version: 66.10
glider: 169
mission: 5
dive: 538
start: 2 23 112 12 5 57
data:
$ID,169
$MISSION,5
$DIVE,538
$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,-13586.979
$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
$GPS1,230212,115800,2240.385,12211.900,36,1.6,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.5
$GPS2,230212,120532,2240.464,12211.827,15,1.7,15,-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,256.7,89312,-16.1,-8.684
$D_GRID,4826
$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,-70.75,0.000,2,0.000,0.000,113,2673,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-146.0,3.6,-7.9,12,121,7.10,1.80,-11.68,0.000,4,0.226,0.053,1805,3825,3576,0,0,0,0,0,0,24.76,25.90,26.53
$GC,270,-0.49,-146.0,62.5,-29.5,45,277,0.08,1.83,0.00,0.000,6,0.148,0.021,1848,2582,3576,0,0,0,0,0,0,25.67,26.15,28.83
$GC,585,-0.41,-146.0,140.9,-24.1,106,592,0.00,1.95,0.00,0.000,4,0.000,0.039,1839,3816,3576,0,0,0,0,0,0,28.83,25.91,28.83
$GC,767,-0.41,-146.0,173.2,-12.9,141,774,0.12,1.77,0.00,0.000,6,0.135,0.021,1879,2580,3576,0,0,0,0,0,0,25.91,26.25,28.83
$GC,1080,-0.40,-146.0,215.4,-13.4,191,1089,0.00,2.10,0.00,0.000,4,0.000,0.028,1879,1186,3577,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1132,-0.43,-146.0,221.8,-11.8,196,1141,0.00,2.33,0.00,0.000,6,0.000,0.035,1869,2639,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1442,-0.42,-146.0,258.2,-10.3,227,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2638,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1744,-0.42,-146.0,289.0,-10.7,257,1753,0.00,2.25,0.00,0.000,4,0.000,0.027,1869,1184,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1821,-0.47,-146.0,295.7,-7.8,264,1827,0.00,2.35,0.00,0.000,6,0.000,0.035,1862,2647,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2126,-0.47,-146.0,331.8,-12.4,295,2135,0.00,2.30,0.00,0.000,4,0.000,0.027,1862,1177,3576,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2192,-0.51,-146.0,338.1,-9.4,301,2199,0.00,2.38,0.00,0.000,6,0.000,0.036,1855,2650,3576,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2498,-0.51,-146.0,371.1,-9.7,332,2501,0.00,1.80,0.00,0.000,4,0.000,0.042,1846,3828,3575,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2513,-0.51,-146.0,372.2,-9.8,333,2520,0.00,1.77,0.00,0.000,6,0.000,0.021,1846,2573,3575,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2819,-0.51,-146.0,405.1,-10.8,364,2827,0.00,2.12,0.00,0.000,4,0.000,0.025,1846,1173,3574,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2853,-0.53,-146.0,408.2,-9.9,367,2860,0.00,2.38,0.00,0.000,6,0.000,0.034,1837,2651,3574,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3160,-0.53,-146.0,442.4,-10.5,398,3170,0.00,2.30,0.00,0.000,4,0.000,0.025,1837,1174,3573,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3203,-0.54,-146.0,446.7,-10.5,402,3213,0.00,2.38,0.00,0.000,6,0.000,0.036,1827,2648,3572,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3513,-0.54,-146.0,480.4,-10.9,433,3522,0.00,2.33,0.00,0.000,4,0.000,0.026,1827,1165,3571,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3544,-0.54,-146.0,483.9,-10.8,436,3554,0.00,2.40,0.00,0.000,6,0.000,0.038,1825,2645,3571,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3855,-0.54,-146.0,517.7,-11.1,467,3864,0.00,2.30,0.00,0.000,4,0.000,0.025,1826,1177,3568,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3897,-0.56,-146.0,522.2,-10.7,471,3906,0.00,2.38,0.00,0.000,6,0.000,0.037,1824,2646,3568,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4206,-0.56,-146