version: 66.10
glider: 169
mission: 5
dive: 460
start: 2 6 112 13 8 27
data:
$ID,169
$MISSION,5
$DIVE,460
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$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,-12489.103
$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
$GPS1,060212,130037,2330.847,12357.578,36,1.1,36,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.8
$GPS2,060212,130802,2330.892,12357.672,17,1.7,17,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,223.4,223927,-15.4,-9.167
$D_GRID,2511
$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,16,-0.60,-175.2,0.0,0.0,0,96,0.00,0.00,-77.05,0.000,2,0.000,0.000,109,2539,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.8,-8.4,13,126,7.12,2.08,-10.20,0.000,4,0.227,0.034,1815,1136,3696,0,0,0,0,0,0,24.69,26.15,26.54
$GC,251,-0.57,-175.2,47.7,-18.1,41,257,0.00,2.38,0.00,0.000,6,0.000,0.037,1803,2648,3696,0,0,0,0,0,0,28.83,25.98,28.83
$GC,564,-0.47,-175.2,143.3,-27.4,102,572,0.15,2.25,0.00,0.000,4,0.164,0.027,1860,1174,3696,0,0,0,0,0,0,25.98,26.13,28.83
$GC,673,-0.51,-175.2,157.9,-8.8,122,681,0.00,2.30,0.00,0.000,6,0.000,0.037,1849,2649,3696,0,0,0,0,0,0,28.83,26.08,28.83
$GC,987,-0.47,-175.2,211.9,-17.1,176,991,0.00,2.20,0.00,0.000,4,0.000,0.026,1849,1183,3696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1023,-0.45,-175.2,216.7,-15.1,179,1029,0.00,2.30,0.00,0.000,6,0.000,0.037,1838,2650,3696,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1330,-0.41,-175.2,265.8,-15.5,210,1340,0.12,2.20,0.00,0.000,4,0.154,0.025,1882,1173,3696,0,0,0,0,0,0,26.20,26.20,28.83
$GC,1365,-0.41,-175.2,270.0,-13.1,213,1372,0.00,2.30,0.00,0.000,6,0.000,0.036,1874,2651,3696,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1675,-0.42,-175.2,298.2,-9.0,244,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2651,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1986,-0.44,-175.2,327.8,-8.8,275,1995,0.00,2.20,0.00,0.000,4,0.000,0.026,1874,1172,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2018,-0.48,-175.2,330.6,-8.4,278,2028,0.00,2.28,0.00,0.000,6,0.000,0.037,1865,2647,3696,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2328,-0.48,-175.2,361.3,-11.4,309,2331,0.00,1.77,0.00,0.000,4,0.000,0.044,1856,3818,3695,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2362,-0.49,-175.2,364.4,-10.1,312,2369,0.00,1.80,0.00,0.000,6,0.000,0.022,1856,2550,3694,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2669,-0.49,-175.2,395.7,-9.8,343,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2550,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-0.51,-175.2,423.6,-8.8,373,2981,0.00,2.03,0.00,0.000,4,0.000,0.028,1856,1178,3692,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2999,-0.52,-175.2,425.7,-8.7,375,3006,0.00,2.30,0.00,0.000,6,0.000,0.037,1851,2653,3692,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3304,-0.53,-175.2,454.4,-10.1,406,3313,0.00,2.22,0.00,0.000,4,0.000,0.026,1850,1167,3691,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3350,-0.56,-175.2,458.6,-9.8,410,3358,0.00,2.33,0.00,0.000,6,0.000,0.037,1845,2656,3690,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3657,-0.56,-175.2,489.3,-10.1,441,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2656,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3960,-0.57,-175.2,517.4,-9.6,471,3969,0.00,2.22,0.00,0.000,4,0.000,0.028,1845,1176,3688,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4013,-0.61,-175.2,522.2,-8.5,476,4022,0.00,2.28,0.00,0.000,6,