version: 66.10
glider: 169
mission: 5
dive: 469
start: 2 8 112 12 53 32
data:
$ID,169
$MISSION,5
$DIVE,469
$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,-12500.996
$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
$GPS1,080212,124336,2304.479,12402.065,30,1.9,30,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.6
$GPS2,080212,125307,2304.326,12402.131,55,0.9,55,-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,229.4,174731,-16.1,-8.684
$D_GRID,5940
$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,-70.82,0.000,2,0.000,0.000,117,2673,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-146.0,3.2,-6.1,12,121,7.30,1.88,-12.20,0.000,4,0.237,0.053,1804,3826,3576,0,0,0,0,0,0,24.82,25.99,26.57
$GC,199,-0.53,-146.0,35.8,-21.5,31,207,0.12,1.83,0.00,0.000,6,0.154,0.021,1841,2573,3577,0,0,0,0,0,0,25.84,26.20,28.83
$GC,513,-0.45,-146.0,114.6,-24.9,92,520,0.00,1.98,0.00,0.000,4,0.000,0.039,1832,3815,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,661,-0.44,-146.0,138.6,-11.4,120,669,0.12,1.77,0.00,0.000,6,0.133,0.023,1868,2575,3577,0,0,0,0,0,0,26.02,26.32,28.83
$GC,973,-0.42,-146.0,178.9,-12.3,181,980,0.00,1.98,0.00,0.000,4,0.000,0.041,1859,3814,3576,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1124,-0.45,-146.0,194.8,-9.0,210,1131,0.00,1.77,0.00,0.000,6,0.000,0.022,1860,2570,3576,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1433,-0.42,-146.0,240.6,-15.5,245,1442,0.00,2.05,0.00,0.000,4,0.000,0.026,1861,1171,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1477,-0.42,-146.0,246.0,-13.0,249,1485,0.00,2.33,0.00,0.000,6,0.000,0.035,1852,2659,3576,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1786,-0.40,-146.0,288.7,-14.1,280,1790,0.00,2.25,0.00,0.000,4,0.000,0.026,1852,1177,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1859,-0.43,-146.0,296.7,-9.8,287,1869,0.00,2.30,0.00,0.000,6,0.000,0.037,1842,2651,3577,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2167,-0.41,-146.0,338.7,-13.0,318,2177,0.12,2.28,0.00,0.000,4,0.155,0.027,1889,1164,3576,0,0,0,0,0,0,26.19,26.19,28.83
$GC,2233,-0.47,-146.0,344.0,-6.3,324,2240,0.00,2.33,0.00,0.000,6,0.000,0.036,1879,2652,3576,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2541,-0.49,-146.0,368.7,-7.7,355,2550,0.00,2.20,0.00,0.000,4,0.000,0.028,1879,1183,3576,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2576,-0.53,-146.0,370.8,-6.6,358,2583,0.12,2.30,0.00,0.000,6,0.078,0.036,1805,2656,3576,0,0,0,0,0,0,26.12,26.12,28.83
$GC,2883,-0.49,-146.0,416.6,-16.1,389,2885,0.15,0.00,0.00,0.000,6,0.140,0.000,1850,2656,3575,0,0,0,0,0,0,26.20,28.83,28.83
$GC,3186,-0.49,-146.0,447.4,-9.3,419,3195,0.00,2.22,0.00,0.000,4,0.000,0.028,1850,1168,3574,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3231,-0.51,-146.0,451.3,-8.9,423,3239,0.00,2.33,0.00,0.000,6,0.000,0.037,1841,2650,3574,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3539,-0.51,-146.0,484.6,-10.5,454,3549,0.00,2.22,0.00,0.000,4,0.000,0.029,1841,1181,3573,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3593,-0.53,-146.0,489.9,-9.5,459,3604,0.00,2.33,0.00,0.000,6,0.000,0.037,1834,2657,3572,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3902,-0.53,-146.0,522.4,-10.4,490,3911,0.00,2.25,0.00,0.000,4,0.000,0.028,1834,1169,3571,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3937,-0.53,-146.0,525.5,-10.4,493,3944,0.00,2.33,0.00,0.000,6,0.000,0.038,1825,2647,3571,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