version: 66.10
glider: 169
mission: 5
dive: 459
start: 2 6 112 7 59 52
data:
$ID,169
$MISSION,5
$DIVE,459
$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,360
$T_MISSION,400
$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,180
$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,-12487.748
$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
$GPS1,060212,075221,2335.329,12357.612,36,2.8,55,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.8
$GPS2,060212,075928,2335.327,12357.757,14,3.1,33,-3.4
$SPEED_LIMITS,0.159,0.274
$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,226.0,232138,-15.4,-9.167
$D_GRID,2560
$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,-0.60,-175.2,0.0,0.0,0,113,0.00,0.00,-93.12,0.000,2,0.000,0.000,116,2676,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.60,-175.2,3.9,-8.9,16,143,7.12,2.33,-9.85,0.000,4,0.231,0.034,1818,1159,3697,0,0,0,0,0,0,24.70,26.14,26.55
$GC,226,-0.58,-175.2,40.7,-19.2,36,233,0.00,2.35,0.00,0.000,6,0.000,0.036,1806,2656,3698,0,0,0,0,0,0,28.83,26.01,28.83
$GC,540,-0.46,-175.2,142.4,-31.8,97,548,0.15,2.22,0.00,0.000,4,0.177,0.022,1862,1166,3697,0,0,0,0,0,0,25.92,26.21,28.83
$GC,578,-0.42,-175.2,152.3,-21.5,103,585,0.00,2.33,0.00,0.000,6,0.000,0.037,1850,2649,3698,0,0,0,0,0,0,28.83,26.07,28.83
$GC,893,-0.38,-175.2,209.5,-18.3,160,902,0.12,2.22,0.00,0.000,4,0.155,0.024,1902,1172,3698,0,0,0,0,0,0,26.18,26.22,28.83
$GC,968,-0.45,-175.2,216.3,-6.5,167,977,0.00,2.28,0.00,0.000,6,0.000,0.034,1892,2649,3698,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1277,-0.56,-175.2,237.9,-6.9,198,1289,0.15,2.20,0.00,0.000,4,0.086,0.022,1829,1170,3698,0,0,0,0,0,0,26.39,26.26,28.83
$GC,1295,-0.67,-175.2,238.6,-6.8,199,1303,0.12,2.30,0.00,0.000,6,0.083,0.034,1771,2660,3697,0,0,0,0,0,0,26.13,26.15,28.83
$GC,1601,-0.58,-175.2,307.8,-25.8,230,1612,0.15,2.25,0.00,0.000,4,0.154,0.023,1829,1166,3697,0,0,0,0,0,0,26.09,26.23,28.83
$GC,1627,-0.49,-175.2,313.2,-24.8,232,1636,0.12,2.33,0.00,0.000,6,0.135,0.037,1855,2653,3697,0,0,0,0,0,0,25.94,26.12,28.83
$GC,1934,-0.48,-175.2,349.5,-12.1,263,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2652,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-0.48,-175.2,386.0,-10.3,293,2246,0.00,2.25,0.00,0.000,4,0.000,0.027,1855,1166,3697,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2264,-0.48,-175.2,388.4,-10.3,295,2271,0.00,2.33,0.00,0.000,6,0.000,0.038,1846,2648,3697,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2569,-0.47,-175.2,417.7,-10.9,326,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2648,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,-0.47,-175.2,455.6,-13.0,356,2874,0.00,2.22,0.00,0.000,4,0.000,0.027,1846,1180,3694,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2905,-0.48,-175.2,459.4,-12.0,359,2912,0.00,2.30,0.00,0.000,6,0.000,0.037,1839,2649,3694,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3213,-0.48,-175.2,490.2,-9.1,390,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2648,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,-0.48,-175.2,519.9,-10.1,420,3522,0.00,2.22,0.00,0.000,4,0.000,0.027,1838,1173,3691,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3535,-0.49,-175.2,522.1,-9.8,422,3544,0.00,2.30,0.00,0.000,6,0.000,0.037,1829,2649,3691,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3845,-0.49,-175.2,551.5,-10.9,453,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2649,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4146,-0.49,-175.2,586.2,-10.7,483,4154,0.00,2.20,0.00,0.000,4,0.000,0.027,1830,1171,3688,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4181,-0.50,-175.2,589.5,-10.2,486,4188,0.00,2.30,0.00,0.000,6,0.000,0.037,1821,2649,3688,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4487,-0.50,-175.2,623.6,-11.1,507,4493,0.00,2.25,0.00,0.000,4,0.000,0.026,1821,1170,3686,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4521,-0.50,-175.2,625.8,-11.2,508,4530,0.12,2.33,0.00,0.000,6,0.124,0.037,1854,2653,3685,0,0,0,0,0,0,25.93,26.07,28.83
