version: 66.10
glider: 169
mission: 5
dive: 554
start: 2 27 112 1 44 24
data:
$ID,169
$MISSION,5
$DIVE,554
$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,-13607.591
$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
$GPS1,270212,013237,2303.816,12200.289,40,1.3,40,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.3
$GPS2,270212,014400,2303.963,12200.274,37,1.1,41,-3.1
$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,227.4,58681,-16.1,-8.684
$D_GRID,4336
$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,-146.0,0.0,0.0,0,95,0.00,0.00,-75.40,0.000,2,0.000,0.000,109,2663,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-146.0,3.9,-8.0,13,119,7.25,1.83,-8.65,0.000,4,0.232,0.044,1803,3840,3577,0,0,0,0,0,0,24.76,26.01,26.53
$GC,265,-0.51,-146.0,55.7,-24.2,44,272,0.08,1.85,0.00,0.000,6,0.145,0.023,1837,2596,3577,0,0,0,0,0,0,25.74,26.10,28.83
$GC,580,-0.43,-146.0,137.9,-24.4,105,587,0.12,1.95,0.00,0.000,4,0.178,0.037,1864,3828,3577,0,0,0,0,0,0,25.98,25.86,28.83
$GC,703,-0.46,-146.0,157.2,-10.8,128,709,0.00,1.80,0.00,0.000,6,0.000,0.021,1864,2579,3577,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1015,-0.45,-146.0,197.5,-11.9,189,1022,0.00,1.98,0.00,0.000,4,0.000,0.041,1855,3820,3577,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1144,-0.47,-146.0,209.7,-9.0,203,1148,0.00,1.80,0.00,0.000,6,0.000,0.021,1854,2592,3577,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1457,-0.45,-146.0,249.4,-12.9,234,1465,0.00,2.15,0.00,0.000,4,0.000,0.026,1855,1173,3577,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1541,-0.49,-146.0,258.3,-9.2,242,1548,0.00,2.38,0.00,0.000,6,0.000,0.034,1844,2648,3577,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1850,-0.47,-146.0,298.9,-11.5,273,1859,0.00,2.30,0.00,0.000,4,0.000,0.025,1844,1172,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1875,-0.46,-146.0,301.5,-11.3,275,1883,0.00,2.38,0.00,0.000,6,0.000,0.035,1833,2647,3577,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2184,-0.43,-146.0,335.8,-11.9,306,2193,0.12,2.30,0.00,0.000,4,0.153,0.024,1875,1171,3576,0,0,0,0,0,0,26.13,26.03,28.83
$GC,2249,-0.49,-146.0,340.8,-5.7,312,2257,0.00,2.38,0.00,0.000,6,0.000,0.034,1865,2649,3576,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2558,-0.57,-146.0,362.8,-7.7,343,2568,0.12,2.30,0.00,0.000,4,0.078,0.023,1767,1170,3574,0,0,0,0,0,0,26.44,26.06,28.83
$GC,2603,-0.57,-146.0,367.6,-10.6,347,2612,0.22,2.40,0.00,0.000,6,0.130,0.034,1823,2652,3574,0,0,0,0,0,0,25.47,25.92,28.83
$GC,2913,-0.55,-146.0,407.5,-12.8,378,2922,0.00,2.33,0.00,0.000,4,0.000,0.025,1823,1171,3573,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2975,-0.56,-146.0,414.5,-10.5,384,2984,0.00,2.40,0.00,0.000,6,0.000,0.035,1813,2648,3573,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3286,-0.53,-146.0,453.5,-13.8,415,3296,0.00,2.28,0.00,0.000,4,0.000,0.024,1813,1177,3571,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3341,-0.53,-146.0,459.8,-11.5,420,3349,0.12,2.40,0.00,0.000,6,0.126,0.035,1843,2647,3570,0,0,0,0,0,0,25.69,25.87,28.83
