version: 66.10
glider: 169
mission: 5
dive: 531
start: 2 21 112 23 8 25
data:
$ID,169
$MISSION,5
$DIVE,531
$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,-13577.884
$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
$GPS1,210212,225937,2227.190,12222.488,26,1.4,26,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.2
$GPS2,210212,230801,2227.326,12222.564,41,1.6,41,-2.9
$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,262.7,117712,-16.1,-8.684
$D_GRID,4860
$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,-146.0,0.0,0.0,0,94,0.00,0.00,-74.75,0.000,2,0.000,0.000,114,2688,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-146.0,3.4,-6.6,13,124,7.18,2.45,-9.70,0.000,4,0.231,0.040,1822,1172,3577,0,0,0,0,0,0,24.75,25.99,26.55
$GC,253,-0.55,-146.0,47.4,-18.3,42,259,0.00,2.38,0.00,0.000,6,0.000,0.037,1811,2645,3578,0,0,0,0,0,0,28.83,25.89,28.83
$GC,566,-0.46,-146.0,131.7,-26.5,103,574,0.15,2.30,0.00,0.000,4,0.166,0.022,1867,1163,3578,0,0,0,0,0,0,25.94,26.10,28.83
$GC,593,-0.39,-146.0,138.0,-24.3,107,601,0.00,2.38,0.00,0.000,6,0.000,0.037,1856,2646,3578,0,0,0,0,0,0,28.83,25.93,28.83
$GC,907,-0.35,-146.0,192.1,-15.4,168,914,0.12,2.30,0.00,0.000,4,0.154,0.024,1908,1167,3578,0,0,0,0,0,0,26.14,26.09,28.83
$GC,962,-0.44,-146.0,197.5,-5.9,178,970,0.12,2.38,0.00,0.000,6,0.076,0.036,1831,2651,3578,0,0,0,0,0,0,25.98,25.96,28.83
$GC,1273,-0.39,-146.0,248.1,-16.0,211,1284,0.15,2.28,0.00,0.000,4,0.144,0.024,1891,1172,3578,0,0,0,0,0,0,26.08,26.09,28.83
$GC,1338,-0.44,-146.0,254.6,-7.3,217,1346,0.00,2.35,0.00,0.000,6,0.000,0.035,1884,2648,3578,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1648,-0.46,-146.0,281.1,-8.6,248,1657,0.00,2.25,0.00,0.000,4,0.000,0.027,1884,1178,3578,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1683,-0.50,-146.0,283.6,-8.3,251,1691,0.00,2.35,0.00,0.000,6,0.000,0.037,1878,2646,3578,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1992,-0.51,-146.0,310.2,-8.7,282,2001,0.10,2.28,0.00,0.000,4,0.091,0.024,1808,1174,3578,0,0,0,0,0,0,26.51,26.09,28.83
$GC,2026,-0.51,-146.0,314.0,-10.7,285,2034,0.15,2.38,0.00,0.000,6,0.129,0.036,1841,2650,3578,0,0,0,0,0,0,25.72,25.96,28.83
$GC,2334,-0.49,-146.0,357.6,-13.9,316,2338,0.00,2.28,0.00,0.000,4,0.000,0.026,1842,1183,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2419,-0.52,-146.0,366.4,-9.4,324,2425,0.00,2.38,0.00,0.000,6,0.000,0.037,1839,2648,3577,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2726,-0.50,-146.0,403.1,-11.0,355,2736,0.00,2.28,0.00,0.000,4,0.000,0.026,1839,1176,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2752,-0.49,-146.0,405.8,-11.4,357,2759,0.00,2.35,0.00,0.000,6,0.000,0.038,1829,2646,3576,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3060,-0.47,-146.0,445.3,-14.1,388,3068,0.00,2.28,0.00,0.000,4,0.000,0.026,1828,1177,3575,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3112,-0.48,-146.0,452.0,-12.7,393,3120,0.00,2.35,0.00,0.000,6,0.000,0.037,1825,2646,3574,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3422,-0.47,-146.0,491.2,-10.9,424,3431,0.12,2.28,0.00,0.000,4,0.149,0.024,1868,1170,3573,0,0,0,0,0,0,26.15,26.07,28.83
$GC,3446,-0.47,-146.0,493.5,-10.3,426,3454,0.00,2.40,0.00,0.000,6,0.000,0.037,1865,2638,3573,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3756,-0.50,-146.0,515.1,-7.2,457,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2638,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,-0.53,-146.0,536.9,-6.9,488,4077,0.00,2.28,0.00,0.000,4,0.000,0.028,1865,1181,3570,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4114,-0.58,-146.0,540.1,-7.0,492,4122,0.12,2.38,0.00,0.000,6,0.074,0.037,1772,2651,3569,0,0,0,0,0,0,25.93,25.90,28.83
