version: 66.10
glider: 169
mission: 5
dive: 194
start: 12 16 111 4 23 45
data:
$ID,169
$MISSION,5
$DIVE,194
$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,115
$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,-10965.796
$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
$GPS1,161211,041536,2331.746,12201.126,103,1.0,103,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-55.7
$GPS2,161211,042325,2331.900,12201.095,11,1.0,16,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2327.336,12211.764
$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,118.2,20000,-14.9,-9.429
$D_GRID,4047
$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,-194.6,0.0,0.0,0,119,0.00,0.00,-99.78,0.000,2,0.000,0.000,116,2705,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.61,-194.6,3.2,-6.3,18,152,6.93,2.30,-15.27,0.000,4,0.233,0.044,1816,1179,3775,0,0,0,0,0,0,25.35,26.03,26.44
$GC,205,-0.52,-194.6,34.3,-27.6,33,212,0.12,2.28,0.00,0.000,6,0.174,0.043,1836,2652,3775,0,0,0,0,0,0,25.74,26.00,28.83
$GC,517,-0.41,-194.6,131.5,-29.8,94,524,0.12,2.17,0.00,0.000,4,0.182,0.028,1883,1184,3775,0,0,0,0,0,0,26.00,26.20,28.83
$GC,568,-0.39,-194.6,142.8,-16.8,103,575,0.00,2.25,0.00,0.000,6,0.000,0.042,1872,2658,3775,0,0,0,0,0,0,28.83,26.15,28.83
$GC,884,-0.34,-194.6,206.2,-19.2,162,887,0.00,1.77,0.00,0.000,4,0.000,0.046,1863,3821,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,945,-0.34,-194.6,215.7,-14.0,168,949,0.12,1.80,0.00,0.000,6,0.112,0.024,1905,2555,3775,0,0,0,0,0,0,26.20,26.42,28.83
$GC,1251,-0.38,-194.6,236.7,-6.4,198,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,2555,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,-0.42,-194.6,254.9,-5.7,228,1562,0.00,2.00,0.00,0.000,4,0.000,0.046,1897,3826,3774,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1576,-0.47,-194.6,256.3,-5.6,230,1581,0.08,1.83,0.00,0.000,6,0.057,0.024,1826,2558,3774,0,0,0,0,0,0,26.35,26.48,28.83
$GC,1888,-0.42,-194.6,312.7,-17.8,261,1890,0.15,0.00,0.00,0.000,6,0.135,0.000,1870,2556,3773,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2189,-0.43,-194.6,344.0,-8.6,291,2197,0.00,1.95,0.00,0.000,4,0.000,0.045,1860,3813,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2241,-0.47,-194.6,348.2,-8.1,296,2249,0.00,1.80,0.00,0.000,6,0.000,0.025,1860,2555,3771,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2550,-0.48,-194.6,377.2,-9.5,327,2559,0.00,1.95,0.00,0.000,4,0.000,0.044,1851,3818,3769,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2574,-0.50,-194.6,379.2,-9.9,329,2581,0.00,1.80,0.00,0.000,6,0.000,0.024,1851,2557,3769,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2881,-0.50,-194.6,411.7,-9.4,360,2885,0.00,1.95,0.00,0.000,4,0.000,0.044,1842,3815,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2928,-0.51,-194.6,416.2,-10.0,364,2931,0.00,1.80,0.00,0.000,6,0.000,0.024,1842,2556,3767,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3239,-0.51,-194.6,449.3,-10.1,395,3242,0.00,1.92,0.00,0.000,4,0.000,0.044,1832,3815,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3288,-0.52,-194.6,454.2,-10.7,399,3295,0.00,1.80,0.00,0.000,6,0.000,0.024,1832,2566,3764,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3595,-0.52,-194.6,489.0,-10.1,430,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2566,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3896,-0.52,-194.6,520.0,-10.4,460,3900,0.00,1.95,0.00,0.000,4,0.000,0.046,1823,3823,3760,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3951,-0.53,-194