version: 66.10
glider: 169
mission: 5
dive: 210
start: 12 19 111 10 22 52
data:
$ID,169
$MISSION,5
$DIVE,210
$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,350
$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,200
$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,150
$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,-10985.925
$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
$GPS1,191211,101436,2338.121,12241.641,64,1.1,64,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.0
$GPS2,191211,102232,2338.232,12241.717,14,1.9,14,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2328.880,12247.604
$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,153.3,20000,-14.9,-9.429
$D_GRID,3070
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,108,0.00,0.00,-87.88,0.000,2,0.000,0.000,117,2680,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.61,-194.6,3.1,-5.7,16,142,6.90,2.25,-15.88,0.000,4,0.233,0.043,1813,1189,3773,0,0,0,0,0,0,25.27,26.00,26.44
$GC,185,-0.50,-194.6,31.2,-34.2,29,192,0.15,2.25,0.00,0.000,6,0.156,0.041,1842,2655,3774,0,0,0,0,0,0,25.70,25.99,28.83
$GC,497,-0.40,-194.6,138.9,-30.5,90,504,0.12,2.20,0.00,0.000,4,0.177,0.028,1891,1180,3773,0,0,0,0,0,0,26.01,26.18,28.83
$GC,558,-0.42,-194.6,150.5,-12.1,101,565,0.00,2.22,0.00,0.000,6,0.000,0.041,1881,2656,3773,0,0,0,0,0,0,28.83,26.14,28.83
$GC,869,-0.39,-194.6,195.5,-14.7,162,876,0.00,2.17,0.00,0.000,4,0.000,0.029,1880,1183,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,916,-0.41,-194.6,201.1,-10.8,169,923,0.00,2.22,0.00,0.000,6,0.000,0.041,1873,2654,3774,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1224,-0.38,-194.6,249.0,-16.4,200,1227,0.00,1.80,0.00,0.000,4,0.000,0.046,1864,3821,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1267,-0.38,-194.6,254.9,-14.6,204,1274,0.00,1.83,0.00,0.000,6,0.000,0.024,1864,2565,3773,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1577,-0.36,-194.6,295.1,-13.6,235,1586,0.00,2.00,0.00,0.000,4,0.000,0.030,1864,1187,3774,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1591,-0.35,-194.6,296.5,-13.2,236,1599,0.15,2.20,0.00,0.000,6,0.123,0.038,1901,2656,3773,0,0,0,0,0,0,26.10,26.28,28.83
$GC,1899,-0.39,-194.6,317.0,-5.9,267,1903,0.00,1.80,0.00,0.000,4,0.000,0.047,1892,3815,3773,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1932,-0.45,-194.6,319.1,-6.3,270,1936,0.00,1.80,0.00,0.000,6,0.000,0.024,1892,2562,3773,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2243,-0.56,-194.6,349.1,-11.0,301,2253,0.15,2.03,0.00,0.000,4,0.096,0.028,1833,1167,3773,0,0,0,0,0,0,26.45,26.36,28.83
$GC,2320,-0.68,-194.6,356.2,-9.1,308,2328,0.12,2.22,0.00,0.000,6,0.086,0.038,1780,2656,3772,0,0,0,0,0,0,26.27,26.30,28.83
$GC,2627,-0.61,-194.6,413.9,-22.0,339,2631,0.12,1.77,0.00,0.000,4,0.156,0.042,1811,3825,3771,0,0,0,0,0,0,26.27,26.26,28.83
$GC,2659,-0.55,-194.6,420.6,-21.0,342,2663,0.00,1.83,0.00,0.000,6,0.000,0.024,1812,2569,3771,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2971,-0.51,-194.6,467.8,-14.5,373,2980,0.10,1.92,0.00,0.000,4,0.148,0.044,1831,3810,3770,0,0,0,0,0,0,26.46,26.24,28.83
$GC,3006,-0.49,-194.6,471.9,-13.4,376,3013,0.00,1.83,0.00,0.000,6,0.000,0.025,1831,2562,3769,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3315,-0.49,-194.6,504.9,-10.6,407,3324,0.00,1.98,0.00,0.000,4,0.000,0.046,1822,3826,3767,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3347,-0.49,-194.6,508.3,-10.5,410,3356,0.10,1.83,0.00,0.000,6,0.132,0.024,1853,2555,3767,0,0,0,0,0,0,26.26,26.48,28.83
