version: 66.10
glider: 169
mission: 5
dive: 17
start: 11 11 111 16 41 58
data:
$ID,169
$MISSION,5
$DIVE,17
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,380
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-10289.507
$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,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2530
$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,8
$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
$GPS1,111111,163437,2314.049,12150.778,36,1.0,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-64.7
$GPS2,111111,164132,2314.156,12150.756,13,1.7,13,-3.1
$SPEED_LIMITS,0.163,0.289
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,120.6,220698,-14.0,-9.429
$D_GRID,3421
$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,14,begin dive
$GC,16,-0.61,-194.6,0.0,0.0,0,104,0.00,0.00,-85.88,0.000,2,0.000,0.000,109,2549,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.61,-194.6,3.1,-4.9,10,137,6.93,2.17,-16.15,0.000,4,0.244,0.058,1819,1158,3776,0,0,0,0,0,0,25.79,26.05,26.35
$GC,263,-0.51,-194.6,62.7,-25.8,33,274,0.10,2.30,0.00,0.000,6,0.144,0.054,1842,2618,3775,0,0,0,0,0,0,26.03,26.13,28.83
$GC,644,-0.39,-194.6,169.7,-23.1,94,654,0.12,2.20,0.00,0.000,4,0.179,0.040,1890,1162,3775,0,0,0,0,0,0,26.25,26.32,28.83
$GC,676,-0.33,-194.6,176.3,-20.5,98,685,0.00,2.28,0.00,0.000,6,0.000,0.057,1880,2613,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1054,-0.30,-194.6,224.7,-13.6,159,1064,0.10,1.88,0.00,0.000,4,0.158,0.058,1901,3804,3775,0,0,0,0,0,0,26.39,26.41,28.83
$GC,1134,-0.39,-194.6,231.9,-6.9,171,1142,0.00,1.85,0.00,0.000,6,0.000,0.034,1900,2555,3775,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1478,-0.55,-194.6,262.4,-9.6,219,1487,0.17,2.03,0.00,0.000,4,0.101,0.038,1837,1155,3775,0,0,0,0,0,0,26.48,26.50,28.83
$GC,1603,-0.71,-194.6,273.2,-8.4,230,1612,0.12,2.22,0.00,0.000,6,0.083,0.048,1785,2615,3775,0,0,0,0,0,0,26.47,26.51,28.83
$GC,1910,-0.60,-194.6,321.9,-20.6,261,1920,0.12,2.15,0.00,0.000,4,0.162,0.038,1830,1149,3774,0,0,0,0,0,0,26.45,26.54,28.83
$GC,1986,-0.62,-194.6,332.4,-10.8,268,1993,0.00,2.25,0.00,0.000,6,0.000,0.054,1821,2628,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2295,-0.58,-194.6,373.9,-12.9,299,2299,0.00,1.85,0.00,0.000,4,0.000,0.059,1813,3806,3771,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2351,-0.56,-194.6,380.7,-12.4,304,2357,0.00,1.83,0.00,0.000,6,0.000,0.036,1813,2556,3770,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2659,-0.50,-194.6,422.4,-13.9,335,2669,0.12,2.03,0.00,0.000,4,0.149,0.039,1855,1160,3769,0,0,0,0,0,0,26.51,26.58,28.83
$GC,2713,-0.54,-194.6,427.3,-8.1,340,2721,0.00,2.22,0.00,0.000,6,0.000,0.054,1848,2627,3768,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3024,-0.57,-194.6,451.8,-8.3,371,3027,0.00,1.80,0.00,0.000,4,0.000,0.060,1840,3806,3766,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3079,-0.60,-194.6,456.0,-8.0,376,3086,0.00,1.85,0.00,0.000,6,0.000,0.037,1840,2551,3765,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3386,-0.61,-194.6,482.3,-8.2,407,3395,0.00,2.05,0.00,0.000,4,0.000,0.041,1840,1158,3763,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3419,-0.64,-194.6,484.9,-8.3,410,3428,0.00,2.25,0.00,0.000,6,0.000,0.054,1833,2630,3762,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3727,-0.64,-194.6,511.2,-8.4,441,3731,0.00,1.83,0.00,0.000,4,0.000,0.060,1825,3809,3760,