version: 66.10
glider: 169
mission: 5
dive: 38
start: 11 16 111 2 23 26
data:
$ID,169
$MISSION,5
$DIVE,38
$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,400
$T_MISSION,430
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,13
$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,-10315.934
$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,2000
$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,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
$GPS1,161111,021524,2338.477,12259.209,24,1.0,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.7
$GPS2,161111,022301,2338.619,12259.211,15,1.1,15,-3.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,0.049
$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,80.7,96832,-13.2,-8.250
$D_GRID,2540
$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,18,-0.54,-170.3,0.0,0.0,0,103,0.00,0.00,-82.85,0.000,2,0.000,0.000,117,2661,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.54,-170.3,3.3,-6.2,11,139,6.80,2.25,-15.20,0.000,4,0.238,0.050,1829,1183,3676,0,0,0,0,0,0,25.83,26.12,26.41
$GC,182,-0.41,-170.3,38.4,-40.7,22,192,0.12,2.30,0.00,0.000,6,0.143,0.053,1860,2645,3676,0,0,0,0,0,0,26.01,26.14,28.83
$GC,540,-0.32,-170.3,142.7,-22.8,83,550,0.12,2.17,0.00,0.000,4,0.181,0.033,1908,1188,3676,0,0,0,0,0,0,26.22,26.36,28.83
$GC,576,-0.27,-170.3,150.0,-19.9,88,585,0.00,2.25,0.00,0.000,6,0.000,0.049,1898,2648,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,934,-0.25,-170.3,197.7,-12.7,149,943,0.00,2.17,0.00,0.000,4,0.000,0.035,1898,1190,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,986,-0.28,-170.3,203.3,-9.2,157,995,0.00,2.22,0.00,0.000,6,0.000,0.047,1890,2648,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1344,-0.26,-170.3,241.3,-12.0,218,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2648,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1668,-0.25,-170.3,277.0,-10.6,255,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2648,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1978,-0.25,-170.3,307.3,-8.8,286,1986,0.00,2.10,0.00,0.000,4,0.000,0.036,1889,1191,3673,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1999,-0.26,-170.3,309.3,-8.8,288,2009,0.12,2.17,0.00,0.000,6,0.122,0.047,1922,2654,3674,0,0,0,0,0,0,26.53,26.57,28.83
$GC,2309,-0.38,-170.3,325.6,-8.5,319,2318,0.12,2.15,0.00,0.000,4,0.111,0.034,1876,1178,3671,0,0,0,0,0,0,26.60,26.60,28.83
$GC,2412,-0.48,-170.3,334.8,-8.8,329,2421,0.00,2.20,0.00,0.000,6,0.000,0.044,1876,2657,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2721,-0.60,-170.3,361.0,-8.4,360,2731,0.17,2.15,0.00,0.000,4,0.093,0.034,1810,1182,3669,0,0,0,0,0,0,26.62,26.63,28.83
$GC,2754,-0.68,-170.3,363.9,-9.1,363,2763,0.00,2.20,0.00,0.000,6,0.000,0.044,1808,2658,3668,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3065,-0.63,-170.3,406.1,-14.4,394,3074,0.00,2.12,0.00,0.000,4,0.000,0.037,1808,1183,3667,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3137,-0.60,-170.3,416.0,-12.2,401,3146,0.00,2.22,0.00,0.000,6,0.000,0.047,1797,2657,3665,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3447,-0.54,-170.3,466.9,-17.2,432,3456,0.00,2.17,0.00,0.000,4,0.000,0.037,1797,1180,3665,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3488,-0.49,-170.3,473.5,-15.9,436,3498,0.17,2.20,0.00,0.000,6,0.128,0.047,1842,2651,3665,0,0,0,0,0,0,26.55,26.63,28.83
