version: 66.10
glider: 169
mission: 5
dive: 480
start: 2 10 112 23 3 51
data:
$ID,169
$MISSION,5
$DIVE,480
$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,-12515.697
$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
$GPS1,100212,225606,2234.951,12406.677,32,0.9,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.9
$GPS2,100212,230325,2235.008,12406.575,16,1.8,16,-3.1
$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,212.6,120926,-16.1,-8.684
$D_GRID,5583
$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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.12,0.000,2,0.000,0.000,109,2658,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-146.0,3.4,-6.2,13,125,7.30,2.30,-9.23,0.000,4,0.236,0.036,1827,1156,3576,0,0,0,0,0,0,24.76,26.14,26.55
$GC,220,-0.58,-146.0,32.9,-13.9,35,228,0.00,2.35,0.00,0.000,6,0.000,0.038,1816,2645,3577,0,0,0,0,0,0,28.83,25.99,28.83
$GC,534,-0.47,-146.0,116.9,-29.0,96,541,0.12,2.25,0.00,0.000,4,0.183,0.024,1862,1164,3577,0,0,0,0,0,0,26.04,26.18,28.83
$GC,622,-0.51,-146.0,131.3,-9.4,112,628,0.00,2.33,0.00,0.000,6,0.000,0.035,1851,2648,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,934,-0.47,-146.0,187.7,-16.9,173,941,0.00,2.22,0.00,0.000,4,0.000,0.026,1851,1174,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,994,-0.48,-146.0,196.3,-11.2,184,1001,0.00,2.33,0.00,0.000,6,0.000,0.037,1841,2654,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1310,-0.43,-146.0,252.8,-17.9,218,1318,0.00,2.20,0.00,0.000,4,0.000,0.024,1841,1172,3577,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1351,-0.41,-146.0,259.8,-16.8,222,1361,0.15,2.33,0.00,0.000,6,0.128,0.037,1875,2646,3577,0,0,0,0,0,0,25.87,26.10,28.83
$GC,1661,-0.41,-146.0,295.6,-11.1,253,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2645,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1965,-0.41,-146.0,328.2,-11.1,283,1974,0.00,2.20,0.00,0.000,4,0.000,0.027,1876,1170,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2010,-0.44,-146.0,332.6,-9.7,287,2018,0.00,2.33,0.00,0.000,6,0.000,0.037,1868,2653,3576,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2317,-0.44,-146.0,362.3,-9.7,318,2326,0.00,2.22,0.00,0.000,4,0.000,0.026,1868,1172,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2362,-0.46,-146.0,366.1,-9.1,322,2368,0.00,2.33,0.00,0.000,6,0.000,0.037,1865,2653,3576,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2669,-0.46,-146.0,395.0,-9.3,353,2678,0.00,2.25,0.00,0.000,4,0.000,0.026,1865,1174,3576,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2695,-0.48,-146.0,396.7,-8.3,355,2703,0.00,2.33,0.00,0.000,6,0.000,0.037,1858,2656,3575,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3001,-0.48,-146.0,425.3,-9.3,386,3010,0.00,2.25,0.00,0.000,4,0.000,0.026,1857,1164,3575,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3056,-0.51,-146.0,430.0,-8.7,391,3064,0.00,2.33,0.00,0.000,6,0.000,0.036,1849,2653,3575,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3363,-0.51,-146.0,462.5,-10.7,422,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2653,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3664,-0.51,-146.0,493.3,-9.9,452,3668,0.00,1.80,0.00,0.000,4,0.000,0.044,1841,3823,3572,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3687,-0.51,-146.0,495.6,-10.0,454,3690,0.00,1.77,0.00,0.000,6,0.000,0.021,1841,2579,3572,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3997,-0.51,-146.0,525.2,-8.7,485,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2573,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