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3801,-0.67,-194.6,517.1,-7.9,448,3805,0.00,1.88,0.00,0.000,6,0.000,0.039,1824,2534,3759,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4114,-0.67,-194.6,545.9,-9.3,479,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2532,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4414,-0.67,-194.6,575.6,-9.8,509,4422,0.00,1.98,0.00,0.000,4,0.000,0.060,1815,3811,3754,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4487,-0.68,-194.6,582.8,-9.5,516,4496,0.00,1.85,0.00,0.000,6,0.000,0.040,1816,2563,3753,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4799,-0.66,-194.6,615.1,-10.5,540,4804,0.00,1.95,0.00,0.000,4,0.000,0.062,1806,3811,3752,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4825,-0.64,-194.6,617.4,-10.6,541,4829,0.00,1.85,0.00,0.000,6,0.000,0.040,1807,2554,3751,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5132,-0.62,-194.6,652.3,-11.0,556,5137,0.00,2.08,0.00,0.000,4,0.000,0.044,1806,1155,3749,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5160,-0.60,-194.6,654.3,-10.9,557,5164,0.00,2.25,0.00,0.000,6,0.000,0.057,1797,2621,3749,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5467,-0.56,-194.6,689.4,-11.3,572,5473,0.10,1.85,0.00,0.000,4,0.173,0.061,1816,3806,3747,0,0,0,0,0,0,26.58,26.60,28.83
$GC,5490,-0.53,-194.6,691.6,-11.2,573,5494,0.00,1.88,0.00,0.000,6,0.000,0.041,1816,2567,3747,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5807,-0.53,-194.6,722.8,-10.2,589,5811,0.00,2.08,0.00,0.000,4,0.000,0.046,1816,1161,3745,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5831,-0.53,-194.6,725.2,-10.2,590,5835,0.00,2.25,0.00,0.000,6,0.000,0.059,1813,2614,3745,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6144,-0.52,-194.6,757.7,-10.6,606,6150,0.10,1.88,0.00,0.000,4,0.163,0.062,1833,3812,3742,0,0,0,0,0,0,26.60,26.60,28.83
$GC,6208,-0.54,-194.6,763.0,-9.4,609,6211,0.00,1.88,0.00,0.000,6,0.000,0.040,1833,2554,3741,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6520,-0.56,-194.6,788.1,-8.0,625,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2553,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6820,-0.58,-194.6,813.4,-8.5,640,6826,0.00,1.95,0.00,0.000,4,0.000,0.063,1824,3816,3739,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6860,-0.61,-194.6,816.9,-8.5,642,6865,0.00,1.88,0.00,0.000,6,0.000,0.041,1824,2558,3738,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7180,-0.62,-194.6,844.3,-8.3,658,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2557,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-0.63,-194.6,869.0,-8.4,673,7485,0.00,1.98,0.00,0.000,4,0.000,0.065,1816,3805,3735,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7508,-0.64,-194.6,870.7,-8.3,674,7512,0.00,1.85,0.00,0.000,6,0.000,0.041,1815,2571,3735,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7815,-0.64,-194.6,899.0,-8.8,689,7820,0.00,2.10,0.00,0.000,4,0.000,0.047,1815,1158,3733,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7837,-0.64,-194.6,900.7,-8.8,690,7841,0.00,2.25,0.00,0.000,6,0.000,0.057,1813,2613,3733,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8150,-0.64,-194.6,928.8,-9.0,706,8155,0.00,1.85,0.00,0.000,4,0.000,0.065,1804,3808,3732,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8183,-0.64,-194.6,930.7,-9.1,707,8190,0.00,1.85,0.00,0.000,6,0.000,0.041,1804,2565,3731,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8491,-0.64,-194.6,963.2,-10.3,723,8496,0.00,1.95,0.00,0.000,4,0.000,0.065,1795,3822,3730,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8519,-0.63,-194.6,965.4,-10.4,724,8522,0.00,1.90,0.00,0.000,6,0.000,0.041,1795,2553,3730,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,8744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8744,begin apogee
