version: 66.10
glider: 169
mission: 5
dive: 39
start: 11 16 111 8 3 45
data:
$ID,169
$MISSION,5
$DIVE,39
$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,-9
$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,-10317.195
$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
$GPS1,161111,075555,2339.898,12304.311,72,1.1,72,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.7
$GPS2,161111,080302,2340.014,12304.387,15,1.4,15,-3.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.183,0.167
$KALMAN_X,6509414.5,0.0,0.0,6515529.0,7696666.5
$KALMAN_Y,1251756.8,0.0,0.0,1252932.8,1480064.8
$MHEAD_RNG_PITCHd_Wd,81.1,87714,-13.2,-8.250
$D_GRID,3199
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-170.3,0.0,0.0,0,112,0.00,0.00,-90.90,0.000,2,0.000,0.000,117,2672,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.54,-170.3,4.4,-9.3,12,139,6.60,2.25,-9.88,0.000,4,0.229,0.047,1827,1183,3674,0,0,0,0,0,0,25.86,26.15,26.44
$GC,205,-0.45,-170.3,47.3,-31.1,26,215,0.10,2.30,0.00,0.000,6,0.153,0.049,1849,2651,3674,0,0,0,0,0,0,26.06,26.19,28.83
$GC,563,-0.35,-170.3,152.1,-23.3,87,572,0.12,0.00,0.00,0.000,6,0.181,0.000,1886,2651,3674,0,0,0,0,0,0,26.25,28.83,28.83
$GC,922,-0.31,-170.3,208.5,-12.8,148,930,0.00,2.20,0.00,0.000,4,0.000,0.036,1893,1183,3674,0,0,0,0,0,0,28.83,26.46,28.83
$GC,997,-0.33,-170.3,215.8,-7.8,160,1006,0.00,2.25,0.00,0.000,6,0.000,0.047,1884,2655,3674,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1353,-0.30,-170.3,255.2,-11.8,218,1357,0.00,2.15,0.00,0.000,4,0.000,0.036,1884,1186,3674,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1377,-0.29,-170.3,257.8,-11.6,220,1387,0.08,2.22,0.00,0.000,6,0.113,0.045,1906,2647,3674,0,0,0,0,0,0,26.45,26.53,28.83
$GC,1688,-0.30,-170.3,280.3,-6.6,251,1691,0.00,1.77,0.00,0.000,4,0.000,0.052,1898,3809,3672,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1721,-0.33,-170.3,282.7,-6.9,254,1724,0.00,1.77,0.00,0.000,6,0.000,0.031,1898,2576,3672,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2032,-0.35,-170.3,304.4,-7.6,285,2041,0.00,2.00,0.00,0.000,4,0.000,0.035,1897,1183,3671,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2074,-0.39,-170.3,307.5,-7.4,289,2083,0.00,2.17,0.00,0.000,6,0.000,0.046,1891,2651,3671,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2385,-0.40,-170.3,332.8,-8.2,320,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2651,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,-0.42,-170.3,356.9,-7.4,351,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2651,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3006,-0.44,-170.3,380.1,-7.9,382,3009,0.00,2.15,0.00,0.000,4,0.000,0.037,1891,1184,3665,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3038,-0.47,-170.3,382.8,-8.2,385,3047,0.12,2.20,0.00,0.000,6,0.083,0.046,1812,2653,3664,0,0,0,0,0,0,26.65,26.63,28.83
$GC,3348,-0.42,-170.3,432.6,-16.7,416,3357,0.15,2.12,0.00,0.000,4,0.146,0.035,1864,1191,3663,0,0,0,0,0,0,26.54,26.65,28.83
$GC,3373,-0.37,-170.3,436.0,-15.7,418,3380,0.00,2.20,0.00,0.000,6,0.000,0.047,1855,2654,3663,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3681,-0.37,-170.3,464.9,-8.8,449,3689,0.00,2.12,0.00,0.000,4,0.000,0.036,1855,1190,3660,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3712,-0.37,-170.3,467.7,-8.8,452,3722,0.12,2.20,0.00,0.000,6,0.129,0.048,1886,2651,3661,0,0,0,0,0,0,26.58,26.63,28.83
