version: 66.10
glider: 169
mission: 5
dive: 542
start: 2 24 112 9 16 41
data:
$ID,169
$MISSION,5
$DIVE,542
$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,-13592.208
$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
$GPS1,240212,090826,2247.463,12207.156,26,1.6,45,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.7
$GPS2,240212,091616,2247.386,12207.007,13,2.1,32,-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,251.2,76306,-16.1,-8.684
$D_GRID,4750
$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,-146.0,0.0,0.0,0,90,0.00,0.00,-70.90,0.000,2,0.000,0.000,118,2665,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.58,-146.0,3.2,-5.6,12,121,7.15,1.83,-12.27,0.000,4,0.230,0.054,1804,3826,3576,0,0,0,0,0,0,24.77,25.89,26.55
$GC,270,-0.49,-146.0,64.5,-29.9,45,278,0.08,1.83,0.00,0.000,6,0.153,0.023,1846,2589,3577,0,0,0,0,0,0,25.64,26.13,28.83
$GC,584,-0.41,-146.0,142.4,-21.3,106,592,0.12,2.20,0.00,0.000,4,0.177,0.026,1895,1174,3577,0,0,0,0,0,0,26.01,26.01,28.83
$GC,606,-0.34,-146.0,146.7,-20.3,109,613,0.00,2.40,0.00,0.000,6,0.000,0.036,1883,2647,3577,0,0,0,0,0,0,28.83,25.91,28.83
$GC,918,-0.34,-146.0,181.8,-11.1,170,926,0.00,1.83,0.00,0.000,4,0.000,0.041,1874,3809,3577,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1019,-0.38,-146.0,191.5,-9.5,189,1026,0.00,1.75,0.00,0.000,6,0.000,0.021,1874,2573,3577,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1334,-0.38,-146.0,233.5,-13.6,227,1343,0.00,2.12,0.00,0.000,4,0.000,0.026,1874,1173,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1396,-0.42,-146.0,240.6,-10.1,233,1405,0.00,2.38,0.00,0.000,6,0.000,0.034,1865,2647,3577,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1705,-0.42,-146.0,273.2,-10.7,264,1714,0.00,2.30,0.00,0.000,4,0.000,0.024,1864,1172,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1747,-0.44,-146.0,276.8,-8.7,268,1756,0.00,2.35,0.00,0.000,6,0.000,0.035,1855,2644,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2058,-0.44,-146.0,313.5,-11.1,299,2066,0.00,2.28,0.00,0.000,4,0.000,0.025,1855,1175,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2089,-0.44,-146.0,317.1,-11.0,302,2099,0.00,2.40,0.00,0.000,6,0.000,0.035,1845,2650,3577,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2402,-0.43,-146.0,353.2,-11.7,333,2411,0.00,2.28,0.00,0.000,4,0.000,0.025,1845,1170,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2465,-0.46,-146.0,359.9,-9.5,339,2473,0.00,2.35,0.00,0.000,6,0.000,0.035,1836,2642,3576,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2774,-0.45,-146.0,396.5,-10.9,370,2778,0.00,2.30,0.00,0.000,4,0.000,0.027,1835,1185,3575,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2857,-0.48,-146.0,404.7,-9.1,378,2867,0.00,2.38,0.00,0.000,6,0.000,0.037,1825,2644,3574,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3169,-0.46,-146.0,442.8,-12.6,409,3175,0.12,0.00,0.00,0.000,6,0.148,0.000,1868,2644,3573,0,0,0,0,0,0,26.15,28.83,28.83
$GC,3476,-0.50,-146.0,465.4,-6.6,440,3485,0.00,2.30,0.00,0.000,4,0.000,0.028,1868,1177,3571,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3519,-0.55,-146.0,468.2,-6.6,444,3528,0.00,2.38,0.00,0.000,6,0.000,0.037,1864,2647,3571,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3829,-0.58,-146.0,488.5,-7.1,475,3838,0.12,2.28,0.00,0.000,4,0.076,0.024,1773,1176,3569,0,0,0,0,0,0,26.48,26.03,28.83
$GC,3873,-0.58,-146.0,493.0,-10.9,479,3881,0.20,2.40,0.00,0.000,6,0.121,0.037,1823,2648,3569,0,0,0,0,0,0,25.56,25.88,28.83
