version: 66.10
glider: 169
mission: 5
dive: 470
start: 2 8 112 18 5 53
data:
$ID,169
$MISSION,5
$DIVE,470
$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,-12502.35
$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
$GPS1,080212,175800,2301.208,12402.624,63,1.0,63,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.2
$GPS2,080212,180528,2301.118,12402.605,13,2.6,32,-3.2
$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,229.7,168811,-16.1,-8.684
$D_GRID,6004
$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,-78.10,0.000,2,0.000,0.000,116,2681,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-146.0,3.7,-6.8,13,122,7.25,1.85,-7.70,0.000,4,0.236,0.054,1802,3818,3577,0,0,0,0,0,0,24.75,26.00,26.54
$GC,261,-0.52,-146.0,48.9,-22.5,43,269,0.12,1.80,0.00,0.000,6,0.153,0.023,1838,2581,3578,0,0,0,0,0,0,25.86,26.22,28.83
$GC,575,-0.43,-146.0,127.5,-27.8,104,582,0.12,2.12,0.00,0.000,4,0.177,0.025,1886,1166,3578,0,0,0,0,0,0,26.07,26.17,28.83
$GC,693,-0.47,-146.0,141.8,-9.3,126,700,0.00,2.33,0.00,0.000,6,0.000,0.034,1876,2656,3578,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1005,-0.46,-146.0,187.5,-14.0,187,1012,0.00,2.25,0.00,0.000,4,0.000,0.025,1875,1170,3578,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1050,-0.49,-146.0,193.4,-11.1,195,1058,0.00,2.33,0.00,0.000,6,0.000,0.035,1865,2656,3578,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1361,-0.48,-146.0,236.7,-13.6,231,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2656,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.47,-146.0,274.4,-11.6,261,1670,0.00,2.22,0.00,0.000,4,0.000,0.025,1865,1168,3578,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1715,-0.49,-146.0,279.9,-9.8,266,1723,0.00,2.30,0.00,0.000,6,0.000,0.036,1855,2647,3578,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2023,-0.48,-146.0,321.1,-13.9,297,2032,0.00,2.25,0.00,0.000,4,0.000,0.026,1855,1171,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2057,-0.48,-146.0,325.4,-13.9,300,2065,0.00,2.35,0.00,0.000,6,0.000,0.036,1845,2658,3577,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2365,-0.46,-146.0,367.0,-12.1,331,2375,0.00,2.25,0.00,0.000,4,0.000,0.025,1845,1173,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2420,-0.47,-146.0,372.2,-9.6,336,2428,0.00,2.30,0.00,0.000,6,0.000,0.036,1836,2650,3577,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2728,-0.45,-146.0,412.7,-13.7,367,2737,0.00,2.25,0.00,0.000,4,0.000,0.027,1836,1166,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2760,-0.44,-146.0,417.0,-13.1,370,2770,0.12,2.33,0.00,0.000,6,0.131,0.037,1864,2649,3576,0,0,0,0,0,0,25.92,26.10,28.83
$GC,3071,-0.46,-146.0,445.4,-7.5,401,3074,0.00,1.77,0.00,0.000,4,0.000,0.044,1855,3818,3576,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3095,-0.48,-146.0,447.0,-7.6,403,3103,0.00,1.77,0.00,0.000,6,0.000,0.023,1855,2570,3575,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3402,-0.50,-146.0,472.6,-9.4,434,3411,0.00,2.08,0.00,0.000,4,0.000,0.026,1855,1166,3574,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3447,-0.53,-146.0,476.5,-9.3,438,3454,0.00,2.33,0.00,0.000,6,0.000,0.036,1847,2651,3574,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3754,-0.53,-146.0,510.2,-10.5,469,3763,0.00,2.25,0.00,0.000,4,0.000,0.027,1846,1172,3573,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3806,-0.57,-146.0,515.2,-9.3,474,3815,0.00,2.33,0.00,0.000,6,0.000,0.037,1837,2656,3573,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4115,-0.57,-146.0,545.3,-9.9,505,4126,0.00,2.25,0.00,0.000,4,0.000,0.027,1838,1176,3571,