version: 66.10
glider: 169
mission: 5
dive: 403
start: 1 25 112 13 50 30
data:
$ID,169
$MISSION,5
$DIVE,403
$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,-8
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-11386.181
$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
$GPS1,250112,134225,2322.517,12238.178,40,1.1,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.9
$GPS2,250112,135008,2322.568,12238.247,11,1.9,11,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2322.568,12250.012
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,93.2,20000,-15.4,-9.167
$D_GRID,4215
$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,16,-0.60,-175.2,0.0,0.0,0,94,0.00,0.00,-74.60,0.000,2,0.000,0.000,116,2676,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.60,-175.2,3.6,-7.2,13,127,7.15,2.28,-16.00,0.000,4,0.233,0.037,1818,1173,3695,0,0,0,0,0,0,24.86,26.05,26.54
$GC,235,-0.56,-175.2,51.1,-28.8,39,242,0.00,2.30,0.00,0.000,6,0.000,0.041,1807,2649,3696,0,0,0,0,0,0,28.83,26.01,28.83
$GC,547,-0.45,-175.2,151.2,-28.5,100,554,0.17,1.85,0.00,0.000,4,0.166,0.045,1851,3820,3696,0,0,0,0,0,0,25.91,26.06,28.83
$GC,603,-0.43,-175.2,162.8,-17.5,110,609,0.00,1.80,0.00,0.000,6,0.000,0.021,1851,2569,3696,0,0,0,0,0,0,28.83,26.36,28.83
$GC,919,-0.40,-175.2,211.2,-13.7,164,927,0.00,2.03,0.00,0.000,4,0.000,0.026,1851,1170,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,943,-0.37,-175.2,214.2,-13.9,166,950,0.15,2.28,0.00,0.000,6,0.119,0.038,1889,2651,3696,0,0,0,0,0,0,25.99,26.15,28.83
$GC,1253,-0.39,-175.2,238.9,-8.1,197,1262,0.00,2.15,0.00,0.000,4,0.000,0.027,1889,1176,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1278,-0.42,-175.2,240.9,-7.9,199,1286,0.00,2.25,0.00,0.000,6,0.000,0.037,1882,2653,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1586,-0.44,-175.2,266.3,-8.3,230,1595,0.00,2.15,0.00,0.000,4,0.000,0.026,1882,1177,3696,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1610,-0.46,-175.2,268.4,-9.0,232,1617,0.00,2.28,0.00,0.000,6,0.000,0.037,1873,2658,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1918,-0.48,-175.2,294.5,-8.9,263,1926,0.00,2.22,0.00,0.000,4,0.000,0.028,1873,1157,3695,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1961,-0.52,-175.2,297.8,-7.8,267,1969,0.00,2.28,0.00,0.000,6,0.000,0.037,1868,2653,3695,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2270,-0.53,-175.2,325.9,-9.0,298,2273,0.00,1.77,0.00,0.000,4,0.000,0.044,1859,3817,3695,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2292,-0.55,-175.2,327.8,-8.7,300,2301,0.00,1.80,0.00,0.000,6,0.000,0.022,1859,2561,3694,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2603,-0.56,-175.2,355.4,-9.3,331,2611,0.00,2.00,0.00,0.000,4,0.000,0.026,1859,1179,3692,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2655,-0.61,-175.2,359.8,-8.1,336,2665,0.08,2.25,0.00,0.000,6,0.047,0.037,1769,2651,3692,0,0,0,0,0,0,26.16,26.17,28.83
$GC,2964,-0.54,-175.2,418.5,-20.0,367,2966,0.22,0.00,0.00,0.000,6,0.137,0.000,1836,2651,3691,0,0,0,0,0,0,26.01,28.83,28.83
$GC,3263,-0.54,-175.2,450.7,-9.7,397,3272,0.00,2.20,0.00,0.000,4,0.000,0.028,1836,1165,3690,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3295,-0.55,-175.2,453.4,-9.4,400,3304,0.00,2.30,0.00,0.000,6,0.000,0.038,1827,2655,3690,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3605,-0.55,-175.2,485.5,-10.9,431,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2655,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3906,-0.55,-175.2,516.0,-10.1,461,3915,0.00,2.20,0.00,0.000,4,0.000,0.028,1827,1175,3685,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3961,-0.58,-175.2,520.7,-8.5,466,3968