version: 66.10
glider: 169
mission: 5
dive: 467
start: 2 8 112 2 25 53
data:
$ID,169
$MISSION,5
$DIVE,467
$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,-12498.385
$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
$GPS1,080212,021800,2309.762,12400.234,39,1.4,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.8
$GPS2,080212,022528,2309.769,12400.275,12,3.0,31,-3.2
$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,226.9,184772,-16.1,-8.684
$D_GRID,5810
$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,-71.20,0.000,2,0.000,0.000,117,2666,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.58,-146.0,3.0,-6.2,12,121,7.35,1.88,-12.38,0.000,4,0.239,0.053,1802,3818,3576,0,0,0,0,0,0,24.77,25.98,26.55
$GC,280,-0.52,-146.0,53.8,-22.1,47,288,0.12,1.80,0.00,0.000,6,0.164,0.021,1843,2572,3577,0,0,0,0,0,0,25.84,26.24,28.83
$GC,594,-0.45,-146.0,126.6,-19.5,108,602,0.00,2.08,0.00,0.000,4,0.000,0.024,1850,1160,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,675,-0.47,-146.0,136.7,-8.9,123,683,0.00,2.35,0.00,0.000,6,0.000,0.037,1839,2654,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,987,-0.42,-146.0,193.9,-17.7,184,994,0.12,0.00,0.00,0.000,6,0.168,0.000,1877,2655,3577,0,0,0,0,0,0,26.13,28.83,28.83
$GC,1296,-0.42,-146.0,229.6,-12.0,218,1305,0.00,2.25,0.00,0.000,4,0.000,0.026,1877,1170,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1360,-0.47,-146.0,236.2,-9.3,224,1368,0.00,2.28,0.00,0.000,6,0.000,0.037,1868,2639,3578,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1668,-0.47,-146.0,275.7,-12.6,255,1671,0.00,1.80,0.00,0.000,4,0.000,0.042,1859,3815,3577,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1733,-0.49,-146.0,282.6,-10.7,261,1740,0.00,1.77,0.00,0.000,6,0.000,0.021,1859,2564,3577,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2039,-0.48,-146.0,318.4,-11.9,292,2048,0.00,2.05,0.00,0.000,4,0.000,0.027,1859,1173,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2063,-0.48,-146.0,321.2,-12.0,294,2070,0.00,2.33,0.00,0.000,6,0.000,0.036,1848,2655,3577,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2371,-0.46,-146.0,358.6,-13.1,325,2380,0.00,2.20,0.00,0.000,4,0.000,0.026,1848,1178,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2433,-0.48,-146.0,365.7,-10.7,331,2443,0.00,2.30,0.00,0.000,6,0.000,0.037,1839,2657,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2743,-0.47,-146.0,406.1,-13.6,362,2747,0.00,2.25,0.00,0.000,4,0.000,0.025,1839,1185,3576,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2816,-0.50,-146.0,413.4,-8.7,369,2825,0.00,2.30,0.00,0.000,6,0.000,0.036,1829,2652,3576,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3125,-0.48,-146.0,451.6,-12.0,400,3129,0.00,1.80,0.00,0.000,4,0.000,0.043,1820,3828,3575,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3146,-0.46,-146.0,454.4,-12.3,402,3157,0.12,1.80,0.00,0.000,6,0.135,0.021,1856,2560,3575,0,0,0,0,0,0,26.05,26.37,28.83
$GC,3457,-0.48,-146.0,484.8,-9.1,433,3465,0.00,2.03,0.00,0.000,4,0.000,0.042,1847,3824,3573,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3479,-0.50,-146.0,486.6,-8.4,435,3482,0.00,1.83,0.00,0.000,6,0.000,0.022,1847,2575,3573,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3790,-0.50,-146.0,511.6,-9.4,466,3799,0.00,2.10,0.00,0.000,4,0.000,0.027,1847,1166,3573,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3845,-0.54,-146.0,516.6,-9.5,471,3853,0.00,2.33,0.00,0.000,6,0.000,0.036,1838,2655,3573,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4151,-0.54,-146.0,552.3,-10