version: 66.10
glider: 165
mission: 5
dive: 532
start: 3 11 112 0 25 23
data:
$ID,165
$MISSION,5
$DIVE,532
$N_DIVES,0
$D_SURF,5
$D_FLARE,10
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,450
$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,-273140.09
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2786
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-57.316994
$PRESSURE_SLOPE,0.000116182
$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,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$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,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,110312,001807,2201.668,12003.917,25,1.5,25,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.60
$_SM_ANGLEo,-70.5
$GPS2,110312,002458,2201.757,12003.989,14,99.0,33,-2.7
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$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,98.9,54360,-15.2,-11.000
$D_GRID,1279
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-243.3,0.0,0.0,0,126,0.00,0.00,-107.10,0.000,2,0.000,0.000,116,1971,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.80,-243.3,10.4,-16.4,15,153,10.38,2.28,-5.10,0.000,4,0.227,0.055,2690,556,3782,0,0,0,0,0,0,24.78,25.79,25.94
$GC,230,-0.74,-243.3,47.9,-22.2,31,237,0.00,2.15,0.00,0.000,6,0.000,0.034,2683,1955,3783,0,0,0,0,0,0,28.83,25.84,28.83
$GC,568,-0.70,-243.3,103.2,-12.0,92,577,0.12,2.25,0.00,0.000,4,0.162,0.046,2722,566,3784,0,0,0,0,0,0,25.92,25.61,28.83
$GC,659,-0.70,-243.3,112.2,-9.6,107,666,0.00,2.17,0.00,0.000,6,0.000,0.038,2715,1959,3784,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1000,-0.73,-243.3,148.5,-11.1,168,1008,0.00,2.25,0.00,0.000,4,0.000,0.050,2715,569,3785,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1060,-0.73,-243.3,154.9,-11.5,178,1069,0.00,2.17,0.00,0.000,6,0.000,0.037,2713,1960,3785,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1402,-0.75,-243.3,192.0,-9.8,239,1409,0.00,2.22,0.00,0.000,4,0.000,0.050,2713,566,3785,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1424,-0.77,-243.3,194.3,-9.5,242,1433,0.00,2.17,0.00,0.000,6,0.000,0.038,2713,1954,3785,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1748,-0.80,-243.3,219.5,-8.2,279,1756,0.00,2.20,0.00,0.000,4,0.000,0.048,2713,3352,3785,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1781,-0.83,-243.3,222.6,-8.6,282,1792,0.00,2.15,0.00,0.000,6,0.000,0.034,2713,1950,3785,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2093,-0.88,-243.3,254.7,-10.8,313,2102,0.12,2.22,0.00,0.000,4,0.084,0.045,2619,3364,3785,0,0,0,0,0,0,26.30,25.63,28.83
$GC,2172,-0.84,-243.3,265.1,-14.0,320,2182,0.17,2.17,0.00,0.000,6,0.124,0.031,2678,1950,3784,0,0,0,0,0,0,25.43,25.93,28.83
$GC,2483,-0.83,-243.3,297.5,-9.5,351,2491,0.00,2.17,0.00,0.000,4,0.000,0.051,2678,559,3783,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2548,-0.83,-243.3,304.0,-10.3,357,2555,0.00,2.20,0.00,0.000,6,0.000,0.041,2674,1963,3784,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2855,-0.81,-243.3,337.8,-10.9,388,2864,0.00,2.17,0.00,0.000,4,0.000,0.050,2673,3356,3782,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2909,-0.81,-243.3,343.7,-11.7,393,2916,0.00,2.12,0.00,0.000,6,0.000,0.030,2673,1952,3782,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3217,-0.83,-243.3,377.9,-10.8,424,3226,0.00,2.17,0.00,0.000,4,0.000,0.051,2673,570,3780,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3239,-0.84,-243.3,380.4,-11.1,426,3248,0.00,2.17,0.00,0.000,6,0.000,0.039,2673,1958,3780,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3549,-0.86,-243.3,415.8,-11.3,457,3557,0.00,2.25,0.00,0.000,4,0.000,0.051,2673,3366,3778,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3590,-0.87,-243