version: 66.10
glider: 169
mission: 5
dive: 462
start: 2 6 112 23 22 2
data:
$ID,169
$MISSION,5
$DIVE,462
$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,-12491.714
$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
$GPS1,060212,231406,2323.682,12357.143,40,0.9,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.0
$GPS2,060212,232138,2323.720,12357.221,13,1.5,13,-3.3
$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,205.6,210665,-16.1,-8.684
$D_GRID,3746
$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,-76.68,0.000,2,0.000,0.000,128,2677,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.3,-6.6,13,121,7.05,1.85,-9.12,0.000,4,0.229,0.048,1803,3837,3577,0,0,0,0,0,0,24.74,26.03,26.53
$GC,179,-0.50,-146.0,34.8,-28.5,27,187,0.15,1.80,0.00,0.000,6,0.161,0.021,1850,2581,3577,0,0,0,0,0,0,25.70,26.17,28.83
$GC,493,-0.43,-146.0,113.0,-20.7,88,500,0.00,2.10,0.00,0.000,4,0.000,0.027,1857,1177,3577,0,0,0,0,0,0,28.83,26.16,28.83
$GC,624,-0.43,-146.0,132.0,-13.1,113,630,0.00,2.30,0.00,0.000,6,0.000,0.037,1846,2647,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,936,-0.39,-146.0,185.8,-15.3,174,944,0.12,2.25,0.00,0.000,4,0.160,0.025,1894,1171,3577,0,0,0,0,0,0,26.17,26.20,28.83
$GC,993,-0.46,-146.0,191.3,-5.9,184,1000,0.00,2.30,0.00,0.000,6,0.000,0.036,1885,2648,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1308,-0.46,-146.0,220.0,-9.7,225,1318,0.00,2.25,0.00,0.000,4,0.000,0.028,1885,1176,3578,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1331,-0.48,-146.0,222.1,-9.7,227,1341,0.00,2.30,0.00,0.000,6,0.000,0.037,1875,2647,3577,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1641,-0.48,-146.0,254.1,-9.6,258,1649,0.00,2.20,0.00,0.000,4,0.000,0.026,1875,1174,3577,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1675,-0.50,-146.0,257.0,-9.3,261,1682,0.00,2.30,0.00,0.000,6,0.000,0.036,1866,2648,3577,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1982,-0.50,-146.0,291.1,-11.3,292,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2648,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.50,-146.0,324.0,-11.1,322,2295,0.00,2.22,0.00,0.000,4,0.000,0.027,1866,1176,3577,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2337,-0.52,-146.0,329.0,-8.8,327,2348,0.00,2.33,0.00,0.000,6,0.000,0.036,1857,2656,3577,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2647,-0.52,-146.0,361.7,-10.7,358,2656,0.00,2.22,0.00,0.000,4,0.000,0.026,1856,1171,3576,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2692,-0.54,-146.0,366.0,-10.2,362,2699,0.00,2.30,0.00,0.000,6,0.000,0.037,1847,2647,3577,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2999,-0.53,-146.0,402.7,-11.8,393,3008,0.00,2.20,0.00,0.000,4,0.000,0.026,1847,1171,3575,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3044,-0.54,-146.0,406.9,-10.2,397,3050,0.00,2.30,0.00,0.000,6,0.000,0.037,1838,2647,3575,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3351,-0.53,-146.0,441.8,-12.4,428,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2647,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3652,-0.53,-146.0,479.2,-12.0,458,3661,0.00,2.20,0.00,0.000,4,0.000,0.027,1838,1178,3573,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3728,-0.56,-146.0,486.9,-9.9,465,3735,0.00,2.33,0.00,0.000,6,0.000,0.038,1828,2652,3572,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4034,-0.55,-146.0,520.4,-10.8,496,4043,0.00,2.22,0.00,0.000,4,0.000,0.028,1828,1173,3571,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4056,-0.55,-146.0,522.8,-10.8,498,4065,0.00,2.30,0.00,0.000,6,0.000,0.038,1819,2646,3571,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4367,-0.53,-146.0,557.4,-11.5,529,4376,0.00,2.20,0.00,0.000,4,0.000,0.027,1819,1173,3569,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4412,-0.53,-146.0,562.3,-11.3,533,4419,0.00,2.33,0.00,0.000,6,0.000,0.038,1813,2650,3569,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4721,-0.52,-146.0,597.3,-10.9,564,4728,0.10,0.00,0.00,0.000,6,0.158,0.000,1841,2650,3567,0,0,0,0,0,0,26.34,28.83,28.83
