version: 66.10
glider: 169
mission: 5
dive: 212
start: 12 19 111 20 8 18
data:
$ID,169
$MISSION,5
$DIVE,212
$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,-10988.443
$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
$GPS1,191211,200007,2336.205,12246.633,73,1.5,73,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-58.9
$GPS2,191211,200758,2336.287,12246.678,12,3.7,31,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2326.935,12252.563
$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,153.3,20000,-14.9,-9.429
$D_GRID,2845
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-83.38,0.000,2,0.000,0.000,117,2683,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.61,-194.6,3.6,-8.3,15,136,6.90,2.25,-16.10,0.000,4,0.233,0.043,1811,1185,3773,0,0,0,0,0,0,25.32,26.03,26.46
$GC,184,-0.51,-194.6,34.3,-31.2,29,191,0.15,2.28,0.00,0.000,6,0.156,0.045,1839,2654,3774,0,0,0,0,0,0,25.71,25.98,28.83
$GC,495,-0.39,-194.6,148.4,-33.9,90,502,0.12,2.20,0.00,0.000,4,0.184,0.028,1887,1170,3774,0,0,0,0,0,0,26.00,26.18,28.83
$GC,566,-0.41,-194.6,163.3,-13.3,103,572,0.00,2.28,0.00,0.000,6,0.000,0.042,1877,2658,3774,0,0,0,0,0,0,28.83,26.14,28.83
$GC,882,-0.38,-194.6,211.0,-15.3,158,883,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2658,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.36,-194.6,253.1,-13.7,188,1190,0.00,2.15,0.00,0.000,4,0.000,0.029,1877,1181,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1213,-0.36,-194.6,257.2,-13.2,191,1222,0.00,2.20,0.00,0.000,6,0.000,0.041,1867,2654,3773,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1525,-0.35,-194.6,298.2,-12.8,222,1534,0.10,1.75,0.00,0.000,4,0.161,0.045,1887,3814,3773,0,0,0,0,0,0,26.39,26.21,28.83
$GC,1570,-0.36,-194.6,303.0,-11.1,226,1576,0.00,1.77,0.00,0.000,6,0.000,0.024,1887,2560,3773,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1879,-0.40,-194.6,325.8,-7.0,257,1887,0.00,1.98,0.00,0.000,4,0.000,0.048,1878,3827,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1900,-0.44,-194.6,327.5,-7.2,259,1904,0.00,1.83,0.00,0.000,6,0.000,0.026,1878,2573,3773,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2212,-0.46,-194.6,351.3,-7.8,290,2221,0.00,2.03,0.00,0.000,4,0.000,0.028,1878,1174,3773,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2247,-0.50,-194.6,353.7,-7.7,293,2254,0.00,2.22,0.00,0.000,6,0.000,0.039,1877,2656,3772,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2556,-0.53,-194.6,376.2,-7.3,324,2565,0.12,1.77,0.00,0.000,4,0.079,0.043,1779,3814,3771,0,0,0,0,0,0,26.60,26.24,28.83
$GC,2620,-0.48,-194.6,385.4,-16.6,330,2628,0.17,1.83,0.00,0.000,6,0.106,0.024,1852,2558,3771,0,0,0,0,0,0,26.00,26.46,28.83
$GC,2927,-0.48,-194.6,424.6,-11.1,361,2936,0.00,1.95,0.00,0.000,4,0.000,0.045,1843,3816,3769,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2949,-0.48,-194.6,426.9,-10.9,363,2952,0.00,1.80,0.00,0.000,6,0.000,0.024,1843,2560,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3261,-0.48,-194.6,458.4,-9.7,394,3270,0.00,1.95,0.00,0.000,4,0.000,0.044,1834,3822,3767,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3286,-0.48,-194.6,460.6,-9.5,396,3293,0.00,1.80,0.00,0.000,6,0.000,0.024,1834,2557,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3592,-0.48,-194.6,492.0,-10.2,427,3601,0.00,1.95,0.00,0.000,4,0.000,0.044,1825,3820,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3633,-0.48,-194.6,496.5,-10.7,431,3636,0.00,1.83,0.00,0.000,6,0.000,0.024,1825,2566,3765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3945,-0.47,-194.6,534.0,-12.6,462,3954,0.12,1.98,0.00,0.000,4,0.132,0.028,1869,1185,3763,0,0,0,0,0,0,26.36,26.32,28.83
