version: 66.10
glider: 169
mission: 5
dive: 406
start: 1 26 112 5 19 49
data:
$ID,169
$MISSION,5
$DIVE,406
$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,360
$T_MISSION,400
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$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,-11389.952
$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
$GPS1,260112,051107,2324.758,12247.825,36,1.4,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.6
$GPS2,260112,051928,2324.744,12247.885,14,2.3,33,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$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,70.8,122943,-15.4,-9.167
$D_GRID,4063
$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,15,begin dive
$GC,17,-0.60,-175.2,0.0,0.0,0,98,0.00,0.00,-77.68,0.000,2,0.000,0.000,118,2670,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.60,-175.2,3.7,-8.4,14,131,7.18,2.33,-13.40,0.000,4,0.235,0.040,1816,1163,3697,0,0,0,0,0,0,24.79,26.06,26.55
$GC,154,-0.42,-175.2,29.2,-51.7,23,161,0.22,2.33,0.00,0.000,6,0.162,0.043,1866,2652,3698,0,0,0,0,0,0,25.46,25.95,28.83
$GC,466,-0.35,-175.2,116.7,-22.7,84,473,0.00,2.22,0.00,0.000,4,0.000,0.028,1877,1168,3697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,561,-0.39,-175.2,129.5,-9.2,102,568,0.00,2.28,0.00,0.000,6,0.000,0.038,1865,2652,3697,0,0,0,0,0,0,28.83,26.12,28.83
$GC,873,-0.37,-175.2,177.5,-14.9,163,879,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2652,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.34,-175.2,220.0,-14.7,210,1191,0.12,2.20,0.00,0.000,4,0.151,0.026,1919,1176,3698,0,0,0,0,0,0,26.24,26.25,28.83
$GC,1236,-0.41,-175.2,224.7,-7.4,215,1245,0.08,2.25,0.00,0.000,6,0.048,0.038,1860,2652,3697,0,0,0,0,0,0,26.14,26.18,28.83
$GC,1545,-0.47,-175.2,249.4,-8.1,246,1553,0.00,2.20,0.00,0.000,4,0.000,0.027,1860,1170,3698,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1582,-0.53,-175.2,252.0,-7.9,249,1588,0.00,2.28,0.00,0.000,6,0.000,0.037,1851,2653,3697,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1886,-0.51,-175.2,293.8,-13.9,280,1890,0.00,1.75,0.00,0.000,4,0.000,0.044,1842,3818,3697,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1949,-0.52,-175.2,301.3,-11.4,286,1952,0.00,1.80,0.00,0.000,6,0.000,0.021,1842,2567,3697,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2261,-0.50,-175.2,341.2,-12.3,317,2270,0.00,1.98,0.00,0.000,4,0.000,0.027,1842,1180,3697,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2334,-0.54,-175.2,348.3,-8.0,324,2343,0.00,2.25,0.00,0.000,6,0.000,0.037,1832,2654,3697,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2643,-0.52,-175.2,385.3,-12.7,355,2647,0.00,1.80,0.00,0.000,4,0.000,0.044,1823,3817,3696,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2705,-0.52,-175.2,392.2,-11.0,361,2709,0.00,1.80,0.00,0.000,6,0.000,0.024,1824,2579,3696,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3016,-0.51,-175.2,428.4,-10.8,392,3025,0.00,2.08,0.00,0.000,4,0.000,0.029,1823,1167,3695,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3048,-0.51,-175.2,431.7,-10.9,395,3058,0.08,2.25,0.00,0.000,6,0.103,0.037,1846,2654,3695,0,0,0,0,0,0,26.00,26.17,28.83
