000,0.027,1839,1179,3572,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3247,-0.52,-146.0,456.2,-10.3,407,3255,0.00,2.38,0.00,0.000,6,0.000,0.037,1838,2650,3572,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3553,-0.52,-146.0,486.5,-9.1,438,3557,0.00,1.75,0.00,0.000,4,0.000,0.044,1830,3814,3571,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3596,-0.52,-146.0,490.2,-8.9,442,3599,0.00,1.77,0.00,0.000,6,0.000,0.022,1830,2576,3570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3908,-0.52,-146.0,520.1,-9.6,473,3917,0.00,2.10,0.00,0.000,4,0.000,0.028,1830,1181,3568,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3991,-0.55,-146.0,527.4,-8.2,481,3999,0.00,2.35,0.00,0.000,6,0.000,0.038,1820,2644,3568,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4302,-0.54,-146.0,561.4,-11.3,512,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2644,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4612,-0.53,-146.0,595.7,-11.1,543,4621,0.00,2.30,0.00,0.000,4,0.000,0.028,1821,1172,3564,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4646,-0.53,-146.0,599.5,-11.3,546,4653,0.00,2.40,0.00,0.000,6,0.000,0.038,1812,2648,3563,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4955,-0.52,-146.0,636.7,-12.1,562,4961,0.00,2.30,0.00,0.000,4,0.000,0.028,1812,1174,3561,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4994,-0.52,-146.0,641.4,-11.9,564,5000,0.10,2.38,0.00,0.000,6,0.098,0.039,1843,2641,3561,0,0,0,0,0,0,25.65,25.86,28.83
$GC,5316,-0.54,-146.0,669.7,-8.8,580,5319,0.00,1.80,0.00,0.000,4,0.000,0.047,1834,3815,3559,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5345,-0.56,-146.0,671.9,-8.8,581,5349,0.00,1.77,0.00,0.000,6,0.000,0.023,1834,2584,3559,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5658,-0.58,-146.0,700.4,-8.6,597,5662,0.00,2.15,0.00,0.000,4,0.000,0.029,1834,1180,3556,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5694,-0.60,-146.0,702.3,-8.8,598,5701,0.00,2.38,0.00,0.000,6,0.000,0.040,1825,2644,3556,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5999,-0.60,-146.0,731.0,-9.1,614,6005,0.00,2.33,0.00,0.000,4,0.000,0.028,1825,1170,3553,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6040,-0.62,-146.0,734.4,-8.9,616,6046,0.00,2.40,0.00,0.000,6,0.000,0.040,1825,2642,3553,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6361,-0.63,-146.0,763.7,-9.6,632,6365,0.00,1.80,0.00,0.000,4,0.000,0.045,1817,3813,3551,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6423,-0.65,-146.0,769.9,-9.8,635,6426,0.00,1.77,0.00,0.000,6,0.000,0.023,1817,2584,3550,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6746,-0.65,-146.0,803.2,-9.9,651,6752,0.00,2.15,0.00,0.000,4,0.000,0.030,1817,1179,3549,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6778,-0.65,-146.0,805.3,-9.9,652,6785,0.00,2.40,0.00,0.000,6,0.000,0.041,1813,2644,3549,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7086,-0.65,-146.0,837.9,-10.6,668,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2644,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7386,-0.65,-146.0,868.4,-10.1,683,7392,0.00,2.30,0.00,0.000,4,0.000,0.028,1813,1184,3545,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7438,-0.66,-146.0,872.3,-10.0,685,7445,0.00,2.40,0.00,0.000,6,0.000,0.040,1813,2648,3544,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7745,-0.66,-146.0,902.8,-9.4,701,7749,0.00,1.77,0.00,0.000,4,0.000,0.046,1804,3819,3542,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7787,-0.66,-146.0,906.5,-9.2,703,7791,0.00,1.80,0.00,0.000,6,0.000,0.023,1804,2586,3542,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8109,-0.66,-146.0,935.4,-8.4,719,8114,0.00,2.00,0.00,0.000,4,0.000,0.045,1796,3820,3541,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8148,-0.66,-146.0,939.0,-8.7,721,8152,0.00,1.83,0.00,0.000,6,0.000,0.024,1795,2584,3541,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8471,-0.66,-146.0,965.6,-8.5,737,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2576,3539,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8768,begin apogee