$GC,4181,-0.58,-146.0,527.4,-10.8,510,4191,0.00,2.33,0.00,0.000,4,0.000,0.026,1823,1174,3567,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4215,-0.58,-146.0,530.7,-10.3,513,4223,0.00,2.40,0.00,0.000,6,0.000,0.037,1813,2646,3566,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4524,-0.57,-146.0,564.5,-11.4,544,4533,0.00,2.30,0.00,0.000,4,0.000,0.027,1813,1176,3565,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4557,-0.57,-146.0,568.1,-11.5,547,4565,0.00,2.40,0.00,0.000,6,0.000,0.038,1812,2645,3564,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4868,-0.56,-146.0,603.4,-11.7,577,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2645,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5166,-0.55,-146.0,636.8,-10.5,592,5171,0.00,2.30,0.00,0.000,4,0.000,0.028,1812,1180,3560,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5219,-0.55,-146.0,640.6,-10.0,594,5227,0.00,2.40,0.00,0.000,6,0.000,0.039,1813,2645,3560,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5526,-0.54,-146.0,672.2,-10.2,610,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2644,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5825,-0.54,-146.0,703.1,-9.9,625,5831,0.00,2.35,0.00,0.000,4,0.000,0.028,1813,1168,3555,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5867,-0.54,-146.0,706.9,-9.4,627,5873,0.00,2.40,0.00,0.000,6,0.000,0.038,1812,2635,3556,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6186,-0.54,-146.0,735.2,-9.0,643,6189,0.00,1.83,0.00,0.000,4,0.000,0.045,1804,3819,3553,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6236,-0.54,-146.0,739.0,-9.2,645,6241,0.10,1.80,0.00,0.000,6,0.130,0.023,1834,2574,3552,0,0,0,0,0,0,25.94,26.17,28.83
$GC,6545,-0.56,-146.0,764.2,-8.1,660,6551,0.00,2.15,0.00,0.000,4,0.000,0.028,1834,1181,3551,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6573,-0.59,-146.0,766.0,-8.1,661,6577,0.00,2.42,0.00,0.000,6,0.000,0.039,1826,2649,3551,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6881,-0.60,-146.0,791.9,-8.1,676,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2648,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,-0.61,-146.0,814.6,-7.3,691,7186,0.00,2.35,0.00,0.000,4,0.000,0.029,1826,1180,3548,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7208,-0.63,-146.0,816.1,-7.3,692,7212,0.00,2.42,0.00,0.000,6,0.000,0.038,1825,2645,3548,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7517,-0.64,-146.0,836.8,-6.2,707,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2644,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7815,-0.66,-146.0,856.4,-7.0,722,7820,0.00,2.35,0.00,0.000,4,0.000,0.028,1825,1179,3544,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7856,-0.69,-146.0,858.9,-6.6,724,7862,0.08,2.42,0.00,0.000,6,0.046,0.038,1748,2645,3544,0,0,0,0,0,0,25.63,25.67,28.83
$GC,8175,-0.63,-146.0,906.1,-16.0,740,8177,0.20,0.00,0.00,0.000,6,0.140,0.000,1806,2644,3542,0,0,0,0,0,0,25.84,28.83,28.83
$GC,8477,-0.63,-146.0,938.2,-9.8,755,8483,0.00,2.33,0.00,0.000,4,0.000,0.028,1807,1189,3541,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8518,-0.65,-146.0,942.3,-10.0,757,8522,0.00,2.42,0.00,0.000,6,0.000,0.038,1799,2647,3541,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8830,-0.65,-146.0,972.4,-9.2,773,8836,0.00,2.35,0.00,0.000,4,0.000,0.028,1799,1179,3540,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8873,-0.65,-146.0,975.9,-9.0,775,8878,0.00,2.42,0.00,0.000,6,0.000,0.040,1799,2643,3540,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,9049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9049,begin apogee
