version: 66.10
glider: 169
mission: 5
dive: 197
start: 12 16 111 19 20 57
data:
$ID,169
$MISSION,5
$DIVE,197
$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,135
$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,-10969.57
$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
$GPS1,161211,191306,2334.594,12210.769,32,1.4,32,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.3
$GPS2,161211,192037,2334.738,12210.745,16,1.4,21,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2327.102,12219.068
$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,138.2,20000,-14.9,-9.429
$D_GRID,3861
$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,-0.61,-194.6,0.0,0.0,0,96,0.00,0.00,-77.65,0.000,2,0.000,0.000,116,2678,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.61,-194.6,3.3,-7.0,14,135,6.62,2.25,-21.48,0.000,4,0.220,0.045,1813,1189,3774,0,0,0,0,0,0,25.29,26.00,26.46
$GC,288,-0.54,-194.6,57.3,-24.5,50,296,0.12,2.25,0.00,0.000,6,0.158,0.042,1835,2657,3774,0,0,0,0,0,0,25.83,26.05,28.83
$GC,600,-0.45,-194.6,148.3,-24.8,111,607,0.12,2.17,0.00,0.000,4,0.177,0.026,1883,1173,3774,0,0,0,0,0,0,26.04,26.23,28.83
$GC,665,-0.47,-194.6,159.5,-9.5,123,671,0.00,2.25,0.00,0.000,6,0.000,0.041,1873,2655,3774,0,0,0,0,0,0,28.83,26.18,28.83
$GC,974,-0.43,-194.6,212.1,-16.5,177,978,0.00,1.80,0.00,0.000,4,0.000,0.047,1864,3814,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1016,-0.40,-194.6,218.3,-15.0,181,1019,0.00,1.80,0.00,0.000,6,0.000,0.024,1863,2565,3774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1327,-0.37,-194.6,261.1,-15.0,212,1331,0.00,1.95,0.00,0.000,4,0.000,0.048,1854,3813,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1392,-0.36,-194.6,270.3,-14.7,218,1399,0.12,1.77,0.00,0.000,6,0.122,0.025,1894,2561,3774,0,0,0,0,0,0,26.20,26.44,28.83
$GC,1699,-0.40,-194.6,295.8,-7.8,249,1709,0.00,1.95,0.00,0.000,4,0.000,0.047,1885,3816,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1732,-0.45,-194.6,298.1,-7.2,252,1736,0.00,1.80,0.00,0.000,6,0.000,0.025,1885,2561,3773,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2045,-0.56,-194.6,324.2,-8.8,283,2052,0.17,0.00,0.00,0.000,6,0.085,0.000,1807,2555,3773,0,0,0,0,0,0,26.46,28.83,28.83
$GC,2353,-0.49,-194.6,365.7,-19.9,314,2363,0.12,2.00,0.00,0.000,4,0.144,0.044,1838,3820,3772,0,0,0,0,0,0,26.31,26.26,28.83
$GC,2468,-0.51,-194.6,378.5,-8.4,325,2471,0.00,1.80,0.00,0.000,6,0.000,0.024,1838,2568,3771,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2779,-0.50,-194.6,416.6,-12.7,356,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2560,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,-0.50,-194.6,451.1,-11.5,386,3088,0.00,2.00,0.00,0.000,4,0.000,0.048,1828,3826,3768,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3144,-0.51,-194.6,457.6,-10.4,392,3151,0.00,1.80,0.00,0.000,6,0.000,0.024,1829,2564,3767,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3451,-0.50,-194.6,495.4,-12.0,423,3460,0.00,2.03,0.00,0.000,4,0.000,0.032,1828,1181,3766,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3476,-0.49,-194.6,498.0,-12.1,425,3483,0.10,2.22,0.00,0.000,6,0.142,0.041,1849,2654,3765,0,0,0,0,0,0,26.15,26.27,28.83
