version: 66.10
glider: 169
mission: 5
dive: 158
start: 12 9 111 22 23 4
data:
$ID,169
$MISSION,5
$DIVE,158
$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,340
$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,0.0038360001
$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,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,-10915.948
$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
$GPS1,091211,221511,2316.382,12150.613,32,1.8,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.3
$GPS2,091211,222240,2316.458,12150.615,10,2.4,29,-3.1
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,198.7,48470,-15.3,-9.706
$D_GRID,3259
$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,17,-0.62,-194.6,0.0,0.0,0,90,0.00,0.00,-70.93,0.000,2,0.000,0.000,116,2680,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.62,-194.6,3.5,-8.0,12,125,6.72,1.77,-14.48,0.000,4,0.228,0.061,1791,3825,3773,0,0,0,0,0,0,25.45,25.99,26.44
$GC,303,-0.51,-194.6,77.8,-32.2,50,310,0.15,1.83,0.00,0.000,6,0.162,0.026,1839,2582,3773,0,0,0,0,0,0,25.83,26.19,28.83
$GC,621,-0.45,-194.6,156.5,-22.2,111,630,0.00,2.03,0.00,0.000,4,0.000,0.029,1846,1174,3773,0,0,0,0,0,0,28.83,26.26,28.83
$GC,705,-0.46,-194.6,169.9,-11.9,126,712,0.00,2.22,0.00,0.000,6,0.000,0.041,1836,2654,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1019,-0.43,-194.6,226.7,-15.8,172,1028,0.12,2.12,0.00,0.000,4,0.155,0.028,1886,1185,3773,0,0,0,0,0,0,26.23,26.34,28.83
$GC,1041,-0.40,-194.6,230.2,-14.9,174,1050,0.00,2.22,0.00,0.000,6,0.000,0.041,1876,2659,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1352,-0.41,-194.6,260.7,-9.9,205,1356,0.00,1.80,0.00,0.000,4,0.000,0.047,1867,3816,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1387,-0.43,-194.6,263.9,-9.8,208,1394,0.00,1.80,0.00,0.000,6,0.000,0.024,1867,2556,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1694,-0.44,-194.6,295.3,-10.0,239,1705,0.00,2.00,0.00,0.000,4,0.000,0.029,1867,1174,3773,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1719,-0.45,-194.6,297.7,-10.1,241,1727,0.00,2.20,0.00,0.000,6,0.000,0.041,1857,2653,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2029,-0.45,-194.6,332.9,-11.4,272,2033,0.00,1.80,0.00,0.000,4,0.000,0.047,1849,3823,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2084,-0.47,-194.6,338.4,-10.6,277,2091,0.00,1.80,0.00,0.000,6,0.000,0.025,1848,2557,3772,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2392,-0.47,-194.6,370.5,-10.1,308,2401,0.00,1.98,0.00,0.000,4,0.000,0.047,1839,3823,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2414,-0.47,-194.6,372.8,-10.6,310,2417,0.00,1.77,0.00,0.000,6,0.000,0.025,1840,2568,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2724,-0.47,-194.6,406.5,-10.8,341,2733,0.00,1.95,0.00,0.000,4,0.000,0.047,1830,3813,3769,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2769,-0.47,-194.6,410.9,-10.5,345,2776,0.00,1.80,0.00,0.000,6,0.000,0.026,1830,2556,3768,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3078,-0.47,-194.6,443.5,-10.5,376,3086,0.00,1.98,0.00,0.000,4,0.000,0.046,1821,3822,3766,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3120,-0.47,-194.6,448.1,-10.8,380,3129,0.12,1.80,0.00,0.000,6,0.121,0.024,1861,2556,3766,0,0,0,0,0,0,26.28,26.51,28.83
$GC,3430,-0.50,-194.6,471.4,-7.0,411,3441,0.00,2.00,0.00,0.000,4,0.000,0.030,1862,1171,3765,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3464,-0.54,-194.6,473.9,-7.4,414,3473,0.00,2.25,0.00,0.000,6,0.000,0.041,1854,2659,3764,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3774,-0.67,-194.6,497.5,-8.8,445,3779,0.15,1.77,0.00,0.000,4,0.104,0.045,1791,3823,3762,0,0,0,0,0,0,26.43,26.31,28.83