,0.00,2.28,0.00,0.000,6,0.000,0.040,1818,2651,3685,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4267,-0.58,-175.2,553.3,-10.9,497,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2651,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4569,-0.58,-175.2,584.9,-10.5,527,4578,0.00,2.17,0.00,0.000,4,0.000,0.029,1818,1182,3680,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4611,-0.59,-175.2,589.1,-10.0,531,4620,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2648,3680,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4922,-0.59,-175.2,621.8,-10.8,552,4927,0.00,2.20,0.00,0.000,4,0.000,0.029,1812,1178,3678,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4960,-0.59,-175.2,626.1,-10.8,554,4966,0.00,2.30,0.00,0.000,6,0.000,0.042,1812,2648,3678,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5280,-0.59,-175.2,661.1,-11.2,570,5284,0.00,1.80,0.00,0.000,4,0.000,0.048,1804,3813,3675,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5310,-0.59,-175.2,663.4,-11.0,571,5314,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2564,3675,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5617,-0.59,-175.2,697.4,-10.6,586,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2563,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5916,-0.59,-175.2,726.3,-9.3,601,5922,0.00,1.98,0.00,0.000,4,0.000,0.046,1794,3813,3671,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5965,-0.59,-175.2,730.1,-9.4,603,5969,0.00,1.80,0.00,0.000,6,0.000,0.024,1794,2569,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6272,-0.58,-175.2,763.2,-11.1,618,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2567,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6573,-0.57,-175.2,794.8,-10.7,633,6577,0.12,2.00,0.00,0.000,4,0.135,0.045,1829,3814,3666,0,0,0,0,0,0,26.25,25.96,28.83
$GC,6617,-0.58,-175.2,798.5,-9.6,635,6622,0.00,1.83,0.00,0.000,6,0.000,0.025,1829,2567,3666,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6937,-0.60,-175.2,822.7,-7.7,651,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2566,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7239,-0.62,-175.2,844.4,-6.9,666,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2566,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7537,-0.65,-175.2,863.9,-6.8,681,7542,0.00,2.08,0.00,0.000,4,0.000,0.031,1828,1185,3661,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7564,-0.67,-175.2,865.2,-6.7,682,7569,0.00,2.30,0.00,0.000,6,0.000,0.041,1825,2653,3661,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7873,-0.69,-175.2,886.9,-6.8,697,7875,0.12,0.00,0.00,0.000,6,0.078,0.000,1751,2653,3659,0,0,0,0,0,0,26.51,28.83,28.83
$GC,8172,-0.65,-175.2,926.7,-13.9,712,8178,0.12,2.20,0.00,0.000,4,0.153,0.027,1795,1182,3658,0,0,0,0,0,0,26.16,26.09,28.83
$GC,8205,-0.62,-175.2,929.3,-13.7,713,8212,0.00,2.30,0.00,0.000,6,0.000,0.042,1786,2649,3658,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8511,-0.61,-175.2,962.1,-10.4,729,8514,0.00,1.83,0.00,0.000,4,0.000,0.049,1776,3818,3656,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8545,-0.60,-175.2,964.4,-10.5,730,8553,0.12,1.83,0.00,0.000,6,0.124,0.024,1815,2563,3656,0,0,0,0,0,0,26.00,26.29,28.83
$STATE,8852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8852,begin apogee
$GC,8858,-0.20,0.0,990.8,-7.8,746,9022,0.35,0.15,156.12,1.177,6,0.095,0.073,1942,2539,2977,0,0,0,0,0,0,25.86,24.85,23.31
$STATE,9023,end apogee,CONTROL_FINISHED_OK
$STATE,9023,begin climb
$GC,9025,0.60,175.2,998.1,0.0,754,9203,0.70,2.22,169.15,1.180,4,0.050,0.047,2209,3819,2256,0,0,0,0,0,0,25.12,24.79,23.27