.6,502,4161,0.00,2.25,0.00,0.000,4,0.000,0.027,1838,1166,3570,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4194,-0.56,-146.0,556.2,-9.3,506,4203,0.00,2.33,0.00,0.000,6,0.000,0.037,1828,2648,3570,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4504,-0.56,-146.0,585.9,-10.2,537,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2647,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4804,-0.56,-146.0,615.4,-9.1,559,4810,0.00,2.22,0.00,0.000,4,0.000,0.028,1828,1177,3567,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4838,-0.56,-146.0,617.4,-9.3,560,4845,0.00,2.33,0.00,0.000,6,0.000,0.037,1818,2657,3567,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5145,-0.56,-146.0,650.3,-11.1,576,5150,0.00,2.28,0.00,0.000,4,0.000,0.027,1818,1166,3565,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5184,-0.56,-146.0,654.7,-11.0,578,5190,0.00,2.35,0.00,0.000,6,0.000,0.038,1810,2646,3564,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5506,-0.55,-146.0,689.7,-10.5,594,5509,0.00,1.80,0.00,0.000,4,0.000,0.045,1800,3821,3563,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5531,-0.54,-146.0,692.4,-10.7,595,5536,0.12,1.80,0.00,0.000,6,0.129,0.024,1838,2573,3562,0,0,0,0,0,0,26.01,26.30,28.83
$GC,5845,-0.56,-146.0,716.7,-7.2,611,5849,0.00,2.10,0.00,0.000,4,0.000,0.028,1838,1169,3560,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5877,-0.58,-146.0,718.5,-7.4,612,5886,0.00,2.35,0.00,0.000,6,0.000,0.037,1829,2657,3560,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6188,-0.59,-146.0,745.5,-8.6,628,6194,0.00,2.25,0.00,0.000,4,0.000,0.028,1829,1180,3558,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6217,-0.61,-146.0,747.3,-8.6,629,6226,0.00,2.33,0.00,0.000,6,0.000,0.038,1820,2648,3559,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6527,-0.61,-146.0,776.2,-8.5,645,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2648,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6828,-0.62,-146.0,800.5,-8.3,660,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2648,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,-0.62,-146.0,826.8,-8.8,675,7132,0.00,1.83,0.00,0.000,4,0.000,0.046,1811,3823,3552,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7150,-0.63,-146.0,828.9,-8.9,676,7154,0.00,1.85,0.00,0.000,6,0.000,0.024,1811,2576,3552,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7473,-0.63,-146.0,858.2,-9.4,692,7477,0.00,2.10,0.00,0.000,4,0.000,0.029,1811,1177,3550,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7507,-0.63,-146.0,860.3,-9.2,693,7514,0.00,2.35,0.00,0.000,6,0.000,0.039,1801,2654,3550,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7814,-0.63,-146.0,891.0,-9.8,709,7820,0.00,2.28,0.00,0.000,4,0.000,0.028,1801,1179,3549,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7854,-0.63,-146.0,894.9,-9.6,711,7860,0.00,2.35,0.00,0.000,6,0.000,0.039,1792,2647,3549,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8176,-0.62,-146.0,928.0,-10.7,727,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2647,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8475,-0.61,-146.0,962.5,-11.6,742,8481,0.00,2.25,0.00,0.000,4,0.000,0.029,1792,1180,3545,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8535,-0.61,-146.0,968.8,-10.9,745,8542,0.08,2.30,0.00,0.000,6,0.110,0.040,1812,2640,3545,0,0,0,0,0,0,25.68,25.89,28.83
$STATE,8774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8774,begin apogee
$GC,8779,-0.20,0.0,990.0,-8.6,757,8919,0.38,0.15,129.52,1.200,6,0.100,0.073,1943,2537,2972,0,0,0,0,0,0,25.72,24.89,23.27