.6,525.1,-9.6,465,3957,0.00,1.80,0.00,0.000,6,0.000,0.025,1823,2561,3759,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4259,-0.52,-194.6,560.0,-12.5,496,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2560,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4569,-0.52,-194.6,597.8,-12.1,527,4578,0.00,1.98,0.00,0.000,4,0.000,0.047,1814,3819,3755,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4610,-0.52,-194.6,602.9,-11.9,530,4614,0.00,1.80,0.00,0.000,6,0.000,0.026,1813,2567,3755,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4931,-0.51,-194.6,642.2,-12.0,546,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2560,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.51,-194.6,677.8,-11.4,561,5238,0.12,2.00,0.00,0.000,4,0.134,0.030,1859,1185,3750,0,0,0,0,0,0,26.35,26.30,28.83
$GC,5253,-0.51,-194.6,679.7,-11.1,562,5257,0.00,2.25,0.00,0.000,6,0.000,0.041,1852,2648,3750,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5573,-0.54,-194.6,702.0,-6.8,578,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2648,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5873,-0.58,-194.6,723.3,-7.2,593,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2648,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6172,-0.61,-194.6,743.5,-6.3,608,6174,0.12,0.00,0.00,0.000,6,0.077,0.000,1766,2648,3744,0,0,0,0,0,0,26.59,28.83,28.83
$GC,6474,-0.56,-194.6,788.7,-15.6,623,6480,0.17,2.15,0.00,0.000,4,0.142,0.029,1824,1180,3742,0,0,0,0,0,0,26.10,26.27,28.83
$GC,6513,-0.53,-194.6,793.7,-14.0,625,6518,0.00,2.28,0.00,0.000,6,0.000,0.044,1814,2657,3741,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6835,-0.53,-194.6,819.7,-8.1,641,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2656,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7133,-0.53,-194.6,844.8,-8.8,656,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2657,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7433,-0.53,-194.6,872.3,-9.2,671,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2657,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7734,-0.53,-194.6,898.8,-8.7,686,7737,0.00,2.20,0.00,0.000,4,0.000,0.031,1814,1176,3734,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7763,-0.53,-194.6,900.9,-8.8,687,7767,0.00,2.28,0.00,0.000,6,0.000,0.044,1813,2655,3734,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8072,-0.53,-194.6,928.6,-9.1,702,8075,0.00,1.80,0.00,0.000,4,0.000,0.050,1804,3820,3733,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8096,-0.53,-194.6,930.8,-9.2,703,8101,0.08,1.85,0.00,0.000,6,0.095,0.027,1849,2561,3733,0,0,0,0,0,0,26.10,26.39,28.83
$GC,8415,-0.57,-194.6,950.1,-6.0,719,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2558,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8716,-0.62,-194.6,967.6,-5.7,734,8718,0.12,0.00,0.00,0.000,6,0.077,0.000,1760,2558,3730,0,0,0,0,0,0,26.57,28.83,28.83
$STATE,8891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8891,begin apogee
$GC,8897,-0.20,0.0,991.8,-14.9,743,9076,0.55,0.12,169.55,1.169,6,0.115,0.086,1942,2531,2970,0,0,0,0,0,0,25.60,24.72,23.82
$STATE,9077,end apogee,CONTROL_FINISHED_OK
$STATE,9077,begin climb
$GC,9079,0.61,194.6,1000.3,0.0,752,9275,0.70,2.45,183.68,1.186,4,0.047,0.041,2223,1069,2171,0,0,0,0,0,0,24.94,24.19,23.26
$GC,9382,0.54,194.6,967.0,17.5,767,9387,0.15,2.33,0.00,0.000,6,0.171,0.040,2187,2530,2155,0,0,0,0,0,0,24.94,25.22,28.83
