version: 66.10
glider: 169
mission: 5
dive: 486
start: 2 12 112 6 53 12
data:
$ID,169
$MISSION,5
$DIVE,486
$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,-12523.722
$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
$GPS1,120212,064507,2216.837,12405.648,41,1.2,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.2
$GPS2,120212,065246,2216.858,12405.627,14,2.2,33,-3.0
$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,198.7,87322,-16.1,-8.684
$D_GRID,4864
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-146.0,0.0,0.0,0,96,0.00,0.00,-77.62,0.000,2,0.000,0.000,111,2676,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.6,-7.1,13,122,7.12,2.40,-8.50,0.000,4,0.229,0.036,1814,1159,3576,0,0,0,0,0,0,24.75,26.09,26.55
$GC,239,-0.55,-146.0,41.8,-19.3,39,246,0.00,2.35,0.00,0.000,6,0.000,0.036,1803,2645,3577,0,0,0,0,0,0,28.83,25.99,28.83
$GC,553,-0.43,-146.0,134.5,-29.0,100,560,0.20,2.25,0.00,0.000,4,0.168,0.023,1874,1171,3577,0,0,0,0,0,0,25.78,26.17,28.83
$GC,614,-0.45,-146.0,146.3,-11.7,111,620,0.00,2.33,0.00,0.000,6,0.000,0.035,1862,2648,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,926,-0.42,-146.0,191.0,-14.3,172,933,0.00,2.25,0.00,0.000,4,0.000,0.027,1862,1172,3576,0,0,0,0,0,0,28.83,26.17,28.83
$GC,975,-0.43,-146.0,197.7,-11.3,181,983,0.00,2.33,0.00,0.000,6,0.000,0.037,1852,2647,3576,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1292,-0.40,-146.0,244.6,-15.7,214,1301,0.00,2.22,0.00,0.000,4,0.000,0.027,1852,1174,3576,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1376,-0.42,-146.0,254.7,-9.8,222,1384,0.10,2.33,0.00,0.000,6,0.141,0.037,1873,2645,3576,0,0,0,0,0,0,25.94,26.08,28.83
$GC,1684,-0.42,-146.0,291.2,-12.2,253,1688,0.00,1.83,0.00,0.000,4,0.000,0.045,1864,3813,3576,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1707,-0.42,-146.0,293.8,-12.0,255,1710,0.00,1.75,0.00,0.000,6,0.000,0.021,1864,2575,3576,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2020,-0.42,-146.0,329.8,-11.7,286,2028,0.00,2.05,0.00,0.000,4,0.000,0.026,1864,1172,3576,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2092,-0.47,-146.0,337.2,-9.0,293,2102,0.00,2.30,0.00,0.000,6,0.000,0.036,1855,2650,3576,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2401,-0.45,-146.0,376.3,-12.7,324,2405,0.00,1.80,0.00,0.000,4,0.000,0.042,1847,3821,3577,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2424,-0.44,-146.0,379.2,-13.1,326,2428,0.00,1.77,0.00,0.000,6,0.000,0.021,1847,2579,3576,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2736,-0.43,-146.0,417.6,-11.9,357,2745,0.00,2.10,0.00,0.000,4,0.000,0.025,1847,1168,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2809,-0.47,-146.0,425.6,-9.7,364,2818,0.00,2.30,0.00,0.000,6,0.000,0.035,1837,2646,3576,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3120,-0.46,-146.0,467.9,-13.2,395,3128,0.00,2.22,0.00,0.000,4,0.000,0.027,1837,1178,3575,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3175,-0.48,-146.0,473.9,-11.1,400,3182,0.00,2.33,0.00,0.000,6,0.000,0.037,1828,2656,3575,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3481,-0.46,-146.0,512.1,-12.6,431,3483,0.12,0.00,0.00,0.000,6,0.154,0.000,1864,2656,3574,0,0,0,0,0,0,26.24,28.83,28.83