.0,556.3,-10.5,502,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2645,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.56,-146.0,588.2,-9.7,532,4518,0.00,2.30,0.00,0.000,4,0.000,0.028,1824,1182,3564,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4552,-0.58,-146.0,592.3,-9.1,536,4561,0.00,2.35,0.00,0.000,6,0.000,0.039,1815,2634,3563,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4863,-0.57,-146.0,623.2,-10.2,556,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2634,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,-0.57,-146.0,654.3,-10.5,571,5167,0.00,2.28,0.00,0.000,4,0.000,0.028,1815,1185,3558,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5195,-0.57,-146.0,656.4,-10.5,572,5202,0.00,2.40,0.00,0.000,6,0.000,0.039,1813,2649,3558,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5501,-0.57,-146.0,688.9,-9.7,588,5507,0.00,2.30,0.00,0.000,4,0.000,0.028,1813,1183,3556,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5554,-0.57,-146.0,692.4,-9.1,590,5562,0.00,2.40,0.00,0.000,6,0.000,0.040,1813,2644,3556,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5862,-0.57,-146.0,721.6,-9.2,606,5867,0.00,2.28,0.00,0.000,4,0.000,0.028,1813,1187,3552,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5901,-0.58,-146.0,725.2,-9.2,608,5907,0.00,2.40,0.00,0.000,6,0.000,0.040,1812,2644,3552,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6221,-0.58,-146.0,753.5,-9.4,624,6227,0.00,2.33,0.00,0.000,4,0.000,0.028,1813,1186,3551,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6255,-0.58,-146.0,755.5,-9.6,625,6262,0.00,2.40,0.00,0.000,6,0.000,0.040,1813,2644,3550,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6561,-0.58,-146.0,784.5,-9.0,641,6567,0.00,2.35,0.00,0.000,4,0.000,0.028,1813,1169,3548,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6602,-0.59,-146.0,787.9,-8.9,643,6607,0.00,2.42,0.00,0.000,6,0.000,0.041,1813,2639,3548,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6923,-0.59,-146.0,815.3,-8.7,659,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2639,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7221,-0.59,-146.0,842.3,-8.9,674,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2639,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,-0.59,-146.0,868.5,-8.7,689,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2639,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7822,-0.60,-146.0,895.7,-9.3,704,7827,0.00,2.33,0.00,0.000,4,0.000,0.029,1813,1169,3541,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7876,-0.61,-146.0,899.3,-9.1,706,7884,0.00,2.45,0.00,0.000,6,0.000,0.041,1812,2647,3541,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8184,-0.62,-146.0,928.4,-9.2,722,8189,0.00,2.35,0.00,0.000,4,0.000,0.030,1813,1175,3540,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8224,-0.64,-146.0,931.9,-9.1,724,8229,0.00,2.42,0.00,0.000,6,0.000,0.042,1813,2641,3540,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8545,-0.65,-146.0,960.6,-9.1,740,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2640,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8843,-0.66,-146.0,987.4,-8.9,755,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2640,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8880,begin apogee
$GC,8886,-0.20,0.0,991.1,-9.2,757,9026,0.38,0.15,129.55,1.191,6,0.101,0.075,1942,2532,2970,0,0,0,0,0,0,25.57,24.75,23.34
$STATE,9027,end apogee,CONTROL_FINISHED_OK
$STATE,9027,begin climb