$GC,5030,-0.53,-146.0,623.7,-8.3,581,5036,0.00,2.25,0.00,0.000,4,0.000,0.027,1841,1166,3566,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5071,-0.56,-146.0,626.8,-8.0,583,5076,0.00,2.33,0.00,0.000,6,0.000,0.038,1832,2647,3565,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5389,-0.57,-146.0,654.7,-8.7,599,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2647,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5690,-0.58,-146.0,683.1,-9.6,614,5696,0.00,2.20,0.00,0.000,4,0.000,0.028,1832,1176,3561,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5772,-0.61,-146.0,690.0,-8.7,618,5776,0.00,2.33,0.00,0.000,6,0.000,0.038,1823,2647,3560,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6085,-0.61,-146.0,718.8,-9.2,634,6090,0.00,2.20,0.00,0.000,4,0.000,0.028,1823,1183,3558,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6117,-0.62,-146.0,720.6,-9.1,635,6125,0.00,2.33,0.00,0.000,6,0.000,0.038,1814,2650,3558,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6424,-0.62,-146.0,749.0,-8.5,651,6428,0.00,1.80,0.00,0.000,4,0.000,0.046,1804,3819,3556,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6449,-0.62,-146.0,750.8,-8.4,652,6453,0.00,1.80,0.00,0.000,6,0.000,0.024,1805,2582,3556,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6766,-0.62,-146.0,782.1,-10.0,668,6770,0.00,2.10,0.00,0.000,4,0.000,0.029,1805,1178,3554,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6796,-0.62,-146.0,784.4,-10.0,669,6801,0.00,2.35,0.00,0.000,6,0.000,0.040,1796,2653,3554,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7106,-0.60,-146.0,817.6,-10.5,684,7111,0.00,2.22,0.00,0.000,4,0.000,0.031,1795,1184,3552,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7137,-0.59,-146.0,819.6,-10.4,685,7144,0.12,2.33,0.00,0.000,6,0.129,0.040,1823,2647,3551,0,0,0,0,0,0,25.80,25.96,28.83
$GC,7446,-0.60,-146.0,844.5,-7.7,701,7451,0.00,2.22,0.00,0.000,4,0.000,0.029,1823,1183,3550,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7487,-0.63,-146.0,847.4,-7.6,703,7491,0.00,2.33,0.00,0.000,6,0.000,0.040,1813,2646,3549,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7799,-0.63,-146.0,873.6,-8.5,719,7805,0.00,2.25,0.00,0.000,4,0.000,0.028,1813,1169,3548,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7843,-0.64,-146.0,877.0,-8.7,721,7847,0.00,2.38,0.00,0.000,6,0.000,0.041,1812,2653,3547,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8155,-0.64,-146.0,902.6,-7.7,737,8160,0.00,2.28,0.00,0.000,4,0.000,0.030,1812,1169,3546,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8185,-0.65,-146.0,904.2,-7.6,738,8194,0.00,2.38,0.00,0.000,6,0.000,0.042,1812,2647,3546,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8496,-0.66,-146.0,926.6,-6.8,754,8501,0.00,2.25,0.00,0.000,4,0.000,0.032,1812,1184,3545,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8525,-0.66,-146.0,928.0,-6.9,755,8536,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2645,3545,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8837,-0.67,-146.0,950.3,-7.4,771,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2644,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,-0.68,-146.0,974.3,-8.5,786,9141,0.00,2.25,0.00,0.000,4,0.000,0.030,1812,1180,3542,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9196,-0.70,-146.0,979.3,-8.3,789,9202,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2646,3542,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,9333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9333,begin apogee