$GC,3649,-0.54,-146.0,490.2,-9.9,451,3659,0.00,2.33,0.00,0.000,4,0.000,0.025,1843,1165,3568,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3685,-0.56,-146.0,493.2,-9.4,454,3692,0.00,2.40,0.00,0.000,6,0.000,0.036,1834,2647,3568,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3992,-0.56,-146.0,527.1,-11.8,485,3995,0.00,1.77,0.00,0.000,4,0.000,0.043,1825,3823,3566,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4014,-0.56,-146.0,529.4,-11.7,487,4017,0.00,1.80,0.00,0.000,6,0.000,0.021,1825,2581,3566,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4327,-0.56,-146.0,561.4,-9.4,518,4335,0.00,2.12,0.00,0.000,4,0.000,0.026,1825,1182,3564,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4363,-0.58,-146.0,564.3,-8.9,521,4369,0.00,2.40,0.00,0.000,6,0.000,0.036,1816,2648,3564,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4668,-0.58,-146.0,594.2,-10.0,552,4677,0.00,2.33,0.00,0.000,4,0.000,0.026,1816,1176,3561,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4742,-0.61,-146.0,600.5,-8.2,559,4752,0.00,2.40,0.00,0.000,6,0.000,0.037,1812,2643,3561,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5051,-0.60,-146.0,628.9,-9.3,575,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2642,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5350,-0.60,-146.0,657.4,-9.6,590,5356,0.00,2.35,0.00,0.000,4,0.000,0.027,1812,1176,3557,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5414,-0.61,-146.0,662.5,-8.7,593,5418,0.00,2.42,0.00,0.000,6,0.000,0.038,1810,2644,3557,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5726,-0.61,-146.0,692.9,-10.0,609,5732,0.00,2.33,0.00,0.000,4,0.000,0.027,1809,1174,3554,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5768,-0.61,-146.0,696.7,-9.7,611,5773,0.00,2.42,0.00,0.000,6,0.000,0.037,1800,2644,3554,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6083,-0.60,-146.0,728.6,-10.0,627,6088,0.00,2.30,0.00,0.000,4,0.000,0.027,1800,1186,3552,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6134,-0.60,-146.0,732.3,-9.8,629,6141,0.00,2.42,0.00,0.000,6,0.000,0.039,1798,2649,3551,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6443,-0.59,-146.0,763.2,-10.1,645,6448,0.00,2.33,0.00,0.000,4,0.000,0.028,1798,1174,3549,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6481,-0.59,-146.0,767.1,-9.9,647,6488,0.10,2.45,0.00,0.000,6,0.139,0.037,1818,2648,3549,0,0,0,0,0,0,25.55,25.70,28.83
$GC,6802,-0.60,-146.0,794.4,-8.8,663,6808,0.00,2.33,0.00,0.000,4,0.000,0.028,1818,1186,3548,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6826,-0.61,-146.0,796.2,-8.8,664,6830,0.00,2.42,0.00,0.000,6,0.000,0.038,1813,2645,3548,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7138,-0.61,-146.0,826.2,-9.6,680,7144,0.00,2.33,0.00,0.000,4,0.000,0.028,1813,1176,3545,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7192,-0.62,-146.0,830.0,-9.5,682,7199,0.00,2.45,0.00,0.000,6,0.000,0.039,1812,2648,3544,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7498,-0.62,-146.0,858.9,-9.0,698,7503,0.00,2.35,0.00,0.000,4,0.000,0.028,1812,1181,3543,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7527,-0.63,-146.0,860.7,-9.0,699,7531,0.00,2.42,0.00,0.000,6,0.000,0.040,1812,2643,3543,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7835,-0.63,-146.0,888.9,-9.0,714,7841,0.00,2.35,0.00,0.000,4,0.000,0.028,1812,1173,3541,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7862,-0.64,-146.0,890.7,-9.1,715,7866,0.00,2.45,0.00,0.000,6,0.000,0.040,1813,2646,3541,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8169,-0.64,-146.0,918.8,-8.8,730,8174,0.00,2.35,0.00,0.000,4,0.000,0.028,1812,1182,3540,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8195,-0.65,-146.0,920.4,-8.7,731,8200,0.00,2.40,0.00,0.000,6,0.000,0.040,1812,2634,3540,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8511,-0.66,-146.0,946.4,-8.1,747,8516,0.00,2.33,0.00,0.000,4,0.000,0.030,1811,1186,3538,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8543,-0.67,-146.0,947.9,-8.1,748,8550,0.00,2.42,0.00,0.000,6,0.000,0.041,1812,2642,3538,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8852,-0.68,-146.0,972.7,-8.0,764,8857,0.00,2.35,0.00,0.000,4,0.000,0.029,1812,1175,3537,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8884,-0.69,-146.0,974.5,-7.9,765,8891,0.00,2.45,0.00,0.000,6,0.000,0.041,1812,2642,3536,0,0,0,0,0,0,28.83,25.51,28.83
