version: 66.10
glider: 169
mission: 5
dive: 204
start: 12 18 111 5 17 58
data:
$ID,169
$MISSION,5
$DIVE,204
$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,-10978.376
$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
$GPS1,181211,051006,2338.515,12228.259,33,1.1,33,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.7
$GPS2,181211,051738,2338.640,12228.301,17,1.5,17,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2329.287,12234.188
$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,153.2,20000,-14.9,-9.429
$D_GRID,3206
$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,15,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,102,0.00,0.00,-82.38,0.000,2,0.000,0.000,110,2573,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.61,-194.6,3.3,-6.5,15,136,6.75,2.10,-14.43,0.000,4,0.223,0.043,1813,1175,3777,0,0,0,0,0,0,25.32,26.07,26.46
$GC,174,-0.48,-194.6,32.7,-37.7,27,181,0.17,2.25,0.00,0.000,6,0.158,0.042,1849,2654,3776,0,0,0,0,0,0,25.66,25.99,28.83
$GC,486,-0.38,-194.6,133.4,-26.1,88,493,0.12,2.17,0.00,0.000,4,0.186,0.026,1897,1179,3776,0,0,0,0,0,0,25.98,26.20,28.83
$GC,507,-0.29,-194.6,138.6,-25.8,91,514,0.00,2.25,0.00,0.000,6,0.000,0.041,1886,2657,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,817,-0.26,-194.6,192.8,-15.7,152,824,0.12,2.17,0.00,0.000,4,0.153,0.028,1934,1175,3777,0,0,0,0,0,0,26.18,26.27,28.83
$GC,872,-0.36,-194.6,197.9,-5.5,162,879,0.12,2.22,0.00,0.000,6,0.083,0.039,1872,2655,3777,0,0,0,0,0,0,26.22,26.22,28.83
$GC,1183,-0.44,-194.6,222.0,-7.2,195,1187,0.00,1.75,0.00,0.000,4,0.000,0.047,1870,3815,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1215,-0.54,-194.6,224.4,-7.3,198,1218,0.00,1.80,0.00,0.000,6,0.000,0.025,1870,2561,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1527,-0.65,-194.6,251.3,-9.7,229,1531,0.17,1.95,0.00,0.000,4,0.089,0.041,1797,3815,3776,0,0,0,0,0,0,26.37,26.25,28.83
$GC,1612,-0.73,-194.6,258.5,-8.2,237,1619,0.00,1.77,0.00,0.000,6,0.000,0.024,1797,2554,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1921,-0.63,-194.6,334.0,-25.4,268,1929,0.00,1.98,0.00,0.000,4,0.000,0.028,1798,1175,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1972,-0.58,-194.6,345.2,-20.4,273,1982,0.12,2.22,0.00,0.000,6,0.140,0.041,1824,2658,3776,0,0,0,0,0,0,26.10,26.27,28.83
$GC,2282,-0.54,-194.6,394.2,-17.5,304,2291,0.00,2.17,0.00,0.000,4,0.000,0.028,1824,1170,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2317,-0.51,-194.6,399.2,-16.3,307,2324,0.12,2.25,0.00,0.000,6,0.131,0.041,1852,2658,3776,0,0,0,0,0,0,26.13,26.28,28.83
$GC,2624,-0.51,-194.6,431.0,-8.8,338,2628,0.00,1.77,0.00,0.000,4,0.000,0.047,1843,3807,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2697,-0.55,-194.6,436.9,-7.4,345,2700,0.00,1.77,0.00,0.000,6,0.000,0.024,1843,2557,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3007,-0.55,-194.6,466.3,-10.2,376,3016,0.00,2.00,0.00,0.000,4,0.000,0.028,1843,1175,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3042,-0.57,-194.6,469.3,-10.1,379,3048,0.00,2.22,0.00,0.000,6,0.000,0.040,1835,2654,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3350,-0.57,-194.6,503.1,-10.9,410,3358,0.00,2.17,0.00,0.000,4,0.000,0.030,1835,1176,3769,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3384,-0.58,-194.6,506.5,-10.7,413,3391,0.00,2.25,0.00,0.000,6,0.000,0.041,1825,2658,3769,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3692,-0.58,-194.6,540.6,-11.1,444,3696,0.00,1.80,0.00,0.000,4,0.000,0.047,1817,3818,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