$GC,4828,-0.54,-175.2,646.6,-5.9,524,4832,0.00,1.80,0.00,0.000,4,0.000,0.046,1845,3819,3683,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4850,-0.58,-175.2,647.9,-5.9,525,4854,0.00,1.80,0.00,0.000,6,0.000,0.024,1845,2577,3682,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5174,-0.60,-175.2,669.4,-7.2,541,5179,0.00,1.98,0.00,0.000,4,0.000,0.044,1837,3814,3681,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5195,-0.63,-175.2,670.8,-7.4,542,5199,0.00,1.80,0.00,0.000,6,0.000,0.023,1837,2573,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5514,-0.65,-175.2,696.5,-7.8,558,5516,0.12,0.00,0.00,0.000,6,0.075,0.000,1762,2562,3678,0,0,0,0,0,0,26.51,28.83,28.83
$GC,5813,-0.61,-175.2,742.6,-15.8,573,5815,0.17,0.00,0.00,0.000,6,0.138,0.000,1813,2562,3676,0,0,0,0,0,0,26.06,28.83,28.83
$GC,6114,-0.61,-175.2,771.3,-8.8,588,6119,0.00,2.03,0.00,0.000,4,0.000,0.046,1804,3809,3674,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6146,-0.61,-175.2,773.0,-8.8,589,6153,0.00,1.80,0.00,0.000,6,0.000,0.024,1804,2566,3674,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6452,-0.61,-175.2,803.0,-9.7,605,6458,0.00,2.10,0.00,0.000,4,0.000,0.029,1804,1171,3672,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6480,-0.61,-175.2,805.0,-9.8,606,6484,0.00,2.35,0.00,0.000,6,0.000,0.038,1795,2652,3671,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6789,-0.60,-175.2,841.0,-11.7,621,6792,0.00,1.83,0.00,0.000,4,0.000,0.049,1786,3813,3669,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6811,-0.59,-175.2,844.0,-11.9,622,6818,0.12,1.83,0.00,0.000,6,0.122,0.025,1824,2569,3669,0,0,0,0,0,0,25.98,26.26,28.83
$GC,7134,-0.60,-175.2,869.0,-7.3,638,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2567,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7434,-0.62,-175.2,892.7,-8.4,653,7439,0.00,2.00,0.00,0.000,4,0.000,0.047,1815,3812,3666,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7466,-0.64,-175.2,894.5,-8.4,654,7472,0.00,1.80,0.00,0.000,6,0.000,0.026,1814,2573,3665,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7774,-0.65,-175.2,919.1,-7.2,670,7779,0.00,2.10,0.00,0.000,4,0.000,0.030,1815,1172,3664,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7801,-0.67,-175.2,920.7,-7.3,671,7805,0.00,2.35,0.00,0.000,6,0.000,0.041,1813,2652,3664,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8109,-0.68,-175.2,946.3,-8.7,686,8112,0.00,1.83,0.00,0.000,4,0.000,0.048,1804,3821,3662,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8130,-0.69,-175.2,948.2,-8.8,687,8136,0.00,1.83,0.00,0.000,6,0.000,0.027,1804,2578,3662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8450,-0.69,-175.2,979.4,-10.3,703,8456,0.00,2.10,0.00,0.000,4,0.000,0.030,1804,1179,3661,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8481,-0.70,-175.2,981.6,-10.3,704,8491,0.00,2.33,0.00,0.000,6,0.000,0.041,1799,2648,3660,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,8569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8569,begin apogee
$GC,8575,-0.20,0.0,992.2,-11.1,709,8741,0.40,0.15,156.68,1.186,6,0.100,0.073,1938,2536,2973,0,0,0,0,0,0,25.67,24.86,23.24
$STATE,8742,end apogee,CONTROL_FINISHED_OK
