version: 66.10
glider: 169
mission: 5
dive: 463
start: 2 7 112 4 59 3
data:
$ID,169
$MISSION,5
$DIVE,463
$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,-9
$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,-12492.973
$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
$GPS1,070212,044154,2320.670,12357.986,36,1.8,36,-3.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.7
$GPS2,070212,045837,2320.592,12357.962,30,1.3,30,-3.3
$SPEED_LIMITS,0.150,0.248
$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,214.7,204846,-16.1,-8.684
$D_GRID,4084
$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,-0.58,-146.0,0.0,0.0,0,85,0.00,0.00,-66.00,0.000,2,0.000,0.000,116,2661,2871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.58,-146.0,3.2,-6.2,11,120,7.18,1.88,-14.93,0.000,4,0.231,0.057,1804,3813,3577,0,0,0,0,0,0,24.81,25.94,26.56
$GC,210,-0.50,-146.0,40.6,-23.5,33,218,0.12,1.80,0.00,0.000,6,0.161,0.021,1845,2583,3578,0,0,0,0,0,0,25.82,26.20,28.83
$GC,524,-0.44,-146.0,114.0,-19.2,94,531,0.00,2.10,0.00,0.000,4,0.000,0.025,1854,1166,3578,0,0,0,0,0,0,28.83,26.19,28.83
$GC,630,-0.46,-146.0,126.9,-8.9,114,637,0.00,2.33,0.00,0.000,6,0.000,0.036,1844,2650,3578,0,0,0,0,0,0,28.83,26.10,28.83
$GC,942,-0.41,-146.0,185.0,-17.1,175,950,0.12,2.22,0.00,0.000,4,0.167,0.025,1892,1176,3578,0,0,0,0,0,0,26.13,26.20,28.83
$GC,983,-0.44,-146.0,190.2,-10.0,182,990,0.00,2.30,0.00,0.000,6,0.000,0.037,1882,2647,3577,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1293,-0.44,-146.0,220.8,-10.6,223,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2647,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.44,-146.0,253.1,-11.0,253,1607,0.00,2.22,0.00,0.000,4,0.000,0.026,1882,1176,3577,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1650,-0.48,-146.0,258.4,-9.0,258,1659,0.00,2.30,0.00,0.000,6,0.000,0.035,1873,2648,3578,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1960,-0.48,-146.0,290.9,-10.6,289,1970,0.00,2.22,0.00,0.000,4,0.000,0.025,1873,1175,3577,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2003,-0.50,-146.0,295.1,-9.8,293,2013,0.00,2.33,0.00,0.000,6,0.000,0.036,1865,2655,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2312,-0.50,-146.0,328.3,-11.3,324,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2655,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,-0.50,-146.0,358.1,-8.8,354,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2655,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2927,-0.51,-146.0,390.1,-11.1,385,2936,0.00,2.25,0.00,0.000,4,0.000,0.027,1865,1173,3575,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2972,-0.54,-146.0,395.0,-10.5,389,2980,0.00,2.33,0.00,0.000,6,0.000,0.036,1855,2650,3575,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3280,-0.54,-146.0,429.4,-10.3,420,3289,0.00,2.22,0.00,0.000,4,0.000,0.028,1855,1182,3574,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3313,-0.55,-146.0,432.5,-9.7,423,3322,0.00,2.28,0.00,0.000,6,0.000,0.037,1846,2645,3574,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3622,-0.55,-146.0,462.3,-10.2,454,3631,0.00,2.25,0.00,0.000,4,0.000,0.026,1846,1165,3573,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3689,-0.60,-146.0,468.0,-8.1,460,3696,0.00,2.33,0.00,0.000,6,0.000,0.036,1836,2648,3573,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3994,-0.60,-146.0,499.6,-9.9,491,4003,0.00,2.22,0.00,0.000,4,0.000,0.026,1836,1167,3571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4029,-0.60,-146.0,502.6,-10.0,494,4036,0.00,2.33,0.00,0.000,6,0.000,