3767,-0.59,-194.6,547.8,-9.0,451,3774,0.00,1.80,0.00,0.000,6,0.000,0.024,1817,2557,3765,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4075,-0.58,-194.6,583.7,-12.1,482,4083,0.00,2.00,0.00,0.000,4,0.000,0.030,1817,1177,3763,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4129,-0.60,-194.6,589.9,-11.8,487,4136,0.00,2.25,0.00,0.000,6,0.000,0.041,1813,2657,3762,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4436,-0.58,-194.6,628.4,-12.6,507,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2657,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.57,-194.6,663.6,-11.2,522,4744,0.00,2.17,0.00,0.000,4,0.000,0.031,1813,1184,3758,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4770,-0.56,-194.6,665.9,-11.1,523,4777,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2656,3758,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5077,-0.56,-194.6,699.0,-9.8,539,5083,0.00,2.15,0.00,0.000,4,0.000,0.031,1812,1185,3755,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5105,-0.56,-194.6,700.9,-9.5,540,5109,0.00,2.22,0.00,0.000,6,0.000,0.044,1812,2654,3755,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5412,-0.56,-194.6,730.9,-9.5,555,5415,0.00,1.80,0.00,0.000,4,0.000,0.050,1804,3809,3753,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5454,-0.56,-194.6,735.1,-9.9,557,5458,0.00,1.80,0.00,0.000,6,0.000,0.027,1805,2568,3752,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5777,-0.55,-194.6,769.8,-11.6,573,5780,0.00,2.03,0.00,0.000,4,0.000,0.031,1805,1179,3750,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5819,-0.55,-194.6,774.7,-11.7,575,5825,0.08,2.22,0.00,0.000,6,0.104,0.045,1832,2650,3749,0,0,0,0,0,0,25.98,26.15,28.83
$GC,6141,-0.56,-194.6,800.1,-7.6,591,6145,0.00,2.17,0.00,0.000,4,0.000,0.031,1833,1183,3747,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6165,-0.59,-194.6,802.0,-7.5,592,6169,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2650,3746,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6479,-0.60,-194.6,827.4,-8.0,608,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2651,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6778,-0.61,-194.6,853.8,-9.1,623,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2651,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7078,-0.63,-194.6,880.3,-9.0,638,7084,0.00,2.20,0.00,0.000,4,0.000,0.033,1825,1164,3741,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7112,-0.65,-194.6,882.2,-9.1,639,7119,0.00,2.28,0.00,0.000,6,0.000,0.045,1825,2650,3741,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7418,-0.66,-194.6,910.1,-9.1,655,7424,0.00,2.15,0.00,0.000,4,0.000,0.032,1825,1192,3739,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7447,-0.68,-194.6,911.7,-8.9,656,7451,0.12,2.22,0.00,0.000,6,0.079,0.045,1741,2651,3738,0,0,0,0,0,0,26.13,26.08,28.83
$GC,7754,-0.62,-194.6,963.6,-17.1,671,7760,0.20,2.15,0.00,0.000,4,0.146,0.030,1808,1189,3737,0,0,0,0,0,0,25.95,26.17,28.83
$GC,7796,-0.58,-194.6,968.9,-15.5,673,7800,0.00,2.22,0.00,0.000,6,0.000,0.044,1799,2649,3737,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8046,begin apogee
$GC,8052,-0.20,0.0,991.1,-8.8,686,8230,0.40,0.10,167.50,1.168,6,0.101,0.060,1941,2526,2969,0,0,0,0,0,0,25.85,24.73,23.85
$STATE,8231,end apogee,CONTROL_FINISHED_OK
$STATE,8231,begin climb
$GC,8234,0.61,194.6,997.8,0.0,695,8430,0.70,2.45,183.77,1.174,4,0.049,0.040,2222,1057,2171,0,0,0,0,0,0,24.98,24.24,23.30
$GC,8461,0.52,194.6,976.0,18.2,706,8466,0.17,2.40,0.00,0.000,6,0.158,0.045,2177,2517,2159,0,0,0,0,0,0,24.54,24.73,28.83
