version: 66.10
glider: 169
mission: 5
dive: 493
start: 2 13 112 18 25 3
data:
$ID,169
$MISSION,5
$DIVE,493
$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,-12533.099
$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
$GPS1,130212,181730,2155.603,12402.614,40,1.1,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.1
$GPS2,130212,182438,2155.580,12402.531,13,1.8,13,-2.9
$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,144.6,47575,-16.1,-8.684
$D_GRID,5372
$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,-77.07,0.000,2,0.000,0.000,103,2673,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.8,-8.8,13,121,7.07,2.40,-8.35,0.000,4,0.223,0.035,1822,1160,3578,0,0,0,0,0,0,24.77,26.08,26.53
$GC,164,-0.51,-146.0,28.5,-26.1,24,171,0.12,2.40,0.00,0.000,6,0.158,0.037,1844,2649,3578,0,0,0,0,0,0,25.67,25.92,28.83
$GC,477,-0.44,-146.0,96.5,-21.4,85,483,0.00,2.30,0.00,0.000,4,0.000,0.028,1854,1172,3578,0,0,0,0,0,0,28.83,26.10,28.83
$GC,609,-0.47,-146.0,114.4,-9.3,110,616,0.00,2.35,0.00,0.000,6,0.000,0.036,1843,2653,3578,0,0,0,0,0,0,28.83,26.04,28.83
$GC,920,-0.42,-146.0,168.8,-16.3,171,929,0.12,2.28,0.00,0.000,4,0.164,0.025,1892,1178,3579,0,0,0,0,0,0,26.14,26.14,28.83
$GC,963,-0.44,-146.0,174.4,-10.6,178,969,0.00,2.35,0.00,0.000,6,0.000,0.037,1882,2652,3579,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1275,-0.44,-146.0,209.7,-11.6,231,1284,0.00,2.22,0.00,0.000,4,0.000,0.028,1882,1181,3579,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1340,-0.49,-146.0,215.6,-8.0,237,1347,0.00,2.33,0.00,0.000,6,0.000,0.037,1873,2650,3579,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1648,-0.48,-146.0,251.1,-11.3,268,1657,0.00,2.25,0.00,0.000,4,0.000,0.028,1873,1182,3579,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1669,-0.48,-146.0,253.5,-11.3,270,1678,0.00,2.30,0.00,0.000,6,0.000,0.037,1864,2645,3578,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1981,-0.47,-146.0,289.6,-12.1,301,1984,0.00,2.25,0.00,0.000,4,0.000,0.029,1863,1187,3578,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2055,-0.51,-146.0,297.4,-9.5,308,2063,0.00,2.30,0.00,0.000,6,0.000,0.038,1861,2639,3579,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2364,-0.50,-146.0,341.9,-15.3,339,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2639,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-0.50,-146.0,383.9,-12.5,369,2672,0.00,2.25,0.00,0.000,4,0.000,0.028,1861,1172,3578,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2725,-0.54,-146.0,389.8,-8.5,375,2735,0.00,2.33,0.00,0.000,6,0.000,0.037,1860,2650,3578,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3035,-0.55,-146.0,415.3,-7.8,406,3044,0.00,2.22,0.00,0.000,4,0.000,0.027,1861,1178,3578,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3078,-0.58,-146.0,418.4,-7.2,410,3087,0.00,2.33,0.00,0.000,6,0.000,0.037,1853,2645,3578,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3388,-0.58,-146.0,447.6,-10.6,441,3396,0.00,2.28,0.00,0.000,4,0.000,0.028,1853,1173,3576,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3422,-0.59,-146.0,450.6,-10.0,444,3429,0.00,2.35,0.00,0.000,6,0.000,0.037,1852,2651,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3730,-0.60,-146.0,481.3,-9.6,475,3740,0.12,2.22,0.00,0.000,4,0.076,0.024,1768,1178,3576,0,0,0,0,0,0,26.52,26.17,28.83
$GC,3803,-0.58,-146.0,490.9,-14.2,482,3813,0.22,2.35,0.00,0.000,6,0.126,0.037,1825,2653,3575,0,0,0,0,0,0,25.68,26.05,28.83