$GC,9697,0.47,194.6,913.2,17.1,783,9702,0.00,2.00,0.00,0.000,4,0.000,0.049,2187,3804,2151,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9770,0.39,194.6,902.2,18.1,786,9778,0.22,2.03,0.00,0.000,6,0.174,0.031,2137,2465,2150,0,0,0,0,0,0,25.49,25.96,28.83
$GC,10075,0.36,194.6,862.5,11.8,802,10081,0.00,2.12,0.00,0.000,4,0.000,0.047,2137,3812,2149,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10164,0.32,194.6,851.8,13.4,806,10168,0.12,2.05,0.00,0.000,6,0.174,0.031,2117,2463,2148,0,0,0,0,0,0,25.75,26.08,28.83
$GC,10472,0.31,194.6,819.9,10.1,821,10477,0.00,2.08,0.00,0.000,4,0.000,0.047,2116,3807,2147,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10498,0.30,194.6,817.7,10.4,822,10502,0.00,2.03,0.00,0.000,6,0.000,0.030,2125,2457,2147,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10811,0.28,194.6,783.1,10.8,838,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2454,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11110,0.27,194.6,751.5,10.1,853,11116,0.00,2.15,0.00,0.000,4,0.000,0.048,2126,3815,2146,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11151,0.24,194.6,746.8,10.7,855,11157,0.12,2.03,0.00,0.000,6,0.147,0.030,2097,2465,2146,0,0,0,0,0,0,25.75,26.20,28.83
$GC,11472,0.32,249.4,722.4,7.6,871,11522,0.00,2.22,39.05,1.080,4,0.000,0.047,2096,3817,1968,0,0,0,0,1,0,28.83,25.60,24.46
$GC,11565,0.37,280.4,715.6,8.4,875,11612,0.00,2.08,41.62,0.959,6,0.000,0.029,2106,2462,1832,0,0,0,0,0,0,28.83,25.72,24.38
$GC,11930,0.40,280.4,679.9,9.5,894,11937,0.10,2.12,0.00,0.000,4,0.089,0.036,2190,1057,1811,0,0,0,0,0,0,26.08,25.86,28.83
$GC,11953,0.42,280.4,677.6,9.7,895,11958,0.15,2.28,0.00,0.000,6,0.143,0.042,2149,2524,1809,0,0,0,0,0,0,25.64,25.87,28.83
$GC,12269,0.41,280.4,633.2,13.5,911,12274,0.00,2.00,0.00,0.000,4,0.000,0.047,2149,3809,1809,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12321,0.39,280.4,627.4,13.6,913,12327,0.00,2.05,0.00,0.000,6,0.000,0.030,2159,2455,1808,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12629,0.37,280.4,582.0,14.9,935,12637,0.00,2.10,0.00,0.000,4,0.000,0.048,2159,3804,1808,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12684,0.34,280.4,573.6,16.7,940,12692,0.17,2.03,0.00,0.000,6,0.153,0.031,2121,2462,1807,0,0,0,0,0,0,25.75,26.15,28.83
$GC,12990,0.39,304.0,542.5,8.7,971,13020,0.00,2.17,21.10,0.884,4,0.000,0.038,2131,1058,1727,0,0,0,0,0,0,28.83,25.96,25.01
$GC,13033,0.45,330.1,538.8,8.6,975,13063,0.00,2.28,25.02,0.878,6,0.000,0.040,2131,2533,1632,0,0,0,0,0,0,28.83,25.92,24.75
$GC,13363,0.48,330.1,508.4,9.7,1008,13367,0.00,2.00,0.00,0.000,4,0.000,0.049,2131,3810,1609,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,17534,end climb,SURFACE_DEPTH_REACHED
$STATE,17535,begin surface coast
$FINISH,0.6,1.022735
$STATE,17571,end surface coast,CONTROL_FINISHED_OK
$STATE,17571,begin surface
$SM_CCo,17645,0.00,0.000,0,0,1125,454.54
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$IRIDIUM_FIX,2321.52,12112.74,151211,232337
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.75
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,42.307
$10V_AH,10.2,27.603
$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
$DEVICE_SECS,16.825,149.025,601.025,0.000,0.000,25.570,20.564,282.615,0.000,0.000,17.402,3708.294,10187.517,705.558,3122.804,358.579,0.000,2200.855,0.000,2633.776,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.049,2034.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,103695,1575
$CAP_FILE_SIZE,191377,0
$CFSIZE,260165632,205164544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161211,091924,2332.927,12204.412,67,1.9,67,-3.2