version: 66.10
glider: 169
mission: 5
dive: 424
start: 1 30 112 2 1 28
data:
$ID,169
$MISSION,5
$DIVE,424
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,35
$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,-11412.594
$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
$GPS1,300112,014924,2339.675,12331.140,38,1.2,38,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.0
$GPS2,300112,020106,2339.602,12331.159,38,1.1,42,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2348.448,12337.930
$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,38.3,20000,-15.4,-9.167
$D_GRID,4117
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-175.2,0.0,0.0,0,130,0.00,0.00,-109.82,0.000,2,0.000,0.000,118,2683,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-0.60,-175.2,3.9,-8.5,20,159,7.00,2.35,-8.80,0.000,4,0.226,0.037,1818,1159,3696,0,0,0,0,0,0,24.72,26.12,26.57
$GC,243,-0.56,-175.2,40.9,-19.2,40,250,0.00,2.33,0.00,0.000,6,0.000,0.040,1807,2649,3697,0,0,0,0,0,0,28.83,26.01,28.83
$GC,557,-0.44,-175.2,146.3,-35.7,101,564,0.17,2.20,0.00,0.000,4,0.176,0.026,1869,1178,3696,0,0,0,0,0,0,25.84,26.19,28.83
$GC,638,-0.48,-175.2,160.9,-10.0,116,645,0.00,2.28,0.00,0.000,6,0.000,0.040,1859,2651,3696,0,0,0,0,0,0,28.83,26.11,28.83
$GC,948,-0.44,-175.2,212.7,-17.6,170,957,0.00,2.20,0.00,0.000,4,0.000,0.028,1862,1179,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,981,-0.42,-175.2,217.2,-14.7,173,989,0.00,2.28,0.00,0.000,6,0.000,0.040,1853,2648,3696,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1290,-0.40,-175.2,260.6,-13.4,204,1299,0.00,2.20,0.00,0.000,4,0.000,0.028,1852,1174,3696,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1343,-0.41,-175.2,266.6,-11.1,209,1352,0.00,2.30,0.00,0.000,6,0.000,0.039,1848,2654,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1652,-0.40,-175.2,307.6,-12.4,240,1654,0.12,0.00,0.00,0.000,6,0.155,0.000,1884,2654,3696,0,0,0,0,0,0,26.27,28.83,28.83
$GC,1952,-0.43,-175.2,327.3,-5.9,270,1961,0.00,2.20,0.00,0.000,4,0.000,0.028,1884,1176,3695,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1995,-0.49,-175.2,329.7,-5.6,274,2003,0.00,2.28,0.00,0.000,6,0.000,0.037,1878,2651,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2305,-0.62,-175.2,353.4,-9.0,305,2314,0.17,2.17,0.00,0.000,4,0.083,0.025,1808,1170,3694,0,0,0,0,0,0,26.40,26.27,28.83
$GC,2341,-0.72,-175.2,356.5,-9.4,308,2348,0.00,2.25,0.00,0.000,6,0.000,0.033,1808,2655,3694,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2647,-0.68,-175.2,400.7,-15.7,339,2656,0.00,2.20,0.00,0.000,4,0.000,0.027,1808,1173,3692,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2689,-0.65,-175.2,406.8,-14.8,343,2698,0.00,2.30,0.00,0.000,6,0.000,0.038,1797,2653,3692,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2999,-0.61,-175.2,454.3,-15.2,374,3007,0.00,2.20,0.00,0.000,4,0.000,0.028,1798,1179,3691,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3053,-0.59,-175.2,461.2,-13.6,379,3060,0.10,2.30,0.00,0.000,6,0.149,0.040,1816,2653,3691,0,0,0,0,0,0,25.98,26.12,28.83
$GC,3360,-0.58,-175.2,500.3,-10.9,410,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2653,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3662,-0.56,-175.2,532.8,-11.0,440,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2654,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3964,-0.56,-175.2,561.6,-9.6,470,3973,0.00,2.22,0.00,0.000,4,0.000,0.028,1816,1171,3684,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4036,-0.60,-175.2,568.3,-7.9,477,4045,0.00,2.30,0.00,0.000,6,0.000,0.040,1809,2650,3684,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4355,-0.58,-175.2,604.9,-12.0,507,4359,0.00,1.83,0.00,0.000,4,0.000,0.047,1800,3823,3682,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4399,-0.58,-175.2,609.6,-11.8,509,4403,0.00,1.85,0.00,0.000,6,0.000,0.024,1800,2576,3681,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4718,-0.57,-175.2,647.5,-11.8,525,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2573,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5017,-0.55,-175.2,683.2,-11.7,540,5019,0.10,0.00,0.00,0.000,6,0.148,0.000,1829,2573,3677,0,0,0,0,0,0,26.36,28.83,28.83
