version: 66.10
glider: 169
mission: 5
dive: 548
start: 2 25 112 17 12 39
data:
$ID,169
$MISSION,5
$DIVE,548
$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,-13600.04
$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
$GPS1,250212,170036,2254.619,12201.649,40,1.1,45,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.6
$GPS2,250212,171213,2254.776,12201.718,13,1.5,30,-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,243.0,63283,-16.1,-8.684
$D_GRID,4661
$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,-146.0,0.0,0.0,0,103,0.00,0.00,-83.75,0.000,2,0.000,0.000,116,2673,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-146.0,3.9,-8.8,14,132,7.07,1.77,-9.18,0.000,4,0.227,0.045,1801,3834,3576,0,0,0,0,0,0,24.72,26.02,26.53
$GC,261,-0.50,-146.0,55.3,-27.9,43,269,0.12,1.80,0.00,0.000,6,0.162,0.021,1841,2586,3576,0,0,0,0,0,0,25.74,26.16,28.83
$GC,576,-0.42,-146.0,143.7,-21.8,104,583,0.12,1.95,0.00,0.000,4,0.173,0.039,1869,3820,3576,0,0,0,0,0,0,26.01,25.88,28.83
$GC,756,-0.45,-146.0,167.8,-9.6,139,763,0.00,1.77,0.00,0.000,6,0.000,0.021,1869,2581,3577,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1069,-0.43,-146.0,206.0,-11.6,195,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2581,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.42,-146.0,242.0,-12.5,225,1383,0.00,2.15,0.00,0.000,4,0.000,0.027,1869,1185,3576,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1437,-0.46,-146.0,248.6,-8.5,231,1445,0.00,2.35,0.00,0.000,6,0.000,0.035,1860,2647,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1747,-0.45,-146.0,285.3,-10.7,262,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2646,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-0.45,-146.0,312.4,-9.8,292,2058,0.00,2.28,0.00,0.000,4,0.000,0.026,1859,1178,3576,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2102,-0.49,-146.0,316.9,-7.9,297,2112,0.00,2.35,0.00,0.000,6,0.000,0.036,1850,2637,3576,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2410,-0.49,-146.0,347.9,-10.2,328,2419,0.00,2.33,0.00,0.000,4,0.000,0.028,1850,1172,3575,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2446,-0.50,-146.0,351.1,-10.2,331,2453,0.00,2.40,0.00,0.000,6,0.000,0.035,1840,2652,3574,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2754,-0.48,-146.0,386.8,-11.6,362,2763,0.00,2.33,0.00,0.000,4,0.000,0.025,1840,1171,3573,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2819,-0.51,-146.0,392.9,-8.7,368,2827,0.00,2.38,0.00,0.000,6,0.000,0.034,1830,2646,3572,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3126,-0.50,-146.0,425.1,-10.7,399,3135,0.00,2.30,0.00,0.000,4,0.000,0.025,1830,1172,3571,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3201,-0.53,-146.0,432.1,-8.9,406,3210,0.00,2.38,0.00,0.000,6,0.000,0.035,1820,2645,3571,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3509,-0.51,-146.0,467.6,-12.6,437,3519,0.00,2.30,0.00,0.000,4,0.000,0.026,1820,1174,3569,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3564,-0.53,-146.0,472.9,-9.8,442,3572,0.00,2.38,0.00,0.000,6,0.000,0.037,1809,2642,3568,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3873,-0.51,-146.0,509.0,-12.0,473,3883,0.12,2.30,0.00,0.000,4,0.151,0.024,1851,1181,3566,0,0,0,0,0,0,26.13,26.02,28.83