$STATE,8742,begin climb
$GC,8744,0.60,175.2,1002.1,0.0,717,8922,0.70,2.38,168.70,1.191,4,0.049,0.032,2220,1061,2255,0,0,0,0,0,0,25.20,24.95,23.32
$GC,8944,0.50,175.2,994.3,11.9,727,8951,0.17,2.33,0.00,0.000,6,0.158,0.037,2174,2523,2239,0,0,0,0,0,0,25.06,25.34,28.83
$GC,9250,0.45,175.2,947.1,14.9,743,9255,0.00,2.03,0.00,0.000,4,0.000,0.044,2174,3821,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9310,0.38,175.2,936.8,16.6,746,9317,0.17,2.10,0.00,0.000,6,0.171,0.030,2139,2457,2231,0,0,0,0,0,0,25.56,26.04,28.83
$GC,9631,0.36,175.2,897.9,11.2,762,9635,0.00,2.17,0.00,0.000,4,0.000,0.044,2138,3823,2228,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9681,0.33,175.2,892.7,11.7,764,9685,0.12,2.08,0.00,0.000,6,0.166,0.028,2118,2464,2227,0,0,0,0,0,0,25.76,26.11,28.83
$GC,9989,0.37,205.3,864.9,8.1,779,10021,0.00,2.17,22.45,0.999,4,0.000,0.044,2117,3814,2139,0,0,0,0,1,0,28.83,25.80,23.82
$GC,10064,0.39,221.2,858.0,8.6,782,10093,0.00,2.08,19.27,0.922,6,0.000,0.027,2128,2460,2076,0,0,0,0,1,0,28.83,25.94,23.65
$GC,10403,0.39,221.2,828.0,9.2,799,10409,0.00,2.12,0.00,0.000,4,0.000,0.045,2128,3810,2081,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10442,0.39,221.2,823.5,10.3,801,10447,0.00,2.05,0.00,0.000,6,0.000,0.028,2138,2464,2080,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10763,0.38,221.2,789.1,11.0,817,10768,0.00,2.12,0.00,0.000,4,0.000,0.045,2138,3812,2080,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10794,0.37,221.2,786.8,11.3,818,10801,0.00,2.05,0.00,0.000,6,0.000,0.027,2149,2461,2080,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11102,0.35,221.2,748.3,11.9,834,11107,0.00,2.15,0.00,0.000,4,0.000,0.037,2160,1060,2079,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11123,0.34,221.2,745.9,12.0,835,11129,0.12,2.28,0.00,0.000,6,0.143,0.037,2122,2523,2078,0,0,0,0,0,0,25.72,25.98,28.83
$GC,11444,0.39,256.8,718.3,7.9,851,11490,0.00,0.00,43.90,0.961,6,0.000,0.000,2122,2523,1931,0,0,0,0,0,0,28.83,28.83,23.91
$GC,11783,0.49,320.2,694.1,6.9,868,11854,0.12,2.40,62.53,0.974,4,0.077,0.035,2213,1055,1661,0,0,0,0,0,0,26.24,25.32,23.77
$GC,11871,0.46,320.2,683.8,13.2,872,11882,0.17,2.33,0.00,0.000,6,0.132,0.037,2162,2522,1650,0,0,0,0,0,0,25.27,25.49,28.83
$GC,12183,0.46,320.2,647.0,11.6,888,12188,0.00,2.00,0.00,0.000,4,0.000,0.044,2162,3809,1646,0,0,0,0,0,0,28.83,25.83,28.83
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$GC,14821,0.55,324.9,330.1,10.2,1135,14830,0.00,2.00,0.00,0.000,4,0.000,0.043,2180,3811,1640,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,17921,end climb,SURFACE_DEPTH_REACHED
$STATE,17921,begin surface coast
$FINISH,0.6,1.023338
$STATE,17940,end surface coast,CONTROL_FINISHED_OK
$STATE,17940,begin surface
$SM_CCo,17956,20.90,0.119,0,0,1242,425.10
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$IRIDIUM_FIX,2333.28,12357.07,060212,030353
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.66
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,95.261
$10V_AH,9.9,56.838
$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,16.250,166.700,507.700,20.900,0.000,23.301,16.425,217.860,0.000,0.000,35.529,4081.655,10008.834,719.722,3153.151,418.293,0.000,2248.543,0.000,2698.164,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,73.440,1191.105,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1108.704,2068.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,107091,1632
$CAP_FILE_SIZE,196178,0
$CFSIZE,260165632,179638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.302,142.3,1
$GPS,060212,130037,2330.847,12357.578,36,1.1,36,-3.3