version: 66.10
glider: 169
mission: 5
dive: 199
start: 12 17 111 5 17 10
data:
$ID,169
$MISSION,5
$DIVE,199
$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,-10972.086
$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
$GPS1,171211,050906,2336.178,12217.006,29,1.1,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.3
$GPS2,171211,051650,2336.328,12217.057,16,1.3,16,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2326.976,12222.942
$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,3637
$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,17,-0.61,-194.6,0.0,0.0,0,125,0.00,0.00,-104.35,0.000,2,0.000,0.000,108,2685,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.61,-194.6,3.9,-9.1,19,153,6.90,2.30,-11.80,0.000,4,0.233,0.039,1811,1163,3776,0,0,0,0,0,0,25.34,26.08,26.45
$GC,347,-0.53,-194.6,77.1,-26.8,61,354,0.12,2.30,0.00,0.000,6,0.149,0.045,1835,2657,3776,0,0,0,0,0,0,25.89,26.06,28.83
$GC,660,-0.43,-194.6,161.6,-25.9,122,667,0.12,1.80,0.00,0.000,4,0.177,0.042,1864,3811,3776,0,0,0,0,0,0,26.07,26.17,28.83
$GC,690,-0.36,-194.6,168.7,-22.8,127,697,0.00,1.80,0.00,0.000,6,0.000,0.024,1872,2562,3776,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1000,-0.32,-194.6,220.6,-15.9,176,1009,0.12,1.95,0.00,0.000,4,0.152,0.045,1905,3813,3776,0,0,0,0,0,0,26.22,26.20,28.83
$GC,1022,-0.29,-194.6,223.7,-14.8,178,1026,0.00,1.80,0.00,0.000,6,0.000,0.024,1905,2558,3776,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1334,-0.34,-194.6,245.2,-6.3,209,1342,0.00,1.98,0.00,0.000,4,0.000,0.045,1895,3822,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1375,-0.39,-194.6,247.9,-6.4,213,1379,0.00,1.80,0.00,0.000,6,0.000,0.025,1895,2565,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1689,-0.51,-194.6,270.5,-7.8,244,1698,0.12,1.95,0.00,0.000,4,0.094,0.025,1826,1173,3775,0,0,0,0,0,0,26.52,26.39,28.83
$GC,1761,-0.60,-194.6,276.1,-6.9,251,1770,0.00,2.20,0.00,0.000,6,0.000,0.035,1826,2658,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2071,-0.64,-194.6,300.2,-8.1,282,2075,0.00,1.77,0.00,0.000,4,0.000,0.045,1819,3816,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2162,-0.64,-194.6,309.5,-11.5,291,2166,0.00,1.80,0.00,0.000,6,0.000,0.023,1819,2558,3773,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2475,-0.58,-194.6,365.0,-18.4,322,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2556,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2785,-0.54,-194.6,416.5,-15.9,353,2793,0.00,1.95,0.00,0.000,4,0.000,0.044,1810,3816,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2847,-0.52,-194.6,426.1,-14.5,359,2856,0.12,1.77,0.00,0.000,6,0.129,0.023,1847,2559,3770,0,0,0,0,0,0,26.22,26.49,28.83
$GC,3156,-0.52,-194.6,457.8,-10.1,390,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2559,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.53,-194.6,485.2,-8.5,420,3469,0.00,1.98,0.00,0.000,4,0.000,0.046,1838,3823,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3502,-0.56,-194.6,489.0,-8.3,424,3505,0.00,1.83,0.00,0.000,6,0.000,0.024,1838,2562,3766,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3813,-0.56,-194.6,518.6,-10.0,455,3822,0.00,1.95,0.00,0.000,4,0.000,0.045,1829,3815,3764,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3838,-0.56,-194.6,520.8,-10.0,457,3844,0.00,1.80,0.00,0.000,6,0.000,0.024,1829,2557,3764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4144,-0.56,-194.6,553.6,-11.0,488,4153,0.00,2.00,0.00,0.000,4,0.000,0.029,1829,1179,3762,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