$GC,9339,-0.20,0.0,990.7,-8.1,796,9478,0.38,0.17,129.45,1.192,6,0.100,0.068,1943,2533,2971,0,0,0,0,0,0,25.71,24.92,23.24
$STATE,9479,end apogee,CONTROL_FINISHED_OK
$STATE,9479,begin climb
$GC,9481,0.58,146.0,996.0,0.0,803,9636,0.68,2.45,140.50,1.195,4,0.043,0.036,2223,1065,2369,0,0,0,0,0,0,25.28,24.99,23.32
$GC,9684,0.50,146.0,984.6,13.1,813,9690,0.20,2.33,0.00,0.000,6,0.165,0.039,2171,2529,2360,0,0,0,0,0,0,25.20,25.57,28.83
$GC,10000,0.44,146.0,945.9,11.6,829,10005,0.00,2.03,0.00,0.000,4,0.000,0.046,2170,3814,2354,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10087,0.37,146.0,935.1,13.6,833,10091,0.20,2.05,0.00,0.000,6,0.177,0.027,2129,2458,2353,0,0,0,0,0,0,25.48,26.09,28.83
$GC,10398,0.35,148.3,907.6,8.6,848,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2455,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10694,0.33,148.3,879.8,9.1,863,10699,0.00,2.17,0.00,0.000,4,0.000,0.047,2129,3811,2350,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10728,0.31,148.3,877.8,9.3,864,10736,0.00,2.05,0.00,0.000,6,0.000,0.027,2140,2451,2349,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11034,0.29,148.3,848.5,9.1,880,11040,0.12,2.15,0.00,0.000,4,0.177,0.031,2113,1045,2348,0,0,0,0,0,0,25.98,26.02,28.83
$GC,11062,0.27,148.3,846.9,8.8,881,11066,0.00,2.30,0.00,0.000,6,0.000,0.038,2114,2529,2347,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11370,0.29,164.7,823.7,8.0,896,11389,0.00,0.00,16.42,1.040,6,0.000,0.000,2113,2528,2302,0,0,0,0,0,0,28.83,28.83,23.97
$GC,11688,0.29,164.7,795.6,9.0,912,11694,0.00,2.03,0.00,0.000,4,0.000,0.046,2113,3823,2286,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11710,0.29,164.7,793.6,9.1,913,11714,0.00,2.08,0.00,0.000,6,0.000,0.027,2124,2448,2285,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12032,0.30,173.0,766.3,8.4,929,12039,0.00,2.22,1.85,0.190,4,0.000,0.045,2124,3813,2270,0,0,0,0,0,0,28.83,25.84,24.94
$GC,12085,0.29,173.0,762.4,9.1,931,12091,0.00,2.05,0.00,0.000,6,0.000,0.026,2134,2454,2276,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,19037,end climb,SURFACE_DEPTH_REACHED
$STATE,19037,begin surface coast
$FINISH,0.2,1.010525
$STATE,19075,end surface coast,CONTROL_FINISHED_OK
$STATE,19075,begin surface
$SM_CCo,19089,34.65,0.119,0,0,1242,425.10
$SM_GC,1.04,5.50,0.20,34.65,0.029,0.060,0.119,131,2656,1242,-5.78,-0.34,425.10,0,0,0,0,0,0,26.20,26.41,25.32
$IRIDIUM_FIX,2319.18,12604.75,060212,181841
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.89
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.2,95.798
$10V_AH,9.9,57.207
$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,15.675,197.275,463.150,34.650,0.000,31.513,40.579,230.938,0.000,0.000,14.363,4378.229,10617.873,721.313,3388.147,444.457,0.000,2353.389,0.000,2906.150,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,68.085,1194.930,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1181.421,2182.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,113780,1739
$CAP_FILE_SIZE,213178,0
$CFSIZE,260165632,179310592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,110.7,1
$GPS,070212,044154,2320.670,12357.986,36,1.8,36,-3.3