$GC,3358,-0.52,-175.2,459.5,-9.6,426,3362,0.00,1.80,0.00,0.000,4,0.000,0.045,1838,3811,3693,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3383,-0.54,-175.2,461.5,-9.4,428,3390,0.00,1.80,0.00,0.000,6,0.000,0.023,1838,2561,3692,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3691,-0.55,-175.2,492.0,-9.3,459,3700,0.00,2.03,0.00,0.000,4,0.000,0.028,1838,1178,3691,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3734,-0.59,-175.2,495.7,-8.7,463,3742,0.00,2.22,0.00,0.000,6,0.000,0.038,1829,2645,3691,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4044,-0.59,-175.2,526.8,-9.4,494,4047,0.00,1.80,0.00,0.000,4,0.000,0.045,1820,3817,3688,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4108,-0.61,-175.2,532.3,-8.3,500,4116,0.00,1.83,0.00,0.000,6,0.000,0.024,1820,2564,3687,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4414,-0.61,-175.2,560.3,-9.4,531,4423,0.00,2.05,0.00,0.000,4,0.000,0.028,1820,1178,3685,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4451,-0.63,-175.2,563.2,-9.3,534,4457,0.00,2.28,0.00,0.000,6,0.000,0.039,1811,2652,3685,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4756,-0.63,-175.2,598.5,-11.1,565,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2651,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5057,-0.63,-175.2,630.5,-10.3,581,5063,0.00,2.20,0.00,0.000,4,0.000,0.029,1812,1177,3680,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5080,-0.63,-175.2,632.6,-10.3,582,5084,0.00,2.30,0.00,0.000,6,0.000,0.041,1801,2654,3680,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5391,-0.63,-175.2,667.4,-11.2,598,5397,0.00,2.20,0.00,0.000,4,0.000,0.028,1802,1175,3677,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5454,-0.63,-175.2,673.3,-10.2,601,5458,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2650,3677,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5768,-0.61,-175.2,706.6,-10.2,617,5771,0.00,1.80,0.00,0.000,4,0.000,0.047,1785,3814,3675,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5792,-0.60,-175.2,708.9,-10.2,618,5796,0.10,1.83,0.00,0.000,6,0.135,0.024,1814,2565,3675,0,0,0,0,0,0,26.10,26.32,28.83
$GC,6107,-0.60,-175.2,733.9,-7.9,634,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2564,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6404,-0.61,-175.2,760.3,-9.3,649,6409,0.00,2.00,0.00,0.000,4,0.000,0.046,1805,3814,3670,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6432,-0.62,-175.2,762.2,-9.4,650,6436,0.00,1.83,0.00,0.000,6,0.000,0.024,1805,2566,3670,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6740,-0.62,-175.2,794.7,-10.3,665,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2564,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,-0.62,-175.2,823.8,-9.1,680,7046,0.00,1.98,0.00,0.000,4,0.000,0.046,1796,3814,3666,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7067,-0.62,-175.2,825.6,-9.0,681,7071,0.00,1.85,0.00,0.000,6,0.000,0.024,1796,2569,3666,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7380,-0.62,-175.2,856.6,-9.7,697,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2567,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7679,-0.62,-175.2,887.0,-10.4,712,7684,0.00,2.03,0.00,0.000,4,0.000,0.048,1787,3820,3663,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7718,-0.62,-175.2,891.3,-10.5,714,7722,0.00,1.88,0.00,0.000,6,0.000,0.026,1787,2572,3663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8041,-0.60,-175.2,926.7,-10.6,730,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2571,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8340,-0.60,-175.2,958.6,-11.1,745,8347,0.10,2.03,0.00,0.000,4,0.145,0.047,1807,3810,3660,0,0,0,0,0,0,26.36,25.86,28.83
$GC,8362,-0.60,-175.2,960.6,-10.9,746,8366,0.00,1.83,0.00,0.000,6,0.000,0.025,1807,2570,3660,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8682,-0.61,-175.2,988.3,-8.6,762,8687,0.00,1.98,0.00,0.000,4,0.000,0.047,1799,3815,3659,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8703,-0.62,-175.2,990.0,-8.5,763,8707,0.00,1.83,0.00,0.000,6,0.000,0.026,1799,2571,3659,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,8712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8712,begin apogee
