version: 66.10
glider: 169
mission: 5
dive: 481
start: 2 11 112 4 21 0
data:
$ID,169
$MISSION,5
$DIVE,481
$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,-12516.956
$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
$GPS1,110212,041125,2232.447,12407.080,43,1.2,43,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.1
$GPS2,110212,042036,2232.479,12407.005,15,0.9,31,-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,226.1,116338,-16.1,-8.684
$D_GRID,5536
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.35,0.000,2,0.000,0.000,116,2657,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-146.0,3.4,-7.0,13,125,7.30,1.88,-9.68,0.000,4,0.237,0.054,1812,3823,3577,0,0,0,0,0,0,24.75,25.98,26.55
$GC,309,-0.53,-146.0,59.7,-20.1,53,316,0.00,1.80,0.00,0.000,6,0.000,0.022,1812,2587,3577,0,0,0,0,0,0,28.83,26.24,28.83
$GC,622,-0.42,-146.0,146.3,-28.9,114,629,0.20,2.15,0.00,0.000,4,0.165,0.024,1881,1167,3577,0,0,0,0,0,0,25.79,26.17,28.83
$GC,723,-0.47,-146.0,160.6,-7.6,133,730,0.00,2.33,0.00,0.000,6,0.000,0.035,1871,2648,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1041,-0.44,-146.0,204.2,-13.5,192,1049,0.00,2.25,0.00,0.000,4,0.000,0.028,1871,1180,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1095,-0.47,-146.0,209.5,-9.5,197,1102,0.00,2.33,0.00,0.000,6,0.000,0.036,1862,2650,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1403,-0.44,-146.0,250.2,-14.3,228,1411,0.00,2.25,0.00,0.000,4,0.000,0.028,1862,1178,3577,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1444,-0.44,-146.0,255.5,-12.5,232,1453,0.00,2.33,0.00,0.000,6,0.000,0.037,1852,2648,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1754,-0.41,-146.0,296.5,-13.3,263,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2647,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-0.38,-146.0,334.3,-12.8,293,2065,0.12,2.25,0.00,0.000,4,0.155,0.025,1896,1170,3577,0,0,0,0,0,0,26.20,26.19,28.83
$GC,2099,-0.41,-146.0,338.5,-9.8,297,2108,0.00,2.33,0.00,0.000,6,0.000,0.037,1892,2646,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2409,-0.44,-146.0,362.2,-7.9,328,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2646,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2711,-0.48,-146.0,383.1,-6.5,358,2721,0.12,2.22,0.00,0.000,4,0.075,0.027,1796,1180,3577,0,0,0,0,0,0,26.54,26.18,28.83
$GC,2827,-0.46,-146.0,397.9,-13.8,369,2836,0.20,2.30,0.00,0.000,6,0.106,0.037,1856,2644,3577,0,0,0,0,0,0,25.72,26.09,28.83
$GC,3134,-0.46,-146.0,430.8,-10.8,400,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2644,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.46,-146.0,462.4,-10.6,430,3446,0.00,2.20,0.00,0.000,4,0.000,0.026,1856,1177,3575,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3489,-0.49,-146.0,467.5,-8.7,435,3499,0.00,2.33,0.00,0.000,6,0.000,0.036,1847,2653,3575,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3799,-0.49,-146.0,500.2,-10.4,466,3802,0.00,1.77,0.00,0.000,4,0.000,0.043,1838,3815,3573,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3820,-0.49,-146.0,502.3,-10.2,468,3824,0.00,1.80,0.00,0.000,6,0.000,0.022,1838,2573,3573,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4131,-0.49,-146.0,536.2,-11.5,499,4140,0.00,2.03,0.00,0.000,4,0.000,0.043,1829,3814,3572,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4187,-0.49,-146.0,542.1,-11.4,504,4193,0.00,1.80,0.00,0.000,6,0.000,0.023,1829,2567,3571,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4493,-0.49,-146.0,578.6,-12.0,535,4503,0.00,2.10,0.00,0.000,4,0.000,0.028,1829,1170,3570,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4537,-0.51,-146.0,583.1,-11.0,539,4547,0.00,2.33,0.00,0.000,6,0.000,0.037,1820,2646,3570,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4847,-0.50,-146.0,617.7,-10.9,562,4852,0.00,2.25,0.00,0.000,4,0.000,0.029,1820,1183,3568,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4899,-0.50,-146.0,621.6,-10.4,564,4907,0.12,2.33,0.00,0.000,6,0.131,0.037,1849,2648,3568,0,0,0,0,0,0,25.87,26.05,28.83
