version: 66.10
glider: 169
mission: 5
dive: 550
start: 2 26 112 3 56 56
data:
$ID,169
$MISSION,5
$DIVE,550
$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,-13602.556
$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
$GPS1,260212,034836,2257.938,12200.832,38,1.0,43,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.0
$GPS2,260212,035632,2258.105,12200.958,33,1.4,33,-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,237.7,60701,-16.1,-8.684
$D_GRID,4613
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-64.70,0.000,2,0.000,0.000,116,2676,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.58,-146.0,3.3,-7.2,11,120,7.30,1.83,-15.40,0.000,4,0.236,0.054,1811,3825,3577,0,0,0,0,0,0,24.73,25.89,26.55
$GC,264,-0.52,-146.0,58.8,-23.2,44,271,0.10,1.80,0.00,0.000,6,0.154,0.023,1837,2592,3577,0,0,0,0,0,0,25.82,26.09,28.83
$GC,578,-0.44,-146.0,140.1,-22.0,105,586,0.10,2.20,0.00,0.000,4,0.187,0.024,1872,1175,3577,0,0,0,0,0,0,26.18,26.03,28.83
$GC,625,-0.48,-146.0,146.7,-9.8,113,633,0.00,2.40,0.00,0.000,6,0.000,0.035,1862,2647,3577,0,0,0,0,0,0,28.83,25.90,28.83
$GC,939,-0.45,-146.0,191.4,-16.8,174,946,0.00,2.33,0.00,0.000,4,0.000,0.025,1862,1176,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,979,-0.46,-146.0,197.5,-12.5,181,987,0.00,2.40,0.00,0.000,6,0.000,0.035,1852,2651,3577,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1296,-0.43,-146.0,238.1,-12.2,214,1304,0.00,2.30,0.00,0.000,4,0.000,0.026,1852,1184,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1388,-0.46,-146.0,246.7,-8.2,223,1396,0.00,2.38,0.00,0.000,6,0.000,0.035,1842,2647,3577,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1698,-0.44,-146.0,286.5,-13.9,254,1707,0.00,2.33,0.00,0.000,4,0.000,0.026,1842,1174,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1772,-0.48,-146.0,295.0,-10.1,261,1780,0.00,2.40,0.00,0.000,6,0.000,0.034,1831,2646,3577,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2080,-0.45,-146.0,339.8,-14.7,292,2090,0.12,2.33,0.00,0.000,4,0.154,0.024,1872,1174,3577,0,0,0,0,0,0,26.13,26.04,28.83
$GC,2112,-0.45,-146.0,343.6,-12.2,295,2121,0.00,2.40,0.00,0.000,6,0.000,0.035,1870,2649,3576,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2424,-0.47,-146.0,367.2,-6.6,326,2432,0.00,2.35,0.00,0.000,4,0.000,0.027,1870,1174,3575,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2456,-0.51,-146.0,369.2,-6.3,329,2466,0.00,2.40,0.00,0.000,6,0.000,0.035,1865,2644,3574,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2766,-0.58,-146.0,391.2,-8.2,360,2775,0.12,2.30,0.00,0.000,4,0.078,0.023,1758,1163,3573,0,0,0,0,0,0,26.44,26.06,28.83
$GC,2801,-0.59,-146.0,394.9,-10.4,363,2808,0.22,2.42,0.00,0.000,6,0.132,0.035,1814,2646,3573,0,0,0,0,0,0,25.45,25.90,28.83
$GC,3109,-0.57,-146.0,438.0,-13.2,394,3118,0.00,2.35,0.00,0.000,4,0.000,0.028,1814,1173,3572,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3172,-0.59,-146.0,444.9,-10.0,400,3181,0.00,2.42,0.00,0.000,6,0.000,0.036,1805,2647,3571,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3482,-0.56,-146.0,482.2,-12.0,431,3491,0.00,2.33,0.00,0.000,4,0.000,0.027,1806,1173,3569,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3524,-0.54,-146.0,486.7,-10.7,435,3534,0.10,2.42,0.00,0.000,6,0.147,0.037,1832,2650,3569,0,0,0,0,0,0,25.67,25.86,28.83
