version: 66.10
glider: 169
mission: 5
dive: 48
start: 11 18 111 9 58 30
data:
$ID,169
$MISSION,5
$DIVE,48
$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,400
$T_MISSION,430
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,9
$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,-10328.518
$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
$GPS1,181111,095037,2345.166,12350.181,43,1.5,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.7
$GPS2,181111,095802,2345.169,12350.377,13,1.5,13,-3.4
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.199,0.166
$KALMAN_X,8496351.0,0.0,0.0,5265167.5,19758.0
$KALMAN_Y,1610407.0,0.0,0.0,1029054.9,-807.1
$MHEAD_RNG_PITCHd_Wd,359.6,11891,-13.2,-8.250
$D_GRID,3272
$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,16,-0.54,-170.3,0.0,0.0,0,95,0.00,0.00,-76.40,0.000,2,0.000,0.000,116,2705,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.54,-170.3,3.4,-4.7,9,126,6.78,1.77,-12.93,0.000,4,0.234,0.061,1819,3823,3676,0,0,0,0,0,0,25.82,26.11,26.42
$GC,217,-0.44,-170.3,52.6,-30.3,26,226,0.10,1.85,0.00,0.000,6,0.143,0.031,1860,2590,3676,0,0,0,0,0,0,26.06,26.22,28.83
$GC,596,-0.36,-170.3,162.1,-21.5,87,605,0.12,2.08,0.00,0.000,4,0.171,0.031,1903,1183,3676,0,0,0,0,0,0,26.26,26.39,28.83
$GC,707,-0.40,-170.3,175.1,-7.9,104,718,0.00,2.22,0.00,0.000,6,0.000,0.044,1893,2648,3676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1087,-0.37,-170.3,224.2,-13.3,165,1098,0.00,1.80,0.00,0.000,4,0.000,0.051,1884,3810,3676,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1142,-0.37,-170.3,231.1,-11.2,173,1153,0.00,1.80,0.00,0.000,6,0.000,0.030,1884,2575,3676,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1481,-0.36,-170.3,271.7,-11.5,216,1485,0.00,2.00,0.00,0.000,4,0.000,0.034,1884,1184,3676,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1528,-0.36,-170.3,276.3,-10.2,220,1537,0.00,2.22,0.00,0.000,6,0.000,0.044,1875,2654,3676,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1836,-0.34,-170.3,312.3,-12.5,251,1840,0.00,2.15,0.00,0.000,4,0.000,0.034,1875,1179,3676,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1867,-0.34,-170.3,316.2,-12.2,254,1877,0.12,2.22,0.00,0.000,6,0.135,0.044,1906,2657,3675,0,0,0,0,0,0,26.50,26.58,28.83
$GC,2178,-0.37,-170.3,337.5,-5.8,285,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2657,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,-0.41,-170.3,355.3,-5.8,315,2488,0.00,2.12,0.00,0.000,4,0.000,0.034,1906,1190,3673,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2512,-0.45,-170.3,357.3,-5.8,318,2522,0.12,2.17,0.00,0.000,6,0.080,0.044,1826,2654,3673,0,0,0,0,0,0,26.62,26.61,28.83
$GC,2821,-0.40,-170.3,400.7,-15.2,349,2831,0.15,2.12,0.00,0.000,4,0.148,0.032,1877,1183,3671,0,0,0,0,0,0,26.51,26.62,28.83
$GC,2865,-0.39,-170.3,405.6,-11.5,353,2874,0.00,2.20,0.00,0.000,6,0.000,0.045,1869,2655,3670,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3175,-0.39,-170.3,430.9,-7.8,384,3179,0.00,1.73,0.00,0.000,4,0.000,0.051,1861,3812,3669,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3200,-0.39,-170.3,432.8,-8.0,386,3206,0.00,1.77,0.00,0.000,6,0.000,0.030,1861,2567,3668,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3510,-0.39,-170.3,459.4,-9.5,417,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2567,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3818,-0.39,-170.3,487.2,-8.4,448,3827,0.00,1.98,0.00,0.000,4,0.000,0.036,1860,1190,3664,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3843,-0.39,-170.3,489.0,-8.2,450,3851,0.10,2.20,0.00,0.000,6,0.142,0.045,1884,2655,3664,0,0,0,0,0,0,26.55,26.63,28.83