4165,-0.56,-194.6,555.9,-10.9,490,4174,0.00,2.22,0.00,0.000,6,0.000,0.040,1820,2657,3761,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4476,-0.55,-194.6,592.7,-12.3,521,4479,0.00,1.80,0.00,0.000,4,0.000,0.047,1811,3813,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4517,-0.55,-194.6,597.6,-12.1,525,4520,0.00,1.80,0.00,0.000,6,0.000,0.024,1811,2563,3759,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4830,-0.54,-194.6,634.3,-11.5,542,4835,0.00,1.98,0.00,0.000,4,0.000,0.047,1801,3821,3756,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4892,-0.52,-194.6,641.0,-11.3,545,4896,0.12,1.83,0.00,0.000,6,0.127,0.025,1840,2556,3755,0,0,0,0,0,0,26.19,26.45,28.83
$GC,5206,-0.54,-194.6,665.5,-7.6,561,5211,0.00,2.00,0.00,0.000,4,0.000,0.030,1840,1176,3753,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5233,-0.56,-194.6,667.1,-7.6,562,5237,0.00,2.25,0.00,0.000,6,0.000,0.041,1834,2658,3753,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5539,-0.57,-194.6,692.6,-8.3,577,5543,0.00,1.75,0.00,0.000,4,0.000,0.047,1826,3814,3751,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5582,-0.59,-194.6,695.9,-8.1,579,5585,0.00,1.83,0.00,0.000,6,0.000,0.025,1826,2560,3750,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5903,-0.60,-194.6,724.2,-8.9,595,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2556,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6203,-0.61,-194.6,749.6,-8.4,610,6209,0.00,1.95,0.00,0.000,4,0.000,0.046,1817,3816,3746,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6247,-0.63,-194.6,752.9,-8.3,612,6250,0.00,1.80,0.00,0.000,6,0.000,0.025,1817,2570,3745,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6563,-0.63,-194.6,782.0,-9.2,628,6569,0.00,2.03,0.00,0.000,4,0.000,0.031,1816,1182,3744,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6585,-0.63,-194.6,783.8,-9.2,629,6590,0.00,2.25,0.00,0.000,6,0.000,0.043,1813,2655,3743,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6899,-0.63,-194.6,815.7,-10.8,645,6902,0.00,1.80,0.00,0.000,4,0.000,0.050,1804,3807,3742,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6922,-0.63,-194.6,817.9,-10.7,646,6926,0.00,1.83,0.00,0.000,6,0.000,0.026,1804,2568,3741,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7241,-0.62,-194.6,850.3,-10.0,662,7247,0.00,2.03,0.00,0.000,4,0.000,0.031,1804,1184,3739,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7288,-0.62,-194.6,854.2,-9.8,664,7292,0.00,2.25,0.00,0.000,6,0.000,0.043,1799,2656,3739,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7600,-0.61,-194.6,886.5,-9.8,680,7604,0.00,1.77,0.00,0.000,4,0.000,0.049,1791,3822,3738,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7623,-0.60,-194.6,888.5,-9.7,681,7628,0.00,1.83,0.00,0.000,6,0.000,0.025,1791,2561,3737,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7942,-0.58,-194.6,922.3,-10.4,697,7948,0.12,2.03,0.00,0.000,4,0.142,0.029,1835,1185,3736,0,0,0,0,0,0,26.28,26.22,28.83
$GC,7969,-0.57,-194.6,924.4,-10.4,698,7974,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2652,3736,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8279,-0.59,-194.6,947.0,-7.3,713,8283,0.00,1.80,0.00,0.000,4,0.000,0.050,1817,3815,3734,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8314,-0.61,-194.6,948.8,-7.4,714,8321,0.00,1.80,0.00,0.000,6,0.000,0.027,1817,2561,3734,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8622,-0.62,-194.6,975.2,-7.8,730,8627,0.00,2.00,0.00,0.000,4,0.000,0.031,1817,1186,3733,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8661,-0.64,-194.6,978.3,-7.9,732,8667,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2651,3733,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,8798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8798,begin apogee