$GC,9029,0.58,146.0,998.1,0.0,764,9176,0.68,0.00,142.68,1.196,6,0.043,0.000,2211,2532,2383,0,0,0,0,0,0,25.20,28.83,23.27
$GC,9465,0.49,146.0,954.0,14.1,786,9471,0.12,2.08,0.00,0.000,4,0.197,0.042,2176,3812,2356,0,0,0,0,0,0,25.68,25.77,28.83
$GC,9627,0.41,146.0,932.0,13.3,794,9632,0.15,2.08,0.00,0.000,6,0.182,0.027,2149,2458,2353,0,0,0,0,0,0,25.46,25.98,28.83
$GC,9941,0.38,146.0,901.2,9.9,810,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2457,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10241,0.34,146.0,868.1,11.3,825,10247,0.00,2.20,0.00,0.000,4,0.000,0.045,2149,3804,2350,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10349,0.29,146.0,854.6,13.9,830,10360,0.20,2.03,0.00,0.000,6,0.160,0.027,2106,2458,2348,0,0,0,0,0,0,25.38,26.03,28.83
$GC,10660,0.32,171.8,827.3,7.7,846,10688,0.00,2.30,23.80,1.057,4,0.000,0.047,2106,3810,2271,0,0,0,0,0,0,28.83,25.65,23.97
$GC,10719,0.33,184.8,822.7,8.2,849,10737,0.00,2.08,12.82,1.030,6,0.000,0.029,2116,2468,2223,0,0,0,0,0,0,28.83,25.85,23.89
$GC,11038,0.36,205.2,796.8,7.9,865,11064,0.00,2.20,21.62,1.033,4,0.000,0.044,2116,3824,2136,0,0,0,0,0,0,28.83,25.64,24.03
$GC,11100,0.37,211.0,791.9,8.5,868,11104,0.00,2.10,0.00,0.000,6,0.000,0.026,2126,2460,2125,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11409,0.37,211.0,763.6,9.0,883,11414,0.00,2.15,0.00,0.000,4,0.000,0.035,2137,1064,2121,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11447,0.38,211.0,760.2,8.7,885,11453,0.00,2.33,0.00,0.000,6,0.000,0.038,2137,2520,2119,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11768,0.38,211.0,731.7,8.9,901,11774,0.00,2.00,0.00,0.000,4,0.000,0.045,2137,3807,2119,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11840,0.37,211.0,725.6,10.0,904,11849,0.00,2.05,0.00,0.000,6,0.000,0.027,2148,2458,2118,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12148,0.36,211.0,696.9,8.9,920,12153,0.00,2.17,0.00,0.000,4,0.000,0.036,2159,1044,2117,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12188,0.36,211.0,693.4,9.0,922,12194,0.08,2.35,0.00,0.000,6,0.117,0.040,2131,2519,2116,0,0,0,0,0,0,25.52,25.75,28.83
$GC,12507,0.39,233.4,668.9,7.8,938,12541,0.00,2.33,28.20,0.974,4,0.000,0.034,2143,1048,2019,0,0,0,0,0,0,28.83,25.67,24.00
$GC,12573,0.43,255.0,664.5,7.8,940,12604,0.00,2.35,21.92,0.963,6,0.000,0.037,2143,2521,1930,0,0,0,0,0,0,28.83,25.75,23.88
$GC,12905,0.44,255.0,635.0,8.8,957,12911,0.00,2.03,0.00,0.000,4,0.000,0.045,2143,3806,1916,0,0,0,0,0,0,28.83,25.70,28.83
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$STATE,19247,end climb,SURFACE_DEPTH_REACHED
$STATE,19247,begin surface coast
$FINISH,0.1,1.004205
$STATE,19284,end surface coast,CONTROL_FINISHED_OK
$STATE,19284,begin surface
$SM_CCo,19299,35.28,0.116,0,0,1244,425.10
$SM_GC,0.96,5.40,0.38,35.28,0.031,0.044,0.116,112,2659,1244,-5.80,-0.40,425.10,0,0,0,0,0,0,26.16,26.27,25.41
$IRIDIUM_FIX,2230.01,12215.92,230212,060646
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.3,108.264
$10V_AH,9.9,66.539
$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,14.875,185.675,473.650,35.275,0.000,29.037,17.506,246.803,0.250,0.000,16.216,4439.508,10674.888,729.322,3442.770,475.007,0.000,2360.354,0.000,2963.247,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,74.970,1196.460,116.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1206.468,2238.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,117039,1775
$CAP_FILE_SIZE,208801,0
$CFSIZE,260165632,171696128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.358, 18.6,1
$GPS,230212,172936,2243.055,12210.589,41,1.1,52,-3.0