$GC,4151,-0.42,-170.3,505.9,-5.8,481,4155,0.00,2.12,0.00,0.000,4,0.000,0.035,1885,1186,3662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4188,-0.46,-170.3,507.6,-5.6,484,4195,0.00,2.20,0.00,0.000,6,0.000,0.044,1878,2656,3662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4493,-0.57,-170.3,535.2,-10.6,515,4495,0.15,0.00,0.00,0.000,6,0.094,0.000,1815,2657,3660,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4793,-0.59,-170.3,561.3,-7.8,545,4797,0.00,2.15,0.00,0.000,4,0.000,0.035,1815,1182,3658,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4848,-0.59,-170.3,565.9,-8.8,550,4855,0.00,2.22,0.00,0.000,6,0.000,0.047,1807,2657,3657,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5166,-0.55,-170.3,603.4,-11.7,581,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2657,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,-0.50,-170.3,644.1,-14.5,596,5473,0.12,2.15,0.00,0.000,4,0.158,0.034,1849,1184,3653,0,0,0,0,0,0,26.54,26.63,28.83
$GC,5526,-0.50,-170.3,650.5,-11.5,599,5532,0.00,2.20,0.00,0.000,6,0.000,0.047,1839,2653,3652,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5846,-0.50,-170.3,677.1,-8.1,615,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2652,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6146,-0.50,-170.3,704.8,-9.6,630,6152,0.00,2.12,0.00,0.000,4,0.000,0.037,1839,1186,3648,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6178,-0.50,-170.3,706.9,-9.8,631,6187,0.00,2.22,0.00,0.000,6,0.000,0.048,1831,2656,3647,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6486,-0.49,-170.3,735.6,-7.7,647,6492,0.00,2.15,0.00,0.000,4,0.000,0.036,1831,1180,3645,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6515,-0.49,-170.3,737.2,-7.9,648,6519,0.00,2.20,0.00,0.000,6,0.000,0.047,1821,2652,3646,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6822,-0.48,-170.3,764.8,-9.0,663,6828,0.12,2.15,0.00,0.000,4,0.147,0.036,1865,1182,3643,0,0,0,0,0,0,26.54,26.62,28.83
$GC,6863,-0.49,-170.3,767.6,-8.3,665,6868,0.00,2.20,0.00,0.000,6,0.000,0.047,1864,2651,3643,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7185,-0.52,-170.3,785.0,-5.3,681,7188,0.00,1.75,0.00,0.000,4,0.000,0.056,1856,3810,3641,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7209,-0.55,-170.3,786.3,-5.3,682,7213,0.00,1.80,0.00,0.000,6,0.000,0.034,1856,2581,3641,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7527,-0.67,-170.3,808.0,-7.6,698,7533,0.15,2.05,0.00,0.000,4,0.095,0.039,1790,1182,3639,0,0,0,0,0,0,26.64,26.61,28.83
$GC,7589,-0.74,-170.3,812.3,-7.4,701,7593,0.00,2.22,0.00,0.000,6,0.000,0.048,1779,2654,3639,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7904,-0.69,-170.3,852.6,-13.9,717,7909,0.00,2.12,0.00,0.000,4,0.000,0.037,1780,1185,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7942,-0.64,-170.3,858.2,-13.8,719,7948,0.12,2.22,0.00,0.000,6,0.147,0.048,1805,2656,3637,0,0,0,0,0,0,26.48,26.60,28.83
$GC,8262,-0.61,-170.3,895.7,-11.6,735,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2656,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8562,-0.59,-170.3,926.7,-10.2,750,8566,0.00,2.17,0.00,0.000,4,0.000,0.038,1805,1183,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8638,-0.58,-170.3,932.5,-9.5,753,8645,0.00,2.22,0.00,0.000,6,0.000,0.051,1799,2649,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8946,-0.55,-170.3,963.3,-9.6,769,8951,0.12,1.77,0.00,0.000,4,0.149,0.056,1835,3819,3633,0,0,0,0,0,0,26.52,26.55,28.83
$GC,8973,-0.53,-170.3,965.2,-9.6,770,8976,0.00,1.77,0.00,0.000,6,0.000,0.034,1835,2578,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9286,-0.54,-170.3,984.4,-5.7,786,9291,0.00,2.03,0.00,0.000,4,0.000,0.037,1835,1183,3631,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9309,-0.55,-170.3,985.5,-5.7,787,9313,0.00,2.22,0.00,0.000,6,0.000,0.049,1825,2651,3632,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,9379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9379,begin apogee