$GC,3910,-0.52,-146.0,512.4,-10.1,476,3917,0.00,2.38,0.00,0.000,6,0.000,0.037,1842,2646,3566,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4219,-0.53,-146.0,537.3,-7.9,507,4227,0.00,2.30,0.00,0.000,4,0.000,0.026,1842,1184,3564,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4254,-0.56,-146.0,540.0,-7.9,510,4261,0.00,2.38,0.00,0.000,6,0.000,0.037,1832,2646,3564,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4561,-0.57,-146.0,566.2,-8.0,541,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2646,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4865,-0.58,-146.0,591.6,-8.7,571,4873,0.00,2.30,0.00,0.000,4,0.000,0.026,1833,1179,3559,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4919,-0.61,-146.0,596.2,-8.2,576,4926,0.00,2.40,0.00,0.000,6,0.000,0.037,1823,2650,3559,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5228,-0.61,-146.0,625.9,-9.7,594,5233,0.00,2.33,0.00,0.000,4,0.000,0.027,1823,1175,3557,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5248,-0.61,-146.0,627.9,-9.9,595,5253,0.00,2.42,0.00,0.000,6,0.000,0.037,1813,2635,3556,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5566,-0.61,-146.0,659.4,-9.8,611,5572,0.00,2.28,0.00,0.000,4,0.000,0.027,1813,1179,3553,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5619,-0.61,-146.0,663.1,-9.6,613,5627,0.00,2.40,0.00,0.000,6,0.000,0.038,1803,2643,3553,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5928,-0.60,-146.0,697.1,-10.6,629,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2643,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6228,-0.58,-146.0,730.6,-11.4,644,6233,0.00,2.30,0.00,0.000,4,0.000,0.028,1803,1185,3549,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6287,-0.58,-146.0,737.0,-10.9,647,6293,0.00,2.40,0.00,0.000,6,0.000,0.039,1797,2641,3549,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6607,-0.57,-146.0,773.5,-11.3,663,6613,0.10,2.33,0.00,0.000,4,0.161,0.025,1825,1182,3548,0,0,0,0,0,0,26.25,25.89,28.83
$GC,6668,-0.58,-146.0,778.7,-9.3,666,6674,0.00,2.40,0.00,0.000,6,0.000,0.039,1815,2641,3548,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6987,-0.58,-146.0,807.8,-8.9,682,6990,0.00,1.80,0.00,0.000,4,0.000,0.046,1805,3812,3545,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7012,-0.58,-146.0,809.9,-8.8,683,7015,0.00,1.83,0.00,0.000,6,0.000,0.024,1805,2584,3545,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7331,-0.58,-146.0,838.5,-8.9,699,7336,0.00,2.20,0.00,0.000,4,0.000,0.030,1805,1173,3543,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7377,-0.58,-146.0,842.0,-8.8,701,7381,0.00,2.42,0.00,0.000,6,0.000,0.039,1796,2643,3543,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7685,-0.57,-146.0,871.1,-9.5,716,7691,0.10,2.33,0.00,0.000,4,0.158,0.027,1824,1182,3541,0,0,0,0,0,0,26.25,25.83,28.83
$GC,7709,-0.57,-146.0,873.2,-9.7,717,7715,0.00,2.42,0.00,0.000,6,0.000,0.039,1814,2646,3541,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8025,-0.57,-146.0,899.7,-8.5,733,8030,0.00,2.30,0.00,0.000,4,0.000,0.029,1814,1187,3540,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8078,-0.58,-146.0,902.9,-8.4,735,8085,0.00,2.42,0.00,0.000,6,0.000,0.041,1813,2646,3540,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8386,-0.58,-146.0,929.3,-8.4,751,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2646,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8685,-0.58,-146.0,952.9,-8.0,766,8691,0.00,2.35,0.00,0.000,4,0.000,0.030,1813,1180,3537,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8741,-0.60,-146.0,955.8,-7.7,768,8748,0.00,2.42,0.00,0.000,6,0.000,0.041,1812,2643,3537,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9045,-0.60,-146.0,980.0,-7.8,784,9051,0.00,2.35,0.00,0.000,4,0.000,0.029,1812,1174,3536,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9093,-0.62,-146.0,983.0,-7.7,786,9097,0.00,2.42,0.00,0.000,6,0.000,0.040,1803,2643,3536,0,0,0,0,0,0,28.83,25.59,28.83