$GC,3783,-0.51,-194.6,524.7,-8.3,456,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2655,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-0.53,-194.6,549.8,-8.4,486,4090,0.00,1.77,0.00,0.000,4,0.000,0.049,1841,3814,3760,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4121,-0.56,-194.6,552.9,-8.7,489,4128,0.00,1.80,0.00,0.000,6,0.000,0.026,1840,2556,3759,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4428,-0.58,-194.6,578.4,-7.9,520,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2556,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.60,-194.6,600.4,-6.9,550,4736,0.00,1.95,0.00,0.000,4,0.000,0.047,1832,3823,3755,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4753,-0.62,-194.6,601.8,-6.9,551,4757,0.00,1.83,0.00,0.000,6,0.000,0.025,1832,2571,3755,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5070,-0.63,-194.6,627.9,-8.2,567,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2569,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,-0.64,-194.6,652.8,-8.1,582,5375,0.00,1.95,0.00,0.000,4,0.000,0.050,1824,3814,3751,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5398,-0.65,-194.6,654.4,-8.1,583,5402,0.00,1.80,0.00,0.000,6,0.000,0.024,1823,2566,3750,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5710,-0.65,-194.6,681.8,-8.5,599,5715,0.00,2.00,0.00,0.000,4,0.000,0.050,1814,3820,3749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5734,-0.65,-194.6,683.7,-8.7,600,5738,0.00,1.83,0.00,0.000,6,0.000,0.027,1815,2564,3748,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6046,-0.65,-194.6,713.6,-9.2,616,6050,0.00,1.98,0.00,0.000,4,0.000,0.049,1805,3817,3747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6071,-0.65,-194.6,715.7,-9.4,617,6074,0.00,1.83,0.00,0.000,6,0.000,0.024,1805,2558,3746,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6384,-0.64,-194.6,749.7,-11.1,633,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2557,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6683,-0.63,-194.6,784.0,-11.8,648,6688,0.00,1.98,0.00,0.000,4,0.000,0.047,1796,3823,3744,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6711,-0.62,-194.6,786.2,-11.6,649,6714,0.00,1.83,0.00,0.000,6,0.000,0.024,1796,2560,3743,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7019,-0.60,-194.6,824.9,-12.6,664,7025,0.00,1.98,0.00,0.000,4,0.000,0.031,1796,1183,3741,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7061,-0.59,-194.6,829.6,-12.1,666,7066,0.12,2.25,0.00,0.000,6,0.131,0.044,1823,2652,3741,0,0,0,0,0,0,26.00,26.14,28.83
$GC,7376,-0.61,-194.6,858.0,-7.7,682,7380,0.00,1.83,0.00,0.000,4,0.000,0.050,1815,3810,3740,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7411,-0.62,-194.6,860.2,-8.1,683,7418,0.00,1.83,0.00,0.000,6,0.000,0.026,1815,2561,3739,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7718,-0.62,-194.6,889.6,-9.0,699,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2561,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8019,-0.63,-194.6,914.3,-7.8,714,8025,0.00,2.03,0.00,0.000,4,0.000,0.032,1815,1184,3736,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8041,-0.64,-194.6,916.0,-7.9,715,8045,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2650,3736,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8354,-0.64,-194.6,940.4,-7.7,731,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2650,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8653,-0.64,-194.6,965.3,-8.6,746,8658,0.00,2.17,0.00,0.000,4,0.000,0.031,1812,1188,3734,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8681,-0.65,-194.6,967.1,-8.8,747,8685,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2651,3733,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8946,begin apogee
$GC,8952,-0.20,0.0,991.9,-9.3,760,9129,0.38,0.12,165.55,1.180,6,0.097,0.086,1946,2533,2967,0,0,0,0,0,0,25.94,24.73,23.82
$STATE,9130,end apogee,CONTROL_FINISHED_OK
$STATE,9130,begin climb