$STATE,9088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9089,begin apogee
$GC,9096,-0.20,0.0,991.1,-7.6,776,9233,0.38,0.15,128.60,1.200,6,0.097,0.073,1944,2532,2972,0,0,0,0,0,0,25.53,24.74,23.40
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9236,0.58,146.0,995.3,0.0,783,9383,0.68,0.00,143.07,1.193,6,0.042,0.000,2213,2531,2382,0,0,0,0,0,0,25.13,28.83,23.32
$GC,9671,0.49,146.0,940.1,17.1,805,9677,0.12,2.05,0.00,0.000,4,0.193,0.043,2169,3819,2357,0,0,0,0,0,0,25.65,25.72,28.83
$GC,9724,0.41,146.0,933.2,17.1,807,9731,0.15,2.08,0.00,0.000,6,0.180,0.026,2142,2462,2355,0,0,0,0,0,0,25.42,25.93,28.83
$GC,10032,0.38,146.0,895.9,10.7,823,10037,0.00,2.17,0.00,0.000,4,0.000,0.046,2142,3812,2352,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10099,0.34,146.0,888.4,12.1,826,10103,0.12,2.08,0.00,0.000,6,0.172,0.029,2122,2468,2351,0,0,0,0,0,0,25.53,25.94,28.83
$GC,10409,0.32,146.0,857.4,9.5,841,10414,0.00,2.15,0.00,0.000,4,0.000,0.044,2122,3806,2350,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10470,0.30,146.0,850.5,10.8,844,10474,0.00,2.05,0.00,0.000,6,0.000,0.026,2132,2464,2349,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10789,0.28,146.0,818.3,9.8,860,10795,0.12,2.20,0.00,0.000,4,0.172,0.043,2095,3817,2349,0,0,0,0,0,0,25.90,25.60,28.83
$GC,10828,0.27,146.0,814.6,9.4,862,10832,0.00,2.10,0.00,0.000,6,0.000,0.029,2105,2464,2348,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11150,0.33,194.3,791.8,6.8,878,11202,0.00,2.28,46.65,1.049,4,0.000,0.045,2106,3821,2178,0,0,0,0,0,0,28.83,25.35,23.82
$GC,11248,0.37,229.4,784.8,7.3,882,11288,0.00,2.12,35.60,1.024,6,0.000,0.028,2117,2465,2043,0,0,0,0,0,0,28.83,25.69,23.64
$GC,11603,0.45,279.0,759.2,6.7,900,11662,0.12,2.30,49.30,1.010,4,0.076,0.037,2205,1057,1828,0,0,0,0,0,0,26.19,25.32,23.77
$GC,11689,0.43,279.0,749.4,11.9,904,11696,0.20,2.40,0.00,0.000,6,0.129,0.039,2147,2525,1818,0,0,0,0,0,0,25.29,25.55,28.83
$GC,12006,0.43,279.0,718.0,10.1,920,12011,0.00,2.03,0.00,0.000,4,0.000,0.044,2147,3809,1815,0,0,0,0,0,0,28.83,25.70,28.83
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$STATE,18754,end climb,SURFACE_DEPTH_REACHED
$STATE,18754,begin surface coast
$FINISH,0.3,1.010251
$STATE,18785,end surface coast,CONTROL_FINISHED_OK
$STATE,18785,begin surface
$SM_CCo,18800,26.10,0.120,0,0,1243,425.10
$SM_GC,1.35,5.45,0.38,26.10,0.028,0.044,0.120,126,2663,1243,-5.79,-0.34,425.10,0,0,0,0,0,0,26.06,26.23,25.27
$IRIDIUM_FIX,2253.38,12200.07,270212,010108
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.3,110.848
$10V_AH,9.8,68.573
$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,16.000,205.050,515.225,26.100,0.000,55.657,62.225,291.113,0.000,0.000,42.676,4344.037,10342.566,740.698,3555.031,497.372,0.000,2373.636,0.000,2920.998,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,73.440,1200.285,120.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.845,2180.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,113726,1727
$CAP_FILE_SIZE,213895,0
$CFSIZE,260165632,170016768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.346, 29.2,1
$GPS,270212,065924,2305.266,12200.578,39,1.2,39,-3.1