$GC,3657,-0.51,-194.6,532.1,-8.1,441,3665,0.00,2.00,0.00,0.000,4,0.000,0.029,1853,1181,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3682,-0.54,-194.6,534.0,-8.2,443,3689,0.00,2.22,0.00,0.000,6,0.000,0.040,1847,2657,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3990,-0.55,-194.6,561.3,-9.2,474,3999,0.00,2.15,0.00,0.000,4,0.000,0.028,1847,1186,3763,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4023,-0.58,-194.6,564.3,-8.9,477,4031,0.00,2.20,0.00,0.000,6,0.000,0.040,1839,2653,3762,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4332,-0.59,-194.6,592.7,-9.1,508,4335,0.00,1.75,0.00,0.000,4,0.000,0.048,1830,3813,3760,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4384,-0.61,-194.6,597.2,-8.8,513,4388,0.00,1.80,0.00,0.000,6,0.000,0.026,1830,2563,3759,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4706,-0.61,-194.6,626.5,-9.2,531,4711,0.00,2.03,0.00,0.000,4,0.000,0.031,1830,1184,3757,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4734,-0.62,-194.6,628.4,-9.4,532,4738,0.00,2.25,0.00,0.000,6,0.000,0.042,1821,2657,3757,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5041,-0.62,-194.6,663.9,-12.2,547,5047,0.00,2.12,0.00,0.000,4,0.000,0.029,1821,1189,3755,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5088,-0.62,-194.6,668.6,-12.1,549,5092,0.00,2.22,0.00,0.000,6,0.000,0.041,1812,2656,3755,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5401,-0.61,-194.6,707.7,-12.0,565,5405,0.00,1.75,0.00,0.000,4,0.000,0.047,1804,3814,3751,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5430,-0.61,-194.6,710.4,-12.0,566,5434,0.00,1.83,0.00,0.000,6,0.000,0.025,1804,2561,3751,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5744,-0.60,-194.6,746.9,-10.9,582,5750,0.00,2.00,0.00,0.000,4,0.000,0.032,1804,1180,3749,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5796,-0.60,-194.6,750.9,-10.4,584,5803,0.00,2.25,0.00,0.000,6,0.000,0.041,1794,2656,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6103,-0.58,-194.6,786.1,-11.3,600,6109,0.00,2.15,0.00,0.000,4,0.000,0.031,1794,1183,3746,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6132,-0.57,-194.6,788.5,-11.4,601,6142,0.15,2.22,0.00,0.000,6,0.121,0.043,1832,2654,3746,0,0,0,0,0,0,25.99,26.15,28.83
$GC,6445,-0.59,-194.6,814.2,-8.0,617,6449,0.00,2.17,0.00,0.000,4,0.000,0.031,1833,1189,3744,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6475,-0.61,-194.6,816.2,-8.0,618,6479,0.00,2.22,0.00,0.000,6,0.000,0.043,1825,2656,3744,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6785,-0.62,-194.6,842.9,-8.4,633,6788,0.00,1.77,0.00,0.000,4,0.000,0.050,1816,3819,3742,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6799,-0.64,-194.6,842.9,-8.4,633,6806,0.00,1.83,0.00,0.000,6,0.000,0.027,1816,2558,3741,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7109,-0.65,-194.6,871.9,-9.1,649,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2558,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.66,-194.6,898.5,-8.8,664,7413,0.00,2.03,0.00,0.000,4,0.000,0.033,1816,1183,3738,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7446,-0.67,-194.6,901.9,-8.7,666,7452,0.00,2.22,0.00,0.000,6,0.000,0.044,1812,2651,3738,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7767,-0.67,-194.6,931.5,-9.5,682,7770,0.00,1.77,0.00,0.000,4,0.000,0.050,1804,3811,3736,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7788,-0.68,-194.6,933.6,-9.5,683,7791,0.00,1.83,0.00,0.000,6,0.000,0.028,1804,2571,3736,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8110,-0.68,-194.6,966.1,-9.9,699,8114,0.00,2.05,0.00,0.000,4,0.000,0.034,1804,1175,3735,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8135,-0.68,-194.6,968.3,-9.8,700,8139,0.00,2.25,0.00,0.000,6,0.000,0.044,1795,2654,3734,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8345,begin apogee