$GC,8774,-0.20,0.0,991.4,-8.8,752,8913,0.43,0.10,127.80,1.200,6,0.096,0.057,1942,2536,2971,0,0,0,0,0,0,25.53,24.70,23.34
$STATE,8914,end apogee,CONTROL_FINISHED_OK
$STATE,8914,begin climb
$GC,8916,0.58,146.0,995.3,0.0,759,9070,0.70,2.22,142.20,1.195,4,0.043,0.045,2214,3810,2371,0,0,0,0,0,0,25.25,24.94,23.32
$GC,9088,0.47,146.0,989.2,9.1,767,9096,0.22,2.10,0.00,0.000,6,0.189,0.028,2168,2464,2363,0,0,0,0,0,0,24.92,25.44,28.83
$GC,9393,0.42,146.0,947.7,11.8,783,9398,0.00,2.20,0.00,0.000,4,0.000,0.044,2168,3811,2356,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9426,0.36,146.0,944.9,12.3,784,9434,0.20,2.08,0.00,0.000,6,0.168,0.028,2126,2458,2355,0,0,0,0,0,0,25.40,25.98,28.83
$GC,9734,0.35,146.0,915.1,9.0,800,9738,0.00,2.20,0.00,0.000,4,0.000,0.044,2125,3812,2352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9844,0.31,146.0,903.9,11.0,805,9848,0.00,2.05,0.00,0.000,6,0.000,0.027,2136,2464,2351,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10153,0.29,146.0,873.0,9.8,820,10159,0.12,2.15,0.00,0.000,4,0.174,0.042,2099,3806,2350,0,0,0,0,0,0,25.94,25.77,28.83
$GC,10221,0.27,146.0,867.5,9.4,823,10230,0.00,2.05,0.00,0.000,6,0.000,0.027,2109,2456,2349,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10533,0.32,187.8,843.8,7.0,839,10578,0.00,2.25,40.25,1.076,4,0.000,0.034,2120,1044,2205,0,0,0,0,0,0,28.83,25.50,23.84
$GC,10633,0.41,242.2,837.2,6.5,844,10694,0.00,2.35,55.33,1.053,6,0.000,0.037,2120,2519,1990,0,0,0,0,0,0,28.83,25.70,23.56
$GC,11007,0.46,269.9,809.6,7.6,863,11040,0.12,2.08,27.05,1.043,4,0.076,0.043,2203,3811,1869,0,0,0,0,0,0,26.22,25.56,23.89
$GC,11098,0.44,269.9,797.9,14.0,866,11105,0.22,2.10,0.00,0.000,6,0.153,0.029,2151,2460,1857,0,0,0,0,0,0,25.34,25.79,28.83
$GC,11406,0.44,269.9,759.6,11.2,882,11411,0.00,2.17,0.00,0.000,4,0.000,0.044,2151,3806,1853,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11444,0.44,269.9,754.5,11.9,884,11449,0.00,2.08,0.00,0.000,6,0.000,0.027,2161,2461,1853,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11767,0.44,269.9,713.9,13.0,900,11772,0.00,2.15,0.00,0.000,4,0.000,0.035,2172,1061,1851,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11787,0.44,269.9,711.3,12.9,901,11791,0.00,2.33,0.00,0.000,6,0.000,0.037,2172,2509,1850,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12106,0.43,269.9,667.0,13.7,917,12109,0.00,2.08,0.00,0.000,4,0.000,0.045,2172,3811,1850,0,0,0,0,0,0,28.83,25.76,28.83
$GC,12157,0.41,269.9,660.4,14.9,919,12166,0.15,2.05,0.00,0.000,6,0.151,0.027,2142,2461,1849,0,0,0,0,0,0,25.60,26.03,28.83
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$STATE,18452,end climb,SURFACE_DEPTH_REACHED
$STATE,18452,begin surface coast
$FINISH,0.2,1.022904
$STATE,18487,end surface coast,CONTROL_FINISHED_OK
$STATE,18487,begin surface
$SM_CCo,18502,39.10,0.119,0,0,1244,425.10
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$IRIDIUM_FIX,2220.67,12215.40,210212,232304
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.3,107.312
$10V_AH,9.8,65.790
$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,16.150,189.725,461.950,39.100,0.000,28.065,47.936,242.754,0.000,0.000,36.348,4260.933,10161.676,733.294,3378.636,472.050,0.000,2318.135,0.000,2861.547,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,65.790,1200.285,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1152.434,2156.291,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,113908,1697
$CAP_FILE_SIZE,204243,0
$CFSIZE,260165632,172318720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239, 20.5,1
$GPS,220212,093936,2230.817,12218.930,40,1.5,46,-3.0