$GC,5207,-0.52,-146.0,645.8,-7.6,580,5212,0.00,2.25,0.00,0.000,4,0.000,0.027,1849,1173,3566,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5234,-0.55,-146.0,647.2,-7.6,581,5238,0.00,2.35,0.00,0.000,6,0.000,0.038,1848,2655,3567,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5544,-0.57,-146.0,671.7,-7.9,596,5550,0.00,2.22,0.00,0.000,4,0.000,0.028,1848,1182,3564,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5583,-0.61,-146.0,674.8,-7.8,598,5589,0.00,2.30,0.00,0.000,6,0.000,0.037,1839,2647,3564,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5904,-0.62,-146.0,701.4,-8.3,614,5908,0.00,1.77,0.00,0.000,4,0.000,0.045,1831,3820,3562,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5968,-0.65,-146.0,706.6,-8.2,617,5973,0.00,1.83,0.00,0.000,6,0.000,0.024,1830,2566,3561,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6288,-0.66,-146.0,733.2,-8.4,633,6292,0.10,2.10,0.00,0.000,4,0.093,0.028,1767,1181,3559,0,0,0,0,0,0,26.50,26.08,28.83
$GC,6322,-0.66,-146.0,735.8,-9.0,634,6330,0.15,2.33,0.00,0.000,6,0.134,0.038,1799,2645,3559,0,0,0,0,0,0,25.74,25.98,28.83
$GC,6630,-0.65,-146.0,770.9,-11.1,650,6636,0.00,2.25,0.00,0.000,4,0.000,0.028,1799,1173,3557,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6694,-0.65,-146.0,777.1,-10.5,653,6698,0.00,2.35,0.00,0.000,6,0.000,0.039,1789,2649,3556,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7007,-0.63,-146.0,815.6,-12.5,669,7013,0.00,2.30,0.00,0.000,4,0.000,0.030,1789,1169,3554,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7050,-0.62,-146.0,820.2,-11.9,671,7055,0.12,2.35,0.00,0.000,6,0.130,0.040,1816,2644,3554,0,0,0,0,0,0,25.77,25.93,28.83
$GC,7364,-0.62,-146.0,848.7,-9.0,687,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2644,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7663,-0.63,-146.0,876.0,-9.0,702,7669,0.00,2.25,0.00,0.000,4,0.000,0.028,1816,1174,3550,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7717,-0.65,-146.0,879.5,-8.9,704,7724,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2645,3550,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8025,-0.65,-146.0,907.7,-8.6,720,8029,0.00,1.80,0.00,0.000,4,0.000,0.047,1803,3813,3549,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8049,-0.66,-146.0,909.6,-8.3,721,8053,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2580,3548,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8368,-0.66,-146.0,935.2,-7.7,737,8373,0.00,2.10,0.00,0.000,4,0.000,0.029,1804,1177,3547,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8415,-0.66,-146.0,938.0,-7.3,739,8419,0.00,2.35,0.00,0.000,6,0.000,0.040,1796,2648,3546,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8723,-0.66,-146.0,962.5,-8.0,754,8729,0.00,2.25,0.00,0.000,4,0.000,0.031,1796,1186,3545,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8744,-0.66,-146.0,964.2,-8.0,755,8748,0.00,2.35,0.00,0.000,6,0.000,0.041,1785,2647,3545,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,9014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9014,begin apogee