4299,-0.51,-146.0,552.6,-9.5,515,4303,0.00,2.00,0.00,0.000,4,0.000,0.043,1832,3823,3570,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4322,-0.51,-146.0,554.7,-9.2,517,4330,0.00,1.83,0.00,0.000,6,0.000,0.021,1832,2565,3570,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4632,-0.51,-146.0,587.4,-10.5,548,4641,0.00,2.08,0.00,0.000,4,0.000,0.029,1832,1179,3568,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4697,-0.55,-146.0,593.4,-9.1,554,4705,0.00,2.28,0.00,0.000,6,0.000,0.036,1823,2642,3568,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5003,-0.55,-146.0,626.2,-10.4,573,5009,0.00,2.25,0.00,0.000,4,0.000,0.026,1823,1166,3566,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5073,-0.56,-146.0,631.6,-9.4,576,5082,0.00,2.35,0.00,0.000,6,0.000,0.036,1814,2656,3566,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5386,-0.55,-146.0,663.9,-10.5,592,5391,0.00,2.25,0.00,0.000,4,0.000,0.026,1814,1178,3564,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5417,-0.54,-146.0,666.2,-10.7,593,5424,0.00,2.33,0.00,0.000,6,0.000,0.037,1805,2652,3564,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5726,-0.52,-146.0,702.1,-10.8,609,5732,0.12,2.25,0.00,0.000,4,0.148,0.025,1849,1172,3561,0,0,0,0,0,0,26.20,26.13,28.83
$GC,5767,-0.54,-146.0,705.4,-9.6,611,5772,0.00,2.33,0.00,0.000,6,0.000,0.038,1840,2645,3561,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6087,-0.56,-146.0,728.2,-7.5,627,6091,0.00,1.80,0.00,0.000,4,0.000,0.047,1831,3816,3559,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6131,-0.58,-146.0,731.6,-7.6,629,6135,0.00,1.80,0.00,0.000,6,0.000,0.024,1831,2579,3559,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6449,-0.60,-146.0,757.9,-8.3,645,6454,0.00,2.12,0.00,0.000,4,0.000,0.028,1831,1163,3557,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6520,-0.63,-146.0,762.5,-8.0,648,6528,0.00,2.33,0.00,0.000,6,0.000,0.037,1822,2646,3557,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6830,-0.64,-146.0,791.1,-9.1,664,6835,0.00,2.25,0.00,0.000,4,0.000,0.028,1822,1178,3554,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6890,-0.66,-146.0,796.1,-8.5,667,6896,0.00,2.33,0.00,0.000,6,0.000,0.038,1813,2645,3553,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7208,-0.66,-146.0,826.1,-9.6,683,7212,0.00,1.80,0.00,0.000,4,0.000,0.046,1805,3814,3552,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7230,-0.66,-146.0,828.2,-9.7,684,7233,0.00,1.80,0.00,0.000,6,0.000,0.023,1805,2579,3551,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7552,-0.66,-146.0,862.4,-10.4,700,7558,0.00,2.08,0.00,0.000,4,0.000,0.028,1805,1182,3550,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7603,-0.66,-146.0,866.5,-10.1,702,7610,0.00,2.35,0.00,0.000,6,0.000,0.039,1799,2652,3549,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7912,-0.66,-146.0,899.1,-9.8,718,7915,0.00,1.80,0.00,0.000,4,0.000,0.045,1791,3819,3548,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7936,-0.66,-146.0,901.4,-9.9,719,7939,0.00,1.80,0.00,0.000,6,0.000,0.024,1791,2584,3548,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8253,-0.65,-146.0,933.6,-9.8,735,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2577,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,-0.64,-146.0,962.1,-9.2,750,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2578,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8853,-0.63,-146.0,988.7,-8.3,765,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2578,3543,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8871,begin apogee
