version: 66.10
glider: 169
mission: 5
dive: 483
start: 2 11 112 15 7 47
data:
$ID,169
$MISSION,5
$DIVE,483
$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,-12519.661
$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
$GPS1,110212,150007,2226.954,12407.466,33,1.1,33,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.0
$GPS2,110212,150722,2226.956,12407.474,15,2.9,34,-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,235.1,106266,-16.1,-8.684
$D_GRID,5438
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.05,0.000,2,0.000,0.000,113,2666,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-146.0,3.6,-6.8,13,122,7.22,2.35,-8.10,0.000,4,0.233,0.036,1824,1166,3576,0,0,0,0,0,0,24.79,26.11,26.56
$GC,276,-0.57,-146.0,45.2,-10.5,46,283,0.00,2.35,0.00,0.000,6,0.000,0.037,1813,2656,3577,0,0,0,0,0,0,28.83,26.01,28.83
$GC,590,-0.46,-146.0,125.4,-27.4,107,598,0.12,2.25,0.00,0.000,4,0.177,0.024,1860,1175,3577,0,0,0,0,0,0,26.06,26.16,28.83
$GC,666,-0.48,-146.0,138.8,-11.2,121,673,0.00,2.33,0.00,0.000,6,0.000,0.037,1849,2650,3577,0,0,0,0,0,0,28.83,26.07,28.83
$GC,979,-0.44,-146.0,197.1,-16.3,182,986,0.00,2.25,0.00,0.000,4,0.000,0.028,1849,1176,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1026,-0.43,-146.0,203.3,-11.9,188,1033,0.12,2.33,0.00,0.000,6,0.132,0.037,1877,2649,3577,0,0,0,0,0,0,25.91,26.08,28.83
$GC,1333,-0.42,-146.0,243.7,-13.0,219,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2648,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1636,-0.41,-146.0,278.4,-11.2,249,1645,0.00,2.20,0.00,0.000,4,0.000,0.028,1877,1180,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1692,-0.44,-146.0,283.6,-9.2,254,1699,0.00,2.30,0.00,0.000,6,0.000,0.036,1868,2650,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1998,-0.43,-146.0,317.7,-11.8,285,2007,0.00,2.25,0.00,0.000,4,0.000,0.027,1868,1166,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2030,-0.43,-146.0,321.3,-11.3,288,2039,0.00,2.35,0.00,0.000,6,0.000,0.037,1858,2656,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2340,-0.42,-146.0,359.9,-12.2,319,2350,0.00,2.22,0.00,0.000,4,0.000,0.025,1857,1176,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2375,-0.42,-146.0,363.6,-11.6,322,2382,0.00,2.33,0.00,0.000,6,0.000,0.037,1848,2649,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2683,-0.40,-146.0,400.5,-11.5,353,2692,0.12,2.25,0.00,0.000,4,0.151,0.026,1891,1170,3577,0,0,0,0,0,0,26.22,26.18,28.83
$GC,2726,-0.43,-146.0,404.1,-8.4,357,2736,0.00,2.30,0.00,0.000,6,0.000,0.037,1888,2643,3576,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3037,-0.47,-146.0,425.7,-7.5,388,3040,0.00,1.77,0.00,0.000,4,0.000,0.043,1879,3815,3576,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3068,-0.51,-146.0,428.2,-7.8,391,3079,0.10,1.77,0.00,0.000,6,0.090,0.021,1799,2563,3576,0,0,0,0,0,0,26.27,26.38,28.83
$GC,3378,-0.47,-146.0,479.2,-16.3,422,3382,0.17,2.08,0.00,0.000,4,0.134,0.025,1861,1184,3575,0,0,0,0,0,0,26.09,26.20,28.83
$GC,3441,-0.52,-146.0,485.0,-7.4,428,3450,0.00,2.30,0.00,0.000,6,0.000,0.037,1852,2649,3575,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3750,-0.53,-146.0,512.2,-9.1,459,3762,0.00,2.25,0.00,0.000,4,0.000,0.028,1851,1168,3574,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3806,-0.57,-146.0,517.0,-8.9,464,3814,0.00,2.30,0.00,0.000,6,0.000,0.037,1844,2645,3574,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4115,-0.58,-146.0,551.0,-11.1,495,4125,0.00,2.25,0.00,0.000,4,0.000,0.027,1844,1168,3571,