$GC,5317,-0.57,-175.2,709.5,-8.7,555,5323,0.00,2.00,0.00,0.000,4,0.000,0.047,1820,3811,3674,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5341,-0.59,-175.2,711.1,-8.3,556,5345,0.00,1.83,0.00,0.000,6,0.000,0.025,1820,2575,3674,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5658,-0.60,-175.2,738.0,-8.2,572,5664,0.00,2.08,0.00,0.000,4,0.000,0.030,1820,1172,3672,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5682,-0.62,-175.2,739.7,-8.3,573,5688,0.00,2.33,0.00,0.000,6,0.000,0.041,1813,2653,3672,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5999,-0.62,-175.2,768.5,-9.2,589,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2652,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,-0.63,-175.2,796.0,-8.8,604,6304,0.00,2.20,0.00,0.000,4,0.000,0.029,1813,1183,3668,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6347,-0.64,-175.2,799.5,-8.9,606,6356,0.00,2.30,0.00,0.000,6,0.000,0.041,1804,2650,3668,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6657,-0.64,-175.2,831.8,-10.6,622,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2650,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6958,-0.64,-175.2,861.5,-9.9,637,6964,0.00,2.20,0.00,0.000,4,0.000,0.031,1804,1184,3663,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7018,-0.65,-175.2,867.2,-9.5,640,7023,0.00,2.33,0.00,0.000,6,0.000,0.042,1799,2652,3663,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7338,-0.65,-175.2,899.0,-9.9,656,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2652,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7638,-0.65,-175.2,927.2,-9.3,671,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2652,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7937,-0.65,-175.2,956.6,-10.1,686,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2652,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8237,-0.65,-175.2,987.8,-10.7,701,8243,0.00,2.22,0.00,0.000,4,0.000,0.031,1799,1183,3658,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,8275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8275,begin apogee
$GC,8284,-0.20,0.0,992.1,-10.7,703,8446,0.40,0.05,154.90,1.190,6,0.096,0.058,1941,2475,2974,0,0,0,0,0,0,25.77,24.57,23.28
$STATE,8447,end apogee,CONTROL_FINISHED_OK
$STATE,8447,begin climb
$GC,8449,0.60,175.2,1003.0,0.0,711,8629,0.70,2.25,169.85,1.190,4,0.046,0.044,2214,3818,2256,0,0,0,0,0,0,25.15,24.84,23.30
$GC,8690,0.50,175.2,988.1,16.6,723,8698,0.20,2.12,0.00,0.000,6,0.184,0.029,2174,2455,2240,0,0,0,0,0,0,25.18,25.61,28.83
$GC,9000,0.44,175.2,944.8,13.1,739,9005,0.00,2.12,0.00,0.000,4,0.000,0.045,2174,3806,2234,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9061,0.37,175.2,935.6,14.6,742,9065,0.20,2.05,0.00,0.000,6,0.164,0.029,2130,2469,2233,0,0,0,0,0,0,25.58,26.07,28.83
$GC,9374,0.36,175.2,900.8,10.7,758,9380,0.00,2.12,0.00,0.000,4,0.000,0.046,2130,3817,2231,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9421,0.33,175.2,895.9,11.5,760,9425,0.00,2.08,0.00,0.000,6,0.000,0.028,2141,2454,2230,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9730,0.31,175.2,856.9,12.2,775,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2453,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10029,0.28,175.2,820.6,12.0,790,10035,0.12,2.15,0.00,0.000,4,0.171,0.044,2103,3815,2229,0,0,0,0,0,0,26.03,25.96,28.83
