version: 66.10
glider: 169
mission: 5
dive: 205
start: 12 18 111 10 0 45
data:
$ID,169
$MISSION,5
$DIVE,205
$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,-10979.634
$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
$GPS1,181211,095224,2338.825,12230.253,37,1.1,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.2
$GPS2,181211,100025,2338.970,12230.264,9,1.8,14,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2329.618,12236.151
$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,2883
$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,17,-0.61,-194.6,0.0,0.0,0,103,0.00,0.00,-83.95,0.000,2,0.000,0.000,118,2674,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.61,-194.6,3.3,-6.6,15,136,6.90,2.22,-15.77,0.000,4,0.233,0.040,1814,1176,3773,0,0,0,0,0,0,25.28,26.02,26.42
$GC,290,-0.53,-194.6,63.7,-29.9,50,298,0.12,2.28,0.00,0.000,6,0.162,0.044,1836,2658,3773,0,0,0,0,0,0,25.79,26.02,28.83
$GC,602,-0.45,-194.6,156.7,-22.2,111,609,0.00,2.17,0.00,0.000,4,0.000,0.028,1846,1173,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,651,-0.42,-194.6,166.2,-15.0,120,659,0.12,2.25,0.00,0.000,6,0.142,0.041,1872,2656,3773,0,0,0,0,0,0,25.98,26.15,28.83
$GC,968,-0.39,-194.6,213.5,-14.8,173,972,0.00,1.80,0.00,0.000,4,0.000,0.047,1864,3817,3773,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1032,-0.39,-194.6,221.1,-11.2,179,1039,0.00,1.80,0.00,0.000,6,0.000,0.024,1863,2560,3774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1340,-0.36,-194.6,265.0,-15.7,210,1348,0.00,1.95,0.00,0.000,4,0.000,0.047,1854,3818,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1361,-0.33,-194.6,268.4,-16.3,212,1370,0.15,1.80,0.00,0.000,6,0.128,0.024,1899,2556,3773,0,0,0,0,0,0,26.10,26.44,28.83
$GC,1672,-0.37,-194.6,291.7,-6.0,243,1680,0.00,1.95,0.00,0.000,4,0.000,0.045,1891,3821,3773,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1696,-0.42,-194.6,293.1,-6.4,245,1703,0.00,1.80,0.00,0.000,6,0.000,0.024,1891,2555,3773,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2005,-0.46,-194.6,311.0,-5.7,276,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2555,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.51,-194.6,329.8,-6.3,307,2324,0.12,1.92,0.00,0.000,4,0.080,0.042,1778,3807,3772,0,0,0,0,0,0,26.58,26.27,28.83
$GC,2341,-0.53,-194.6,332.2,-8.0,309,2348,0.20,1.77,0.00,0.000,6,0.133,0.023,1838,2555,3772,0,0,0,0,0,0,26.02,26.48,28.83
$GC,2647,-0.51,-194.6,379.1,-13.7,340,2656,0.00,1.95,0.00,0.000,4,0.000,0.044,1828,3817,3771,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2692,-0.50,-194.6,384.7,-13.7,344,2698,0.00,1.80,0.00,0.000,6,0.000,0.023,1828,2557,3771,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2998,-0.47,-194.6,428.4,-13.2,375,3007,0.00,2.00,0.00,0.000,4,0.000,0.028,1829,1176,3770,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3074,-0.50,-194.6,435.5,-8.3,382,3081,0.00,2.22,0.00,0.000,6,0.000,0.039,1819,2656,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3380,-0.48,-194.6,471.6,-12.1,413,3389,0.12,1.77,0.00,0.000,4,0.151,0.044,1853,3820,3768,0,0,0,0,0,0,26.29,26.25,28.83