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4149,-0.59,-146.0,548.3,-9.5,508,4158,0.00,2.30,0.00,0.000,6,0.000,0.037,1828,2651,3571,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4459,-0.59,-146.0,578.1,-9.9,539,4469,0.00,2.25,0.00,0.000,4,0.000,0.028,1828,1173,3569,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4513,-0.60,-146.0,582.7,-8.5,544,4521,0.00,2.30,0.00,0.000,6,0.000,0.038,1819,2642,3569,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4825,-0.59,-146.0,616.7,-12.3,568,4830,0.00,2.22,0.00,0.000,4,0.000,0.027,1819,1179,3568,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4843,-0.59,-146.0,619.3,-12.3,569,4849,0.00,2.33,0.00,0.000,6,0.000,0.038,1809,2647,3568,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5163,-0.57,-146.0,660.4,-12.6,585,5169,0.00,2.25,0.00,0.000,4,0.000,0.028,1810,1170,3566,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5225,-0.57,-146.0,667.0,-11.4,588,5230,0.00,2.33,0.00,0.000,6,0.000,0.038,1799,2644,3566,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5544,-0.56,-146.0,704.5,-11.9,604,5550,0.10,2.22,0.00,0.000,4,0.160,0.027,1828,1173,3563,0,0,0,0,0,0,26.32,26.11,28.83
$GC,5605,-0.57,-146.0,710.0,-9.8,607,5610,0.00,2.33,0.00,0.000,6,0.000,0.040,1819,2645,3563,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5923,-0.57,-146.0,738.6,-8.9,623,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2645,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6223,-0.57,-146.0,765.6,-9.1,638,6226,0.00,1.80,0.00,0.000,4,0.000,0.046,1810,3815,3558,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6247,-0.57,-146.0,767.5,-9.3,639,6251,0.00,1.80,0.00,0.000,6,0.000,0.024,1810,2584,3559,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6565,-0.57,-146.0,798.0,-9.3,655,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2578,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,-0.57,-146.0,825.4,-9.0,670,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2578,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7167,-0.57,-146.0,853.7,-9.4,685,7172,0.00,2.12,0.00,0.000,4,0.000,0.029,1811,1181,3553,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7187,-0.57,-146.0,855.8,-9.5,686,7191,0.00,2.35,0.00,0.000,6,0.000,0.039,1800,2647,3552,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7506,-0.56,-146.0,886.5,-9.3,702,7510,0.00,2.28,0.00,0.000,4,0.000,0.030,1800,1181,3551,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7589,-0.57,-146.0,893.5,-8.3,706,7595,0.08,2.35,0.00,0.000,6,0.106,0.039,1821,2656,3550,0,0,0,0,0,0,25.76,25.94,28.83
$GC,7910,-0.59,-146.0,914.5,-6.5,722,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2656,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8210,-0.60,-146.0,935.2,-7.0,737,8216,0.00,2.28,0.00,0.000,4,0.000,0.029,1822,1183,3547,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8252,-0.63,-146.0,937.9,-7.0,739,8256,0.00,2.35,0.00,0.000,6,0.000,0.040,1813,2647,3548,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8566,-0.64,-146.0,962.8,-7.9,755,8571,0.00,2.28,0.00,0.000,4,0.000,0.030,1812,1173,3545,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8614,-0.65,-146.0,965.9,-8.0,757,8618,0.00,2.35,0.00,0.000,6,0.000,0.040,1803,2646,3545,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,8898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8898,begin apogee
$GC,8905,-0.20,0.0,991.5,-8.8,771,9043,0.40,0.15,131.43,1.190,6,0.102,0.078,1941,2530,2976,0,0,0,0,0,0,25.65,24.89,23.25
$STATE,9044,end apogee,CONTROL_FINISHED_OK
$STATE,9044,begin climb
$GC,9046,0.58,146.0,996.2,0.0,778,9202,0.68,2.45,141.23,1.191,4,0.046,0.034,2221,1050,2369,0,0,0,0,0,0,25.23,25.02,23.32