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4147,-0.60,-146.0,554.4,-10.6,498,4156,0.00,2.33,0.00,0.000,6,0.000,0.037,1838,2647,3572,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4457,-0.60,-146.0,584.0,-8.5,529,4466,0.00,2.25,0.00,0.000,4,0.000,0.028,1838,1174,3571,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4502,-0.62,-146.0,587.7,-8.8,533,4509,0.00,2.33,0.00,0.000,6,0.000,0.038,1830,2645,3571,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4811,-0.62,-146.0,615.0,-8.9,556,4815,0.00,1.80,0.00,0.000,4,0.000,0.044,1821,3813,3568,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4881,-0.63,-146.0,620.4,-8.7,559,4884,0.00,1.77,0.00,0.000,6,0.000,0.022,1821,2578,3567,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5193,-0.63,-146.0,649.3,-8.8,575,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2575,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5492,-0.63,-146.0,676.9,-9.5,590,5498,0.00,2.12,0.00,0.000,4,0.000,0.028,1821,1175,3563,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5533,-0.64,-146.0,680.5,-9.4,592,5539,0.00,2.35,0.00,0.000,6,0.000,0.037,1812,2652,3564,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5854,-0.64,-146.0,711.6,-9.6,608,5858,0.00,2.28,0.00,0.000,4,0.000,0.028,1813,1177,3561,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5897,-0.64,-146.0,715.5,-9.3,610,5902,0.00,2.35,0.00,0.000,6,0.000,0.038,1805,2651,3561,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6216,-0.63,-146.0,747.3,-9.9,626,6219,0.00,1.77,0.00,0.000,4,0.000,0.045,1796,3813,3559,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6241,-0.62,-146.0,749.5,-9.9,627,6245,0.00,1.83,0.00,0.000,6,0.000,0.023,1796,2570,3558,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6558,-0.60,-146.0,783.1,-10.9,643,6563,0.00,2.10,0.00,0.000,4,0.000,0.028,1796,1178,3557,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6600,-0.60,-146.0,787.5,-11.0,645,6604,0.00,2.35,0.00,0.000,6,0.000,0.038,1786,2649,3556,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6914,-0.58,-146.0,823.7,-11.4,661,6920,0.12,2.25,0.00,0.000,4,0.146,0.028,1830,1181,3553,0,0,0,0,0,0,26.17,26.04,28.83
$GC,6967,-0.58,-146.0,827.4,-10.4,663,6975,0.00,2.33,0.00,0.000,6,0.000,0.039,1824,2644,3553,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7275,-0.60,-146.0,852.5,-7.9,679,7278,0.00,1.85,0.00,0.000,4,0.000,0.047,1816,3813,3551,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7310,-0.61,-146.0,854.5,-8.1,680,7316,0.00,1.83,0.00,0.000,6,0.000,0.024,1816,2577,3551,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7618,-0.62,-146.0,883.3,-9.4,696,7624,0.00,2.12,0.00,0.000,4,0.000,0.029,1815,1176,3549,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7649,-0.63,-146.0,885.2,-9.4,697,7656,0.00,2.35,0.00,0.000,6,0.000,0.040,1813,2645,3549,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7956,-0.64,-146.0,914.7,-8.8,713,7962,0.00,2.28,0.00,0.000,4,0.000,0.030,1812,1180,3548,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7986,-0.65,-146.0,916.4,-8.8,714,7995,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2644,3548,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8297,-0.66,-146.0,939.9,-6.8,730,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2644,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8597,-0.66,-146.0,959.3,-6.6,745,8603,0.00,2.28,0.00,0.000,4,0.000,0.029,1813,1181,3545,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8638,-0.68,-146.0,962.1,-6.7,747,8644,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2643,3545,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8957,-0.69,-146.0,984.9,-7.4,763,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2643,3542,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9034,begin apogee