$GC,8350,-0.20,0.0,990.7,-10.5,711,8529,0.43,0.12,166.77,1.180,6,0.098,0.089,1944,2527,2967,0,0,0,0,0,0,25.82,24.72,23.80
$STATE,8530,end apogee,CONTROL_FINISHED_OK
$STATE,8530,begin climb
$GC,8532,0.61,194.6,998.7,0.0,720,8722,0.70,0.00,183.68,1.184,6,0.047,0.000,2212,2527,2183,0,0,0,0,0,0,24.98,28.83,23.24
$GC,9012,0.53,194.6,928.5,19.3,744,9018,0.12,2.03,0.00,0.000,4,0.199,0.050,2172,3803,2152,0,0,0,0,0,0,25.51,25.70,28.83
$GC,9054,0.44,194.6,920.4,19.5,746,9058,0.00,2.05,0.00,0.000,6,0.000,0.030,2182,2465,2151,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9366,0.38,194.6,865.7,17.7,762,9372,0.15,2.15,0.00,0.000,4,0.179,0.045,2138,3822,2150,0,0,0,0,0,0,25.71,25.93,28.83
$GC,9415,0.33,194.6,858.8,17.5,764,9419,0.12,2.08,0.00,0.000,6,0.168,0.030,2118,2454,2149,0,0,0,0,0,0,25.74,26.06,28.83
$GC,9723,0.32,194.6,822.4,10.7,779,9728,0.00,2.10,0.00,0.000,4,0.000,0.048,2117,3804,2147,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9802,0.30,194.6,812.8,12.1,783,9807,0.00,1.98,0.00,0.000,6,0.000,0.030,2127,2467,2147,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10121,0.29,194.6,779.2,10.2,799,10127,0.00,2.12,0.00,0.000,4,0.000,0.048,2127,3812,2146,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10175,0.27,194.6,774.5,10.9,801,10182,0.15,2.05,0.00,0.000,6,0.157,0.031,2098,2452,2146,0,0,0,0,0,0,25.80,26.17,28.83
$GC,10483,0.36,257.0,748.9,7.4,817,10541,0.00,2.22,46.30,1.133,4,0.000,0.047,2098,3815,1935,0,0,0,0,1,0,28.83,25.45,24.30
$GC,10569,0.42,293.3,742.1,8.2,821,10625,0.12,2.08,46.28,0.987,6,0.074,0.031,2176,2463,1771,0,0,0,0,0,0,25.60,25.60,24.24
$GC,10926,0.40,293.3,688.0,15.7,839,10932,0.12,2.15,0.00,0.000,4,0.167,0.046,2139,3811,1756,0,0,0,0,0,0,25.73,25.82,28.83
$GC,10959,0.38,293.3,684.8,15.6,840,10965,0.00,2.05,0.00,0.000,6,0.000,0.030,2149,2465,1755,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11264,0.38,293.3,645.5,11.9,856,11270,0.00,2.12,0.00,0.000,4,0.000,0.038,2159,1061,1753,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11325,0.39,293.3,638.8,11.2,859,11330,0.00,2.28,0.00,0.000,6,0.000,0.041,2159,2529,1752,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11647,0.38,293.3,598.8,12.2,875,11656,0.00,2.00,0.00,0.000,4,0.000,0.050,2159,3802,1751,0,0,0,0,0,0,28.83,26.01,28.83
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$GC,12757,0.51,315.2,489.1,9.5,985,12766,0.00,2.05,0.00,0.000,6,0.000,0.030,2159,2462,1676,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,16955,end climb,SURFACE_DEPTH_REACHED
$STATE,16955,begin surface coast
$FINISH,0.8,1.023172
$STATE,16980,end surface coast,CONTROL_FINISHED_OK
$STATE,16980,begin surface
$SM_CCo,17056,0.00,0.000,0,0,1140,451.11
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$IRIDIUM_FIX,2330.93,12240.72,191211,050529
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.57
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,23.2,45.461
$10V_AH,10.2,29.404
$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
$DEVICE_SECS,16.200,182.600,584.950,0.000,0.000,30.726,56.106,253.276,0.750,0.000,15.209,3704.610,9535.296,744.755,3143.524,374.186,0.000,2268.489,0.000,2650.331,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.896,1999.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324560
$DATA_FILE_SIZE,103592,1566
$CAP_FILE_SIZE,197544,0
$CFSIZE,260165632,203616256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191211,150836,2337.337,12244.429,60,1.1,60,-3.3