$GC,3834,-0.54,-146.0,513.7,-9.2,466,3843,0.00,2.30,0.00,0.000,4,0.000,0.028,1832,1182,3567,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3877,-0.57,-146.0,517.2,-8.4,470,3886,0.00,2.38,0.00,0.000,6,0.000,0.037,1823,2640,3567,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4186,-0.57,-146.0,551.4,-12.6,501,4196,0.00,2.30,0.00,0.000,4,0.000,0.027,1823,1178,3564,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4229,-0.59,-146.0,556.0,-10.8,505,4239,0.00,2.42,0.00,0.000,6,0.000,0.037,1813,2648,3564,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4540,-0.58,-146.0,596.0,-12.9,536,4549,0.00,2.33,0.00,0.000,4,0.000,0.028,1813,1188,3562,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4584,-0.59,-146.0,601.3,-12.5,540,4588,0.00,2.42,0.00,0.000,6,0.000,0.039,1813,2648,3561,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4897,-0.58,-146.0,639.4,-11.5,556,4900,0.00,1.77,0.00,0.000,4,0.000,0.047,1804,3818,3560,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4932,-0.57,-146.0,641.5,-10.8,557,4940,0.00,1.77,0.00,0.000,6,0.000,0.023,1804,2589,3559,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5238,-0.56,-146.0,675.3,-10.0,573,5244,0.00,2.22,0.00,0.000,4,0.000,0.028,1804,1172,3557,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5311,-0.57,-146.0,681.1,-9.8,576,5318,0.00,2.42,0.00,0.000,6,0.000,0.038,1795,2646,3556,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5620,-0.56,-146.0,714.4,-10.3,592,5626,0.12,2.33,0.00,0.000,4,0.142,0.025,1838,1182,3555,0,0,0,0,0,0,26.13,25.91,28.83
$GC,5672,-0.56,-146.0,717.9,-9.4,594,5679,0.00,2.42,0.00,0.000,6,0.000,0.038,1829,2647,3554,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5982,-0.58,-146.0,742.7,-8.0,610,5987,0.00,2.33,0.00,0.000,4,0.000,0.028,1829,1174,3552,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6021,-0.60,-146.0,746.0,-8.2,612,6026,0.00,2.42,0.00,0.000,6,0.000,0.038,1823,2641,3551,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6342,-0.62,-146.0,774.4,-9.3,628,6347,0.00,2.30,0.00,0.000,4,0.000,0.028,1823,1181,3550,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6394,-0.64,-146.0,778.2,-9.3,630,6401,0.00,2.42,0.00,0.000,6,0.000,0.040,1815,2643,3550,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6702,-0.64,-146.0,809.8,-10.1,646,6707,0.00,2.33,0.00,0.000,4,0.000,0.028,1815,1185,3548,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6735,-0.64,-146.0,811.9,-10.1,647,6744,0.00,2.42,0.00,0.000,6,0.000,0.040,1813,2643,3547,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7041,-0.64,-146.0,845.1,-10.3,663,7047,0.00,2.35,0.00,0.000,4,0.000,0.029,1813,1182,3545,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7089,-0.65,-146.0,849.1,-10.2,665,7094,0.00,2.42,0.00,0.000,6,0.000,0.040,1813,2643,3545,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7398,-0.65,-146.0,880.6,-10.0,680,7401,0.00,1.80,0.00,0.000,4,0.000,0.047,1804,3813,3543,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7432,-0.66,-146.0,882.7,-9.9,681,7439,0.00,1.80,0.00,0.000,6,0.000,0.024,1804,2576,3543,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7739,-0.66,-146.0,913.9,-9.2,697,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2576,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8040,-0.66,-146.0,939.6,-8.4,712,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2576,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8339,-0.66,-146.0,963.5,-8.1,727,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2576,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8641,-0.66,-146.0,988.6,-8.4,742,8646,0.00,2.20,0.00,0.000,4,0.000,0.033,1804,1192,3538,0,0,0,0,0,0,28.83,25.71,28.83
$STATE,8657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8657,begin apogee