$GC,4022,-0.40,-170.3,486.5,-5.9,483,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2651,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4324,-0.43,-170.3,504.2,-6.2,513,4328,0.00,1.75,0.00,0.000,4,0.000,0.055,1878,3816,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4358,-0.47,-170.3,506.2,-5.9,516,4365,0.00,1.83,0.00,0.000,6,0.000,0.034,1878,2579,3656,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4666,-0.50,-170.3,526.8,-6.5,547,4675,0.12,2.05,0.00,0.000,4,0.079,0.036,1776,1180,3653,0,0,0,0,0,0,26.72,26.65,28.83
$GC,4708,-0.48,-170.3,531.8,-12.1,551,4718,0.25,2.22,0.00,0.000,6,0.128,0.050,1844,2651,3653,0,0,0,0,0,0,26.55,26.63,28.83
$GC,5018,-0.47,-170.3,563.3,-9.9,582,5022,0.00,2.15,0.00,0.000,4,0.000,0.037,1845,1183,3651,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5080,-0.48,-170.3,569.0,-9.3,588,5089,0.00,2.22,0.00,0.000,6,0.000,0.048,1836,2655,3651,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5390,-0.47,-170.3,602.5,-10.9,618,5395,0.00,2.17,0.00,0.000,4,0.000,0.037,1836,1181,3648,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5423,-0.45,-170.3,604.8,-11.0,619,5429,0.00,2.22,0.00,0.000,6,0.000,0.049,1826,2654,3648,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5730,-0.43,-170.3,639.9,-10.7,635,5737,0.12,2.15,0.00,0.000,4,0.152,0.037,1869,1187,3646,0,0,0,0,0,0,26.57,26.64,28.83
$GC,5790,-0.44,-170.3,644.3,-8.1,638,5796,0.00,2.22,0.00,0.000,6,0.000,0.050,1861,2651,3646,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6111,-0.46,-170.3,665.5,-6.7,654,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2651,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6410,-0.47,-170.3,686.2,-6.9,669,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2651,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6710,-0.49,-170.3,706.2,-6.5,684,6716,0.00,2.17,0.00,0.000,4,0.000,0.039,1861,1183,3638,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6744,-0.51,-170.3,707.6,-6.5,685,6750,0.00,2.22,0.00,0.000,6,0.000,0.050,1852,2653,3638,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7052,-0.52,-170.3,729.6,-7.1,701,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2653,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,-0.53,-170.3,750.1,-6.7,716,7354,0.00,1.75,0.00,0.000,4,0.000,0.057,1844,3809,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7380,-0.54,-170.3,751.8,-7.0,717,7384,0.00,1.80,0.00,0.000,6,0.000,0.036,1844,2579,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7687,-0.54,-170.3,773.4,-6.9,732,7693,0.00,2.05,0.00,0.000,4,0.000,0.040,1843,1183,3633,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7732,-0.55,-170.3,776.3,-7.0,734,7738,0.00,2.25,0.00,0.000,6,0.000,0.051,1835,2656,3633,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8047,-0.55,-170.3,801.4,-8.2,750,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2656,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8348,-0.55,-170.3,826.7,-8.3,765,8353,0.00,2.12,0.00,0.000,4,0.000,0.040,1835,1197,3629,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8399,-0.55,-170.3,830.1,-8.5,767,8406,0.00,2.22,0.00,0.000,6,0.000,0.052,1826,2655,3629,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8709,-0.54,-170.3,859.2,-9.1,783,8714,0.00,2.15,0.00,0.000,4,0.000,0.040,1826,1197,3628,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8755,-0.54,-170.3,862.8,-9.1,785,8759,0.00,2.20,0.00,0.000,6,0.000,0.052,1818,2651,3628,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9062,-0.52,-170.3,893.8,-10.2,800,9065,0.00,1.77,0.00,0.000,4,0.000,0.059,1809,3815,3627,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9083,-0.51,-170.3,896.1,-10.5,801,9087,0.00,1.80,0.00,0.000,6,0.000,0.037,1809,2580,3627,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9407,-0.48,-170.3,931.9,-11.1,817,9409,0.12,0.00,0.00,0.000,6,0.138,0.000,1846,2578,3626,0,0,0,0,0,0,26.57,28.83,28.83