$GC,9132,0.61,194.6,1001.9,0.0,769,9323,0.73,0.00,184.10,1.180,6,0.046,0.000,2219,2533,2184,0,0,0,0,0,0,24.96,28.83,23.26
$GC,9613,0.52,194.6,932.0,19.6,793,9618,0.12,2.00,0.00,0.000,4,0.201,0.046,2175,3813,2154,0,0,0,0,0,0,25.46,25.68,28.83
$GC,9692,0.44,194.6,917.0,18.7,797,9698,0.08,2.08,0.00,0.000,6,0.177,0.034,2161,2463,2151,0,0,0,0,0,0,25.52,25.84,28.83
$GC,10012,0.39,194.6,872.7,13.8,813,10017,0.00,2.15,0.00,0.000,4,0.000,0.047,2161,3822,2150,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10032,0.34,194.6,869.7,14.1,814,10039,0.20,2.05,0.00,0.000,6,0.164,0.031,2118,2461,2150,0,0,0,0,0,0,25.60,26.03,28.83
$GC,10353,0.32,194.6,835.9,10.3,830,10358,0.00,2.10,0.00,0.000,4,0.000,0.047,2118,3809,2148,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10432,0.30,194.6,826.4,11.9,834,10437,0.00,2.03,0.00,0.000,6,0.000,0.030,2128,2461,2148,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10751,0.28,194.6,790.8,11.3,850,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2459,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11051,0.26,194.6,756.6,11.1,865,11058,0.12,2.12,0.00,0.000,4,0.173,0.045,2090,3817,2147,0,0,0,0,0,0,26.00,26.03,28.83
$GC,11080,0.25,194.6,754.3,11.3,866,11084,0.00,2.05,0.00,0.000,6,0.000,0.029,2100,2451,2146,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11388,0.27,202.0,726.0,9.2,881,11393,0.00,2.15,0.00,0.000,4,0.000,0.048,2100,3817,2146,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11429,0.28,202.0,721.8,10.0,883,11433,0.00,2.05,0.00,0.000,6,0.000,0.030,2110,2455,2146,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11743,0.28,202.0,690.4,9.7,899,11748,0.00,2.10,0.00,0.000,4,0.000,0.047,2110,3803,2145,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11794,0.28,202.0,686.0,10.4,901,11801,0.00,2.03,0.00,0.000,6,0.000,0.029,2120,2453,2145,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12102,0.28,202.0,654.0,9.7,917,12107,0.00,2.10,0.00,0.000,4,0.000,0.047,2120,3816,2145,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12141,0.27,202.0,649.6,10.2,919,12148,0.12,2.03,0.00,0.000,6,0.168,0.030,2099,2463,2145,0,0,0,0,0,0,25.86,26.22,28.83
$GC,12464,0.35,255.5,624.1,7.7,935,12521,0.00,2.17,44.38,1.044,4,0.000,0.037,2109,1056,1942,0,0,0,0,1,0,28.83,25.59,24.45
$GC,12532,0.42,301.4,619.4,7.9,938,12593,0.12,2.30,54.17,0.915,6,0.073,0.040,2196,2525,1749,0,0,0,0,0,0,25.64,25.60,24.34
$GC,12901,0.38,301.4,553.0,19.3,969,12903,0.22,0.00,0.00,0.000,6,0.151,0.000,2132,2525,1723,0,0,0,0,0,0,25.52,28.83,28.83
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$STATE,18183,end climb,SURFACE_DEPTH_REACHED
$STATE,18183,begin surface coast
$FINISH,0.3,1.023067
$STATE,18205,end surface coast,CONTROL_FINISHED_OK
$STATE,18205,begin surface
$SM_CCo,18220,3.72,0.138,0,0,1245,425.10
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$IRIDIUM_FIX,2321.52,12207.55,161211,141430
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.37
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.3,42.891
$10V_AH,10.2,27.951
$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
$DEVICE_SECS,15.325,147.175,573.375,3.725,0.000,31.051,27.656,250.083,0.000,0.000,22.564,3971.002,10376.912,668.429,3257.927,375.367,0.000,2216.065,0.000,2772.196,0.000,0.542,0.000
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$SENSOR_SECS,1141.280,2133.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,110304,1678
$CAP_FILE_SIZE,198727,0
$CFSIZE,260165632,204861440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,3
$GPS,171211,002554,2335.599,12213.924,25,1.0,42,-3.2