$GC,9384,-0.20,0.0,990.5,-6.5,791,9534,0.32,0.12,141.65,1.167,6,0.099,0.092,1944,2535,2973,0,0,0,0,0,0,26.50,24.83,24.15
$STATE,9535,end apogee,CONTROL_FINISHED_OK
$STATE,9536,begin climb
$GC,9537,0.54,170.3,995.6,0.0,798,9707,0.65,2.20,158.38,1.161,4,0.046,0.054,2197,3826,2271,0,0,0,0,0,0,25.05,24.67,23.95
$GC,9774,0.42,170.3,971.8,20.4,810,9779,0.22,2.12,0.00,0.000,6,0.193,0.037,2152,2463,2258,0,0,0,0,0,0,25.17,25.32,28.83
$GC,10081,0.35,170.3,922.6,14.5,825,10086,0.00,2.15,0.00,0.000,4,0.000,0.054,2152,3812,2252,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10155,0.27,170.3,912.8,15.8,828,10163,0.22,2.05,0.00,0.000,6,0.174,0.036,2103,2463,2251,0,0,0,0,0,0,25.80,25.99,28.83
$GC,10463,0.25,170.3,877.9,10.4,844,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2462,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10761,0.22,170.3,846.8,10.2,859,10767,0.00,2.10,0.00,0.000,4,0.000,0.056,2102,3808,2248,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10907,0.18,170.3,829.7,12.1,866,10911,0.15,2.03,0.00,0.000,6,0.168,0.038,2072,2460,2247,0,0,0,0,0,0,26.13,26.29,28.83
$GC,11219,0.20,186.2,803.8,7.7,882,11238,0.00,0.00,11.95,0.983,6,0.000,0.000,2072,2459,2211,0,0,0,0,0,0,28.83,28.83,25.38
$GC,11540,0.21,186.2,777.6,8.3,898,11545,0.00,2.10,0.00,0.000,4,0.000,0.055,2072,3805,2202,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11592,0.21,186.2,773.9,8.8,900,11599,0.00,2.05,0.00,0.000,6,0.000,0.034,2082,2459,2202,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11901,0.21,186.2,745.0,8.9,916,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2459,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12200,0.22,196.0,719.5,7.9,931,12208,0.00,2.10,3.17,0.640,4,0.000,0.054,2082,3807,2178,0,0,0,0,0,0,28.83,26.34,25.31
$GC,12224,0.24,210.3,718.2,7.8,932,12256,0.00,2.00,19.15,0.864,6,0.000,0.034,2092,2457,2117,0,0,0,0,1,0,28.83,26.37,25.15
$GC,12557,0.26,223.3,691.9,7.8,949,12579,0.00,0.00,19.58,0.943,6,0.000,0.000,2093,2457,2067,0,0,0,0,0,0,28.83,28.83,25.16
$GC,12876,0.27,233.1,666.6,7.9,965,12883,0.00,2.15,2.55,0.459,4,0.000,0.054,2092,3808,2026,0,0,0,0,0,0,28.83,26.08,25.06
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$GC,17764,0.89,648.1,52.2,15.4,1475,17774,0.12,2.25,2.85,0.149,6,0.107,0.043,2294,2522,436,0,0,0,0,0,0,26.08,26.17,25.95
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$STATE,18162,end climb,SURFACE_DEPTH_REACHED
$STATE,18163,begin surface coast
$FINISH,0.4,1.021952
$STATE,18195,end surface coast,CONTROL_FINISHED_OK
$STATE,18195,begin surface
$SM_CCo,18269,0.00,0.000,0,0,448,620.85
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$IRIDIUM_FIX,2335.63,12346.63,181111,040403
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.26
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,11.721
$10V_AH,10.3,10.910
$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,16.675,163.850,715.725,0.000,0.000,32.026,45.479,230.951,0.000,0.000,14.191,4154.295,9318.508,780.827,4066.239,368.113,0.376,2369.929,0.000,3639.205,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,91.800,1166.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.342,2524.998,1564.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,103754,1543
$CAP_FILE_SIZE,195445,0
$CFSIZE,260165632,218292224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.540,142.1,1
$GPS,181111,150407,2346.368,12353.106,39,0.9,39,-3.4