$GC,9234,0.50,175.2,983.4,15.5,765,9239,0.17,2.15,0.00,0.000,6,0.184,0.030,2177,2467,2239,0,0,0,0,0,0,24.98,25.36,28.83
$GC,9548,0.45,175.2,937.8,13.8,781,9553,0.00,2.12,0.00,0.000,4,0.000,0.045,2176,3812,2231,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9607,0.39,175.2,928.3,15.1,784,9613,0.17,2.05,0.00,0.000,6,0.165,0.028,2140,2460,2230,0,0,0,0,0,0,25.63,26.06,28.83
$GC,9928,0.37,175.2,891.5,11.2,800,9933,0.00,2.12,0.00,0.000,4,0.000,0.046,2140,3805,2228,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9990,0.33,175.2,883.5,12.9,803,9994,0.12,2.05,0.00,0.000,6,0.169,0.030,2119,2463,2227,0,0,0,0,0,0,25.79,26.14,28.83
$GC,10304,0.33,175.2,851.6,9.6,819,10310,0.00,2.10,0.00,0.000,4,0.000,0.038,2129,1054,2226,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10365,0.34,176.4,846.1,9.1,822,10369,0.00,2.25,0.00,0.000,6,0.000,0.041,2129,2523,2225,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10679,0.33,176.4,816.2,9.2,838,10684,0.00,2.03,0.00,0.000,4,0.000,0.046,2129,3813,2225,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10737,0.31,176.4,809.7,10.5,841,10741,0.00,2.05,0.00,0.000,6,0.000,0.028,2140,2461,2224,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11059,0.30,178.0,779.7,9.1,857,11061,0.12,0.00,0.00,0.000,6,0.166,0.000,2108,2459,2224,0,0,0,0,0,0,26.12,28.83,28.83
$GC,11360,0.35,209.8,757.2,8.0,872,11399,0.00,2.22,25.70,0.965,4,0.000,0.047,2107,3811,2122,0,0,0,0,1,0,28.83,25.80,23.84
$GC,11447,0.36,209.8,749.5,9.2,876,11452,0.00,2.08,0.00,0.000,6,0.000,0.028,2118,2455,2130,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11763,0.37,209.8,719.9,9.3,892,11767,0.00,2.12,0.00,0.000,4,0.000,0.036,2128,1052,2130,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11808,0.39,209.8,715.7,9.5,894,11812,0.00,2.25,0.00,0.000,6,0.000,0.039,2128,2524,2130,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12121,0.40,220.0,686.0,8.8,910,12146,0.00,2.10,18.58,0.926,4,0.000,0.046,2128,3813,2074,0,0,0,0,0,0,28.83,25.89,24.24
$GC,12173,0.42,236.5,682.6,8.6,912,12200,0.00,2.08,17.80,0.952,6,0.000,0.028,2139,2450,2003,0,0,0,0,0,0,28.83,25.98,24.13
$GC,12503,0.44,256.5,652.8,8.5,929,12528,0.00,2.15,19.92,0.933,4,0.000,0.034,2149,1052,1926,0,0,0,0,0,0,28.83,25.78,24.20
$GC,12549,0.45,264.4,649.6,8.9,931,12557,0.00,2.30,2.10,0.272,6,0.000,0.039,2149,2529,1898,0,0,0,0,0,0,28.83,25.77,23.61
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$GC,14999,0.61,385.0,390.5,6.7,1152,15069,0.15,2.25,64.00,0.773,6,0.066,0.036,2243,2525,1408,0,0,0,0,0,0,25.73,25.69,23.95
$GC,15370,0.57,385.0,320.0,19.1,1189,15379,0.15,2.03,0.00,0.000,4,0.156,0.042,2196,3811,1383,0,0,0,0,0,0,25.75,25.82,28.83
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$STATE,17915,end climb,SURFACE_DEPTH_REACHED
$STATE,17915,begin surface coast
$FINISH,0.3,1.022643
$STATE,17925,end surface coast,CONTROL_FINISHED_OK
$STATE,17926,begin surface
$SM_CCo,18001,0.00,0.000,0,0,1168,444.24
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$IRIDIUM_FIX,2312.13,12233.67,250112,080807
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,84.372
$10V_AH,9.9,50.289
$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,16.350,173.700,596.850,0.000,0.000,30.182,43.760,243.863,0.000,0.000,12.743,3752.708,10380.346,735.872,3161.204,404.565,0.000,2272.750,0.000,2680.553,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,73.440,1180.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.367,2064.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324692
$DATA_FILE_SIZE,107038,1591
$CAP_FILE_SIZE,197304,0
$CFSIZE,260165632,186048512
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250112,185137,2322.377,12240.845,38,1.0,38,-3.2