0.000,0.037,1837,2647,3688,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4323,-0.61,-175.2,554.8,-10.7,507,4332,0.00,2.20,0.00,0.000,4,0.000,0.027,1837,1183,3686,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4368,-0.63,-175.2,559.1,-10.2,511,4375,0.00,2.30,0.00,0.000,6,0.000,0.037,1828,2650,3686,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4675,-0.63,-175.2,589.9,-9.6,542,4685,0.00,2.22,0.00,0.000,4,0.000,0.027,1828,1169,3685,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4701,-0.64,-175.2,592.1,-9.4,544,4708,0.00,2.33,0.00,0.000,6,0.000,0.038,1819,2649,3684,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5008,-0.64,-175.2,623.7,-10.9,564,5013,0.00,2.22,0.00,0.000,4,0.000,0.027,1819,1172,3682,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5063,-0.64,-175.2,627.8,-10.7,566,5071,0.00,2.33,0.00,0.000,6,0.000,0.039,1813,2648,3682,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5368,-0.64,-175.2,659.1,-9.7,582,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2648,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5669,-0.64,-175.2,689.2,-9.8,597,5674,0.00,2.20,0.00,0.000,4,0.000,0.027,1813,1181,3678,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5716,-0.65,-175.2,692.7,-9.3,599,5720,0.00,2.33,0.00,0.000,6,0.000,0.039,1813,2650,3678,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6023,-0.65,-175.2,721.2,-8.7,614,6029,0.00,2.28,0.00,0.000,4,0.000,0.031,1813,1170,3675,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6047,-0.65,-175.2,722.8,-8.6,615,6051,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2649,3675,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6360,-0.65,-175.2,746.7,-7.6,631,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2647,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6659,-0.65,-175.2,770.0,-8.1,646,6665,0.00,2.25,0.00,0.000,4,0.000,0.029,1812,1171,3671,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6709,-0.66,-175.2,773.3,-8.2,648,6718,0.00,2.35,0.00,0.000,6,0.000,0.041,1813,2648,3671,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7019,-0.66,-175.2,800.5,-8.4,664,7022,0.00,1.83,0.00,0.000,4,0.000,0.047,1805,3825,3669,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7064,-0.67,-175.2,804.0,-8.4,666,7068,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2574,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7375,-0.67,-175.2,834.5,-10.0,682,7381,0.00,2.12,0.00,0.000,4,0.000,0.029,1804,1168,3666,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7416,-0.69,-175.2,837.9,-9.3,684,7421,0.00,2.38,0.00,0.000,6,0.000,0.041,1799,2650,3666,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7736,-0.69,-175.2,868.3,-9.8,700,7740,0.00,1.83,0.00,0.000,4,0.000,0.048,1791,3818,3664,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7760,-0.69,-175.2,870.4,-9.8,701,7764,0.00,1.83,0.00,0.000,6,0.000,0.024,1791,2577,3664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8078,-0.68,-175.2,903.4,-10.5,717,8083,0.00,2.12,0.00,0.000,4,0.000,0.029,1791,1171,3663,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8101,-0.68,-175.2,905.4,-10.5,718,8106,0.00,2.35,0.00,0.000,6,0.000,0.041,1780,2648,3663,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8413,-0.66,-175.2,942.3,-11.7,734,8420,0.00,2.28,0.00,0.000,4,0.000,0.029,1780,1170,3661,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8436,-0.65,-175.2,944.6,-11.6,735,8441,0.12,2.35,0.00,0.000,6,0.135,0.041,1807,2647,3661,0,0,0,0,0,0,25.70,25.88,28.83