$STATE,8920,end apogee,CONTROL_FINISHED_OK
$STATE,8920,begin climb
$GC,8922,0.58,146.0,995.3,0.0,764,9077,0.68,2.47,140.25,1.197,4,0.044,0.036,2222,1047,2369,0,0,0,0,0,0,25.29,25.01,23.35
$GC,9154,0.50,146.0,979.9,14.5,775,9163,0.17,2.35,0.00,0.000,6,0.167,0.041,2176,2524,2359,0,0,0,0,0,0,25.32,25.68,28.83
$GC,9460,0.44,146.0,933.4,14.7,791,9466,0.00,2.03,0.00,0.000,4,0.000,0.045,2176,3813,2355,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9525,0.37,146.0,923.3,16.5,794,9532,0.20,2.05,0.00,0.000,6,0.176,0.028,2135,2460,2353,0,0,0,0,0,0,25.48,26.08,28.83
$GC,9841,0.34,146.0,887.2,10.0,810,9846,0.00,2.12,0.00,0.000,4,0.000,0.044,2134,3811,2353,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9921,0.30,146.0,878.3,11.3,814,9927,0.10,2.03,0.00,0.000,6,0.151,0.027,2113,2460,2352,0,0,0,0,0,0,25.71,26.13,28.83
$GC,10240,0.34,176.4,852.0,7.5,830,10271,0.00,0.00,29.05,1.065,6,0.000,0.000,2113,2458,2258,0,0,0,0,0,0,28.83,28.83,23.94
$GC,10561,0.39,212.3,829.0,7.2,846,10601,0.00,0.00,35.95,1.063,6,0.000,0.000,2113,2458,2106,0,0,0,0,0,0,28.83,28.83,23.89
$GC,10902,0.42,223.6,801.7,8.2,863,10913,0.00,2.17,6.30,0.910,4,0.000,0.043,2113,3812,2068,0,0,0,0,0,0,28.83,25.90,24.07
$GC,10944,0.44,228.8,798.6,8.5,864,10956,0.00,2.08,4.07,0.783,6,0.000,0.028,2123,2451,2044,0,0,0,0,0,0,28.83,26.02,23.99
$GC,11258,0.45,228.8,769.3,9.2,880,11263,0.00,2.17,0.00,0.000,4,0.000,0.044,2123,3815,2052,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11278,0.46,228.8,767.3,9.4,881,11282,0.00,2.05,0.00,0.000,6,0.000,0.027,2133,2461,2052,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11597,0.46,228.8,735.4,9.5,897,11602,0.00,2.15,0.00,0.000,4,0.000,0.044,2134,3809,2052,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11624,0.46,228.8,733.5,9.5,898,11628,0.00,2.05,0.00,0.000,6,0.000,0.027,2144,2455,2051,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11930,0.46,228.8,701.8,9.7,913,11936,0.00,2.12,0.00,0.000,4,0.000,0.035,2155,1053,2051,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11965,0.46,228.8,700.0,9.5,914,11971,0.00,2.30,0.00,0.000,6,0.000,0.038,2155,2531,2051,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12271,0.45,228.8,666.5,10.9,930,12276,0.00,2.05,0.00,0.000,4,0.000,0.046,2155,3823,2051,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12340,0.43,228.8,659.0,12.1,933,12349,0.00,2.08,0.00,0.000,6,0.000,0.029,2165,2464,2051,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,13737,0.51,305.0,518.1,6.9,1048,13784,0.12,0.00,44.33,0.869,6,0.076,0.000,2218,2468,1734,0,0,0,0,0,0,26.29,28.83,24.01
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$STATE,17916,end climb,SURFACE_DEPTH_REACHED
$STATE,17917,begin surface coast
$FINISH,1.8,1.023673
$STATE,17922,end surface coast,CONTROL_FINISHED_OK
$STATE,17923,begin surface
$SM_CCo,17941,26.83,0.122,0,0,1245,425.10
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$IRIDIUM_FIX,2305.10,12358.97,070212,202021
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.3,96.636
$10V_AH,9.9,57.834
$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
$DEVICE_SECS,16.425,166.950,483.050,26.825,0.000,31.216,25.702,223.667,0.000,0.000,33.655,4045.932,10067.577,703.439,3163.119,408.352,0.000,2202.603,0.000,2695.898,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,106888,1614
$CAP_FILE_SIZE,193819,0
$CFSIZE,260165632,178819072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226,104.7,1
$GPS,080212,072637,2307.268,12401.034,45,1.6,45,-3.2