4246,-0.52,-146.0,558.0,-11.3,524,4254,0.00,2.22,0.00,0.000,4,0.000,0.028,1825,1175,3569,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4289,-0.53,-146.0,562.4,-10.2,528,4298,0.00,2.30,0.00,0.000,6,0.000,0.037,1815,2649,3569,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4599,-0.51,-146.0,599.3,-12.0,559,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2649,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4908,-0.50,-146.0,636.1,-11.9,575,4915,0.12,2.22,0.00,0.000,4,0.145,0.027,1859,1182,3566,0,0,0,0,0,0,26.21,26.14,28.83
$GC,4956,-0.52,-146.0,639.6,-10.5,577,4960,0.00,2.33,0.00,0.000,6,0.000,0.037,1851,2651,3566,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5264,-0.55,-146.0,663.3,-7.5,592,5267,0.00,2.28,0.00,0.000,4,0.000,0.030,1851,1178,3563,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5300,-0.58,-146.0,664.9,-7.5,593,5307,0.00,2.35,0.00,0.000,6,0.000,0.038,1843,2655,3563,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5606,-0.60,-146.0,691.3,-8.7,609,5609,0.00,1.77,0.00,0.000,4,0.000,0.044,1834,3814,3561,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5636,-0.62,-146.0,693.2,-8.8,610,5639,0.00,1.80,0.00,0.000,6,0.000,0.024,1835,2576,3561,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5947,-0.63,-146.0,723.7,-9.6,626,5953,0.00,2.10,0.00,0.000,4,0.000,0.030,1834,1181,3559,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5995,-0.66,-146.0,727.3,-9.5,628,5999,0.00,2.33,0.00,0.000,6,0.000,0.037,1825,2650,3559,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6304,-0.67,-146.0,758.3,-10.1,643,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2649,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6603,-0.68,-146.0,787.1,-9.5,658,6609,0.00,2.28,0.00,0.000,4,0.000,0.031,1825,1181,3554,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6635,-0.69,-146.0,789.0,-9.5,659,6643,0.00,2.33,0.00,0.000,6,0.000,0.038,1817,2647,3554,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6944,-0.69,-146.0,818.2,-8.6,675,6949,0.00,2.25,0.00,0.000,4,0.000,0.030,1817,1181,3553,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6971,-0.69,-146.0,820.0,-8.5,676,6975,0.00,2.33,0.00,0.000,6,0.000,0.039,1808,2645,3553,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7279,-0.69,-146.0,847.0,-8.6,691,7284,0.00,2.25,0.00,0.000,4,0.000,0.029,1808,1182,3550,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7340,-0.70,-146.0,851.8,-7.9,694,7344,0.00,2.35,0.00,0.000,6,0.000,0.039,1799,2656,3550,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7652,-0.70,-146.0,880.4,-9.3,710,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2655,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7953,-0.70,-146.0,909.0,-9.4,725,7959,0.00,2.25,0.00,0.000,4,0.000,0.029,1799,1172,3547,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8015,-0.71,-146.0,914.6,-9.4,728,8019,0.00,2.35,0.00,0.000,6,0.000,0.039,1788,2647,3547,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8330,-0.70,-146.0,947.5,-10.6,744,8335,0.00,2.25,0.00,0.000,4,0.000,0.029,1788,1182,3545,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8351,-0.69,-146.0,949.8,-10.6,745,8355,0.00,2.33,0.00,0.000,6,0.000,0.038,1777,2646,3545,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8663,-0.67,-146.0,986.1,-11.7,761,8669,0.00,2.28,0.00,0.000,4,0.000,0.029,1778,1171,3543,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8687,-0.65,-146.0,988.4,-11.8,762,8694,0.12,2.35,0.00,0.000,6,0.138,0.038,1803,2646,3543,0,0,0,0,0,0,25.69,25.90,28.83