$GC,9213,0.48,146.0,990.6,9.1,786,9218,0.20,2.38,0.00,0.000,6,0.163,0.038,2168,2522,2363,0,0,0,0,0,0,25.02,25.34,28.83
$GC,9520,0.43,146.0,948.0,12.4,801,9526,0.00,2.05,0.00,0.000,4,0.000,0.044,2168,3815,2355,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9629,0.36,146.0,933.4,14.8,806,9634,0.20,2.05,0.00,0.000,6,0.168,0.028,2126,2461,2352,0,0,0,0,0,0,25.51,26.07,28.83
$GC,9936,0.37,173.0,906.4,7.6,821,9968,0.00,2.25,25.50,1.089,4,0.000,0.046,2125,3815,2264,0,0,0,0,0,0,28.83,25.70,23.95
$GC,10000,0.38,191.7,901.5,7.9,824,10024,0.00,2.08,19.23,1.072,6,0.000,0.028,2136,2462,2197,0,0,0,0,0,0,28.83,25.86,23.86
$GC,10335,0.37,193.9,872.4,8.6,841,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2462,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10633,0.36,193.9,843.9,10.2,856,10638,0.00,2.12,0.00,0.000,4,0.000,0.034,2147,1065,2171,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10665,0.36,193.9,841.8,10.3,857,10671,0.00,2.28,0.00,0.000,6,0.000,0.038,2147,2524,2171,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10973,0.35,193.9,805.9,11.5,873,10977,0.00,2.03,0.00,0.000,4,0.000,0.046,2147,3812,2170,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11035,0.32,193.9,797.5,12.8,876,11041,0.10,2.03,0.00,0.000,6,0.138,0.028,2123,2466,2169,0,0,0,0,0,0,25.72,26.12,28.83
$GC,11355,0.34,211.6,769.0,8.0,892,11381,0.00,2.17,18.75,1.005,4,0.000,0.043,2123,3821,2108,0,0,0,0,0,0,28.83,25.84,24.04
$GC,11409,0.36,224.4,765.6,8.2,894,11427,0.00,2.08,13.20,0.995,6,0.000,0.028,2133,2462,2064,0,0,0,0,0,0,28.83,25.98,23.99
$GC,11731,0.37,224.4,733.7,10.1,910,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2462,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12031,0.38,224.4,704.3,9.0,925,12036,0.00,2.20,0.00,0.000,4,0.000,0.044,2133,3815,2045,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12052,0.38,224.4,702.3,9.2,926,12056,0.00,2.08,0.00,0.000,6,0.000,0.027,2144,2459,2044,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12366,0.38,224.4,673.7,9.0,942,12369,0.00,2.15,0.00,0.000,4,0.000,0.035,2155,1062,2043,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12428,0.40,228.8,668.5,8.5,945,12433,0.00,2.30,0.00,0.000,6,0.000,0.037,2154,2527,2041,0,0,0,0,0,0,28.83,25.95,28.83
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$GC,15839,0.48,255.9,323.5,11.9,1246,15844,0.12,2.08,0.00,0.000,4,0.151,0.041,2157,3822,1939,0,0,0,0,0,0,26.12,25.86,28.83
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$STATE,18710,end climb,SURFACE_DEPTH_REACHED
$STATE,18710,begin surface coast
$FINISH,1.4,1.023732
$STATE,18721,end surface coast,CONTROL_FINISHED_OK
$STATE,18721,begin surface
$SM_CCo,18737,33.83,0.121,0,0,1243,425.10
$SM_GC,0.81,5.32,1.85,33.83,0.028,0.025,0.121,131,2597,1243,-5.79,0.45,425.10,0,0,0,0,0,0,26.10,26.20,25.39
$IRIDIUM_FIX,2255.72,12403.49,080212,121241
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.52
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.2,97.118
$10V_AH,9.9,58.206
$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,15.675,182.625,488.450,33.825,0.000,24.984,20.360,237.036,0.250,0.000,33.924,4203.189,10565.608,691.606,3300.783,433.033,0.000,2277.472,0.000,2822.145,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,78.030,1191.105,120.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.426,2162.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,110398,1674
$CAP_FILE_SIZE,204907,0
$CFSIZE,260165632,178511872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,108.7,1
$GPS,080212,231955,2258.634,12402.715,38,1.6,38,-3.2