$STATE,9178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9178,begin apogee
$GC,9185,-0.20,0.0,990.3,-7.7,790,9322,0.40,0.17,130.05,1.179,6,0.102,0.068,1940,2534,2975,0,0,0,0,0,0,25.44,24.75,23.34
$STATE,9323,end apogee,CONTROL_FINISHED_OK
$STATE,9323,begin climb
$GC,9327,0.58,146.0,994.4,0.0,797,9480,0.73,2.22,141.45,1.195,4,0.050,0.045,2211,3821,2369,0,0,0,0,0,0,25.08,24.83,23.28
$GC,9487,0.48,146.0,986.8,10.4,805,9493,0.22,2.15,0.00,0.000,6,0.193,0.027,2167,2466,2362,0,0,0,0,0,0,24.67,25.25,28.83
$GC,9806,0.42,146.0,943.5,12.3,821,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2464,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10103,0.37,146.0,907.3,11.9,836,10109,0.12,2.22,0.00,0.000,4,0.184,0.044,2131,3820,2351,0,0,0,0,0,0,25.82,25.71,28.83
$GC,10164,0.33,146.0,900.3,11.6,839,10169,0.00,2.08,0.00,0.000,6,0.000,0.028,2141,2469,2349,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10485,0.30,146.0,868.6,9.9,855,10487,0.12,0.00,0.00,0.000,6,0.174,0.000,2110,2468,2348,0,0,0,0,0,0,25.97,28.83,28.83
$GC,10783,0.31,152.6,843.7,8.4,870,10788,0.00,2.17,0.00,0.000,4,0.000,0.044,2110,3823,2347,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10857,0.30,152.6,837.6,9.7,873,10864,0.00,2.08,0.00,0.000,6,0.000,0.027,2120,2464,2346,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11163,0.29,152.6,808.8,9.0,889,11168,0.00,2.20,0.00,0.000,4,0.000,0.047,2120,3810,2346,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11203,0.28,152.6,804.8,9.6,891,11209,0.08,2.08,0.00,0.000,6,0.154,0.029,2107,2468,2345,0,0,0,0,0,0,25.55,25.93,28.83
$GC,11523,0.29,161.3,778.0,8.3,907,11542,0.00,0.00,12.05,0.996,6,0.000,0.000,2106,2466,2313,0,0,0,0,0,0,28.83,28.83,24.23
$GC,11844,0.31,171.4,751.4,8.3,923,11854,0.00,2.25,4.35,0.800,4,0.000,0.045,2106,3818,2280,0,0,0,0,0,0,28.83,25.85,24.20
$GC,11907,0.31,171.4,745.6,9.4,926,11911,0.00,2.10,0.00,0.000,6,0.000,0.028,2117,2461,2286,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12218,0.33,189.2,719.2,8.0,942,12251,0.00,2.22,27.65,0.970,4,0.000,0.033,2127,1055,2199,0,0,0,0,0,0,28.83,25.65,23.96
$GC,12279,0.36,205.7,714.7,8.0,944,12301,0.00,2.38,16.85,0.977,6,0.000,0.038,2127,2530,2139,0,0,0,0,0,0,28.83,25.72,23.83
$GC,12616,0.37,219.6,685.5,8.1,961,12635,0.00,2.15,13.25,0.962,4,0.000,0.047,2128,3822,2077,0,0,0,0,0,0,28.83,25.72,24.15
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$STATE,19239,end climb,SURFACE_DEPTH_REACHED
$STATE,19239,begin surface coast
$FINISH,0.3,1.022849
$STATE,19266,end surface coast,CONTROL_FINISHED_OK
$STATE,19266,begin surface
$SM_CCo,19281,16.05,0.123,0,0,1245,425.10
$SM_GC,1.31,5.40,0.22,16.05,0.026,0.053,0.123,136,2664,1245,-5.79,-0.42,425.10,0,0,0,0,0,0,25.86,26.34,25.15
$IRIDIUM_FIX,2241.69,12159.58,250212,111135
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.3,109.898
$10V_AH,9.8,67.797
$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,15.725,195.950,533.800,16.050,0.000,93.306,61.425,240.245,0.000,0.000,30.842,4408.581,10750.283,775.165,3555.158,479.936,0.000,2415.884,0.000,2951.215,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,68.085,1194.930,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.200,2236.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,116853,1763
$CAP_FILE_SIZE,213451,0
$CFSIZE,260165632,170655744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.293, 23.6,1
$GPS,250212,223606,2256.092,12201.019,71,1.0,76,-3.0