$GC,3782,-0.48,-146.0,537.2,-7.7,461,3785,0.00,1.80,0.00,0.000,4,0.000,0.044,1856,3822,3573,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3836,-0.52,-146.0,540.8,-7.0,466,3842,0.00,1.80,0.00,0.000,6,0.000,0.023,1855,2565,3572,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4143,-0.55,-146.0,566.6,-8.6,497,4147,0.00,2.10,0.00,0.000,4,0.000,0.028,1855,1166,3571,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4226,-0.60,-146.0,573.4,-7.8,505,4236,0.00,2.30,0.00,0.000,6,0.000,0.035,1848,2642,3571,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4535,-0.62,-146.0,602.8,-9.3,535,4537,0.12,0.00,0.00,0.000,6,0.076,0.000,1771,2643,3569,0,0,0,0,0,0,26.51,28.83,28.83
$GC,4836,-0.56,-146.0,651.8,-16.9,550,4842,0.15,2.20,0.00,0.000,4,0.147,0.024,1822,1178,3568,0,0,0,0,0,0,26.08,26.15,28.83
$GC,4909,-0.56,-146.0,658.6,-12.5,553,4917,0.00,2.33,0.00,0.000,6,0.000,0.037,1812,2650,3567,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5216,-0.55,-146.0,689.9,-9.7,569,5221,0.00,2.22,0.00,0.000,4,0.000,0.028,1812,1178,3566,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5258,-0.55,-146.0,693.5,-9.2,571,5262,0.00,2.33,0.00,0.000,6,0.000,0.038,1807,2646,3566,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5570,-0.53,-146.0,724.5,-10.5,587,5572,0.10,0.00,0.00,0.000,6,0.158,0.000,1835,2645,3563,0,0,0,0,0,0,26.32,28.83,28.83
$GC,5873,-0.55,-146.0,750.3,-8.5,602,5876,0.00,2.25,0.00,0.000,4,0.000,0.028,1836,1177,3561,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5902,-0.57,-146.0,752.3,-8.7,603,5906,0.00,2.35,0.00,0.000,6,0.000,0.037,1827,2647,3561,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6210,-0.59,-146.0,783.6,-10.6,618,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2646,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6510,-0.60,-146.0,816.9,-10.7,633,6516,0.00,2.25,0.00,0.000,4,0.000,0.028,1827,1174,3557,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6557,-0.62,-146.0,821.1,-10.4,635,6562,0.00,2.35,0.00,0.000,6,0.000,0.039,1825,2644,3557,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6865,-0.64,-146.0,849.8,-8.6,650,6868,0.00,1.80,0.00,0.000,4,0.000,0.046,1817,3814,3554,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6912,-0.65,-146.0,853.4,-8.3,652,6915,0.00,1.83,0.00,0.000,6,0.000,0.024,1817,2578,3553,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7228,-0.66,-146.0,880.5,-8.3,668,7234,0.00,2.12,0.00,0.000,4,0.000,0.029,1817,1168,3551,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7274,-0.68,-146.0,883.6,-8.1,670,7279,0.00,2.35,0.00,0.000,6,0.000,0.040,1812,2644,3551,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7589,-0.68,-146.0,910.1,-8.4,686,7593,0.00,1.80,0.00,0.000,4,0.000,0.046,1804,3813,3549,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7610,-0.68,-146.0,912.0,-8.4,687,7614,0.00,1.80,0.00,0.000,6,0.000,0.024,1804,2579,3549,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7932,-0.68,-146.0,942.5,-10.2,703,7938,0.00,2.10,0.00,0.000,4,0.000,0.029,1804,1182,3548,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7979,-0.69,-146.0,946.4,-10.1,705,7984,0.00,2.33,0.00,0.000,6,0.000,0.039,1798,2645,3548,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8287,-0.69,-146.0,981.5,-11.8,720,8293,0.00,2.25,0.00,0.000,4,0.000,0.030,1798,1177,3546,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8328,-0.69,-146.0,986.0,-11.5,722,8333,0.00,2.38,0.00,0.000,6,0.000,0.040,1789,2651,3546,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,8364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8364,begin apogee
$GC,8370,-0.20,0.0,990.4,-11.0,724,8510,0.45,0.15,129.75,1.190,6,0.105,0.076,1943,2537,2971,0,0,0,0,0,0,25.55,24.90,23.27
$STATE,8511,end apogee,CONTROL_FINISHED_OK
$STATE,8511,begin climb