$GC,9705,-0.50,-170.3,955.5,-7.5,832,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2578,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10005,-0.51,-170.3,976.3,-6.7,847,10011,0.00,2.03,0.00,0.000,4,0.000,0.042,1847,1202,3624,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10038,-0.52,-170.3,977.7,-6.7,848,10044,0.00,2.22,0.00,0.000,6,0.000,0.053,1839,2655,3623,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,10222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10222,begin apogee
$GC,10227,-0.20,0.0,991.4,-7.0,858,10375,0.25,0.10,140.73,1.168,6,0.104,0.103,1932,2525,2978,0,0,0,0,0,0,26.53,24.77,24.08
$STATE,10376,end apogee,CONTROL_FINISHED_OK
$STATE,10376,begin climb
$GC,10378,0.54,170.3,997.0,0.0,865,10548,0.65,2.38,158.48,1.167,4,0.054,0.044,2187,1065,2271,0,0,0,0,0,0,24.97,24.63,23.89
$GC,10569,0.44,170.3,986.0,13.2,875,10574,0.17,2.35,0.00,0.000,6,0.167,0.050,2144,2517,2260,0,0,0,0,0,0,24.89,24.99,28.83
$GC,10877,0.38,170.3,941.6,14.1,890,10883,0.00,2.05,0.00,0.000,4,0.000,0.057,2144,3813,2253,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10936,0.30,170.3,932.0,15.5,893,10942,0.15,2.08,0.00,0.000,6,0.166,0.038,2108,2462,2251,0,0,0,0,0,0,25.75,25.91,28.83
$GC,11257,0.27,170.3,895.1,10.8,909,11262,0.00,2.10,0.00,0.000,4,0.000,0.056,2108,3802,2249,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11344,0.23,170.3,885.2,12.4,913,11349,0.15,2.03,0.00,0.000,6,0.171,0.037,2078,2465,2248,0,0,0,0,0,0,26.01,26.17,28.83
$GC,11651,0.25,188.6,859.2,7.6,928,11671,0.00,2.22,15.15,1.008,4,0.000,0.059,2078,3807,2203,0,0,0,0,0,0,28.83,25.93,25.20
$GC,11727,0.25,188.6,853.8,8.4,931,11734,0.00,2.05,0.00,0.000,6,0.000,0.039,2089,2473,2193,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12034,0.24,188.6,826.8,8.4,947,12040,0.00,2.15,0.00,0.000,4,0.000,0.045,2099,1069,2190,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12074,0.26,204.2,823.8,7.7,949,12095,0.00,2.25,15.73,1.003,6,0.000,0.050,2100,2519,2145,0,0,0,0,0,0,28.83,26.20,25.13
$GC,12398,0.25,204.2,796.8,8.5,965,12404,0.00,2.03,0.00,0.000,4,0.000,0.057,2099,3813,2126,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12425,0.24,204.2,794.7,8.7,966,12430,0.12,2.05,0.00,0.000,6,0.166,0.038,2077,2465,2125,0,0,0,0,0,0,26.03,26.16,28.83
$GC,12734,0.30,244.4,772.2,6.9,981,12779,0.00,2.20,40.12,0.985,4,0.000,0.045,2087,1067,1974,0,0,0,0,0,0,28.83,25.52,24.79
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$STATE,20027,end climb,SURFACE_DEPTH_REACHED
$STATE,20028,begin surface coast
$FINISH,0.1,1.009596
$STATE,20071,end surface coast,CONTROL_FINISHED_OK
$STATE,20071,begin surface
$SM_CCo,20146,0.00,0.000,0,0,1020,480.54
$SM_GC,1.07,5.43,0.30,0.00,0.037,0.057,0.000,138,2662,1020,-5.75,-0.28,480.54,0,0,0,0,0,0
$IRIDIUM_FIX,2330.93,12300.94,161111,020225
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.91
$INTERNAL_PRESSURE,9.55471
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,23.9,10.047
$10V_AH,10.3,9.069
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.000,190.175,585.950,0.000,0.000,31.365,24.072,231.125,0.250,0.000,16.634,4230.152,10463.642,695.405,4750.945,420.185,0.351,2470.091,0.000,4355.509,0.000,0.544,0.000
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$SENSOR_SECS,1213.210,2949.272,2127.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330572
$DATA_FILE_SIZE,117195,1782
$CAP_FILE_SIZE,219129,0
$CFSIZE,260165632,219217920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161111,134056,2340.667,12309.145,38,2.6,57,-3.3