$GC,3829,-0.77,-194.6,501.8,-7.9,450,3837,0.00,1.80,0.00,0.000,6,0.000,0.028,1793,2555,3761,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4137,-0.75,-194.6,534.7,-11.7,481,4145,0.00,2.00,0.00,0.000,4,0.000,0.031,1792,1182,3759,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4200,-0.75,-194.6,541.7,-10.7,487,4211,0.00,2.20,0.00,0.000,6,0.000,0.042,1782,2647,3758,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4509,-0.72,-194.6,582.9,-13.7,518,4513,0.00,2.15,0.00,0.000,4,0.000,0.032,1782,1186,3757,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4604,-0.72,-194.6,594.4,-11.5,527,4614,0.00,2.25,0.00,0.000,6,0.000,0.041,1771,2653,3756,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4913,-0.69,-194.6,636.3,-13.3,545,4919,0.00,2.12,0.00,0.000,4,0.000,0.031,1771,1191,3753,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5006,-0.68,-194.6,646.1,-12.1,549,5013,0.10,2.22,0.00,0.000,6,0.154,0.043,1788,2658,3753,0,0,0,0,0,0,26.14,26.29,28.83
$GC,5314,-0.66,-194.6,681.8,-11.4,565,5319,0.00,2.15,0.00,0.000,4,0.000,0.031,1789,1188,3750,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5377,-0.66,-194.6,688.2,-10.7,568,5381,0.00,2.22,0.00,0.000,6,0.000,0.043,1778,2655,3750,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5691,-0.64,-194.6,726.1,-12.2,584,5695,0.00,2.15,0.00,0.000,4,0.000,0.032,1778,1187,3748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5734,-0.62,-194.6,731.2,-12.0,586,5740,0.10,2.22,0.00,0.000,6,0.109,0.043,1807,2655,3748,0,0,0,0,0,0,26.07,26.27,28.83
$GC,6054,-0.62,-194.6,761.5,-9.4,602,6059,0.00,2.15,0.00,0.000,4,0.000,0.031,1808,1188,3745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6077,-0.62,-194.6,763.5,-9.4,603,6081,0.00,2.22,0.00,0.000,6,0.000,0.043,1798,2658,3745,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6393,-0.62,-194.6,796.5,-10.5,619,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2658,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6693,-0.62,-194.6,828.1,-10.5,634,6699,0.00,2.17,0.00,0.000,4,0.000,0.031,1798,1183,3741,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6747,-0.62,-194.6,832.4,-10.7,636,6754,0.00,2.25,0.00,0.000,6,0.000,0.044,1788,2657,3741,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7057,-0.61,-194.6,867.0,-10.6,652,7062,0.00,2.15,0.00,0.000,4,0.000,0.031,1788,1182,3739,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7088,-0.60,-194.6,869.3,-10.9,653,7095,0.12,2.25,0.00,0.000,6,0.130,0.044,1817,2657,3739,0,0,0,0,0,0,26.07,26.21,28.83
$GC,7396,-0.61,-194.6,895.1,-7.9,669,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2657,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7697,-0.63,-194.6,919.9,-8.7,684,7702,0.00,2.15,0.00,0.000,4,0.000,0.032,1817,1186,3736,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7729,-0.64,-194.6,921.8,-8.8,685,7736,0.00,2.25,0.00,0.000,6,0.000,0.045,1813,2656,3736,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8035,-0.66,-194.6,950.2,-8.8,701,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2655,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8337,-0.67,-194.6,975.8,-8.6,716,8341,0.00,2.17,0.00,0.000,4,0.000,0.032,1813,1187,3732,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8362,-0.69,-194.6,977.9,-8.7,717,8366,0.00,2.25,0.00,0.000,6,0.000,0.045,1813,2652,3732,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,8512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8512,begin apogee