$GC,4420,-0.53,-146.0,588.7,-15.8,523,4431,0.20,2.28,0.00,0.000,4,0.135,0.025,1846,1185,3567,0,0,0,0,0,0,25.91,26.03,28.83
$GC,4468,-0.54,-146.0,593.5,-10.9,527,4476,0.00,2.38,0.00,0.000,6,0.000,0.037,1839,2650,3567,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4784,-0.55,-146.0,621.8,-9.1,547,4790,0.00,2.30,0.00,0.000,4,0.000,0.028,1839,1179,3565,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4826,-0.58,-146.0,625.0,-8.7,549,4831,0.00,2.38,0.00,0.000,6,0.000,0.038,1838,2643,3565,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5146,-0.59,-146.0,650.2,-7.6,565,5149,0.00,1.77,0.00,0.000,4,0.000,0.046,1830,3813,3562,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5168,-0.61,-146.0,651.8,-7.5,566,5172,0.00,1.80,0.00,0.000,6,0.000,0.022,1830,2592,3562,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5491,-0.62,-146.0,678.0,-8.0,582,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2591,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5790,-0.63,-146.0,700.3,-7.2,597,5795,0.00,2.17,0.00,0.000,4,0.000,0.028,1830,1173,3558,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5832,-0.65,-146.0,703.1,-7.1,599,5836,0.00,2.40,0.00,0.000,6,0.000,0.038,1825,2644,3558,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6146,-0.66,-146.0,728.1,-8.4,615,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2644,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6445,-0.67,-146.0,754.8,-9.0,630,6451,0.00,2.33,0.00,0.000,4,0.000,0.028,1826,1178,3553,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6490,-0.69,-146.0,758.3,-8.8,632,6496,0.08,2.38,0.00,0.000,6,0.049,0.039,1754,2636,3553,0,0,0,0,0,0,25.72,25.78,28.83
$GC,6806,-0.64,-146.0,805.5,-15.1,648,6812,0.12,2.28,0.00,0.000,4,0.158,0.028,1805,1185,3552,0,0,0,0,0,0,26.06,25.89,28.83
$GC,6869,-0.63,-146.0,811.9,-11.7,651,6873,0.00,2.38,0.00,0.000,6,0.000,0.040,1799,2643,3551,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7181,-0.62,-146.0,842.0,-9.2,667,7187,0.00,2.30,0.00,0.000,4,0.000,0.028,1799,1181,3549,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7266,-0.63,-146.0,848.8,-8.4,671,7272,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2643,3549,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7583,-0.62,-146.0,877.7,-8.9,687,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2643,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7881,-0.62,-146.0,905.3,-8.8,702,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2643,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8183,-0.62,-146.0,931.2,-8.6,717,8188,0.00,2.30,0.00,0.000,4,0.000,0.028,1799,1181,3544,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8229,-0.62,-146.0,934.6,-8.6,719,8233,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2648,3544,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8538,-0.62,-146.0,963.1,-9.4,734,8543,0.00,2.33,0.00,0.000,4,0.000,0.029,1799,1178,3542,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8585,-0.62,-146.0,966.4,-9.0,736,8589,0.00,2.42,0.00,0.000,6,0.000,0.041,1799,2648,3542,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,8849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8849,begin apogee
$GC,8855,-0.20,0.0,990.2,-8.7,749,8996,0.40,0.15,129.40,1.196,6,0.100,0.076,1938,2533,2969,0,0,0,0,0,0,25.53,24.77,23.35