$GC,3987,-0.51,-194.6,537.8,-8.9,466,3996,0.00,2.22,0.00,0.000,6,0.000,0.041,1864,2657,3763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4300,-0.62,-194.6,562.4,-8.2,497,4309,0.12,1.75,0.00,0.000,4,0.105,0.044,1801,3815,3761,0,0,0,0,0,0,26.48,26.21,28.83
$GC,4394,-0.73,-194.6,569.4,-7.4,506,4397,0.00,1.83,0.00,0.000,6,0.000,0.024,1809,2559,3760,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4705,-0.82,-194.6,587.6,-5.7,537,4715,0.15,1.95,0.00,0.000,4,0.086,0.043,1728,3821,3757,0,0,0,0,0,0,26.51,26.20,28.83
$GC,4731,-0.88,-194.6,589.2,-6.5,539,4738,0.00,1.80,0.00,0.000,6,0.000,0.024,1735,2568,3757,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5039,-0.80,-194.6,649.4,-20.3,558,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,2567,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-0.73,-194.6,712.8,-21.2,573,5340,0.12,0.00,0.00,0.000,6,0.161,0.000,1769,2566,3754,0,0,0,0,0,0,26.28,28.83,28.83
$GC,5638,-0.69,-194.6,757.8,-14.2,588,5644,0.00,1.98,0.00,0.000,4,0.000,0.047,1760,3811,3751,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5672,-0.65,-194.6,760.7,-14.2,589,5679,0.12,1.80,0.00,0.000,6,0.135,0.026,1804,2561,3750,0,0,0,0,0,0,26.11,26.41,28.83
$GC,5979,-0.65,-194.6,793.4,-9.9,605,5985,0.00,2.00,0.00,0.000,4,0.000,0.032,1804,1190,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6017,-0.65,-194.6,797.3,-9.9,607,6023,0.00,2.22,0.00,0.000,6,0.000,0.041,1796,2656,3748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6340,-0.63,-194.6,830.3,-10.2,623,6346,0.00,2.17,0.00,0.000,4,0.000,0.030,1796,1179,3746,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6386,-0.63,-194.6,834.6,-10.3,625,6390,0.00,2.22,0.00,0.000,6,0.000,0.042,1785,2653,3745,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6694,-0.61,-194.6,871.0,-12.0,640,6698,0.00,2.17,0.00,0.000,4,0.000,0.031,1785,1186,3743,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6738,-0.60,-194.6,875.9,-12.0,642,6744,0.10,2.20,0.00,0.000,6,0.098,0.042,1816,2647,3743,0,0,0,0,0,0,25.95,26.15,28.83
$GC,7059,-0.61,-194.6,904.8,-9.0,658,7063,0.00,2.15,0.00,0.000,4,0.000,0.031,1816,1178,3741,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7084,-0.63,-194.6,907.0,-8.9,659,7088,0.00,2.22,0.00,0.000,6,0.000,0.042,1808,2652,3741,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7395,-0.63,-194.6,937.1,-9.7,675,7401,0.00,2.15,0.00,0.000,4,0.000,0.031,1808,1187,3738,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7444,-0.64,-194.6,940.9,-9.5,677,7449,0.00,2.22,0.00,0.000,6,0.000,0.043,1799,2655,3738,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7752,-0.64,-194.6,972.0,-9.9,692,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2656,3735,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7948,begin apogee
$GC,7954,-0.20,0.0,991.1,-9.3,702,8126,0.40,0.12,164.95,1.185,6,0.099,0.085,1941,2536,2978,0,0,0,0,0,0,25.86,24.77,23.83
$STATE,8127,end apogee,CONTROL_FINISHED_OK
$STATE,8127,begin climb
$GC,8129,0.61,194.6,997.9,0.0,710,8327,0.73,2.22,183.02,1.183,4,0.048,0.047,2214,3818,2170,0,0,0,0,0,0,24.96,24.25,23.30
$GC,8505,0.51,194.6,945.4,22.1,728,8512,0.20,2.10,0.00,0.000,6,0.183,0.031,2174,2463,2155,0,0,0,0,0,0,25.23,25.61,28.83