$GC,9021,-0.20,0.0,991.0,-10.3,769,9159,0.45,0.15,128.10,1.195,6,0.107,0.074,1939,2533,2970,0,0,0,0,0,0,25.53,24.91,23.26
$STATE,9160,end apogee,CONTROL_FINISHED_OK
$STATE,9160,begin climb
$GC,9162,0.58,146.0,995.8,0.0,776,9311,0.70,2.42,138.57,1.200,4,0.053,0.034,2218,1048,2376,0,0,0,0,0,0,25.28,25.06,23.37
$GC,9339,0.49,146.0,987.8,10.6,785,9346,0.17,2.38,0.00,0.000,6,0.167,0.038,2173,2522,2364,0,0,0,0,0,0,25.15,25.48,28.83
$GC,9659,0.43,146.0,949.0,12.2,801,9665,0.00,2.05,0.00,0.000,4,0.000,0.045,2173,3813,2358,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9761,0.35,146.0,934.8,14.4,806,9767,0.17,2.03,0.00,0.000,6,0.156,0.027,2129,2465,2355,0,0,0,0,0,0,25.49,26.10,28.83
$GC,10081,0.33,146.0,905.3,9.1,822,10086,0.00,2.15,0.00,0.000,4,0.000,0.044,2129,3809,2353,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10109,0.31,146.0,903.3,9.2,823,10112,0.00,2.05,0.00,0.000,6,0.000,0.027,2139,2456,2353,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10414,0.29,146.0,874.4,8.8,838,10421,0.12,2.20,0.00,0.000,4,0.174,0.044,2102,3817,2352,0,0,0,0,0,0,25.99,25.90,28.83
$GC,10464,0.27,149.1,871.1,8.6,840,10473,0.00,2.08,0.00,0.000,6,0.000,0.028,2113,2452,2351,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10775,0.34,206.6,850.3,6.4,856,10840,0.00,2.20,57.95,1.086,4,0.000,0.033,2123,1051,2126,0,0,0,0,0,0,28.83,25.39,23.67
$GC,10848,0.40,252.5,846.3,6.8,859,10898,0.00,2.35,45.45,1.062,6,0.000,0.037,2123,2523,1948,0,0,0,0,0,0,28.83,25.51,23.56
$GC,11211,0.42,252.5,812.9,9.7,878,11217,0.00,2.08,0.00,0.000,4,0.000,0.045,2124,3821,1922,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11234,0.44,252.5,810.8,9.9,879,11238,0.00,2.08,0.00,0.000,6,0.000,0.027,2134,2458,1921,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11549,0.45,252.5,776.6,10.6,895,11554,0.00,2.12,0.00,0.000,4,0.000,0.037,2145,1054,1919,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11607,0.48,252.5,770.6,10.2,898,11613,0.00,2.33,0.00,0.000,6,0.000,0.039,2145,2526,1917,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11929,0.49,252.5,736.0,10.2,914,11934,0.00,2.03,0.00,0.000,4,0.000,0.046,2145,3810,1917,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11967,0.49,252.5,731.5,10.6,916,11973,0.00,2.08,0.00,0.000,6,0.000,0.027,2155,2455,1916,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12287,0.49,252.5,699.9,9.0,932,12293,0.00,2.20,0.00,0.000,4,0.000,0.045,2156,3816,1917,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,19114,end climb,SURFACE_DEPTH_REACHED
$STATE,19114,begin surface coast
$FINISH,0.3,1.023259
$STATE,19137,end surface coast,CONTROL_FINISHED_OK
$STATE,19137,begin surface
$SM_CCo,19151,46.85,0.115,0,0,1244,425.10
$SM_GC,1.32,5.38,0.20,46.85,0.032,0.051,0.115,130,2683,1244,-5.78,-0.40,425.10,0,0,0,0,0,0,26.18,26.46,25.38
$IRIDIUM_FIX,2227.67,12409.24,100212,222217
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,98.858
$10V_AH,9.9,59.573
$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,16.075,198.850,455.550,46.850,0.000,58.847,51.608,217.183,0.000,0.000,32.647,4418.949,10651.559,680.945,3510.914,458.979,0.000,2351.598,0.000,2988.182,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,74.205,1200.285,114.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1186.439,2226.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330464
$DATA_FILE_SIZE,113514,1748
$CAP_FILE_SIZE,215691,0
$CFSIZE,260165632,177385472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,114.5,1
$GPS,110212,094207,2229.683,12407.246,37,1.4,37,-3.1