$GC,3798,-0.48,-170.3,505.4,-9.3,467,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2651,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4102,-0.47,-170.3,532.6,-8.9,497,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2651,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.46,-170.3,560.0,-8.7,528,4419,0.00,2.15,0.00,0.000,4,0.000,0.038,1842,1183,3658,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4462,-0.48,-170.3,564.3,-8.2,533,4471,0.00,2.20,0.00,0.000,6,0.000,0.049,1833,2648,3657,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4772,-0.47,-170.3,591.2,-9.1,564,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2648,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.45,-170.3,618.6,-9.0,585,5087,0.00,2.15,0.00,0.000,4,0.000,0.039,1834,1183,3651,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5142,-0.45,-170.3,623.7,-8.7,588,5148,0.00,2.25,0.00,0.000,6,0.000,0.050,1825,2655,3651,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5462,-0.44,-170.3,653.1,-9.2,604,5468,0.12,2.15,0.00,0.000,4,0.145,0.037,1868,1186,3649,0,0,0,0,0,0,26.58,26.64,28.83
$GC,5495,-0.43,-170.3,654.8,-9.0,605,5502,0.00,2.22,0.00,0.000,6,0.000,0.050,1865,2655,3648,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5804,-0.45,-170.3,672.2,-5.6,621,5807,0.00,1.75,0.00,0.000,4,0.000,0.057,1856,3812,3646,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5825,-0.48,-170.3,673.5,-5.5,622,5829,0.00,1.80,0.00,0.000,6,0.000,0.036,1856,2577,3645,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6147,-0.50,-170.3,695.1,-7.0,638,6153,0.00,2.03,0.00,0.000,4,0.000,0.039,1856,1183,3643,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6175,-0.52,-170.3,696.5,-7.0,639,6179,0.00,2.22,0.00,0.000,6,0.000,0.050,1848,2649,3642,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6482,-0.53,-170.3,720.7,-7.6,654,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2649,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6783,-0.54,-170.3,742.1,-7.0,669,6789,0.00,2.15,0.00,0.000,4,0.000,0.040,1848,1184,3639,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6810,-0.55,-170.3,743.6,-7.0,670,6813,0.00,2.22,0.00,0.000,6,0.000,0.052,1840,2649,3638,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7122,-0.55,-170.3,768.5,-8.0,686,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2649,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.56,-170.3,790.9,-7.2,701,7426,0.00,2.17,0.00,0.000,4,0.000,0.039,1840,1183,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7467,-0.57,-170.3,793.9,-7.1,703,7472,0.00,2.22,0.00,0.000,6,0.000,0.051,1833,2648,3636,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7785,-0.57,-170.3,817.1,-7.2,719,7788,0.00,1.80,0.00,0.000,4,0.000,0.059,1825,3811,3633,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7829,-0.57,-170.3,820.1,-7.4,721,7832,0.00,1.83,0.00,0.000,6,0.000,0.037,1825,2588,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8146,-0.57,-170.3,843.9,-7.3,737,8152,0.00,2.05,0.00,0.000,4,0.000,0.041,1825,1184,3631,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8206,-0.57,-170.3,847.9,-6.9,740,8211,0.00,2.25,0.00,0.000,6,0.000,0.052,1815,2651,3631,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8527,-0.56,-170.3,874.7,-8.7,756,8532,0.00,2.15,0.00,0.000,4,0.000,0.041,1815,1197,3630,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8566,-0.55,-170.3,878.1,-8.7,758,8571,0.00,2.22,0.00,0.000,6,0.000,0.054,1813,2655,3629,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8887,-0.53,-170.3,905.8,-8.5,774,8893,0.00,2.15,0.00,0.000,4,0.000,0.041,1813,1205,3629,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8920,-0.51,-170.3,907.5,-8.5,775,8926,0.00,2.20,0.00,0.000,6,0.000,0.053,1804,2648,3629,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9226,-0.49,-170.3,935.3,-8.9,791,9232,0.12,2.15,0.00,0.000,4,0.148,0.041,1853,1194,3627,0,0,0,0,0,0,26.55,26.61,28.83