$GC,9041,-0.20,0.0,990.8,-7.3,767,9179,0.38,0.17,129.62,1.193,6,0.098,0.067,1944,2536,2972,0,0,0,0,0,0,25.74,24.93,23.26
$STATE,9180,end apogee,CONTROL_FINISHED_OK
$STATE,9180,begin climb
$GC,9182,0.58,146.0,995.3,0.0,774,9332,0.68,2.38,140.35,1.194,4,0.044,0.034,2223,1064,2375,0,0,0,0,0,0,25.29,25.06,23.33
$GC,9384,0.49,146.0,983.2,12.9,783,9389,0.20,2.35,0.00,0.000,6,0.162,0.038,2169,2530,2360,0,0,0,0,0,0,25.25,25.61,28.83
$GC,9692,0.44,146.0,942.1,12.4,798,9697,0.00,1.98,0.00,0.000,4,0.000,0.044,2169,3811,2355,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9750,0.38,146.0,933.5,14.0,801,9757,0.17,2.08,0.00,0.000,6,0.171,0.026,2134,2452,2353,0,0,0,0,0,0,25.56,26.09,28.83
$GC,10072,0.36,146.0,901.7,9.6,817,10077,0.00,2.15,0.00,0.000,4,0.000,0.044,2133,3808,2352,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10126,0.33,146.0,897.1,10.5,819,10134,0.00,2.05,0.00,0.000,6,0.000,0.026,2144,2451,2351,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10431,0.30,146.0,865.5,9.3,835,10432,0.12,0.00,0.00,0.000,6,0.172,0.000,2112,2451,2350,0,0,0,0,0,0,26.06,28.83,28.83
$GC,10732,0.37,200.5,845.1,6.5,850,10791,0.00,2.25,52.35,1.077,4,0.000,0.041,2112,3813,2150,0,0,0,0,0,0,28.83,25.41,23.72
$GC,10835,0.39,221.2,837.0,7.9,855,10861,0.00,2.08,21.10,1.045,6,0.000,0.026,2122,2459,2076,0,0,0,0,0,0,28.83,25.75,23.75
$GC,11172,0.41,221.2,806.8,9.7,872,11177,0.00,2.12,0.00,0.000,4,0.000,0.036,2133,1052,2051,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11213,0.43,221.2,802.8,9.7,874,11217,0.00,2.33,0.00,0.000,6,0.000,0.038,2133,2527,2049,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11526,0.44,221.2,768.3,10.9,890,11532,0.00,2.00,0.00,0.000,4,0.000,0.045,2133,3818,2048,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11558,0.44,221.2,766.0,10.9,891,11565,0.00,2.05,0.00,0.000,6,0.000,0.027,2144,2458,2047,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11865,0.44,221.2,731.7,10.1,907,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2457,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12166,0.44,224.7,704.9,8.5,922,12170,0.00,2.15,0.00,0.000,4,0.000,0.037,2154,1062,2046,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,19007,end climb,SURFACE_DEPTH_REACHED
$STATE,19007,begin surface coast
$FINISH,0.6,1.023861
$STATE,19024,end surface coast,CONTROL_FINISHED_OK
$STATE,19024,begin surface
$SM_CCo,19039,48.28,0.117,0,0,1244,425.10
$SM_GC,1.45,5.30,0.35,48.28,0.019,0.044,0.117,101,2662,1244,-5.80,-0.34,425.10,0,0,0,0,0,0,26.28,26.35,25.38
$IRIDIUM_FIX,2223.01,12404.69,110212,090922
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,99.165
$10V_AH,9.9,59.823
$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,15.725,195.650,436.900,48.275,0.000,24.910,16.425,222.226,0.000,0.000,36.323,4355.443,10599.119,697.429,3392.530,451.955,0.000,2337.903,0.000,2924.806,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,66.555,1194.165,117.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1174.178,2213.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,113526,1731
$CAP_FILE_SIZE,211655,0
$CFSIZE,260165632,177188864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,157.4,1
$GPS,110212,202707,2223.451,12406.162,41,1.2,41,-3.1