$GC,8876,-0.20,0.0,990.3,-8.4,766,9016,0.43,0.10,128.82,1.188,6,0.104,0.057,1937,2530,2971,0,0,0,0,0,0,25.60,24.82,23.29
$STATE,9017,end apogee,CONTROL_FINISHED_OK
$STATE,9017,begin climb
$GC,9019,0.58,146.0,992.9,0.0,773,9170,0.70,2.38,140.25,1.190,4,0.054,0.031,2215,1059,2376,0,0,0,0,0,0,25.30,25.10,23.39
$GC,9196,0.49,146.0,982.7,10.4,781,9201,0.17,2.35,0.00,0.000,6,0.166,0.037,2170,2528,2364,0,0,0,0,0,0,25.16,25.50,28.83
$GC,9509,0.43,146.0,943.0,11.7,797,9514,0.00,2.03,0.00,0.000,4,0.000,0.044,2170,3814,2358,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9631,0.36,146.0,926.2,14.3,803,9637,0.15,2.05,0.00,0.000,6,0.154,0.026,2133,2458,2355,0,0,0,0,0,0,25.56,26.11,28.83
$GC,9952,0.34,149.3,897.6,8.6,819,9957,0.00,2.12,0.00,0.000,4,0.000,0.045,2133,3807,2353,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10039,0.30,149.3,889.3,10.4,823,10044,0.12,2.03,0.00,0.000,6,0.168,0.026,2112,2456,2352,0,0,0,0,0,0,25.77,26.15,28.83
$GC,10352,0.34,182.0,865.2,7.4,839,10392,0.00,2.28,33.85,1.082,4,0.000,0.045,2112,3811,2227,0,0,0,0,0,0,28.83,25.63,23.89
$GC,10424,0.36,197.3,860.0,8.1,842,10446,0.00,2.08,15.77,1.047,6,0.000,0.027,2122,2461,2169,0,0,0,0,0,0,28.83,25.83,23.83
$GC,10756,0.36,197.3,829.6,9.0,859,10761,0.00,2.12,0.00,0.000,4,0.000,0.044,2122,3809,2153,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10803,0.36,197.3,825.5,9.4,861,10806,0.00,2.05,0.00,0.000,6,0.000,0.027,2133,2454,2151,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11116,0.36,197.3,794.7,9.6,877,11121,0.00,2.12,0.00,0.000,4,0.000,0.034,2144,1049,2150,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11155,0.37,197.3,791.0,9.6,879,11161,0.00,2.30,0.00,0.000,6,0.000,0.038,2143,2529,2149,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11476,0.36,197.3,760.2,8.8,895,11482,0.00,2.28,0.00,0.000,4,0.000,0.034,2155,1049,2149,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11515,0.36,201.1,756.9,8.5,897,11521,0.00,2.30,0.00,0.000,6,0.000,0.038,2155,2524,2148,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11835,0.35,201.1,727.3,9.2,913,11841,0.12,2.05,0.00,0.000,4,0.152,0.042,2116,3825,2148,0,0,0,0,0,0,26.08,25.90,28.83
$GC,11909,0.35,201.1,722.1,8.8,916,11916,0.00,2.08,0.00,0.000,6,0.000,0.026,2126,2452,2147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12216,0.36,208.1,696.5,8.4,932,12224,0.00,2.17,2.95,0.573,4,0.000,0.042,2126,3815,2129,0,0,0,0,0,0,28.83,25.86,23.99
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$STATE,18308,end climb,SURFACE_DEPTH_REACHED
$STATE,18308,begin surface coast
$FINISH,0.6,1.023709
$STATE,18330,end surface coast,CONTROL_FINISHED_OK
$STATE,18330,begin surface
$SM_CCo,18347,31.55,0.120,0,0,1244,425.10
$SM_GC,1.12,5.43,2.53,31.55,0.031,0.027,0.120,117,2654,1244,-5.79,-0.25,425.10,0,0,0,0,0,0,26.22,26.13,25.30
$IRIDIUM_FIX,2225.34,12221.11,100212,171738
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,98.705
$10V_AH,9.9,59.442
$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,15.750,194.300,480.550,31.550,0.000,28.191,41.445,221.346,0.000,0.000,16.978,4143.668,10242.783,680.975,3286.952,438.288,0.000,2269.284,0.000,2819.947,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,65.025,1189.575,120.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1110.154,2097.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,107132,1636
$CAP_FILE_SIZE,204936,0
$CFSIZE,260165632,177500160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,100.9,1
$GPS,110212,041125,2232.447,12407.080,43,1.2,43,-3.1