$STATE,8700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8701,begin apogee
$GC,8706,-0.20,0.0,990.4,-11.5,763,8846,0.40,0.15,130.07,1.196,6,0.099,0.076,1943,2533,2971,0,0,0,0,0,0,25.68,24.91,23.27
$STATE,8847,end apogee,CONTROL_FINISHED_OK
$STATE,8847,begin climb
$GC,8849,0.58,146.0,995.9,0.0,770,9004,0.68,2.45,140.45,1.194,4,0.044,0.036,2223,1063,2370,0,0,0,0,0,0,25.30,25.05,23.38
$GC,9027,0.49,146.0,987.0,12.0,779,9033,0.20,2.35,0.00,0.000,6,0.164,0.037,2170,2525,2362,0,0,0,0,0,0,25.13,25.47,28.83
$GC,9348,0.43,146.0,945.4,12.8,795,9353,0.00,2.00,0.00,0.000,4,0.000,0.044,2170,3817,2355,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9435,0.36,146.0,933.0,15.5,799,9439,0.20,2.08,0.00,0.000,6,0.171,0.028,2128,2452,2353,0,0,0,0,0,0,25.51,26.09,28.83
$GC,9743,0.34,146.0,900.6,9.8,814,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2451,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10042,0.33,146.0,873.1,8.9,829,10047,0.00,2.17,0.00,0.000,4,0.000,0.044,2127,3812,2350,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10076,0.31,146.0,871.0,9.1,830,10083,0.00,2.05,0.00,0.000,6,0.000,0.027,2138,2453,2349,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10382,0.28,146.0,840.5,9.5,846,10388,0.12,2.20,0.00,0.000,4,0.175,0.041,2101,3820,2348,0,0,0,0,0,0,25.98,25.93,28.83
$GC,10402,0.26,146.0,838.6,9.5,847,10408,0.00,2.08,0.00,0.000,6,0.000,0.028,2111,2460,2348,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10724,0.31,186.9,815.2,7.0,863,10769,0.00,2.20,39.33,1.056,4,0.000,0.034,2122,1062,2208,0,0,0,0,0,0,28.83,25.60,23.84
$GC,10806,0.37,223.7,809.5,7.2,867,10848,0.00,2.33,37.05,1.047,6,0.000,0.037,2122,2532,2067,0,0,0,0,0,0,28.83,25.73,23.70
$GC,11162,0.39,223.7,778.1,9.2,885,11167,0.00,2.03,0.00,0.000,4,0.000,0.044,2122,3818,2041,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11202,0.40,223.7,773.8,9.9,887,11207,0.00,2.10,0.00,0.000,6,0.000,0.028,2132,2454,2039,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11523,0.41,223.7,742.4,8.7,903,11528,0.00,2.15,0.00,0.000,4,0.000,0.044,2133,3810,2038,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11561,0.41,223.7,738.6,9.0,905,11567,0.00,2.05,0.00,0.000,6,0.000,0.028,2143,2462,2037,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11881,0.41,223.7,708.8,9.2,921,11887,0.00,2.17,0.00,0.000,4,0.000,0.034,2154,1047,2035,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11910,0.41,223.7,706.8,9.5,922,11915,0.00,2.33,0.00,0.000,6,0.000,0.037,2154,2528,2034,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,18125,end climb,SURFACE_DEPTH_REACHED
$STATE,18125,begin surface coast
$FINISH,0.7,1.023669
$STATE,18147,end surface coast,CONTROL_FINISHED_OK
$STATE,18147,begin surface
$SM_CCo,18162,11.23,0.125,0,0,1245,425.10
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,96.965
$10V_AH,9.9,58.081
$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
$DEVICE_SECS,16.300,191.875,526.175,11.225,0.000,23.595,49.090,300.906,0.000,0.000,56.469,4126.646,10075.413,716.158,3372.617,428.229,0.000,2290.367,0.000,2777.805,0.000,0.543,0.000
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$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,110351,1646
$CAP_FILE_SIZE,203728,0
$CFSIZE,260165632,178614272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.233,120.6,1
$GPS,080212,175800,2301.208,12402.624,63,1.0,63,-3.2