$GC,8665,-0.20,0.0,990.5,-8.4,743,8802,0.40,0.08,129.27,1.187,6,0.095,0.094,1940,2460,2971,0,0,0,0,0,0,25.49,24.65,23.38
$STATE,8803,end apogee,CONTROL_FINISHED_OK
$STATE,8803,begin climb
$GC,8807,0.58,146.0,995.8,0.0,750,8961,0.68,2.35,141.55,1.195,4,0.044,0.046,2205,3806,2370,0,0,0,0,0,0,25.16,24.84,23.32
$GC,8985,0.48,146.0,986.5,11.9,759,8992,0.20,2.12,0.00,0.000,6,0.190,0.027,2167,2467,2362,0,0,0,0,0,0,24.86,25.44,28.83
$GC,9307,0.43,146.0,947.0,11.7,775,9312,0.00,2.15,0.00,0.000,4,0.000,0.044,2167,3809,2355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9366,0.36,146.0,939.0,13.1,778,9372,0.15,2.08,0.00,0.000,6,0.156,0.028,2132,2467,2353,0,0,0,0,0,0,25.34,25.94,28.83
$GC,9687,0.34,146.0,908.0,9.3,794,9693,0.00,2.12,0.00,0.000,4,0.000,0.044,2130,3805,2351,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9788,0.30,146.0,897.0,11.3,799,9793,0.12,2.05,0.00,0.000,6,0.171,0.026,2111,2461,2350,0,0,0,0,0,0,25.58,25.98,28.83
$GC,10107,0.33,169.1,871.5,7.8,815,10133,0.00,2.22,21.38,1.067,4,0.000,0.044,2111,3809,2282,0,0,0,0,0,0,28.83,25.66,24.01
$GC,10163,0.33,170.5,866.5,8.6,818,10167,0.00,2.10,0.00,0.000,6,0.000,0.028,2121,2458,2270,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10477,0.35,185.5,839.3,8.1,834,10499,0.00,2.25,16.02,1.054,4,0.000,0.034,2132,1052,2215,0,0,0,0,0,0,28.83,25.77,24.05
$GC,10531,0.36,191.7,835.9,8.4,836,10538,0.00,2.35,1.50,0.206,6,0.000,0.037,2132,2522,2195,0,0,0,0,0,0,28.83,25.81,25.27
$GC,10836,0.36,191.7,807.9,8.7,852,10842,0.00,2.08,0.00,0.000,4,0.000,0.044,2132,3823,2199,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10891,0.35,191.7,804.0,9.4,854,10898,0.00,2.08,0.00,0.000,6,0.000,0.026,2143,2463,2199,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11197,0.33,191.7,773.4,9.1,870,11203,0.00,2.20,0.00,0.000,4,0.000,0.036,2154,1051,2199,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11236,0.33,191.7,769.8,9.2,872,11243,0.12,2.35,0.00,0.000,6,0.145,0.037,2121,2523,2198,0,0,0,0,0,0,25.50,25.76,28.83
$GC,11560,0.37,217.3,744.9,7.7,888,11598,0.00,2.15,32.92,0.999,4,0.000,0.045,2121,3814,2085,0,0,0,0,0,0,28.83,25.56,23.96
$GC,11622,0.40,232.0,739.5,8.1,891,11641,0.00,2.10,14.50,0.990,6,0.000,0.027,2132,2465,2030,0,0,0,0,0,0,28.83,25.77,23.83
$GC,11944,0.42,237.5,712.6,8.5,907,11950,0.00,2.17,0.00,0.000,4,0.000,0.035,2142,1053,2012,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,19238,end climb,SURFACE_DEPTH_REACHED
$STATE,19238,begin surface coast
$FINISH,0.7,1.022892
$STATE,19263,end surface coast,CONTROL_FINISHED_OK
$STATE,19264,begin surface
$SM_CCo,19281,48.97,0.118,0,0,1245,425.10
$SM_GC,1.17,5.32,1.83,48.97,0.025,0.021,0.118,122,2573,1245,-5.79,0.31,425.10,0,0,0,0,0,0,26.08,26.22,25.39
$IRIDIUM_FIX,2248.70,12158.83,250212,222232
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.13
$INTERNAL_PRESSURE,9.56447
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.3,110.207
$10V_AH,9.9,68.055
$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,15.775,200.050,446.300,48.975,0.000,33.780,17.531,248.000,0.250,0.000,34.592,4473.180,10586.603,731.854,3494.991,489.587,0.000,2387.122,0.000,2994.591,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,94.095,1194.930,117.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1211.656,2249.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,116950,1783
$CAP_FILE_SIZE,215261,0
$CFSIZE,260165632,170442752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.308, 27.0,1
$GPS,260212,092007,2259.317,12200.607,28,1.7,28,-3.0