version: 66.10
glider: 169
mission: 5
dive: 425
start: 1 30 112 7 1 24
data:
$ID,169
$MISSION,5
$DIVE,425
$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,-11413.855
$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
$GPS1,300112,065225,2340.778,12331.742,37,1.8,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.9
$GPS2,300112,070102,2340.720,12331.683,17,1.7,17,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2349.566,12338.454
$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,4205
$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,18,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.05,0.000,2,0.000,0.000,123,2676,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.5,-7.3,14,125,6.90,2.28,-11.00,0.000,4,0.224,0.034,1810,1163,3695,0,0,0,0,0,0,24.75,26.08,26.53
$GC,173,-0.53,-175.2,29.9,-25.6,27,180,0.15,2.35,0.00,0.000,6,0.144,0.041,1841,2652,3694,0,0,0,0,0,0,25.68,25.94,28.83
$GC,486,-0.43,-175.2,112.7,-27.2,88,493,0.10,2.25,0.00,0.000,4,0.190,0.026,1876,1168,3694,0,0,0,0,0,0,26.20,26.15,28.83
$GC,562,-0.45,-175.2,125.6,-9.1,102,569,0.00,2.33,0.00,0.000,6,0.000,0.039,1866,2655,3694,0,0,0,0,0,0,28.83,26.08,28.83
$GC,873,-0.40,-175.2,178.1,-17.1,163,880,0.00,2.22,0.00,0.000,4,0.000,0.030,1869,1174,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,903,-0.38,-175.2,182.6,-14.4,168,909,0.00,2.28,0.00,0.000,6,0.000,0.038,1858,2651,3694,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1217,-0.33,-175.2,231.3,-17.9,212,1227,0.12,2.20,0.00,0.000,4,0.158,0.026,1910,1177,3694,0,0,0,0,0,0,26.20,26.22,28.83
$GC,1270,-0.39,-175.2,236.6,-8.8,217,1279,0.00,2.28,0.00,0.000,6,0.000,0.038,1909,2651,3694,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1580,-0.51,-175.2,261.9,-7.9,248,1582,0.20,0.00,0.00,0.000,6,0.090,0.000,1830,2651,3695,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1880,-0.56,-175.2,281.6,-7.5,278,1889,0.00,2.20,0.00,0.000,4,0.000,0.027,1830,1166,3695,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1926,-0.59,-175.2,285.4,-9.0,282,1933,0.00,2.30,0.00,0.000,6,0.000,0.038,1820,2654,3695,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2232,-0.55,-175.2,340.6,-17.2,313,2241,0.00,2.22,0.00,0.000,4,0.000,0.027,1820,1175,3694,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2267,-0.52,-175.2,345.9,-16.8,316,2274,0.10,2.30,0.00,0.000,6,0.145,0.038,1840,2654,3694,0,0,0,0,0,0,25.99,26.13,28.83
$GC,2573,-0.52,-175.2,388.2,-13.0,347,2577,0.00,2.22,0.00,0.000,4,0.000,0.027,1840,1175,3694,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2629,-0.54,-175.2,394.0,-10.7,352,2636,0.00,2.30,0.00,0.000,6,0.000,0.038,1831,2651,3694,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2937,-0.54,-175.2,429.5,-10.3,383,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2651,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-0.54,-175.2,458.2,-9.2,413,3246,0.00,2.20,0.00,0.000,4,0.000,0.028,1831,1181,3693,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3302,-0.57,-175.2,463.4,-7.6,419,3309,0.00,2.30,0.00,0.000,6,0.000,0.040,1824,2652,3693,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3609,-0.57,-175.2,496.5,-11.1,450,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2651,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,-0.57,-175.2,530.8,-11.4,480,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2651,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,-0.57,-175.2,563.6,-9.7,511,4230,0.00,2.20,0.00,0.000,4,0.000,0.029,1824,1184,3685,