$GC,9259,-0.48,-170.3,937.0,-8.7,792,9265,0.00,2.22,0.00,0.000,6,0.000,0.053,1845,2649,3627,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9567,-0.50,-170.3,956.0,-6.2,808,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2650,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,-0.52,-170.3,974.6,-6.2,823,9872,0.00,2.17,0.00,0.000,4,0.000,0.041,1845,1189,3625,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9910,-0.54,-170.3,977.1,-6.2,825,9914,0.00,2.25,0.00,0.000,6,0.000,0.053,1838,2655,3625,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,10119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10119,begin apogee
$GC,10125,-0.20,0.0,991.2,-6.8,836,10276,0.25,0.10,142.65,1.167,6,0.102,0.103,1932,2525,2973,0,0,0,0,0,0,26.55,24.76,24.06
$STATE,10277,end apogee,CONTROL_FINISHED_OK
$STATE,10277,begin climb
$GC,10279,0.54,170.3,997.6,0.0,843,10443,0.65,0.00,160.02,1.167,6,0.054,0.000,2176,2524,2282,0,0,0,0,0,0,24.98,28.83,23.87
$GC,10742,0.45,170.3,945.7,15.4,867,10743,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2524,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11042,0.36,170.3,901.0,15.0,882,11048,0.17,2.03,0.00,0.000,4,0.184,0.055,2125,3807,2251,0,0,0,0,0,0,25.89,26.02,28.83
$GC,11089,0.29,170.3,895.2,15.0,884,11094,0.15,2.05,0.00,0.000,6,0.181,0.040,2098,2460,2249,0,0,0,0,0,0,25.92,26.08,28.83
$GC,11399,0.26,170.3,863.0,10.1,899,11404,0.00,2.12,0.00,0.000,4,0.000,0.057,2097,3812,2249,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11450,0.24,170.3,858.5,10.6,901,11456,0.00,2.05,0.00,0.000,6,0.000,0.039,2108,2463,2248,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11757,0.21,170.3,824.4,10.2,917,11763,0.12,2.12,0.00,0.000,4,0.173,0.056,2069,3812,2248,0,0,0,0,0,0,26.17,26.27,28.83
$GC,11785,0.18,170.3,822.4,10.2,918,11789,0.00,2.05,0.00,0.000,6,0.000,0.039,2079,2463,2247,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12092,0.21,192.9,797.7,7.5,933,12118,0.00,2.22,20.27,0.992,4,0.000,0.057,2080,3810,2183,0,0,0,0,0,0,28.83,25.94,25.19
$GC,12135,0.23,213.5,794.7,7.6,935,12163,0.00,2.05,22.48,0.940,6,0.000,0.037,2090,2460,2106,0,0,0,0,0,0,28.83,26.00,24.92
$GC,12473,0.24,220.2,766.8,8.0,952,12478,0.00,2.12,0.00,0.000,4,0.000,0.056,2090,3803,2089,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12505,0.25,226.3,765.2,8.0,953,12524,0.00,2.05,12.32,0.985,6,0.000,0.037,2101,2460,2051,0,0,0,0,0,0,28.83,26.06,25.06
$GC,12831,0.25,226.3,735.4,8.4,970,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2461,2035,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19760,end climb,SURFACE_DEPTH_REACHED
$STATE,19760,begin surface coast
$FINISH,1.2,1.021866
$STATE,19773,end surface coast,CONTROL_FINISHED_OK
$STATE,19774,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,37.79
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,25.50
$XPDR_PINGS,0
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$10V_AH,10.3,8.852
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324608
$DATA_FILE_SIZE,116957,1739
$CAP_FILE_SIZE,212649,0
$CFSIZE,260165632,219332608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161111,075555,2339.898,12304.311,72,1.1,72,-3.3