$GC,4113,-0.56,-146.0,528.1,-12.0,513,4122,0.00,2.28,0.00,0.000,4,0.000,0.027,1825,1171,3574,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4155,-0.57,-146.0,532.5,-10.6,517,4164,0.00,2.35,0.00,0.000,6,0.000,0.037,1816,2649,3574,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4466,-0.56,-146.0,568.8,-10.6,548,4474,0.00,2.22,0.00,0.000,4,0.000,0.028,1817,1184,3572,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4528,-0.57,-146.0,574.8,-9.1,554,4536,0.00,2.30,0.00,0.000,6,0.000,0.038,1811,2642,3572,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4840,-0.55,-146.0,610.2,-12.1,581,4846,0.00,2.25,0.00,0.000,4,0.000,0.028,1811,1178,3571,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4882,-0.55,-146.0,615.4,-12.4,583,4886,0.00,2.33,0.00,0.000,6,0.000,0.038,1804,2646,3570,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5195,-0.53,-146.0,661.8,-15.3,599,5201,0.12,2.25,0.00,0.000,4,0.146,0.027,1847,1181,3568,0,0,0,0,0,0,26.19,26.10,28.83
$GC,5241,-0.53,-146.0,667.1,-14.4,601,5246,0.00,2.33,0.00,0.000,6,0.000,0.038,1839,2643,3568,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5551,-0.55,-146.0,701.2,-9.8,616,5556,0.00,2.28,0.00,0.000,4,0.000,0.031,1839,1178,3566,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5589,-0.57,-146.0,704.9,-9.4,618,5595,0.00,2.35,0.00,0.000,6,0.000,0.040,1837,2645,3566,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5910,-0.59,-146.0,728.5,-6.2,634,5913,0.00,1.83,0.00,0.000,4,0.000,0.046,1828,3816,3563,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5926,-0.61,-146.0,728.5,-6.2,634,5932,0.00,1.80,0.00,0.000,6,0.000,0.024,1828,2576,3563,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6231,-0.63,-146.0,748.1,-6.4,650,6235,0.00,2.12,0.00,0.000,4,0.000,0.028,1828,1176,3561,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6266,-0.64,-146.0,749.6,-6.4,651,6275,0.00,2.35,0.00,0.000,6,0.000,0.039,1825,2645,3561,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6575,-0.66,-146.0,772.5,-7.8,667,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2644,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6873,-0.67,-146.0,800.3,-10.5,682,6877,0.00,2.28,0.00,0.000,4,0.000,0.030,1825,1184,3557,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6909,-0.69,-146.0,802.7,-10.9,683,6918,0.10,2.38,0.00,0.000,6,0.090,0.041,1747,2653,3556,0,0,0,0,0,0,25.90,25.89,28.83
$GC,7215,-0.64,-146.0,862.6,-19.9,699,7222,0.15,2.30,0.00,0.000,4,0.151,0.027,1799,1170,3553,0,0,0,0,0,0,26.01,26.01,28.83
$GC,7258,-0.61,-146.0,869.2,-18.4,701,7262,0.00,2.38,0.00,0.000,6,0.000,0.039,1791,2650,3553,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7571,-0.60,-146.0,913.5,-13.7,717,7577,0.00,2.30,0.00,0.000,4,0.000,0.030,1792,1175,3552,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7650,-0.60,-146.0,923.9,-12.8,721,7656,0.12,2.38,0.00,0.000,6,0.129,0.041,1820,2642,3551,0,0,0,0,0,0,25.70,25.86,28.83
$GC,7971,-0.61,-146.0,956.9,-9.9,737,7977,0.00,2.30,0.00,0.000,4,0.000,0.032,1819,1175,3550,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8003,-0.63,-146.0,959.0,-9.9,738,8010,0.00,2.38,0.00,0.000,6,0.000,0.044,1813,2640,3549,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,8308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8308,begin apogee
$GC,8315,-0.20,0.0,990.7,-9.3,754,8452,0.38,0.17,129.40,1.193,6,0.101,0.067,1943,2536,2974,0,0,0,0,0,0,25.70,24.93,23.28
$STATE,8453,end apogee,CONTROL_FINISHED_OK
$STATE,8453,begin climb
$GC,8455,0.58,146.0,995.7,0.0,761,8606,0.68,2.42,140.32,1.190,4,0.045,0.035,2222,1054,2375,0,0,0,0,0,0,25.29,25.07,23.37