$GC,8804,-0.20,0.0,990.2,-8.4,739,8977,0.38,0.15,165.40,1.177,6,0.097,0.078,1946,2545,2977,0,0,0,0,0,0,25.92,24.77,23.83
$STATE,8978,end apogee,CONTROL_FINISHED_OK
$STATE,8978,begin climb
$GC,8980,0.61,194.6,995.3,0.0,747,9168,0.70,0.00,183.82,1.173,6,0.049,0.000,2212,2545,2183,0,0,0,0,0,0,24.93,28.83,23.30
$GC,9460,0.52,194.6,917.4,20.8,771,9465,0.12,1.98,0.00,0.000,4,0.192,0.046,2177,3804,2153,0,0,0,0,0,0,25.51,25.70,28.83
$GC,9492,0.43,194.6,913.1,20.9,772,9499,0.15,2.05,0.00,0.000,6,0.182,0.030,2150,2463,2151,0,0,0,0,0,0,25.46,25.82,28.83
$GC,9799,0.40,194.6,865.8,13.7,788,9805,0.00,2.08,0.00,0.000,4,0.000,0.047,2149,3805,2149,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9858,0.35,194.6,856.6,14.9,791,9865,0.12,2.00,0.00,0.000,6,0.173,0.030,2129,2463,2148,0,0,0,0,0,0,25.72,26.06,28.83
$GC,10182,0.33,194.6,817.1,12.2,807,10187,0.00,2.10,0.00,0.000,4,0.000,0.047,2129,3808,2148,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10222,0.31,194.6,811.3,13.1,809,10226,0.00,2.03,0.00,0.000,6,0.000,0.030,2139,2456,2148,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10543,0.28,194.6,769.2,13.2,825,10549,0.12,2.08,0.00,0.000,4,0.174,0.034,2112,1052,2148,0,0,0,0,0,0,25.96,26.09,28.83
$GC,10571,0.26,194.6,766.4,13.0,826,10580,0.00,2.25,0.00,0.000,6,0.000,0.041,2113,2522,2146,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10881,0.26,194.6,732.2,10.6,842,10887,0.00,2.00,0.00,0.000,4,0.000,0.046,2112,3813,2146,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10935,0.25,194.6,727.6,11.0,844,10942,0.00,2.03,0.00,0.000,6,0.000,0.029,2123,2460,2145,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11243,0.24,194.6,693.9,10.2,860,11249,0.12,2.12,0.00,0.000,4,0.164,0.044,2084,3818,2145,0,0,0,0,0,0,26.06,26.06,28.83
$GC,11281,0.24,194.6,690.0,10.1,862,11287,0.00,2.03,0.00,0.000,6,0.000,0.028,2095,2449,2145,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11605,0.32,245.6,665.2,7.8,878,11651,0.00,2.25,36.15,1.017,4,0.000,0.048,2095,3813,1977,0,0,0,0,1,0,28.83,25.69,24.55
$GC,11672,0.41,298.5,660.9,7.7,881,11733,0.12,2.08,50.08,1.133,6,0.074,0.031,2177,2462,1761,0,0,0,0,1,0,25.75,25.75,24.10
$GC,12034,0.37,298.5,604.5,15.0,899,12041,0.12,2.12,1.33,0.184,4,0.170,0.044,2139,3805,1760,0,0,0,0,0,0,25.69,25.81,25.37
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$STATE,17145,end climb,SURFACE_DEPTH_REACHED
$STATE,17145,begin surface coast
$FINISH,0.9,1.023111
$STATE,17162,end surface coast,CONTROL_FINISHED_OK
$STATE,17162,begin surface
$SM_CCo,17238,0.00,0.000,0,0,856,521.02
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$IRIDIUM_FIX,2328.57,12212.04,171211,000055
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.57
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,43.299
$10V_AH,10.2,28.177
$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
$DEVICE_SECS,16.575,166.350,657.275,0.000,0.000,29.368,55.099,240.712,0.000,0.000,16.939,3680.634,9726.785,776.652,3123.427,366.258,0.000,2297.111,0.000,2637.689,0.000,0.543,0.000
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$MEM,324612
$DATA_FILE_SIZE,103786,1557
$CAP_FILE_SIZE,197499,0
$CFSIZE,260165632,204668928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,171211,100536,2336.867,12219.361,40,1.3,40,-3.2