$GC,8513,0.58,146.0,997.8,0.0,731,8668,0.68,2.45,141.12,1.193,4,0.050,0.034,2220,1057,2371,0,0,0,0,0,0,25.32,25.08,23.36
$GC,8692,0.49,146.0,991.0,10.3,740,8698,0.15,2.35,0.00,0.000,6,0.152,0.040,2174,2524,2365,0,0,0,0,0,0,25.17,25.50,28.83
$GC,9012,0.43,146.0,949.3,13.3,756,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2524,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9311,0.38,146.0,913.0,11.7,771,9315,0.12,2.03,0.00,0.000,4,0.181,0.041,2136,3816,2356,0,0,0,0,0,0,25.94,25.95,28.83
$GC,9356,0.33,146.0,908.2,11.4,773,9362,0.08,2.05,0.00,0.000,6,0.157,0.027,2122,2458,2354,0,0,0,0,0,0,25.77,26.13,28.83
$GC,9678,0.33,159.5,882.1,8.1,789,9696,0.00,2.28,11.07,1.030,4,0.000,0.046,2122,3814,2321,0,0,0,0,0,0,28.83,25.89,24.06
$GC,9723,0.31,159.6,878.1,8.7,791,9729,0.00,2.08,0.00,0.000,6,0.000,0.027,2132,2454,2315,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10039,0.30,159.6,846.2,10.0,807,10045,0.00,2.20,0.00,0.000,4,0.000,0.044,2132,3813,2313,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10140,0.27,159.6,834.5,11.9,812,10146,0.12,2.05,0.00,0.000,6,0.142,0.026,2103,2459,2312,0,0,0,0,0,0,25.65,26.13,28.83
$GC,10461,0.33,198.9,810.4,7.1,828,10504,0.00,0.00,40.72,1.054,6,0.000,0.000,2103,2458,2166,0,0,0,0,0,0,28.83,28.83,23.87
$GC,10802,0.42,255.6,787.4,6.4,845,10863,0.12,2.22,55.55,1.043,4,0.077,0.035,2188,1059,1928,0,0,0,0,0,0,26.27,25.35,23.70
$GC,10877,0.41,255.6,778.9,11.0,849,10883,0.15,2.35,0.00,0.000,6,0.134,0.038,2147,2527,1918,0,0,0,0,0,0,25.30,25.50,28.83
$GC,11197,0.41,255.6,745.5,10.3,865,11203,0.00,2.03,0.00,0.000,4,0.000,0.045,2147,3810,1913,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11258,0.41,255.6,738.4,11.4,868,11263,0.00,2.03,0.00,0.000,6,0.000,0.027,2157,2469,1910,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11576,0.41,255.6,704.5,10.5,884,11582,0.00,2.15,0.00,0.000,4,0.000,0.034,2168,1052,1909,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11626,0.42,255.6,700.4,10.6,886,11635,0.00,2.30,0.00,0.000,6,0.000,0.038,2168,2530,1907,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11938,0.41,255.6,662.6,11.8,902,11943,0.00,2.00,0.00,0.000,4,0.000,0.045,2168,3808,1907,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12026,0.40,255.6,651.8,13.6,906,12031,0.12,2.05,0.00,0.000,6,0.146,0.027,2144,2454,1906,0,0,0,0,0,0,25.80,26.10,28.83
$GC,12333,0.42,255.6,619.3,10.0,921,12339,0.00,2.12,0.00,0.000,4,0.000,0.034,2154,1051,1906,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,18409,end climb,SURFACE_DEPTH_REACHED
$STATE,18409,begin surface coast
$FINISH,0.4,1.013243
$STATE,18453,end surface coast,CONTROL_FINISHED_OK
$STATE,18453,begin surface
$SM_CCo,18467,39.90,0.117,0,0,1245,425.10
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$IRIDIUM_FIX,2213.68,12406.62,120212,010154
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.85
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,99.633
$10V_AH,9.9,60.192
$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,15.850,189.425,457.275,39.900,0.000,28.404,43.697,219.525,0.000,0.000,35.115,4279.213,10140.215,698.719,3376.435,445.676,0.000,2297.601,0.000,2885.842,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,75.735,1193.400,117.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1150.741,2157.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,110381,1697
$CAP_FILE_SIZE,207902,0
$CFSIZE,260165632,176893952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,173.9,1
$GPS,120212,120254,2213.613,12405.511,26,1.3,43,-3.0