$GC,10061,0.26,175.2,818.2,12.0,791,10068,0.00,2.05,0.00,0.000,6,0.000,0.028,2113,2465,2229,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10370,0.29,199.5,789.4,8.3,807,10395,0.00,0.00,18.38,0.931,6,0.000,0.000,2113,2464,2163,0,0,0,0,1,0,28.83,28.83,24.03
$GC,10690,0.34,227.9,762.9,8.2,823,10731,0.00,2.22,35.55,0.993,4,0.000,0.037,2123,1053,2041,0,0,0,0,0,0,28.83,25.61,23.99
$GC,10763,0.38,248.2,757.7,8.5,826,10789,0.00,2.30,19.70,0.994,6,0.000,0.039,2124,2521,1963,0,0,0,0,0,0,28.83,25.69,23.90
$GC,11091,0.39,248.2,725.7,9.9,843,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2521,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11389,0.41,248.2,693.8,10.7,858,11394,0.00,2.25,0.00,0.000,4,0.000,0.037,2134,1059,1942,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11433,0.43,248.2,689.5,10.7,860,11437,0.00,2.30,0.00,0.000,6,0.000,0.041,2134,2527,1941,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11745,0.44,248.2,654.6,10.5,876,11750,0.00,2.05,0.00,0.000,4,0.000,0.047,2134,3817,1941,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11770,0.45,248.2,652.3,10.6,877,11775,0.00,2.05,0.00,0.000,6,0.000,0.028,2145,2462,1940,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12084,0.45,250.0,620.5,9.1,893,12090,0.00,2.17,0.00,0.000,4,0.000,0.049,2145,3809,1940,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12107,0.45,250.0,618.5,9.3,894,12111,0.00,2.05,0.00,0.000,6,0.000,0.028,2155,2465,1940,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12422,0.44,250.0,588.1,9.5,916,12431,0.00,2.15,0.00,0.000,4,0.000,0.046,2156,3809,1940,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12453,0.43,250.0,584.4,10.8,919,12462,0.00,2.05,0.00,0.000,6,0.000,0.029,2166,2459,1939,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12764,0.41,250.0,550.8,10.8,950,12773,0.00,2.12,0.00,0.000,4,0.000,0.038,2177,1059,1939,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12788,0.40,250.0,548.4,10.9,952,12797,0.12,2.28,0.00,0.000,6,0.134,0.041,2142,2531,1938,0,0,0,0,0,0,25.77,25.95,28.83
$GC,13097,0.41,250.0,518.4,10.7,983,13105,0.00,1.98,0.00,0.000,4,0.000,0.047,2141,3806,1938,0,0,0,0,0,0,28.83,25.88,28.83
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$GC,14143,0.41,250.0,396.0,11.9,1087,14147,0.12,2.05,0.00,0.000,4,0.145,0.046,2132,3810,1937,0,0,0,0,0,0,26.14,25.83,28.83
$GC,14179,0.41,250.0,392.4,11.4,1090,14185,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2453,1938,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,17348,end climb,SURFACE_DEPTH_REACHED
$STATE,17348,begin surface coast
$FINISH,0.4,1.023700
$STATE,17370,end surface coast,CONTROL_FINISHED_OK
$STATE,17370,begin surface
$SM_CCo,17385,4.68,0.135,0,0,1244,425.10
$SM_GC,1.59,5.38,0.20,4.68,0.030,0.061,0.135,128,2672,1244,-5.79,-0.25,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12331.62,300112,010127
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.3,88.470
$10V_AH,9.9,52.792
$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
$DEVICE_SECS,15.500,147.450,542.675,4.675,0.000,58.870,33.839,362.473,0.000,0.000,42.964,3622.339,10135.414,716.290,3167.237,425.359,0.000,2152.994,0.000,2544.207,0.000,0.543,0.000
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$SENSOR_SECS,1053.297,2007.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330460
$DATA_FILE_SIZE,103801,1550
$CAP_FILE_SIZE,185406,0
$CFSIZE,260165632,182931456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300112,065225,2340.778,12331.742,37,1.8,37,-3.3