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4263,-0.59,-175.2,567.3,-8.6,515,4272,0.00,2.28,0.00,0.000,6,0.000,0.040,1817,2644,3685,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4572,-0.59,-175.2,599.9,-10.1,546,4576,0.00,1.83,0.00,0.000,4,0.000,0.047,1808,3814,3683,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4601,-0.59,-175.2,602.1,-10.2,548,4604,0.00,1.83,0.00,0.000,6,0.000,0.024,1808,2565,3683,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4915,-0.58,-175.2,636.6,-10.6,564,4920,0.00,2.00,0.00,0.000,4,0.000,0.045,1798,3816,3681,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4954,-0.58,-175.2,640.7,-10.3,566,4959,0.00,1.83,0.00,0.000,6,0.000,0.024,1798,2571,3680,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5275,-0.56,-175.2,675.6,-11.4,582,5280,0.00,2.03,0.00,0.000,4,0.000,0.031,1798,1187,3678,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5322,-0.56,-175.2,680.1,-11.3,584,5327,0.15,2.28,0.00,0.000,6,0.119,0.039,1835,2650,3678,0,0,0,0,0,0,25.89,26.06,28.83
$GC,5632,-0.58,-175.2,706.4,-8.3,599,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2650,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,-0.60,-175.2,730.4,-7.7,614,5934,0.00,2.20,0.00,0.000,4,0.000,0.031,1836,1189,3673,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5963,-0.63,-175.2,732.0,-7.7,615,5970,0.00,2.30,0.00,0.000,6,0.000,0.041,1827,2651,3673,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6270,-0.65,-175.2,756.6,-7.6,631,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2651,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6570,-0.67,-175.2,776.9,-6.3,646,6575,0.00,2.25,0.00,0.000,4,0.000,0.031,1827,1177,3669,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6609,-0.69,-175.2,779.2,-5.9,648,6615,0.08,2.33,0.00,0.000,6,0.046,0.043,1744,2650,3669,0,0,0,0,0,0,25.94,25.96,28.83
$GC,6928,-0.64,-175.2,824.5,-14.7,664,6935,0.17,2.22,0.00,0.000,4,0.145,0.028,1811,1181,3667,0,0,0,0,0,0,25.98,26.08,28.83
$GC,6958,-0.59,-175.2,827.1,-14.2,665,6962,0.00,2.33,0.00,0.000,6,0.000,0.042,1802,2649,3667,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7264,-0.59,-175.2,853.8,-9.3,680,7270,0.00,2.25,0.00,0.000,4,0.000,0.031,1801,1182,3665,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7286,-0.59,-175.2,855.7,-9.5,681,7291,0.00,2.33,0.00,0.000,6,0.000,0.042,1799,2647,3664,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7600,-0.59,-175.2,887.0,-10.6,697,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2646,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7899,-0.59,-175.2,918.0,-9.9,712,7902,0.00,1.80,0.00,0.000,4,0.000,0.049,1791,3812,3662,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7922,-0.59,-175.2,920.1,-10.0,713,7926,0.00,1.83,0.00,0.000,6,0.000,0.025,1791,2576,3662,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8243,-0.59,-175.2,955.6,-11.0,729,8248,0.00,2.08,0.00,0.000,4,0.000,0.031,1791,1183,3660,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8270,-0.59,-175.2,958.0,-11.1,730,8280,0.15,2.33,0.00,0.000,6,0.119,0.042,1828,2652,3660,0,0,0,0,0,0,25.74,25.91,28.83
$GC,8582,-0.61,-175.2,985.3,-8.7,746,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2652,3659,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8638,begin apogee
$GC,8644,-0.20,0.0,990.4,-8.5,749,8807,0.32,0.15,155.23,1.187,6,0.093,0.075,1946,2534,2978,0,0,0,0,0,0,25.89,24.84,23.25
$STATE,8808,end apogee,CONTROL_FINISHED_OK
$STATE,8808,begin climb