$GC,8750,-0.66,-175.2,974.2,-9.3,751,8756,0.00,2.22,0.00,0.000,4,0.000,0.029,1807,1182,3659,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8789,-0.67,-175.2,977.9,-9.2,753,8794,0.00,2.35,0.00,0.000,6,0.000,0.041,1799,2647,3659,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,8926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8926,begin apogee
$GC,8932,-0.20,0.0,990.9,-9.6,760,9093,0.40,0.17,154.65,1.193,6,0.097,0.067,1940,2537,2978,0,0,0,0,0,0,25.71,24.89,23.20
$STATE,9094,end apogee,CONTROL_FINISHED_OK
$STATE,9094,begin climb
$GC,9096,0.60,175.2,998.0,0.0,768,9272,0.70,2.17,168.45,1.193,4,0.048,0.047,2211,3820,2256,0,0,0,0,0,0,25.15,24.93,23.30
$GC,9285,0.49,175.2,989.1,12.1,777,9292,0.20,2.15,0.00,0.000,6,0.188,0.028,2173,2468,2244,0,0,0,0,0,0,24.89,25.29,28.83
$GC,9593,0.44,175.2,940.5,14.5,793,9597,0.00,2.17,0.00,0.000,4,0.000,0.045,2172,3817,2235,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9643,0.38,175.2,933.1,15.8,795,9648,0.17,2.08,0.00,0.000,6,0.169,0.028,2137,2462,2234,0,0,0,0,0,0,25.57,26.06,28.83
$GC,9950,0.36,175.2,895.0,11.7,810,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2460,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10253,0.34,175.2,863.6,9.7,825,10258,0.00,2.15,0.00,0.000,4,0.000,0.046,2137,3817,2231,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10284,0.31,175.2,861.3,9.9,826,10293,0.12,2.05,0.00,0.000,6,0.168,0.028,2116,2459,2231,0,0,0,0,0,0,25.77,26.14,28.83
$GC,10591,0.31,175.2,831.1,9.9,842,10597,0.00,2.15,0.00,0.000,4,0.000,0.046,2116,3812,2230,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10632,0.30,175.2,826.4,10.9,844,10636,0.00,2.08,0.00,0.000,6,0.000,0.027,2126,2453,2229,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10954,0.29,175.2,791.3,10.3,860,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2451,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11256,0.31,195.5,763.3,8.5,875,11280,0.00,2.28,18.20,1.006,4,0.000,0.044,2126,3808,2171,0,0,0,0,0,0,28.83,25.84,23.99
$GC,11355,0.29,195.5,753.9,9.7,880,11361,0.08,2.05,0.00,0.000,6,0.140,0.026,2110,2460,2161,0,0,0,0,0,0,25.72,26.02,28.83
$GC,11677,0.37,252.2,731.4,7.2,896,11738,0.00,0.00,58.75,0.985,6,0.000,0.000,2111,2459,1949,0,0,0,0,0,0,28.83,28.83,23.72
$GC,12034,0.50,329.3,706.7,6.5,914,12117,0.15,2.28,75.68,0.975,4,0.068,0.037,2212,1068,1626,0,0,0,0,0,0,26.20,25.24,23.68
$GC,12148,0.46,329.3,691.9,15.9,919,12155,0.17,2.33,0.00,0.000,6,0.126,0.038,2161,2524,1611,0,0,0,0,0,0,25.29,25.50,28.83
$GC,12455,0.46,329.3,655.3,11.4,935,12461,0.00,2.03,0.00,0.000,4,0.000,0.044,2161,3814,1608,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,17529,end climb,SURFACE_DEPTH_REACHED
$STATE,17529,begin surface coast
$FINISH,0.5,1.023329
$STATE,17550,end surface coast,CONTROL_FINISHED_OK
$STATE,17551,begin surface
$SM_CCo,17627,0.00,0.000,0,0,872,516.85
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$IRIDIUM_FIX,2326.22,12355.75,060212,070722
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,95.462
$10V_AH,9.9,56.955
$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
$DEVICE_SECS,16.000,183.250,638.950,0.000,0.000,25.703,47.113,223.440,0.000,0.000,18.339,3911.079,9835.158,800.260,3082.292,415.373,0.000,2296.729,0.000,2614.507,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,103639,1570
$CAP_FILE_SIZE,193318,0
$CFSIZE,260165632,179544064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239,149.6,1
$GPS,060212,180325,2326.812,12357.097,42,1.1,42,-3.3