.3,420.5,-11.0,461,3599,0.00,2.12,0.00,0.000,6,0.000,0.031,2673,1955,3778,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3901,-0.89,-243.3,454.1,-10.3,492,3909,0.00,2.20,0.00,0.000,4,0.000,0.050,2673,3349,3777,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3952,-0.89,-243.3,459.5,-10.4,497,3956,0.00,2.12,0.00,0.000,6,0.000,0.032,2673,1958,3777,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4265,-0.91,-243.3,488.6,-8.3,528,4273,0.00,2.28,0.00,0.000,4,0.000,0.051,2673,3363,3775,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4348,-0.93,-243.3,495.4,-8.4,536,4357,0.00,2.15,0.00,0.000,6,0.000,0.038,2673,1958,3774,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4657,-0.95,-243.3,520.9,-8.6,567,4666,0.00,2.25,0.00,0.000,4,0.000,0.052,2673,3352,3773,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4689,-0.97,-243.3,523.5,-8.2,570,4699,0.08,2.12,0.00,0.000,6,0.057,0.031,2613,1948,3773,0,0,0,0,0,0,25.79,25.91,28.83
$GC,4999,-0.93,-243.3,559.4,-11.6,601,5008,0.12,2.22,0.00,0.000,4,0.164,0.052,2652,555,3771,0,0,0,0,0,0,25.96,25.51,28.83
$GC,5044,-0.90,-243.3,564.0,-11.0,605,5051,0.00,2.20,0.00,0.000,6,0.000,0.039,2647,1959,3770,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5352,-0.88,-243.3,596.5,-10.3,636,5360,0.00,2.22,0.00,0.000,4,0.000,0.053,2643,3364,3768,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5417,-0.87,-243.3,602.7,-10.1,641,5421,0.00,2.17,0.00,0.000,6,0.000,0.032,2643,1950,3768,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5731,-0.84,-243.3,635.8,-10.7,657,5737,0.12,2.22,0.00,0.000,4,0.161,0.052,2682,561,3767,0,0,0,0,0,0,25.98,25.49,28.83
$GC,5759,-0.83,-243.3,638.0,-10.7,658,5763,0.00,2.20,0.00,0.000,6,0.000,0.041,2681,1955,3767,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6067,-0.86,-243.3,664.2,-8.0,673,6073,0.00,2.25,0.00,0.000,4,0.000,0.053,2682,3366,3765,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6168,-0.88,-243.3,672.6,-8.4,678,6172,0.00,2.15,0.00,0.000,6,0.000,0.032,2682,1955,3764,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6483,-0.92,-243.3,699.3,-8.4,694,6488,0.00,2.28,0.00,0.000,4,0.000,0.052,2682,3357,3762,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6516,-0.95,-243.3,701.1,-8.4,695,6524,0.12,2.17,0.00,0.000,6,0.084,0.033,2616,1949,3762,0,0,0,0,0,0,25.79,25.84,28.83
$GC,6823,-0.91,-243.3,738.0,-11.5,711,6829,0.12,2.22,0.00,0.000,4,0.164,0.054,2654,567,3761,0,0,0,0,0,0,25.96,25.42,28.83
$GC,6873,-0.89,-243.3,742.0,-10.7,713,6882,0.00,2.20,0.00,0.000,6,0.000,0.041,2655,1956,3760,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7183,-0.88,-243.3,767.4,-7.0,729,7189,0.00,2.25,0.00,0.000,4,0.000,0.054,2655,3360,3758,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7264,-0.88,-243.3,772.8,-6.7,733,7268,0.00,2.17,0.00,0.000,6,0.000,0.033,2655,1957,3758,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7587,-0.86,-243.3,796.4,-7.3,749,7592,0.00,2.25,0.00,0.000,4,0.000,0.054,2655,562,3757,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7617,-0.85,-243.3,798.1,-7.5,750,7626,0.00,2.22,0.00,0.000,6,0.000,0.042,2655,1964,3757,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7927,-0.84,-243.3,825.9,-8.7,766,7933,0.00,2.22,0.00,0.000,4,0.000,0.054,2655,3354,3755,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7989,-0.84,-243.3,831.1,-8.7,769,7993,0.00,2.20,0.00,0.000,6,0.000,0.034,2654,1945,3755,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8304,-0.83,-243.3,862.3,-10.8,785,8309,0.00,2.20,0.00,0.000,4,0.000,0.055,2655,565,3755,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8325,-0.82,-243.3,864.5,-10.7,786,8330,0.12,2.22,0.00,0.000,6,0.153,0.042,2689,1964,3754,0,0,0,0,0,0,25.36,25.61,28.83