$GC,8810,0.60,175.2,1001.4,0.0,757,8990,0.68,2.42,169.50,1.191,4,0.047,0.035,2220,1062,2253,0,0,0,0,0,0,25.13,24.86,23.27
$GC,9057,0.53,175.2,989.9,12.8,769,9064,0.15,2.33,0.00,0.000,6,0.163,0.043,2181,2522,2238,0,0,0,0,0,0,25.28,25.56,28.83
$GC,9364,0.46,175.2,951.0,12.6,785,9369,0.00,2.00,0.00,0.000,4,0.000,0.046,2181,3808,2235,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9410,0.40,175.2,945.3,13.6,787,9415,0.20,2.08,0.00,0.000,6,0.171,0.030,2138,2457,2233,0,0,0,0,0,0,25.54,26.06,28.83
$GC,9719,0.37,175.2,912.2,9.8,802,9724,0.00,2.17,0.00,0.000,4,0.000,0.047,2138,3822,2231,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9786,0.34,175.2,904.8,11.8,805,9790,0.00,2.08,0.00,0.000,6,0.000,0.030,2149,2468,2231,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10096,0.31,175.2,869.7,10.8,820,10102,0.12,2.10,0.00,0.000,4,0.172,0.044,2111,3807,2230,0,0,0,0,0,0,26.00,25.96,28.83
$GC,10135,0.28,175.2,865.4,10.4,822,10140,0.00,2.05,0.00,0.000,6,0.000,0.028,2122,2458,2229,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10456,0.32,207.4,839.2,8.0,838,10495,0.00,2.17,31.00,1.053,4,0.000,0.035,2132,1056,2121,0,0,0,0,0,0,28.83,25.71,23.99
$GC,10519,0.37,248.1,834.3,7.7,841,10566,0.00,2.28,41.88,1.030,6,0.000,0.038,2132,2518,1965,0,0,0,0,0,0,28.83,25.77,23.77
$GC,10874,0.44,301.4,807.3,7.3,859,10934,0.00,2.12,53.35,1.024,4,0.000,0.045,2132,3819,1738,0,0,0,0,0,0,28.83,25.32,23.80
$GC,10958,0.51,354.0,801.2,7.3,863,11017,0.00,2.10,52.85,1.010,6,0.000,0.030,2143,2473,1531,0,0,0,0,0,0,28.83,25.58,23.67
$GC,11319,0.62,420.4,775.1,6.8,881,11390,0.15,2.25,64.93,1.008,4,0.068,0.037,2244,1057,1258,0,0,0,0,0,0,26.18,25.26,23.78
$GC,11441,0.58,420.4,755.6,18.2,887,11446,0.17,2.33,0.00,0.000,6,0.132,0.041,2193,2519,1238,0,0,0,0,0,0,25.36,25.58,28.83
$GC,11755,0.56,420.4,706.8,16.9,903,11760,0.00,2.03,0.00,0.000,4,0.000,0.047,2193,3811,1236,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11796,0.55,420.4,699.6,17.6,905,11799,0.00,2.08,0.00,0.000,6,0.000,0.028,2203,2461,1235,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12116,0.52,420.4,638.3,20.3,921,12122,0.00,2.15,0.00,0.000,4,0.000,0.049,2204,3810,1235,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12144,0.49,420.4,633.9,20.6,922,12153,0.15,2.05,0.00,0.000,6,0.156,0.028,2173,2463,1234,0,0,0,0,0,0,25.74,26.13,28.83
$GC,12456,0.51,420.4,591.4,11.1,941,12464,0.00,2.12,0.00,0.000,4,0.000,0.039,2183,1061,1233,0,0,0,0,0,0,28.83,26.01,28.83
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$GC,13482,0.54,420.4,449.2,15.0,1043,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2531,1231,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16007,0.87,501.7,100.5,8.5,1368,16049,0.15,2.22,33.28,0.321,6,0.063,0.031,2344,2532,944,0,0,0,0,0,0,26.13,26.10,24.90
$GC,16355,0.78,501.7,3.1,30.1,1435,16363,0.25,2.10,2.95,0.136,4,0.169,0.040,2269,3817,929,0,0,0,0,0,0,25.55,25.92,25.29
$STATE,16368,end climb,SURFACE_DEPTH_REACHED
$STATE,16369,begin surface coast
$FINISH,0.2,1.023711
$STATE,16380,end surface coast,CONTROL_FINISHED_OK
$STATE,16380,begin surface
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$IRIDIUM_FIX,2330.93,12333.58,300112,010103
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.3,88.683
$10V_AH,9.8,52.902
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,978.314,1866.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330488
$DATA_FILE_SIZE,93495,1439
$CAP_FILE_SIZE,181769,0
$CFSIZE,260165632,182853632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300112,113637,2341.977,12332.147,28,1.0,28,-3.3