$GC,9054,-0.20,0.0,991.2,-8.6,784,9197,0.40,0.10,130.15,1.437,6,0.099,0.049,1940,2532,2979,0,0,0,0,1,0,25.50,24.48,22.99
$STATE,9198,end apogee,CONTROL_FINISHED_OK
$STATE,9198,begin climb
$GC,9201,0.58,146.0,995.9,0.0,791,9359,0.70,2.12,148.60,1.205,4,0.044,0.042,2210,3816,2372,0,0,0,0,0,0,24.92,24.82,23.24
$GC,9380,0.48,146.0,988.7,10.6,800,9385,0.22,2.15,0.00,0.000,6,0.190,0.027,2166,2456,2363,0,0,0,0,0,0,24.80,25.37,28.83
$GC,9690,0.42,146.0,945.3,13.0,815,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2454,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9988,0.37,146.0,906.0,12.4,830,9994,0.12,2.20,0.00,0.000,4,0.187,0.041,2130,3817,2353,0,0,0,0,0,0,25.81,25.78,28.83
$GC,10069,0.32,146.0,896.1,12.4,834,10074,0.00,2.08,0.00,0.000,6,0.000,0.027,2140,2457,2351,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10388,0.30,146.0,862.9,10.4,850,10394,0.12,2.20,0.00,0.000,4,0.172,0.042,2103,3830,2350,0,0,0,0,0,0,25.92,25.73,28.83
$GC,10451,0.28,146.0,856.8,10.2,853,10455,0.00,2.10,0.00,0.000,6,0.000,0.026,2113,2456,2349,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10763,0.30,164.0,831.7,8.0,869,10784,0.00,2.28,15.57,1.046,4,0.000,0.044,2113,3814,2304,0,0,0,0,0,0,28.83,25.77,24.11
$GC,10799,0.32,183.4,830.2,7.9,870,10827,0.00,2.08,20.85,1.057,6,0.000,0.026,2124,2458,2225,0,0,0,0,0,0,28.83,25.95,23.83
$GC,11128,0.32,183.4,797.9,9.7,887,11133,0.00,2.17,0.00,0.000,4,0.000,0.044,2124,3808,2209,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11179,0.32,183.4,793.4,10.2,889,11186,0.00,2.08,0.00,0.000,6,0.000,0.027,2134,2458,2208,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11488,0.31,183.4,758.2,11.2,905,11493,0.00,2.17,0.00,0.000,4,0.000,0.044,2134,3806,2207,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11535,0.30,183.4,753.2,11.6,907,11539,0.15,2.05,0.00,0.000,6,0.160,0.026,2106,2462,2206,0,0,0,0,0,0,25.53,26.00,28.83
$GC,11843,0.32,183.4,725.0,8.8,922,11848,0.00,2.17,0.00,0.000,4,0.000,0.037,2117,1060,2205,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11870,0.34,183.4,723.1,8.9,923,11874,0.00,2.33,0.00,0.000,6,0.000,0.037,2117,2525,2205,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12177,0.35,183.4,694.9,8.8,938,12181,0.00,2.03,0.00,0.000,4,0.000,0.044,2117,3813,2204,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12212,0.35,183.4,692.9,8.9,939,12219,0.00,2.05,0.00,0.000,6,0.000,0.025,2127,2460,2204,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,19396,end climb,SURFACE_DEPTH_REACHED
$STATE,19396,begin surface coast
$FINISH,0.3,1.022980
$STATE,19429,end surface coast,CONTROL_FINISHED_OK
$STATE,19429,begin surface
$SM_CCo,19443,49.60,0.116,0,0,1245,425.10
$SM_GC,1.15,5.40,0.38,49.60,0.031,0.043,0.116,119,2660,1245,-5.80,-0.31,425.10,0,0,0,0,0,0,26.10,26.29,25.37
$IRIDIUM_FIX,2237.01,12206.76,240212,040439
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.0,108.911
$10V_AH,9.8,67.044
$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,15.550,203.425,451.125,49.600,0.000,30.497,43.155,225.513,0.000,0.000,34.059,4503.223,10697.353,734.645,3501.853,499.606,0.000,2405.023,0.000,3006.584,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,53.550,1437.435,115.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.697,2272.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120384,1796
$CAP_FILE_SIZE,217727,0
$CFSIZE,260165632,171266048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.318, 17.9,1
$GPS,240212,144237,2249.462,12205.781,31,1.3,31,-3.0