$GC,8811,0.46,194.6,897.5,14.2,744,8817,0.00,2.08,0.00,0.000,4,0.000,0.037,2184,1070,2151,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8833,0.41,194.6,894.8,14.0,745,8838,0.15,2.25,0.00,0.000,6,0.152,0.041,2143,2529,2150,0,0,0,0,0,0,25.67,25.94,28.83
$GC,9146,0.38,194.6,859.7,11.1,761,9152,0.00,2.00,0.00,0.000,4,0.000,0.048,2144,3815,2150,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9193,0.35,194.6,854.3,12.3,763,9198,0.12,2.05,0.00,0.000,6,0.168,0.030,2123,2461,2150,0,0,0,0,0,0,25.80,26.12,28.83
$GC,9502,0.34,194.6,821.5,10.4,778,9507,0.00,2.10,0.00,0.000,4,0.000,0.037,2133,1058,2148,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9524,0.33,194.6,819.4,10.5,779,9528,0.00,2.25,0.00,0.000,6,0.000,0.041,2133,2526,2147,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9836,0.31,194.6,783.4,11.5,795,9841,0.00,2.05,0.00,0.000,4,0.000,0.050,2133,3817,2148,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9856,0.29,194.6,780.8,11.7,796,9862,0.15,2.05,0.00,0.000,6,0.158,0.029,2104,2449,2147,0,0,0,0,0,0,25.82,26.20,28.83
$GC,10176,0.35,240.8,753.2,7.9,812,10227,0.00,2.28,43.50,0.984,4,0.000,0.050,2104,3812,1987,0,0,0,0,0,0,28.83,25.59,24.61
$GC,10285,0.41,280.3,744.9,8.1,817,10335,0.00,2.08,40.03,0.967,6,0.000,0.031,2114,2465,1824,0,0,0,0,0,0,28.83,25.75,24.37
$GC,10639,0.49,323.9,716.9,8.0,835,10688,0.12,2.22,41.85,0.975,4,0.076,0.038,2207,1072,1648,0,0,0,0,0,0,26.10,25.40,24.46
$GC,10721,0.48,323.9,706.4,13.4,839,10727,0.15,2.28,0.00,0.000,6,0.132,0.041,2165,2521,1634,0,0,0,0,0,0,25.39,25.54,28.83
$GC,11036,0.47,323.9,663.0,13.5,855,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2522,1631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11336,0.47,323.9,623.2,12.8,870,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2522,1630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11637,0.47,323.9,585.6,12.3,890,11640,0.00,2.22,0.00,0.000,4,0.000,0.039,2175,1054,1628,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11658,0.47,323.9,582.9,12.2,892,11667,0.00,2.25,0.00,0.000,6,0.000,0.039,2175,2522,1627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11970,0.46,323.9,542.7,12.6,923,11978,0.00,2.00,0.00,0.000,4,0.000,0.048,2175,3814,1627,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12044,0.46,323.9,533.0,13.1,930,12050,0.00,2.05,0.00,0.000,6,0.000,0.030,2186,2456,1627,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12353,0.44,323.9,491.5,13.7,961,12362,0.12,2.08,0.00,0.000,4,0.159,0.037,2156,1057,1626,0,0,0,0,0,0,26.10,26.11,28.83
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$STATE,16465,end climb,SURFACE_DEPTH_REACHED
$STATE,16466,begin surface coast
$FINISH,0.2,1.005248
$STATE,16482,end surface coast,CONTROL_FINISHED_OK
$STATE,16482,begin surface
$SM_CCo,16496,12.93,0.125,0,0,1245,425.10
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$IRIDIUM_FIX,2323.87,12426.39,191211,151555
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.53
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.3,45.839
$10V_AH,10.2,29.633
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.150,166.025,531.525,12.925,0.000,25.966,43.508,243.365,0.000,0.000,33.079,3604.077,9198.281,700.280,3085.616,364.246,0.000,2186.613,0.000,2593.812,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,84.915,1184.985,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1029.820,1960.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100511,1518
$CAP_FILE_SIZE,189137,0
$CFSIZE,260165632,203436032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201211,004437,2335.350,12249.028,39,1.0,39,-3.3