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8997,begin climb
$GC,8999,0.58,146.0,994.4,0.0,756,9154,0.70,2.45,141.18,1.195,4,0.053,0.034,2216,1062,2370,0,0,0,0,0,0,25.20,24.96,23.29
$GC,9186,0.49,146.0,985.2,11.3,765,9197,0.17,2.35,0.00,0.000,6,0.164,0.037,2171,2523,2363,0,0,0,0,0,0,25.11,25.48,28.83
$GC,9497,0.43,146.0,944.7,12.7,781,9503,0.00,2.05,0.00,0.000,4,0.000,0.043,2171,3824,2357,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9545,0.37,146.0,938.8,13.6,783,9550,0.20,2.05,0.00,0.000,6,0.174,0.026,2130,2463,2354,0,0,0,0,0,0,25.37,26.00,28.83
$GC,9854,0.37,163.0,910.4,8.0,798,9875,0.00,2.25,15.15,1.077,4,0.000,0.047,2129,3812,2307,0,0,0,0,0,0,28.83,25.77,24.04
$GC,9901,0.36,173.3,906.8,8.3,800,9915,0.00,2.08,9.62,1.032,6,0.000,0.028,2139,2468,2272,0,0,0,0,0,0,28.83,25.94,23.94
$GC,10236,0.34,173.3,874.5,9.6,817,10242,0.00,2.17,0.00,0.000,4,0.000,0.044,2139,3809,2260,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10303,0.30,173.3,867.7,10.8,820,10307,0.15,2.05,0.00,0.000,6,0.162,0.027,2111,2461,2259,0,0,0,0,0,0,25.56,26.02,28.83
$GC,10611,0.33,193.4,842.0,7.9,835,10638,0.00,2.20,22.27,1.070,4,0.000,0.033,2122,1045,2184,0,0,0,0,0,0,28.83,25.75,23.99
$GC,10659,0.36,216.4,839.4,7.8,837,10688,0.00,2.35,24.25,1.065,6,0.000,0.038,2122,2524,2095,0,0,0,0,0,0,28.83,25.80,23.80
$GC,11009,0.37,216.4,807.9,8.8,855,11015,0.00,2.28,0.00,0.000,4,0.000,0.034,2133,1060,2073,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11053,0.39,225.8,804.6,8.3,857,11060,0.00,2.33,2.12,0.295,6,0.000,0.037,2133,2527,2057,0,0,0,0,0,0,28.83,25.83,23.73
$GC,11364,0.39,225.8,775.3,9.5,872,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2526,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11663,0.39,225.8,745.4,10.2,887,11668,0.00,2.05,0.00,0.000,4,0.000,0.045,2134,3810,2064,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11726,0.39,225.8,738.2,11.7,890,11729,0.00,2.05,0.00,0.000,6,0.000,0.026,2144,2463,2063,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12039,0.39,225.8,702.1,11.5,906,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2461,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12338,0.39,225.8,668.8,10.8,921,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2461,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12638,0.39,225.8,638.7,9.4,936,12642,0.00,2.22,0.00,0.000,4,0.000,0.046,2144,3819,2064,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,18619,end climb,SURFACE_DEPTH_REACHED
$STATE,18619,begin surface coast
$FINISH,0.3,1.020072
$STATE,18643,end surface coast,CONTROL_FINISHED_OK
$STATE,18643,begin surface
$SM_CCo,18658,5.85,0.129,0,0,1246,425.10
$SM_GC,2.06,5.35,0.35,5.85,0.023,0.050,0.129,132,2651,1246,-5.80,-0.40,425.10,0,0,0,0,0,0,26.13,26.25,25.09
$IRIDIUM_FIX,2216.01,12225.77,210212,171752
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.3,107.154
$10V_AH,9.9,65.664
$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,16.900,171.100,527.600,5.850,0.000,33.644,46.516,243.303,0.000,0.000,42.602,4225.184,10406.093,683.578,3360.114,463.268,0.000,2278.695,0.000,2832.840,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,75.735,1196.460,128.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1149.304,2150.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,113766,1693
$CAP_FILE_SIZE,203953,0
$CFSIZE,260165632,172425216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.289, 12.8,1
$GPS,220212,042037,2229.310,12220.486,36,1.5,36,-2.9