version: 66.10
glider: 169
mission: 5
dive: 541
start: 2 24 112 4 6 8
data:
$ID,169
$MISSION,5
$DIVE,541
$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,-13590.854
$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
$GPS1,240212,035336,2246.524,12208.338,40,1.2,51,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.5
$GPS2,240212,040544,2246.356,12208.369,14,1.8,14,-3.0
$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,251.8,79195,-16.1,-8.684
$D_GRID,4776
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-146.0,0.0,0.0,0,94,0.00,0.00,-73.93,0.000,2,0.000,0.000,117,2667,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-146.0,3.7,-8.5,13,123,7.07,1.85,-10.10,0.000,4,0.226,0.057,1803,3823,3576,0,0,0,0,0,0,24.77,25.91,26.53
$GC,289,-0.47,-146.0,69.0,-31.6,49,296,0.17,1.77,0.00,0.000,6,0.163,0.021,1857,2588,3577,0,0,0,0,0,0,25.55,26.18,28.83
$GC,603,-0.41,-146.0,140.2,-20.6,110,610,0.00,2.17,0.00,0.000,4,0.000,0.028,1868,1181,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,689,-0.45,-146.0,151.8,-8.9,126,696,0.00,2.38,0.00,0.000,6,0.000,0.034,1856,2650,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,999,-0.42,-146.0,197.9,-13.4,187,1007,0.00,2.33,0.00,0.000,4,0.000,0.026,1857,1174,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1036,-0.42,-146.0,202.3,-12.6,192,1045,0.00,2.35,0.00,0.000,6,0.000,0.036,1847,2638,3577,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1346,-0.40,-146.0,246.6,-13.7,223,1356,0.12,2.28,0.00,0.000,4,0.151,0.024,1889,1178,3577,0,0,0,0,0,0,26.15,26.08,28.83
$GC,1411,-0.46,-146.0,252.2,-6.8,229,1420,0.00,2.35,0.00,0.000,6,0.000,0.034,1879,2648,3577,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1720,-0.48,-146.0,278.0,-8.5,260,1729,0.00,2.30,0.00,0.000,4,0.000,0.024,1879,1174,3576,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1765,-0.53,-146.0,281.4,-7.9,264,1774,0.08,2.35,0.00,0.000,6,0.046,0.035,1795,2643,3576,0,0,0,0,0,0,25.90,25.96,28.83
$GC,2072,-0.47,-146.0,338.3,-19.3,295,2083,0.17,2.30,0.00,0.000,4,0.140,0.024,1858,1174,3575,0,0,0,0,0,0,25.98,26.06,28.83
$GC,2168,-0.51,-146.0,348.9,-8.8,304,2176,0.00,2.38,0.00,0.000,6,0.000,0.037,1851,2640,3575,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2477,-0.51,-146.0,380.4,-9.8,335,2480,0.00,1.77,0.00,0.000,4,0.000,0.043,1842,3820,3574,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2501,-0.51,-146.0,382.6,-9.8,337,2507,0.00,1.75,0.00,0.000,6,0.000,0.021,1842,2578,3573,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2809,-0.50,-146.0,415.6,-10.0,368,2813,0.00,2.15,0.00,0.000,4,0.000,0.028,1842,1173,3572,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2893,-0.54,-146.0,423.5,-8.6,376,2902,0.00,2.38,0.00,0.000,6,0.000,0.036,1833,2646,3571,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3202,-0.53,-146.0,458.7,-11.3,407,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2646,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,-0.53,-146.0,490.0,-9.6,438,3522,0.00,2.28,0.00,0.000,4,0.000,0.026,1833,1178,3568,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3567,-0.56,-146.0,494.4,-8.1,443,3575,0.00,2.38,0.00,0.000,6,0.000,0.036,1823,2647,3568,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3875,-0.55,-146.0,521.9,-9.4,474,3884,0.00,2.30,0.00,0.000,4,0.000,0.026,1823,1167,3566,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3927,-0.56,-146.0,526.5,-8.6,479,3937,0.00,2.38,0.00,0.000