$GC,3433,-0.50,-194.6,476.3,-8.2,418,3437,0.00,1.80,0.00,0.000,6,0.000,0.025,1852,2566,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3745,-0.52,-194.6,502.4,-9.5,449,3753,0.00,2.00,0.00,0.000,4,0.000,0.029,1853,1180,3766,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3770,-0.55,-194.6,504.4,-9.4,451,3777,0.00,2.22,0.00,0.000,6,0.000,0.039,1844,2656,3766,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4076,-0.56,-194.6,536.7,-10.2,482,4079,0.00,1.77,0.00,0.000,4,0.000,0.046,1836,3817,3763,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4128,-0.59,-194.6,541.9,-10.3,487,4131,0.00,1.80,0.00,0.000,6,0.000,0.024,1836,2564,3763,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4440,-0.60,-194.6,570.5,-8.6,518,4448,0.00,2.00,0.00,0.000,4,0.000,0.029,1835,1181,3761,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4472,-0.62,-194.6,573.1,-8.3,521,4476,0.00,2.25,0.00,0.000,6,0.000,0.041,1826,2662,3761,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4783,-0.62,-194.6,602.4,-9.6,551,4787,0.00,1.75,0.00,0.000,4,0.000,0.048,1818,3814,3759,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4817,-0.62,-194.6,604.5,-9.8,552,4824,0.00,1.80,0.00,0.000,6,0.000,0.024,1818,2561,3759,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5126,-0.61,-194.6,636.3,-10.0,568,5129,0.00,1.98,0.00,0.000,4,0.000,0.047,1809,3820,3756,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5175,-0.61,-194.6,640.7,-10.3,570,5178,0.00,1.83,0.00,0.000,6,0.000,0.025,1809,2563,3756,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5488,-0.60,-194.6,677.5,-11.3,586,5493,0.00,1.98,0.00,0.000,4,0.000,0.047,1799,3824,3754,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5520,-0.58,-194.6,679.6,-11.2,587,5527,0.00,1.83,0.00,0.000,6,0.000,0.025,1799,2565,3754,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5829,-0.56,-194.6,717.9,-12.3,603,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2565,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6128,-0.55,-194.6,754.1,-12.0,618,6130,0.12,0.00,0.00,0.000,6,0.137,0.000,1836,2564,3749,0,0,0,0,0,0,26.36,28.83,28.83
$GC,6428,-0.57,-194.6,779.5,-8.3,633,6433,0.00,1.98,0.00,0.000,4,0.000,0.049,1827,3817,3747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6448,-0.59,-194.6,781.2,-8.4,634,6451,0.00,1.83,0.00,0.000,6,0.000,0.027,1827,2572,3746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6772,-0.60,-194.6,811.6,-9.7,650,6777,0.00,2.03,0.00,0.000,4,0.000,0.031,1827,1179,3745,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6793,-0.62,-194.6,813.7,-9.9,651,6797,0.00,2.25,0.00,0.000,6,0.000,0.043,1823,2654,3745,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7111,-0.63,-194.6,845.1,-9.5,667,7114,0.00,1.80,0.00,0.000,4,0.000,0.050,1815,3821,3742,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7145,-0.65,-194.6,847.1,-9.5,668,7152,0.00,1.83,0.00,0.000,6,0.000,0.027,1815,2565,3743,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7454,-0.65,-194.6,877.7,-9.3,684,7459,0.00,2.03,0.00,0.000,4,0.000,0.032,1815,1188,3741,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7486,-0.66,-194.6,879.7,-9.4,685,7493,0.00,2.25,0.00,0.000,6,0.000,0.043,1813,2658,3741,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7792,-0.66,-194.6,907.8,-8.4,701,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2658,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8094,-0.66,-194.6,932.5,-8.2,716,8099,0.00,2.17,0.00,0.000,4,0.000,0.030,1813,1183,3738,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8116,-0.67,-194.6,934.1,-8.2,717,8120,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2651,3737,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8428,-0.67,-194.6,962.3,-9.7,733,8431,0.00,1.80,0.00,0.000,4,0.000,0.050,1804,3820,3736,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8449,-0.68,-194.6,964.2,-9.5,734,8454,0.00,1.83,0.00,0.000,6,0.000,0.028,1804,2567,3735,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,8726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8726,begin apogee