$GC,8749,-0.21,0.0,990.8,-10.6,735,8920,0.40,0.08,163.77,1.165,6,0.112,0.128,1936,2548,2977,0,0,0,0,0,0,26.55,24.60,23.91
$STATE,8921,end apogee,CONTROL_FINISHED_OK
$STATE,8921,begin climb
$GC,8923,0.61,194.6,998.5,0.0,743,9114,0.73,2.15,181.82,1.153,4,0.053,0.057,2206,3810,2177,0,0,0,0,0,0,24.83,24.51,23.77
$GC,9179,0.45,194.6,969.6,20.9,755,9185,0.20,2.10,0.00,0.000,6,0.187,0.044,2161,2508,2157,0,0,0,0,0,0,25.04,25.20,28.83
$GC,9500,0.37,194.6,915.5,17.1,771,9505,0.12,2.08,0.00,0.000,4,0.194,0.058,2125,3809,2150,0,0,0,0,0,0,25.72,25.82,28.83
$GC,9547,0.29,194.6,909.1,16.6,773,9551,0.12,2.05,0.00,0.000,6,0.179,0.042,2105,2492,2150,0,0,0,0,0,0,25.77,25.89,28.83
$GC,9859,0.27,196.5,875.2,9.4,789,9865,0.00,2.15,0.00,0.000,4,0.000,0.053,2115,1089,2148,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9892,0.25,198.6,873.3,9.4,790,9901,0.00,2.28,0.00,0.000,6,0.000,0.054,2115,2542,2147,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10200,0.22,198.6,839.7,10.8,806,10206,0.12,1.98,0.00,0.000,4,0.166,0.060,2076,3802,2148,0,0,0,0,0,0,26.12,26.20,28.83
$GC,10268,0.21,198.6,833.3,10.6,809,10272,0.00,2.00,0.00,0.000,6,0.000,0.042,2087,2506,2146,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10576,0.22,206.4,805.3,9.2,824,10587,0.00,2.22,4.55,0.831,4,0.000,0.049,2098,1091,2136,0,0,0,0,0,0,28.83,26.21,25.32
$GC,10603,0.23,213.9,803.5,9.2,825,10622,0.00,2.28,12.12,0.929,6,0.000,0.055,2098,2544,2104,0,0,0,0,0,0,28.83,26.21,25.39
$GC,10936,0.23,213.9,770.3,9.6,842,10942,0.00,2.00,0.00,0.000,4,0.000,0.063,2098,3807,2092,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10975,0.23,213.9,766.2,9.9,844,10980,0.00,2.00,0.00,0.000,6,0.000,0.043,2108,2508,2092,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11295,0.21,213.9,734.4,9.6,860,11301,0.00,2.15,0.00,0.000,4,0.000,0.050,2118,1098,2091,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11315,0.21,213.9,732.5,9.5,861,11322,0.15,2.25,0.00,0.000,6,0.148,0.056,2075,2546,2091,0,0,0,0,0,0,26.19,26.27,28.83
$GC,11637,0.34,294.7,710.4,6.8,877,11716,0.12,2.42,67.65,1.173,4,0.081,0.053,2157,1101,1783,0,0,0,0,1,0,26.43,25.00,24.11
$GC,11740,0.29,294.7,697.9,12.8,882,11747,0.15,2.33,1.75,0.164,6,0.129,0.056,2109,2539,1776,0,0,0,0,0,0,25.18,25.25,25.13
$GC,12056,0.31,294.7,663.7,11.0,898,12062,0.00,2.00,0.00,0.000,4,0.000,0.062,2109,3803,1785,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12089,0.32,294.7,661.3,11.1,899,12096,0.00,2.03,0.00,0.000,6,0.000,0.041,2119,2505,1785,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,17649,end climb,SURFACE_DEPTH_REACHED
$STATE,17649,begin surface coast
$FINISH,-0.2,1.021973
$STATE,17675,end surface coast,CONTROL_FINISHED_OK
$STATE,17676,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,38.38
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,10.3,4.914
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,103758,1545
$CAP_FILE_SIZE,197279,0
$CFSIZE,260165632,221433856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.269,321.9,1
$GPS,111111,213855,2314.350,12153.257,39,1.2,39,-3.1