$GC,8517,-0.20,0.0,990.4,-8.1,725,8689,0.35,0.12,164.52,1.179,6,0.100,0.086,1939,2535,2977,0,0,0,0,0,0,26.01,24.75,23.94
$STATE,8690,end apogee,CONTROL_FINISHED_OK
$STATE,8690,begin climb
$GC,8692,0.62,194.6,996.9,0.0,733,8884,0.75,2.40,182.60,1.178,4,0.047,0.039,2228,1071,2176,0,0,0,0,0,0,24.93,24.30,23.46
$GC,8890,0.50,194.6,983.5,15.9,742,8895,0.20,2.38,0.00,0.000,6,0.167,0.041,2179,2527,2164,0,0,0,0,0,0,24.34,24.49,28.83
$GC,9205,0.45,194.6,925.4,16.5,758,9210,0.00,2.03,0.00,0.000,4,0.000,0.051,2178,3812,2154,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9317,0.38,194.6,907.2,18.1,763,9327,0.20,2.05,0.00,0.000,6,0.168,0.033,2136,2465,2152,0,0,0,0,0,0,25.50,25.87,28.83
$GC,9624,0.36,194.6,868.1,11.6,779,9630,0.00,2.10,0.00,0.000,4,0.000,0.050,2136,3810,2150,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9647,0.34,194.6,865.5,11.6,780,9651,0.00,2.05,0.00,0.000,6,0.000,0.032,2146,2461,2150,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9961,0.31,194.6,827.0,11.9,796,9967,0.12,2.08,0.00,0.000,4,0.177,0.046,2109,3809,2149,0,0,0,0,0,0,25.91,26.01,28.83
$GC,10027,0.29,194.6,820.0,11.9,799,10031,0.00,2.03,0.00,0.000,6,0.000,0.031,2120,2465,2149,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10335,0.31,205.8,789.5,9.3,814,10346,0.00,2.17,4.25,0.802,4,0.000,0.038,2130,1052,2139,0,0,0,0,0,0,28.83,26.19,25.00
$GC,10367,0.32,216.5,787.4,9.3,815,10388,0.00,2.25,15.48,1.001,6,0.000,0.042,2130,2521,2095,0,0,0,0,0,0,28.83,26.11,25.06
$GC,10690,0.32,216.5,752.7,10.6,831,10695,0.00,2.00,0.00,0.000,4,0.000,0.050,2130,3814,2077,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10752,0.31,216.5,745.0,12.1,834,10758,0.08,2.03,0.00,0.000,6,0.148,0.032,2115,2478,2076,0,0,0,0,0,0,25.83,26.10,28.83
$GC,11072,0.31,216.5,713.0,10.0,850,11077,0.00,2.05,0.00,0.000,4,0.000,0.047,2115,3808,2075,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11113,0.31,216.5,708.5,10.7,852,11118,0.00,2.05,0.00,0.000,6,0.000,0.031,2125,2465,2074,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11433,0.31,216.5,674.0,10.4,868,11438,0.00,2.08,0.00,0.000,4,0.000,0.047,2125,3816,2075,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11475,0.31,216.5,669.2,11.2,870,11479,0.00,2.05,0.00,0.000,6,0.000,0.031,2136,2456,2074,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11787,0.30,216.5,634.8,10.8,886,11792,0.00,2.10,0.00,0.000,4,0.000,0.047,2136,3813,2074,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11814,0.29,216.5,632.3,11.1,887,11819,0.15,2.03,0.00,0.000,6,0.159,0.030,2106,2464,2074,0,0,0,0,0,0,25.87,26.23,28.83
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$STATE,16957,end climb,SURFACE_DEPTH_REACHED
$STATE,16957,begin surface coast
$FINISH,0.4,1.022714
$STATE,16983,end surface coast,CONTROL_FINISHED_OK
$STATE,16984,begin surface
$SM_CCo,17058,0.00,0.000,0,0,1024,479.56
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$IRIDIUM_FIX,2305.10,12150.13,091211,171744
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,10.1,23.944
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.850,175.650,624.325,0.000,0.000,28.258,16.701,244.503,0.000,0.000,32.620,4095.940,9143.277,786.043,3101.873,352.451,0.000,2285.194,0.000,2625.359,0.000,0.542,0.000
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$SENSOR_SECS,1038.153,1961.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,100320,1529
$CAP_FILE_SIZE,191472,0
$CFSIZE,260165632,208277504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.430, 18.0,1
$GPS,101211,030830,2316.130,12151.195,40,1.0,40,-3.1