$GC,8733,-0.20,0.0,991.5,-10.0,748,8911,0.40,0.10,167.10,1.180,6,0.098,0.057,1946,2536,2967,0,0,0,0,0,0,25.87,24.71,23.81
$STATE,8912,end apogee,CONTROL_FINISHED_OK
$STATE,8912,begin climb
$GC,8915,0.61,194.6,1001.7,0.0,757,9111,0.73,2.17,183.95,1.181,4,0.047,0.047,2217,3808,2171,0,0,0,0,0,0,24.96,24.17,23.23
$GC,9208,0.51,194.6,969.1,22.0,771,9215,0.20,2.12,0.00,0.000,6,0.186,0.032,2178,2463,2156,0,0,0,0,0,0,24.84,25.20,28.83
$GC,9514,0.44,194.6,915.5,16.5,787,9519,0.00,2.12,0.00,0.000,4,0.000,0.047,2177,3812,2151,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9562,0.38,194.6,908.5,16.9,789,9566,0.20,2.05,0.00,0.000,6,0.164,0.031,2134,2467,2150,0,0,0,0,0,0,25.53,25.93,28.83
$GC,9870,0.35,194.6,867.9,11.8,804,9875,0.00,2.10,0.00,0.000,4,0.000,0.047,2134,3803,2149,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9896,0.32,194.6,865.3,12.0,805,9900,0.00,2.05,0.00,0.000,6,0.000,0.030,2144,2453,2148,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10205,0.29,194.6,825.0,12.8,820,10211,0.12,2.17,0.00,0.000,4,0.172,0.047,2106,3821,2147,0,0,0,0,0,0,25.93,25.99,28.83
$GC,10257,0.26,194.6,820.0,12.8,822,10263,0.00,2.05,0.00,0.000,6,0.000,0.030,2117,2465,2147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10565,0.25,194.6,786.9,10.0,838,10568,0.00,2.10,0.00,0.000,4,0.000,0.047,2117,3812,2146,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10589,0.24,194.6,784.4,10.5,839,10593,0.15,2.05,0.00,0.000,6,0.155,0.029,2087,2454,2146,0,0,0,0,0,0,25.80,26.17,28.83
$GC,10903,0.34,262.7,760.5,7.2,855,10965,0.10,2.22,50.80,1.166,4,0.092,0.048,2150,3812,1909,0,0,0,0,1,0,26.42,25.37,24.25
$GC,10988,0.32,262.7,751.8,11.4,859,10998,0.17,2.08,1.88,0.195,6,0.148,0.029,2113,2465,1907,0,0,0,0,0,0,25.29,25.53,25.18
$GC,11301,0.34,262.7,720.2,9.7,875,11304,0.00,0.00,1.65,0.200,6,0.000,0.000,2113,2465,1905,0,0,0,0,0,0,28.83,28.83,25.36
$GC,11599,0.37,278.3,692.4,8.9,890,11629,0.00,2.20,24.62,0.943,4,0.000,0.047,2113,3809,1836,0,0,0,0,0,0,28.83,25.73,24.79
$GC,11646,0.41,295.3,689.0,8.9,892,11669,0.00,2.05,17.60,0.943,6,0.000,0.028,2123,2454,1771,0,0,0,0,0,0,28.83,25.79,24.66
$GC,11980,0.48,334.9,660.1,8.1,909,12026,0.12,2.25,38.72,0.948,4,0.077,0.048,2201,3808,1604,0,0,0,0,0,0,26.12,25.44,24.54
$GC,12060,0.45,334.9,648.3,14.8,913,12066,0.15,2.05,0.00,0.000,6,0.138,0.030,2162,2470,1593,0,0,0,0,0,0,25.35,25.61,28.83
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$STATE,17113,end climb,SURFACE_DEPTH_REACHED
$STATE,17113,begin surface coast
$FINISH,0.2,1.017143
$STATE,17135,end surface coast,CONTROL_FINISHED_OK
$STATE,17135,begin surface
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$IRIDIUM_FIX,2328.57,12220.52,181211,050510
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.24
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,44.507
$10V_AH,10.1,28.841
$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
$DEVICE_SECS,16.300,171.400,624.225,0.000,0.000,29.573,17.958,296.738,0.000,0.000,15.707,3592.688,9871.091,756.503,3073.867,368.999,0.000,2249.387,0.000,2575.914,0.000,0.543,0.000
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$SENSOR_SECS,1034.720,1990.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100291,1525
$CAP_FILE_SIZE,193857,0
$CFSIZE,260165632,204111872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181211,144836,2338.784,12232.646,32,1.2,32,-3.2