$GC,8642,-0.86,-243.3,892.7,-8.9,802,8647,0.00,2.28,0.00,0.000,4,0.000,0.053,2689,567,3753,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8734,-0.90,-243.3,900.3,-9.3,806,8741,0.00,2.20,0.00,0.000,6,0.000,0.041,2689,1954,3752,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9042,-0.94,-243.3,931.0,-9.9,822,9048,0.12,2.28,0.00,0.000,4,0.090,0.051,2612,564,3751,0,0,0,0,0,0,26.29,25.35,28.83
$GC,9134,-0.92,-243.3,941.4,-12.8,826,9143,0.17,2.22,0.00,0.000,6,0.154,0.043,2651,1958,3751,0,0,0,0,0,0,25.14,25.56,28.83
$GC,9445,-0.91,-243.3,976.4,-9.5,842,9450,0.00,2.25,0.00,0.000,4,0.000,0.054,2644,3357,3750,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9524,-0.90,-243.3,983.1,-8.2,846,9529,0.00,2.15,0.00,0.000,6,0.000,0.035,2644,1961,3749,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,9621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9621,begin apogee
$GC,9627,-0.17,0.0,991.4,-8.3,851,9835,0.77,0.00,200.55,1.304,6,0.123,0.000,2890,1961,2786,0,0,0,0,0,0,24.68,28.83,22.94
$STATE,9835,end apogee,CONTROL_FINISHED_OK
$STATE,9836,begin climb
$GC,9838,0.80,243.3,995.6,0.0,861,10070,0.88,2.58,220.90,1.253,4,0.050,0.050,3217,3394,1793,0,0,0,0,0,0,24.53,23.68,22.23
$GC,10125,0.72,243.3,953.2,18.9,876,10131,0.12,2.30,0.00,0.000,6,0.141,0.037,3190,1991,1790,0,0,0,0,0,0,24.54,24.89,28.83
$GC,10447,0.67,243.3,899.9,16.6,892,10452,0.00,2.22,0.00,0.000,4,0.000,0.056,3198,592,1787,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10498,0.61,243.3,892.8,16.9,894,10507,0.20,2.22,0.00,0.000,6,0.142,0.038,3143,2016,1785,0,0,0,0,0,0,25.41,25.80,28.83
$GC,10805,0.58,243.3,844.3,15.0,910,10811,0.00,2.20,0.00,0.000,4,0.000,0.047,3143,3395,1784,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10855,0.55,243.3,838.0,15.4,912,10864,0.00,2.20,0.00,0.000,6,0.000,0.034,3151,1987,1784,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11165,0.52,243.3,793.6,13.7,928,11172,0.12,2.25,0.00,0.000,4,0.163,0.052,3121,579,1784,0,0,0,0,0,0,25.91,25.53,28.83
$GC,11240,0.50,243.3,786.4,12.3,931,11247,0.00,2.17,0.00,0.000,6,0.000,0.034,3121,1984,1783,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11546,0.61,344.4,755.8,7.9,947,11646,0.00,2.33,91.88,1.156,4,0.000,0.045,3121,3392,1379,0,0,0,0,0,0,28.83,25.03,23.58
$GC,11724,0.71,425.1,741.7,8.5,955,11804,0.15,2.17,72.60,1.117,6,0.080,0.031,3205,1985,1051,0,0,0,0,0,0,25.69,25.73,23.55
$GC,12112,0.69,425.1,693.4,12.0,975,12118,0.12,2.20,0.00,0.000,4,0.148,0.050,3176,596,1045,0,0,0,0,0,0,25.91,25.70,28.83
$GC,12205,0.73,457.9,685.3,10.0,979,12239,0.00,2.15,29.05,1.063,6,0.000,0.031,3176,1995,918,0,0,0,0,0,0,28.83,25.92,23.91
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$GC,13659,0.70,457.9,512.5,12.2,1088,13668,0.12,2.28,0.00,0.000,4,0.145,0.047,3174,588,912,0,0,0,0,0,0,26.00,25.54,28.83
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$GC,14842,0.91,490.2,363.7,10.9,1205,14844,0.10,0.00,0.00,0.000,6,0.108,0.000,3268,1977,787,0,0,0,0,0,0,26.26,28.83,28.83
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$GC,15495,0.85,490.2,273.4,13.8,1270,15507,0.00,2.22,0.00,0.000,4,0.000,0.042,3236,3390,787,0,0,0,0,0,0,28.83,25.58,28.83
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$STATE,17694,end climb,SURFACE_DEPTH_REACHED
$STATE,17694,begin surface coast
$FINISH,3.8,1.012108
$STATE,17724,end surface coast,CONTROL_FINISHED_OK
$STATE,17724,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,51.26
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$10V_AH,9.8,89.506
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324988
$DATA_FILE_SIZE,86832,1611
$CAP_FILE_SIZE,216003,0
$CFSIZE,260165632,149307392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.191,297.2,1
$GPS,110312,052325,2202.435,12003.584,40,1.6,40,-2.7