$GC,8770,0.46,194.6,923.4,16.4,721,8775,0.00,2.03,0.00,0.000,4,0.000,0.049,2177,3812,2152,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8828,0.38,194.6,912.6,17.7,724,8835,0.20,2.05,0.00,0.000,6,0.166,0.032,2134,2464,2151,0,0,0,0,0,0,25.51,25.91,28.83
$GC,9149,0.36,194.6,874.9,11.3,740,9154,0.00,2.12,0.00,0.000,4,0.000,0.049,2134,3818,2149,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9168,0.33,194.6,872.4,11.6,741,9174,0.00,2.05,0.00,0.000,6,0.000,0.029,2145,2449,2149,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9490,0.29,194.6,831.5,13.1,757,9496,0.12,2.12,0.00,0.000,4,0.174,0.049,2108,3809,2148,0,0,0,0,0,0,25.93,25.98,28.83
$GC,9577,0.27,194.6,821.7,12.1,761,9581,0.00,2.03,0.00,0.000,6,0.000,0.033,2118,2463,2147,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9884,0.26,194.6,787.2,10.6,776,9890,0.00,2.10,0.00,0.000,4,0.000,0.037,2128,1052,2147,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9904,0.26,194.6,785.1,10.6,777,9910,0.12,2.28,0.00,0.000,6,0.135,0.041,2093,2528,2146,0,0,0,0,0,0,25.89,26.07,28.83
$GC,10225,0.32,224.7,757.0,8.4,793,10257,0.00,2.10,22.15,0.923,4,0.000,0.050,2093,3819,2060,0,0,0,0,1,0,28.83,25.92,24.72
$GC,10294,0.36,245.5,751.9,8.8,795,10328,0.00,2.08,29.45,0.937,6,0.000,0.030,2104,2453,1977,0,0,0,0,0,0,28.83,25.96,24.64
$GC,10638,0.44,296.9,722.1,7.8,813,10697,0.15,2.28,49.80,0.982,4,0.068,0.049,2186,3815,1755,0,0,0,0,0,0,26.13,25.34,24.46
$GC,10721,0.41,296.9,710.0,14.6,817,10726,0.15,2.10,0.00,0.000,6,0.138,0.030,2149,2463,1748,0,0,0,0,0,0,25.30,25.53,28.83
$GC,11039,0.41,296.9,671.5,11.5,833,11045,0.00,2.12,0.00,0.000,4,0.000,0.037,2159,1060,1742,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11059,0.41,296.9,669.2,11.4,834,11065,0.00,2.25,0.00,0.000,6,0.000,0.041,2159,2521,1740,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11381,0.40,296.9,626.4,13.8,850,11386,0.00,2.00,0.00,0.000,4,0.000,0.049,2159,3809,1739,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11468,0.38,296.9,614.7,14.6,854,11473,0.12,2.03,0.00,0.000,6,0.154,0.031,2136,2463,1739,0,0,0,0,0,0,25.84,26.10,28.83
$GC,11775,0.40,297.6,582.0,9.4,878,11784,0.00,2.12,0.00,0.000,4,0.000,0.037,2146,1052,1738,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11800,0.42,297.6,579.9,9.7,880,11806,0.00,2.25,0.00,0.000,6,0.000,0.041,2146,2522,1737,0,0,0,0,0,0,28.83,26.07,28.83
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$GC,15840,0.68,430.8,99.8,7.8,1364,15903,0.00,2.25,54.38,0.327,4,0.000,0.034,2222,1064,1233,0,0,0,0,0,0,28.83,26.06,25.43
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$STATE,16316,end climb,SURFACE_DEPTH_REACHED
$STATE,16316,begin surface coast
$FINISH,0.1,1.004988
$STATE,16328,end surface coast,CONTROL_FINISHED_OK
$STATE,16328,begin surface
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$IRIDIUM_FIX,2330.93,12223.76,181211,000026
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.3,44.307
$10V_AH,10.2,28.728
$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
$DEVICE_SECS,16.550,160.725,683.250,0.000,0.000,28.502,46.941,238.159,0.000,0.000,18.600,3416.401,9329.236,771.573,2960.219,346.522,0.000,2216.743,0.000,2494.424,0.000,0.543,0.000
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$SENSOR_SECS,986.798,1889.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,97151,1455
$CAP_FILE_SIZE,183875,0
$CFSIZE,260165632,204226560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181211,095224,2338.825,12230.253,37,1.1,37,-3.2