,6,0.000,0.037,1814,2636,3566,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4237,-0.55,-146.0,562.4,-11.4,510,4246,0.00,2.30,0.00,0.000,4,0.000,0.028,1814,1174,3564,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4289,-0.56,-146.0,567.6,-9.8,515,4299,0.00,2.40,0.00,0.000,6,0.000,0.038,1813,2645,3563,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4609,-0.55,-146.0,602.4,-11.0,546,4614,0.00,2.33,0.00,0.000,4,0.000,0.027,1812,1174,3561,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4651,-0.55,-146.0,606.5,-10.6,548,4655,0.00,2.42,0.00,0.000,6,0.000,0.038,1812,2648,3561,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4966,-0.54,-146.0,640.8,-11.5,564,4971,0.00,2.30,0.00,0.000,4,0.000,0.027,1813,1182,3559,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4986,-0.54,-146.0,643.0,-11.5,565,4991,0.00,2.40,0.00,0.000,6,0.000,0.038,1812,2646,3559,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5299,-0.54,-146.0,678.2,-10.9,581,5304,0.00,2.30,0.00,0.000,4,0.000,0.027,1812,1180,3557,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5353,-0.54,-146.0,682.3,-10.4,583,5361,0.00,2.40,0.00,0.000,6,0.000,0.039,1812,2644,3556,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5659,-0.54,-146.0,713.0,-9.4,599,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2644,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,-0.54,-146.0,740.9,-9.5,614,5964,0.00,2.35,0.00,0.000,4,0.000,0.029,1813,1168,3552,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6015,-0.55,-146.0,744.6,-9.3,616,6022,0.00,2.42,0.00,0.000,6,0.000,0.040,1813,2643,3552,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6319,-0.55,-146.0,773.9,-9.3,632,6323,0.00,1.77,0.00,0.000,4,0.000,0.047,1805,3820,3550,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6348,-0.55,-146.0,776.1,-9.6,633,6351,0.00,1.80,0.00,0.000,6,0.000,0.022,1805,2581,3549,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6662,-0.55,-146.0,809.5,-10.8,649,6667,0.00,2.15,0.00,0.000,4,0.000,0.028,1805,1185,3548,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6709,-0.55,-146.0,813.8,-10.7,651,6714,0.10,2.40,0.00,0.000,6,0.141,0.041,1833,2643,3548,0,0,0,0,0,0,25.58,25.70,28.83
$GC,7020,-0.57,-146.0,839.9,-8.4,666,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2643,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7317,-0.59,-146.0,862.4,-7.3,681,7322,0.00,2.33,0.00,0.000,4,0.000,0.029,1833,1183,3544,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7359,-0.62,-146.0,865.2,-7.2,683,7364,0.00,2.42,0.00,0.000,6,0.000,0.040,1825,2648,3544,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7673,-0.64,-146.0,887.8,-7.0,699,7679,0.00,2.33,0.00,0.000,4,0.000,0.028,1826,1183,3542,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7706,-0.66,-146.0,889.2,-6.9,700,7713,0.00,2.40,0.00,0.000,6,0.000,0.040,1825,2643,3542,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8015,-0.67,-146.0,910.4,-6.9,716,8020,0.00,2.33,0.00,0.000,4,0.000,0.028,1825,1177,3540,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8056,-0.70,-146.0,913.1,-6.8,718,8061,0.12,2.42,0.00,0.000,6,0.075,0.040,1741,2644,3540,0,0,0,0,0,0,25.68,25.65,28.83
$GC,8371,-0.65,-146.0,959.0,-15.5,734,8377,0.17,2.30,0.00,0.000,4,0.145,0.027,1808,1189,3539,0,0,0,0,0,0,25.86,25.80,28.83
$GC,8412,-0.62,-146.0,963.8,-13.6,736,8416,0.00,2.40,0.00,0.000,6,0.000,0.040,1803,2644,3539,0,0,0,0,0,0,28.83,25.63,28.83