$GC,8682,0.50,146.0,977.8,15.9,771,8691,0.17,2.35,0.00,0.000,6,0.164,0.039,2175,2529,2360,0,0,0,0,0,0,25.34,25.69,28.83
$GC,8990,0.45,146.0,925.0,15.9,787,8996,0.00,2.03,0.00,0.000,4,0.000,0.045,2176,3816,2355,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9062,0.37,146.0,914.8,16.7,790,9069,0.20,2.08,0.00,0.000,6,0.173,0.028,2134,2456,2353,0,0,0,0,0,0,25.49,26.08,28.83
$GC,9371,0.35,146.0,873.8,12.4,806,9374,0.00,2.12,0.00,0.000,4,0.000,0.034,2144,1056,2352,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9416,0.34,146.0,868.7,12.2,808,9421,0.00,2.30,0.00,0.000,6,0.000,0.039,2144,2523,2351,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9735,0.31,146.0,833.5,9.6,824,9741,0.12,2.03,0.00,0.000,4,0.163,0.044,2106,3818,2351,0,0,0,0,0,0,26.02,25.91,28.83
$GC,9758,0.28,146.0,831.8,9.3,825,9762,0.00,2.08,0.00,0.000,6,0.000,0.027,2117,2452,2349,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10075,0.41,249.8,813.8,4.5,841,10182,0.00,2.38,99.03,1.058,4,0.000,0.045,2117,3812,1948,0,0,0,0,0,0,28.83,25.18,23.53
$GC,10235,0.52,325.9,805.5,5.6,849,10316,0.15,2.08,74.00,1.035,6,0.067,0.027,2207,2458,1647,0,0,0,0,0,0,25.68,25.70,23.61
$GC,10615,0.49,325.9,750.5,16.0,868,10621,0.12,2.20,0.00,0.000,4,0.168,0.045,2169,3805,1620,0,0,0,0,0,0,25.83,25.81,28.83
$GC,10644,0.47,325.9,747.4,16.1,869,10648,0.00,2.05,0.00,0.000,6,0.000,0.027,2179,2458,1619,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10950,0.47,325.9,709.1,11.5,884,10956,0.00,2.17,0.00,0.000,4,0.000,0.046,2180,3811,1617,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11024,0.47,325.9,701.2,12.9,887,11031,0.00,2.05,0.00,0.000,6,0.000,0.026,2191,2459,1617,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11330,0.45,325.9,659.2,13.4,903,11336,0.12,2.17,0.00,0.000,4,0.163,0.044,2151,3812,1616,0,0,0,0,0,0,26.02,25.87,28.83
$GC,11350,0.45,325.9,656.6,13.2,904,11355,0.00,2.05,0.00,0.000,6,0.000,0.027,2161,2455,1616,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11672,0.47,325.9,624.1,10.4,920,11677,0.00,2.17,0.00,0.000,4,0.000,0.044,2162,3814,1616,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11693,0.49,325.9,621.8,10.6,921,11697,0.00,2.03,0.00,0.000,6,0.000,0.026,2172,2461,1616,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12008,0.49,325.9,582.7,13.1,943,12011,0.00,2.17,0.00,0.000,4,0.000,0.045,2172,3809,1615,0,0,0,0,0,0,28.83,25.85,28.83
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$STATE,17089,end climb,SURFACE_DEPTH_REACHED
$STATE,17089,begin surface coast
$FINISH,0.4,1.011263
$STATE,17110,end surface coast,CONTROL_FINISHED_OK
$STATE,17110,begin surface
$SM_CCo,17124,30.48,0.120,0,0,1243,425.10
$SM_GC,1.08,5.35,0.22,30.48,0.029,0.056,0.120,127,2674,1243,-5.78,-0.14,425.10,0,0,0,0,0,0,26.17,26.41,25.39
$IRIDIUM_FIX,2148.09,12402.03,130212,131359
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,100.850
$10V_AH,9.9,61.023
$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,15.725,194.625,473.650,30.475,0.000,27.736,18.137,232.106,0.000,0.000,14.897,4036.807,9217.490,694.103,3175.323,434.850,0.000,2244.588,0.000,2730.734,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,67.320,1193.400,120.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1089.194,2023.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,106945,1607
$CAP_FILE_SIZE,197160,0
$CFSIZE,260165632,176205824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,246.1,1
$GPS,130212,231206,2152.967,12402.440,35,1.0,35,-2.9