0.037,1825,2649,3570,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4338,-0.58,-146.0,536.5,-10.3,525,4347,0.00,2.22,0.00,0.000,4,0.000,0.028,1826,1179,3569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4361,-0.58,-146.0,538.9,-10.4,527,4370,0.00,2.30,0.00,0.000,6,0.000,0.037,1815,2647,3569,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4672,-0.56,-146.0,576.9,-13.4,558,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2647,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4991,-0.55,-146.0,617.9,-12.0,583,4997,0.00,2.20,0.00,0.000,4,0.000,0.029,1815,1183,3566,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5083,-0.56,-146.0,625.6,-9.6,587,5090,0.00,2.30,0.00,0.000,6,0.000,0.037,1806,2650,3565,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5391,-0.54,-146.0,661.6,-12.0,603,5395,0.00,1.80,0.00,0.000,4,0.000,0.045,1797,3811,3563,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5413,-0.52,-146.0,664.3,-12.1,604,5419,0.15,1.80,0.00,0.000,6,0.123,0.023,1843,2564,3562,0,0,0,0,0,0,25.98,26.34,28.83
$GC,5735,-0.55,-146.0,688.5,-6.5,620,5740,0.00,2.08,0.00,0.000,4,0.000,0.028,1844,1171,3560,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5777,-0.58,-146.0,690.9,-6.4,622,5781,0.00,2.33,0.00,0.000,6,0.000,0.037,1834,2649,3560,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6090,-0.59,-146.0,713.3,-7.8,638,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2649,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-0.61,-146.0,737.8,-8.4,653,6397,0.00,2.22,0.00,0.000,4,0.000,0.030,1834,1182,3556,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6439,-0.64,-146.0,741.0,-8.2,655,6443,0.00,2.33,0.00,0.000,6,0.000,0.038,1825,2646,3556,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6746,-0.65,-146.0,766.9,-8.6,670,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2646,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,-0.66,-146.0,792.1,-8.6,685,7052,0.00,2.22,0.00,0.000,4,0.000,0.029,1825,1176,3551,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7095,-0.69,-146.0,795.5,-8.5,687,7099,0.00,2.33,0.00,0.000,6,0.000,0.040,1816,2645,3551,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7403,-0.69,-146.0,822.7,-8.6,702,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2645,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7701,-0.69,-146.0,848.1,-8.1,717,7708,0.00,2.25,0.00,0.000,4,0.000,0.028,1817,1167,3548,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7750,-0.70,-146.0,851.2,-8.0,719,7754,0.00,2.38,0.00,0.000,6,0.000,0.041,1813,2653,3547,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8058,-0.70,-146.0,876.9,-8.4,734,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2653,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8356,-0.70,-146.0,901.7,-8.0,749,8362,0.00,2.28,0.00,0.000,4,0.000,0.031,1813,1183,3544,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8397,-0.71,-146.0,905.0,-8.4,751,8402,0.00,2.33,0.00,0.000,6,0.000,0.041,1809,2644,3543,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8717,-0.71,-146.0,933.4,-9.8,767,8723,0.00,2.22,0.00,0.000,4,0.000,0.029,1809,1184,3542,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8756,-0.72,-146.0,937.4,-9.8,769,8762,0.00,2.35,0.00,0.000,6,0.000,0.041,1799,2647,3542,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9077,-0.72,-146.0,970.9,-10.4,785,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2647,3540,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9274,begin apogee