$STATE,8702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8702,begin apogee
$GC,8708,-0.20,0.0,991.9,-9.5,751,8848,0.40,0.15,127.65,1.199,6,0.098,0.047,1942,2532,2970,0,0,0,0,0,0,25.53,24.77,23.37
$STATE,8849,end apogee,CONTROL_FINISHED_OK
$STATE,8849,begin climb
$GC,8851,0.58,146.0,996.7,0.0,758,9007,0.68,2.47,140.60,1.197,4,0.045,0.033,2219,1056,2371,0,0,0,0,0,0,25.25,24.94,23.33
$GC,9013,0.48,146.0,991.2,8.7,766,9018,0.20,2.40,0.00,0.000,6,0.161,0.037,2167,2523,2365,0,0,0,0,0,0,24.90,25.27,28.83
$GC,9326,0.43,146.0,948.4,13.0,782,9330,0.00,2.05,0.00,0.000,4,0.000,0.044,2167,3820,2358,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9377,0.37,146.0,942.1,14.1,784,9387,0.17,2.08,0.00,0.000,6,0.176,0.026,2133,2456,2356,0,0,0,0,0,0,25.41,25.99,28.83
$GC,9690,0.34,146.0,909.1,9.8,800,9696,0.00,2.17,0.00,0.000,4,0.000,0.044,2133,3821,2353,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9722,0.32,146.0,907.0,10.0,801,9729,0.00,2.08,0.00,0.000,6,0.000,0.026,2143,2456,2352,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10030,0.29,146.0,874.1,9.8,817,10036,0.12,2.20,0.00,0.000,4,0.182,0.042,2106,3813,2352,0,0,0,0,0,0,25.89,25.75,28.83
$GC,10052,0.26,146.0,872.2,9.6,818,10056,0.00,2.08,0.00,0.000,6,0.000,0.026,2117,2458,2351,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10365,0.30,175.5,847.4,7.5,834,10404,0.00,2.30,27.75,1.078,4,0.000,0.044,2116,3820,2251,0,0,0,0,0,0,28.83,25.61,23.95
$GC,10440,0.30,189.1,842.0,8.1,837,10459,0.00,2.10,13.50,1.040,6,0.000,0.026,2127,2459,2207,0,0,0,0,0,0,28.83,25.84,23.86
$GC,10768,0.30,189.1,808.6,10.4,854,10773,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1051,2189,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10800,0.30,189.1,806.5,10.5,855,10808,0.00,2.35,0.00,0.000,6,0.000,0.040,2138,2523,2188,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11107,0.29,189.1,768.7,12.1,871,11113,0.12,2.08,0.00,0.000,4,0.150,0.042,2099,3826,2187,0,0,0,0,0,0,25.98,25.75,28.83
$GC,11151,0.29,189.1,764.1,11.8,873,11155,0.00,2.08,0.00,0.000,6,0.000,0.025,2109,2465,2186,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11463,0.36,228.2,738.7,7.1,889,11509,0.00,2.28,39.80,1.013,4,0.000,0.046,2109,3811,2037,0,0,0,0,0,0,28.83,25.49,23.91
$GC,11537,0.42,266.6,734.4,7.1,892,11582,0.00,2.10,38.65,1.002,6,0.000,0.028,2120,2462,1884,0,0,0,0,0,0,28.83,25.74,23.69
$GC,11884,0.47,277.6,707.1,8.2,910,11895,0.12,2.25,3.50,0.673,4,0.075,0.037,2217,1066,1846,0,0,0,0,0,0,26.21,25.86,24.07
$GC,11937,0.48,277.6,701.8,10.4,912,11944,0.17,2.33,0.00,0.000,6,0.135,0.038,2165,2526,1852,0,0,0,0,0,0,25.55,25.84,28.83
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$STATE,18011,end climb,SURFACE_DEPTH_REACHED
$STATE,18011,begin surface coast
$FINISH,0.3,1.022904
$STATE,18029,end surface coast,CONTROL_FINISHED_OK
$STATE,18029,begin surface
$SM_CCo,18045,15.68,0.122,0,0,1243,425.10
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,23.3,108.750
$10V_AH,9.8,66.912
$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
$DEVICE_SECS,16.325,191.125,494.225,15.675,0.000,56.698,85.097,349.396,0.250,0.000,15.018,4159.336,9940.997,697.302,3493.655,468.080,0.000,2284.267,0.000,2811.894,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,110352,1660
$CAP_FILE_SIZE,206367,0
$CFSIZE,260165632,171393024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258, 23.6,1
$GPS,240212,090826,2247.463,12207.156,26,1.6,45,-3.0