$GC,8719,-0.20,0.0,991.2,-8.4,764,8881,0.40,0.15,155.12,1.180,6,0.096,0.074,1941,2538,2977,0,0,0,0,0,0,25.78,24.87,23.32
$STATE,8882,end apogee,CONTROL_FINISHED_OK
$STATE,8882,begin climb
$GC,8884,0.60,175.2,998.7,0.0,772,9059,0.70,2.38,167.65,1.184,4,0.050,0.036,2220,1064,2254,0,0,0,0,0,0,25.11,24.82,23.28
$GC,9082,0.50,175.2,986.9,13.8,782,9089,0.17,2.33,0.00,0.000,6,0.156,0.039,2174,2522,2240,0,0,0,0,0,0,24.98,25.25,28.83
$GC,9391,0.45,175.2,940.5,13.9,798,9396,0.00,2.00,0.00,0.000,4,0.000,0.044,2174,3813,2232,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9465,0.39,175.2,930.9,15.6,801,9472,0.17,2.08,0.00,0.000,6,0.169,0.028,2138,2452,2231,0,0,0,0,0,0,25.61,26.08,28.83
$GC,9769,0.36,175.2,893.2,11.6,817,9775,0.00,2.20,0.00,0.000,4,0.000,0.045,2138,3815,2229,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9793,0.34,175.2,890.6,12.0,818,9797,0.00,2.05,0.00,0.000,6,0.000,0.028,2148,2457,2228,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10104,0.31,175.2,852.2,12.4,834,10111,0.12,2.17,0.00,0.000,4,0.168,0.043,2111,3814,2227,0,0,0,0,0,0,26.01,25.99,28.83
$GC,10133,0.29,175.2,849.7,12.6,835,10137,0.00,2.05,0.00,0.000,6,0.000,0.028,2121,2465,2227,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10440,0.29,175.2,817.3,10.3,850,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2463,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10739,0.29,175.2,787.3,9.6,865,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2463,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11042,0.29,175.2,759.1,9.2,880,11047,0.00,2.15,0.00,0.000,4,0.000,0.044,2121,3813,2225,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11073,0.29,175.4,757.2,9.2,881,11080,0.00,2.05,0.00,0.000,6,0.000,0.028,2132,2459,2225,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11380,0.30,191.0,727.9,8.6,897,11400,0.00,2.20,12.50,0.955,4,0.000,0.046,2132,3818,2191,0,0,0,0,0,0,28.83,25.92,24.08
$GC,11424,0.29,196.3,723.7,9.0,899,11430,0.10,2.03,0.00,0.000,6,0.139,0.028,2109,2475,2182,0,0,0,0,0,0,25.74,26.08,28.83
$GC,11744,0.37,248.6,700.0,7.3,915,11810,0.00,2.22,60.40,0.943,4,0.000,0.034,2120,1054,1956,0,0,0,0,0,0,28.83,25.41,23.82
$GC,11849,0.46,300.7,692.9,7.3,920,11906,0.08,2.30,51.42,0.959,6,0.047,0.038,2194,2526,1752,0,0,0,0,0,0,25.58,25.60,23.76
$GC,12214,0.43,300.7,636.3,16.0,939,12216,0.15,0.00,0.00,0.000,6,0.150,0.000,2152,2527,1726,0,0,0,0,0,0,25.84,28.83,28.83
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$GC,14177,0.49,317.8,418.3,8.6,1117,14195,0.00,0.00,13.88,0.780,6,0.000,0.000,2156,2524,1678,0,0,0,0,0,0,28.83,28.83,24.18
$GC,14496,0.60,379.5,395.0,7.0,1149,14559,0.12,0.00,59.70,0.776,6,0.074,0.000,2232,2524,1430,0,0,0,0,0,0,26.41,28.83,24.06
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$STATE,17465,end climb,SURFACE_DEPTH_REACHED
$STATE,17465,begin surface coast
$FINISH,0.5,1.022793
$STATE,17476,end surface coast,CONTROL_FINISHED_OK
$STATE,17476,begin surface
$SM_CCo,17552,0.00,0.000,0,0,958,496.00
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$IRIDIUM_FIX,2314.48,12245.38,260112,000046
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,84.936
$10V_AH,9.9,50.641
$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
$DEVICE_SECS,16.450,155.950,625.600,0.000,0.000,28.320,48.295,265.949,0.000,0.000,35.494,3698.170,10075.939,740.283,3104.555,405.330,0.000,2218.081,0.000,2599.081,0.000,0.542,0.000
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$SENSOR_SECS,1067.763,2039.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,103696,1573
$CAP_FILE_SIZE,189143,0
$CFSIZE,260165632,185774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260112,101401,2325.856,12251.402,72,0.9,72,-3.2