$GC,9280,-0.20,0.0,991.2,-10.0,795,9421,0.40,0.15,130.10,1.187,6,0.106,0.077,1937,2532,2970,0,0,0,0,0,0,25.63,24.90,23.27
$STATE,9422,end apogee,CONTROL_FINISHED_OK
$STATE,9422,begin climb
$GC,9424,0.58,146.0,996.6,0.0,802,9579,0.70,2.45,141.00,1.198,4,0.044,0.034,2224,1046,2369,0,0,0,0,0,0,25.30,25.03,23.37
$GC,9596,0.48,146.0,990.8,9.3,810,9604,0.22,2.38,0.00,0.000,6,0.164,0.040,2165,2523,2363,0,0,0,0,0,0,25.06,25.41,28.83
$GC,9907,0.43,146.0,949.6,11.6,826,9912,0.00,2.00,0.00,0.000,4,0.000,0.045,2165,3814,2355,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9965,0.36,146.0,941.3,12.9,829,9971,0.17,2.08,0.00,0.000,6,0.177,0.026,2130,2451,2353,0,0,0,0,0,0,25.56,26.08,28.83
$GC,10288,0.34,146.0,911.4,9.0,845,10293,0.00,2.12,0.00,0.000,4,0.000,0.045,2130,3806,2352,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10308,0.31,146.0,909.4,9.2,846,10312,0.00,2.05,0.00,0.000,6,0.000,0.027,2141,2454,2351,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10626,0.29,146.0,877.7,9.9,862,10632,0.12,2.15,0.00,0.000,4,0.181,0.043,2104,3815,2351,0,0,0,0,0,0,25.96,25.95,28.83
$GC,10700,0.27,146.0,871.9,9.7,865,10708,0.00,2.05,0.00,0.000,6,0.000,0.026,2114,2453,2349,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11006,0.28,159.7,846.2,8.1,881,11026,0.00,2.22,10.38,1.021,4,0.000,0.045,2114,3811,2319,0,0,0,0,0,0,28.83,25.90,24.06
$GC,11058,0.28,159.7,842.2,8.7,883,11062,0.00,2.05,0.00,0.000,6,0.000,0.027,2124,2460,2314,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11365,0.29,170.9,815.1,8.2,898,11385,0.00,2.15,12.07,1.030,4,0.000,0.034,2135,1061,2274,0,0,0,0,0,0,28.83,25.94,24.05
$GC,11416,0.31,187.3,811.8,8.0,900,11440,0.00,2.30,18.50,1.043,6,0.000,0.039,2135,2530,2214,0,0,0,0,0,0,28.83,25.94,23.92
$GC,11744,0.30,188.1,782.4,8.7,916,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2530,2194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12044,0.29,188.1,754.9,9.5,931,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2530,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12343,0.28,188.1,727.6,8.7,946,12348,0.12,2.03,0.00,0.000,4,0.155,0.044,2097,3812,2192,0,0,0,0,0,0,26.05,25.89,28.83
$GC,12373,0.29,188.6,725.6,8.7,947,12377,0.00,2.05,0.00,0.000,6,0.000,0.026,2107,2455,2191,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12682,0.38,248.6,704.6,6.3,962,12747,0.00,0.00,62.20,0.978,6,0.000,0.000,2107,2453,1964,0,0,0,0,0,0,28.83,28.83,23.77
$GC,13041,0.46,280.6,679.2,7.4,980,13082,0.12,2.22,31.00,0.966,4,0.075,0.036,2198,1063,1819,0,0,0,0,0,0,26.22,25.58,23.96
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$STATE,19482,end climb,SURFACE_DEPTH_REACHED
$STATE,19482,begin surface coast
$FINISH,0.3,1.023484
$STATE,19506,end surface coast,CONTROL_FINISHED_OK
$STATE,19507,begin surface
$SM_CCo,19521,20.98,0.122,0,0,1245,425.10
$SM_GC,1.30,5.43,0.20,20.98,0.034,0.051,0.122,106,2684,1245,-5.80,-0.28,425.10,0,0,0,0,0,0,26.22,26.41,25.31
$IRIDIUM_FIX,2314.48,12357.03,070212,040400
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,95.967
$10V_AH,9.9,57.340
$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
$DEVICE_SECS,15.250,178.925,497.275,20.975,0.000,115.705,111.030,381.245,0.000,0.000,31.278,4432.191,11125.049,753.742,3743.764,461.729,0.000,2360.426,0.000,2909.429,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1206.550,2248.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330396
$DATA_FILE_SIZE,116910,1778
$CAP_FILE_SIZE,215002,0
$CFSIZE,260165632,179200000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,106.1,1
$GPS,070212,102627,2317.676,12358.925,50,2.9,69,-3.3